CN113828840A - Composite swing angle end effector - Google Patents
Composite swing angle end effector Download PDFInfo
- Publication number
- CN113828840A CN113828840A CN202110943410.XA CN202110943410A CN113828840A CN 113828840 A CN113828840 A CN 113828840A CN 202110943410 A CN202110943410 A CN 202110943410A CN 113828840 A CN113828840 A CN 113828840A
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- Prior art keywords
- base
- presser foot
- unit
- driving device
- end effector
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C9/00—Details or accessories so far as specially adapted to milling machines or cutter
- B23C9/005—Details or accessories so far as specially adapted to milling machines or cutter milling heads
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
- B23Q11/0046—Devices for removing chips by sucking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/24—Arrangements for observing, indicating or measuring on machine tools using optics or electromagnetic waves
- B23Q17/2409—Arrangements for indirect observation of the working space using image recording means, e.g. a camera
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/34—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission
- B23Q5/38—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously
- B23Q5/40—Feeding other members supporting tools or work, e.g. saddles, tool-slides, through mechanical transmission feeding continuously by feed shaft, e.g. lead screw
Abstract
The invention relates to a composite swing angle end effector which comprises a base, a presser foot unit, a first feedback unit, a first rotating structure and a second rotating structure, wherein the first feedback unit is arranged on the base; the base is provided with a heavy-load guide rail and a driving device, the heavy-load guide rail is provided with a first sliding block, the first sliding block is in transmission connection with the driving device, and the first sliding block is provided with a main shaft hole making unit; the presser foot units are arranged on two sides of two ends of the base, and the front ends of the presser foot units are provided with normal direction detection units; the first feedback unit is integrated on the base and used for sensing the main shaft hole making unit; the first rotating structure comprises a U-shaped shell and a first driving device, the base rotating frame is arranged between two side walls of the U-shaped shell, and the first driving device is in transmission connection with the base; the second rotating structure comprises a flange and a second driving device, the second driving device is arranged on the flange, and the second driving device is in transmission connection with the bottom of the U-shaped shell. The integration level is high, and is small. The invention belongs to the technical field of machining and manufacturing.
Description
Technical Field
The invention relates to the technical field of machining and manufacturing, in particular to a composite swing angle end effector.
Background
In the drilling and processing technology of curved surface structural parts of aerospace vehicles, automobiles and the like, an end effector is required to be adopted for processing and drilling. At present, the integration of the end effector into a smaller space is difficult; the main shaft for hole making has small power, is not suitable for hole milling and end face milling, and has great difficulty in selecting the main shaft with the proper volume. Secondly, the difficulty and precision of milling holes and end faces are caused by the difficulty of integrating the end effector into a structure with multiple degrees of freedom adjustment, so that the existing end effector has the problems of low integration level, larger volume, only drilling and slotting, poor rigidity, incapability of milling, unsuitability for integration with a double-pendulum head or a robot and the like.
Disclosure of Invention
(1) Technical problem to be solved
The embodiment of the invention provides a composite swing angle end effector, which solves the technical problems that the existing end effector is low in integration level and large in size, can only drill and notch, is poor in rigidity, cannot mill and is not suitable for being integrated with a double swing head or a robot and the like.
(2) Technical scheme
In order to solve the above technical problem, an embodiment of the present invention provides a compound pivot angle end effector, including:
the base is provided with a heavy-load guide rail and a driving device, the heavy-load guide rail is provided with a first sliding block, the first sliding block is in transmission connection with the driving device and is used for driving the first sliding block to move on the heavy-load guide rail, and the first sliding block is provided with a main shaft hole making unit;
the presser foot unit is arranged on two sides of two ends of the base, and the front end of the presser foot unit is provided with a normal detection unit;
the first feedback unit is integrated on the base and used for sensing the main shaft hole making unit;
the first rotating structure comprises a U-shaped shell and a first driving device, the base rotating frame is arranged between two side walls of the U-shaped shell, and the first driving device is in transmission connection with the base to drive the base to rotate;
and the second rotating structure comprises a flange and a second driving device, the second driving device is arranged on the flange, and the second driving device is in transmission connection with the bottom of the U-shaped shell so as to drive the U-shaped shell to rotate.
Optionally, the front end of the base is further provided with a visual positioning unit.
Optionally, a chip suction unit is further arranged at the front end of the presser foot unit.
Optionally, two ends of the heavy-duty guide rail are respectively provided with a limiting block, and the limiting blocks are located on the stroke of the first sliding block and used for limiting the first sliding block.
Optionally, the presser foot unit comprises:
the pressure foot is arranged on the base, and the front end of the pressure foot is provided with a nose end used for pressing the curved surface structural part;
the two presser foot guide rails are arranged on two sides of the base, second sliding blocks are respectively arranged on the two presser foot guide rails, presser foot force arms are respectively arranged on the two second sliding blocks, and the presser foot force arms are respectively supported in the middles of two sides of the presser foot;
and the pushing device is in transmission connection with the presser foot and is used for pushing the presser foot.
Optionally, the pushing device comprises:
the cylinder is arranged on the base;
the plunger rod is arranged at the output end of the cylinder and is in transmission connection with the presser foot so as to push the presser foot.
Optionally, the presser foot unit further includes a broken knife detection device, and the broken knife detection device is disposed on the base.
Optionally, the drive device comprises:
the screw rod is rotatably erected on the base and is parallel to the heavy-load guide rail;
the screw rod seat is sleeved on the screw rod in a transmission manner and is also connected with the first sliding block in a transmission manner;
the first motor is connected with the screw rod through a first speed reducer in a transmission mode, and a first band-type brake device is arranged on the first motor.
Optionally, the first driving device comprises a second motor, a second speed reducer and a second feedback unit, the second motor is in transmission connection with the second speed reducer, the second feedback unit is used for sensing an output shaft of the second speed reducer, the second speed reducer is in transmission connection with the base to drive the base to rotate, and a second band-type brake device is arranged on the second motor.
Optionally, the second driving device includes a third motor, a third speed reducer and a third feedback unit, the third speed reducer is in transmission connection with the third motor, the third feedback unit is used for sensing an output shaft of the third speed reducer, the third speed reducer is arranged on the flange, and an output end of the third speed reducer is provided with a connecting shaft;
the connecting shaft is connected with the bottom of the U-shaped shell in a transmission mode through the connecting hole so as to drive the U-shaped shell to rotate, and a sealing ring is arranged on the connecting shaft.
(3) Advantageous effects
In conclusion, the composite swing angle end effector disclosed by the invention has the advantages that the base, the main shaft hole making unit, the presser foot unit, the first feedback unit, the first rotating structure and the second rotating structure are highly integrated and small in size, the high-integration design and manufacture of the composite swing angle end effector are realized, the processing coverage rate, the processing quality and the processing efficiency of hole making processing and precise milling of a curved surface structural member are improved, and the processing applicability of the hole making end effector is expanded.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a perspective view of a compound pivot angle end effector in one embodiment of the present invention;
FIG. 2 is a diagram illustrating the connection between a first rotating structure and a second rotating structure in accordance with an embodiment of the present invention;
FIG. 3 is a side view of a second rotating structure in an embodiment of the present invention;
FIG. 4 is a cross-sectional view taken at A-A in FIG. 3;
FIG. 5 is a side view of a first rotating structure in an embodiment of the present invention;
FIG. 6 is a cross-sectional view of a first rotating structure in an embodiment of the present invention;
FIG. 7 is a perspective view of the base, spindle boring unit, presser foot unit and first feedback unit in one embodiment of the present invention;
FIG. 8 is a side view of FIG. 7;
FIG. 9 is a cross-sectional view taken at B-B of FIG. 8;
FIG. 10 is a schematic view of the presser foot unit according to an embodiment of the present invention;
fig. 11 is an exploded view of fig. 10.
In the figure:
10-a base; 12-heavy duty guide rails; 122-a limiting block; 16-a visual positioning unit; 20-a main shaft hole making unit; 22-a main shaft; 24-a main shell; 30-a presser foot unit; 32-normal detection unit; 34-a chip suction unit; 341-dust suction hose clamp; 35-presser foot; 352-nose end; 36-presser foot guide rail; 362-a second slider; 364-arm of pressure foot; 37-a pushing device; 372-a cylinder; 374-a plunger rod; 38-knife break detection means; 40-a first feedback unit; 52-a screw rod; 54-a screw base; 56-a first motor; 60-a first rotating structure; a 62-U shaped housing; 622-connecting hole; 64-a first drive; 642-a second motor; 644 — second reducer; 646-a second feedback unit; 648-a second band-type brake device; 70-a second rotating structure; 72-flange mounting by a method; 74-second drive means; 742-a third motor; 744-third reducer; 7442-connecting shaft; 7444-sealing ring.
Detailed Description
The embodiments of the present invention will be described in further detail with reference to the drawings and examples. The following detailed description of the embodiments and the accompanying drawings are provided to illustrate the principles of the invention and are not intended to limit the scope of the invention, i.e., the invention is not limited to the embodiments described, but covers any modifications, alterations, and improvements in the parts, components, and connections without departing from the spirit of the invention.
It should be noted that the embodiments and features of the embodiments in the present application may be combined with each other without conflict. The present application will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1 to 11, a compound swing angle end effector includes a base 10, a main shaft hole making unit 20, a presser foot unit 30, a first feedback unit 40, a first rotating structure 60, and a second rotating structure 70; the base 10 is provided with a heavy-load guide rail 12 and a driving device, the heavy-load guide rail 12 is provided with a first sliding block (not shown in the figure), the first sliding block is in transmission connection with the driving device so as to drive the first sliding block to move on the heavy-load guide rail 12, and the first sliding block is provided with a main shaft hole making unit 20; the presser foot unit 30 is arranged at two sides of two ends of the base 10, and the front end of the presser foot unit 30 is provided with a normal direction detection unit 32; the first feedback unit 40 is integrated on the base 10, the first feedback unit 40 is electrically connected with the spindle drilling unit 20, the first rotating structure 60 includes a U-shaped housing 62 and a first driving device 64, the base 10 is rotatably erected between two side walls of the U-shaped housing 62, and the first driving device 64 is in transmission connection with the base 10 to drive the base 10 to rotate; the second rotating structure 70 comprises a mounting flange 72 and a second driving device 74, the second driving device 74 is arranged on the mounting flange 72, and the second driving device 74 is in transmission connection with the bottom of the U-shaped shell 62 to drive the U-shaped shell 62 to rotate.
In the composite swing angle end effector of the embodiment, the base 10 is used for fixing the spindle drilling unit 20, the presser foot unit 30, the first feedback unit 40 and the like, the first slider is driven by the driving device to move on the heavy-duty guide rail 12, and the spindle drilling unit 20 is driven to a specified position by the movement of the first slider to drill curved surface structural members such as aerospace vehicles, automobiles and the like. The presser foot unit 30 can move back and forth for pressing the workpiece during drilling, and the normal direction detection unit 32 detects the normal direction of the workpiece. The first feedback unit 40 is an element such as a grating ruler, and is used for feeding back the processing condition of the main shaft drilling unit 20, so that full closed-loop servo control can be completed, and the accuracy and stability of drilling are ensured.
The main shaft hole making unit 20 comprises a main shell 24 and a main shaft 22, wherein the main shell 24 is arranged on the heavy-duty guide rail 12 in a sliding mode through a first sliding block, and a hole is made through the main shaft 22. The center line of the through hole of the presser foot unit 30 is superposed with the center line of the main shaft 22, after the presser foot unit 30 moves forwards to press a workpiece, the main shaft 22 moves forwards, and a cutter or a drill bit on the main shaft 22 can drill the workpiece pressed by the presser foot through the center hole of the presser foot. Specifically, the normal direction detection unit 32 is a laser distance sensor, the number of the laser distance sensors is four, the laser distance sensors are uniformly distributed around the presser foot unit 30, the detection light is parallel to the axis of the main shaft 22 or has a consistent included angle, the distance measurement is carried out on the surface of the workpiece, and the verticality between the axis of the main shaft 22 and the surface of the workpiece is calculated through software. Preferably, the number of the heavy-load guide rails 12 is two, the two heavy-load guide rails 12 are respectively fixed on two sides of the base 10, each heavy-load guide rail 12 is provided with a first sliding block, the first sliding block is fixedly connected with a main shell 24, and the main shaft 22 is installed in the main shell 24.
The base 10 is rotatably erected between two side walls of the U-shaped shell 62, the base 10 can be driven to rotate in the U-shaped shell 62 by the first driving device 64, specifically, two side walls of the U-shaped shell 62 are respectively provided with a rotating shaft, and the base 10 rotates along the two rotating shafts; the U-shaped housing 62 is mounted on the mounting flange 72, and the second driving device 74 can drive the U-shaped housing 62 to rotate, so that the base 10 can rotate with two degrees of freedom, and a compound swing angle action of the end effector is realized.
The composite swing angle end effector of the embodiment comprises a base 10, a spindle hole forming unit 20, a presser foot unit 30, a first feedback unit 40, a first rotating structure 60 and a second rotating structure 70, is highly integrated and small in size, realizes high-integration design and manufacture of the composite swing angle end effector, improves the processing coverage rate, the processing quality and the processing efficiency of hole forming and precision milling of a curved surface structural member, and expands the processing applicability of the hole forming end effector.
Further, in an embodiment, the front end of the base 10 is further provided with a visual positioning unit 16, and the visual positioning unit 16 is composed of an industrial camera, a light source and a controller, and can photograph the surface of the workpiece to analyze the position, the diameter and the like of the hole.
Further, in an embodiment, the front end of the presser foot unit 30 is further provided with a dust suction unit 34, the dust suction unit 34 is used for removing dust, specifically, the dust suction unit 34 is an industrial dust collector and is provided with a suction pipeline, the front-section dust suction port is arranged at the front end of the presser foot, and the dust suction unit 34 is further provided with a dust suction pipe clamp 341 for fixing the dust suction unit 34.
Further, in an embodiment, two ends of the heavy-duty guide rail 12 are respectively provided with a limiting block 122, and the limiting blocks 122 are located on a stroke of the first slider to limit the first slider. The stopper 122 can be limited to the first slider, and prevent the first slider from sliding out of the heavy-duty guide rail 12.
Further, in an embodiment, the presser foot unit 30 includes a presser foot 35, two presser foot rails 36, and a pushing device 37;
the presser foot 35 is arranged on the base 10, and the front end of the presser foot 35 is provided with a nose 352 for pressing a curved surface structural member;
the two presser foot guide rails 36 are arranged at two sides of the base 10, the two presser foot guide rails 36 are respectively provided with a second slider 362, the two second sliders 362 are respectively provided with a presser foot force arm 364, and the presser foot force arms 364 are respectively supported at the middle parts of two sides of the presser foot 35; so that the deformation of the presser foot 35 when pressing against the workpiece is within a controllable allowable range.
The pushing device 37 is in transmission connection with the presser foot 35 for pushing the presser foot 35. The pushing device 37 pushes the presser foot 35 forward to press the nose 352 against the curved structural member.
Further, in one embodiment, the pushing device 37 includes a cylinder 372 and a plunger rod 374; the cylinder 372 is arranged on the base 10; a plunger rod 374 is arranged at the output end of the cylinder 372, and the plunger rod 374 is in transmission connection with the presser foot 35 to push the presser foot 35. The cylinder 372 pushes the plunger rod 374 and the plunger rod 374 pushes the presser foot unit 30 forward, so that the nose 352 is pressed against the curved structural member.
Further, in an embodiment, the presser foot unit 30 further includes a knife break detecting device 38, and the knife break detecting device 38 is disposed on the base 10. The broken blade detection device 38 can detect whether the tool is broken.
Further, in one embodiment, the driving means includes a lead screw 52, a lead screw base 54, and a motor 56; the screw rod 52 is rotatably erected on the base 10, and the screw rod 52 is parallel to the heavy-load guide rail 12; the screw rod seat 54 is sleeved on the screw rod 52 in a transmission manner, and the screw rod seat 54 is also connected with the first sliding block in a transmission manner; and the motor 56 is in transmission connection with the screw rod 52 through a speed reducer. The motor 56 drives the screw 52 to rotate after being decelerated by the speed reducer, and the screw 52 drives the screw seat 54 to move axially along the screw 52, so as to drive the first slide block to move, and finally drive the main shell 24 to move axially along the screw 52.
Further, in an embodiment, a first band-type brake device is arranged on the motor 56, specifically, the motor 56 is a W-axis servo motor, and when the W axis does not need to be fed, the first band-type brake device on the W-axis servo motor takes effect, so that the front and rear positions of the spindle 22 are unchanged, the milling function is realized, and the linkage milling with the participation of the W axis can also be realized.
Further, in an embodiment, the first driving device 64 includes a second motor 642, a second speed reducer 644 and a second feedback unit 646, the second motor 642 is in transmission connection with the second speed reducer 644, the second feedback unit 646 is used for sensing an output shaft of the second speed reducer 644, the second speed reducer 644 is in transmission connection with the base 10 to drive the base 10 to rotate, and a second brake device 648 is disposed on the second motor 642. The second feedback unit 646 is a grating and the like, and is used for feeding back the output rotation speed of the second speed reducer 644, so that full closed-loop servo control can be completed, and the precision and the stability of hole making are ensured. The second motor 642 is a servo motor, and the second band-type brake device 648 can realize the stable control of the starting and the closing of the second motor 642. The second motor 642 drives the second speed reducer 644 to rotate, and the second speed reducer 644 drives the base 10 to rotate.
Further, in an embodiment, the second driving device 74 includes a third motor 742, a third speed reducer 744, and a third feedback unit 746, the third speed reducer 744 is in transmission connection with the third motor 742, the third feedback unit 746 is used for sensing an output shaft of the third speed reducer 744, the third speed reducer 744 is disposed on the flange 72, and an output end of the third speed reducer 744 is provided with a connecting shaft 7442; the bottom of the U-shaped shell 62 is provided with a connecting hole 622, the connecting shaft 7442 is in transmission connection with the bottom of the U-shaped shell 62 through the connecting hole 622 to drive the U-shaped shell 62 to rotate, and the connecting shaft 7442 is provided with a sealing ring 7444. The third feedback unit 746 is a grating or the like, and is used for feeding back the output rotation speed of the third speed reducer 744, so that full closed-loop servo control can be completed, and the precision and stability of hole making are ensured. The third motor 742 is a servo motor, and a third band-type brake device is also provided on the third motor 742, so that the start and stop of the third motor 742 can be stably controlled. The seal ring 7444 can improve the sealing property between the link shaft 7442 and other components. The third motor 742 drives the third reducer 744 to rotate, the third reducer 744 drives the connecting shaft 7442 to rotate, and the connecting shaft 7442 drives the U-shaped shell 62 to rotate.
The above description is only an example of the present application and is not limited to the present application. Various modifications and alterations to this application will become apparent to those skilled in the art without departing from the scope of this invention. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (10)
1. A compound pivot angle end effector, comprising:
the base is provided with a heavy-load guide rail and a driving device, the heavy-load guide rail is provided with a first sliding block, the first sliding block is in transmission connection with the driving device and is used for driving the first sliding block to move on the heavy-load guide rail, and the first sliding block is provided with a main shaft hole making unit;
the presser foot unit is arranged on two sides of two ends of the base, and the front end of the presser foot unit is provided with a normal detection unit;
the first feedback unit is integrated on the base and used for sensing the main shaft hole making unit;
the first rotating structure comprises a U-shaped shell and a first driving device, the base rotating frame is arranged between two side walls of the U-shaped shell, and the first driving device is in transmission connection with the base to drive the base to rotate;
and the second rotating structure comprises a flange and a second driving device, the second driving device is arranged on the flange, and the second driving device is in transmission connection with the bottom of the U-shaped shell so as to drive the U-shaped shell to rotate.
2. The compound pivot angle end effector of claim 1, wherein the base front end is further provided with a visual positioning unit.
3. The compound pivot angle end effector as claimed in claim 1, wherein a chip suction unit is further provided at a front end of the presser foot unit.
4. The compound pivot angle end effector of claim 1, wherein two ends of the heavy-duty guide rail are respectively provided with a limiting block, and the limiting blocks are located on the stroke of the first slide block to limit the first slide block.
5. The compound pivot angle end effector of claim 1 wherein the presser foot unit comprises:
the pressure foot is arranged on the base, and the front end of the pressure foot is provided with a nose end used for pressing the curved surface structural part;
the two presser foot guide rails are arranged on two sides of the base, second sliding blocks are respectively arranged on the two presser foot guide rails, presser foot force arms are respectively arranged on the two second sliding blocks, and the presser foot force arms are respectively supported in the middles of two sides of the presser foot;
and the pushing device is in transmission connection with the presser foot and is used for pushing the presser foot.
6. The compound pivot angle end effector of claim 5, wherein the urging means comprises:
the cylinder is arranged on the base;
the plunger rod is arranged at the output end of the cylinder and is in transmission connection with the presser foot so as to push the presser foot.
7. The compound pivot angle end effector of claim 5 wherein the presser foot unit further comprises a break detection device disposed on the base.
8. The compound pivot angle end effector of claim 1, wherein the drive means comprises:
the screw rod is rotatably erected on the base and is parallel to the heavy-load guide rail;
the screw rod seat is sleeved on the screw rod in a transmission manner and is also connected with the first sliding block in a transmission manner;
the first motor is connected with the screw rod through a first speed reducer in a transmission mode, and a first band-type brake device is arranged on the first motor.
9. The compound pivot angle end effector of any one of claims 1 to 8, wherein the first driving device includes a second motor, a second reducer, and a second feedback unit, the second motor is in transmission connection with the second reducer, the second feedback unit is used for sensing an output shaft of the second reducer, the second reducer is in transmission connection with the base to drive the base to rotate, and a second band-type brake device is disposed on the second motor.
10. The compound pivot angle end effector of any one of claims 1 to 8, wherein the second driving device includes a third motor, a third speed reducer and a third feedback unit, the third speed reducer is in transmission connection with the third motor, the third feedback unit is used for sensing an output shaft of the third speed reducer, the third speed reducer is arranged on the flange, and an output end of the third speed reducer is provided with a connecting shaft;
the connecting shaft is connected with the bottom of the U-shaped shell in a transmission mode through the connecting hole so as to drive the U-shaped shell to rotate, and a sealing ring is arranged on the connecting shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943410.XA CN113828840A (en) | 2021-08-17 | 2021-08-17 | Composite swing angle end effector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110943410.XA CN113828840A (en) | 2021-08-17 | 2021-08-17 | Composite swing angle end effector |
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| CN113828840A true CN113828840A (en) | 2021-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110943410.XA Pending CN113828840A (en) | 2021-08-17 | 2021-08-17 | Composite swing angle end effector |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114347159A (en) * | 2022-01-05 | 2022-04-15 | 中国航空制造技术研究院 | Processing equipment for non-metal revolving body thin-wall workpiece |
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| CN102794491A (en) * | 2012-08-22 | 2012-11-28 | 浙江大学 | Device and method of automatic helical milling of hole |
| CN103639471A (en) * | 2013-12-05 | 2014-03-19 | 郑州大学 | Drilling end actuator for robot |
| CN203679343U (en) * | 2013-12-11 | 2014-07-02 | 成都飞机工业（集团）有限责任公司 | Tail end hole forming actuator of robot |
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| CN114347159A (en) * | 2022-01-05 | 2022-04-15 | 中国航空制造技术研究院 | Processing equipment for non-metal revolving body thin-wall workpiece |
| CN114347159B (en) * | 2022-01-05 | 2023-10-20 | 中国航空制造技术研究院 | Processing equipment for nonmetallic revolving body thin-wall workpiece |
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