CN111716332A - Five-degree-of-freedom mechanical processing machine - Google Patents
Five-degree-of-freedom mechanical processing machine Download PDFInfo
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- CN111716332A CN111716332A CN202010614663.8A CN202010614663A CN111716332A CN 111716332 A CN111716332 A CN 111716332A CN 202010614663 A CN202010614663 A CN 202010614663A CN 111716332 A CN111716332 A CN 111716332A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0063—Programme-controlled manipulators having parallel kinematics with kinematics chains having an universal joint at the base
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
Abstract
The invention discloses a five-degree-of-freedom mechanical processing machine, and belongs to the technical field of five-degree-of-freedom mechanical processing equipment. The five-degree-of-freedom machining device comprises a frame, wherein a five-degree-of-freedom machining device and a workbench are arranged on the frame; the five-degree-of-freedom machining device comprises an X-axis, Y-axis and Z-axis moving mechanism, an X-axis correcting mechanism, a Y-axis correcting mechanism and a circumferential deflection mechanism of each axis; the X-axis, Y-axis and Z-axis moving mechanisms comprise driving arms A, driving arms B, driving arms C and a moving platform D; the fixed end of each driving arm is fixedly connected with the frame, and the moving end of each driving arm is fixedly connected with the moving platform D; the X-axis and Y-axis correction and each-axis circumferential deflection mechanism comprises a C swing mechanism, an A swing mechanism and a carving motor; the workbench is positioned at a position corresponding to the engraving motor and used for fixing the workpiece. The device has the characteristics of reasonable structure, high processing precision, convenience in maintenance, high reaction speed, low manufacturing cost and the like.
Description
Technical Field
The invention relates to the technical field of five-degree-of-freedom machining equipment.
Background
In a civil turbofan, the turbine front temperature is about 1600K and the tolerance temperature of the turbine blade material is only about 1200K, and advanced cooling technology is necessary to improve the performance and the service life of the turbine, most commonly, convection cooling is adopted, and cooling air passes through a plurality of special channels in the blade, so that the temperature of the blade is reduced to the cold shortage effect. However, because the crystallization is easily generated in the special passage in the blade under the combined action of high temperature and air impurities, the crystallization is more and more large along with the accumulation of time, so that the cooling performance of an engine is affected due to the blockage of the passage, therefore, the blade of the engine can be disassembled after a certain flight time of the airplane to remove the crystallization in the special passage of the engine, the traditional method is a manual crystal removal method, and the efficiency, the economy and the quality are difficult to guarantee.
Disclosure of Invention
The invention aims to provide a five-degree-of-freedom mechanical processing machine which has the characteristics of reasonable structure, high processing precision, convenience in maintenance, high reaction speed, low manufacturing cost and the like.
In order to solve the technical problems, the technical scheme adopted by the invention is as follows:
a five-freedom mechanical processing machine comprises a frame, wherein a five-freedom mechanical processing device and a workbench are arranged on the frame;
the five-degree-of-freedom machining device comprises an X-axis, Y-axis and Z-axis moving mechanism, an X-axis correcting mechanism, a Y-axis correcting mechanism and a circumferential deflection mechanism of each axis;
the X-axis, Y-axis and Z-axis moving mechanisms comprise driving arms A, driving arms B, driving arms C and a moving platform D; the fixed end of each driving arm is fixedly connected with the frame, and the moving end of each driving arm is fixedly connected with the moving platform D; the three driving arms have the same structure: each driving arm is mainly formed by sequentially connecting the following components from a fixed end to a movable end: an orthogonal rotary joint, an electric cylinder and a rotary joint; the orthogonal rotary joint comprises an orthogonal rotary joint upper swing block and an orthogonal rotary joint lower swing block, the orthogonal rotary joint upper swing block is provided with an orthogonal rotary joint upper swing block rotating shaft which is rotationally connected with the orthogonal rotary joint upper swing block, the orthogonal rotary joint lower swing block is provided with an orthogonal rotary joint lower swing block rotating shaft which is rotationally connected with the orthogonal rotary joint lower swing block, the orthogonal rotary joint upper swing block rotating shaft is rotationally connected with the orthogonal rotary joint lower swing block rotating shaft, the orthogonal rotary joint upper swing block rotating shaft and the orthogonal rotary joint lower swing block rotating shaft are perpendicular to each other on the section of the driving arm, the orthogonal rotary joint lower swing block is fixedly connected with one end of the electric cylinder, the rotary joint comprises a rotary joint upper swing block and a rotary joint lower swing block, the rotary joint upper swing block and the rotary joint lower swing block are hinged through the rotary joint rotating shaft, the rotary joint rotating shaft is parallel to the orthogonal rotary joint upper swing block rotating shaft, and the rotary joint upper swing block is fixedly connected with the other end of the electric cylinder; the fixed ends of the three driving arms are fixed on the rack through orthogonal rotary joint upper swinging blocks of respective orthogonal rotary joints, and the moving ends of the three driving arms are fixedly connected with the moving platform D through rotary joint lower swinging blocks of respective rotary joints; the three driving arm fixing ends are arranged on the same circle at an included angle of 120 degrees relative to the circle center, and the circle is a driving arm fixing end positioning circle; the axial lead of the swinging block rotating shaft on the orthogonal rotary joint of each driving arm is a tangent line of a positioning circle of the fixed end of the driving arm; the moving ends of the three driving arms form an included angle of 120 degrees relative to the circle center and are arranged on the same circle, and the circle is a positioning circle of the moving ends of the driving arms; when the extension lengths of the cylinder rods of the electric cylinders of the three driving arms are equal, the axial lead of the positioning circle at the fixed end of the driving arm is superposed with the axial lead of the positioning circle at the movable end of the driving arm;
the X-axis and Y-axis correction and each-axis circumferential deflection mechanism comprises a C swing mechanism, an A swing mechanism and a carving motor;
the C pendulum mechanism comprises a C pendulum motor driving structure, the C pendulum motor driving structure comprises a C pendulum motor and a C pendulum speed reducer, the C pendulum motor is in transmission connection with the C pendulum speed reducer so that an output shaft of the C pendulum speed reducer outputs the power of a rotating shaft of the C pendulum motor at a low rotating speed and high torque, and the C pendulum motor driving structure is fixed on the moving platform D so that the output shaft of the C pendulum speed reducer is parallel to the axial lead of a moving end positioning circle of the driving arm;
the swing mechanism A comprises a swing frame A and a swing motor driving structure A, the swing motor driving structure A comprises a swing motor A and a swing speed reducer A, the swing motor A is in transmission connection with the swing speed reducer A so that the output shaft of the swing speed reducer A outputs the rotating shaft power of the swing motor A at a low rotating speed and a high torque, and the output shaft of the swing speed reducer C is fixedly connected with the swing motor driving structure A through the swing frame A so that the axial lead of the output shaft of the swing speed reducer C and the axial lead of the output shaft of the swing speed reducer A form an included angle of 30-90 degrees; and circumferentially rotates around an output shaft of the C-pendulum speed reducer;
the output shaft of the A pendulum speed reducer is fixedly connected with the carving motor through an angle connection block, so that the main shaft of the carving motor rotates in a conical manner by taking the output shaft axis of the A pendulum speed reducer as the center, and the main shaft axis of the carving motor is parallel to or coincided with the output shaft axis of the A pendulum speed reducer in the rotating process;
the workbench is positioned at the position corresponding to the engraving motor and used for fixing a workpiece so as to facilitate the engraving of a drill bit of the engraving motor.
The invention further improves that:
the moving platform D is positioned below the fixed end of the driving arm, and the axis of the output shaft of the C pendulum speed reducer is superposed with the axis of the moving end positioning circle of the driving arm.
The diameter of the positioning circle at the moving end of the driving arm is 1/3-1/4 of the diameter of the positioning circle at the fixed end of the driving arm; the fixed connection structure of the A swing frame 8 and the A swing motor driving structure enables the axis of the output shaft of the C swing speed reducer to intersect with the axis of the output shaft of the A swing speed reducer at an included angle of 55 degrees.
The fixed end of each driving arm is fixedly connected with the frame through a static platform.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
1. the use amount of processing materials is less: the X-axis, Y-axis and Z-axis moving mechanism has the characteristics of high rigidity, high precision, high response and simple structure, does not need a slide rail slide carriage structure and a supporting structure required by a serial structure, and only needs an orthogonal rotary joint, an electric cylinder and a rotary joint formed by simple mechanical structures. The processing amount is less, the structure is simple, and the construction cost is low.
2. The processing precision is high, and because the X-axis, Y-axis and Z-axis moving mechanisms adopt a parallel structure, errors generated at joints are evenly distributed through three identical arms, so that the errors are reduced averagely instead of being accumulated like a serial mechanism, and the errors are increased. Therefore, the processing precision is high and the system error is small.
3. The maintenance is simple, and X axle, Y axle, Z axle moving mechanism constitute for three independent actuating arm, need not remove other actuating arms during the maintenance and can accomplish the maintenance, and need not remove a large amount of parts and structure when traditional series connection lathe substructure goes wrong, therefore maintenance is simple.
4. The reaction speed is high, when the serial structure moves for a long distance, the sliding distance of each shaft sliding rail is long, so that the rotation time of the motor is prolonged when the shaft sliding rails rotate, and the processing time is prolonged and the processing speed is low in the circulating process. The parallel structure of the X-axis, Y-axis and Z-axis moving mechanisms can cause a large range of motion only by driving the motor to move in a small range, so that the reaction speed is high.
The device has the characteristics of reasonable structure, high processing precision, convenience in maintenance, high reaction speed, low manufacturing cost and the like.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the five-degree-of-freedom machining apparatus of FIG. 1;
FIG. 3 is a schematic structural diagram of the X-axis, Y-axis and Z-axis moving mechanism in FIG. 2;
FIG. 4 is a schematic structural diagram of the X-axis and Y-axis correction and deflection mechanisms of the respective axes shown in FIG. 2;
FIG. 5 is a schematic structural view of the orthogonal revolute joint of FIG. 2;
FIG. 6 is a schematic view of the revolute joint of FIG. 2;
FIG. 7 is a schematic structural diagram of the X-axis and Y-axis correction and each-axis circumferential deflection mechanism when the main shaft axis of the engraving motor coincides with the output shaft axis of the A pendulum speed reducer 10;
fig. 8 is a schematic structural view of the X-axis and Y-axis correction and other motion states of the respective axis circumferential deflection mechanisms in fig. 7.
In the drawings: 1. a frame; 2. a work table; 3. an orthogonal revolute joint; 3-1. an orthogonal rotary joint upper swinging block; 3-1-1. a swinging block rotating shaft on the orthogonal rotary joint; 3-2. orthogonal rotary joint lower swinging block; 3-2-1. a rotating shaft of a lower swing block of the orthogonal rotary joint; 4. an electric cylinder; 5. a revolute joint; 5-1, swinging a swing block on the rotary joint; 5-2, swinging the lower swing block of the rotary joint; 5-3, rotating a joint rotating shaft; 6, C swing motor; 7, C pendulum speed reducer; a swing frame; 9.A swing motor; 10, a pendulum reducer; 11. the angle is connected with a connecting block; 12. engraving a motor; 13. a static platform; a drill bit.
Detailed Description
The invention will be described in further detail below with reference to the figures and specific examples.
The standard parts used in the invention can be purchased from the market, the special-shaped parts can be customized according to the description and the description of the attached drawings, and the specific connection mode of each part adopts the conventional means of mature bolts, rivets, welding, sticking and the like in the prior art, and the detailed description is not repeated.
As can be seen from the embodiments shown in fig. 1 to 7, the present embodiment includes a frame 1, and a five-degree-of-freedom machining device and a worktable 2 are disposed on the frame 1;
the five-degree-of-freedom machining device comprises an X-axis, Y-axis and Z-axis moving mechanism, an X-axis correcting mechanism, a Y-axis correcting mechanism and a circumferential deflection mechanism of each axis;
the X-axis, Y-axis and Z-axis moving mechanisms comprise driving arms A, driving arms B, driving arms C and a moving platform D; the fixed end of each driving arm is fixedly connected with the frame 1, and the movable end of each driving arm is fixedly connected with the movable platform D; the three driving arms have the same structure: each driving arm is mainly formed by sequentially connecting the following components from a fixed end to a movable end: an orthogonal rotary joint 3, an electric cylinder 4 and a rotary joint 5; the orthogonal rotary joint 3 comprises an orthogonal rotary joint upper swing block 3-1 and an orthogonal rotary joint lower swing block 3-2, the orthogonal rotary joint upper swing block 3-1 is provided with an orthogonal rotary joint upper swing block rotating shaft 3-1-1 rotationally connected with the orthogonal rotary joint upper swing block, the orthogonal rotary joint lower swing block 3-2 is provided with an orthogonal rotary joint lower swing block rotating shaft 3-2-1 rotationally connected with the orthogonal rotary joint lower swing block, the orthogonal rotary joint upper swing block rotating shaft 3-1-1 is rotationally connected with the orthogonal rotary joint lower swing block rotating shaft 3-2-1, the orthogonal rotary joint upper swing block rotating shaft 3-1 and the orthogonal rotary joint lower swing block rotating shaft 3-2-1 are mutually vertical on the section of a driving arm, the orthogonal rotary joint lower swing block 3-2 is fixedly connected with one end of the electric cylinder 4, the rotary joint 5 comprises a rotary joint upper swing block 5-1 and a rotary joint lower swing block 5-2, the upper swing block 5-1 of the rotary joint and the lower swing block 5-2 of the rotary joint are hinged through a rotary joint rotating shaft 5-3, the rotary joint rotating shaft 5-3 is parallel to a rotary block rotating shaft 3-1-1 of the orthogonal rotary joint, and the upper swing block 5-1 of the rotary joint is fixedly connected with the other end of the electric cylinder 4; the fixed ends of the three driving arms are respectively fixed on the frame 1 through orthogonal rotary joint upper swinging blocks 3-1 of respective orthogonal rotary joints 3, and the moving ends of the three driving arms are respectively fixedly connected with the moving platform D through rotary joint lower swinging blocks 5-2 of respective rotary joints 5; the three driving arm fixing ends are arranged on the same circle at an included angle of 120 degrees relative to the circle center, and the circle is a driving arm fixing end positioning circle; the axial lead of the swinging block rotating shaft 3-1-1 on the orthogonal rotary joint of each driving arm is a tangent line of a positioning circle at the fixed end of the driving arm; the moving ends of the three driving arms form an included angle of 120 degrees relative to the circle center and are arranged on the same circle, and the circle is a positioning circle of the moving ends of the driving arms; when the extension lengths of the cylinder rods of the electric cylinders 4 of the three driving arms are equal, the axis lines of the positioning circles at the fixed ends of the driving arms and the positioning circles at the movable ends of the driving arms are superposed;
the X-axis and Y-axis correction and each-axis circumferential deflection mechanism comprises a C swing mechanism, an A swing mechanism and an engraving motor 12;
the C pendulum mechanism comprises a C pendulum motor driving structure, the C pendulum motor driving structure comprises a C pendulum motor 6 and a C pendulum speed reducer 7, the C pendulum motor 6 is in transmission connection with the C pendulum speed reducer 7 so that an output shaft of the C pendulum speed reducer 7 outputs the power of a rotating shaft of the C pendulum motor 6 at a low rotating speed and high torque, and the C pendulum motor driving structure is fixed on the moving platform D so that an output shaft of the C pendulum speed reducer 7 is parallel to an axial lead of a moving end positioning circle of a driving arm;
the A pendulum mechanism comprises an A pendulum frame 8 and an A pendulum motor driving structure, the A pendulum motor driving structure comprises an A pendulum motor 9 and an A pendulum speed reducer 10, the A pendulum motor 9 is in transmission connection with the A pendulum speed reducer 10, so that an output shaft of the A pendulum speed reducer 10 outputs the rotating shaft power of the A pendulum motor 9 at a low rotating speed and a high torque, and an output shaft of the C pendulum speed reducer 7 is fixedly connected with the A pendulum motor driving structure through the A pendulum frame 8, so that an included angle of 30-90 degrees is formed between an output shaft axis of the C pendulum speed reducer 7 and an output shaft axis of the A pendulum speed reducer 10; and circumferentially rotates around the output shaft of the C-swing speed reducer 7;
the output shaft of the pendulum speed reducer A10 is fixedly connected with the carving motor 12 through the angle connection block 11, so that the main shaft of the carving motor 12 rotates in a conical manner by taking the axis of the output shaft of the pendulum speed reducer A10 as the center, and in the rotating process, the axis of the main shaft of the carving motor 12 is parallel to or coincided with the axis of the output shaft of the pendulum speed reducer A10;
the table 2 is located at a position corresponding to the engraving motor 12 for fixing the workpiece so as to facilitate the engraving by the drill 14 of the engraving motor 12.
The moving platform D is positioned below the fixed end of the driving arm, and the axis of the output shaft of the C pendulum speed reducer 7 is superposed with the axis of the moving end positioning circle of the driving arm.
The diameter of the positioning circle at the moving end of the driving arm is 1/3-1/4 of the diameter of the positioning circle at the fixed end of the driving arm; the fixed connection structure of the A swing frame 8 and the A swing motor driving structure enables the axis of the output shaft of the C swing speed reducer 7 to intersect with the axis of the output shaft of the A swing speed reducer 10 at an included angle of 55 degrees.
The fixed end of each driving arm is fixedly connected with the frame 1 through a static platform 13.
The working principle is as follows:
the carving motor 12 adopts the moving principle of the drill bit along the Z axis:
the electric cylinder rods of the three driving arms simultaneously extend for the same length to enable the lower swing block 3-2 of the orthogonal rotary joint 3 to rotate around the lower swing fast rotating shaft 3-2-1; meanwhile, the lower swinging block 5-2 of the rotary joint 5 rotates around the rotary joint rotating shaft 5-3, the moving platform D moves along the Z axis under the combined action of the kinematic pair,
the engraving motor 12 adopts the principle that the drill bit moves along the X axis:
the electric cylinder rod of the driving arm A extends, the electric cylinder rod of the driving arm B extends, the electric cylinder rod of the driving arm C shortens, and the three electric cylinder rods have different extension or shortening lengths, so that the lower swing block 3-2 of the orthogonal rotary joint 3 rotates around the lower swing block rotating shaft 3-2-1 and simultaneously rotates around the orthogonal rotary joint upper swing block rotating shaft 3-1-1; meanwhile, the lower swing block 5-2 of the rotary joint 5 rotates around the rotary joint rotating shaft 5-3, and the moving platform D moves along the X axis under the combined action of the kinematic pair.
Through operating different extension proportions of the three driving arms, the six-freedom-degree positioning of the drill bit of the engraving motor 12 can be realized through the rotation angle of the C swing motor 6 and the rotation angle of the A swing motor 9, so that the cleaning of crystals at different positions of the turbine blade is completed.
Claims (4)
1. A five-freedom mechanical processing machine is characterized in that: the five-degree-of-freedom machining device comprises a rack (1), wherein a five-degree-of-freedom machining device and a workbench (2) are arranged on the rack (1);
the five-degree-of-freedom machining device comprises an X-axis, Y-axis and Z-axis moving mechanism, an X-axis correcting mechanism, a Y-axis correcting mechanism and a circumferential deflection mechanism of each axis;
the X-axis, Y-axis and Z-axis moving mechanisms comprise driving arms A, driving arms B, driving arms C and a moving platform D; the fixed end of each driving arm is fixedly connected with the frame (1), and the moving end of each driving arm is fixedly connected with the moving platform D; the three driving arms have the same structure: each driving arm is mainly formed by sequentially connecting the following components from a fixed end to a movable end: an orthogonal rotary joint (3), an electric cylinder (4) and a rotary joint (5); the orthogonal rotary joint (3) comprises an orthogonal rotary joint upper swing block (3-1) and an orthogonal rotary joint lower swing block (3-2), the orthogonal rotary joint upper swing block (3-1) is provided with an orthogonal rotary joint upper swing block rotating shaft (3-1-1) rotationally connected with the orthogonal rotary joint upper swing block, the orthogonal rotary joint lower swing block (3-2) is provided with an orthogonal rotary joint lower swing block rotating shaft (3-2-1) rotationally connected with the orthogonal rotary joint lower swing block, the orthogonal rotary joint upper swing block rotating shaft (3-1-1) is rotationally connected with the orthogonal rotary joint lower swing block rotating shaft (3-2-1), and the orthogonal rotary joint upper swing block rotating shaft (3-1-1) and the orthogonal rotary joint lower swing block rotating shaft (3-2-1) are mutually vertical on the section of the driving arm, the orthogonal rotary joint lower swing block (3-2) is fixedly connected with one end of the electric cylinder (4), the rotary joint (5) comprises a rotary joint upper swing block (5-1) and a rotary joint lower swing block (5-2), the rotary joint upper swing block (5-1) is hinged with the rotary joint lower swing block (5-2) through a rotary joint rotating shaft (5-3), the rotary joint rotating shaft (5-3) is parallel to the orthogonal rotary joint upper swing block rotating shaft (3-1-1), and the rotary joint upper swing block (5-1) is fixedly connected with the other end of the electric cylinder (4); the fixed ends of the three driving arms are fixed on the rack (1) through orthogonal rotary joint upper swing blocks (3-1) of respective orthogonal rotary joints (3), and the moving ends of the three driving arms are fixedly connected with the moving platform D through rotary joint lower swing blocks (5-2) of respective rotary joints (5); the three driving arm fixing ends are arranged on the same circle at 120-degree included angles relative to the circle center, and the circle is a driving arm fixing end positioning circle; the axial lead of the swinging block rotating shaft (3-1-1) on the orthogonal rotary joint of each driving arm is a tangent line of a positioning circle at the fixed end of the driving arm; the moving ends of the three driving arms form included angles of 120 degrees relative to the circle center and are arranged on the same circle, and the circle is a positioning circle of the moving ends of the driving arms; when the extending lengths of the cylinder rods of the electric cylinders (4) of the three driving arms are equal, the axial lead of the positioning circle at the fixed end of the driving arm is superposed with the axial lead of the positioning circle at the movable end of the driving arm;
the X-axis and Y-axis correcting and each-axis circumferential deflection mechanism comprises a C swing mechanism, an A swing mechanism and a carving motor (12);
the C pendulum mechanism comprises a C pendulum motor driving structure, the C pendulum motor driving structure comprises a C pendulum motor (6) and a C pendulum speed reducer (7), the C pendulum motor (6) is in transmission connection with the C pendulum speed reducer (7) so that an output shaft of the C pendulum speed reducer (7) outputs the power of a rotating shaft of the C pendulum motor (6) at a low rotating speed and high torque, and the C pendulum motor driving structure is fixed on the moving platform D so that the output shaft of the C pendulum speed reducer (7) is parallel to the axial lead of a moving end positioning circle of the driving arm; the A pendulum mechanism comprises an A pendulum frame (8) and an A pendulum motor driving structure, the A pendulum motor driving structure comprises an A pendulum motor (9) and an A pendulum speed reducer (10), the A pendulum motor (9) is in transmission connection with the A pendulum speed reducer (10) so that an output shaft of the A pendulum speed reducer (10) outputs the rotating shaft power of the A pendulum motor (9) at a low rotating speed and high torque, and an output shaft of the C pendulum speed reducer (7) is fixedly connected with the A pendulum motor driving structure through the A pendulum frame (8) so that an included angle of 30-90 degrees is formed between an output shaft axis of the C pendulum speed reducer (7) and an output shaft axis of the A pendulum speed reducer (10); and circumferentially rotate around the output shaft of the C-shaped pendulum speed reducer (7);
the output shaft of the A pendulum speed reducer (10) is fixedly connected with the carving motor (12) through an angle connection block (11), so that the main shaft of the carving motor (12) rotates in a conical manner by taking the output shaft axis of the A pendulum speed reducer (10) as the center, and in the rotating process, the main shaft axis of the carving motor (12) is parallel to or coincided with the output shaft axis of the A pendulum speed reducer (10);
the workbench (2) is positioned at a position corresponding to the engraving motor (12) and used for fixing a workpiece so as to facilitate the engraving of a drill bit (14) of the engraving motor (12).
2. A five degree of freedom machine tool according to claim 1 wherein: the moving platform D is located below the fixed end of the driving arm, and the axis of the output shaft of the C pendulum speed reducer (7) coincides with the axis of the moving end positioning circle of the driving arm.
3. A five degree of freedom machine tool according to claim 2 wherein: the diameter of the positioning circle at the moving end of the driving arm is 1/3-1/4 of the diameter of the positioning circle at the fixed end of the driving arm; the fixed connection structure of the swing frame A (8) and the swing motor driving structure A enables the axis of the output shaft of the swing speed reducer C (7) to be intersected with the axis of the output shaft of the swing speed reducer A (10) at an included angle of 55 degrees.
4. A five degree of freedom machine tool according to claim 3 wherein: the fixed end of each driving arm is fixedly connected with the frame (1) through a static platform (13).
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| CN202010614663.8A CN111716332A (en) | 2020-06-30 | 2020-06-30 | Five-degree-of-freedom mechanical processing machine |
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| CN202010614663.8A CN111716332A (en) | 2020-06-30 | 2020-06-30 | Five-degree-of-freedom mechanical processing machine |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476412A (en) * | 2020-11-17 | 2021-03-12 | 派罗(廊坊)机器人科技有限公司 | Four-degree-of-freedom robot |
| CN112916901A (en) * | 2021-03-04 | 2021-06-08 | 天蓬智慧建造(广东)科技有限公司 | Perforating machine capable of simultaneously perforating multiple holes |
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| CN106584432A (en) * | 2016-12-22 | 2017-04-26 | 芜湖哈特机器人产业技术研究院有限公司 | Five degree-of-freedom serial-parallel robot |
| CN108098784A (en) * | 2017-12-15 | 2018-06-01 | 长沙志唯电子科技有限公司 | Aircraft wing drilling and milling robot |
| CN110270843A (en) * | 2019-06-27 | 2019-09-24 | 派罗(廊坊)机器人科技有限公司 | Five axis engraving machines |
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| CN112916901A (en) * | 2021-03-04 | 2021-06-08 | 天蓬智慧建造(广东)科技有限公司 | Perforating machine capable of simultaneously perforating multiple holes |
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