CN208132982U - A kind of five degree of freedom multi-functional mechanical process equipment - Google Patents
A kind of five degree of freedom multi-functional mechanical process equipment Download PDFInfo
- Publication number
- CN208132982U CN208132982U CN201820632189.XU CN201820632189U CN208132982U CN 208132982 U CN208132982 U CN 208132982U CN 201820632189 U CN201820632189 U CN 201820632189U CN 208132982 U CN208132982 U CN 208132982U
- Authority
- CN
- China
- Prior art keywords
- servo motor
- gear
- degree
- retarder
- fixedly mounted
- 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.)
- Active
Links
Abstract
The utility model belongs to automated production field, and in particular to a kind of five degree of freedom multi-functional mechanical process equipment.The technical solution of the utility model is as follows：A kind of five degree of freedom multi-functional mechanical process equipment, including Five-degree-of-freedmanipulator manipulator, move horizontally guide rail, tool focus and processing platform, Five-degree-of-freedmanipulator manipulator, which is mounted on, to be moved horizontally on guide rail, and the power device moved horizontally on guide rail drives Five-degree-of-freedmanipulator manipulator to be moved；Processing platform and tool focus are arranged in the space that Five-degree-of-freedmanipulator manipulator can reach.Five degree of freedom multi-functional mechanical process equipment provided by the utility model has more machining functions, is more suitable the processing of special-shaped workpiece, can be to avoid the error generated due to the multiple clamping because of workpiece；Relatively current process equipment can greatly improve the degree of automation of machining center, and then improve the production efficiency of machining center.
Description
Technical field
The utility model belongs to automated production field, and in particular to a kind of five degree of freedom multi-functional mechanical process equipment.
Background technique
Automatic production line is one of the robot occurred earliest, and is applied to one of the robot of production earliest.It
It can replace the mankind and complete many dangerous or cumbersome tasks, such as packaging production line.The automatic of production can be greatly improved
Change degree reduces labour cost, improves the safety coefficient of the mankind to improve the efficiency of production.Manipulator is processed instead of manpower
People's content of interest, automatic assembly machine hand, numerical control grinding manipulator, numerical control multi-shaft machining center etc. are had become
Automation equipment is because high-precision and efficient reason are concerned, however partial routine also still needs to very important person during production
The intervention of work, all not up to effect of fully-automatic production.
Utility model content
The utility model provides a kind of five degree of freedom multi-functional mechanical process equipment, has more machining functions, more
It is suitble to the processing of special-shaped workpiece, it can be to avoid the error generated due to the multiple clamping because of workpiece；Relatively current process equipment can
To greatly improve the degree of automation of machining center, and then improve the production efficiency of machining center.
The technical solution of the utility model is as follows：
A kind of five degree of freedom multi-functional mechanical process equipment, including Five-degree-of-freedmanipulator manipulator, move horizontally guide rail, in tool
The heart and processing platform, Five-degree-of-freedmanipulator manipulator, which is mounted on, to be moved horizontally on guide rail, and the power device moved horizontally on guide rail drives
Five-degree-of-freedmanipulator manipulator is moved；The space that Five-degree-of-freedmanipulator manipulator can reach is arranged in processing platform and tool focus
It is interior.
The five degree of freedom multi-functional mechanical process equipment, wherein Five-degree-of-freedmanipulator manipulator include pedestal, horizontal holder,
Large arm, middle arm, upright arm, forearm, wrist, tool handgrip, servo motor one, servo motor two, servo motor three, servo motor
Four, servo motor five, retarder one, retarder two, retarder three, retarder four, retarder five, hydraulic cylinder, universal joint connecting shaft
Device one and universal joint shaft joint two；Internal gear one is arranged in the pedestal, and servo motor one is fixedly mounted on horizontal holder, slows down
Device one includes pinion gear one and three gear wheel one, and pinion gear one is fixedly mounted on the output shaft of servo motor one, and three
A gear wheel one is arranged in the pedestal, and pinion gear one and three gear wheel one engages, three gear wheels one and internal gear one
Engagement；The large arm is fixedly mounted on horizontal holder；Internal gear two is arranged in the large arm, and servo motor two is fixedly mounted on institute
It states on arm, retarder two includes pinion gear two and three gear wheel two, and pinion gear two is fixedly mounted on servo motor two
Output shaft on, three gear wheels two are arranged on the middle arm, and pinion gear two and three gear wheel two engages, three gear wheels
Two engage with internal gear two；The hydraulic cylinder is equipped between the large arm and the middle arm；Internal gear three is arranged in the middle arm, watches
It takes motor three to be fixedly mounted on the upright arm, retarder three includes a pinion gear three and multiple helical teeth cylinder wheels, small tooth
Wheel three is fixedly mounted on the output shaft of servo motor three, and multiple helical teeth cylinder wheels are arranged on the upright arm, pinion gear three
It is engaged with multiple helical teeth cylinder wheels, multiple helical teeth cylinder wheels are engaged with internal gear three；Servo motor four and servo motor five are fixed
It is mounted on the upright arm, the forearm is connect by universal joint shaft joint one with the upright arm, and the wrist passes through ten thousand
It is connect to section shaft joint two with the forearm, the tool handgrip is mounted in the wrist, and retarder four includes helical teeth cylinder
Gear one and bevel gear one, retarder five include helical gears two and bevel gear two；Bevel gear one is fixedly mounted on servo
On the output shaft of motor four, helical gears one are mounted on the forearm, and bevel gear one is engaged with helical gears one；
Bevel gear two is fixedly mounted on the output shaft of servo motor five, and helical gears two are mounted in the wrist, bevel gear
Two engage with helical gears two.
The five degree of freedom multi-functional mechanical process equipment, preferred embodiment are that the tool focus is disc type knife
Drill bit, milling cutter, manipulator, screw die and the welding clamp of different model are stored in library.
The five degree of freedom multi-functional mechanical process equipment, preferred embodiment are the power dress moved horizontally on guide rail
It sets, servo motor one, servo motor two, servo motor three, servo motor four and servo motor five are led by stretchable spring
Line is connect with digital control system.
The beneficial effects of the utility model are：
1, workpiece only needs to carry out clamped one time, and the workpiece size after processing has good size uniformity.
2, manipulator has multiple freedom degrees, and motion range can extensively reach any position in space, therefore can win
Appoint the processing tasks of many shaped pieces.
3, tool focus have many machining tools, manipulator by adding exchanging for for machining tool that can have been drilled, boring
Hole, milling, tapping, welding, the processing of grinding and automatic loading/unloading.
4, guide rail is moved horizontally equipped with driving device, moves in a straight line Five-degree-of-freedmanipulator manipulator in the horizontal direction,
To make manipulator obtain more broad working range, the processing tasks of larger workpiece can be competent at.
Detailed description of the invention
Fig. 1 is five degree of freedom multi-functional mechanical process equipment perspective view；
Fig. 2 is five degree of freedom multi-functional mechanical process equipment rearview；
Fig. 3 is five degree of freedom multi-functional mechanical process equipment top view；
Fig. 4 is Five-degree-of-freedmanipulator manipulator structure chart.
Specific embodiment
As shown in Figs 1-4, a kind of five degree of freedom multi-functional mechanical process equipment, including Five-degree-of-freedmanipulator manipulator 1, horizontal shifting
Dynamic guide rail 2, tool focus 3 and processing platform 4, Five-degree-of-freedmanipulator manipulator 1, which is mounted on, to be moved horizontally on guide rail 2, is moved horizontally and is led
Power device on rail 2 drives Five-degree-of-freedmanipulator manipulator 1 to be moved；Processing platform 4 and tool focus 3 are arranged in five degree of freedom
In the space that manipulator 1 can reach.
Wherein Five-degree-of-freedmanipulator manipulator 1 includes pedestal 5, horizontal holder 6, large arm 8, middle arm 9, upright arm 10, forearm 15, hand
Wrist 14, servo motor one, servo motor two, servo motor three, servo motor 4 11, servo motor 5 12, subtracts tool handgrip 13
Fast device one, retarder two, retarder three, retarder four, retarder five, hydraulic cylinder 7, universal joint shaft joint one and universal joint connecting shaft
Device two；Internal gear one is arranged in the pedestal 5, and servo motor one is fixedly mounted on horizontal holder 6, and retarder one includes one small
Gear one and three gear wheel one, pinion gear one is fixedly mounted on the output shaft of servo motor one, and three gear wheels one are arranged
In the pedestal 5, pinion gear one and three gear wheel one is engaged, and three gear wheels one are engaged with internal gear one；The large arm 8
It is fixedly mounted on horizontal holder 6；Internal gear two is arranged in the large arm 8, and servo motor two is fixedly mounted on the middle arm 9,
Retarder two includes pinion gear two and three gear wheel two, and pinion gear two is fixedly mounted on the output shaft of servo motor two
On, three gear wheels two are arranged on the middle arm 9, and pinion gear two and three gear wheel two engages, three gear wheels two with it is interior
Gear two engages；The hydraulic cylinder 7 is equipped between the large arm 8 and the middle arm 9；Internal gear three, servo is arranged in the middle arm 9
Motor three is fixedly mounted on the upright arm 10, and retarder three includes a pinion gear three and multiple helical teeth cylinder wheels, small tooth
Wheel three is fixedly mounted on the output shaft of servo motor three, and multiple helical teeth cylinder wheels are arranged on the upright arm 10, pinion gear
Three engage with multiple helical teeth cylinder wheels, and multiple helical teeth cylinder wheels are engaged with internal gear three；Servo motor 4 11 and servo motor five
12 are fixedly mounted on the upright arm 10, and the forearm 15 is connect by universal joint shaft joint one with the upright arm 10, institute
Wrist 14 to be stated to connect by universal joint shaft joint two with the forearm 15, the tool handgrip 13 is mounted in the wrist 14,
Retarder four includes helical gears one and bevel gear one, and retarder five includes helical gears two and bevel gear two；Umbrella
Gear one is fixedly mounted on the output shaft of servo motor 4 11, and helical gears one are mounted on the forearm, bevel gear
One engages with helical gears one；Bevel gear two is fixedly mounted on the output shaft of servo motor 5 12, helical gears
Two are mounted in the wrist 14, and bevel gear two is engaged with helical gears two.
Wherein the tool focus 3 is disc type tool magazine, store the drill bit of different model, milling cutter, manipulator, screw die with
And welding clamp.
Power device, servo motor one, servo motor two, servo motor three, the servo wherein moved horizontally on guide rail 2 is electric
Machine four and servo motor five are connect by stretchable spring wires with digital control system.
The course of work is as follows：The top of blank material is reached by control tool handgrip 13 first, tool handgrip 13 is by blank
Material is placed on processing platform 4, and processing platform 4 clamps blank material, and 1 steerable tool center 3 of Five-degree-of-freedmanipulator manipulator is added
The crawl of work tool, crawl finish the top that Five-degree-of-freedmanipulator manipulator 1 moves to blank material again, by the path set in advance into
The processing of row workpiece.
Each mechanism of the utility model is all driven by servo motor, and control gets up to be easier and more precisely, can be with
Guarantee the requirement of the techniques such as roughness, the precision of workpiece.The utility model is fully-automatic production, can greatly save manually at
This, and the safety coefficient and processing efficiency of processing can be improved.
Claims (4)
1. a kind of five degree of freedom multi-functional mechanical process equipment, which is characterized in that including Five-degree-of-freedmanipulator manipulator, move horizontally and lead
Rail, tool focus and processing platform, Five-degree-of-freedmanipulator manipulator, which is mounted on, to be moved horizontally on guide rail, moves horizontally the power on guide rail
Device drives Five-degree-of-freedmanipulator manipulator to be moved；Processing platform and tool focus setting can be reached in Five-degree-of-freedmanipulator manipulator
Space in.
2. five degree of freedom multi-functional mechanical process equipment according to claim 1, which is characterized in that Five-degree-of-freedmanipulator manipulator
Including pedestal, horizontal holder, large arm, middle arm, upright arm, forearm, wrist, tool handgrip, servo motor one, servo motor two,
Servo motor three, servo motor four, servo motor five, retarder one, retarder two, retarder three, retarder four, retarder
Five, hydraulic cylinder, universal joint shaft joint one and universal joint shaft joint two；
Internal gear one is arranged in the pedestal, and servo motor one is fixedly mounted on horizontal holder, and retarder one includes a small tooth
One and three gear wheel one is taken turns, pinion gear one is fixedly mounted on the output shaft of servo motor one, and three settings of gear wheel one exist
In the pedestal, pinion gear one and three gear wheel one is engaged, and three gear wheels one are engaged with internal gear one；
The large arm is fixedly mounted on horizontal holder；Internal gear two is arranged in the large arm, and servo motor two is fixedly mounted on institute
It states on arm, retarder two includes pinion gear two and three gear wheel two, and pinion gear two is fixedly mounted on servo motor two
Output shaft on, three gear wheels two are arranged on the middle arm, and pinion gear two and three gear wheel two engages, three gear wheels
Two engage with internal gear two；The hydraulic cylinder is equipped between the large arm and the middle arm；
Internal gear three is arranged in the middle arm, and servo motor three is fixedly mounted on the upright arm, and retarder three includes one small
Gear three and multiple helical teeth cylinder wheels, pinion gear three are fixedly mounted on the output shaft of servo motor three, multiple helical teeth cylinder wheels
It is arranged on the upright arm, pinion gear three is engaged with multiple helical teeth cylinder wheels, and multiple helical teeth cylinder wheels are engaged with internal gear three；
Servo motor four and servo motor five are fixedly mounted on the upright arm, the forearm by universal joint shaft joint one with
The upright arm connection, the wrist are connect by universal joint shaft joint two with the forearm, and the tool handgrip is mounted on institute
It states in wrist, retarder four includes helical gears one and bevel gear one, and retarder five includes helical gears two and umbrella
Gear two；Bevel gear one is fixedly mounted on the output shaft of servo motor four, and helical gears one are mounted on the forearm,
Bevel gear one is engaged with helical gears one；Bevel gear two is fixedly mounted on the output shaft of servo motor five, helical teeth cylinder
Gear two is mounted in the wrist, and bevel gear two is engaged with helical gears two.
3. five degree of freedom multi-functional mechanical process equipment according to claim 1, which is characterized in that the tool focus is
Disc type tool magazine stores drill bit, milling cutter, manipulator, screw die and the welding clamp of different model.
4. five degree of freedom multi-functional mechanical process equipment according to claim 1, which is characterized in that move horizontally on guide rail
Power device, servo motor one, servo motor two, servo motor three, servo motor four and servo motor five by stretchable
Spring wires connect with digital control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820632189.XU CN208132982U (en) | 2018-04-28 | 2018-04-28 | A kind of five degree of freedom multi-functional mechanical process equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820632189.XU CN208132982U (en) | 2018-04-28 | 2018-04-28 | A kind of five degree of freedom multi-functional mechanical process equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208132982U true CN208132982U (en) | 2018-11-23 |
Family
ID=64311776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820632189.XU Active CN208132982U (en) | 2018-04-28 | 2018-04-28 | A kind of five degree of freedom multi-functional mechanical process equipment |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208132982U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393901A (en) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | A kind of five degree of freedom multi-functional mechanical process equipment |
| CN110668170A (en) * | 2019-12-05 | 2020-01-10 | 龙口市全工工程机械制造厂 | Split type folding mechanical tongs |
-
2018
- 2018-04-28 CN CN201820632189.XU patent/CN208132982U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108393901A (en) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | A kind of five degree of freedom multi-functional mechanical process equipment |
| CN110668170A (en) * | 2019-12-05 | 2020-01-10 | 龙口市全工工程机械制造厂 | Split type folding mechanical tongs |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212443372U (en) | Tooling for machining industrial robot parts | |
| CN102229046B (en) | Machine tool | |
| CN202963996U (en) | Shaft-type gear compound machining machine tool | |
| CN208132982U (en) | A kind of five degree of freedom multi-functional mechanical process equipment | |
| CN200988148Y (en) | Combined machine tool | |
| CN110899778B (en) | Full-automatic multi-station multi-shaft numerical control CNC machining center | |
| CN103817529A (en) | Turning-milling combination machine | |
| CN108393901A (en) | A kind of five degree of freedom multi-functional mechanical process equipment | |
| CN114131622B (en) | Gear machining robot | |
| CN113894814B (en) | Gear machining robot | |
| CN104414040B (en) | Gadget processing unit (plant) | |
| CN208825667U (en) | A kind of numerically controlled lathe | |
| CN105364622A (en) | Numerical control machine tool equipped with manipulator and workpiece assembly/disassembly method | |
| CN214722219U (en) | Double-station tray automatic exchange device for machine tool | |
| CN212020319U (en) | Five-axis linkage cutter numerically controlled grinder | |
| CN204486883U (en) | Full-automatic slotter | |
| CN111958263A (en) | Disc part machining production line | |
| CN210232430U (en) | Horizontal hydraulic ten-spindle belt rotating fourth shaft machining center machine | |
| CN217121996U (en) | Numerical control divides gear chamfering machine soon | |
| CN203495689U (en) | Gantry machine tool | |
| CN104625187B (en) | Full-automatic slotter | |
| CN210360311U (en) | Special numerically controlled drilling machine for rotary worktable | |
| CN112975521A (en) | Automatic machine tool | |
| CN103522128A (en) | Gantry machine tool | |
| CN217254487U (en) | Composite machining cutter table behind one's back |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |