CN207593786U - A kind of six degree of freedom complex surface machining robot - Google Patents
A kind of six degree of freedom complex surface machining robot Download PDFInfo
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- CN207593786U CN207593786U CN201721503780.7U CN201721503780U CN207593786U CN 207593786 U CN207593786 U CN 207593786U CN 201721503780 U CN201721503780 U CN 201721503780U CN 207593786 U CN207593786 U CN 207593786U
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- slide bar
- revolute pair
- parallel sliding
- ball guide
- leading screw
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Abstract
The utility model is related to a kind of six degree of freedom complex surface machining robots, belong to robot mechanism field.A kind of six degree of freedom complex surface machining robot including rack, parallel sliding track group one, parallel sliding column, parallel sliding track group two, crossbeam, moving platform, main tapping and is connected in parallel between crossbeam and moving platform with mutually isostructural first, second, and third branch；Above-mentioned each branching characteristic is to be connected with single slide rail group, two revolute pairs and a universal hinge in turn between crossbeam to moving platform, and two revolute pair axis are parallel.Compared with existing processing equipment, the utility model has many advantages, such as that the deflectable angle of main tapping is big, working efficiency is high, precision is high, simple in structure, manufacture is easy and is suitble to processing complex-curved, has a good application prospect.
Description
Technical field
The utility model is related to robot mechanism field, specifically a kind of six degree of freedom complex surface machining machine
People.
Background technology
Nowadays, generally using conventional open-loop series connection processing equipment, these processing equipments are mostly deposited for domestic mechanical processing manufacture
Machining accuracy is low, accumulated error is big and can not process the shortcomings of complex-curved；Developed country has begun to use extensively in the world
Processing equipment in parallel substitution traditional processing machinery, however domestic research and application in terms of processing equipment in parallel is but relatively
It is few, existing demand for development can not be fully met；Chinese patent (101850519 A of CN) proposes a kind of space five-freedom
Parallel machine；Chinese patent (CN 01221948.7) proposes a kind of parallel machine of vertical three-translational freedom；Chinese patent
(CN 1267581A) proposes a kind of spatial triaxial parallel machine tool structure with two-dimensional shift and one-dimensional rotation；Chinese patent (CN
1958229A) propose a kind of digital control machine tool with five degrees of freedom in parallel and series；Chinese patent (CN 105234685A) proposes a kind of base
In the parallel machine configuration of 3RRRS mechanisms；Chinese specially (CN103978393A) proposes a kind of parallel connection that can realize five-axis robot
Lathe；Chinese patent (CN 106002342A) proposes a kind of five-axle linkage Series-parallel Machine；But above-mentioned machine tool structure some adds
Work area domain is limited, have it is complicated, be unfavorable for fabricating, the deflectable angle having is small, causes processing efficiency low and workpiece
Suface processing quality is not high.
Invention content
In view of the foregoing, it is necessary to provide a kind of actual processing region is big, simple in structure, processing and manufacturing easily, it is in parallel
The deflectable angle of main tapping is big and controls easily six degree of freedom complex surface machining robot.
The utility model is related to a kind of six degree of freedom complex surface machining robot, including rack, parallel sliding track group one, rolling
Screw nut pair one, ball guide screw nat two, parallel sliding column, ball guide screw nat three, ball guide screw nat
4th, parallel sliding track group two, crossbeam, moving platform, main tapping and be connected in parallel between crossbeam and moving platform have identical structure
First, second, and third branch；Above-mentioned each branch includes ball guide screw nat five, single slide rail group, nut slide unit, turns
Dynamic pair one, connecting rod one, revolute pair two, connecting rod two, revolute pair three, T-bar, revolute pair four, pedestal；The parallel sliding track group one
Including driving motor, slide bar one, leading screw one, slide bar two, slide bar three, leading screw two, slide bar four；The parallel sliding track group two includes
Driving motor, slide bar five, leading screw three, slide bar six, slide bar seven, leading screw four, slide bar eight；Single slide rail group includes driving electricity
Machine, slide bar nine, leading screw five, slide bar ten；The main tapping includes cutterhead, revolute pair five, driving motor；The slide bar one with
Rack is connected, and leading screw one is connected by bearing with rack, and leading screw one is connected with driving motor shaft, and slide bar two is consolidated with rack
Even, slide bar three is connected with rack, and leading screw two is connected by bearing with rack, and leading screw two is connected with driving motor shaft, slide bar
Four are connected with rack；The parallel sliding column passes through ball guide screw nat one and ball guide screw nat two and parallel cunning
Rail group one is connected；The slide bar five is connected with parallel sliding column, and screw three is connected by bearing with parallel sliding column, and
Leading screw three is connected with driving motor shaft, and slide bar six is connected with parallel sliding column, and slide bar seven is connected with parallel sliding column, silk
Bar four is connected by bearing with parallel sliding column, and leading screw four is connected with driving motor shaft, and slide bar eight is stood with parallel sliding
Column is connected；The crossbeam is connected by ball guide screw nat three and ball guide screw nat four with parallel sliding track group two；Institute
Slide bar nine and the crossbeam stated are connected, and leading screw five is connected by bearing with crossbeam, and leading screw five is connected with driving motor shaft, slide bar
Ten are connected with crossbeam；The nut slide unit is connected by ball guide screw nat five with single slide rail group, and connecting rod one passes through rotation
Pair one is connected with nut slide unit, and connecting rod two is connected by revolute pair two with connecting rod one, and T-bar passes through revolute pair three and connecting rod two-phase
Even, pedestal is connected by revolute pair four with T-bar, and pedestal is connected on moving platform；The main tapping by revolute pair five with
Moving platform is connected, and main tapping is connected with driving motor shaft；The ball guide screw nat three and ball guide screw nat
One and ball guide screw nat two it is vertical；The revolute pair one, the pivot center of revolute pair two are parallel, revolute pair three, rotation
Pair four forms a universal hinge together.
The utility model further relates to a kind of six degree of freedom complex surface machining robot, including rack, parallel sliding track group one,
Ball guide screw nat one, ball guide screw nat two, parallel sliding column, ball guide screw nat three, ball-screw nut
Pair four, parallel sliding track group two, crossbeam, moving platform, parallel main shaft head and be connected in parallel between crossbeam and moving platform have phase
Isostructural first, second, and third branch；Above-mentioned each branch includes ball guide screw nat five, single slide rail group, nut
Slide unit, revolute pair one, connecting rod one, revolute pair two, connecting rod two, revolute pair three, T-bar, revolute pair four；The parallel sliding track group
One includes driving motor, slide bar one, leading screw one, slide bar two, slide bar three, leading screw two, slide bar four；The parallel sliding track group two is wrapped
Include driving motor, slide bar five, leading screw three, slide bar six, slide bar seven, leading screw four, slide bar eight；Single slide rail group includes driving electricity
Machine, slide bar nine, leading screw five, slide bar ten；The main tapping includes cutterhead, revolute pair five, driving motor；The slide bar one with
Rack is connected, and leading screw one is connected by bearing with rack, and leading screw one is connected with driving motor shaft, and slide bar two is consolidated with rack
Even, slide bar three is connected with rack, and leading screw two is connected by bearing with rack, and leading screw two is connected with driving motor shaft, slide bar
Four are connected with rack；The parallel sliding column passes through ball guide screw nat one and ball guide screw nat two and parallel cunning
Rail group one is connected；The slide bar five is connected with parallel sliding column, and screw three is connected by bearing with parallel sliding column, and
Leading screw three is connected with driving motor shaft, and slide bar six is connected with parallel sliding column, and slide bar seven is connected with parallel sliding column, silk
Bar four is connected by bearing with parallel sliding column, and leading screw four is connected with driving motor shaft, and slide bar eight is stood with parallel sliding
Column is connected；The crossbeam is connected by ball guide screw nat three and ball guide screw nat four with parallel sliding track group two；Institute
Slide bar nine and the crossbeam stated are connected, and leading screw five is connected by bearing with crossbeam, and leading screw five is connected with driving motor shaft, slide bar
Ten are connected with crossbeam；The nut slide unit is connected by ball guide screw nat five with single slide rail group, and connecting rod one passes through rotation
Pair one is connected with nut slide unit, and connecting rod two is connected by revolute pair two with connecting rod one, and T-bar passes through revolute pair three and connecting rod two-phase
Even, T-bar is connected by revolute pair four with moving platform；The main tapping is connected by revolute pair five with moving platform, and main tapping
It is connected with driving motor shaft；The ball guide screw nat three and ball guide screw nat one and ball guide screw nat two
Vertically；The revolute pair one, the pivot center of revolute pair two are parallel.
Compared with existing invention, the utility model has the following advantages：
(1) compared to other machining robots, the utility model can to the unmanageable surface of general machining robot into
Row processing, work are more flexible；The utility model takes the construction with traditional processing mechanical similarity in rack construction and shape
Design in the case where substantially change traditional processing machinery rack does not design, takes corresponding construction to improve, it is possible to produce new
Processing equipment in parallel, required number of components is few, and processing and manufacturing difficulty is low, and control is also extremely easy.
(2) the utility model for three parallel branch arrangements design enable moving platform working space with
Larger deflection angle is processed operation, greatly improves the working range of parallel main shaft head, further improves entire
The processing efficiency of machining robot provides a kind of succinct feasible scheme for complex-curved quick high accuracy processing.
Description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the dimensional structure diagram of the utility model embodiment 1 and 2；
Fig. 2 is the part-structure schematic diagram of the utility model embodiment 1 and 2；
Fig. 3 is the part-structure schematic diagram of the utility model embodiment 1；
Fig. 4 is the part-structure schematic diagram of the utility model embodiment 2.
In Fig. 1 and 2：1- racks, 2- parallel posts, 3- crossbeams, 4- moving platforms, M- driving motors, R- revolute pairs, L- are slided
Bar, BS- leading screws, H- ball guide screw nats.
In Fig. 3：4- moving platforms, M- driving motors, R- revolute pairs, L- slide bars, BS- leading screws, H- ball guide screw nats, 5-
Nut slide unit, 6- connecting rods one, 7- connecting rods two, 8-T types bar, 9- pedestals, 10- cutterheads.
In Fig. 4：4- moving platforms, M- driving motors, R- revolute pairs, L- slide bars, BS- leading screws, H- ball guide screw nats, 5-
Nut slide unit, 6- connecting rods one, 7- connecting rods two, 8-T types bar, 9- cutterheads.
Specific embodiment
Embodiment 1：
As shown in Figure 1, Figure 2 and Figure 3, a kind of six degree of freedom complex surface machining robot, including rack (1), parallel cunning
Rail group one, ball guide screw nat one (H1), ball guide screw nat two (H2), parallel sliding column (2), ball-screw nut
Three (H3) of pair, ball guide screw nat four (H4), parallel sliding track group two, crossbeam (3), moving platform (4), parallel main shaft head and simultaneously
Connection, which is connected between crossbeam (3) and moving platform (4), has mutually isostructural first, second, and third branch；Above-mentioned each branch
Include ball guide screw nat five (H5), single slide rail group, nut slide unit (5), revolute pair one (R1), connecting rod one (6), revolute pair
Two (R2), connecting rod two (7), revolute pair three (R3), T-bar (8), revolute pair four (R4), pedestal (9)；The parallel sliding track group
One includes driving motor (M), slide bar one (L1), leading screw one (BS1), slide bar two (L2), slide bar three (L3), leading screw two (BS2), slides
Bar four (L4)；The parallel sliding track group two include driving motor (M), slide bar five (L5), leading screw three (BS3), slide bar six (L6),
Slide bar seven (L7), leading screw four (BS4), slide bar eight (L8)；Single slide rail group includes driving motor (M), slide bar nine (L9), silk
Thick stick five (BS5), slide bar ten (L10)；The main tapping includes cutterhead (10), revolute pair five (R5), driving motor (M)；It is described
Slide bar one (L1) and rack (1) be connected, leading screw one (BS1) is connected by bearing with rack (1), and leading screw one (BS1) and drive
Dynamic motor (M) shaft is connected, and slide bar two (L2) is connected with rack (1), and slide bar three (L3) is connected with rack (1), leading screw two (BS2)
It is connected by bearing with rack (1), and leading screw two (BS2) is connected with driving motor (M) shaft, slide bar four (L4) and rack (1)
It is connected；The parallel sliding column (2) is by ball guide screw nat one (H1) and ball guide screw nat two (H2) with putting down
Row slide rail group one is connected；The slide bar five (L5) is connected with parallel sliding column (2), and screw three (BS3) is by bearing with putting down
Row slides column (2) and is connected, and leading screw three (BS3) is connected with driving motor (M) shaft, slide bar six (L6) and parallel sliding column
(2) it is connected, slide bar seven (L7) is connected with parallel sliding column (2), and screw four (BS4) passes through bearing and parallel sliding column (2)
It is connected, and leading screw four (BS4) is connected with driving motor (M) shaft, slide bar eight (L8) is connected with parallel sliding column (2)；It is described
Crossbeam (3) be connected by ball guide screw nat three (H3) and ball guide screw nat four (H4) with parallel sliding track group two；Institute
The slide bar nine (L9) stated is connected with crossbeam (3), and leading screw five (BS5) is connected by bearing with crossbeam (3), and leading screw five (BS5) and
Driving motor (M) shaft is connected, and slide bar ten (L10) is connected with crossbeam (3)；The nut slide unit (5) passes through ball-screw spiral shell
Mother five (H5) of pair are connected with single slide rail group, and connecting rod one (6) is connected by revolute pair one (R1) with nut slide unit (5), connecting rod two (7)
It is connected by revolute pair two (R2) with connecting rod one (6), T-bar (8) is connected by revolute pair three (R3) with connecting rod two (7), pedestal
(9) it is connected by revolute pair four (R4) with T-bar (8), pedestal (9) is connected on moving platform (4)；The main tapping (10) is logical
It crosses revolute pair five (R5) with moving platform (4) to be connected, and main tapping (10) is connected with driving motor (M) shaft；The ball wire
Thick stick pair of nut three (H3) is vertical with ball guide screw nat one (H1) and ball guide screw nat two (H2)；The revolute pair one
(R1), the pivot center of revolute pair two (R2) is parallel, and revolute pair three (R3), revolute pair four (R4) form a universal hinge together.
It is a wide range of to carry out the horizontal cross of crossbeam (3) by driving motor (M) driving leading screw one (BS1) and leading screw two (BS2) during work
It is mobile, by driving motor (M) driving leading screw three (BS3) and leading screw four (BS4) come carry out crossbeam (3) vertical direction it is a wide range of on
Lower movement, synchronous control mode is taken by the driving motor of three parallel branch come carry out moving platform (4) it is a wide range of it is horizontal before
After move；After close to workpiece, the mode of independent control is taken by the driving motor of three parallel branch to adjust moving platform (4)
Position, then cutterhead (10) is driven to be processed by driving motor (M).
Embodiment 2：
As shown in Figure 1, Figure 2 and Figure 4, a kind of six degree of freedom complex surface machining robot, including rack (1), parallel cunning
Rail group one, ball guide screw nat one (H1), ball guide screw nat two (H2), parallel sliding column (2), ball-screw nut
Three (H3) of pair, ball guide screw nat four (H4), parallel sliding track group two, crossbeam (3), moving platform (4), parallel main shaft head and simultaneously
Connection, which is connected between crossbeam (3) and moving platform (4), has mutually isostructural first, second, and third branch；Above-mentioned each branch
Include ball guide screw nat five (H5), single slide rail group, nut slide unit (5), revolute pair one (R1), connecting rod one (6), revolute pair
Two (R2), connecting rod two (7), revolute pair three (R3), T-bar (8), revolute pair four (R4)；The parallel sliding track group one includes driving
Dynamic motor (M), slide bar one (L1), leading screw one (BS1), slide bar two (L2), slide bar three (L3), leading screw two (BS2), slide bar four
(L4)；The parallel sliding track group two includes driving motor (M), slide bar five (L5), leading screw three (BS3), slide bar six (L6), slide bar
Seven (L7), leading screw four (BS4), slide bar eight (L8)；Single slide rail group includes driving motor (M), slide bar nine (L9), leading screw five
(BS5), slide bar ten (L10)；The main tapping includes cutterhead (9), revolute pair five (R5), driving motor (M)；The slide bar
One (L1) is connected with rack (1), and leading screw one (BS1) is connected by bearing with rack (1), and leading screw one (BS1) and driving motor
(M) shaft is connected, and slide bar two (L2) is connected with rack (1), and slide bar three (L3) is connected with rack (1), and leading screw two (BS2) passes through axis
It holds and is connected with rack (1), and leading screw two (BS2) is connected with driving motor (M) shaft, slide bar four (L4) is connected with rack (1)；Institute
The parallel sliding column (2) stated passes through ball guide screw nat one (H1) and ball guide screw nat two (H2) and parallel sliding track group
One is connected；The slide bar five (L5) is connected with parallel sliding column (2), and screw three (BS3) is stood by bearing and parallel sliding
Column (2) is connected, and leading screw three (BS3) is connected with driving motor (M) shaft, and slide bar six (L6) is connected with parallel sliding column (2),
Slide bar seven (L7) is connected with parallel sliding column (2), and screw four (BS4) is connected, and silk by bearing with parallel sliding column (2)
Thick stick four (BS4) is connected with driving motor (M) shaft, and slide bar eight (L8) is connected with parallel sliding column (2)；The crossbeam (3)
It is connected by ball guide screw nat three (H3) and ball guide screw nat four (H4) with parallel sliding track group two；The slide bar nine
(L9) it is connected with crossbeam (3), leading screw five (BS5) is connected by bearing with crossbeam (3), and leading screw five (BS5) and driving motor (M)
Shaft is connected, and slide bar ten (L10) is connected with crossbeam (3)；The nut slide unit (5) by ball guide screw nat five (H5) with
Single slide rail group is connected, and connecting rod one (6) is connected by revolute pair one (R1) with nut slide unit (5), and connecting rod two (7) passes through revolute pair two
(R2) it is connected with connecting rod one (6), T-bar (8) is connected by revolute pair three (R3) with connecting rod two (7), and T-bar (8) passes through rotation
Four (R4) of pair are connected with moving platform (4)；The main tapping (9) is connected, and main shaft by revolute pair five (R5) with moving platform (4)
Head (9) is connected with driving motor (M) shaft；The ball guide screw nat three (H3) and ball guide screw nat one (H1) and
Ball guide screw nat two (H2) is vertical；The revolute pair one (R1), the pivot center of revolute pair two (R2) are parallel.Work
When, it is moved on a large scale by driving motor (M) driving leading screw one (BS1) and leading screw two (BS2) to carry out the horizontal cross of crossbeam (3)
It is dynamic, a wide range of upper and lower of crossbeam (3) vertical direction is carried out by driving motor (M) driving leading screw three (BS3) and leading screw four (BS4)
It is mobile, synchronous control mode is taken by the driving motor of three parallel branch come carry out moving platform (4) it is a wide range of it is horizontal before and after
It is mobile；After close to workpiece, the mode of independent control is taken by the driving motor of three parallel branch to adjust moving platform (4)
Then position drives cutterhead (9) to be processed by driving motor (M).
Claims (2)
1. a kind of six degree of freedom complex surface machining robot, it is characterised in that：Including rack, parallel sliding track group one, ball wire
Thick stick pair of nut one, parallel sliding column, ball guide screw nat three, ball guide screw nat four, is put down at ball guide screw nat two
It row slide rail group two, crossbeam, moving platform, main tapping and is connected in parallel between crossbeam and moving platform and has mutually isostructural the
First, second and third branch；Above-mentioned each branch includes ball guide screw nat five, single slide rail group, nut slide unit, revolute pair
First, connecting rod one, revolute pair two, connecting rod two, revolute pair three, T-bar, revolute pair four, pedestal；The parallel sliding track group one includes
Driving motor, slide bar one, leading screw one, slide bar two, slide bar three, leading screw two, slide bar four；The parallel sliding track group two includes driving
Motor, slide bar five, leading screw three, slide bar six, slide bar seven, leading screw four, slide bar eight；Single slide rail group includes driving motor, cunning
Bar nine, leading screw five, slide bar ten；The main tapping includes cutterhead, revolute pair five, driving motor；The slide bar one and rack
It is connected, leading screw one is connected by bearing with rack, and leading screw one is connected with driving motor shaft, and slide bar two is connected with rack, sliding
Bar three is connected with rack, and leading screw two is connected by bearing with rack, and leading screw two is connected with driving motor shaft, slide bar four and machine
Frame is connected；The parallel sliding column passes through ball guide screw nat one and ball guide screw nat two and parallel sliding track group one
It is connected；The slide bar five is connected with parallel sliding column, and screw three is connected by bearing with parallel sliding column, and leading screw three
It is connected with driving motor shaft, slide bar six is connected with parallel sliding column, and slide bar seven is connected with parallel sliding column, screw four-way
It crosses bearing with parallel sliding column to be connected, and leading screw four is connected with driving motor shaft, slide bar eight is connected with parallel sliding column；
The crossbeam is connected by ball guide screw nat three and ball guide screw nat four with parallel sliding track group two；The slide bar
Nine are connected with crossbeam, and leading screw five is connected by bearing with crossbeam, and leading screw five is connected with driving motor shaft, slide bar ten and crossbeam
It is connected；The nut slide unit is connected by ball guide screw nat five with single slide rail group, and connecting rod one passes through revolute pair one and spiral shell
Female slide unit is connected, and connecting rod two is connected by revolute pair two with connecting rod one, and T-bar is connected by revolute pair three with connecting rod two, pedestal
It is connected by revolute pair four with T-bar, pedestal is connected on moving platform；The main tapping passes through revolute pair five and moving platform phase
Even, and main tapping is connected with driving motor shaft；The ball guide screw nat three and ball guide screw nat one and ball
Screw pair two is vertical；The revolute pair one, the pivot center of revolute pair two are parallel, and revolute pair three, revolute pair four are together
Form a universal hinge.
2. a kind of six degree of freedom complex surface machining robot, it is characterised in that：Including rack, parallel sliding track group one, ball wire
Thick stick pair of nut one, parallel sliding column, ball guide screw nat three, ball guide screw nat four, is put down at ball guide screw nat two
Row slide rail group two, crossbeam, moving platform, parallel main shaft head and be connected in parallel between crossbeam and moving platform have it is mutually isostructural
First, second, and third branch；Above-mentioned each branch includes ball guide screw nat five, single slide rail group, nut slide unit, rotation
Pair one, connecting rod one, revolute pair two, connecting rod two, revolute pair three, T-bar, revolute pair four；The parallel sliding track group one includes driving
Dynamic motor, slide bar one, leading screw one, slide bar two, slide bar three, leading screw two, slide bar four；The parallel sliding track group two includes driving electricity
Machine, slide bar five, leading screw three, slide bar six, slide bar seven, leading screw four, slide bar eight；Single slide rail group includes driving motor, slide bar
9th, leading screw five, slide bar ten；The main tapping includes cutterhead, revolute pair five, driving motor；The slide bar one is consolidated with rack
Even, leading screw one is connected by bearing with rack, and leading screw one is connected with driving motor shaft, and slide bar two is connected with rack, slide bar
Three are connected with rack, and leading screw two is connected by bearing with rack, and leading screw two is connected with driving motor shaft, slide bar four and rack
It is connected；The parallel sliding column passes through ball guide screw nat one and ball guide screw nat two and one phase of parallel sliding track group
Even；The slide bar five is connected with parallel sliding column, and screw three is connected by bearing with parallel sliding column, and leading screw three with
Driving motor shaft is connected, and slide bar six is connected with parallel sliding column, and slide bar seven is connected with parallel sliding column, and screw four passes through
Bearing is connected with parallel sliding column, and leading screw four is connected with driving motor shaft, and slide bar eight is connected with parallel sliding column；Institute
The crossbeam stated is connected by ball guide screw nat three and ball guide screw nat four with parallel sliding track group two；The slide bar nine
It is connected with crossbeam, leading screw five is connected by bearing with crossbeam, and leading screw five is connected with driving motor shaft, and slide bar ten is consolidated with crossbeam
Even；The nut slide unit is connected by ball guide screw nat five with single slide rail group, and connecting rod one passes through revolute pair one and nut
Slide unit is connected, and connecting rod two is connected by revolute pair two with connecting rod one, and T-bar is connected by revolute pair three with connecting rod two, and T-bar leads to
Revolute pair four is crossed with moving platform to be connected；The main tapping is connected by revolute pair five with moving platform, and main tapping and driving motor
Shaft is connected；The ball guide screw nat three is vertical with ball guide screw nat one and ball guide screw nat two；It is described
Revolute pair one, the pivot center of revolute pair two it is parallel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503780.7U CN207593786U (en) | 2017-11-09 | 2017-11-09 | A kind of six degree of freedom complex surface machining robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721503780.7U CN207593786U (en) | 2017-11-09 | 2017-11-09 | A kind of six degree of freedom complex surface machining robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207593786U true CN207593786U (en) | 2018-07-10 |
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| Application Number | Title | Priority Date | Filing Date |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
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- 2017-11-09 CN CN201721503780.7U patent/CN207593786U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838908A (en) * | 2017-11-09 | 2018-03-27 | 中国地质大学（武汉） | A kind of six degree of freedom complex surface machining robot |
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