An omnidirectional machining robotic arm with single-degree-of-freedom tilting control

Abstract

The present invention discloses an omnidirectional machining robotic arm with single-degree-of-freedom tilting control, belonging to the field of machining robotic arms. It includes a rotary platform component, on one side of which there is a motor component. The output end of the motor component is provided with a rotary coupling component, the output end of the rotary coupling component is provided with a working head component, and outside the rotary coupling component there is a tilting cylinder component. The present invention adopts the coupling structure design of the rotary coupling component and the synchronous gear, realizing the single-degree-of-freedom control of the tilting angle of the robotic arm, and can adjust the working head on the workpiece surface within a range of 90°. Then, by driving the rotary platform, 360° omnidirectional machining can be achieved. At the same time, the movement of the feeding platform is promoted by two electric push rods to realize the precise control of the grinding and cutting amount on the workpiece surface. The robotic arm is simple to operate and convenient for posture adjustment, which is beneficial to reducing manual operation, improving the operation quality and work efficiency, and providing new equipment and technical guarantee for creating a good working environment.

Description

Technical Field

[0001] The present invention relates to the field of processing robotic arms, and particularly to an omnidirectional processing robotic arm with single-degree-of-freedom tilting control. Background Art

[0002] China is a major equipment manufacturing country. With the continuous development of manufacturing technology, it has been involved in the large-scale manufacturing of giant equipment such as commercial aircraft, high-speed trains, ships, and wind turbines. The product types are numerous and the outer contour shapes are complex. The manufacturing and repair of the aforementioned large-scale product equipment all require grinding and repairing the part surfaces. The traditional practice of the process is to rely on workers to hold the grinding machine for manual operation. Manual grinding is time-consuming and laborious, and it is very easy to cause damage to the hand muscles and nerves of the operating workers. Moreover, the environmental dust pollution caused by grinding and polishing is an important factor affecting the health of workers. Especially when dealing with complex outer contours and large-area operations of equipment, manual grinding has a particularly significant impact on quality, with low efficiency and being not conducive to standardized production. Although there are currently some dedicated robotic grinding equipment, the existing equipment generally has a relatively complex structure, high price, and complex operation, bringing new difficulties and inconveniences to the operating workers. Summary of the Invention

[0003] The purpose of the present invention is to provide an omnidirectional processing robotic arm with single-degree-of-freedom tilting control, so as to solve the problems of time-consuming, laborious, poor quality, low efficiency of manual grinding, affecting the health of workers, relatively complex structure, high price, and complex operation of the existing robotic grinding equipment, which bring new difficulties and inconveniences to the operating workers.

[0004] To solve the above technical problems, the present invention adopts the following technical solutions:

[0005] An omnidirectional processing robotic arm with single-degree-of-freedom tilting control of the present invention includes a rotary platform component. One side of the rotary platform component is provided with a motor component. The output end of the motor component is provided with a rotary coupling component. The output end of the rotary coupling component is provided with a working head component. Antilt cylinder components are arranged outside the rotary coupling components. One end of the tilt cylinder component is connected to the motor component, and the other end of the tilt cylinder component is connected to the working head component.

[0006] Further, the rotary platform component includes a platform base. A rotary cylinder is arranged inside the platform base. A driving mechanism for driving the rotary cylinder to rotate is arranged outside the rotary cylinder. The rotary cylinder is connected to the motor component.

[0007] Still further, the driving mechanism includes a worm motor. The worm motor is arranged outside the platform base. A worm is arranged on the output shaft of the worm motor. A worm gear matching the worm is arranged on the outer wall of the rotary cylinder.

[0008] Furthermore, the motor component includes a rotating motor base, which is connected to the rotary cylinder. A rotating motor is arranged inside the rotating motor base, and the rotating motor is connected to the rotating coupling component through a coupling.

[0009] Furthermore, the rotating coupling component includes a frame body. A power transmission mechanism is arranged inside the frame body, and the power transmission mechanism is connected to the working head component. The tilting cylinder component is arranged on the outer side of the frame body;

[0010] The frame body includes a bottom frame. One end of the bottom frame is connected to the rotating motor base, and the other end of the bottom frame is connected to an intermediate frame through a first transmission component. The intermediate frame is connected to a top frame through a second transmission component. The top frame is connected to a main shaft platform through a main shaft 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 main shaft platform;

[0011] The power transmission mechanism includes an input short shaft. One end of the input short shaft is connected to the coupling. After passing through the bottom frame, the input short shaft is connected to a first universal joint component. The other end of the first universal joint component is connected to an intermediate short shaft. After passing through the intermediate frame, the intermediate short shaft is connected to a second universal joint component. The other end of the second universal joint component is connected to an output short shaft. After passing through the top frame, the output short shaft is connected to a main shaft sleeve. After passing through the main shaft platform, the main shaft sleeve is connected to the working head component.

[0012] Furthermore, the first transmission component and the second transmission component have the same structure; the number of the first transmission components is set to two, and the two first transmission components are arranged on the upper and lower sides of the bottom frame and the intermediate frame. The number of the second transmission components is also set to two, and the two second transmission components are arranged on the upper and lower sides of the intermediate frame and the top frame.

[0013] Furthermore, the first transmission component includes two synchronous gears. One synchronous gear is arranged on the bottom frame, and the other synchronous gear is arranged on the intermediate frame. The two synchronous gears mesh with each other, and a limit cover is arranged on the outer sides of the two synchronous gears.

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

[0015] Furthermore, the working head component includes a feeding support. A telescopic bushing is arranged at the center of the feeding support. The telescopic bushing is connected to the main shaft sleeve. A working head is arranged on the telescopic bushing. A small push rod support is arranged on the tilting cylinder. A small push rod is arranged on the small push rod support. The small push rod is connected to the feeding support. A working head guide rod is further arranged on the feeding support. 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 is both set to two. The two small push rods are symmetrically arranged. The two working head guide rods are symmetrically arranged.

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

[0018] The present invention adopts the coupling structure design of a rotary coupling component and a synchronous gear, realizing the tilting angle control of a single-degree-of-freedom manipulator. The working head can be adjusted to adapt to the workpiece surface within a range of 90°. Then, by driving the rotary platform, 360° panoramic machining can be achieved. At the same time, the feeding platform is pushed by two electric push rods to realize the precise control of the grinding and cutting amount on the workpiece surface. The manipulator is simple to operate and convenient for posture adjustment, which is beneficial to reducing manual operation, improving the operation quality and work efficiency, and providing new equipment and technical guarantee for creating a good working environment. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 1 FIG. is a three-dimensional structure schematic diagram of the panoramic machining manipulator with single-degree-of-freedom tilting control of the present invention;

[0021] Figure 2 FIG. is a three-dimensional structure schematic diagram of the panoramic machining manipulator with single-degree-of-freedom tilting control of the present invention in another state; (the dotted part indicates the state after the manipulator is bent)

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

[0023] Figure 4 FIG. is an exploded view of the rotary platform component of the present invention;

[0024] Figure 5 FIG. is a cross-sectional view of the rotary cylinder, worm gear, needle roller bearing, positioning sleeve, bearing retaining ring, tapered roller bearing, and spacer washer of the present invention;

[0025] Figure 6 FIG. is an exploded view of the motor component of the present invention;

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

[0027] Figure 8 Explosion view of the rotary coupling component of the present invention;

[0028] Figure 9 Front view of the rotary coupling component of the present invention in an exploded state;

[0029] Figure 10 Cross-sectional view of the chassis, intermediate frame, top frame, synchronous gear, limit cover, and limit cover bolts of the present invention;

[0030] Figure 11 Cross-sectional view of the large radial bearing, large bearing washer, large thrust bearing, and large limit ring of the present invention;

[0031] Figure 12 Schematic three-dimensional structure diagram of the tilting cylinder component of the present invention;

[0032] Figure 13 Explosion view of the tilting cylinder component of the present invention;

[0033] Figure 14 Front view of the tilting cylinder component of the present invention;

[0034] Figure 15 is Figure 14 Cross-sectional view in the A-A direction in

[0035] Figure 16 Side view of the tilting cylinder component of the present invention;

[0036] Figure 17 is Figure 16 Cross-sectional view in the B-B direction in

[0037] Figure 18 Explosion view of the working head component of the present invention;

[0038] Figure 19 Front view of the working head component of the present invention in an exploded state.

[0039] Explanation of reference numerals: 1. Working head component; 2. Rotary coupling component; 3. Tilting cylinder component; 4. Motor component; 5. Slewing platform component;

[0040] 1-1. Working head; 1-2. Telescopic shaft sleeve; 1-3. Feed support; 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 component; 2-3. Intermediate short shaft; 2-4. Output short shaft; 2-5. Spindle sleeve; 2-6. Positioning pin; 2-7. Underframe; 2-8. Intermediate frame; 2-9. Top frame; 2-10. Synchronous gear; 2-11. Limit cover; 2-12. Limit cover bolt; 2-13. Spindle platform; 2-14. Spindle 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. Flange bearing;

[0043] 4-1. Rotary motor; 4-2. Motor flange; 4-3. Rotating motor base; 4-4. Coupling;

[0044] 5-1. Platform base; 5-2. Slewing cylinder; 5-3. Worm motor; 5-4. Worm; 5-5. Worm gear; 5-6. Needle bearing; 5-7. Positioning sleeve; 5-8. Bearing retaining ring; 5-9. Tapered roller bearing; 5-10. Spacer 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 implementation mode

[0045] As Figure 1-19 shown, a panoramic machining robotic arm with single-degree-of-freedom tilting control includes a slewing platform component 5. A motor component 4 is arranged on one side of the slewing platform component 5. The output end of the motor component 4 is provided with a rotary coupling component 2. The output end of the rotary coupling component 2 is provided with a working head component 1. An outer side of the rotary coupling component 2 is provided with a tilting cylinder component 3. 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] As Figure 3 、 4 、5 shown, the slewing platform component 5 includes a platform base 5-1. A slewing cylinder 5-2 is rotatably installed inside the platform base 5-1. An outer side of the slewing cylinder 5-2 is provided with a driving mechanism for driving the slewing cylinder 5-2 to rotate. The slewing cylinder 5-2 is connected to the motor component 4.

[0047] Specifically, the driving mechanism includes a worm motor 5-3, which is installed on the outer side 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 gear 5-5 matching the worm 5-4 is installed on the outer wall of the rotary cylinder 5-2. Specifically, as Figure 5 shown, the worm gear 5-5, a positioning sleeve 5-7, a needle roller bearing 5-6, a spacer washer 5-10, and a tapered roller bearing 5-9 are sequentially installed on the outer side of the rotary cylinder 5-2. One side of the worm gear 5-5 is in contact with the boss on the outer wall of the rotary cylinder 5-2, and the other side of the worm gear 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 rotary 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. A bearing retaining ring 5-8 is connected to the end of the rotary cylinder 5-2, and the bearing retaining ring 5-8 limits the tapered roller bearing 5-9; a protective cylinder 5-12 is installed on the outer side of the worm 5-4. Upper end caps 5-13 and lower end caps 5-14 are respectively connected to both ends of the protective cylinder 5-12. The lower end cap 5-14 is connected to the worm motor 5-3. The worm 5-4 passes through the lower end cap 5-14 and is connected to the output shaft of the worm motor 5-3. Both ends of the worm 5-4 are rotatably connected to the upper end cap 5-13 and the lower end cap 5-14 through angular contact bearings 5-11. A base top cover 5-15 is connected to one side of the platform base 5-1 close to the motor component 4.

[0048] As Figure 6 shown, the motor component 4 includes a rotating motor base 4-3, which is connected to the rotary cylinder 5-2. A rotating motor 4-1 is installed inside the rotating motor base 4-3 through a motor flange 4-2. The rotating motor 4-1 is connected to the rotating coupling component 2 through a coupling 4-4.

[0049] As Figures 7-11 shown, the rotating coupling component 2 includes a frame body. A power transmission mechanism is arranged inside the frame body, and the power transmission mechanism is connected to the working head component 1. A tilting cylinder component 3 is arranged on the outer side of the frame body.

[0050] The frame body includes a bottom frame 2-7. One end of the bottom frame 2-7 is connected to the rotating motor base 4-3. The other end of the bottom frame 2-7 is connected to an intermediate frame 2-8 through a first transmission assembly. The intermediate frame 2-8 is connected to a top frame 2-9 through a second transmission assembly. The top frame 2-9 is connected to a main shaft platform 2-13 through a main shaft 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 main shaft platform 2-13.

[0051] The power transmission mechanism includes an input short shaft 2-1. One end of the input short shaft 2-1 is connected to the coupling 4-4. The input short shaft 2-1 passes through the bottom frame 2-7 and is then connected to a first universal joint assembly 2-2. An installation hole is reserved at the central position of the bottom frame 2-7, and the input short shaft 2-1 passes through the installation hole. A first bearing assembly is provided at the connection between the input short shaft 2-1 and the installation hole. The first bearing assembly includes two radial bearings 2-17. A small bearing washer 2-18 is installed between the two radial bearings 2-17. A spring washer 2-16 is installed outside the radial bearing 2-17. The other end of the first universal joint assembly 2-2 is connected to an intermediate short shaft 2-3. The intermediate short shaft 2-3 passes through the intermediate frame 2-8 and is then connected to a second universal joint assembly 2-2. A first bearing assembly is also installed at the connection between the intermediate short 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 short shaft 2-4. The output short shaft 2-4 passes through the top frame 2-9 and is then connected to a main shaft sleeve 2-5 through a positioning pin 2-6. A first bearing assembly is also installed at the connection between the output short shaft 2-4 and the top frame 2-9. The main shaft sleeve 2-5 passes through the main shaft platform 2-13 and is then connected to the working head component 1. A second bearing assembly is installed at the connection between the main shaft sleeve 2-5 and the main shaft platform 2-13. The second bearing assembly includes a large limit ring 2-22, and the large limit ring 2-22 limits the main shaft platform 2-13. On the side of the large limit ring 2-22 away from the top frame 2-9, there are successively arranged 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. Specifically, the universal joint assembly refers to a double universal joint, and the two universal joint assemblies are connected through an intermediate short shaft, that is, two double universal joints are connected in series, which can transmit torsional power on the one hand and change the output axial direction with the tilting movement on the other hand.

[0052] The structures of the first transmission assembly and the second transmission assembly are the same; 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 chassis 2-7 and the intermediate frame 2-8. 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 intermediate frame 2-8 and the top frame 2-9.

[0053] The first transmission assembly includes two synchronous gears 2-10. One synchronous gear 2-10 is rotatably installed on the chassis 2-7, and the other synchronous gear 2-10 is rotatably installed on the intermediate frame 2-8. The two synchronous gears 2-10 are meshed with each other. The outer sides of the two synchronous gears 2-10 are connected with a limit cover 2-11 through limit cover bolts 2-12. A radial bearing 2-17 and a spring washer 2-16 are installed between the limit 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 included angles between the two single universal joint shafts are equal. The function of the synchronous gear is to ensure input and output isochronism.

[0054] As Figures 12-17 shown, the tilting cylinder component 3 includes a fixed cylinder 3-1. One end of the fixed cylinder 3-1 is connected to the chassis 2-7, and the other end of the fixed cylinder 3-1 is rotatably connected to a tilting cylinder 3-2. The other end of the tilting cylinder 3-2 is connected to the main shaft platform 2-13. A large push rod support 3-4 is installed on the rotating motor base 4-3, and a large push rod 3-3 is installed on the large push rod support 3-4. 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 installation hole of the fixed cylinder 3-1, and a flat washer B3-6 and a retaining ring bearing 3-7 are installed inside the cylinder 3-5. Large push rod lugs and small push rod lugs 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] As Figure 18 、 19As shown in the figure, the working head component 1 includes a feed support 1-3. A telescopic bushing 1-2 is provided at the center of the feed support 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 holes of the feed support 1-3. The feed support 1-3 is connected to the telescopic bushing 12 through a small limit ring 1-4. The telescopic bushing 1-2 is connected to the spindle sleeve 2-5 through a positioning pin 2-6. A working head 1-1 is provided on the telescopic bushing 1-2. A small push rod support 1-9 is provided on the tilting cylinder 3-2. A small push rod 1-8 is provided on the small push rod support 1-9. The small push rod 1-8 is connected to the feed support 1-3. A flat washer A1-11 is installed at the connection between the feed support 1-3 and the small push rod 1-8. A working head guide rod 1-10 is also installed on the feed support 1-3. 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 rods 1-8 and the working head guide rods 1-10 are both 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. The small push rod 1-8 is an electric push rod. The feed support 1-3 is axially fed by the two small push rods 1-8 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 the coupling of two movements. One is the rotation of the main transmission chain driven by the motor, specifically, the rotating coupling component 2 is driven to rotate by the motor component 4, thereby driving the working head 1-1 to rotate to polish and repair 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 a single-degree-of-freedom tilting movement, and the polishing device can be adaptively tilted within a range of 90°. In addition, the present invention also has a 360° rotation function to achieve panoramic processing.

[0058] The polishing working process of the working head 1-1 is as follows: Start the rotating motor 4-1. The rotating motor 4-1 drives the power transmission mechanism to rotate through the coupling 4-4. The power transmission mechanism drives the telescopic bushing 1-2 and the working head 1-1 to rotate to polish and repair the surface of the part.

[0059] The working process of the single-degree-of-freedom tilting movement 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 a single-degree-of-freedom tilting movement, and the polishing device can be adaptively tilted within a range of 90°.

[0060] The working process of the 360° rotation function is as follows: 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 gear 5-5 to rotate, the worm gear 5-5 drives the rotary cylinder 5-2 to rotate, and the rotary cylinder 5-2 drives the motor component 4 to rotate, thereby driving the tilting cylinder component 3, the rotary 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, and the overall structure is simple and compact. According to the technological requirements of the equipment surface grinding, it realizes a single-degree-of-freedom tilting motion, can adaptively tilt the grinding device within a range of 90°, ensures the cleanliness and safety of the grinding environment, and can more flexibly exert its grinding advantages.

[0062] The present invention realizes panoramic processing through a 360° rotary platform. In order to ensure the parallelism between the grinding disc and the processing surface, four distance sensors can also be installed on the feed support. Before processing, the position information of the grinding disc is fed back, and the posture of the robotic arm can be adjusted according to the grinding requirements of different areas of the equipment. It is flexible to operate, improves the grinding and polishing quality of the equipment surface, and minimizes environmental pollution and harm to workers' health.

[0063] The embodiments described above are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. An omnidirectional machining robotic arm with single-degree-of-freedom tilting control, characterized in that: It includes a slewing platform component (5), on one side of the slewing platform component (5) there is a motor component (4), at the output end of the motor component (4) there is a rotary coupling component (2), at the output end of the rotary coupling component (2) there is a working head component (1), outside the rotary coupling component (2) there is a tilting cylinder component (3), 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); The slewing platform component (5) includes a platform base (5-1), inside the platform base (5-1) there is a slewing cylinder (5-2), outside the slewing cylinder (5-2) there is a driving mechanism for driving the slewing cylinder (5-2) to rotate, and the slewing cylinder (5-2) is connected to the motor component (4); The motor component (4) includes a rotating motor base (4-3), the rotating motor base (4-3) is connected to the slewing cylinder (5-2), inside the rotating motor base (4-3) there is a rotating motor (4-1), and the rotating motor (4-1) is connected to the rotary coupling component (2) through a coupling (4-4); The rotary coupling component (2) includes a frame body, inside the frame body there is a power transmission mechanism, the power transmission mechanism is connected to the working head component (1), and outside the frame body there is the tilting cylinder component (3); The frame body includes a bottom frame (2-7), one end of the bottom frame (2-7) is connected to the rotating motor base (4-3), the other end of the bottom frame (2-7) is connected to an intermediate frame (2-8) through a first transmission assembly, the intermediate frame (2-8) is connected to a top frame (2-9) through a second transmission assembly, the top frame (2-9) is connected to a main shaft platform (2-13) through a main shaft 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 main shaft platform (2-13); The power transmission mechanism includes an input short shaft (2-1), one end of the input short shaft (2-1) is connected to the coupling (4-4), the input short shaft (2-1) passes through the bottom frame (2-7) and is then 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 short shaft (2-3), the intermediate short shaft (2-3) passes through the intermediate frame (2-8) and is then 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 short shaft (2-4), the output short shaft (2-4) passes through the top frame (2-9) and is then connected to a main shaft sleeve (2-5), and the main shaft sleeve (2-5) passes through the main shaft platform (2-13) and is connected to the working head component (1); The tilting cylinder component (3) includes a fixed cylinder (3-1), one end of the fixed cylinder (3-1) is connected to the chassis (2-7), the other end of the fixed cylinder (3-1) is provided with a tilting cylinder (3-2), the other end of the tilting cylinder (3-2) is connected to the main shaft platform (2-13), a large push rod support (3-4) is arranged on the rotating motor base (4-3), a large push rod (3-3) is arranged 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).

2. The omnidirectional machining robotic arm with single-degree-of-freedom tilting control according to claim 1, characterized in that: The driving mechanism includes a worm motor (5-3), the worm motor (5-3) is arranged outside the platform base (5-1), a worm (5-4) is arranged on the output shaft of the worm motor (5-3), and a worm gear (5-5) matching with the worm (5-4) is arranged on the outer wall of the rotary cylinder (5-2).

3. The omnidirectional machining robotic arm with single-degree-of-freedom tilting control according to claim 1, wherein: The structures of the first transmission assembly and the second transmission assembly are the same; 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 chassis (2-7) and the intermediate frame (2-8), 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 intermediate frame (2-8) and the top frame (2-9).

4. The omnidirectional machining robotic arm with single-degree-of-freedom tilting control according to claim 3, characterized in that: The first transmission assembly includes two synchronous gears (2-10), one synchronous gear (2-10) is arranged on the chassis (2-7), 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 outside the two synchronous gears (2-10).

5. The omnidirectional machining robotic arm with single-degree-of-freedom tilting control according to claim 1, characterized in that: The working head component (1) includes a feed support (1-3), a telescopic shaft sleeve (1-2) is arranged at the center of the feed support (1-3), the telescopic shaft sleeve (1-2) is connected to the main shaft sleeve (2-5), a working head (1-1) is arranged on the telescopic shaft 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 support (1-3), and a working head guide rod (1-10) is further arranged on the feed support (1-3), and the working head guide rod (1-10) is movably connected to the main shaft platform (2-13).

6. The omnidirectional machining robotic arm with single-degree-of-freedom tilting control according to claim 5, characterized in that: The numbers of the small push rod (1-8) and the working head guide rod (1-10) are both 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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