CN201659821U - Cable-driven parallel engraving machine - Google Patents

Cable-driven parallel engraving machine Download PDF

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Publication number
CN201659821U
CN201659821U CN2010201506338U CN201020150633U CN201659821U CN 201659821 U CN201659821 U CN 201659821U CN 2010201506338 U CN2010201506338 U CN 2010201506338U CN 201020150633 U CN201020150633 U CN 201020150633U CN 201659821 U CN201659821 U CN 201659821U
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CN
China
Prior art keywords
drum shaft
noose
axle sleeve
rope
rolls
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN2010201506338U
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Chinese (zh)
Inventor
汤奥斐
李言
肖继明
袁启龙
孔令飞
高新勤
侯晓莉
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Xian University of Technology
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Xian University of Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by Xian University of Technology filed Critical Xian University of Technology
Priority to CN2010201506338U priority Critical patent/CN201659821U/en
Application granted granted Critical
Publication of CN201659821U publication Critical patent/CN201659821U/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

The utility model provides a cable-driven parallel engraving machine, which comprises a base, a moving platform, a knife tool and a flexible-cable driving arm system. The moving platform comprises a knife tool moving end arranged at the upper end of the knife tool, a supporting rod arranged at the upper end of the knife tool moving end and a top plate arranged at the top end of the supporting rod. The flexible-cable driving arm comprises at least three suspension cables, at least three fixed pulleys arranged on the base and a roller cable-controlling mechanism for controlling each suspension cable to release and withdraw; each suspension cable winds around one end of the fixed pulley to be connected to the knife tool moving end or the top plate, and the other end of the fixed pulley is connected to the roller cable-controlling mechanism. The benefits are as follows: under driving of the motor, force transmission is conducted through a spherical hinge device and a plurality of parallel suspension cables, so as to realize controlling of the platform position and posture and realize engraving of any curved surface and any trace.

Description

Rope drives engraving machine in parallel
Technical field
The utility model belongs to technical field of engraving, is specifically related to a kind of rope and drives engraving machine in parallel.
Background technology
Carving Machining is craftsman's type work that is being full of human high intelligence and high professional qualification, but hand engraving needs the technical professional, and production efficiency is low, causes the carved product costliness.Though traditional CNC milling machine, CNC machining center can replace artificial engraving and raise the efficiency, processed surface smoothness is low, the not high shortcoming of working (machining) efficiency but exist during soft materials such as its worked copper, aluminium, though and high speed CNC machining center can overcome above shortcoming but cost an arm and a leg, general producer is difficult to accept.Along with computer numerical control (CNC) technology and development of technologies, the computer carving machine arises at the historic moment, compare with traditional CNC numerical control device, it has rotating speed height, processing soft material efficient height, surface smoothness height, cost performance advantages of higher, so the present age, the engraving manufacturing technology just experienced from the change of hand engraving to computer carving [1]Particularly for the Carving Machining of artistic products, its processing key technology comprises the engraving of realizing free track and multi-coordinate interlock control etc., and existing numerical control device is difficult to be suitable for the Carving Machining of complex profile [1], and gentle rope drives parallel robot system and has advantages such as simple in structure, in light weight, that inertia is little, response is fast, working space is big, driver parallel operation, precision height, mechanical efficiency height, flexibility are big [2-5]
Engraving machine is of a great variety, can be divided into advertisement engraving machine, laser engraving machine, wood carving machine, BUILDINGS MODELS engraving machine, laser marking machine etc. by purposes, can be divided into two kinds of cantilever engraving machine and gantry engraving machines by structure, the cantilever engraving machine adopts series connection rigid rod supporting mechanism, compare with parallel institution, rigidity is little, structural instability, under identical deadweight or the volume, a little less than the bearing capacity; And the error on the tandem end piece is the accumulation and the amplification of each joint error, thereby error is big and precision is low; The drive motors of cantilever engraving machine and transmission system are unfixing, have increased the exercise load of system.Though gantry structure is widely applied on the engraving machine of various uses, but it is bulky, a little less than the flexibility, its drive part is generally hydraulic cylinder, cylinder or by the rack-and-pinion of driven by motor, thereby its attachment device complexity, control system realizes difficulty, and the manufacturing cost height can not adapt to growing diversity demand.
List of references
[1] Wu Guangming. CNC computer carving machine and with the use in conjunction strategy [J] of CNC milling machine and machining center. CAD/CAM and manufacturing informatization, 2005, (11): 94-97
[2]Sims'an?N,?Glozman?D,?Shoharn?M.?Design?considerations?of?new?six?degrees?of?freedom?parallel?robots?[A].?In:?Proceeding?of?the?1998?IEEE?International?Conference?on?Robotics?and?Automation?[C].?Leuven,?Belgium,?1998:?1327-1333
[3]Albus?J?S,?Bostelman?R?V,?Dagalakis?N?G.?The?NIST?Robocrane?[J].?Journal?of?Robotics?System.?1993,?10(5):?709-724
[4]Kawamura?S,?Choe?W,?Tanaka?S,?et?al.?Development?of?an?ultrahigh?speed?robot?FALCON?using?wire?drive?system?[A].?In:?Proceeding?of?the?1995?IEEE?Int.?Conference?on?Robotics?and?Automation?[C],?Nagoya,?1995:?215-220
[5]Motoji?Y,?Noritaka?Y,?Akira?M.?Trajectory?control?of?incompletely?restrained?parallel?wire-suspended?mechanism?based?on?inverse?dynamics?[J].?IEEE?transactions?on?robotics.?2004,?20(5):?840-850。
Summary of the invention
The purpose of this utility model provides a kind of rope and drives engraving machine in parallel, to overcome the problem that existing engraving machine is difficult to adapt to complex-curved Carving Machining.
The technical scheme that the utility model adopted is, a kind of rope drives engraving machine in parallel, comprises pedestal, moving platform, cutter and gentle rope actuating arm system; Moving platform comprises cutter mobile terminal that cutter upper end is set, is arranged on the pole of upper end, cutter mobile terminal and is arranged on taking over a business of pole top; Gentle rope actuating arm system comprises at least three suspension cables, be arranged at least three fixed pulleys on the pedestal and control the cylinder row rope mechanism of every suspension cable folding and unfolding; Every suspension cable is walked around on fixed pulley one end is connected the cutter mobile terminal or takes over a business, and the other end is connected in the cylinder row rope mechanism.
Wherein, gentle rope actuating arm system comprises three suspension cables that are arranged on the cutter mobile terminal, four suspension cables that are provided with, and seven fixed pulleys that are arranged on the pedestal are arranged rope mechanisms with seven cylinders that are separately positioned on every suspension cable end; Every suspension cable is walked around a fixed pulley, and on an end was connected the cutter mobile terminal or takes over a business, the other end was connected in the cylinder row rope mechanism.
It is characterized in that: cylinder row rope mechanism comprises rolls noose, drum shaft, axle sleeve and roller seat; Roller seat comprises base and the stand that is vertical setting with base, and drum shaft one end is arranged on the stand; Drum shaft is provided with and rolls noose and axle sleeve; Roll noose and be connected by key with drum shaft, axle sleeve and drum shaft are by being threaded; An end that rolls noose is connected with an end of axle sleeve, the outer circumference surface that rolls close axle sleeve one side end of noose is provided with collar, axle sleeve is provided with the draw-in groove corresponding with collar near the end of rolling noose one side, on this end of axle sleeve baffle plate is set also, and this baffle plate is limited in collar in the draw-in groove; Base is provided with the rectangular projection of the straight line parallel with drum shaft, and the outer circumference surface of axle sleeve is provided with the chute corresponding with projection, and rectangular projection is embedded in the chute.
Wherein, be connected with the drive unit that drive roller shaft is rotated in the cylinder row rope mechanism.
Its feature is that also cylinder row rope mechanism comprises the end cap that rolls noose, drum shaft, axle sleeve and be vertical setting with drum shaft; Roll noose and be fixedly connected on the drum shaft, be positioned at the drum shaft that rolls noose one side and be connected, be positioned at the drum shaft that rolls the noose opposite side and be provided with axle sleeve with end cap; One end of drum shaft and end cap are by being threaded, and the other end of drum shaft is provided with rectangular leading key, and the axle sleeve inner peripheral surface is provided with the rectangular leading groove corresponding with rectangular leading key, and rectangular leading key is embedded in the rectangular leading groove.
Wherein, be connected with the drive unit that propeller shaft sleeve rotates in the cylinder row rope mechanism.
Its feature is that further an end of suspension cable is connected with the cutter mobile terminal by the ball pivot device; The ball pivot device comprises the ball pivot cover and is arranged on the interior ball pivot ball of ball pivot cover that the ball pivot ball is provided with centre bore; The ball pivot cover is connected with the cutter mobile terminal by its outside screw thread is set, and suspension cable passes the centre bore of ball pivot ball, and the suspension cable end is provided with the hitch that prevents that suspension cable from extracting out from centre bore.
The beneficial effects of the utility model are, under the driving of motor, carry out the transmission of power by means of the suspension cable of ball pivot device and many parallel connections, the final control that realizes terminal (moving platform) pose, that is to say by the folding and unfolding of many suspension cables and coordinate to control the engraving that cutter is realized any track, compare with the parallel institution that rigid rod supports, have working space big, be easy to restructural, the fast characteristics of response speed.The utility model is simple in structure, in light weight, volume is little, inertia is little, easy for installation, easy to use, can guarantee complex-curved processing, and can guarantee machining accuracy, can realize the engraving of any track of arbitrary surface, can also change the putting position and the number of motor, cylinder row rope mechanism, can form different free degree constraint types, thereby realize the restructural of mechanism.
Description of drawings
Fig. 1 is the structural representation of the utility model engraving machine;
Fig. 2 is the structural representation of the utility model ball pivot device;
Fig. 3 is the structural representation of the utility model cylinder row rope mechanism;
Fig. 4 is that the A of Fig. 3 is to view;
Fig. 5 is the another kind of structural representation of the utility model cylinder row rope mechanism;
Fig. 6 is the B view of Fig. 5;
Fig. 7 is the C-C view of Fig. 6;
Fig. 8 is that moving platform is along the long schematic diagram that changes of the pairing rope of circular motion.
Among the figure, 1. pedestal, 2. cutter mobile terminal, 3. cutter, 4. fixed pulley, 5. suspension cable, 6. cylinder row rope mechanism, 7. drive unit, 8. pole is 9. taken over a business, 10. roll noose, 11. drum shafts, 12. axle sleeves, 13. roller seats, 14. bases, 15. stand, 16. collars, 17. draw-in grooves, 18. baffle plates, 19. projection, 20. rectangular leading keys, 21. rectangular leading grooves, 22. ball pivot covers, 23. the ball pivot ball, 24. centre bores, 25. hitch, 26. end caps.
The specific embodiment
The present invention is described in detail below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, the utility model discloses a kind of rope and drives engraving machine in parallel, comprises pedestal 1, moving platform, cutter 3 and gentle rope actuating arm system; Pedestal 1 is to connect into the tetragonal body framework with angle steel, can certainly adopt other shape.Moving platform comprises cutter mobile terminal 2 that cutter 3 upper ends are set, be arranged on the pole 8 of 2 upper ends, cutter mobile terminal and be arranged on pole 8 tops take over a business 9.Gentle rope actuating arm system comprises fixed pulley 4, suspension cable 5 and cylinder row rope mechanism 6; Take over a business 9 and be provided with four suspension cables 5, on four end angles of tetragonal body pedestal 1 upper end, respectively be provided with four fixed pulleys 4 correspondingly.Cutter mobile terminal 2 is provided with three suspension cables, correspondingly, is provided with three fixed pulleys 4 again in addition on pedestal 1, and every suspension cable 5 ends are connected with a cylinder row rope mechanism 6.Every suspension cable 5 is walked around fixed pulley 4, one ends and is connected cutter mobile terminal 2 or takes over a business on 9, and the other end is connected in the cylinder row rope mechanism 6.The folding and unfolding of seven suspension cables 5 by seven cylinder row rope mechanism 6 control suspension cables 5 is set on the moving platform, the reason that seven suspension cables are set is for the rope traction and parallel-connection mechanism, n the free degree controlling terminal pose fully needs n+1 root suspension cable to realize at least, therefore, realize that for engraving machine x, y, the translation of z axle reach rotation seven suspension cables of six-freedom degree employing, 5 controls altogether around x, y, z axle.Suspension cable 5 is connected by the ball pivot device with cutter mobile terminal 2, as shown in Figure 2, the ball pivot device comprises ball pivot cover 22 and the ball pivot balls 23 that are arranged in the ball pivot cover 22, ball pivot ball 23 is provided with centre bore 24, suspension cable 5 passes centre bore 24, the hitch 25 of suspension cable 5 ends can prevent that suspension cable 5 from extracting out from centre bore 24, ball pivot cover 22 is connected with cutter mobile terminal 2 by screw thread.The reason that the ball pivot device is set is the accuracy in order to ensure the integrality of mechanism and control model; make moving platform when theoretical working space moves; suspension cable 5 can move in ball pivot opening cone angle scope, and so the structural model that makes up can be near theoretical analysis model.
As shown in Figure 3, cylinder row rope mechanism 6 comprises and rolls noose 10, drum shaft 11, axle sleeve 12 and roller seat 13; Roller seat 13 comprises base 14 and the stand 15 that is vertical setting with base 14, and an end of drum shaft 11 is arranged on the stand 15; Drum shaft 11 is provided with and rolls noose 10 and axle sleeve 12, rolls noose 10 and is connected on the drum shaft 11 by key, and axle sleeve 12 is by being threaded on the drum shaft 11.An end that rolls noose 10 is connected with an end of axle sleeve 12, the outer circumference surface that rolls noose 10 close axle sleeve 12 1 side ends is provided with collar 16, axle sleeve 12 is provided with the draw-in groove 17 corresponding with collar 16 near the ends of rolling noose 10 1 sides, on this end of axle sleeve 12 baffle plate 18 is set also, this baffle plate 18 is limited in 17 li of draw-in grooves with collar 16.As shown in Figure 4, base 14 is provided with the straight line rectangular projection 19 parallel with drum shaft 11, and the outer circumference surface of axle sleeve 12 is provided with the chute corresponding with rectangular projection 19, and rectangular projection 19 is embedded in the chute.Drive unit 7 comprises motor, decelerator and shaft coupling.When motor drives drum shaft 11 rotations by decelerator and shaft coupling, roll noose 10 along with drum shaft 11 rotates.Because axle sleeve 12 and drum shaft 11 are by being threaded, when drum shaft 11 rotates, axle sleeve 12 is done rectilinear motion by screw thread on drum shaft 11, chute on the outer circumference surface of axle sleeve 12 slides along the rectangular projection 19 of the straight line on the base 14, and axle sleeve 12 rolls noose 10 by baffle plate 18 drives and does rectilinear motion along drum shaft 11.So, when drum shaft 11 rotates under motor-driven, roll noose 10 and both can under the constraint of screw thread and straight line chute, do rectilinear motion again simultaneously, thereby reach the purpose of rolling noose 10 retractable suspension cables 5 by key along with drum shaft 11 rotates.
As shown in Figure 5 and Figure 6, cylinder row rope mechanism 6 can also be designed to another structure, and cylinder row rope mechanism 6 comprises the end cap 26 that rolls noose 10, drum shaft 11, axle sleeve 12 and be vertical setting with drum shaft 11; Roll noose 10 and be fixedly connected on the drum shaft 11, be positioned at the drum shaft 11 that rolls noose 10 1 sides and be connected, be positioned at the drum shaft 11 that rolls noose 10 opposite sides and be provided with axle sleeve 12 with end cap 26.One end of drum shaft 11 and end cap 26 are by being threaded.As shown in Figure 7, the other end of drum shaft 11 is provided with rectangular leading key 20, and axle sleeve 12 inner peripheral surfaces are provided with the rectangular leading groove 21 corresponding with rectangular leading key 20, and rectangular leading key 20 is embedded in the rectangular leading groove 21.Drive unit is a servomotor.Under driven by servomotor, axle sleeve 12 rotates, and axle sleeve 12 drives drum shaft 11 rotations, and drum shaft 11 drives and rolls noose 10 rotations.Because drum shaft 11 and cylinder cap 26 are by being threaded, drum shaft 11 limit spinning side bands move and roll noose 10 moving linearlies.The rectangular leading key 20 that is arranged on the drum shaft 11 slides along the rectangular leading groove 21 on the axle sleeve 12, constraint drum shaft 11 moving linearlies.And then realized rolling that noose 10 had not only rotated but also the purpose of moving linearly, thereby reach the purpose of rolling noose 10 retractable suspension cables 5.
When thread pitch on the drum shaft 11 is consistent with the diameter of suspension cable 5, just can reaches suspension cable 5 and discharge in order and go out the fixing purpose of rope mouth.The purpose of cylinder row rope mechanism 6 is set: the one, realize the orderly discharging of suspension cable 5, avoid the rope disorder, improve terminal positioning accuracy; The 2nd, it is vertical and fixing to avoid rope to tilt to cause the error of rational mechanics model that suspension cable 5 goes out relative ground, rope position.
Operation principle of the present utility model is: the starting point of known cutter 3 operations, the pose of terminating point, tracing point is discrete, can solve discrete point next moment and the long variable quantity of the rope of previous moment according to the contrary model of separating of kinematics of mechanism, this variable quantity is changed into the control wave of motor, each motor rotatablely moves motor and passes to each cylinder row rope mechanism 6, retractable suspension cable 5 is coordinated by each cylinder row rope mechanism 6, thereby realizes the purpose of the terminal cutter 3 of moving platform according to the planned trajectory motion.The utility model coordinates to control the engraving that cutter 3 is realized any track by the folding and unfolding of many suspension cables 5, compares with the parallel institution that rigid rod supports, have working space big, be easy to restructural, the fast characteristics of response speed.
As shown in Figure 8, the bottom of moving platform 2 drives radius of cutter 3 motions and is 100mm, highly is the circumference of 100mm, and rope is long to be changed steadily, has verified that constructed model is feasible based on the scheme of the long control of rope.

Claims (7)

1. a rope drives engraving machine in parallel, it is characterized in that: comprise pedestal (1), moving platform, cutter (3) and gentle rope actuating arm system; Described moving platform comprises cutter mobile terminal (2) that cutter (3) upper end is set, be arranged on the pole (8) of upper end, cutter mobile terminal (2) and be arranged on take over a business (9) on pole (8) top; Described gentle rope actuating arm system comprises at least three suspension cables (5), be arranged at least three fixed pulleys (4) on the pedestal (1) and the cylinder row rope mechanism (6) of control every suspension cable (5) folding and unfolding; Every suspension cable (5) is walked around a fixed pulley (4) one ends and is connected cutter mobile terminal (2) or takes over a business on (9), and the other end is connected in the cylinder row rope mechanism (6).
2. engraving machine in parallel according to claim 1, it is characterized in that: described gentle rope actuating arm system comprises three suspension cables (5) that are arranged on the cutter mobile terminal (2), four suspension cables (5) on (9) are taken over a business in setting, are arranged on seven fixed pulleys (4) on the pedestal (1) and are separately positioned on seven cylinders row rope mechanisms (6) of every suspension cable (5) end; Every suspension cable (5) is walked around a fixed pulley (4), and an end is connected cutter mobile terminal (2) or takes over a business on (9), and the other end is connected in the cylinder row rope mechanism (6).
3. engraving machine in parallel according to claim 1 and 2 is characterized in that: described cylinder row rope mechanism (6) comprises rolls noose (10), drum shaft (11), axle sleeve (12) and roller seat (13); Roller seat (13) comprises base (14) and the stand (15) that is vertical setting with base (14), and drum shaft (11) one ends are arranged on the stand (15); Drum shaft (11) is provided with and rolls noose (10) and axle sleeve (12); The described noose (10) that rolls is connected by key with drum shaft (11), and axle sleeve (12) and drum shaft (11) are by being threaded; An end that rolls noose (10) is connected with an end of axle sleeve (12), the outer circumference surface that rolls close axle sleeve (12) one side ends of noose (10) is provided with collar (16), axle sleeve (12) is provided with the draw-in groove (17) corresponding with collar (16) near the end of rolling noose (10) one sides, baffle plate (18) also is set on this end of axle sleeve (12), and this baffle plate (18) is limited in draw-in groove (17) lining with collar (16); Base (14) is provided with the straight line rectangular projection (19) parallel with drum shaft (11), and the outer circumference surface of axle sleeve (12) is provided with and the corresponding chute of projection (19), and rectangular projection (19) is embedded in the chute.
4. engraving machine in parallel according to claim 3 is characterized in that: be connected with the drive unit (7) that drive roller shaft (11) is rotated in the described cylinder row rope mechanism (6).
5. engraving machine in parallel according to claim 1 and 2 is characterized in that: described cylinder row rope mechanism (6) comprises the end cap (26) that rolls noose (10), drum shaft (11), axle sleeve (12) and be vertical setting with drum shaft (11); Roll noose (10) and be fixedly connected on the drum shaft (11), be positioned at the drum shaft (11) that rolls noose (10) one sides and be connected, be positioned at the drum shaft (11) that rolls noose (10) opposite side and be provided with axle sleeve (12) with end cap (26); One end of described drum shaft (11) and end cap (26) are by being threaded, the other end of drum shaft (11) is provided with rectangular leading key (20), axle sleeve (12) inner peripheral surface is provided with the rectangular leading groove (21) corresponding with rectangular leading key (20), and described rectangular leading key (20) is embedded in the rectangular leading groove (21).
6. engraving machine in parallel according to claim 5 is characterized in that: be connected with the drive unit (7) that propeller shaft sleeve (12) rotates in the described cylinder row rope mechanism (6).
7. engraving machine in parallel according to claim 1 is characterized in that: an end of described suspension cable (5) is connected with cutter mobile terminal (2) by the ball pivot device; Described ball pivot device comprises ball pivot cover (22) and is arranged on the interior ball pivot ball (23) of ball pivot cover that ball pivot ball (23) is provided with centre bore (24); Ball pivot cover (22) is connected with cutter mobile terminal (2) by its outside screw thread is set, and suspension cable (5) passes the centre bore (24) of ball pivot ball (23), and suspension cable (5) end is provided with the hitch (25) that prevents that suspension cable (5) from extracting out from centre bore (24).
CN2010201506338U 2010-04-06 2010-04-06 Cable-driven parallel engraving machine Expired - Fee Related CN201659821U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010201506338U CN201659821U (en) 2010-04-06 2010-04-06 Cable-driven parallel engraving machine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010201506338U CN201659821U (en) 2010-04-06 2010-04-06 Cable-driven parallel engraving machine

Publications (1)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102941772A (en) * 2012-11-09 2013-02-27 沈阳建筑大学 Lower-mobility parallel mechanism with constraint chains
CN102950946A (en) * 2011-08-18 2013-03-06 曹毅 Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism
CN104439438A (en) * 2014-11-20 2015-03-25 福建工程学院 Three-in-one integrated equipment
CN104553558A (en) * 2015-02-05 2015-04-29 沈阳建筑大学 Carving machine with series-parallel structure
CN107775065A (en) * 2017-09-29 2018-03-09 天津大学 The coordinated movement of various economic factors synchronisation control means of the wall thickness such as dual robot mirror image milling processing

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102950946A (en) * 2011-08-18 2013-03-06 曹毅 Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism
CN102950946B (en) * 2011-08-18 2015-04-22 曹毅 Novel 3/3-RPRS six-degree-of-freedom robot arm carving mechanism
CN102941772A (en) * 2012-11-09 2013-02-27 沈阳建筑大学 Lower-mobility parallel mechanism with constraint chains
CN104439438A (en) * 2014-11-20 2015-03-25 福建工程学院 Three-in-one integrated equipment
CN104439438B (en) * 2014-11-20 2016-10-19 福建工程学院 A kind of three-in-one equipment integrating
CN104553558A (en) * 2015-02-05 2015-04-29 沈阳建筑大学 Carving machine with series-parallel structure
CN107775065A (en) * 2017-09-29 2018-03-09 天津大学 The coordinated movement of various economic factors synchronisation control means of the wall thickness such as dual robot mirror image milling processing

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Granted publication date: 20101201

Termination date: 20130406