Device for the Robot-Assisted Machining of Surfaces

An apparatus comprising:

• a carrier plate;
• a motor;
• a linear actuator;
• a machining head coupled to the carrier plate by the linear actuator, the machining head comprising a drive shaft for direct or indirect driving of a rotatable tool;
• and
• a flexible shaft which couples a motor shaft of the motor to the drive shaft of the machining head.

An apparatus comprising:

• a carrier plate;
• a motor;
• a linear actuator;
• a machining head which is coupled to the carrier plate by the linear actuator, the machining head comprising a drive shaft for direct or indirect driving of a rotatable tool;
• a flexible shaft which couples a motor shaft of the motor to the drive shaft of the machining head;
• a universal joint which mechanically couples the machining head to the linear actuator to enable a tilting movement of the machining head around two axes of tilt, which intersect at an intersection point through which a longitudinal axis of the actuator also extends;
• and
• a support structure which is connected to a first end of the linear actuator by the universal joint,
• wherein a second end of the linear actuator is connected to the carrier plate,
• wherein the machining head or a plurality of machining heads are mounted on the support structure.

An apparatus comprising:

• a carrier plate;
• a motor;
• a linear actuator;
• a machining head which is coupled to the carrier plate by the linear actuator, the machining head comprising a drive shaft for direct or indirect driving of a rotatable tool;
• a flexible shaft which couples a motor shaft of the motor to the drive shaft of the machining head;
• a universal joint which mechanically couples the machining head to the linear actuator to enable a tilting movement of the machining head around two axes of tilt,
• wherein the universal joint allows for a tilting movement around the two axes of tilt which extend at a distance to each other from a topside of the machining head through the machining head.