阅读说明：本技术 一种空间六自由度小型雕刻机 (Small-size engraver of six degrees of freedom in space ) 是由 张春燕 任甲辉 张洋洋 陈雅洁 胡柏松 乔印虎 于 2020-04-21 设计创作，主要内容包括：本发明公开了一种空间六自由度小型雕刻机,包括底座架、龙门架、X向驱动机构、Y向驱动机构、Z向驱动机构、工作台组合及刀盘,底座架包括前支撑板、后支撑板及三角导轨,底座架固接大工作台,大工作台的下支撑板内嵌电磁环道,电磁环道磁性支撑旋转小工作台；Y向驱动机构包括第一步进电机、第一联轴器、丝杠螺母组I、圆导轨及双滚轮组合,左立柱和右立柱设X向驱动机构及Z向驱动机构；Z向驱动机构连接刀盘座,刀盘座设环形滑道、转向电机及刀座。可以实现对工件空间任意自由度的雕刻,减小工作台的震动,还可实现对刀具在倾斜状态下雕刻时进行固定保护,不易在工件上雕刻时受力偏移,提高雕刻精度。(The invention discloses a spatial six-degree-of-freedom small engraving machine which comprises a base frame, a portal frame, an X-direction driving mechanism, a Y-direction driving mechanism, a Z-direction driving mechanism, a workbench combination and a cutter head, wherein the base frame comprises a front supporting plate, a rear supporting plate and a triangular guide rail; the Y-direction driving mechanism comprises a first stepping motor, a first coupler, a lead screw nut group I, a circular guide rail and a double-roller combination, and the left upright post and the right upright post are provided with an X-direction driving mechanism and a Z-direction driving mechanism; the Z-direction driving mechanism is connected with a cutter head seat, and the cutter head seat is provided with an annular slideway, a steering motor and a cutter seat. The carving of arbitrary degree of freedom in work piece space can be realized, the vibrations of workstation are reduced, still can realize fixing the protection when the carving is carried out to the cutter under the tilt state, and atress skew when being difficult for carving on the work piece improves the sculpture precision.)

1. The utility model provides a small-size engraver of six degrees of freedom in space, includes base frame (1), portal frame (2), X to actuating mechanism (3), Y to actuating mechanism (5), Z to actuating mechanism (4), workstation combination and blade disc (A), its characterized in that: the base frame (1) comprises a front supporting plate (28), a rear supporting plate (24) and a triangular guide rail (17) for connecting the front supporting plate (28) and the rear supporting plate (24), wherein the triangular guide rail (17) is fixedly connected to the lower part of the front supporting plate (28) and is arranged on the left side and the right side, the top edge of the front supporting plate (28) and the top edge of the rear supporting plate (24) are fixedly connected with a large workbench (19), the lower surface of the large workbench (19) is vertically connected with front and rear small supporting plates (25), the bottom edges of the front and rear small supporting plates (25) are fixedly connected with a lower supporting plate (27), an electromagnetic ring channel (26) is embedded in the lower supporting plate (27), a corresponding electromagnetic ring (106) is arranged right above the electromagnetic ring channel (26), and the electromagnetic ring channel (26) is provided with a small rotating workbench (B) through a supporting frame of the electromagnetic ring;

the Y-direction driving mechanism (5) comprises a first stepping motor (22), a first coupler (21), a lead screw nut group I (20), a circular guide rail (13) and a double-roller combination (C), the first stepping motor (22) is fixedly connected with the outer side surface of a rear support plate (24) through screws, the output shaft of the first stepping motor (22) is connected with one end of a lead screw of the lead screw nut group I (20) through the first coupler (21), a nut of the lead screw nut group I (20) is fixedly connected with a bottom baffle plate (18), the bottom baffle plate (18) is a transverse right-angle plate, the bottom baffle plate (18) is totally two groups, one group of the inner side of the bottom baffle plate (18) is fixedly connected with a left upright post (6) and supports the left upright post (6), the other group of the inner side of the bottom baffle plate (18) is fixedly connected with a right upright post (10) and supports the right upright post (10), the outer side wall and the outer bottom wall of the bottom baffle plate (18) are, the double-roller combination (C) is of a V-shaped pulley structure consisting of two groups of pulleys, a round guide rail (13) is arranged on the double-roller combination (C) on the outer side wall of the bottom baffle (18) in a sliding fit mode, two ends of the round guide rail (13) are respectively arranged on a front support plate (28) and a rear support plate (24) through bearing seats, the double-roller combination (C) on the outer bottom wall of the bottom baffle (18) is matched with a triangular guide rail (17), and the triangular guide rail (17) is specifically an angle iron bar with an inverted V-shaped section and is matched with the V-shaped pulley structure of the double-roller combination (C) to slide;

the side edge of the upper part of the left upright post (6) and the side edge of the upper part of the right upright post (10) are fixedly connected with a rear baffle plate (7), an X-direction driving mechanism (3) is fixedly arranged on the opposite side walls of the left upright post (6) and the right upright post (10), the X-direction driving mechanism (3) comprises a second stepping motor (9) fixedly arranged at the upper part of the left upright post (6), the second stepping motor (9) is also connected with a first coupling (21) and a screw nut group I (20), the nut of the screw nut group I (20) of the second stepping motor (9) is fixedly connected with a cross support plate (15), a double-roller combination (C) is arranged on one side of the cross support plate (15), round guide rails (13) in sliding fit with the cross support plate (15) are erected on the left upright column (6) and the right upright column (10), and a vertical support plate (23) is fixedly connected with the two groups of horizontally arranged cross support plates (15);

the top and the bottom of one side surface of the vertical support plate (23) far away from the cross support plate (15) are respectively provided with a horizontal plate (16), the horizontal plate (16) at the top is fixedly connected with a third step motor (29), the third step motor (29) is also connected with a first coupler (21) and a lead screw nut group I (20), two vertically-placed circular guide rails (13) are erected on the two horizontal plates (16), nuts of the lead screw nut group I (20) of the third step motor (29) are fixedly connected on an inner support plate (30), the inner support plate (30) is provided with a double-roller combination (C) in sliding fit with the circular guide rails (13) of the horizontal plate (16), and the vertical support plate (23), the horizontal plate (16), the third step motor (29) and components thereof form a Z-direction driving mechanism (4);

two sets of fixed plate (8) have been erect to interior fagging (30), bolt fixedly connected with knife rest (207) is passed through to the lower part of fixed plate (8), knife rest (207) have linked firmly knife rest seat (210), outer annular electro-magnet (208) and interior annular electro-magnet (209) that knife rest seat (210) fixedly connected with set up with one heart, form annular slide between outer annular electro-magnet (208) and interior annular electro-magnet (209), knife rest seat (210) central point puts and has cup jointed central pivot (213) through the bearing, central pivot (213) are close to X and are equipped with steering motor (211) to the one end of actuating mechanism (3) direction, just the shell rigid coupling of steering motor (211) is on knife rest (207), the output shaft that turns to motor (211) passes through second shaft coupling (212) and central pivot (213) fixed connection, the one end fixed connection (214) that second shaft coupling (212) were kept away from to central pivot (213), the improved carving tool is characterized in that a tool holder (215) is connected in the tool holder (214), one end of the tool holder (215) is fixedly connected with a carving tool (216), and the tool holder (214) is further provided with a radial protection component and a pair of tangential protection components.

2. The small-sized engraving machine with six degrees of freedom in space of claim 1, wherein: the rotary small workbench (B) comprises a fourth stepping motor (111), a small belt wheel I (110), a small belt wheel II (108), an electromagnetic ring (106), a round bottom plate (105), a fifth stepping motor (104), a lead screw nut group II (103) and a small workbench (101), wherein the electromagnetic ring (26) and the electromagnetic ring (106) are arranged concentrically, the top surface of the electromagnetic ring (106) is fixedly connected with a round bottom plate (105), a plurality of groups of fifth stepping motors (104) are fixedly arranged on the upper surface of the round bottom plate (105), an output shaft on the top surface of the fifth stepping motor (104) is fixedly connected with the lead screw nut group II (103), the top end of a lead screw in the lead screw nut group II (103) is connected with the small workbench (101) through a hinge (102), the central part of the bottom surface of the electromagnetic ring (106) is fixedly connected with a third coupler (107), and the electromagnetic ring (106) is connected to the central shaft of the small belt wheel II (108) through the third coupler (107), the central shaft of the small belt wheel II (108) vertically penetrates through the lower supporting plate (27), the small belt wheel II (108) is connected with a small belt wheel I (110) through a synchronous cog belt (109), and the central shaft of the small belt wheel I (110) is connected with an output shaft of a fourth stepping motor (111) through another third coupling (107); when the electromagnetic ring (106) rotates, the positive and negative poles of the electromagnetic ring (106) are changed at uniform speed, and the parts of each part vertically corresponding to the electromagnetic ring (26) are alternatively attracted or repelled by magnetism to form an electric repulsion mechanism which plays a role in shock absorption.

3. The small-sized engraving machine with six degrees of freedom in space of claim 1, wherein: the double-roller combination (C) comprises a base plate (11), a tripod (12) and small rollers (14), wherein the tripod (12) is fixedly connected onto the base plate (11), and the tripod (12) is connected with four groups of small rollers (14) through bolts and nuts to form matching with guide rails.

4. The small-sized engraving machine with six degrees of freedom in space of claim 1, wherein: radial protection subassembly includes C shape connecting plate (217) and first arc magnet (218), and the axis of C shape connecting plate (217) and first arc magnet (218) coincides with the extension line of carving tool (216) axis mutually, fixed connection between C shape connecting plate (217) and blade holder (214), sliding connection between first arc magnet (218) and blade holder (210), and clearance fit between first arc magnet (218) and the slide, outer annular electromagnet (208), interior annular electromagnet (209) all with first arc magnet (218) between magnetic connection.

5. The small-sized engraving machine with six degrees of freedom in space of claim 1, wherein: it is a pair of the symmetry of tangential protection subassembly is established in blade holder (214) both sides, the tangential protection subassembly includes T shape connecting rod (219) and second arc magnet (220), and the axis of T shape connecting rod (219) and second arc magnet (220) is mutually perpendicular with the extension line of carving tool (216) axis, fixed connection between T shape connecting rod (19) and blade holder (214), sliding connection between second arc magnet (220) and blade holder dish (210), and clearance fit between second arc magnet (220) and the slide, outer annular electromagnet (208), interior annular electromagnet (209) all with second arc magnet (220) between magnetic connection.

6. The small-sized engraving machine with six degrees of freedom in space of claim 1, wherein: the surfaces of the electromagnetic ring (106), the small roller (14), the first arc-shaped magnet (218) and the second arc-shaped magnet (220) are coated with wear-resistant layers.

Technical Field

The invention relates to the technical field of engraving equipment, in particular to a small-sized engraving machine with six spatial degrees of freedom.

Background

The engraving machine is suitable for mechanical equipment for engraving various materials, and has the characteristics of lower cost and stable quality compared with manual engraving, the current advanced engraving machine on the market belongs to a gantry type five-axis engraving machine, but has high cost, is not suitable for small-sized process engraving, and also appears in six-axis engraving machines specially used for small-sized process engraving, but has few six-axis linkage, namely, at least six coordinate axes (three linear coordinates and three rotating coordinates) on one machine tool, and can simultaneously coordinate and move for processing under the control of a Computer Numerical Control (CNC) system, so that the processing precision is high.

At present, the small-sized engraving machine in the market mostly uses the triaxial as the main thing, and the automation level of sculpture is low, has some advanced five-axis sculpture to improve processing and handling efficiency, and then improves engraving machine efficiency, but in the sculpture process to the work piece, because swing coordinate's rigidity is lower, the cutter is easy atress emergence skew when the slope is processed to reduce the sculpture precision, finally reduce and carve finished product quality.

Disclosure of Invention

The invention aims to solve the defects in the prior art and provides a spatial six-degree-of-freedom small engraving machine.

In order to achieve the purpose, the invention adopts the following technical scheme:

the utility model provides a small-size engraver of six degrees of freedom in space, includes base frame, portal frame, X to actuating mechanism, Y to actuating mechanism, Z to actuating mechanism, workstation combination and blade disc, its characterized in that: the base frame comprises a front supporting plate, a rear supporting plate and a triangular guide rail for connecting the front supporting plate and the rear supporting plate, the triangular guide rail is fixedly connected to the lower part of the front supporting plate and is arranged on the left side and the right side, the top edge of the front supporting plate and the top edge of the rear supporting plate are fixedly connected with a large workbench, the lower surface of the large workbench is vertically connected with a front small supporting plate and a rear small supporting plate, the bottom edges of the front small supporting plate and the rear small supporting plate are fixedly connected with a lower supporting plate, an electromagnetic ring channel is embedded in the lower supporting plate, a corresponding electromagnetic ring is arranged right above the electromagnetic ring channel, and the electromagnetic;

the Y-direction driving mechanism comprises a first stepping motor, a first coupler, a lead screw nut group I, a round guide rail and a double-roller combination, the first stepping motor is fixedly connected with the outer side surface of the rear supporting plate through screws, an output shaft of the first stepping motor is connected with one end of a lead screw of the lead screw nut group I through the first coupler, nuts of the lead screw nut group I are fixedly connected with bottom baffles which are transversely arranged right-angle plates, the bottom baffles are two groups in total, the inner side of one group of bottom baffles is fixedly connected with a left upright and supports the left upright, the inner side of the other group of bottom baffles is fixedly connected with a right upright and supports the right upright, the outer side wall and the outer bottom wall of each bottom baffle are fixedly connected with the double-roller combination, the double-roller combination is of a V-shaped pulley structure consisting of two groups of pulleys, the double-roller combination of the outer side wall of each bottom baffle is in sliding fit, the double-roller combination on the outer bottom wall of the bottom baffle is matched with a triangular guide rail, and the triangular guide rail is specifically an angle iron bar with an inverted V-shaped section and is matched with a V-shaped pulley structure of the double-roller combination to slide;

the side edge of the upper part of the left upright post and the side edge of the upper part of the right upright post are fixedly connected with a rear baffle, an X-direction driving mechanism is fixedly arranged on the opposite side wall of the left upright post and the right upright post, the X-direction driving mechanism comprises a second stepping motor fixedly arranged on the upper part of the left upright post, the second stepping motor is also connected with a first coupler and a lead screw nut group I, a nut of the lead screw nut group I of the second stepping motor is fixedly connected with a cross support plate, one side of the cross support plate is provided with a double-roller combination, the left upright post and the right upright post are provided with round guide rails in sliding fit with the cross support plate, and two;

the top and the bottom of one side surface of the vertical supporting plate, which is far away from the cross supporting plate, are respectively provided with a horizontal plate, the horizontal plate at the top is fixedly connected with a third step motor, the third step motor is also connected with a first coupler and a lead screw nut group I, the two horizontal plates are provided with two vertically placed circular guide rails, the nut of the lead screw nut group I of the third step motor is fixedly connected on the inner supporting plate, the inner supporting plate is provided with a double-roller combination in sliding fit with the circular guide rails of the horizontal plates, and the vertical supporting plate, the horizontal plates, the third step motor and the components thereof form a Z-direction driving mechanism;

two sets of interior grillage that prop is equipped with the fixed plate, bolt fixedly connected with knife rest is passed through to the lower part of fixed plate, the knife rest has linked firmly the blade disc seat, outer annular electro-magnet and the interior annular electro-magnet of the concentric setting of blade disc seat fixedly connected with, form annular slide between outer annular electro-magnet and the interior annular electro-magnet, blade disc seat central point puts and has cup jointed central pivot through the bearing, the central pivot is close to X and is equipped with to the one end of actuating mechanism direction and turns to the motor, and the shell rigid coupling that turns to the motor is on the knife rest, the output shaft that turns to the motor passes through second shaft coupling and central pivot fixed connection, the one end fixedly connected with blade holder of second shaft coupling is kept away from in the central pivot, the blade holder in-connection.

Preferably, the small rotating table comprises a fourth stepping motor, a small belt pulley I, a small belt pulley II and an electromagnetic ring, the electromagnetic ring is connected to the central shaft of the small belt wheel II through a third coupler, the central shaft of the small belt wheel II vertically penetrates through the lower supporting plate, the small belt wheel II is connected with a small belt wheel I through a synchronous cog belt, and the central shaft of the small belt wheel I is connected with the output shaft of the fourth stepping motor through another third coupler; when the electromagnetic ring rotates, the positive and negative poles of the electromagnetic ring change at a uniform circumferential speed, and the parts of each part, which are perpendicular to the electromagnetic ring, are magnetically attracted or repelled alternately to form an electric repulsion mechanism.

In addition, the screw nut group II is connected with the small working platform to form a parallel mechanism, the whole structure of the part occupies small space, the synchronous motion of three degrees of freedom of the working platform ABC can be realized, and the small working platform can be leveled with the large operating platform when not used.

Preferably, the double-roller combination comprises a bottom plate, a tripod and small rollers, wherein the tripod is fixedly connected to the bottom plate, the tripod is connected with the four groups of small rollers through bolts and nuts and matched with the guide rails, and the four groups of small rollers are matched with the guide rails, so that the guide performance is good, the supporting function is increased, the friction is reduced, and the interchangeability is good.

Preferably, the radial protection component comprises a C-shaped connecting plate and a first arc-shaped magnet, the central axes of the C-shaped connecting plate and the first arc-shaped magnet coincide with the extension line of the central axis of the graver, the C-shaped connecting plate is fixedly connected with the knife holder, the first arc-shaped magnet is slidably connected with the knife holder, the first arc-shaped magnet is in clearance fit with the slide way, the outer annular electromagnet and the inner annular electromagnet are magnetically connected with the first arc-shaped magnet, and the radial thrust applied to the graver is offset by the supporting force of the outer annular electromagnet on the first arc-shaped magnet.

Preferably, a pair of tangential protection subassembly symmetry is established in the blade holder both sides, the tangential protection subassembly includes T shape connecting rod and second arc magnet, and the axis of T shape connecting rod and second arc magnet is mutually perpendicular with the extension line of carving tool axis, fixed connection between T shape connecting rod and the blade holder, sliding connection between second arc magnet and the blade holder dish, and clearance fit between second arc magnet and the slide, outer annular electromagnet, interior annular electromagnet all with the second arc magnet between the magnetism be connected, utilize outer annular electromagnet to the holding power of second arc magnet and the combined action of frictional force each other, offset the tangential effort that the carving tool received.

Preferably, electromagnetism ring, small roller, first arc magnet and second arc magnet surface all scribble the wearing layer, reduce the loss that first arc magnet and second arc magnet long-time and outer annular electromagnet between the friction cause, prolong the life of first arc magnet and second arc magnet.

Compared with the prior art, the invention has the beneficial effects that:

(1) this scheme can realize the sculpture to the arbitrary degree of freedom in work piece space, reduces the vibrations of workstation, still can realize fixing the protection when carving under the tilt state to the cutter, and atress skew when being difficult for carving on the work piece improves the sculpture precision.

(2) The small rotary workbench comprises a fourth stepping motor, a belt, belt wheels, a driving disc, an electromagnetic ring and a small workbench, wherein the fourth stepping motor is connected with a small belt wheel I through a third coupler, the small belt wheel I is connected with a small belt wheel II through a synchronous toothed belt, the small belt wheel II is connected with a round bottom plate and drives the round bottom plate to rotate, the electromagnetic ring is located at the bottom of the whole round bottom plate and is matched with the electromagnetic ring, the electromagnetic ring has the effect of supporting the workbench, the vibration of the workbench can be reduced under the action of electromagnetic force, and the engraving accuracy and stability are improved.

(3) Round bottom plate, fifth step motor, screw nut group and little workstation constitute parallel mechanism, fifth step motor links firmly on round bottom plate, and screw nut group is connected to fifth step motor, the lead screw passes through the little workstation of hinged joint in the screw nut, and this whole occupation space of partial structure is little, can realize the simultaneous movement of the three degree of freedom of workstation ABC, and little workstation time spent can fall to flushing with big operation panel.

(4) The double-roller combination comprises a supporting plate, a tripod and small rollers, wherein the supporting plate is fixedly connected with the tripod, the tripod is connected with the four groups of small rollers through bolts and nuts, and the four groups of small rollers are matched with the guide rail, so that the guidance quality is good, the supporting effect is increased, the friction is reduced, and the interchangeability is good.

(5) Radial protection subassembly includes C shape connecting plate and first arc magnet, and the axis of C shape connecting plate and first arc magnet coincides with the extension line of carving tool axis mutually, fixed connection between C shape connecting plate and the blade holder, sliding connection between first arc magnet and the fixed plate, and clearance fit between first arc magnet and the slide, outer annular electromagnet, interior annular electromagnet all with first arc magnet between the magnetism be connected, utilize outer annular electromagnet to offset the radial thrust that the carving tool received to the holding power of first arc magnet.

(6) A pair of tangential protection subassembly symmetry is established in the blade holder both sides, the tangential protection subassembly includes T shape connecting rod and second arc magnet, and the axis of T shape connecting rod and second arc magnet is mutually perpendicular with the extension line of carving tool axis, fixed connection between T shape connecting rod and the blade holder, sliding connection between second arc magnet and the fixed plate, and clearance fit between second arc magnet and the slide, outer annular electromagnet, interior annular electromagnet all is connected with magnetism between the second arc magnet, utilize outer annular electromagnet to the holding power of second arc magnet and the combined action of frictional force between each other, offset the tangential effort that the carving tool received.

(7) First arc magnet and second arc magnet surface all scribble the wearing layer, reduce the loss that first arc magnet and second arc magnet friction caused between long-time and outer annular electromagnet, prolong the life of first arc magnet and second arc magnet.

Drawings

FIG. 1 is a perspective view of a spatial six-degree-of-freedom miniature engraving machine of the present invention;

FIG. 2 is a front view of the present invention;

FIG. 3 is a left side view of the present invention;

FIG. 4 is a schematic view of the internal structure of the small rotary table according to the present invention;

FIG. 5 is a schematic view of the internal structure of the cutter head of the present invention;

fig. 6 is a schematic view of a connection structure of a steering motor according to the present invention.

In the figure: a cutter head A, a small rotary workbench B, a double-roller combination C, a base frame 1, a portal frame 2, an X-direction driving mechanism 3, a Z-direction driving mechanism 4, a Y-direction driving mechanism 5, a left upright post 6, a rear baffle 7, a fixing plate 8, a second stepping motor 9, a right upright post 10, a bottom plate 11, a tripod 12, a circular guide rail 13, a small roller 14, a cross support plate 15, a horizontal plate 16, a triangular guide rail 17, a bottom baffle 18, a large workbench 19, a lead screw nut group I20, a first coupler 21, a first stepping motor 22, a rear support plate 24, a vertical support plate 23, a front and rear small support plates 25, an electromagnetic ring 26, a lower support plate 27, a front support plate 28, a third stepping motor 29, an inner support plate 30, a small workbench 101, a hinge 102, a lead screw nut group II103, a fifth stepping motor 104, a round bottom plate 105, an electromagnetic ring 106, a third coupler 107, a small belt pulley II108, a synchronous cog belt 109, a small belt pulley I110, The device comprises a fourth stepping motor 111, a tool rest 207, an outer annular electromagnet 208, an inner annular electromagnet 209, a tool disc seat 210, a steering motor 211, a second coupler 212, a central rotating shaft 213, a tool shank 215, an engraving knife 216, a C-shaped connecting plate 217, a first arc-shaped magnet 218, a T-shaped connecting rod 219 and a second arc-shaped magnet 220.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1-4, a small-size engraver of six degrees of freedom in space, including base frame 1, portal frame 2, X to actuating mechanism 3, Y to actuating mechanism 5, Z to actuating mechanism 4, workstation combination and blade disc A, its characterized in that: the base frame 1 comprises a front supporting plate 28, a rear supporting plate 24 and a triangular guide rail 17 for connecting the front supporting plate 28 and the rear supporting plate 24, wherein the triangular guide rail 17 is fixedly connected to the lower part of the front supporting plate 28 and is arranged on the left side and the right side, the top edge of the front supporting plate 28 and the top edge of the rear supporting plate 24 are fixedly connected with a large workbench 19, the lower surface of the large workbench 19 is vertically connected with a front small supporting plate 25 and a rear small supporting plate 25, the bottom edge of the front small supporting plate 25 and the bottom edge of the rear small supporting plate 25 are fixedly connected with a lower supporting plate 27, an electromagnetic ring channel 26 is embedded in the lower supporting plate 27, a corresponding electromagnetic ring 106 is arranged right above the electromagnetic ring channel; the Y-direction driving mechanism 5 comprises a first stepping motor 22, a first coupler 21, a lead screw nut group I20, a circular guide rail 13 and a double-roller combination C, the first stepping motor 22 is fixedly connected on the outer side surface of a rear supporting plate 24 through screws, an output shaft of the first stepping motor 22 is connected at one end of a lead screw of the lead screw nut group I20 through the first coupler 21, nuts of the lead screw nut group I20 are fixedly connected with bottom baffles 18, the bottom baffles 18 are transversely arranged right-angle plates, the bottom baffles 18 are divided into two groups, a left upright 6 is fixedly connected on the inner side of one group of bottom baffles 18 and supports the left upright 6, a right upright 10 is fixedly connected on the inner side of the other group of bottom baffles 18 and supports the right upright 10, the outer side wall and the outer bottom wall of each bottom baffle 18 are respectively provided with a fixedly connected double-roller combination C, the double-roller combination C is a V-shaped pulley structure consisting of two groups of pulleys, the double, the two ends of the round guide rail 13 are respectively installed on the front support plate 28 and the rear support plate 24 through bearing seats, the bottom baffle 18 outer bottom wall double-roller combination C is matched with the triangular guide rail 17, and the triangular guide rail 17 is specifically an angle iron bar with an inverted V-shaped section and is matched with a V-shaped pulley structure of the double-roller combination C to slide; the side edge of the upper part of the left upright post 6 and the side edge of the upper part of the right upright post 10 are fixedly connected with the rear baffle 7, the opposite side walls of the left upright post 6 and the right upright post 10 are fixedly provided with an X-direction driving mechanism 3, the X-direction driving mechanism 3 comprises a second stepping motor 9 fixedly arranged on the upper part of the left upright post 6, the second stepping motor 9 is also connected with a first coupler 21 and a lead screw nut group I20, a nut of a lead screw nut group I20 of the second stepping motor 9 is fixedly connected with a cross support plate 15, one side of the cross support plate 15 is provided with a double-roller combination C, the left upright post 6 and the right upright post 10 are provided with round guide rails 13 in sliding fit with the cross support plate 15, and two groups; the top and the bottom of one side surface of the vertical support plate 23 far away from the cross support plate 15 are respectively provided with a horizontal plate 16, the horizontal plate 16 at the top is fixedly connected with a third step motor 29, the third step motor 29 is also connected with a first coupler 21 and a lead screw nut group I20, two horizontal plates 16 are provided with two vertically placed circular guide rails 13, the nuts of the lead screw nut group I20 of the third step motor 29 are fixedly connected on an inner support plate 30, the inner support plate 30 is provided with a double-roller combination C in sliding fit with the circular guide rails 13 of the horizontal plate 16, and the vertical support plate 23, the horizontal plate 16, the third step motor 29 and the components thereof form a Z-direction driving mechanism 4; the fixed plates 8 are erected on the two groups of inner supporting plates 30, the lower parts of the fixed plates 8 are fixedly connected with tool holders 207 through bolts, the tool holders 207 are fixedly connected with tool pan seats 210, the tool pan seats 210 are fixedly connected with outer annular electromagnets 208 and inner annular electromagnets 209 which are concentrically arranged, annular slideways are formed between the outer annular electromagnets 208 and the inner annular electromagnets 209, the center positions of the tool pan seats 210 are sleeved with center rotating shafts 213 through bearings, and one ends of the center rotating shafts 213, which are close to the X direction of the driving mechanism 3, are provided with steering motors 211, and the shell of the steering motor 211 is fixedly connected on the tool holder 207, the output shaft of the steering motor 211 is fixedly connected with the central rotating shaft 213 through the second coupling 212, one end of the central rotating shaft 213, which is far away from the second coupling 212, is fixedly connected with a tool holder 214, a tool holder 215 is connected in the tool holder 214, one end of the tool holder 215 is fixedly connected with an engraving knife 216, and the tool holder 214 is further provided with a radial protection component and a pair of tangential protection components.

The X-direction driving mechanism 3, the Y-direction driving mechanism 5 and the Z-direction driving mechanism 4 form translation with three degrees of freedom, while the degree of freedom of the parallel mechanism of the small worktable 101 is 3 (refer to "degree of freedom analysis of spatial parallel mechanism", Baidu Baike, Liu Wei), that is, the object of the small worktable 101 can rotate, swing and change in height, and then the rotation of the cutter base 210 and the protection of the radial protection component and the pair of tangential protection components are matched, so that not only the space range of engraving is wide, but also the engraving precision can be ensured, namely, a small engraving machine with six degrees of freedom in space is provided for the first time in the field.

Referring to fig. 1, the small rotary table B includes a fourth stepping motor 111, a small pulley I110, a small pulley II108, an electromagnetic ring 106, the electromagnetic ring comprises a circular bottom plate 105, a fifth stepping motor 104, a lead screw nut group II103 and a small workbench 101, wherein an electromagnetic ring 26 and an electromagnetic ring 106 are arranged concentrically, the top surface of the electromagnetic ring 106 is fixedly connected with the circular bottom plate 105, the upper surface of the circular bottom plate 105 is fixedly provided with a plurality of groups of fifth stepping motors 104, the output shaft of the top surface of the fifth stepping motor 104 is fixedly connected with the lead screw nut group II103, the top end of a lead screw in the lead screw nut group II103 is connected with the small workbench 101 through a hinge 102, the central part of the bottom surface of the electromagnetic ring 106 is fixedly connected with a third coupler 107, the electromagnetic ring 106 is connected to the central shaft of a small belt pulley II108 through a third coupler 107, the central shaft of the small belt pulley II108 vertically penetrates through the lower supporting plate 27, the small belt pulley II108 is connected with a small belt pulley I110 through a synchronous toothed belt 109, and the central shaft of the small belt pulley I; when the electromagnetic ring 106 rotates, the positive and negative poles of the electromagnetic ring 106 change at a uniform circumferential speed, and the parts of each part vertically corresponding to the electromagnetic ring 26 are magnetically attracted or repelled alternately to form an electric repulsion mechanism, which plays a role in shock absorption in the present invention.

Referring to fig. 1, the double-roller combination C includes a bottom plate 11, a tripod 12 and small rollers 14, wherein the tripod 12 is fixedly connected to the bottom plate 11, and the tripod 12 is connected to four sets of small rollers 14 through bolts and nuts to form a fit with a guide rail.

Referring to fig. 5-6, the radial protection assembly includes a C-shaped connecting plate 217 and a first arc-shaped magnet 218, central axes of the C-shaped connecting plate 217 and the first arc-shaped magnet 218 coincide with an extension line of a central axis of the graver 216, the C-shaped connecting plate 217 is fixedly connected with the tool apron 214, the first arc-shaped magnet 218 is slidably connected with the tool pan base 210, the first arc-shaped magnet 218 is in clearance fit with the slide way, and the outer annular electromagnet 208 and the inner annular electromagnet 209 are magnetically connected with the first arc-shaped magnet 218; a pair of tangential protection subassembly symmetry is established in blade holder 214 both sides, the tangential protection subassembly includes T shape connecting rod 219 and second arc magnet 220, and the axis of T shape connecting rod 219 and second arc magnet 220 is perpendicular with the extension line of carving tool 216 axis, fixed connection between T shape connecting rod 19 and the blade holder 214, sliding connection between second arc magnet 220 and the blade holder dish 210, and clearance fit between second arc magnet 220 and the slide, outer annular electromagnet 208, interior annular electromagnet 209 all is connected with magnetism between the second arc magnet 220, electromagnetic ring 106, trundle 14, first arc magnet 218 and second arc magnet 220 surface all are scribbled the wearing layer.

When the utility model is used, a technician drives the knife rest 207 to approach a workpiece by controlling the X-direction driving mechanism 3, the Y-direction driving mechanism 5 and the Z-direction driving mechanism 4, starts the steering motor 211 to indirectly drive the graver 216 to rotate to a required engraving angle, and simultaneously energizes the outer annular electromagnet 208 and the inner annular electromagnet 209, and utilizes the adsorption force of the outer annular electromagnet 208 to the first arc-shaped magnet 218 and the second arc-shaped magnet 220 and the combined action of the inner annular electromagnet 209 to the repulsion force of the first arc-shaped magnet 218 and the second arc-shaped magnet 220 to increase the supporting force of the outer annular electromagnet 208 to the first arc-shaped magnet 218 and the second arc-shaped magnet 220 and the friction force between the first arc-shaped magnet 218 and the second arc-shaped magnet 220, so as to realize the fixation of the first arc-shaped magnet 218 and the second arc-shaped magnet 220, and finally realize the knife protection of the graver 216, compared with the traditional gantry engraving machine, the fixation protection of, the workpiece is not easy to be stressed and shifted during carving, and the carving precision is improved.

Meanwhile, a technician controls the belt 109 and the belt wheel 110/108 by controlling the fourth stepping motor 111, so as to control the circular base 105 to rotate, and simultaneously starts the fifth stepping motor 104 to drive the screw nut 103 set to control the small workbench 101 to move in parallel, and energizes the electromagnetic ring 106 and the electromagnetic ring path 26 while performing linkage carving, and the support force and the shock resistance of the electromagnetic ring path 26 on the electromagnetic ring 106 are increased by utilizing the combined action of the adsorption force of the electromagnetic ring path 26 on the electromagnetic ring 106 and the repulsion force of the electromagnetic ring 106 on the electromagnetic ring path 26.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.