All-round machining mechanical arm with single-degree-of-freedom tilting control function

Abstract

The invention discloses an all-round machining mechanical arm with a single-degree-of-freedom tilting control function, and belongs to the field of machining mechanical arms. The all-round machining mechanical arm comprises a rotary platform component, a motor component is arranged on one side of the rotary platform component, a rotary coupling component is arranged at the output end of the motor component, and a working head component is arranged at the output end of the rotary coupling component; and a tilting drum part is arranged on the outer side of the rotary coupling part. By the adoption of the coupling structure design of the rotary coupling component and the synchronous gear, the tilting angle of the mechanical arm is controlled in a single-degree-of-freedom mode, the mechanical arm can adapt to the surface of a workpiece to adjust a working head within the range of 90 degrees, and 360-degree all-round machining is achieved by driving the rotary platform; meanwhile, the feeding platform is pushed to move through the two electric push rods, and accurate control over the workpiece surface grinding cutting amount is achieved; the mechanical arm is easy to operate and convenient to adjust the posture, manual operation is reduced, the operation quality and the working efficiency are improved, and novel equipment and technical guarantee is provided for creating a good working environment.

Description

Technical Field

[0001] The invention relates to the field of processing robot arms, and in particular to a surround-view processing robot arm with single-degree-of-freedom tilt control. Background Art

[0002] my country is a major equipment manufacturing country. With the continuous development of manufacturing technology, it has been involved in large-scale manufacturing of giant equipment such as commercial aircraft, high-speed trains, ships, and fans, with a wide variety of products and complex outer contours. The manufacturing and maintenance of these large-scale products and equipment require grinding and repairing the surface of the parts. The traditional method of the process is to rely on workers to manually operate with a grinder. Manual grinding is time-consuming and labor-intensive, and it is easy to cause hand muscle and nerve damage to the operator. In addition, environmental dust pollution caused by grinding and polishing is an important factor affecting the health of workers. In particular, manual grinding has a particularly severe impact on the quality of equipment with complex outer contours and large-area operations. It is inefficient and not conducive to standardized production. Although some special robot grinding equipment is currently used, the existing equipment is generally complex in structure, expensive, and complex to operate, which brings new difficulties and inconveniences to the operators. Summary of the invention

[0003] The purpose of the present invention is to provide a surround-view processing robot arm with single-degree-of-freedom tilt control to solve the problems that manual grinding is time-consuming and labor-intensive, of poor quality, low efficiency, and affects the health of workers. The existing robot grinding equipment has a complex structure, is expensive, and is complex to operate, which brings new difficulties and inconveniences to the workers.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions:

[0005] The present invention provides a surround-view processing robot arm with single-degree-of-freedom tilt control, comprising a slewing platform component, a motor component is arranged on one side of the slewing platform component, a rotation coupling component is arranged at the output end of the motor component, a working head component is arranged at the output end of the rotation coupling component, a tilting cylinder component is arranged on the outer side of the rotation coupling component, one end of the tilting cylinder component is connected to the motor component, and the other end of the tilting cylinder component is connected to the working head component.

[0006] Furthermore, the rotating platform component includes a platform base, a rotating drum is arranged inside the platform base, a driving mechanism for driving the rotating drum to rotate is arranged outside the rotating drum, and the rotating drum is connected to the motor component.

[0007] Furthermore, the driving mechanism includes a worm motor, which is arranged on the outside of the platform base. A worm is arranged on the output shaft of the worm motor, and a worm wheel matching the worm is arranged on the outer wall of the rotating cylinder.

[0008] Furthermore, the motor component includes a rotating motor seat, the rotating motor seat is connected to the rotating drum, a rotating motor is arranged inside the rotating motor seat, and the rotating motor is connected to the rotating coupling component through a coupling.

[0009] Furthermore, the rotary coupling component includes a frame, a power transmission mechanism is arranged inside the frame, the power transmission mechanism is connected to the working head component, and the tilting cylinder component is arranged outside the frame;

[0010] The frame body comprises a bottom frame, one end of the bottom frame is connected to the rotating motor seat, the other end of the bottom frame is connected to the middle frame through a first transmission assembly, the middle frame is connected to the top frame through a second transmission assembly, the top frame is connected to the spindle platform through a spindle guide rod, one end of the tilting cylinder component is connected to the bottom frame, and the other end of the tilting cylinder component is connected to the spindle platform;

[0011] The power transmission mechanism includes an input stub shaft, one end of which is connected to the coupling, the input stub shaft passes through the base frame and is connected to the first universal joint assembly, the other end of the first universal joint assembly is connected to an intermediate stub shaft, the intermediate stub shaft passes through the intermediate frame and is connected to the second universal joint assembly, the other end of the second universal joint assembly is connected to an output stub shaft, the output stub shaft passes through the top frame and is connected to the main shaft sleeve, the main shaft sleeve passes through the main shaft platform and is connected to the working head component.

[0012] Furthermore, the structure of the first transmission assembly is the same as that of the second transmission assembly; the number of the first transmission assemblies is set to two, and the two first transmission assemblies are arranged on the upper and lower sides of the bottom frame and the middle frame, and the number of the second transmission assemblies is also set to two, and the two second transmission assemblies are arranged on the upper and lower sides of the middle frame and the top frame.

[0013] Furthermore, the first transmission assembly includes two synchronous gears, one of which is arranged on the base frame, and the other of which is arranged on the intermediate frame. The two synchronous gears are meshed with each other, and limit covers are arranged on the outer sides of the two synchronous gears.

[0014] Furthermore, the tilting cylinder component includes a fixed cylinder, one end of which is connected to the base frame, the other end of which is provided with a tilting cylinder, the other end of which is connected to the main shaft platform, a large push rod support is provided on the rotating motor seat, a large push rod is provided on the large push rod support, and the other end of the large push rod is connected to the tilting cylinder.

[0015] Furthermore, the working head component includes a feed bracket, a telescopic sleeve is provided at the center of the feed bracket, the telescopic sleeve is connected to the main shaft sleeve, a working head is provided on the telescopic sleeve, a small push rod support is provided on the tilting cylinder, a small push rod is provided on the small push rod support, the small push rod is connected to the feed bracket, a working head guide rod is also provided on the feed bracket, and the working head guide rod is movably connected to the main shaft platform.

[0016] Furthermore, the number of the small push rods and the working head guide rods are both set to two, the two small push rods are symmetrically arranged, and the two working head guide rods are symmetrically arranged.

[0017] Compared with the prior art, the beneficial technical effects of the present invention are:

[0018] The present invention adopts a coupling structure design of a rotating coupling component and a synchronous gear to realize single-degree-of-freedom control of the tilt angle of the robot arm. The working head can be adjusted within a 90° range to adapt to the workpiece surface, and then 360° surround processing can be achieved by driving the rotary platform. At the same time, two electric push rods are used to push the feed platform to move, so as to achieve precise control of the grinding and cutting amount of the workpiece surface. The robot arm is easy to operate and easy to adjust, which is conducive to reducing manual operation, improving operation quality and work efficiency, and providing new equipment and technical guarantees for creating a good working environment. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The present invention will be further described below in conjunction with the accompanying drawings.

[0020] Figure 1 It is a schematic diagram of the three-dimensional structure of the surround-view processing robot arm with single-degree-of-freedom tilt control of the present invention;

[0021] Figure 2 Schematic diagram of the three-dimensional structure of the surround processing robot arm with single-degree-of-freedom tilt control in another state of the present invention; (the dotted line part represents the state of the robot arm after bending)

[0022] Figure 3 A perspective view of a rotary platform component of the present invention;

[0023] Figure 4 An exploded view of the rotary platform component of the present invention;

[0024] Figure 5 It is a cross-sectional view of the rotary drum, worm gear, needle roller bearing, positioning sleeve, bearing fixing ring, tapered roller bearing and isolation washer of the present invention;

[0025] Figure 6 An exploded view of the motor component of the present invention;

[0026] Figure 7 It is a three-dimensional structural schematic diagram of the rotary coupling component of the present invention;

[0027] Figure 8 An exploded view of a rotary coupling component of the present invention;

[0028] Fig. 9 It is a front view of the rotary coupling component of the present invention in an exploded state;

[0029] Fig.10 It is a cross-sectional view of the bottom frame, the middle frame, the top frame, the synchronous gear, the limit cover, and the limit cover bolts of the present invention;

[0030] Fig.11 It is a cross-sectional view of the large radial bearing, the large bearing washer, the large thrust bearing and the large limit ring of the present invention;

[0031] Fig.12 It is a three-dimensional structural schematic diagram of the tilting cylinder component of the present invention;

[0032] Fig.13 An exploded view of the tilting cylinder component of the present invention;

[0033] Fig.14 It is a front view of the tilting tube component of the present invention;

[0034] Fig.15 for Fig.14 Sectional view in the AA direction;

[0035] Fig.16 It is a side view of the tilting cylinder component of the present invention;

[0036] Fig.17 for Fig.16 Cross-sectional view in the BB direction;

[0037] Fig.18 An exploded view of the working head component of the present invention;

[0038] Fig.19 It is a front view of the working head component of the present invention in an exploded state.

[0039] Description of reference numerals: 1. working head component; 2. rotating coupling component; 3. tilting cylinder component; 4. motor component; 5. slewing platform component;

[0040] 1-1, working head; 1-2, telescopic sleeve; 1-3, feed bracket; 1-4, small limit ring; 1-5, small thrust bearing; 1-6, small radial bearing; 1-7, inner ring gasket; 1-8, small push rod; 1-9, small push rod support; 1-10, working head guide rod; 1-11, flat washer A;

[0041] 2-1, input short shaft; 2-2, universal joint assembly; 2-3, intermediate short shaft; 2-4, output short shaft; 2-5, main shaft sleeve; 2-6, positioning pin; 2-7, bottom frame; 2-8, intermediate frame; 2-9, top frame; 2-10, synchronous gear; 2-11, limit cover; 2-12, limit cover bolt; 2-13, main shaft platform; 2-14, main shaft guide rod; 2-15, linear bearing; 2-16, spring washer; 2-17, radial bearing; 2-18, small bearing washer; 2-19, large radial bearing; 2-20, large bearing washer; 2-21, large thrust bearing; 2-22, large limit ring;

[0042] 3-1, fixed cylinder; 3-2, tilting cylinder; 3-3, large push rod; 3-4, large push rod support; 3-5, cylinder; 3-6, flat washer B; 3-7, retaining edge bearing;

[0043] 4-1, rotating motor; 4-2, motor flange; 4-3, rotating motor seat; 4-4, coupling;

[0044] 5-1, platform base; 5-2, rotating drum; 5-3, worm motor; 5-4, worm; 5-5, worm wheel; 5-6, needle bearing; 5-7, positioning sleeve; 5-8, bearing fixing ring; 5-9, tapered roller bearing; 5-10, isolation washer; 5-11, angular contact bearing; 5-12, protective cylinder; 5-13, upper end cover; 5-14, lower end cover; 5-15, base top cover. DETAILED DESCRIPTION

[0045] like Figure 1-19 As shown, a surround-view processing robot arm with single-degree-of-freedom tilt control includes a swivel platform component 5, a motor component 4 is arranged on one side of the swivel platform component 5, a rotation coupling component 2 is arranged at the output end of the motor component 4, a working head component 1 is arranged at the output end of the rotation coupling component 2, a tilting cylinder component 3 is arranged on the outer side of the rotation coupling component 2, one end of the tilting cylinder component 3 is connected to the motor component 4, and the other end of the tilting cylinder component 3 is connected to the working head component 1.

[0046] like Figure 3 , 4 As shown in Figure 5, the rotating platform component 5 includes a platform base 5-1, and a rotating drum 5-2 is rotatably installed inside the platform base 5-1. A driving mechanism for driving the rotating drum 5-2 to rotate is arranged on the outer side of the rotating drum 5-2, and the rotating drum 5-2 is connected to the motor component 4.

[0047] Specifically, the driving mechanism includes a worm motor 5-3, the worm motor 5-3 is installed on the outside of the platform base 5-1, a worm 5-4 is connected to the output shaft of the worm motor 5-3, and a worm wheel 5-5 matching the worm 5-4 is installed on the outer wall of the rotating cylinder 5-2. Figure 5 As shown, the worm wheel 5-5, the positioning sleeve 5-7, the needle roller bearing 5-6, the isolation washer 5-10 and the tapered roller bearing 5-9 are sequentially installed on the outer side of the rotating cylinder 5-2. One side of the worm wheel 5-5 is fitted with the boss on the outer wall of the rotating cylinder 5-2, and the other side of the worm wheel 5-5 is positioned by the positioning sleeve 5-7. The inner rings of the needle roller bearing 5-6 and the tapered roller bearing 5-9 are connected to the outer wall of the rotating cylinder 5-2, and the outer rings of the needle roller bearing 5-6 and the tapered roller bearing 5-9 are connected to the inner wall of the platform base 5-1. The end of the rotating cylinder 5-2 is connected with a bearing fixing ring 5-8. The bearing fixing ring 5-8 limits the tapered roller bearing 5-9; a protective tube 5-12 is installed on the outer side of the worm 5-4, and the two ends of the protective tube 5-12 are respectively connected to the upper end cover 5-13 and the lower end cover 5-14, and the lower end cover 5-14 is connected to the worm motor 5-3. The worm 5-4 passes through the lower end cover 5-14 and is connected to the output shaft of the worm motor 5-3. The two ends of the worm 5-4 are rotatably connected to the upper end cover 5-13 and the lower end cover 5-14 through angular contact bearings 5-11, and a base top cover 5-15 is connected to the side of the platform base 5-1 close to the motor component 4.

[0048] like Figure 6 As shown, the motor component 4 includes a rotating motor seat 4-3, which is connected to the rotating drum 5-2. A rotating motor 4-1 is installed inside the rotating motor seat 4-3 through a motor flange 4-2, and the rotating motor 4-1 is connected to the rotating coupling component 2 through a coupling 4-4.

[0049] like Figure 7-11 As shown, the rotary coupling component 2 includes a frame, a power transmission mechanism is arranged inside the frame, the power transmission mechanism is connected to the working head component 1, and the tilting cylinder component 3 is arranged outside the frame.

[0050] The frame body includes a base frame 2-7, one end of the base frame 2-7 is connected to the rotating motor seat 4-3, the other end of the base frame 2-7 is connected to the intermediate frame 2-8 through a first transmission assembly, the intermediate frame 2-8 is connected to the top frame 2-9 through a second transmission assembly, the top frame 2-9 is connected to the spindle platform 2-13 through a spindle guide rod 2-14, one end of the tilting cylinder component 3 is connected to the base frame 2-7, and the other end of the tilting cylinder component 3 is connected to the spindle platform 2-13.

[0051] The power transmission mechanism includes an input stub shaft 2-1, one end of which is connected to the coupling 4-4, and the input stub shaft 2-1 passes through the base frame 2-7 and is connected to the first universal joint assembly 2-2. A mounting hole is reserved at the center of the base frame 2-7, and the input stub shaft 2-1 passes through the mounting hole. A first bearing assembly is arranged at the connection between the input stub shaft 2-1 and the mounting hole. The first bearing assembly includes two radial bearings 2-17, and a small bearing washer 2-18 is installed between the two radial bearings 2-17. A spring washer 2-16 is installed on the outer side of the radial bearing 2-17. The other end of the first universal joint assembly 2-2 is connected to an intermediate stub shaft 2-3, and the intermediate stub shaft 2-3 passes through the intermediate frame 2-8 and is connected to the second universal joint assembly 2-2. The first bearing assembly is also installed at the connection between the intermediate stub shaft 2-3 and the intermediate frame 2-8. The other end of the second universal joint assembly 2-2 is connected to an output stub shaft 2- 4, the output short shaft 2-4 passes through the top frame 2-9 and is connected to the main shaft sleeve 2-5 through the positioning pin 2-6, and the connection between the output short shaft 2-4 and the top frame 2-9 is also installed with a first bearing assembly, the main shaft sleeve 2-5 passes through the spindle platform 2-13 and is connected to the working head component 1, and the connection between the main shaft sleeve 2-5 and the spindle platform 2-13 is installed with a second bearing assembly, and the second bearing assembly includes a large limit ring 2-22, and the large limit ring 2-22 is fixed to the main shaft The spindle platform 2-13 is limited, and the large limiting ring 2-22 is provided with a large bearing washer 2-20, a large radial bearing 2-19, a large bearing washer 2-20, a large thrust bearing 2-21, a large radial bearing 2-19, and a large bearing washer 2-20 in sequence on the side away from the top frame 2-9; specifically, the universal joint assembly refers to a double universal joint, and the two universal joint assemblies are connected by an intermediate short shaft, that is, two double universal joints are connected in series, which transmit torsional power on the one hand and change the output axial direction with the tilting movement on the other hand.

[0052] The structure of the first transmission assembly is the same as that of the second transmission assembly; the number of the first transmission assemblies is set to two, and the two first transmission assemblies are installed on the upper and lower sides of the base frame 2-7 and the middle frame 2-8, and the number of the second transmission assemblies is also set to two, and the two second transmission assemblies are installed on the upper and lower sides of the middle frame 2-8 and the top frame 2-9.

[0053] The first transmission assembly includes two synchronous gears 2-10, one of which is rotatably mounted on the base frame 2-7, and the other of which is rotatably mounted on the intermediate frame 2-8. The two synchronous gears 2-10 are meshed with each other, and the outer sides of the two synchronous gears 2-10 are connected to the limiting cover 2-11 through the limiting cover bolts 2-12. A radial bearing 2-17 and a spring washer 2-16 are installed between the limiting cover 2-11 and the synchronous gear 2-10. When the double universal joint transmits rotation, it is necessary to ensure that the input and output speeds remain unchanged. At this time, a condition needs to be met: that is, the angles between the two single universal joint shafts are equal. The function of the synchronous gears is to ensure that the input and output speeds are constant.

[0054] like Figure 12-17 As shown, the tilting cylinder component 3 includes a fixed cylinder 3-1, one end of which is connected to the base frame 2-7, the other end of which is rotatably connected to a tilting cylinder 3-2, the other end of which is connected to the spindle platform 2-13, a large push rod support 3-4 is installed on the rotating motor seat 4-3, a large push rod 3-3 is installed on the large push rod support 3-4, and the other end of the large push rod 3-3 is connected to the tilting cylinder 3-2. Specifically, a cylinder 3-5 is welded in the reserved mounting hole of the fixed cylinder 3-1, a flat washer B3-6 and a side bearing 3-7 are installed inside the cylinder 3-5; a large push rod lug and a small push rod lug are welded on the outer wall of the tilting cylinder 3-2, and the large push rod 3-3 is connected to the large push rod lug.

[0055] like Fig.18 , 19As shown, the working head component 1 includes a feed bracket 1-3, a telescopic sleeve 1-2 is arranged at the center of the feed bracket 1-3, a small radial bearing 1-6, a small thrust bearing 1-5, and an inner ring gasket 1-7 are installed in the reserved mounting hole of the feed bracket 1-3, the feed bracket 1-3 is connected to the telescopic sleeve 12 through a small limit ring 1-4, the telescopic sleeve 1-2 is connected to the main shaft sleeve 2-5 through a locating pin 2-6, a working head 1-1 is arranged on the telescopic sleeve 1-2, a small push rod support 1-9 is arranged on the small push rod support 1-9, and a small push rod 1-8 is arranged on the small push rod 1-8. The feed bracket 1-3 is connected, and a flat washer A1-11 is installed at the connection between the feed bracket 1-3 and the small push rod 1-8. A working head guide rod 1-10 is also installed on the feed bracket 1-3, and the working head guide rod 1-10 is movably connected to the spindle platform 2-13 through a linear bearing 2-15; specifically, the number of the small push rod 1-8 and the working head guide rod 1-10 are both set to two, and the two small push rods 1-8 are symmetrically arranged, and the two working head guide rods 1-10 are symmetrically arranged; the small push rod 1-8 uses an electric push rod, and the two small push rods 1-8 are used to push the feed bracket 1-3 axially to feed, so as to adjust the position of the working head 1-1.

[0056] The working process of the present invention is as follows:

[0057] The working head 1-1 includes two motion couplings, one is the rotation of the main transmission chain driven by the motor, specifically, the motor component 4 drives the rotating coupling component 2 to rotate, thereby driving the working head 1-1 to rotate and polish the surface of the part; the other is the tilting movement of the tilting cylinder 3-2 within 90° driven by the tilting large push rod 3-3, realizing the single-degree-of-freedom tilting movement, and the adaptive tilting grinding device can be within the range of 90°. In addition, the present invention also has a 360° rotation function to realize the surround processing.

[0058] The grinding process of the working head 1-1 is as follows: the rotating motor 4-1 is started, the rotating motor 4-1 drives the power transmission mechanism to rotate through the coupling 4-4, and the power transmission mechanism drives the telescopic sleeve 1-2 and the working head 1-1 to rotate, and the surface of the part is ground and repaired.

[0059] The working process of the single-degree-of-freedom tilting motion is as follows: the large push rod 3-3 works to drive the tilting cylinder 3-2 to rotate, so that the tilting cylinder 3-2 rotates a certain angle relative to the fixed cylinder 3-1, realizing the single-degree-of-freedom tilting motion, and the grinding device can be adaptively tilted within a range of 90°.

[0060] The working process of the 360° rotation function is: start the worm motor 5-3, the worm motor 5-3 drives the worm 5-4 to rotate, the worm 5-4 drives the worm wheel 5-5 to rotate, the worm wheel 5-5 drives the rotating drum 5-2 to rotate, the rotating drum 5-2 drives the motor component 4 to rotate, thereby driving the tilting drum component 3, the rotating coupling component 2, the working head component 1 and the motor component 4 to rotate together to adjust the direction of the robotic arm.

[0061] The present invention adopts a complex coupling structure design with a simple and compact overall structure. According to the process requirements of equipment surface grinding, it realizes single-degree-of-freedom tilting motion and can adaptively tilt the grinding device within a 90° range, ensuring the cleanliness and safety of the grinding environment, and being more flexible and giving full play to its grinding advantages.

[0062] The present invention realizes surround processing through a 360° rotating platform. In order to ensure the parallelism between the grinding disc and the processing surface, four distance measuring sensors can be further installed on the feed bracket to feedback the grinding disc position information before processing. The posture of the robot arm can be adjusted according to the grinding requirements of different areas of the equipment. The operation is flexible, the grinding and polishing quality of the equipment surface is improved, and environmental pollution and harm to workers' health are minimized.

[0063] The embodiments described above are only descriptions of the preferred modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A surround-view processing robot arm with single-degree-of-freedom tilt control, characterized in that: The invention comprises a slewing platform component (5), a motor component (4) is arranged on one side of the slewing platform component (5), a rotating coupling component (2) is arranged at the output end of the motor component (4), a working head component (1) is arranged at the output end of the rotating coupling component (2), a tilting cylinder component (3) is arranged on the outer side of the rotating coupling component (2), one end of the tilting cylinder component (3) is connected to the motor component (4), and the other end of the tilting cylinder component (3) is connected to the working head component (1).

2. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 1, characterized in that: The rotating platform component (5) comprises a platform base (5-1), a rotating drum (5-2) is arranged inside the platform base (5-1), a driving mechanism for driving the rotating drum (5-2) to rotate is arranged outside the rotating drum (5-2), and the rotating drum (5-2) is connected to the motor component (4).

3. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 2, characterized in that: The driving mechanism comprises a worm motor (5-3), the worm motor (5-3) is arranged on the outside of the platform base (5-1), a worm (5-4) is arranged on the output shaft of the worm motor (5-3), and a worm wheel (5-5) matching the worm (5-4) is arranged on the outer wall of the rotating cylinder (5-2).

4. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 2, characterized in that: The motor component (4) comprises a rotating motor seat (4-3), the rotating motor seat (4-3) is connected to the rotating drum (5-2), a rotating motor (4-1) is arranged inside the rotating motor seat (4-3), and the rotating motor (4-1) is connected to the rotating coupling component (2) via a coupling (4-4).

5. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 4, characterized in that: The rotary coupling component (2) comprises a frame, a power transmission mechanism is arranged inside the frame, the power transmission mechanism is connected to the working head component (1), and the tilting cylinder component (3) is arranged outside the frame; The frame body comprises a bottom frame (2-7), one end of the bottom frame (2-7) is connected to the rotating motor seat (4-3), the other end of the bottom frame (2-7) is connected to the middle frame (2-8) through a first transmission assembly, the middle frame (2-8) is connected to the top frame (2-9) through a second transmission assembly, the top frame (2-9) is connected to the spindle platform (2-13) through a spindle guide rod (2-14), one end of the tilting cylinder component (3) is connected to the bottom frame (2-7), and the other end of the tilting cylinder component (3) is connected to the spindle platform (2-13); The power transmission mechanism comprises an input stub shaft (2-1), one end of the input stub shaft (2-1) is connected to the coupling (4-4), the input stub shaft (2-1) passes through the base frame (2-7) and is connected to a first universal joint assembly (2-2), the other end of the first universal joint assembly (2-2) is connected to an intermediate stub shaft (2-3), the intermediate stub shaft (2-3) passes through the intermediate frame (2-8) and is connected to a second universal joint assembly (2-2), the other end of the second universal joint assembly (2-2) is connected to an output stub shaft (2-4), the output stub shaft (2-4) passes through the top frame (2-9) and is connected to a main shaft sleeve (2-5), the main shaft sleeve (2-5) passes through the main shaft platform (2-13) and is connected to the working head component (1).

6. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 5, characterized in that: The first transmission assembly has the same structure as the second transmission assembly; the number of the first transmission assemblies is set to two, and the two first transmission assemblies are arranged on the upper and lower sides of the bottom frame (2-7) and the middle frame (2-8); the number of the second transmission assemblies is also set to two, and the two second transmission assemblies are arranged on the upper and lower sides of the middle frame (2-8) and the top frame (2-9).

7. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 6, characterized in that: The first transmission assembly comprises two synchronous gears (2-10), one of the synchronous gears (2-10) is arranged on the base frame (2-7), and the other synchronous gear (2-10) is arranged on the intermediate frame (2-8), the two synchronous gears (2-10) are meshed with each other, and a limit cover (2-11) is arranged on the outer sides of the two synchronous gears (2-10).

8. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 5, characterized in that: The tilting cylinder component (3) comprises a fixed cylinder (3-1), one end of which is connected to the base frame (2-7), the other end of which is provided with a tilting cylinder (3-2), the other end of which is connected to the main shaft platform (2-13), a large push rod support (3-4) is provided on the rotating motor seat (4-3), a large push rod (3-3) is provided on the large push rod support (3-4), and the other end of the large push rod (3-3) is connected to the tilting cylinder (3-2).

9. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 8, characterized in that: The working head component (1) comprises a feed bracket (1-3), a telescopic sleeve (1-2) is arranged at the center of the feed bracket (1-3), the telescopic sleeve (1-2) is connected to the main shaft sleeve (2-5), a working head (1-1) is arranged on the telescopic sleeve (1-2), a small push rod support (1-9) is arranged on the tilting cylinder (3-2), a small push rod (1-8) is arranged on the small push rod support (1-9), the small push rod (1-8) is connected to the feed bracket (1-3), a working head guide rod (1-10) is also arranged on the feed bracket (1-3), and the working head guide rod (1-10) is movably connected to the main shaft platform (2-13).

10. The surround-view processing robot arm with single-degree-of-freedom tilt control according to claim 9, characterized in that: The number of the small push rod (1-8) and the working head guide rod (1-10) is set to two, the two small push rods (1-8) are symmetrically arranged, and the two working head guide rods (1-10) are symmetrically arranged.

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