CN107717967A - A kind of planer-type wu-zhi-shan pig using RV reductors - Google Patents
A kind of planer-type wu-zhi-shan pig using RV reductors Download PDFInfo
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- CN107717967A CN107717967A CN201711064246.5A CN201711064246A CN107717967A CN 107717967 A CN107717967 A CN 107717967A CN 201711064246 A CN201711064246 A CN 201711064246A CN 107717967 A CN107717967 A CN 107717967A
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- 230000007246 mechanism Effects 0.000 claims abstract description 124
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- 230000033001 locomotion Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 12
- 230000008569 process Effects 0.000 claims description 12
- 230000005540 biological transmission Effects 0.000 claims description 10
- 230000006872 improvement Effects 0.000 description 10
- 238000005520 cutting process Methods 0.000 description 4
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- 238000005859 coupling reaction Methods 0.000 description 3
- 238000013461 design Methods 0.000 description 3
- 238000003801 milling Methods 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 238000010079 rubber tapping Methods 0.000 description 3
- 238000005507 spraying Methods 0.000 description 3
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/023—Cartesian coordinate type
- B25J9/026—Gantry-type
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- Mechanical Engineering (AREA)
- Milling, Drilling, And Turning Of Wood (AREA)
Abstract
A kind of planer-type wu-zhi-shan pig using RV reductors, including two walking basal seats being parallel to each other, an X-axis walking mechanism is respectively equipped with above described two walking basal seats；Also include being located at the upright of frame above each X-axis walking mechanism；Connected between two upright of frame by crossbeam of walking；The walking crossbeam is provided with Y-axis walking mechanism；Also include Z axis walking mechanism, Z axis walking mechanism is fixed on the side of Y-axis walking mechanism；Also include B axle rotating mechanism, the B axle rotating mechanism is fixed on the lower section of Z axis walking mechanism；Also include A axle rotating mechanisms, the A axles rotating mechanism is located at the lower section of B axle rotating mechanism；The B axle rotating mechanism, A axles rotating mechanism are connected with RV reductors using servomotor and carry out power output.The present invention can not only complete the motor performance of 5 frees degree；And by using RV reductors, A axles, the precision of B axle rotation control are added, is more conducive to realize complex-curved processing work.
Description
Technical field
The invention belongs to robot field, more particularly to a kind of planer-type wu-zhi-shan pig using RV reductors, sheet
Invention possesses the various dimensions mechanism of multiple degrees of freedom operation, and planer-type processing can be achieved（Meet the works such as milling, boring, brill, strand, tapping
Sequence）, polishing, spraying, gluing, cutting, carrying, turn the function such as match somebody with somebody, weld, the various fields manufactured applied to industry.
Background technology
It is mainly in the market 3 axle planer type structures, can only realizes that one side works, it is impossible to freely realize complex-curved
Processing work.
Worked if necessary to multiaspect, mostly using mechanical operation, or processing structure changed using manual mode, during replacing
Between it is long, check and correction it is cumbersome, can operating angle it is less, the requirement of simple function can only be met.
In the application aspect Ou You five-axle linkages such as gantry Machining Center, cutting robot, but all it is small load.
The content of the invention
It is an object of the invention to provide a kind of planer-type wu-zhi-shan pig using RV reductors, there is provided one kind can be carried out
The planer-type robot of multiple degrees of freedom operation, can freely realize complex-curved processing work.
What the present invention was realized in：
A kind of planer-type wu-zhi-shan pig using RV reductors, including two walking basal seats being parallel to each other, described two rows
Walk to be respectively equipped with an X-axis walking mechanism above base；Also include being located at the upright of frame above each X-axis walking mechanism；Two
Connected between individual upright of frame by crossbeam of walking；The walking crossbeam is provided with Y-axis walking mechanism；Also include Z axis vehicle with walking machine
Structure, the Z axis walking mechanism are fixed on the side of Y-axis walking mechanism；Also include B axle rotating mechanism, the B axle rotating mechanism is consolidated
The lower section of Z axis walking mechanism is scheduled on, the B axle rotating mechanism rotates by rotary shaft of Z-direction；Also include A axle rotating mechanisms,
The A axles rotating mechanism is located at the lower section of B axle rotating mechanism, and the A axles rotating mechanism rotates by rotary shaft of X-direction, institute
State the servicing unit being provided with A axle rotating mechanisms for processing；The B axle rotating mechanism is provided with B servomotors and the first RV
Reductor, the B servomotors are connected with the input of the first RV reductors, the output end of the first RV reductors with it is described
The round end connection of B axle rotating mechanism, the A axles rotating mechanism are provided with A servomotors and the 2nd RV reductors, the A servos
Motor is connected with the input of the 2nd RV reductors, the output end of the 2nd RV reductors and the rotation of the A axles rotating mechanism
Turn end connection.
Using the planer-type wu-zhi-shan pig of above-mentioned technical proposal, X-axis, Y-axis, the linear motion of Z axis can be not only completed,
A axles, B axle rotation can also be carried out, possesses the operation of 5 frees degree；And by using RV to slow down in planer-type robot
Machine, A axles, the precision of B axle rotation control are added, is more conducive to realize complex-curved processing work.
As a further improvement on the present invention, it is fixed with B axle fixed plate below the Z axis walking mechanism, described first
RV reductors are fixed in B axle fixed plate, and the round end of the B axle rotating mechanism includes the first roller and intersects bearing, the B
The outer ring that axis fixing plate intersects bearing with the first roller is fixedly connected from top to bottom, the output end of the first RV reductors,
Inner ring, the A axle rotating mechanisms that one roller intersects bearing are fixedly connected from top to bottom.
Using the B axle rotating mechanism of above-mentioned technical proposal,（1）B axle is improved by RV reductors and rotates control accuracy；
（2）By the way that RV reductors and B axle fixed plate are fixed, while RV reductors intersect bearing with roller respectively with B axle fixed plate
Internal and external cycle is fixed, and reduces the stress influence in other directions, improves stability when rotation.
As a further improvement on the present invention, the A axles rotating mechanism also includes A axle supporting plates, the A axles supporting plate with
First roller intersects the inner ring connection of bearing, and the A axles supporting plate includes A axles main supporting plate and the auxiliary supporting plate of A axles, the A axles
The round end of rotating mechanism includes A axle grip blocks, and the output end of the 2nd RV reductors is connected with A axle grip blocks, the A
Axle grip block is located between the auxiliary supporting plate of the A axles main supporting plate and A axles, and the servicing unit for being used to process is located at the A
In axle grip block.
As a further improvement on the present invention, the round end of the A axles rotating mechanism also includes the second roller and intersects bearing,
The outer ring that second roller intersects bearing is fixed with the auxiliary supporting plate of A axles, second roller intersect bearing inner ring and
The A axles grip block is fixed.
Using the A axle rotating mechanisms of above-mentioned technical proposal,（1）The stress in other directions is reduced using roller intersection bearing
Influence, improve stability when rotation；（2）Can according to processing need select suitably be used for process servicing unit and
Suitable grip block, realize that planer-type is processed（Meet the processes such as milling, boring, brill, strand, tapping）, polishing, spraying, gluing, cutting,
Carry, turn the function such as match somebody with somebody, weld.
As a further improvement on the present invention, the anglec of rotation of the B axle rotating mechanism is 360 °, the A axles whirler
The anglec of rotation of structure is 360 °, and the aid for being used to process includes electro spindle.
As a further improvement on the present invention, the X-axis walking mechanism includes gear, the tooth being located in each walking basal seat
Bar, X guide rails and X sliding blocks, and be located in each upright of frame and be provided with X-servo motor, the 3rd RV reductors；The rack, X guide rails
Laid each along X-direction；The bottom of each upright of frame is provided with walking sliding floor, and the 3rd RV reductors are fixed on
Walk on sliding floor；The X-servo motor, the 3rd RV reductors, gear are sequentially connected from top to bottom, and the gear is along tooth
Bar gear motion, the lower section of each walking sliding floor are connected with X sliding blocks, and the X sliding blocks move along X guide rails.
Using the X-axis walking mechanism of above-mentioned technical proposal,（1）Using support bottom of double walking basal seats as whole equipment
Seat is more firm；（2）Realize that the X walking mechanisms in double walking basal seats are moved along X-direction simultaneously by RV reductors, it is real
The control accuracy of X-axis walking mechanism is showed.
As a further improvement on the present invention, the Y-axis walking mechanism include be located at walking crossbeam on Y servomotors,
Screw rod transmission component, Y guide rail and Y sliding blocks, the screw rod transmission component, Y guide rail are laid each along Y direction, and the walking is horizontal
Beam is provided with Y-axis slide plate, and the Y servomotors, screw rod transmission component and Y-axis slide plate are sequentially connected；The Y-axis slide plate passes through Y
Sliding block is connected with Y guide rail.
As a further improvement on the present invention, the Y guide rail includes the first Y guide rail, the second Y guide rail, the 3rd Y guide rail, institute
Stating Y sliding blocks includes the first Y sliding blocks, the 2nd Y sliding blocks, the 3rd Y sliding blocks；The Y-axis slide plate includes Y-axis row slide plate and Y-axis is vertical
Slide plate, the Y-axis row slide plate and Y-axis vertical skateboard vertical connection, the Y-axis row slide plate pass through the first Y sliding blocks and the first Y
Guide rail is connected, and the Y-axis row slide plate is connected by the second sliding block with the second Y guide rail, and the Y-axis vertical skateboard passes through the 3rd Y
Sliding block is connected with the 3rd Y guide rail.
Using the Y-axis walking mechanism of above-mentioned technical proposal, by being run while three guide rails, it ensure that Y-axis slide plate is transported
Stability when dynamic.
As a further improvement on the present invention, the Z axis walking mechanism includes being located at the Z servos in the middle part of Y-axis vertical skateboard
Electric cylinder, and be respectively provided at the Z guide rails, Z sliding blocks, Z axis of Y-axis vertical skateboard both sides and move up and down connecting plate, the Z servos electricity
Output shaft, each Z guide rails of dynamic cylinder are laid each along Z-direction, and each Z axis moves up and down connecting plate and passes through each Z sliding blocks and each Z
Guide rail connects, and the Z axis walking mechanism also includes Z axis lower connecting plate, is moved down on the output shafts of the Z servo electric jars, each Z axis
It is each attached to below dynamic connecting plate on Z axis lower connecting plate.
As a further improvement on the present invention, the Z servo electric jars include the Z servomotors and Z reductors of electrical connection,
The Z axis walking mechanism also includes connecting plate and Z axis upper junction plate in Z axis, and two Z axis move up and down the middle part of connecting plate and upper
Side is attached by connecting plate, Z axis upper junction plate in Z axis respectively.
Using the Z axis walking mechanism of above-mentioned technical proposal,（1）Using servo electric jar on the market, reduce the present invention's
Assembly cost；（2）It is power output shaft by centre, both sides are the structure design of guide rail, and preventing should except other of Z-direction
Influence of the force direction to power output shaft, improve the control accuracy of Z axis walking mechanism.
Compared with prior art, the beneficial effects of the invention are as follows：（1）X-axis, Y-axis, the straight line fortune of Z axis can not only be completed
It is dynamic, A axles, B axle rotation can also be carried out, possesses the operation of 5 frees degree.
（2）By using RV reductors in planer-type robot, A axles, B axle, the precision of X-axis motion control are added,
It is more conducive to realize complex-curved processing work.
（3）The precision of the direction of motion is ensure that using the structure design of more guide rails；Bearing is intersected using roller and reduces other
The influence of direction stress.
Brief description of the drawings
Fig. 1 is a kind of structural representation of planer-type wu-zhi-shan pig using RV reductors provided by the invention.
Fig. 2 is that the invention provides a kind of partial structural diagram of the planer-type wu-zhi-shan pig using RV reductors.
Reference：1- walking basal seats, 2- upright of frame, 3- walking crossbeams, 4- are used for the servicing unit processed, and 5-B is watched
Take motor, the RV reductors of 6- the first, 7-A servomotors, the RV reductors of 8- the 2nd, 9-B axis fixing plates, the rollers of 10- first intersection
Bearing, 11-A axle main supporting plates, the auxiliary supporting plate of 12- A axles, 13-A axle grip blocks, the rollers of 14- second intersection bearing, 15- racks,
16-X guide rails, 17-X servomotors, the RV reductors of 18- the 3rd, 19- walking sliding floors, 20-Y servomotors, 21- screw mandrels pass
Dynamic component, 22-Y guide rails, 23-Y axle row slide plates, 24-Y shaft vertical slide plates, 25-Z servo electric jars, 26-Z guide rails, 27-Z axles
Move up and down connecting plate, 28-Z axle lower connecting plates, connecting plate in 29-Z axles, 30-Z axle upper junction plates.
Embodiment
In order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art, below in conjunction with the accompanying drawings and specifically
The present invention is further described for embodiment.
Embodiment 1
A kind of planer-type wu-zhi-shan pig using RV reductors as shown in Figure 1, 2, including two walking bottoms being parallel to each other
Seat 1, the top of described two walking basal seats 1 is respectively equipped with an X-axis walking mechanism；Also include being located in each X-axis walking mechanism
The upright of frame 2 of side；Connected between two upright of frame 2 by crossbeam 3 of walking；The walking crossbeam 3 is provided with Y-axis vehicle with walking machine
Structure；Also include Z axis walking mechanism, the Z axis walking mechanism is fixed on the side of Y-axis walking mechanism；Also include B axle whirler
Structure, the B axle rotating mechanism are fixed on the lower section of Z axis walking mechanism, and the B axle rotating mechanism revolves by rotary shaft of Z-direction
Turn；Also include A axle rotating mechanisms, the A axles rotating mechanism is located at the lower section of B axle rotating mechanism, and the A axles rotating mechanism is with X
Direction of principal axis is rotated for rotary shaft, and the servicing unit 4 for processing is provided with the A axles rotating mechanism；The B axle rotating mechanism
Provided with the RV reductors 6 of B servomotors 5 and the first, the B servomotors 5 are connected with the input of the first RV reductors 6, described
The output end of first RV reductors 6 is connected with the round end of the B axle rotating mechanism, and the A axles rotating mechanism is provided with A servos electricity
The RV reductors 8 of machine 7 and the 2nd, the A servomotors 7 are connected with the input of the 2nd RV reductors 8, the 2nd RV reductors
8 output end is connected with the round end of the A axles rotating mechanism.
Using the planer-type wu-zhi-shan pig of above-mentioned technical proposal, X-axis, Y-axis, the linear motion of Z axis can be not only completed,
A axles, B axle rotation can also be carried out, possesses the operation of 5 frees degree；And by using RV to slow down in planer-type robot
Machine, A axles, the precision of B axle rotation control are added, is more conducive to realize complex-curved processing work.
Embodiment 2
Further, B axle fixed plate 9 is fixed with below the Z axis walking mechanism, the first RV reductors 6 are fixed on B axle
In fixed plate 9, the round end of the B axle rotating mechanism includes the first roller and intersects bearing 10, the B axle fixed plate 9 and first
The outer ring that roller intersects bearing 10 is fixedly connected from top to bottom, the output end of the first RV reductors 6, the first roller intersecting axle
Hold 10 inner ring, A axle rotating mechanisms are fixedly connected from top to bottom.
Using the B axle rotating mechanism of above-mentioned technical proposal,（1）B axle is improved by RV reductors and rotates control accuracy；
（2）By the way that RV reductors and B axle fixed plate are fixed, while RV reductors intersect bearing with roller respectively with B axle fixed plate
Internal and external cycle is fixed, and reduces the stress influence in other directions, improves stability when rotation.
Further, the A axles rotating mechanism also includes A axle supporting plates, and the A axles supporting plate 11 is intersected with the first roller
The inner ring connection of bearing 10, the A axles supporting plate include A axles main supporting plate 11 and the auxiliary supporting plate 12 of A axles, the A axles whirler
The round end of structure includes A axles grip block 13, and the output end of the 2nd RV reductors 8 is connected with A axles grip block 13, the A axles
Grip block 13 is located between the auxiliary supporting plate 12 of the A axles main supporting plate 11 and A axles, and the servicing unit 4 for being used to process is located at
In the A axles grip block 13.
Further, the round end of the A axles rotating mechanism also includes the second roller and intersects bearing 14, second roller
The outer ring for intersecting bearing 14 is fixed with the auxiliary supporting plate 12 of the A axles, and second roller intersects the inner ring of bearing 14 and the A axles
Grip block 13 is fixed.
Using the A axle rotating mechanisms of above-mentioned technical proposal,（1）The stress in other directions is reduced using roller intersection bearing
Influence, improve stability when rotation；（2）Can according to processing need select suitably be used for process servicing unit and
Suitable grip block, realize that planer-type is processed（Meet the processes such as milling, boring, brill, strand, tapping）, polishing, spraying, gluing, cutting,
Carry, turn the function such as match somebody with somebody, weld.
Further, the anglec of rotation of the B axle rotating mechanism is 360 °, and the anglec of rotation of the A axles rotating mechanism is
360 °, the aid for being used to process includes electro spindle.
Embodiment 3
Further, gear, rack 15, X guide rails 16 and the X that the X-axis walking mechanism includes being located in each walking basal seat 1 are slided
Block, and be located in each upright of frame 2 and be provided with X-servo motor 17, the 3rd RV reductors 18；The rack 15,16 equal edge of X guide rails
X-direction laying；The bottom of each upright of frame 2 is provided with walking sliding floor 19, and the 3rd RV reductors 18 are fixed
On walking sliding floor 19；The X-servo motor 17, the 3rd RV reductors 18, gear are sequentially connected from top to bottom, the tooth
Along the gear motion of rack 15, the lower section of each walking sliding floor 19 is connected wheel with X sliding blocks, and the X sliding blocks are along X guide rails
16 motions.
The motion process of X-axis walking mechanism is by the RV reductors of X-servo motor driven the 3rd, passes through wheel and rack
Gear motion, the upright of frame where driving the 3rd RV reductors move along X guide rails.
Using the X-axis walking mechanism of above-mentioned technical proposal,（1）Using support bottom of double walking basal seats as whole equipment
Seat is more firm；（2）Realize that the X walking mechanisms in double walking basal seats are moved along X-direction simultaneously by RV reductors, it is real
The control accuracy of X-axis walking mechanism is showed.
Further, the Y-axis walking mechanism includes Y servomotors 20, the screw rod transmission component being located on walking crossbeam 3
21st, Y guide rail 22 and Y sliding blocks, the screw rod transmission component 21, Y guide rail 22 are laid each along Y direction, on the walking crossbeam 3
Provided with Y-axis slide plate, the Y servomotors 20, screw rod transmission component 21 and Y-axis slide plate are sequentially connected；The Y-axis slide plate passes through Y
Sliding block is connected with Y guide rail 22.
Further, the Y guide rail 22 includes the first Y guide rail, the second Y guide rail, the 3rd Y guide rail, and the Y sliding blocks include the
One Y sliding blocks, the 2nd Y sliding blocks, the 3rd Y sliding blocks；The Y-axis slide plate includes Y-axis row slide plate 23 and Y-axis vertical skateboard 24, the Y
Axle row slide plate 23 and the vertical connection of Y-axis vertical skateboard 24, the Y-axis row slide plate 23 pass through the first Y sliding blocks and the first Y guide rail
Connection, the Y-axis row slide plate 23 are connected by the second sliding block with the second Y guide rail, and the Y-axis vertical skateboard 24 passes through the 3rd Y
Sliding block is connected with the 3rd Y guide rail.
The motion process of Y-axis walking mechanism is to drive shaft coupling by servomotor（Or servomotor drives reductor,
Reductor drives shaft coupling again）It is connected with screw mandrel, screw mandrel and nut seat（The screw rod transmission component include shaft coupling, screw mandrel with
Nut seat）Connection, nut seat is fixed on Y-axis slide plate, so that Y-axis slide plate moves along Y direction.
Using the Y-axis walking mechanism of above-mentioned technical proposal, by being run while three guide rails, it ensure that Y-axis slide plate is transported
Stability when dynamic.
Further, the Z axis walking mechanism includes being located at the Z servo electric jars 25 at the middle part of Y-axis vertical skateboard 24, and
The Z guide rails 26, Z sliding blocks, Z axis for being respectively provided at the both sides of Y-axis vertical skateboard 24 move up and down connecting plate 27, the Z servo electric jars
25 output shaft, each Z guide rails 26 each along Z-direction lay, each Z axis move up and down connecting plate 27 by each Z sliding blocks with
Each Z guide rails 26 connect, and the Z axis walking mechanism also includes Z axis lower connecting plate 28, the output shaft of the Z servo electric jars 25, each
The lower section that Z axis moves up and down connecting plate 27 is each attached on Z axis lower connecting plate 28.
Further, the Z servo electric jars 24 include the Z servomotors and Z reductors of electrical connection, the Z axis walking
Mechanism also includes connecting plate 29 and Z axis upper junction plate 30 in Z axis, and two Z axis move up and down the middle part and top point of connecting plate 27
It is not attached by connecting plate in Z axis 29, Z axis upper junction plate 30, so that whole Z axis walking mechanism is more firm.
Using the Z axis walking mechanism of above-mentioned technical proposal,（1）Using servo electric jar on the market, reduce the present invention's
Assembly cost；（2）It is power output shaft by centre, both sides are the structure design of guide rail, and preventing should except other of Z-direction
Influence of the force direction to power output shaft, improve the control accuracy of Z axis walking mechanism.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should be included in the scope of the protection.
Claims (10)
1. a kind of planer-type wu-zhi-shan pig using RV reductors, it is characterised in that including two walking being parallel to each other bottoms
Seat（1）, described two walking basal seats（1）Top be respectively equipped with an X-axis walking mechanism；Also include being located at each X-axis vehicle with walking machine
Upright of frame above structure（2）；Two upright of frame（2）Between pass through crossbeam of walking（3）Connection；The walking crossbeam（3）On
Provided with Y-axis walking mechanism；Also include Z axis walking mechanism, the Z axis walking mechanism is fixed on the side of Y-axis walking mechanism；Also wrap
B axle rotating mechanism is included, the B axle rotating mechanism is fixed on the lower section of Z axis walking mechanism, and the B axle rotating mechanism is with Z-direction
Rotated for rotary shaft；Also include A axle rotating mechanisms, the A axles rotating mechanism is located at the lower section of B axle rotating mechanism, the A axles rotation
Rotation mechanism is rotated by rotary shaft of X-direction, and the servicing unit for processing is provided with the A axles rotating mechanism（4）；It is described
B axle rotating mechanism is provided with B servomotors（5）With the first RV reductors（6）, the B servomotors（5）With the first RV reductors
（6）Input connection, the first RV reductors（6）Output end be connected with the round end of the B axle rotating mechanism, it is described
A axles rotating mechanism is provided with A servomotors（7）With the 2nd RV reductors（8）, the A servomotors（7）With the 2nd RV reductors
（8）Input connection, the 2nd RV reductors（8）Output end be connected with the round end of the A axles rotating mechanism.
2. the planer-type wu-zhi-shan pig according to claim 1 using RV reductors, it is characterised in that the Z axis row
Walk to be fixed with B axle fixed plate below mechanism（9）, the first RV reductors（6）It is fixed on B axle fixed plate（9）On, the B
The round end of axle rotating mechanism includes the first roller and intersects bearing（10）, the B axle fixed plate（9）With the first roller intersecting axle
Hold（10）Outer ring be fixedly connected from top to bottom, the first RV reductors（6）Output end, the first roller intersect bearing（10）
Inner ring, A axle rotating mechanisms are fixedly connected from top to bottom.
3. the planer-type wu-zhi-shan pig according to claim 2 using RV reductors, it is characterised in that the A axles rotation
Rotation mechanism also includes A axle supporting plates, and the A axles supporting plate intersects bearing with the first roller（10）Inner ring connection, the A axles branch
Fagging includes A axle main supporting plates（11）With the auxiliary supporting plate of A axles（12）, the round end of the A axles rotating mechanism includes A axle grip blocks
（13）, the 2nd RV reductors（8）Output end and A axle grip blocks（13）Connection, the A axles grip block（13）It is located at institute
State A axle main supporting plates（11）With the auxiliary supporting plate of A axles（12）Between, the servicing unit for being used to process（4）It is located at the A axle clamps
Hold plate（13）It is interior.
4. the planer-type wu-zhi-shan pig according to claim 3 using RV reductors, it is characterised in that the A axles rotation
The round end of rotation mechanism also includes the second roller and intersects bearing（14）, the second roller intersection bearing（14）Outer ring with it is described
The auxiliary supporting plate of A axles（12）Fixed, second roller intersects bearing（14）Inner ring and the A axles grip block（13）It is fixed.
5. the planer-type wu-zhi-shan pig according to claim 4 using RV reductors, it is characterised in that the B axle rotation
The anglec of rotation of rotation mechanism is 360 °, and the anglec of rotation of the A axles rotating mechanism is 360 °, the aid for being used to process
（4）Including electro spindle.
6. the planer-type wu-zhi-shan pig using RV reductors according to claim any one of 1-5, it is characterised in that institute
Stating X-axis walking mechanism includes being located at each walking basal seat（1）On gear, rack（15）, X guide rails（16）With X sliding blocks, and it is located at
Each upright of frame（2）It is interior to be provided with X-servo motor（17）, the 3rd RV reductors（18）；The rack（15）, X guide rails（16）Equal edge
X-direction laying；Each upright of frame（2）Bottom be provided with walking sliding floor（19）, the 3rd RV reductors
（18）It is fixed on walking sliding floor（19）On；The X-servo motor（17）, the 3rd RV reductors（18）, gear from top to bottom
It is sequentially connected, the gear is along rack（15）Gear motion, each walking sliding floor（19）Lower section and X sliding blocks connect
Connect, the X sliding blocks are along X guide rails（16）Motion.
7. the planer-type wu-zhi-shan pig using RV reductors according to any one of claim 6, it is characterised in that described
Y-axis walking mechanism includes being located at walking crossbeam（2）On Y servomotors（20）, screw rod transmission component（21）, Y guide rail（22）And Y
Sliding block, the screw rod transmission component（21）, Y guide rail（22）Laid each along Y direction, the walking crossbeam（2）It is provided with Y-axis
Slide plate, the Y servomotors（20）, screw rod transmission component（21）It is sequentially connected with Y-axis slide plate；The Y-axis slide plate passes through Y sliding blocks
With Y guide rail（22）Connection.
8. the planer-type wu-zhi-shan pig of RV reductors is used according to claim 7, it is characterised in that the Y guide rail
（22）Including the first Y guide rail, the second Y guide rail, the 3rd Y guide rail, the Y sliding blocks include the first Y sliding blocks, the 2nd Y sliding blocks, the 3rd Y
Sliding block；The Y-axis slide plate includes Y-axis row slide plate（23）With Y-axis vertical skateboard（24）, the Y-axis row slide plate（23）And Y-axis
Vertical skateboard（24）Vertical connection, the Y-axis row slide plate（23）It is connected by the first Y sliding blocks with the first Y guide rail, the Y-axis
Row slide plate（23）It is connected by the second sliding block with the second Y guide rail, the Y-axis vertical skateboard（24）Pass through the 3rd Y sliding blocks and
Three Y guide rails connect.
9. the planer-type wu-zhi-shan pig according to claim 8 using RV reductors, it is characterised in that the Z axis row
Walking mechanism includes being located at Y-axis vertical skateboard（24）The Z servo electric jars at middle part（25）, and it is respectively provided at Y-axis vertical skateboard
（24）The Z guide rails of both sides（26）, Z sliding blocks, Z axis move up and down connecting plate（27）, the Z servo electric jars（25）Output shaft,
Each Z guide rails（26）Laid each along Z-direction, each Z axis moves up and down connecting plate（27）Pass through each Z sliding blocks and each Z guide rails
（26）Connection, the Z axis walking mechanism also include Z axis lower connecting plate（28）, the Z servo electric jars（25）Output shaft, each Z
Axle moves up and down connecting plate（27）Lower section be each attached to Z axis lower connecting plate（28）On.
10. the planer-type wu-zhi-shan pig according to claim 9 using RV reductors, it is characterised in that the Z servos
Electric cylinder（24）Z servomotors and Z reductors including electrical connection, the Z axis walking mechanism also include connecting plate in Z axis（29）
With Z axis upper junction plate（30）, two Z axis move up and down connecting plate（27）Middle part and top pass through connecting plate in Z axis respectively
（29）, Z axis upper junction plate（30）It is attached.
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