CN201989032U - Mixed-linkage movable polisher with multiple degrees of freedom - Google Patents
Mixed-linkage movable polisher with multiple degrees of freedom Download PDFInfo
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- CN201989032U CN201989032U CN2009200665955U CN200920066595U CN201989032U CN 201989032 U CN201989032 U CN 201989032U CN 2009200665955 U CN2009200665955 U CN 2009200665955U CN 200920066595 U CN200920066595 U CN 200920066595U CN 201989032 U CN201989032 U CN 201989032U
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Abstract
The utility model relates to the technical field of polishers, in particular to a mixed-linkage movable polisher with multiple degrees of freedom, which is used for polishing copper faucets in bathrooms, and is realized in a way that on the basis of six degrees of freedom of a six-SPS parallel-connection mechanism, three rotating shafts are added, and a servo motor is connected on a numerical control system formed by an industrial personal computer and a Pmac card by a wire, so that parts can move in the space with multiple degrees of freedom. Compared with the prior art, with the mixed-linkage movable polisher, the difficulties of low cost and automatic polishing are solves, the faucet can move with nine degrees of freedom in the space, the requirements on the polishing of hypersurfaces and common-linkage surfaces can be met, and the unmanned operation and production can be realized.
Description
[technical field]
The utility model relates to the polishing machine technical field, specifically a kind of multiple degrees of freedom series parallel movement polisher of bathroom brass bib cock polishing usefulness.
[background technology]
The polishing of existing bathroom faucet, be with manually on belt sander and cloth turbine polishing, its shortcoming be that copper powder dirt is big, harmful because the polishing frictional heating is very hot, this method injury human body, physical demands greatly, inefficiency.
Adopt six general joint open chain one armed robots in addition, the configuration jaw, catch workpiece, give surface finish on belt sander and cloth wheel, but efficient and manual polishing are quite, robot costs an arm and a leg, use cost is high, enterprise's one-time investment is too big, and particularly for the very low small lot variation product of interest rate, its investment is reclaimed extremely slow.
[summary of the invention]
The purpose of this utility model is in order to overcome the deficiencies in the prior art, on the 6DOF basis of background technology 6-SPS parallel institution, other sets up three rotating shafts, realize part 9 frees degree motion spatially, with satisfy to by a plurality of curved surfaces, multiple curved surface, multiplely be used to the tap outer surface polishing requirements that the connection face constitutes.
For achieving the above object, a kind of multiple degrees of freedom series parallel movement polisher of design, comprise by the Three Degree Of Freedom hinge, fixed platform, motion platform and the 6-SPS parallel institution of forming by the six roots of sensation expansion link of servomotor control, lathe bed, polissoir, conveyer belt, digital control system, it is characterized in that: motion platform 7 right sides are provided with servomotor 8, motion platform 7 left sides are provided with reductor 9, the motor shaft of servomotor 8 passes in the axis hole of reductor 9 right-hand members that motion platform 7 inserts horizontal positioned, the right-hand member of the fixedly connected rotating shaft 10 in the left side of reductor 9, when the motor shaft of servomotor 8 rotated, drive rotating shaft 10 was done deceleration and is rotatablely moved with one heart; The left side of rotating shaft 10 is provided with upright opening, be provided with another reductor 11 of vertical placement in the upright opening of rotating shaft 10, the motor shaft of another servomotor 12 and fixedly connected is inserted in another reductor 11 axis hole lower ends, fixedly connected turning arm 13 bottoms, the upper end of another reductor 11, when the motor shaft of another servomotor 12 rotates, driven rotary arm 13 is done the rotation with one heart of slowing down, establish horizontal shaft hole in the horizontal arm on turning arm 13 tops, the overcoat of another reductor 14 this horizontal shaft hole of packing into, the fixedly connected clamp shaft 17 of the left end of another reductor 14, the right-hand member of another reductor 14 connects the left end of another servomotor 15, the right-hand member of another servomotor 15 is equipped with pneumatic pinch cylinder 16, when the motor shaft of another servomotor 15 rotates, drive clamp shaft 17 and do synchronous deceleration rotation.
Described polissoir is multistage coaxial belt sander and burlap turbine.
The structure of described 6-SPS parallel institution is between fixed platform 2 and motion platform 7, one group is 6 expansion links of 120 ° of installations in twos, expansion link mainly comprises sleeve 4 and inner telescopic bar 5 compositions, the top of the telescopic bar 5 of every expansion link and the tail end of sleeve 4 adopt Three Degree Of Freedom universal coupling 3 to be connected on motion platform 7 and the fixed platform 2 respectively, and fixed platform 2 is on the column 1 that the vertical configuration right flank is fixed on bed piece; The ball screw assembly, that drives in the expansion links by the set servomotor 6 of every expansion link, thereby the flexible value of the difference that changes expansion link, make motion platform 7 in the certain space scope, make X, Y, Z to motion, and be that swing is done in the axle center with X, Y, Z axle, thereby make motion platform 7 make the swing and the inclination of different angles, change the pose of motion platform 7, realize the 6DOF spatial movement of approximate sphere.
Above-mentioned 9 servomotors altogether, be to adopt wire coupling on the digital control system of industrial computer and Pmac card formation, control 6 expansion link parallel kinematics, and rotating shaft 10, turning arm 13, clamp shaft 17 the series connection campaign of three rotations, i.e. 9 free degree series parallel movements in addition that form.
The utility model is compared with prior art, has solved a low-cost automatic polishing difficult problem, has realized that tap can do 9 frees degree motions in the space, has satisfied hypersurface, has been used to the connection face and carries out polishing requirements, reaches unmanned operation production.
[description of drawings]
Accompanying drawing 1 is the structural representation that adopts shaping rough polishing equipment among the utility model embodiment, and wherein A1, B1, C1 arrow are respectively the rotation direction of rotating shaft, clamp shaft, turning arm.
Accompanying drawing 2 is the structural representation that adopts brilliant polish equipment among the utility model embodiment, and wherein A1, B1, C1 arrow are respectively the rotation direction of rotating shaft, clamp shaft, turning arm.
Accompanying drawing 3 is the coordinate and the pose schematic diagram of motion platform in the utility model, and wherein A, B, C refer to that motion platform centers on the direction of X, Y, the swing of Z axle.
Specifying accompanying drawing 1 is Figure of abstract.
Referring to accompanying drawing 1 and Fig. 2,1 is column---the vertical column on the bed piece; 2 is fixed platform; 3 is the Three Degree Of Freedom universal coupling; 4 is the sleeve of expansion link; 5 is telescopic bar; Be positioned at the expansion link sleeve; 6 is servomotor, amounts to 6 two ends that are individually fixed in 6 expansion links; 7 is motion platform; 8 is servomotor; 9 is reductor; 10 are rotating shaft; 11 is another reductor; 12 is another servomotor; 13 is turning arm; 14 is another reductor; 15 is another servomotor; 16 is the pneumatic pinch cylinder; 17 is clamp shaft; 18 is part; 19,19-1,19-2 are the abrasive band; 20,20-1,20-2 are the bogie wheel of different radii; 21 is that driving shaft, 21-1 are bolster; 22,22-1,22-2 are the driving wheel of different radii; 23 is motor; 24 is feeding conveying belt; 25 is the finished product conveyer belt; 26 is motor; 27 is motor pulley; 28 is belt; 29 are burlap wheel belt pulley, are located on the burlap wheel main shaft; 30 are burlap wheel main shaft; 31 are the burlap wheel.
[specific embodiment]
Below in conjunction with accompanying drawing the utility model is further described, the utility model is still more clearly concerning those skilled in the art.
Adopt existing 6-SPS parallel institution, utilize the interior ball screw assembly, of driven by servomotor bar of every expansion link configuration, thereby the flexible value of the difference that changes expansion link, make motion platform 7 can in the certain space scope, do X, Y, Z motion, and be that the A shown in the accompanying drawing 3, B, C arrow are done to oscillating motion in the axle center with X, Y, Z axle, thereby make the swing and the inclination of different angles, change the pose of motion platform 7, realize the 6DOF spatial movement of approximate sphere as shown in Figure 3.
For can to by multiple curved surface, face directly, the inclined-plane, be used to connect the complex space art profile that face combines, carry out thick throwing of profile and do not have the dead angle, lathe again on motion platform 7 series-parallel connection can carry out the gyroaxis that A1, B1, three arrows of C1 turn to, make part to be processed spatially realize 9 frees degree motions.
Its workflow is roughly: the left end of clamp shaft 17 grasps part 18 to be processed on feeding conveying belt 24, and by clamping cylinder 15 tensions, part 18 is clamped at clamp shaft 17 left ends, part 18 can be Fig. 1, Fig. 2 and X shown in Figure 3, Y, Z, A, B, C, A1, B1, the spatial movement of 9 frees degree of C1, and adopt the multistage coaxial belt sander of forming by two or more abrasive belt wheels with different radii shown in Fig. 1 left that the profile of part is carried out integer and slightly throw, can select the abrasive belt wheel of different radii when slightly throwing according to the difference of part profile automatically.
After thick throwing is finished, then by clamp shaft 17 part 18 is delivered to burlap turbine place shown in Fig. 2 left again, part 18 is carried out brilliant polish, unclamp and clamp cylinder 16, part 18 places on the finished product conveyer belt 25, sends into the finished product district, generally adopts large diameter burlap wheel.
Referring to Fig. 1, described multistage coaxial belt sander, the output shaft lower end of motor 23 and driving shaft coaxial linking to each other of upper end, be provided with the driving wheel of at least two different radiis on the driving shaft 21 from top to bottom successively, as adopt three driving wheels 22,22-1,22-2, also be provided with bolster 21-1 with driving shaft 21 vertical parallel, with driving wheel same level height, 21-1 also is provided with the bogie wheel of at least two different radii from top to bottom, as adopting three bogie wheels 20,20-1,20-2, corresponding driving wheel and bogie wheel excircle center on abrasive band 19,19-1,19-2 respectively.
The bogie wheel 20 of above-mentioned different radii, 20-1,20-2 can make the abrasive band cornerite that different radiuss of clean-up is arranged outward, thereby adapt to the cutting demand of the least radius of part to maximum radius;
And driving wheel 22,22-1, the 22-2 of different radii can guarantee that the linear velocity of abrasive band 19,19-1,19-2 is identical;
When motor 23 output shafts rotate, drive driving shaft 21 and driving wheel 22 rotations, be centered around the abrasive band 19 of driving wheel 22 and bogie wheel 20 excircles, drag bogie wheel 20 and rotate, abrasive band 19 motion of detouring, has high-speed line speed, and the maintenance constant-tension, abrasive band 19 outer surfaces are stained with diamond dust, and the point, line, surface of the part outer surface that touches are carried out grinding, after making the piece surface mill that smooth, bright and clean, continuous external form be arranged, clamp shaft 17 moves to the burlap wheel with part and carries out brilliant polish.
Referring to Fig. 2, the position of left, be to be used to carry out the smart burlap wheel of throwing, on the output shaft of motor 26, be fixed with motor pulley 27, belt 28 connects the burlap wheel belt pulley 29 of motor pulley 27 and top, burlap wheel belt pulley 29 is fixed on the burlap wheel main shaft 30, also be fixed with burlap wheel 31 with one heart on the burlap wheel main shaft 30, it is folded vertically tightly together that the excircle of burlap wheel 31 is loose shape, and inner periphery with industrial sewing machine by a plurality of concentric circles lap seams together, when motor 26 main axis rotation, by motor pulley 27, belt 28, burlap wheel belt pulley 29 drive 30 rotations of burlap wheel main shaft, burlap wheel 31 is also done coaxial rotation, and part is implemented brilliant polish.Wherein, the excircle of burlap wheel 31 is loose stack shape, make part can be included between the superimposed layer, and do 9 frees degree and move, so part to be processed do not have to throw less than the dead angle, and quality, efficient all be improved, and guaranteed the artistic external form quality of the complete light of part and the uniformity of external form; Again owing to adopted nine series parallel movement digital control systems, carry out programme-control by the cutter track figure of CAD, CAM establishment, finish full-automatic polishing, need not the operator, human body there is not any injury, be green manufacturing machinery.
Claims (4)
1. multiple degrees of freedom series parallel movement polisher, comprise by the Three Degree Of Freedom hinge, fixed platform, motion platform and the 6-SPS parallel institution of forming by the six roots of sensation expansion link of servomotor control, lathe bed, polissoir, conveyer belt, digital control system, it is characterized in that: motion platform (7) right side is provided with servomotor (8), motion platform (7) left side is provided with reductor (9), the motor shaft of servomotor (8) passes in the axis hole of reductor (9) right-hand member that motion platform (7) inserts horizontal positioned, the right-hand member of the fixedly connected rotating shaft in left side (10) of reductor (9), the left side of rotating shaft (10) is provided with upright opening, be provided with another reductor (11) of vertical placement in the upright opening of rotating shaft (10), the motor shaft of another servomotor (12) and fixedly connected is inserted in another reductor (11) axis hole lower end, the fixedly connected turning arm in upper end (13) bottom of another reductor (11), establish horizontal shaft hole in the horizontal arm on turning arm (13) top, the overcoat load level axis hole of another reductor (14), the fixedly connected clamp shaft of left end (17) of another reductor (14), the right-hand member of another reductor (14) connects the left end of another servomotor (15), and the right-hand member of another servomotor (15) is equipped with pneumatic pinch cylinder (16).
2. multiple degrees of freedom series parallel movement polisher as claimed in claim 1 is characterized in that: described polissoir is a shaping rough polishing equipment, and brilliant polish equipment.
3. multiple degrees of freedom series parallel movement polisher as claimed in claim 2 is characterized in that: described shaping rough polishing equipment is multistage coaxial belt sander.
4. multiple degrees of freedom series parallel movement polisher as claimed in claim 2 is characterized in that: described brilliant polish equipment is the burlap turbine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200665955U CN201989032U (en) | 2009-01-07 | 2009-01-07 | Mixed-linkage movable polisher with multiple degrees of freedom |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2009200665955U CN201989032U (en) | 2009-01-07 | 2009-01-07 | Mixed-linkage movable polisher with multiple degrees of freedom |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201989032U true CN201989032U (en) | 2011-09-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2009200665955U Expired - Fee Related CN201989032U (en) | 2009-01-07 | 2009-01-07 | Mixed-linkage movable polisher with multiple degrees of freedom |
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| CN (1) | CN201989032U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554740A (en) * | 2011-12-30 | 2012-07-11 | 广州南鸥卫浴用品有限公司 | Internal expansion type fixture for faucet |
| CN105014525A (en) * | 2015-07-03 | 2015-11-04 | 浙江工业大学 | Self-adaptive adjusting method based on multi-degree-of-freedom adjusting mechanism of grinded/polished workpieces |
| CN104985524B (en) * | 2015-07-03 | 2017-04-26 | 浙江工业大学 | Self-adaptive and multi-degree-of-freedom adjusting mechanism for grinding and polishing workpieces |
| CN106625151A (en) * | 2016-10-13 | 2017-05-10 | 五邑大学 | Multi-degree-of-freedom series-parallel polishing system |
-
2009
- 2009-01-07 CN CN2009200665955U patent/CN201989032U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102554740A (en) * | 2011-12-30 | 2012-07-11 | 广州南鸥卫浴用品有限公司 | Internal expansion type fixture for faucet |
| CN105014525A (en) * | 2015-07-03 | 2015-11-04 | 浙江工业大学 | Self-adaptive adjusting method based on multi-degree-of-freedom adjusting mechanism of grinded/polished workpieces |
| CN104985524B (en) * | 2015-07-03 | 2017-04-26 | 浙江工业大学 | Self-adaptive and multi-degree-of-freedom adjusting mechanism for grinding and polishing workpieces |
| CN106625151A (en) * | 2016-10-13 | 2017-05-10 | 五邑大学 | Multi-degree-of-freedom series-parallel polishing system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110928 Termination date: 20150107 |
|
| EXPY | Termination of patent right or utility model |