CN206066165U - A kind of six degree of freedom milling robot for adapting to curved surface - Google Patents
A kind of six degree of freedom milling robot for adapting to curved surface Download PDFInfo
- Publication number
- CN206066165U CN206066165U CN201621050114.8U CN201621050114U CN206066165U CN 206066165 U CN206066165 U CN 206066165U CN 201621050114 U CN201621050114 U CN 201621050114U CN 206066165 U CN206066165 U CN 206066165U
- Authority
- CN
- China
- Prior art keywords
- turning arm
- arm
- curved surface
- degree
- axle
- 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
Links
Landscapes
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model discloses a kind of six degree of freedom milling robot for adapting to curved surface, including sixdegree-of-freedom simulation, sixdegree-of-freedom simulation includes first rotating arm, first rotating arm vertically connects the second turning arm to axle, second turning arm is vertically connected with the 3rd turning arm to axle, 3rd turning arm is vertically connected with the 4th turning arm to axle, and the 4th turning arm is vertically connected with the 5th turning arm to axle, and the 5th turning arm is vertically connected with the 6th turning arm to axle；6th turning arm is connected with motor, and the motor cabinet of motor is fixedly connected with toothed disc；Central gear is provided with toothed disc, central gear is connected with the rotating shaft of motor, central gear is engaged with some planetary gears, planetary gear is connected with disc brush by universal rotating shaft.It is this utility model simple structure, easy to use, it is capable of three-dimensional to six direction displacement, is easy to polish stereo article, and effect of polishing is good, it is high in machining efficiency, and can adapt to the polishing of curved surface article.
Description
Technical field
This utility model belongs to mechanical field, more particularly to a kind of six degree of freedom milling robot for adapting to curved surface.
Background technology
Current wallboard, steel plate or the shield with three-dimensional shape etc. need to polish smooth surface before the use, mesh
Front mainly to be carried out using manpower, the result for causing is that the effect of polishing is not uniform enough and inefficient.In addition existing disc brush
During polishing, from the center of circle more close to point linear speed it is lower, therefore treat that polishing part polishing amount everywhere is inconsistent, or obtain and preferably polish
Effect, needs longer time, and working (machining) efficiency is low.Finally, existing sanding apparatus are only suitable for the polishing of plane, run into curved surface
When, due to only one of which sanding apparatus, therefore a bit on curved surface of can only polishing, it is impossible to adapt to the polishing of curved surface.
Utility model content
To solve the above problems, this utility model provides a kind of six degree of freedom milling robot for adapting to curved surface.This reality
It is simple, easy to use with new structure, it is capable of three-dimensional to six direction displacement, is easy to polish stereo article, and beats
Mill effect is good, high in machining efficiency, and can adapt to the polishing of curved surface article.
To reach above-mentioned technique effect, the technical solution of the utility model is：
A kind of six degree of freedom milling robot for adapting to curved surface, including sixdegree-of-freedom simulation, sixdegree-of-freedom simulation bag
First rotating arm is included, first rotating arm vertically connects the second turning arm to axle, and the second turning arm is vertically connected with the 3rd rotation to axle
Pivoted arm, the 3rd turning arm are vertically connected with the 4th turning arm to axle, and the 4th turning arm is vertically connected with the 5th turning arm to axle, the
Five turning arms are vertically connected with the 6th turning arm to axle；6th turning arm is connected with motor, and the motor cabinet of motor is fixedly connected with
Toothed disc；Central gear is provided with toothed disc, central gear is connected with the rotating shaft of motor, central gear is engaged with some planet teeth
Wheel, planetary gear are connected with disc brush by universal rotating shaft.
Further to improve, the bottom of the toothed disc is provided with the slide rail coordinated with planetary gear rotation track, planet tooth
The rotating shaft of wheel is slidably connected with slide rail.
It is further to improve, heat sink is fixed with the chassis of the toothed disc.
Further to improve, the heat sink is fan.
Further to improve, the heat sink is nozzle.
Further to improve, in the disc brush, adjacent bristle intersects setting.
Further to improve, the first rotating arm is connected with mounting seat, and the corner of mounting seat is provided with installation screwed hole.
It is this utility model simple structure, easy to use, it is capable of three-dimensional to six direction displacement, is easy to enter stereo article
Row polishing, and effect of polishing is good, it is high in machining efficiency, and can adapt to the polishing of curved surface article.
Description of the drawings
Fig. 1 is general structure schematic diagram of the present utility model；
Structural representations of the Fig. 2 for disc brush.
Specific embodiment
Below by way of specific embodiment and combine accompanying drawing the technical solution of the utility model is illustrated.
Embodiment 1
A kind of six degree of freedom milling robot of the adaptation curved surface as shown in Fig. 1 and soil, including sixdegree-of-freedom simulation 1,
Sixdegree-of-freedom simulation 1 includes first rotating arm 2, and first rotating arm 2 is vertical to connect the second turning arm 3, the second turning arm 3 to axle
Vertical to be connected with the 3rd turning arm 4 to axle, the 3rd turning arm 4 is vertically connected with the 4th turning arm 5 to axle, and the 4th turning arm 5 hangs down
Directly the 5th turning arm 6 is connected with to axle, the 5th turning arm 6 is vertically connected with the 6th turning arm 7 to axle；6th turning arm 7 connects
The motor cabinet 17 for having motor 8, motor 8 is fixedly connected with toothed disc 13；Central gear 10, central gear 10 are provided with toothed disc 13
It is connected with the rotating shaft 9 of motor 8, central gear 10 is engaged with some planetary gears 11, planetary gear 11 is connected by universal rotating shaft 18
It is connected to disc brush 12.
The setting of sixdegree-of-freedom simulation 1 causes mechanical arm to have the degree of freedom on six direction, conveniently carries out stereoscopic article
The polishing of product.Planetary gear 11 is driven to rotate by central gear 10 so that planetary gear 11 is produced while with rotation
Revolution, so that treat the linear speed difference of the polishing between polishing part each point no longer substantially, so that grinding homogeneity；Working (machining) efficiency is more
It is high.When workpiece of polishing is curved surface, disc brush 12 by 18 adjust automatically angle of universal rotating shaft, so as to adapt to the need that curved surface is polished
Ask.
The bottom of toothed disc 13 is provided with the slide rail 14 coordinated with 11 rotary motion trace of planetary gear, the rotating shaft 15 of planetary gear 11
It is slidably connected with slide rail 14.Which ensures that planetary gear 11 can be run according to desired guiding trajectory, prevent because the accuracy of manufacture is inadequate
And produce operation troubles.
Heat sink 16 is fixed with the chassis of toothed disc 13, is prevented because polishing part is damaged because temperature is too high when polishing
Or cause mechanical breakdown.
When polishing part is not suitable for being lowered the temperature with water, heat sink 16 is preferably fan.
When polishing part is convenient is lowered the temperature with water, heat sink 16 is preferably nozzle, outward spray cooling, while water plays punching
Wash the effect of dust and lubrication.
Bristle 19 adjacent in disc brush 12 intersects setting, and in can so preventing bruting process, bristle is rolled up to a direction
Song, so as to affect effect of polishing.It is such that the service life that increased disc brush 12 is set.
First rotating arm 2 is connected with mounting seat 20, and the corner of mounting seat 20 is provided with installation screwed hole 21.So convenient machinery
Arm is installed and is fixed.This utility model is particularly suited for the polishing of leatherware.
Above are only one of the present utility model it is concrete be oriented to embodiment, but design concept of the present utility model not office
It is limited to this, all changes for carrying out unsubstantiality using this design to this utility model all should belong to infringement guarantor of the present utility model
The behavior of shield scope.
Claims (7)
1. a kind of six degree of freedom milling robot for adapting to curved surface, it is characterised in that including sixdegree-of-freedom simulation (1), six from
By degree mechanical arm (1) including first rotating arm (2), first rotating arm (2) is vertical to connect the second turning arm (3), the second rotation to axle
Pivoted arm (3) is vertically connected with the 3rd turning arm (4) to axle, and the 3rd turning arm (4) is vertically connected with the 4th turning arm (5) to axle,
4th turning arm (5) is vertically connected with the 5th turning arm (6) to axle, and the 5th turning arm (6) is vertically connected with the 6th rotation to axle
Arm (7)；6th turning arm (7) is connected with motor (8), and the motor cabinet (17) of motor (8) is fixedly connected with toothed disc (13)；Gear
Central gear (10) is provided with disk (13), central gear (10) is connected with the rotating shaft (9) of motor (8), central gear (10) engagement
There are some planetary gears (11), planetary gear (11) is connected with disc brush (12) by universal rotating shaft (18).
2. the six degree of freedom milling robot of curved surface is adapted to as claimed in claim 1, it is characterised in that the toothed disc (13)
Bottom be provided with the slide rail (14) coordinated with planetary gear (11) rotary motion trace, the rotating shaft (15) of planetary gear (11) and slide rail
(14) it is slidably connected.
3. the six degree of freedom milling robot of curved surface is adapted to as claimed in claim 1, it is characterised in that the toothed disc (13)
Chassis on be fixed with heat sink (16).
4. the six degree of freedom milling robot of curved surface is adapted to as claimed in claim 3, it is characterised in that the heat sink
(16) it is fan.
5. the six degree of freedom milling robot of curved surface is adapted to as claimed in claim 3, it is characterised in that the heat sink
(16) it is nozzle.
6. the six degree of freedom milling robot of curved surface is adapted to as claimed in claim 1, it is characterised in that on the disc brush (12)
Adjacent bristle (19) intersects setting.
7. as described in claim 1-6 is arbitrary adaptation curved surface six degree of freedom milling robot, it is characterised in that described first
Turning arm (2) is connected with mounting seat (20), and the corner of mounting seat (20) is provided with installation screwed hole (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621050114.8U CN206066165U (en) | 2016-09-12 | 2016-09-12 | A kind of six degree of freedom milling robot for adapting to curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621050114.8U CN206066165U (en) | 2016-09-12 | 2016-09-12 | A kind of six degree of freedom milling robot for adapting to curved surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206066165U true CN206066165U (en) | 2017-04-05 |
Family
ID=58437947
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621050114.8U Expired - Fee Related CN206066165U (en) | 2016-09-12 | 2016-09-12 | A kind of six degree of freedom milling robot for adapting to curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206066165U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775474A (en) * | 2017-11-06 | 2018-03-09 | 重庆椿本智能科技有限公司 | A kind of workpiece polishing mechanism |
| CN108214239A (en) * | 2018-01-16 | 2018-06-29 | 宁波三葵研磨材料有限公司 | A kind of 3 D stereo sander |
| CN108544375A (en) * | 2018-03-29 | 2018-09-18 | 广东博科数控机械有限公司 | A kind of continuous sanding and polishing machine of the mobile self-dust-suction of big equipment surface processing |
| CN109822225A (en) * | 2019-02-22 | 2019-05-31 | 合肥齐泰光电科技有限公司 | Laser for cambered surface mark |
| CN113580193A (en) * | 2021-07-27 | 2021-11-02 | 安徽机电职业技术学院 | Industrial robot |
-
2016
- 2016-09-12 CN CN201621050114.8U patent/CN206066165U/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107775474A (en) * | 2017-11-06 | 2018-03-09 | 重庆椿本智能科技有限公司 | A kind of workpiece polishing mechanism |
| CN108214239A (en) * | 2018-01-16 | 2018-06-29 | 宁波三葵研磨材料有限公司 | A kind of 3 D stereo sander |
| CN108544375A (en) * | 2018-03-29 | 2018-09-18 | 广东博科数控机械有限公司 | A kind of continuous sanding and polishing machine of the mobile self-dust-suction of big equipment surface processing |
| CN109822225A (en) * | 2019-02-22 | 2019-05-31 | 合肥齐泰光电科技有限公司 | Laser for cambered surface mark |
| CN109822225B (en) * | 2019-02-22 | 2021-10-08 | 合肥齐泰光电科技有限公司 | Laser for cambered surface marking |
| CN113580193A (en) * | 2021-07-27 | 2021-11-02 | 安徽机电职业技术学院 | Industrial robot |
| CN113580193B (en) * | 2021-07-27 | 2022-02-01 | 安徽机电职业技术学院 | Industrial robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206066165U (en) | A kind of six degree of freedom milling robot for adapting to curved surface | |
| CN206066136U (en) | A kind of six degree of freedom milling robot | |
| CN205342821U (en) | High -efficient burnishing machine with work piece gyration strutting arrangement | |
| CN204076537U (en) | A kind of cylinder stone material integrated processing device | |
| CN207239860U (en) | A kind of gear teeth burr polishing device | |
| CN215547173U (en) | Breakage-proof bits structure that splashes of screw processing lathe | |
| CN203696152U (en) | Gear chamfering, deburring and burring machine | |
| CN107971930A (en) | Intelligent numerical control grinding machine | |
| CN202668369U (en) | Turntable feeding device of bur removing machine | |
| CN202344054U (en) | De-burring and de-rusting polisher device for automobile synchronizer gear | |
| CN207255881U (en) | A kind of auto parts and components burr remover | |
| CN104625956A (en) | Clamp for removing burrs at edges of rotors and gears through vertical driller | |
| CN102328254A (en) | Multipurpose deburring machine for inner bore and end face | |
| CN203221393U (en) | Round pipe surface polishing device | |
| CN206140303U (en) | Rotatory swing fixture device | |
| CN219725835U (en) | Sand blasting machine with sand grain collecting structure | |
| CN203542361U (en) | Clamp for removing burr of edges of rotor and gear by means of vertical driller | |
| CN206393412U (en) | A kind of automatic numerical control grinding machine | |
| CN202668320U (en) | Concentric circle type plane double grinding disc device | |
| CN206392985U (en) | A kind of automobile equipment gear sanding apparatus | |
| CN205950290U (en) | Large -scale five -axis machining center 's workstation | |
| CN207223024U (en) | It can complete the composite milling cutter of a set of Milling Process | |
| CN202388244U (en) | Gear cutting worktable auxiliary device capable of rotating automatically | |
| CN206998495U (en) | A kind of headstock structure of burr removing machine tool main tapping part | |
| CN206780096U (en) | A kind of angle adjustable glass edge-grinding machine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170405 Termination date: 20170912 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |