CN211332579U - Grinding mechanism based on series-parallel connection - Google Patents
Grinding mechanism based on series-parallel connection Download PDFInfo
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- CN211332579U CN211332579U CN201922121467.2U CN201922121467U CN211332579U CN 211332579 U CN211332579 U CN 211332579U CN 201922121467 U CN201922121467 U CN 201922121467U CN 211332579 U CN211332579 U CN 211332579U
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- mechanical arm
- series
- grinding
- motor
- cylinder body
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Abstract
The utility model relates to a grinding mechanism based on series-parallel connection, include: the automatic grinding machine comprises a rack, a series-parallel mechanism, a series mechanical arm, two same lead screw transmission mechanisms and a grinding head, wherein the two same lead screw transmission mechanisms are installed above the rack, the series-parallel mechanism is installed in the middle of the rack, the series mechanical arm is installed below the rack, and the grinding head is installed below the series-parallel mechanism. The end effector can be changed into grinding heads or rotating heads and the like with different specifications according to processing requirements, the mechanism is high in rigidity and can realize multi-degree-of-freedom grinding of workpieces, when a large number of parts are ground with high precision, the manipulator can quickly clamp and place down the workpieces, and quickly convey the workpieces to a designated position so that the grinding heads with the parallel-serial mechanisms can grind the workpieces, and the mechanism combines the grinding mechanism with the serial-parallel-serial mechanism, so that the characteristics of modernization, high efficiency, high precision and automation are fully embodied.
Description
Technical Field
The utility model relates to a robot application technology field, concretely relates to grinding mechanism based on series-parallel.
Background
Most of the industrial robots widely used at present are series robots, but the series robots need to be provided with driving devices on all joints, so that the motion inertia of a mechanical arm is large, accumulated errors cannot be ignored, and the series-parallel hybrid mechanism is not suitable for the field of high-rigidity and high-precision manufacturing. The traditional grinding mechanism is suitable for processing regular shapes, cannot process workpieces with special surface or hole performance requirements, and is suitable for small-batch production; in contrast, a grinding center can machine a workpiece with a special surface or hole with increased efficiency, but is still inefficient when machining in large quantities, and thus has certain limitations.
Disclosure of Invention
In order to overcome the defects of the prior art, the utility model provides a multi freedom, high efficiency and high precision grinding mechanism.
The utility model discloses the technical scheme who adopts:
a grinding mechanism based on series-parallel connection comprises: the grinding machine comprises a rack, a series-parallel mechanism, a serial manipulator, two identical lead screw transmission mechanisms and a grinding head. The hybrid mechanism comprises a movable support, a first cylinder body, a first telescopic rod, a second cylinder body, a second telescopic rod, a second motor, a third motor, a second screw rod, a fixed block, an upper platform, a lower platform, a fixed seat and a coupler, wherein the second motor is fixedly arranged on the movable support, the second screw rod is connected with the second motor through the coupler, the fixed seat is arranged on the movable support, the second screw rod is rotatably connected with the fixed seat, the upper platform is in threaded connection with the second screw rod, the upper platform can horizontally move on the movable support, the first telescopic rod is movably connected with the first cylinder body, the first cylinder body is connected with the fixed block through a ball pair, the first telescopic rod is connected with the lower platform through a ball pair, the second telescopic rod is movably connected with the second cylinder body, the second cylinder body is connected with the upper platform through a hook hinge, the second telescopic rod is connected with the lower platform through a hook hinge, and, and the grinding head is fixedly arranged on the motor III.
Further, the serial manipulator comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a third cylinder body and a third telescopic rod, wherein the first mechanical arm is rotatably connected with the base, the second mechanical arm is rotatably connected with the first mechanical arm, the third mechanical arm is rotatably connected with the third mechanical arm, the fourth mechanical arm is rotatably connected with the third mechanical arm, the third cylinder body is fixedly mounted on the fourth mechanical arm, and the third telescopic rod is movably connected with the third cylinder body.
Further, lead screw drive mechanism includes lead screw one, fixing base, shaft coupling and motor one, motor one fixed mounting is in the frame, lead screw one and motor one are the coupling joint, the fixing base is installed in the frame, lead screw one is rotated with the fixing base and is connected, lead screw one is threaded connection with the movable support.
The utility model has the advantages that:
the end effector in the mechanism is a grinding head, or can be changed into a rotary head according to a specific place, grinding heads or rotary heads of different specifications can be changed according to processing requirements, the mechanism has five degrees of freedom of three-movement and two-rotation, and can realize multi-degree-of-freedom grinding of workpieces.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic view of the screw transmission mechanism of the present invention.
Fig. 3 is a schematic diagram of the upper half of the hybrid mechanism of the present invention.
Fig. 4 is a schematic diagram of the lower half part of the hybrid mechanism of the present invention.
Fig. 5 is a schematic view of the serial manipulator of the present invention.
In the figure: the grinding machine comprises a movable support 1, a rack 2, a fixing block 3, a cylinder body I4, a telescopic rod I5, a cylinder body II 6, a telescopic rod II 7, a screw rod I8, a fixing seat 9, a coupler 10, a motor I11, a screw rod II 12, an upper platform 13, a motor II 14, a lower platform 15, a motor III 16, a grinding head 17, a mechanical arm IV 18, a mechanical arm III 19, a mechanical arm II 20, a base 21, a telescopic rod III 22, a cylinder body III 23 and a mechanical arm I24.
Detailed Description
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
Referring to fig. 1, 2, 3, 4, and 5, a grinding mechanism based on series-parallel connection includes: the grinding machine comprises a frame 2, a series-parallel mechanism, a serial manipulator, two identical lead screw transmission mechanisms and a grinding head 17. The hybrid mechanism comprises a moving support 1, a cylinder body I4, a telescopic rod I5, a cylinder body II 6, a telescopic rod II 7, a motor II 14, a motor III 16, a screw rod II 12, a fixed block 3, an upper platform 13, a lower platform 15, a fixed seat 9 and a shaft coupling 10, wherein the motor II 14 is fixedly installed on the moving support 1, the screw rod II 12 and the motor II 14 are connected through the shaft coupling 10, the fixed seat 9 is installed on the moving support 1, the screw rod II 12 is rotatably connected with the fixed seat 9, the upper platform 13 is in threaded connection with the screw rod II 12, the upper platform 13 can horizontally move on the moving support 1, the telescopic rod I5 is in movable connection with the cylinder body I4, the cylinder body I4 is in spherical pair connection with the fixed block 3, the telescopic rod I5 is in spherical pair connection with the lower platform 15, the telescopic rod II 7 is in movable connection with the cylinder body II 6, and the upper platform 13 is in hooke hinge connection, the second telescopic rod 7 is connected with the lower platform 15 through a Hooke hinge, the third motor 16 is fixedly installed on the lower platform 15, and the grinding head 17 is fixedly installed on the third motor 16.
Further, the serial robot comprises a base 21, a first robot arm 24, a second robot arm 20, a third robot arm 19, a fourth robot arm 18, a third cylinder 23 and a third telescopic rod 22, wherein the first robot arm 24 is rotatably connected with the base 21, the second robot arm 20 is rotatably connected with the first robot arm 24, the third robot arm 19 is rotatably connected with the second robot arm 20, the fourth robot arm 18 is rotatably connected with the third robot arm 19, the third cylinder 23 is fixedly mounted on the fourth robot arm 18, and the third telescopic rod 22 is movably connected with the third cylinder 23.
Further, screw drive mechanism includes that lead screw 8, fixing base 9, shaft coupling 10 and motor 11, 11 fixed mounting of motor are in frame 2, 8 lead screws are the shaft coupling 10 with 11 motor and are connected, fixing base 9 is installed in frame 2, 8 lead screws are connected with fixing base 9 for rotating, 8 lead screws are threaded connection with movable support 1.
The end effector in the mechanism is a grinding head 17, or can be changed into a rotary head according to a specific place, the grinding head 17 or the rotary head with different specifications can be changed according to processing requirements, the mechanism has five degrees of freedom of three-movement and two-rotation, the grinding of multiple degrees of freedom of a workpiece can be realized, in addition, four branched chains are additionally added to a hybrid part to improve the rigidity of the mechanism, the lower half part of the mechanism is a four-degree-of-freedom mechanical arm, when a large batch of parts are ground with high precision, the mechanical arm can quickly clamp and place down the workpiece, and quickly send the workpiece to a specified position so as to enable the grinding head 17 with the hybrid mechanism to grind the workpiece, and the mechanism combines the grinding mechanism with the serial-parallel hybrid mechanism, so that the characteristics of high efficiency, high precision and automation of modernization are fully embodied.
Claims (3)
1. A grinding mechanism based on series-parallel connection comprises: frame, series-parallel connection mechanism, series connection manipulator, two the same lead screw drive mechanism and bistrique, its characterized in that: the hybrid mechanism comprises a movable support, a first cylinder body, a first telescopic rod, a second cylinder body, a second telescopic rod, a second motor, a third motor, a second screw rod, a fixed block, an upper platform, a lower platform, a fixed seat and a coupler, wherein the second motor is fixedly arranged on the movable support, the second screw rod is connected with the second motor through the coupler, the fixed seat is arranged on the movable support, the second screw rod is rotatably connected with the fixed seat, the upper platform is in threaded connection with the second screw rod, the upper platform can horizontally move on the movable support, the first telescopic rod is movably connected with the first cylinder body, the first cylinder body is connected with the fixed block through a ball pair, the first telescopic rod is connected with the lower platform through a ball pair, the second telescopic rod is movably connected with the second cylinder body, the second cylinder body is connected with the upper platform through a hook hinge, the second telescopic rod is connected with the lower platform through a hook hinge, and, and the grinding head is fixedly arranged on the motor III.
2. The grinding mechanism based on series-parallel connection according to claim 1, characterized in that: the serial mechanical arm comprises a base, a first mechanical arm, a second mechanical arm, a third mechanical arm, a fourth mechanical arm, a third cylinder body and a third telescopic rod, wherein the first mechanical arm is connected with the base in a rotating mode, the second mechanical arm is connected with the first mechanical arm in a rotating mode, the third mechanical arm is connected with the second mechanical arm in a rotating mode, the fourth mechanical arm is connected with the third mechanical arm in a rotating mode, the three cylinder bodies are fixedly installed on the fourth mechanical arm, and the third telescopic rod is movably connected with the third cylinder body.
3. The grinding mechanism based on series-parallel connection according to claim 1, characterized in that: the screw transmission mechanism comprises a first screw, a fixed seat, a coupler and a first motor, the first motor is fixedly installed on the rack, the first screw is connected with the first motor through the coupler, the fixed seat is installed on the rack, the first screw is rotatably connected with the fixed seat, and the first screw is in threaded connection with the movable support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922121467.2U CN211332579U (en) | 2019-12-02 | 2019-12-02 | Grinding mechanism based on series-parallel connection |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922121467.2U CN211332579U (en) | 2019-12-02 | 2019-12-02 | Grinding mechanism based on series-parallel connection |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211332579U true CN211332579U (en) | 2020-08-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922121467.2U Expired - Fee Related CN211332579U (en) | 2019-12-02 | 2019-12-02 | Grinding mechanism based on series-parallel connection |
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| Country | Link |
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| CN (1) | CN211332579U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454090A (en) * | 2020-11-25 | 2021-03-09 | 杨玮军 | Grinding device for processing graphite round rod |
-
2019
- 2019-12-02 CN CN201922121467.2U patent/CN211332579U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112454090A (en) * | 2020-11-25 | 2021-03-09 | 杨玮军 | Grinding device for processing graphite round rod |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200825 Termination date: 20211202 |