CN110695937B - Disk part bearing device and method with adjustable posture - Google Patents
Disk part bearing device and method with adjustable posture Download PDFInfo
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- CN110695937B CN110695937B CN201910972214.8A CN201910972214A CN110695937B CN 110695937 B CN110695937 B CN 110695937B CN 201910972214 A CN201910972214 A CN 201910972214A CN 110695937 B CN110695937 B CN 110695937B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
- B25H1/14—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby with provision for adjusting the bench top
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H37/00—Combinations of mechanical gearings, not provided for in groups F16H1/00 - F16H35/00
- F16H37/12—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types
- F16H37/124—Gearings comprising primarily toothed or friction gearing, links or levers, and cams, or members of at least two of these types for interconverting rotary motion and reciprocating motion
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2084—Perpendicular arrangement of drive motor to screw axis
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16H—GEARING
- F16H25/00—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms
- F16H25/18—Gearings comprising primarily only cams, cam-followers and screw-and-nut mechanisms for conveying or interconverting oscillating or reciprocating motions
- F16H25/20—Screw mechanisms
- F16H2025/2062—Arrangements for driving the actuator
- F16H2025/2093—Arrangements for driving the actuator using conical gears
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- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Jigs For Machine Tools (AREA)
- Gear Transmission (AREA)
- Manipulator (AREA)
- Friction Gearing (AREA)
Abstract
A disk part bearing device with an adjustable posture and a method thereof are suitable for part processing. The part clamping and positioning device comprises a driving unit, a clamping mechanism, a rotary platform, a motion conversion mechanism and an attitude adjusting mechanism, can realize the functions of part clamping and positioning and driving, and can realize the conversion of two working modes through the motion conversion mechanism; the posture adjusting mechanism can be used for adjusting the clamping posture of the part, can realize the posture adjustment required in the complex machining process of the part, simultaneously enables the whole structure to have the high rigidity and stability of a parallel mechanism, and increases the rigidity and stability of part clamping; the device has large-range rotary motion and posture fine adjustment motion, integrates the functions of a parallel mechanism and a serial mechanism, and can realize flexible motion required by flexible processing of parts; the quick-change clamping jaw is adopted, the clamping of the disc parts with various appearance structures can be adapted through the replacement of the quick-change clamping jaw, and the application range of the clamping mechanism is expanded.
Description
Technical Field
The invention relates to a disk part bearing device with an adjustable posture and a method thereof, in particular to a disk part bearing device with an adjustable posture and a method thereof, which are used in the field of part processing.
Background
Before the parts are in service, multiple processes such as machining, assembling and spraying are generally required to be completed, and the machining operation bearing device directly influences parameters such as dimensional accuracy and form and position accuracy of the machined parts. Along with the diversification of part functions, the machining process presents obvious flexibility and flexibility, and especially in intelligent manufacturing flexible machining, in order to realize flexible coordination between parts and machining equipment, the clamping device needs to provide flexible and various auxiliary motions. The traditional method for clamping the workpiece by adopting the V-shaped block needs manual adjustment assistance, has long adjustment time and wastes time and labor; the prior art is mainly suitable for clamping parts with specific structural forms, and has single clamping function. For example, patent CN104029066A discloses a clamping device for thin-walled large-diameter parts, which mainly functions to realize clamping of thin-walled parts, and does not have the motion mode conversion required by flexible processing. In addition, the conventional clamping device is difficult to realize the integration of the driving and clamping functions in the machining process, does not have the posture adjusting function of parts, is not favorable for realizing the process concentration in the part machining process, and improves the machining efficiency.
Technical scheme
Aiming at the defects in the prior art, the posture-adjustable disc part bearing device and method have the advantages that the integration of part clamping and positioning and driving functions and the conversion of working modes are realized, the posture adjustment required by the complex part machining process is realized by integrating the functions of the parallel mechanism and the serial mechanism, and the flexible part machining can be carried out.
In order to achieve the technical purpose, the disk part bearing device with the adjustable posture comprises a driving unit, a clamping mechanism, a rotary platform, a motion conversion mechanism and a posture adjusting mechanism, wherein the clamping mechanism is arranged above the rotary platform;
the driving unit comprises a driving motor and a propulsion cylinder, and the propulsion cylinder is fixed on the side surface of the driving motor;
the clamping mechanism comprises a ball screw, a nut slide block, a quick-change jaw and a clamping bottom plate, wherein a small bevel gear is arranged at the top end of the head of the ball screw, a large bevel gear is arranged at the axis of the clamping bottom plate, the ball screw is symmetrically arranged at the periphery center of the large bevel gear, the small bevel gear at the top end of the head of the ball screw is meshed with the large bevel gear, the ball screw is provided with the nut slide block, the quick-change jaw is fixed on the nut slide block, the screw nut transmission thread meshing of the ball screw has a self-locking function, and the reliable clamping of the quick-change jaw on,
the rotary platform is fixed between the connecting top plate and the clamping bottom plate, the rotary platform adopts a rotary support, the center of the rotary support is a second-stage inner cylindrical gear, the connecting top plate and the rotary support are coaxially arranged, the centers of the connecting top plate and the rotary support are a third-stage inner cylindrical gear,
the motion conversion mechanism comprises a first-stage outer cylindrical gear, a second-stage duplex gear, a third-stage duplex gear, a shaft sleeve and a spline shaft, wherein the first-stage outer cylindrical gear is coaxially fixed on the spline shaft, the second-stage duplex gear and the third-stage duplex gear are sleeved on the spline shaft in an empty mode and can rotate relative to the spline shaft, the shaft sleeve is arranged on the spline shaft between the first-stage outer cylindrical gear and the second-stage duplex gear, the third-stage duplex gear is connected with the propulsion cylinder through an output rod, and the spline shaft is connected with an output shaft of the driving motor through a coupler.
And two ends of the posture adjusting mechanism are respectively provided with a spherical hinge, and the posture adjusting mechanism is respectively connected with the connecting top plate and the connecting base through the spherical hinges.
The posture adjusting mechanism is a parallel mechanism.
When the propulsion cylinder pushes the spline shaft to move forwards axially, the first-stage outer cylindrical gear is meshed with the first-stage inner cylindrical gear, the second-stage duplex gear is meshed with the second-stage inner cylindrical gear, the third-stage duplex gear is meshed with the third-stage inner cylindrical gear, and the clamping bottom plate, the rotary platform and the connecting top plate are in a locking state;
when the pushing cylinder pushes the spline shaft to move backwards in the axial direction, the first-stage outer cylindrical gear is meshed with the second-stage inner cylindrical gear, and the rest gears are disengaged.
The bearing method of the device comprises the following steps:
the method comprises the following steps: the reset clamping mechanism is used for enabling the clamping mechanism to be in a clamping and positioning waiting state through the action of the motion conversion mechanism;
step two: positioning and clamping the disc parts to be processed;
step three: determining an attitude parameter of an attitude adjusting mechanism and a driving speed parameter of a driving motor according to the processing technological requirements of the disc parts;
step four: according to the determined attitude parameters of the attitude adjusting mechanism, the attitude adjusting mechanism adjusts the attitude of the disc parts;
step five: the motion conversion mechanism works to enable the disc parts to be in a rotary motion waiting state;
step six: according to the determined driving speed parameter of the driving motor, the driving motor outputs power to drive the disk parts to rotate continuously;
step seven: after the disc parts are machined, the clamping mechanism is opened, and the disc parts are unloaded.
The specific method for enabling the clamping mechanism to be in the clamping, positioning and waiting state in the first step comprises the following steps: the propulsion cylinder is used for pushing the spline shaft to move along the direction far away from the driving motor, so that the first-stage outer cylindrical gear is meshed with the first-stage inner cylindrical gear, the second-stage duplicate gear is meshed with the second-stage inner cylindrical gear, the third-stage duplicate gear is meshed with the third-stage inner cylindrical gear, and the clamping bottom plate, the rotary platform and the connecting top plate are in a locking state at the moment.
The specific method for completing the positioning and clamping of the disc parts in the second step comprises the following steps: thereby it is rotatory to utilize driving motor drive one-level outer cylindrical gear to drive cylindrical gear and big bevel gear in one-level in proper order, big bevel gear drives the small cone gear rotation on engaged ball top, thereby screw engagement through ball drives nut slider and slides on pressing from both sides tight bottom plate, realize the radial movement of quick change jack catch on ball, rethread driving motor's centre gripping drive angle control, accomplish the centre gripping location of dish class part, utilize ball's the reliable centre gripping of auto-lock dish class part simultaneously.
The concrete method for enabling the clamping mechanism to be in the rotating motion waiting state in the step five is as follows: the propulsion cylinder pushes the spline shaft to move along the direction close to the driving motor through the output rod, so that the first-stage outer cylindrical gear is meshed with the second-stage inner cylindrical gear, and the rest gears are disengaged at the moment.
The specific method for driving the disc parts to rotate continuously in the sixth step is as follows: utilize driving motor to pass through the coaxial rotation of shaft coupling drive integral key shaft, the integral key shaft drives the coaxial rotation of one-level outer cylindrical gear, through the meshing of one-level outer cylindrical gear and second grade inner cylindrical gear, drives the revolving platform rotation, and further drive clamping mechanism is rotatory to realize the continuous rotation of dish class part.
The specific method for completing the unloading of the disc parts in the seventh step comprises the following steps: firstly, resetting the attitude adjusting mechanism, then pushing the spline shaft to move forwards axially by using a pushing cylinder through an output rod, so that a first-stage outer cylindrical gear is meshed with a first-stage inner cylindrical gear, a second-stage duplicate gear is meshed with a second-stage inner cylindrical gear, and a third-stage duplicate gear is meshed with a third-stage inner cylindrical gear, and at the moment, the clamping bottom plate, the rotary platform and the connecting top plate are in a locked state; the driving motor is controlled to rotate reversely, the first-stage outer cylindrical gear is reversely meshed with the first-stage inner cylindrical gear, the first-stage inner cylindrical gear drives the large bevel gear to rotate reversely, the large bevel gear drives the small bevel gear and the ball screw to rotate reversely through meshing, the nut slider is driven to slide reversely on the clamping bottom plate through thread meshing, reverse radial movement of the quick-change clamping jaws on the ball screw is achieved, and therefore disc parts are taken out and the quick-change clamping jaws are opened and reset.
Has the advantages that:
the posture adjusting mechanism adopts the parallel mechanism principle, can be used for adjusting the clamping posture of the part, can realize the posture adjustment required by the complex processing process of the part, simultaneously enables the integral structure to have the high rigidity and stability of the parallel mechanism, and increases the rigidity and stability of part clamping; the bearing device has large-range rotation motion and posture fine adjustment motion, integrates the functions of a parallel mechanism and a serial mechanism, is a serial-parallel series-parallel bearing device, and can realize flexible motion required by flexible processing of parts; the clamping mechanism can adjust the clamping size, adopts the quick-change clamping jaws, can adapt to the clamping of disc parts with various appearance structures by replacing the quick-change clamping jaws, and enlarges the application range of the clamping mechanism.
Drawings
FIG. 1 is an isometric view of the overall construction of the present invention;
FIG. 2 is an elevational view of the overall construction of the present invention;
FIG. 3 is a schematic view of a rotary platform and a coupling head plate of the present invention;
FIG. 4 is a block diagram of the motion conversion mechanism of the present invention;
FIG. 5 is a block diagram of the parts of the present invention in a clamped position;
FIG. 6 is a block diagram of the components of the present invention during a wide range of rotational movement;
fig. 7 is a structural view when the parts of the present invention are unloaded.
FIG. 8 is a flow chart of the part clamping of the present invention.
In the figure: 100-driving unit, 110-driving motor, 120-propulsion cylinder, 121-output rod, 200-clamping mechanism, 210-ball screw, 220-nut slider, 230-quick-change jaw, 240-clamping bottom plate, 250-small bevel gear, 260-large bevel gear, 261-first-stage inner cylindrical gear, 270-upper surface, 300-rotary platform, 310-rotary support, 320-second-stage inner cylindrical gear, 400-motion conversion mechanism, 410-first-stage outer cylindrical gear, 420-second-stage duplicate gear, 430-third-stage duplicate gear, 440-shaft sleeve, 450-spline shaft, 510-attitude adjustment mechanism, 520-ball hinge, 600-disc part, C10-connection top plate, C11-third-stage inner cylindrical gear, c20-support frame, C30-connection base and C40-coupler.
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. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1 and 2, the attitude-adjustable disc part carrier device of the present invention includes a driving unit 100, a clamping mechanism 200, a rotary platform 300, a motion conversion mechanism 400, and an attitude adjustment mechanism 510, wherein the clamping mechanism 200 is disposed above the rotary platform 300, a connecting top plate C10 is disposed below the rotary platform 300, a support frame C20 is disposed below the connecting top plate C10, and the driving unit 100 is disposed at the center of the connecting top plate C10; the driving unit 100 comprises a driving motor 110 and a propulsion cylinder 120, the propulsion cylinder 120 is fixed on the side of the driving motor 110, the driving motor 110 is fixed on a connecting top plate C10 through a supporting frame C20, two ends of a posture adjusting mechanism 510 are respectively provided with a spherical hinge 520, the posture adjusting mechanism 510 is respectively connected with the connecting top plate C10 and a connecting base C30 through the spherical hinge 520,
as shown in fig. 3, the rotary platform 300 is fixed between the connecting top plate C10 and the clamping bottom plate 240, the rotary platform 300 uses a rotary bearing 310, the center of the rotary bearing 310 is a two-stage inner cylindrical gear 320, the connecting top plate C10 and the rotary bearing 310 are coaxially arranged, the centers of the connecting top plate C10 and the rotary bearing 310 are three-stage inner cylindrical gears C11,
as shown in fig. 4, the motion conversion mechanism 400 includes a first-stage external cylindrical gear 410, a second-stage duplex gear 420, a third-stage duplex gear 430, a shaft sleeve 440, and a spline shaft 450, wherein the first-stage external cylindrical gear 410 is coaxially fixed on the spline shaft 450, the second-stage duplex gear 420 and the third-stage duplex gear 430 are freely sleeved on the spline shaft 450 and can rotate relative to the spline shaft 450, the shaft sleeve 440 is disposed on the spline shaft 450 between the first-stage external cylindrical gear 410 and the second-stage duplex gear 420, the third-stage duplex gear 430 is connected with the propulsion cylinder 120 through an output rod 121, the spline shaft 450 is connected with an output shaft of the driving motor 110 through a coupling C40, and the propulsion cylinder 120 is connected with the third-stage duplex gear 430 through.
As shown in fig. 5, the clamping mechanism 200 includes a ball screw 210, a nut slider 220, quick-change jaws 230, and a clamping base plate 240, wherein a small bevel gear 250 is disposed at the top end of the head of the ball screw 210, a large bevel gear 260 is disposed at the axial center of the clamping base plate 240, the ball screw 210 is symmetrically disposed at the periphery of the large bevel gear 260, the small bevel gear 250 at the top end of the head of the ball screw 210 is engaged with the large bevel gear 260, the ball screw 210 is provided with the nut slider 220, the quick-change jaws 230 are fixed on the nut slider 220, a primary inner cylindrical gear 261 is fixed on the bottom end surface of the large bevel gear 260, the primary outer cylindrical gear 410 is reversely engaged with the primary inner cylindrical gear 261, and the screw nut transmission thread engagement of the ball screw 210 has a self-locking function, so as to ensure the reliable clamping; in operation, when the propulsion cylinder 120 pushes the spline shaft 450 to move forward axially, as shown in fig. 5, the first-stage external cylindrical gear 410 is engaged with the first-stage internal cylindrical gear 261, the second-stage duplex gear 420 is engaged with the second-stage internal cylindrical gear 320, and the third-stage duplex gear 430 is engaged with the third-stage internal cylindrical gear C11, at this time, the clamping bottom plate 240, the pivoting support 310, and the connecting top plate C10 are in a locked state; at this time, under the driving of the driving motor 110, the first-stage outer cylindrical gear 410 is meshed with the first-stage inner cylindrical gear 261, the first-stage inner cylindrical gear 261 drives the large conical gear 260 to rotate, the large conical gear 260 drives the small conical gear 250 and the ball screw 210 to rotate through the meshing effect, the nut slider 220 is driven to slide on the clamping bottom plate 240 through threaded meshing, the radial movement of the quick-change clamping jaws 230 is realized, and the clamping and positioning of the disc part 600 can be completed.
As shown in fig. 6, when the propulsion cylinder 120 pushes the spline shaft 450 to move backward axially, the first-stage outer cylindrical gear 410 is meshed with the second-stage inner cylindrical gear 320, and the other gears are disengaged, and due to the thread meshing self-locking function of the screw nut transmission, the quick-change jaws 230 are locked at the current position, so that the disc part 600 can be reliably clamped by the quick-change jaws 230; small-amplitude translation along the directions of the x, y and z axes and small-amplitude swing around the directions of the x, y and z axes can be realized through the coordinated motion of the driving elements of the attitude adjusting mechanism 510; the driving motor 110 rotates to drive the spline shaft 450 to rotate coaxially, the spline shaft 450 drives the first-stage outer cylindrical gear 410 to rotate coaxially, the first-stage outer cylindrical gear 410 is meshed with the second-stage inner cylindrical gear 320 to drive the slewing bearing 310 to rotate, the clamping mechanism 200 is further driven to rotate, and large-range rotating motion of the disc part 600 can be achieved.
As shown in fig. 7, when the part unloading is performed, the propulsion cylinder 120 pushes the spline shaft 450 to move forward axially, so that the primary outer cylindrical gear 410 is meshed with the primary inner cylindrical gear 261, the secondary duplicate gear 420 is meshed with the secondary inner cylindrical gear 320, and the tertiary duplicate gear 430 is meshed with the tertiary inner cylindrical gear C11, and at this time, the clamping bottom plate 240, the pivoting support 310 and the connecting top plate C10 are in a locked state; then, the driving motor 110 rotates reversely, the primary outer cylindrical gear 410 is meshed with the primary inner cylindrical gear 261 reversely, the primary inner cylindrical gear 261 drives the large bevel gear 260 to rotate reversely, the large bevel gear 260 drives the small bevel gear 250 and the ball screw 210 to rotate reversely through meshing, the nut slider 220 is driven to slide reversely on the clamping bottom plate 240 through threaded meshing, radial reverse movement of the quick-change jaws 230 is achieved, and unloading of the disc part 600 and resetting of the clamping mechanism 200 are achieved.
As shown in fig. 8, the load bearing method specifically includes the following steps:
step two: the clamping mechanism 200 is reset, and the motion conversion mechanism 400 acts to enable the clamping mechanism 200 to be in a clamping and positioning waiting state, and the specific process is as follows: the thrust cylinder 120 pushes the spline shaft 450 to move forward axially, so that the first-stage outer cylindrical gear 410 is meshed with the first-stage inner cylindrical gear 261, the second-stage duplex gear 420 is meshed with the second-stage inner cylindrical gear 320, and the third-stage duplex gear 430 is meshed with the third-stage inner cylindrical gear C11, and at the moment, the clamping bottom plate 240, the pivoting support 310 and the connecting top plate C10 are in a locking state.
Step two: the clamping and positioning movement of the disc part 600 is completed, and the specific process is as follows: starting the driving motor 110, under the driving of the driving motor 110, the primary outer cylindrical gear 410 is meshed with the primary inner cylindrical gear 261, the primary inner cylindrical gear 261 drives the large bevel gear 260 to rotate, the large bevel gear 260 drives the small bevel gear 250 and the ball screw 210 to rotate through the meshing effect, the nut slider 220 is driven to slide on the clamping bottom plate 240 through threaded meshing, the radial movement of the quick-change jaws 230 is realized, the clamping driving angle control of the driving motor 110 determined according to the step one is carried out, and the clamping and positioning of the disc type part 600 are completed, as shown in fig. 5, the clamping and positioning of the disc type part 600 is schematically illustrated.
Step three: determining the attitude parameter of the attitude adjusting mechanism 510 and the driving speed parameter of the driving motor 110 according to the processing technology requirement of the disc part 600;
step four: determining the displacement of a driving element of the attitude adjusting mechanism 510 through kinematic analysis according to the attitude parameters of the attitude adjusting mechanism 510 determined in the third step, and completing the attitude adjustment of the disc part 600 through translation along the directions of the x, y and z axes and swing around the directions of the x, y and z axes;
step five: the motion conversion mechanism 400 is operated to make the clamping mechanism 200 in a rotational motion waiting state, and the specific process is as follows: the air cylinder 120 is pushed to push the spline shaft 450 to move backwards in the axial direction, so that the first-stage outer cylindrical gear 410 is meshed with the second-stage inner cylindrical gear 320, at the moment, other gears are disengaged, and due to the thread meshing self-locking function of the screw nut transmission, the quick-change clamping jaw 230 is locked at the current position, and the disc part 600 is reliably clamped by the quick-change clamping jaw 230.
Step six: according to the driving speed parameter of the driving motor 110 determined in the third step, the disc part 600 is driven to rotate continuously, and the specific process is as follows: the driving motor 110 rotates, the spline shaft 450 is connected with the output shaft of the driving motor 110, the driving motor 110 drives the spline shaft 450 to rotate coaxially, the first-stage outer cylindrical gear 410 is coaxially fixed on the spline shaft 450, the spline shaft 450 drives the first-stage outer cylindrical gear 410 to rotate coaxially, the first-stage outer cylindrical gear 410 is meshed with the second-stage inner cylindrical gear 320 to drive the slewing bearing 310 to rotate, and the clamping mechanism 200 is further driven to rotate, so that the disc part 600 continuously rotates, and as shown in fig. 6, the disc part 600 is schematically illustrated in a large-range rotating motion.
Step seven: the disc part 600 is unloaded after finishing the processing, and the unloading of the disc part 600 is finished, and the specific process is as follows: firstly, the posture adjusting mechanism 510 is reset, then the propulsion cylinder 120 pushes the spline shaft 450 to move forwards axially, so that the first-stage outer cylindrical gear 410 is meshed with the first-stage inner cylindrical gear 261, the second-stage duplex gear 420 is meshed with the second-stage inner cylindrical gear 320, and the third-stage duplex gear 430 is meshed with the third-stage inner cylindrical gear C11, and at the moment, the clamping bottom plate 240, the pivoting support 310 and the connecting top plate C10 are in a locking state; the driving motor 110 is controlled to rotate reversely, the primary outer cylindrical gear 410 is meshed with the primary inner cylindrical gear 261 reversely, the primary inner cylindrical gear 261 drives the large bevel gear 260 to rotate reversely, the large bevel gear 260 drives the small bevel gear 250 and the ball screw 210 to rotate reversely through meshing, the nut slider 220 is driven to slide reversely on the clamping bottom plate 240 through threaded meshing, radial reverse movement of the quick-change jaws 230 is achieved, unloading of the disc part 600 and resetting of the clamping mechanism 200 are achieved, and as shown in fig. 7, a schematic diagram of unloading movement of the disc part 600 is shown.
The clamping mechanism 200 of the invention adopts the quick-change clamping jaws 230, and the clamping mechanism can be suitable for clamping disc parts with various shapes and structures by replacing the quick-change clamping jaws 230.
Claims (10)
1. The utility model provides a disk part of gesture adjustable bears device which characterized in that: the device comprises a driving unit (100), a clamping mechanism (200), a rotary platform (300), a motion conversion mechanism (400) and an attitude adjusting mechanism (510), wherein the clamping mechanism (200) is arranged above the rotary platform (300), a connecting top plate (C10) is arranged below the rotary platform (300), a support frame (C20) is arranged at the center of the bottom of the connecting top plate (C10), the driving unit (100) is arranged at the center of the connecting top plate (C10) through the support frame (C20), a connecting base (C30) is arranged below the connecting top plate (C10), and the attitude adjusting mechanism (510) is arranged between the connecting top plate (C10) and the connecting base (C30);
the driving unit (100) comprises a driving motor (110) and a propulsion cylinder (120), wherein the propulsion cylinder (120) is fixed on the side surface of the driving motor (110);
the clamping mechanism (200) comprises a ball screw (210), a nut sliding block (220), quick-change jaws (230) and a clamping bottom plate (240), wherein a small bevel gear (250) is arranged at the top end of the head of the ball screw (210), a large bevel gear (260) is arranged at the axis of the clamping bottom plate (240), the ball screw (210) is symmetrically arranged at the periphery center of the large bevel gear (260), the small bevel gear (250) at the top end of the head of the ball screw (210) is meshed with the large bevel gear (260), the ball screw (210) is provided with the nut sliding block (220), the quick-change jaws (230) are fixed on the nut sliding block (220), the screw nut transmission thread meshing of the ball screw (210) has a self-locking function, and the reliable clamping of the quick-change jaws (230) on the disc part (600,
the rotary platform (300) is fixed between the connecting top plate (C10) and the clamping bottom plate (240), the rotary platform (300) adopts a rotary support (310), the center of the rotary support (310) is provided with a second-stage inner cylindrical gear (320), the connecting top plate (C10) and the rotary support (310) are coaxially arranged, the centers of the connecting top plate (C10) and the rotary support (310) are provided with a third-stage inner cylindrical gear (C11),
the motion conversion mechanism (400) comprises a first-stage outer cylindrical gear (410), a second-stage duplicate gear (420), a third-stage duplicate gear (430), a shaft sleeve (440) and a spline shaft (450), wherein the first-stage outer cylindrical gear (410) is coaxially fixed on the spline shaft (450), the second-stage duplicate gear (420) and the third-stage duplicate gear (430) are sleeved on the spline shaft (450) in an empty mode and can rotate relative to the spline shaft (450), the shaft sleeve (440) is arranged between the first-stage outer cylindrical gear (410) and the second-stage duplicate gear (420) on the spline shaft (450), the third-stage duplicate gear (430) is connected with the propulsion cylinder (120) through an output rod (121), and the spline shaft (450) is connected with an output shaft of the driving motor (110) through a coupler (C40).
2. The attitude adjustable disc part carrier according to claim 1, wherein: the two ends of the posture adjusting mechanism (510) are respectively provided with a spherical hinge (520), and the posture adjusting mechanism (510) is respectively connected with the connecting top plate (C10) and the connecting base (C30) through the spherical hinges (520).
3. The attitude adjustable disc part carrier according to claim 2, wherein: the posture adjusting mechanism (510) is a parallel mechanism.
4. The attitude adjustable disc part carrier according to claim 1, wherein: when the propulsion cylinder (120) pushes the spline shaft (450) to move forwards axially, the first-stage outer cylindrical gear (410) is meshed with the first-stage inner cylindrical gear (261), the second-stage duplicate gear (420) is meshed with the second-stage inner cylindrical gear (320), the third-stage duplicate gear (430) is meshed with the third-stage inner cylindrical gear (C11), and the clamping bottom plate (240), the rotary platform (300) and the connecting top plate (C10) are in a locking state;
when the propulsion cylinder (120) pushes the spline shaft (450) to move backwards in the axial direction, the first-stage outer cylindrical gear (410) is meshed with the second-stage inner cylindrical gear (320), and the rest gears are disengaged.
5. A carrying method using the attitude-adjustable disc part carrying device of any one of the preceding claims, characterized by comprising the steps of:
the method comprises the following steps: the reset clamping mechanism (200) is operated through the motion conversion mechanism (400) to enable the clamping mechanism (200) to be in a clamping, positioning and waiting state;
step two: positioning and clamping a disc part (600) to be processed;
step three: determining an attitude parameter of the attitude adjusting mechanism (510) and a driving speed parameter of the driving motor (110) according to the processing technological requirements of the disc part (600);
step four: according to the determined attitude parameter of the attitude adjusting mechanism (510), the attitude adjusting mechanism (510) adjusts the clamping attitude of the disc part (600);
step five: the motion conversion mechanism (400) works to enable the disc part (600) to be in a rotary motion waiting state;
step six: according to the determined driving speed parameter of the driving motor (110), the driving motor (110) outputs power to drive the disc part (600) to rotate continuously;
step seven: after the disc parts (600) are machined, the clamping mechanism (200) loosens and clamps the disc parts (600), and unloading of the disc parts (600) is completed.
6. The carrying method of the attitude adjustable disk part carrying device according to claim 5, wherein the specific method of putting the clamping mechanism (200) in the clamping, positioning and waiting state in the first step is: the propulsion cylinder (120) is used for pushing the spline shaft (450) to move along the direction far away from the driving motor (110), so that the first-stage outer cylindrical gear (410) is meshed with the first-stage inner cylindrical gear (261), the second-stage duplex gear (420) is meshed with the second-stage inner cylindrical gear (320), the third-stage duplex gear (430) is meshed with the third-stage inner cylindrical gear (C11), and at the moment, the clamping bottom plate (240), the rotary platform (300) and the connecting top plate (C10) are in a locking state.
7. The carrying method of the attitude adjustable disk part carrying device according to claim 5, wherein the specific method for completing the positioning and clamping of the disk part (600) in the second step is as follows: the driving motor (110) is used for driving the first-stage outer cylindrical gear (410) to sequentially drive the first-stage inner cylindrical gear (261) and the large bevel gear (260) to rotate, the large bevel gear (260) drives the small bevel gear (250) at the top end of the meshed ball screw (210) to rotate, so that the nut slider (220) is driven to slide on the clamping bottom plate (240) through thread meshing of the ball screw (210), radial movement of the quick-change clamping jaws (230) on the ball screw (210) is achieved, clamping and positioning of the disc type part (600) are achieved through clamping driving angle control of the driving motor (110), and meanwhile reliable clamping of the self-locking disc type part (600) of the ball screw (210) is utilized.
8. The carrying method of the attitude adjustable disk part carrying device according to claim 5, wherein the concrete method of putting the clamping mechanism (200) in the rotational movement waiting state in the fifth step is: the propulsion cylinder (120) pushes the spline shaft (450) to move along the direction close to the driving motor (110) through the output rod (121), so that the primary outer cylindrical gear (410) is meshed with the secondary inner cylindrical gear (320), and the rest gears are disengaged.
9. The carrying method of the attitude adjustable disk part carrying device according to claim 5, wherein the specific method for driving the disk part (600) to rotate continuously in the sixth step is as follows: the driving motor (110) is utilized to drive the spline shaft (450) to coaxially rotate through the coupler (C40), the spline shaft (450) drives the first-stage outer cylindrical gear (410) to coaxially rotate, the first-stage outer cylindrical gear (410) is meshed with the second-stage inner cylindrical gear (320), the rotary platform (300) is driven to rotate, the clamping mechanism (200) is further driven to rotate, and therefore continuous rotation of the disc part (600) is achieved.
10. The carrying method of the attitude adjustable disk part carrying device according to claim 5, wherein the specific method for completing the unloading of the disk part (600) in the seventh step is as follows: firstly, resetting the attitude adjusting mechanism (510), then pushing the spline shaft (450) to axially move forwards by utilizing the pushing cylinder (120) through the output rod (121), so that the first-stage outer cylindrical gear (410) is meshed with the first-stage inner cylindrical gear (261), the second-stage duplicate gear (420) is meshed with the second-stage inner cylindrical gear (320), and the third-stage duplicate gear (430) is meshed with the third-stage inner cylindrical gear (C11), and at the moment, the clamping bottom plate (240), the rotary platform (300) and the connecting top plate (C10) are in a locking state; the driving motor (110) is controlled to rotate reversely, the first-stage outer cylindrical gear (410) is meshed with the first-stage inner cylindrical gear (261) reversely, the first-stage inner cylindrical gear (261) drives the large bevel gear (260) to rotate reversely, the large bevel gear (260) drives the small bevel gear (250) and the ball screw (210) to rotate reversely through meshing, the nut slider (220) is driven to slide reversely on the clamping bottom plate (240) through thread meshing, reverse radial movement of the quick-change clamping jaws (230) on the ball screw (210) is achieved, and therefore the disc part (600) is taken out and the quick-change clamping jaws (230) are opened and reset.
Priority Applications (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910972214.8A CN110695937B (en) | 2019-10-14 | 2019-10-14 | Disk part bearing device and method with adjustable posture |
| PCT/CN2020/120335 WO2021073469A1 (en) | 2019-10-14 | 2020-10-12 | Device and method capable of adjusting posture for bearing disc parts |
| CA3135528A CA3135528A1 (en) | 2019-10-14 | 2020-10-12 | Device and method capable of adjusting posture for bearing disc parts |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910972214.8A CN110695937B (en) | 2019-10-14 | 2019-10-14 | Disk part bearing device and method with adjustable posture |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110695937A CN110695937A (en) | 2020-01-17 |
| CN110695937B true CN110695937B (en) | 2020-11-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201910972214.8A Active CN110695937B (en) | 2019-10-14 | 2019-10-14 | Disk part bearing device and method with adjustable posture |
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| Country | Link |
|---|---|
| CN (1) | CN110695937B (en) |
| CA (1) | CA3135528A1 (en) |
| WO (1) | WO2021073469A1 (en) |
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- 2019-10-14 CN CN201910972214.8A patent/CN110695937B/en active Active
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2020
- 2020-10-12 CA CA3135528A patent/CA3135528A1/en active Pending
- 2020-10-12 WO PCT/CN2020/120335 patent/WO2021073469A1/en active Application Filing
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021073469A1 (en) | 2021-04-22 |
| CA3135528A1 (en) | 2021-04-22 |
| CN110695937A (en) | 2020-01-17 |
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