机床冷却系统六自由度机械臂控制机构设计

Cooling Systems Design of Controlling Mechanism for 6-DOF Manipulator in Machine Tools

六自由度机械臂控制机构包括吸附底座、主体架、机械臂和摆动头。其主体架与吸附底座相连,机械臂一端可转动地设于主体架下端,另一端与摆动头相连;摆动头包括电机支架、摆动伺服舵机、喷头和摆动机构,喷头通过摆动机构与摆动伺服舵机的输出轴相连。该机构能围绕主轴实现360°旋转,避免喷射死角、盲区;同时利用具有多自由度的机械臂,能准确定位喷头位置,提高灵活性和通用性。

The controlling mechanism for six degree of freedom（ 6-DOF） manipulator includes： adsorption base,body frame,manipulator,and swing head. Body frame was connected to the adsorption base. One end of the manipulator was under the body frame,rotating,and the other end was connected with swing head. There were motor bracket,swing servo,nozzle and swinging mechanism in the swing head. The nozzle was connected to the swing servo by the swinging mechanism. The nozzle could achieve 360° rotation around the axis,avoid dead angle and blind space,and accurately locate the nozzle position due to using the 6-DOF manipulator. It is more flexible and versatilie.