CN208629374U - A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism - Google Patents
A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism Download PDFInfo
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- CN208629374U CN208629374U CN201821297868.2U CN201821297868U CN208629374U CN 208629374 U CN208629374 U CN 208629374U CN 201821297868 U CN201821297868 U CN 201821297868U CN 208629374 U CN208629374 U CN 208629374U
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Abstract
A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism, with silent flatform, silent flatform support plate, moving platform, work top, branch connecting rod, six sets of silent flatform support plates are mounted on silent flatform, six sets of servo straight line module devices are mounted in six sets of silent flatform support plates, six sets of brave shell hinges are mounted on the upper end of six sets of servo straight line module device top sliding panels, the top of six sets of brave shell hinges is respectively fitted over the lower part of six sets of weighing force snesors, six branch connecting rod lower parts are separately mounted to the top of six sets of weighing force snesors, six branch connecting rod tops and six sets of composite balls hinge lower parts link together, six sets of composite balls hinge tops are mounted on the lower end of moving platform, work top is mounted on moving platform, work piece holder is mounted on work top, silent flatform is installed on the workbench, workpieces processing is clamped in fixture, it is right Cutter block is mounted on outboard end before silent flatform top.The main shaft that the utility model effectively prevents process tool breaking or electro spindle, which is suppressed, stops drawback.
Description
Technical field
The utility model relates to machine processing field, especially a kind of floating work based on six-degree-of-freedom parallel connection mechanism
Make platform device.
Background technique
In machinery field, it is often necessary to carry out the techniques such as polishing grinding or the deburring of mechanical workpieces, when processing,
The electro spindle front end polishing tool of Six-DOF industrial robot processes the workpiece being located on fixed station.In actual processing
In, since the surface of mechanical part is uneven there are surplus and the chucking device rigidity of clamping workpieces processing is excessively high, six degree of freedom
Moment values under industrial robot polishing track usually will appear excessive cutting force, to cause process tool breaking or electricity is main
The main shaft of axis, which is suppressed, to stop, or even causes the damage of the equipment such as electro spindle.
Summary of the invention
In order to overcome the electro spindle front end polishing tool of existing Six-DOF industrial robot, the polishing of mechanical workpieces is beaten
In the processes such as mill or deburring, since the chucking device rigidity of clamping workpiece is excessively high, it is easy to cause process tool disconnected in processing
Knife, electro spindle main shaft suppress and stop, and the drawbacks of cause the risk of equipment damage such as electro spindle, the utility model provides processing work
Part is fixed on moving platform by work piece holder, and moving platform is in composite balls hinge, brave shell hinge, servo straight line mould group, and weighing
Under the components collective effect such as force snesor, when workpieces processing is less than allowable value by the process tool active force of electro spindle, move
Platform does not move；When workpieces processing is greater than allowable value by the process tool active force of electro spindle, control six degree of freedom industry
The computer capacity output control signal of robot work, makes moving platform under associated mechanisms effect, the direction opposite to cutting force
It is moved, is avoided with the speed of computer settings；And the measurement of above-mentioned power is constantly repeated during evacuation compared with
Journey, until being less than allowable value by cutting force value, moving platform just can slowly return to zero-bit (initial position), in the mistake of return-to-zero position
Cheng Zhong, associated mechanisms constantly repeat the monitoring of above-mentioned power and moving platform evacuation acts, and workpieces processing has been effectively ensured in this way and has added
During work, moment values under the excessive polishing track of Six-DOF industrial robot, electro spindle holding in process are not will receive
Suitable cutting force stops or even the equipment damages such as electro spindle so that the main shaft of process tool breaking or electro spindle be effectively prevent to suppress
A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism, including feeler block, six sets of composite balls hinges, six
The brave shell hinge of set, work piece holder, Six-DOF industrial robot, having for Six-DOF industrial robot working arm front end installation are beaten
The electro spindle of knife milling tool, six sets of servo straight line module devices, six sets of weighing force snesors, Six-DOF industrial robots are matched
Computer is controlled, the signal output end of six sets of weighing force snesors is connected with control computer data acquiring card through signal wire, and six
Freedom degree industrial robot, electro spindle, six sets of servo straight line module devices power input and control eight controls of computer
Power output end processed is connected by conducting wire respectively, the left and right ends inside upper part of every group of two sets of servo straight line module devices by it is preceding extremely
One of sliding slot is respectively distributed with afterwards, there is a sliding panel in sliding slot, motor, gear inside it when servo straight line module device works
Under the effect of deceleration mechanism, sliding panel can move up and down along the chute, it is characterised in that also have silent flatform, silent flatform support plate, move
Platform, work top, branch connecting rod, six sets of silent flatform support plates be divided into three groups by bolt and nut annular space it is centainly equidistant
It is mounted on the upper end of silent flatform, apart from close, every group of two sets of silent flatform support plate distances are less than every group of two sets of silent flatform support plates
The distance between two groups of silent flatform support plates, six sets of servo straight line module devices pass through respectively bolt and nut be mounted on six sets it is quiet flat
In platform support plate, the lower base of six sets of brave shell hinges passes through bolt and nut respectively and is mounted on six sets of servo straight line module device tops
The hinged motion bar in top of the upper end of sliding panel, six sets of brave shell hinges is respectively fitted over the lower part connecting hole of six sets of weighing force snesors
It is interior, it is screwed in respectively by six branch connecting rod lower external threads in the top connecting hole internal screw thread of six sets of weighing force snesors, from
And six branch connecting rod lower parts are separately mounted to the top of six sets of weighing force snesors, six branch connecting rod upper flange disks and
Six sets of composite balls hinge lower flange disks are linked together by nut respectively, six sets of compound spherical hinge chain intervals centainly equidistant ring
Shape is distributed the lower end for being mounted on moving platform by bolt and nut respectively, and work top is mounted on moving platform by bolt and nut,
Work piece holder is mounted on middle part, silent flatform on work top by bolt and nut and is arranged close to six degree of freedom by bolt and nut
On workbench near industrial robot, workpieces processing is clamped in fixture, and feeler block is mounted on before silent flatform top outside
Side.
Every set silent flatform support plate top is heeling condition distribution from high to low by inside to outside.
After the lower base of every set tiger shell hinge is mounted on the upper end of servo straight line module device top sliding panel, six sets
The pedestal upper end inside of brave shell hinge is that heeling condition is distributed from high to low to outside.
The diameter of the silent flatform is greater than the diameter of moving platform, work top.
The utility model beneficial effect is: the utility model combines the matched control meter of existing mature Six-DOF industrial robot
Calculation machine, and the corresponding mature control program of control computer use, and when work, workpieces processing is fixed on dynamic put down by work piece holder
After on platform, eight control power output ends of computer are controlled respectively according to internal preset process control six degree of freedom industrial machine
People, electro spindle, six sets of servo straight line module device work.Process tool before Six-DOF industrial robot drives electro spindle
Workpieces processing is processed, workpieces processing can be respectively acting on six sets of weighing power by the active force that electro spindle process tool applies
Sensor, it is defeated that the gravitational cue measured can be passed to control computer data acquiring card signal respectively by six sets of weighing force snesors
Enter end, after control computer handles data, workpieces processing is allowable when being less than by the process tool active force of electro spindle
When value (namely workpieces processing applied by electro spindle process tool minimum allowable active force), moving platform is not moved；Work as processing
Workpiece by electro spindle process tool active force be greater than allowable value (namely workpieces processing is applied by electro spindle process tool
Maximum allowable active force) when, the computer capacity output control signal of control Six-DOF industrial robot work makes moving platform exist
Under associated mechanisms effect, the direction opposite to cutting force is moved with the speed of computer settings, is avoided；And in evacuation process
In constantly repeat the measurement and comparison procedure of above-mentioned power, until being less than allowable value by cutting force value；Moving platform just can be returned slowly
Zero-bit (initial position) is returned to, during return-to-zero position, associated mechanisms constantly repeat monitoring and the workbench of above-mentioned power
Evacuation movement, has been effectively ensured in workpieces processing process in this way, not will receive the excessive polishing of Six-DOF industrial robot
Moment values under track, electro spindle keeps suitable cutting force in process, to effectively prevent process tool breaking or electricity
The main shaft of main shaft, which is suppressed, to stop or even the drawbacks of the equipment damages such as electro spindle.Based on above-mentioned, so the application that the utility model has had
Prospect.
Detailed description of the invention
The utility model is described further below in conjunction with drawings and examples.
Fig. 1 is the utility model structure diagram.
Fig. 2 is structural schematic diagram between the utility model and Six-DOF industrial robot.
Fig. 3 is the utility model composite balls hinge, brave shell hinge, work piece holder, servo straight line module device, claims gravity sensitive
Device, silent flatform support plate, the part of branch connecting rod and moving platform, silent flatform, work top, structural representation between workpieces processing
Figure.
Fig. 4 is structural schematic diagram between the utility model silent flatform support plate and silent flatform.
Fig. 5 is the existing brave shell hinge structural schematic diagram that the utility model uses.
Fig. 6 is the existing compound spherical hinge chain structure schematic diagram that the utility model uses.
Specific embodiment
Shown in Fig. 1,2,3,4,5,6, a kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism, including to knife
The brave shell of 1, six set of block, 2, six sets of composite balls hinge cuts with scissors 3, work piece holder 4, Six-DOF industrial robot 5, six degree of freedom industrial machine
6, six sets of electro spindle, 7, six sets of the servo straight line module device weighing power with polishing tool of device people's working arm front end installation passes
The matched control computer of sensor 8, Six-DOF industrial robot, six sets weighing force snesor 8 signal output end and control
Computer data acquiring card is connected through signal wire, 6, six sets of Six-DOF industrial robot 5, electro spindle servo straight line module devices
7 power input passes through conducting wire with eight control power output ends of control computer respectively and connects, every group of two sets of servo directs
One of sliding slot 7-1 is respectively distributed in the left and right ends inside upper part of line module device 7 from front to back, there is a sliding in sliding slot 7-1
Plate 7-2, under motor, gear reduction act on inside it when servo straight line module device works, sliding panel 7-2 can be along the chute
7-1 move up and down, also have silent flatform 9, silent flatform support plate 10, moving platform 11, work top 12, branch connecting rod 13, six sets
Silent flatform support plate 10 is divided into three groups by the certain equidistant upper end for being mounted on silent flatform 9 of bolt and nut annular space, and every group
Two sets of silent flatform support plates 10 apart from close, less than two groups silent flatform support plates 10 of every group of two sets of 10 distances of silent flatform support plate it
Between distance, six sets of servo straight line module devices 7 are mounted in six sets of silent flatform support plates 10 by bolt and nut respectively, six sets
The lower base 3-1 of brave shell hinge 3 passes through bolt and nut respectively and is mounted on six sets of servo straight line module device top sliding panel 7-2's
The hinged motion bar in top of upper end, six sets of brave shell hinges 3 is respectively fitted in the lower part connecting hole of six sets of weighing force snesors 8, is passed through
Six 13 lower external threads of branch connecting rod are screwed in respectively in the top connecting hole internal screw thread of six sets of weighing force snesors 8, thus handle
Six 13 lower parts of branch connecting rod are separately mounted to the top of six sets of weighing force snesors 8, six 13 upper flange disks of branch connecting rod
It is linked together respectively by nut with six sets of 2 lower flange disks of composite balls hinge, six sets of composite balls hinges 2 are spaced certain equidistant
Pass through the lower end that bolt and nut is mounted on moving platform 11 respectively from annular spread, work top 12 is mounted on dynamic by bolt and nut
On platform 11, work piece holder 4 is mounted on middle part on work top 12 by bolt and nut, and silent flatform 10 is installed by bolt and nut
On the workbench near Six-DOF industrial robot 5, workpieces processing 14 is clamped in fixture 4, and feeler block 1 is pacified
The outboard end before 10 top of silent flatform.
Shown in Fig. 1,2,3,4,5,6, every 10 upper inner of set silent flatform support plate is skewed from high to low to outside
State distribution.After the lower base of brave shell hinge 3 is mounted on the upper end of servo straight line module device top sliding panel 7-2, six sets of brave shells
The upper end the pedestal 3-1 inside of hinge is that heeling condition is distributed from high to low to outside.The diameter of silent flatform 9 is greater than moving platform 11, work
Make the diameter of table top 12.
Shown in Fig. 1,2,3,4,5,6, the utility model combines the matched control meter of existing mature Six-DOF industrial robot
Calculation machine, and its corresponding mature control program use.When work, workpieces processing 14 is fixed on moving platform 11 by work piece holder 4
After upper, eight control power output ends of computer are controlled respectively according to internal preset process control Six-DOF industrial robot
5,6, six sets of servo straight line module devices 7 of electro spindle work.Workpiece 14 on moving platform 11 and moving platform is initially in steady position
(zero-bit) is set, the process tool before Six-DOF industrial robot 5 drives electro spindle 6 processes workpieces processing 14, adds
The active force that work workpiece 14 is applied by 6 process tool of electro spindle can be respectively through 11, six sets of moving platform, 2, six, composite balls hinge branch
Chain connecting rod 13 is respectively acting on six sets of weighing force snesors 8, and six sets of weighing force snesors 8 can respectively pass the gravitational cue measured
Pass control computer data acquiring card signal input terminal, control computer data are handled after, obtain moving platform 11 by
To cutting force numerical values recited and action direction, power numerical value and the data in control computer being calculated specify maximum allowable cutting
Force value is compared, when being less than allowable value (namely workpieces processing applied by electro spindle process tool minimum allowable active force)
When, moving platform 11 does not move；When being greater than allowable value (the namely maximum allowable work that is applied by electro spindle process tool of workpieces processing
When firmly), control computer-internal system is resolved according to its inverse kinematic model, is controlled six servo straight line mould groups and is set
Standby 7 directions for being moved to different motion direction (upward or downward), moving platform 11 being made to drive workpieces processing 14 opposite to cutting force
It is moved with specified speed, carries out excessive torque evacuation；The measurement of above-mentioned power is constantly repeated during evacuation compared with
Journey, until being less than allowable value by cutting force value；Control computer controls six 7 different motion sides of servo straight line module device at this time
To, make moving platform drive workpieces processing 14 to zero-bit (initial stationary position) move；During return-to-zero position, six sets of weighings
The gravimetric data of monitoring is constantly passed to control computer data acquiring card signal input terminal by force snesor 8, controls computer
After handling data, the different motion direction of six servo straight line module devices 7 is controlled respectively, to constantly repeat above-mentioned
The monitoring of power and the evacuation of moving platform 11 act, in this way, electro spindle is cut in holding in the process of entire workpieces processing 14
Cut the monitoring and 11 avoidance strategy of moving platform of power, with guarantee in process electro spindle 6 keep suitable cutting force act on plus
Work workpiece 14, cutting force is limited in a specified safe range, to effectively prevent process tool breaking or electro spindle
Main shaft suppress and stop or even the drawbacks of the equipment damages such as electro spindle.In the utility model, the control program of computer-internal is controlled according to number
According to capture card collect multichannel amount of force, respectively control six sets of servo straight line module devices 7 working method be it is existing at
Cooking technique is not belonging to the utility model protection scope.In work, when the motor of control computer control servo straight line module device 7 is suitable
Hour hands rotation, under motor, gear reduction act on inside it when servo straight line module device 7 works, sliding panel 7-2 can edge
Sliding slot 7-1 upper movement inwardly, sliding panel 7-2 push brave shell hinge 3 to move upwards, and brave shell hinge 3 moves upwards promotion weighing power and passes
Sensor 8, branch connecting rod 13, composite balls hinge 2 move upwards, and branch connecting rod 13 pushes moving platform 11 to move upwards, and in turn, move flat
Platform 11 and branch connecting rod 13 contact side and move upwards, and 11 other side of moving platform moves downward；When control computer controls servo
When the motor of straight line module device rotates counterclockwise, motor, gear reduction unit inside it when servo straight line module device 7 works
Under structure effect, sliding panel 7-2 can be moved downward along the chute, and sliding panel 7-2 pushes brave shell to cut with scissors 3 downward movement outsides, brave shell hinge 3 to
Lower movement drives weighing force snesor 8, branch connecting rod 13, composite balls hinge 2 to move downward, and branch connecting rod 13 drives moving platform 11
It moves downward, in turn, moving platform 11 and branch connecting rod 13 contact side and move downward, and 11 other side of moving platform moves upwards.It is real
In the work of border, the gravimetric data of monitoring is constantly passed to control computer data acquiring card signal by six sets of weighing force snesors 8
Input terminal can control the different motion side of six sets of servo straight line module devices 7 after control computer handles data respectively
To, that is, the movable plate 7-2 of six sets of servo straight line module devices can be controlled respectively through associated components drive moving platform 11 and moved
The different up and down motions of workpieces processing 14 direction on platform 11, realizes one end moving platform 11 in the sliding of servo straight line module device
When rising under plate 7-2 effect, the other end corresponds to 11 position of moving platform in the sliding panel 7-2 effect of corresponding servo straight line module device
Lower decline, to guarantee that electro spindle keeps suitable cutting force to act on workpieces processing 14 in process, cutting force is limited
In a specified safe range.Based on above-mentioned, so the application prospect that the utility model has had.
The advantages of basic principles and main features and the utility model of the utility model have been shown and described above, for
For those skilled in the art, it is clear that this utility model is limited to the details of above-mentioned exemplary embodiment, and without departing substantially from this
In the case where the spirit or essential attributes of the utility model, the utility model can be realized in other specific forms.Therefore, nothing
By from the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, the scope of the utility model by
Appended claims rather than above description limit, it is intended that will fall within the meaning and scope of the equivalent elements of the claims
All changes be embraced therein.It should not treat any reference in the claims as limiting related power
Benefit requires.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (4)
1. a kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism, including feeler block, six sets of composite balls hinges, six sets
Brave shell hinge, work piece holder, Six-DOF industrial robot, having for Six-DOF industrial robot working arm front end installation are polished
The electro spindle of cutter, six sets of servo straight line module devices, six sets of weighing force snesors, the matched controls of Six-DOF industrial robot
The signal output end of computer processed, six sets of weighing force snesors is connected with control computer data acquiring card through signal wire, and six certainly
By degree industrial robot, electro spindle, six sets of servo straight line module devices power input and control eight controls of computer
Power output end is connected by conducting wire respectively, and the left and right ends inside upper part of every group of two sets of servo straight line module devices is from front to back
One of sliding slot is respectively distributed with, there is a sliding panel in sliding slot, it is characterised in that also there is silent flatform, silent flatform support plate, move and put down
Platform, work top, branch connecting rod, six sets of silent flatform support plates are divided into the upper end that three groups of annular space distances are mounted on silent flatform,
Six sets of servo straight line module devices are separately mounted in six sets of silent flatform support plates, and the lower base of six sets of brave shell hinges is installed respectively
The hinged motion bar in top in the upper end of six sets of servo straight line module device top sliding panels, six sets of brave shell hinges is respectively fitted over six sets
It weighs in the lower part connecting hole of force snesor, six branch connecting rod lower parts are separately mounted to the top of six sets of weighing force snesors,
Six branch connecting rod upper flange disks and six sets of composite balls hinge lower flange disks are respectively connected together, six sets of composite balls hinges
Spacing distance annular spread is separately mounted to the lower end of moving platform, and work top is mounted on moving platform, and work piece holder is mounted on
Middle part, silent flatform are arranged close on the workbench near Six-DOF industrial robot on work top, workpieces processing clamping
In fixture, feeler block is mounted on outboard end before silent flatform top.
2. a kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism according to claim 1, it is characterised in that
Every set silent flatform support plate top is heeling condition distribution from high to low by inside to outside.
3. a kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism according to claim 1, it is characterised in that
The pedestal upper end inside of six sets of brave shell hinges is that heeling condition is distributed from high to low to outside.
4. a kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism according to claim 1, it is characterised in that
The diameter of silent flatform is greater than the diameter of moving platform, work top.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821297868.2U CN208629374U (en) | 2018-08-13 | 2018-08-13 | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821297868.2U CN208629374U (en) | 2018-08-13 | 2018-08-13 | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism |
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| CN208629374U true CN208629374U (en) | 2019-03-22 |
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| CN201821297868.2U Active CN208629374U (en) | 2018-08-13 | 2018-08-13 | A kind of floating work bench device based on six-degree-of-freedom parallel connection mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986540A (en) * | 2019-04-15 | 2019-07-09 | 广东精铟海洋工程创新研究有限公司 | A kind of adjustable type six degree of freedom platform |
| CN110119100A (en) * | 2019-04-15 | 2019-08-13 | 广东精铟海洋工程创新研究有限公司 | A kind of intelligence control system and method for adjustable type six degree of freedom platform |
-
2018
- 2018-08-13 CN CN201821297868.2U patent/CN208629374U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109986540A (en) * | 2019-04-15 | 2019-07-09 | 广东精铟海洋工程创新研究有限公司 | A kind of adjustable type six degree of freedom platform |
| CN110119100A (en) * | 2019-04-15 | 2019-08-13 | 广东精铟海洋工程创新研究有限公司 | A kind of intelligence control system and method for adjustable type six degree of freedom platform |
| CN110119100B (en) * | 2019-04-15 | 2021-12-31 | 广东精铟海洋工程创新研究有限公司 | Intelligent control system and method of adjustable six-degree-of-freedom platform |
| CN109986540B (en) * | 2019-04-15 | 2022-04-29 | 广东精铟海洋工程创新研究有限公司 | Adjustable six-degree-of-freedom platform |
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