CN102935574A - Opening positioner - Google Patents

Opening positioner Download PDF

Info

Publication number
CN102935574A
CN102935574A CN201210464007XA CN201210464007A CN102935574A CN 102935574 A CN102935574 A CN 102935574A CN 201210464007X A CN201210464007X A CN 201210464007XA CN 201210464007 A CN201210464007 A CN 201210464007A CN 102935574 A CN102935574 A CN 102935574A
Authority
CN
China
Prior art keywords
pinion
bearing
opening
leading screw
race
Prior art date
Application number
CN201210464007XA
Other languages
Chinese (zh)
Other versions
CN102935574B (en
Inventor
邱全锋
江山
李仁�
Original Assignee
三一重工股份有限公司
重庆三一高智能机器人有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三一重工股份有限公司, 重庆三一高智能机器人有限公司 filed Critical 三一重工股份有限公司
Priority to CN201210464007.XA priority Critical patent/CN102935574B/en
Publication of CN102935574A publication Critical patent/CN102935574A/en
Application granted granted Critical
Publication of CN102935574B publication Critical patent/CN102935574B/en

Links

Abstract

The invention discloses an opening positioner which comprises a driving mechanism and a driven mechanism. The driving mechanism is provided with a first executing mechanism used for supporting and locating workpieces and a transmission mechanism used for rotating the workpieces, wherein an opening is arranged on the upper portion of the first executing mechanism and connected with the transmission mechanism; and the driven mechanism is provided with a second executing mechanism used for supporting and locating workpieces, and an opening of the arranged on the upper portion of the second executing mechanism. Accordingly, feeding and blanking can be achieved at the openings of the opening positioner. Simultaneously, according to the opening positioner, rotation centers of workpieces and rotation centers of tooling can be coaxial, and 360-degree high-precision transmission and rotation and rapid clamping can be achieved.

Description

The opening positioner
Technical field
The present invention relates to engineering machinery field, particularly a kind of opening positioner.
Background technology
In recent years, along with technical development, the industrial automation level has had rapid progress, and robot workstation's use also more and more is extensively in the welding job of structural member, and, cooperate the positioner of industrial robot welding also to be eruptive growth.
At present, mainly there are following two kinds of installation way in the long pipe fittings positioner in actual applications:
A kind of mode, the mode that holds out against for traditional machine tool three-jaw chuck one end end face chucking other end realizes the displacement rotation.But, this scheme has individual defective, be exactly workpiece feeding can only be with long pipe fittings on the horizontal direction of positioner or loading and unloading on the axial direction, this need to be far away with the relative distance of positioner active and follower layout, the so very large Production Line Configured of enterprise that affects of modified gear institute floor space, and stretch into from end face, this is for overlength pipe fitting or huge pipe fitting clamping and inconvenience thereof.
Another kind of mode, be popular open type installation way, as shown in Figure 1, formed by arc piece 1, cylinder 2, axial location piece 3, power source 4 and workpiece 5, this scheme has radially adopted cylinder 2 to position, axially adopted briquetting to add the axial location piece 3 of roller location, the power source 4 of lower end adopts gear drive.Yet there is such problem in this installation way:
1) cylinder 2 is difficult to workpiece is carried out accurate radial location, and namely the axiality at the center determined of arc piece 1 centre of gyration and cylinder 2 is very poor, just sees at present the effect that only can play lower support;
2) axially adopt axial location piece 3 and roller location, but adopt this mode axially also to be difficult to accurate limiting, and axially loaded easily lodges;
3) this structure is difficult to realize that 360 degree rotate, and only can realize that workpiece swings among a small circle, as shown in Figure 1.
Therefore, the clamping problem of existing installation way existence needs to be resolved hurrily.
Summary of the invention
In view of this, the present invention proposes a kind of opening positioner, can realize the loading and unloading of positioner opening part and realize that the workpiece centre of gyration is coaxial with the frock centre of gyration.
For achieving the above object, technical scheme of the present invention is achieved in that
The invention provides a kind of opening positioner, described opening positioner comprises: driving mechanism, be provided with and support and the first executing agency of positioning workpieces and be used for the transmission mechanism of rotational workpieces, wherein, described the first executing agency top be provided with opening and and be connected the transmission mechanism connection; Described the first executing agency is connected with transmission mechanism; Follower is provided with the second executing agency that supports described workpiece, and described the second executing agency top is provided with opening.
Further, in the said apparatus, described the first executing agency comprises: bearing outer ring, bearing inner race, be used for load carrier and the governor motion of carrying workpiece; Wherein, described bearing inner race and described bearing outer ring can relatively rotate; Described load carrier is embedded in the mouth of described bearing inner race, described governor motion respectively with described bearing inner race be connected load carrier and be connected.
Further, in the said apparatus, described the first executing agency also comprises: governor motion, described governor motion and described bearing inner race be connected load carrier and be connected respectively; And/or described bearing inner race is connected with transmission mechanism.
Further, in the said apparatus, described bearing inner race and described bearing outer ring are realized and can be relatively rotated by the part that is rotatably connected; Wherein, the described part that is rotatably connected comprises: the cylinder ball, and distributing is arranged in the arc groove of described bearing outer ring; Retainer is arranged between described bearing outer ring and the described bearing inner race, and is used for the position of fixing described cylinder ball, and described cylinder ball is rotated in the original place; Back-up ring is embedded in the draw-in groove of described bearing outer ring, and is used for the axial location of described bearing inner race; Seal is arranged in the draw-in groove at described bearing outer ring opening part two ends.
Further, in the said apparatus, described load carrier is V-block; And/or described bearing outer ring also disposes base.
Further, in the said apparatus, described governor motion comprises: lifting adjusting screw, and the guide post that matches with described lifting adjusting screw;
Wherein, described lifting adjusting screw, guide post are embedded with described load carrier and described bearing inner race respectively and are connected, and an end of described guide post is fixedly connected on the bearing inner race, and the other end is free to slide in the circular hole of described load carrier.
Further, in the said apparatus, described transmission mechanism comprises: arc gear wheel is provided with the adapter sleeve that is connected with described bearing inner race on its side; The pinion group matches with described arc gear wheel; The canine tooth wheels match with described pinion group; Servomotor is provided with decelerator, and described servomotor is used for driving described canine tooth wheels by driving described pinion group.
Further, in the said apparatus, described pinion group comprises the first pinion, the second pinion, third pinion, fourth pinion and the 5th pinion; Described the first pinion, described the second pinion are meshed with described arc gear wheel respectively; Described third pinion, described fourth pinion respectively with described the first pinion, described the second pinion; Described the 5th pinion is connected with described servomotor; Described canine tooth wheels comprise first gear and second largest gear; Described first gear and the engagement of described third pinion, described second largest gear and the engagement of described fourth pinion; Described first gear, described second largest gear all are connected with described the 5th pinion; Wherein, the first angle α that the line at described arc gear wheel center and described the first pinion center, described the second pinion center forms is greater than the second angle β of described arc gear wheel center with the line composition at described third pinion center, described fourth pinion center.
Further, in the said apparatus, described driving mechanism also comprises: clamp mechanism is connected with described load carrier.
Further, in the said apparatus, described clamp mechanism comprises: the first compact heap, the second compact heap, left-handed leading screw, dextrorotation leading screw and motor; Wherein, described the first compact heap is connected with described left-handed leading screw by the first swivel nut; Described the second compact heap is connected with described dextrorotation leading screw by the second swivel nut; Described motor is connected in by pinion and is connected the gear wheel that the dextrorotation leading screw connects, described motor is used for driving described left-handed leading screw and described dextrorotation leading screw rotates, and described the first swivel nut, the second swivel nut are respectively along described left-handed leading screw and the poly-middle clamping work pieces of described dextrorotation leading screw.
Further, in the said apparatus, described the first swivel nut is socketed on described left-handed leading screw, and described the second swivel nut is socketed on described dextrorotation leading screw; Described left-handed leading screw and described dextrorotation leading screw are arranged in chute, and described chute two ends are respectively arranged with installing plate, and described dextrorotation leading screw sees through described installing plate and is connected with described gear wheel.
Further, in the said apparatus, described follower also comprises described clamp mechanism; And/or
Described second executing agency of described follower is identical with described first executing agency's structure.
Further, in the said apparatus, be provided with the electric control permanent magnet anchor clamps with the workpiece touching position that carries in the described load carrier.
Further, in the said apparatus, described second executing agency of described follower is identical with described first executing agency's structure.
With respect to prior art, the present invention has following advantage:
The present invention can realize the opening part loading and unloading at the opening positioner, and can realize that the workpiece centre of gyration is coaxial with the frock centre of gyration, and 360 degree high accuracy transmission and rotations, can also realize Quick-clamped.
In the executing agency of opening positioner of the present invention, the high accuracy turning power of the existing bearing of structure of opening bearing also can satisfy the structural requirement of opening part place work piece.Simultaneously, V-block can be regulated adjustable height by screw rod, can adapt to the gripping of the pipe fitting of different size.
In the transmission mechanism of opening positioner of the present invention, the Double-gear engagement has guaranteed that opening part realization 360 degree rotate, and stable drive, compact conformation.
The clamp mechanism of opening positioner of the present invention, integrated model are fixed on the inner ring, can rotate simultaneously with workpiece, can finely guarantee that the location in positioner work clamps, and simple and compact for structure being easy to are controlled.
In addition, the opening positioner that various embodiments of the present invention provide is simple in structure, easy to make.And, opening positioner overall appearance of the present invention is clean and tidy smooth.
Generally speaking, the opening positioner that the present invention proposes is not only simple in structure, is easy to make, and maintains easily, and has also improved clamping speed and degree of convenience, has also reduced the positioner erection space simultaneously and has saved the factory building planned land use, has reduced cost.
Description of drawings
The accompanying drawing that consists of a part of the present invention is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of pipe fitting clamping mode in the prior art;
Fig. 2 is the schematic diagram of opening positioner embodiment of the present invention;
Fig. 3 is the schematic diagram of executing agency among the opening positioner embodiment of the present invention;
Fig. 4 is the schematic diagram of transmission mechanism among the opening positioner embodiment of the present invention;
Fig. 5 is the schematic diagram that opening positioner embodiment middle gear of the present invention distributes;
Fig. 6 is the schematic diagram of clamp mechanism among the opening positioner embodiment of the present invention;
Fig. 7 is the schematic diagram of opening positioner preferred embodiment of the present invention;
Fig. 8 is the schematic diagram of opening positioner alternative embodiment of the present invention.
Description of reference numerals
1 arc piece
2 cylinders
3 axial location pieces
4 power sources
5 workpiece
101 welding robots
102 workpiece
103 driving mechanisms
104 followers
10 first executing agencies
11 bearing outer rings
14 bearing inner races
15 back-up rings
16 seals
17 V-blocks
18 lifting adjusting screws
100 bases
20 transmission mechanisms
21 arc gear wheels
22 pinion groups
23 canine tooth wheels
24 decelerators
25 servomotors
26 adapter sleeves
30 clamp mechanism
31a the first compact heap
31b the second compact heap
32a the first swivel nut
32b the second swivel nut
The left-handed leading screw of 33a
33b dextrorotation leading screw
34 gear wheels
35 pinions
36 motors
The specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the invention, the technical scheme in the embodiment of the invention is clearly and completely described, obviously, described embodiment only is the present invention's part embodiment, rather than whole embodiment.Based on the embodiment among the present invention, those of ordinary skills belong to the scope of protection of the invention not making the every other embodiment that obtains under the creative work prerequisite.
Need to prove, in the situation that do not conflict, embodiment and the feature among the embodiment among the present invention can make up mutually.
Basic thought of the present invention is: rotate by designing a kind of variation opening bearing high accuracy, a kind of open type bearing arrangement is provided, to realize the loading and unloading of positioner opening part, by calculative determination Double-gear while engaged transmission, realize the function that opening positioner 360 degree rotate, the driven by motor leading screw rotates has realized Quick-clamped.
Below in conjunction with accompanying drawing, each preferred embodiment of the present invention is described further:
In one embodiment, propose a kind of opening positioner, to shown in Figure 4, described opening positioner comprises: driving mechanism and follower such as Fig. 2.Wherein, described driving mechanism is provided with and supports and the first executing agency 10 of positioning workpieces and be used for the transmission mechanism 20 of rotational workpieces, and described the first executing agency 10 tops are provided with opening, and connection is connected in described the first executing agency 10 with transmission mechanism.Described follower is provided with the second executing agency that supports described workpiece, and described the second executing agency top is provided with opening.
In above-described embodiment, as shown in Figure 3, described the first executing agency 10 comprises: bearing outer ring 11, bearing inner race 14, load carrier and governor motion.Wherein, described bearing inner race 14 can relatively rotate with described bearing outer ring 11, and described bearing inner race 14 connection for transmission mechanisms 20 also follow the rotation of transmission mechanism 20 and rotate; Described load carrier is embedded in the mouth of described bearing inner race 14, described governor motion respectively with described bearing inner race 14 be connected load carrier and be connected, and by 18 adjustment of lifting adjusting screw highly.
Need to prove, described load carrier is used for the carrying workpiece.
As shown in Figure 3, in above-described embodiment, described bearing inner race 14 is connected by the part that is rotatably connected with described bearing outer ring 11.The described part that is rotatably connected comprises: retainer, cylinder ball, back-up ring 15, seal 16, base 100.Wherein: described retainer is arranged between described bearing outer ring 11 and the described bearing inner race 14; Described cylinder ball distributes and is arranged in the arc groove of bearing outer ring (11); Described seal 16 is arranged in the draw-in groove at described bearing outer ring 11 opening part two ends; Described back-up ring 15 is embedded on the described bearing outer ring 11 in the draw-in groove; Described base 100 is fixedly connected with described bearing outer ring 11.
With above-described embodiment alternatively, the executing agency of described opening positioner and transmission mechanism can use open type variation pivoting support structure, inner-ring bearing is fixed, race bearing meshed transmission gear mechanism, like this, the structure of opening positioner more clamps and gathers, and makes things convenient for layout.
Preferably, in a preferred embodiment, described load carrier can be V-block 17, here can be with reference to shown in Figure 3.
Need to prove, described the first executing agency 10 is to lean on the coaxial accuracy of bearing to guarantee for being responsible for carrying out the main part of displacement rotating function, being different from its centre of gyration setting accuracy of other locate modes.For example: described the first executing agency 10 can comprise: 1 bearing outer ring 11,13 cylinder balls, 1 retainer, 1 bearing inner race 14,1 back-up ring 15,2 seals 16,1 V-block 17,1 pair of lifting adjusting screw 18,2 guide posts and 1 base 100.Wherein, the cylinder ball is uniformly distributed in the arc groove of bearing outer ring 11, and passes through the position of retainer fixed cylinder ball, and the cylinder ball is rotated in the original place; Back-up ring 15 is embedded in bearing outer ring 11 draw-in grooves, to be used for the axial location of bearing inner race 14; Seal 16 is placed in the draw-in groove at bearing outer ring 11 opening part two ends; V-block 17 is embedded in the mouth of inner ring 14, arc outer ring 11, described V-block 17 can be regulated by lifting adjusting screw 18 apart from the distance (highly) of pivot, described bearing outer ring 11 is fixed on the base 100, and described bearing inner race 14 drives V-block 17 and rotates.
In a preferred embodiment, described governor motion further comprises: lifting adjusting screw 18, and the guide post that matches with described lifting adjusting screw 18.Wherein, described lifting adjusting screw 18, guide post are embedded with described load carrier and described bearing inner race 14 respectively and are connected, and guide post one end is fixedly connected on the bearing inner race 14, and the other end is free to slide in the circular hole of described load carrier.
Need to prove, according to the workpiece size that carries and shape, described lifting adjusting screw 18 cooperates with described guide post, described load carrier is used for carrying described workpiece position does the adaptability adjusting, for example adjust the openings of sizes of load carrier, with the size that adapts to described workpiece, shape etc.
, please refer to transmission mechanism shown in Figure 4 20 herein, in the various embodiments described above, described transmission mechanism 20 can further comprise: arc gear wheel 21, pinion group 22, canine tooth wheels 23, servomotor 25.
Wherein, be provided with the adapter sleeve 26 that is connected with described bearing inner race 14 on the side of described arc gear wheel 21; Described pinion group 22 is meshed with described arc gear wheel 21; Described canine tooth wheels 23 match with described pinion group 22; Described servomotor 25 is provided with decelerator 24, and described servomotor 25 is used for driving pinion group 22, and then drives described canine tooth wheels 23 rotations, finally realizes the rotation of arc gear wheel 21.
Need to prove described arc gear wheel 21 and the connected mode of described bearing inner race 14 by adopting adapter sleeve 26 to be socketed.
In the various embodiments described above, the structure of described pinion group 22 and described canine tooth wheels 23 is as follows:
As shown in Figure 4, described pinion group 22 comprises the first pinion, the second pinion, third pinion, fourth pinion and the 5th pinion; Described the first pinion, described the second pinion are meshed with described arc gear wheel 21 respectively; Described third pinion, described fourth pinion respectively with described the first pinion, described the second pinion; Described the 5th pinion is connected with described servomotor 25.
Described canine tooth wheels 23 comprise first gear and second largest gear; Described first gear and the engagement of described third pinion, described second largest gear and the engagement of described fourth pinion; Described first gear, described second largest gear all are connected with described the 5th pinion.Therefore, in the present embodiment, described servomotor 25 is used for driving the 5th pinion, and then drives first gear and the rotation of second largest gear in the described canine tooth wheels 23, finally realizes the rotation of arc gear wheel 21.
Wherein, as shown in Figure 5, the first angle α that the line at described arc gear wheel 21 centers and described the first pinion center, described the second pinion center forms is greater than the second angle β of described arc gear wheel 21 centers with the line composition at described third pinion center, described fourth pinion center.
For example: described transmission mechanism 20 can comprise: 1 arc gear wheel 21,5 pinions 22,2 gear wheels 23,1 servomotor 25,1 decelerator 24 and 5 adapter sleeves 26.As shown in Figure 4, electric machine rotation drives whole train and does the rotation that goes round and begins again, for guaranteeing still to realize 360 degree rotations behind the sector gear opening, according to calculating, need to there be two pinion groups 22 to keep engagement with arc gear wheel 21 simultaneously, and two with the first angle α of arc gear wheel 21 lines of centres the second angle β greater than arc gear wheel 21 opening part lines, again in order to guarantee overall dimensions and to avoid pinion group 21 and arc gear wheel 21 to interfere, 8 gear train designs of 1 arc gear wheel, 5 pinions 22, gear wheel 23 have been adopted.With the adapter sleeve bolt arc gear wheel 21 is fixed on the bearing inner race 14.
Need to prove, in the various embodiments described above, described arc gear wheel 21 also can be sector gear or U-shaped gear.
Preferably, in the various embodiments described above, described driving mechanism also comprises: clamp mechanism 30, described clamp mechanism 30 is connected with described load carrier.In the present embodiment, described clamp mechanism 30 is used for pipe fitting and clamps, and described clamp mechanism 30 can be the leading screw clamp mechanism or uses the electric control permanent magnet anchor clamps, and can be embedded in the design of carrying out clamping in the V-block 17.
As shown in Figure 6 and Figure 7, in the present embodiment, described clamp mechanism 30 comprises: the first compact heap 31a, the second compact heap 31b, left-handed leading screw 33a, dextrorotation leading screw 33b and motor 36.Wherein, described the first compact heap 31a is connected with described left-handed leading screw 33a by the first swivel nut 32a; Described the second compact heap 31b is connected with described dextrorotation leading screw 33b by the second swivel nut 32b; Described motor 36 is connected in by pinion 35 and is connected the gear wheel 34 that dextrorotation leading screw 33b connects, described motor 36 is used for driving described left-handed leading screw 33a and described dextrorotation leading screw 33b rotates, and described the first swivel nut 32a, the second swivel nut 32b are along leading screw 33 poly-middle clamping work pieces.
In above-described embodiment, as shown in Figure 6, described the first swivel nut 32a is socketed on described left-handed leading screw 33a, and described the second swivel nut 32b is socketed on described dextrorotation leading screw 33b; Described left-handed leading screw 33a and described dextrorotation leading screw 33b are arranged in chute 38, and described chute 38 two ends are respectively arranged with installing plate 37, and described dextrorotation leading screw 33b sees through described installing plate 37 and is connected with described gear wheel 34.
For example: described clamp mechanism 30 can comprise: 2 compact heaps 31,2 square swivel nuts 32,1 are left-handed, dextrorotation leading screw 33,1 gear wheel 34,1 pinion 35,1 motor 36,1 chute 38 and two installing plates 37 form.Leading screw 33 is divided into two sections, one section left-handed one section dextrorotation, and a side is installed gear wheel 34, is rotated by motor 36 drives, and leading screw 33 rotates about the 32 poly-middle motions of band movable snail sleeve, thereby realizes clamping.
Need to prove, described follower also comprises described clamp mechanism 30.
With above-described embodiment alternatively, described clamp mechanism 30 also can be fixed on the outer ring, adopts the opening positioner structure of this mode more to clamp and gathers, and makes things convenient for layout.
Alternatively, the clamp mechanism in above-described embodiment 30 is replaceable is: use electric control permanent magnet anchor clamps absorption clamping work pieces.As shown in Figure 8, be provided with the electric control permanent magnet anchor clamps with the workpiece touching position that carries in the described load carrier.That is to say, the electric control permanent magnet anchor clamps are embedded in described load carrier such as the V-block 17, utilize the magnetic-adsorption workpiece, this simple in structure, with low cost, be easy to control.
Preferably, described second executing agency of described follower is identical with described the first executing agency 10 structures.
Can find out from the various embodiments described above of the present invention, described opening positioner has following features:
1) executing agency: " opening bearing-type " mechanism;
2) transmission mechanism: 360 degree transmission mechanisms of arc sector gear;
3) clamp mechanism: be used for the leading screw clamp mechanism of pipe fitting clamping and can use the electric control permanent magnet anchor clamps to be embedded in the design of carrying out clamping in the V-block.
It is pointed out that opening positioner of the present invention can adopt arrangement as shown in Figure 2, the driving mechanism 103 of welding robot 101, workpiece 102, opening positioner and follower 104 are arranged according to shown in Figure 2.
Need to prove, the driving mechanism of opening positioner installs drive transmission additional, and all the other internal structures are identical with follower.Positioner power source servomotor is also online with robot, cooperates interlock with robot, realizes the displacement of high repeatable accuracy, thereby finally realizes the automation of workpiece welding.
Can find out from the various embodiments described above, the opening positioner that various embodiments of the present invention provide can be realized the opening part loading and unloading at above-mentioned opening positioner.Especially the high energy of repeatable accuracy that it is pointed out that welding robot 101 reaches 0.02mm, and therefore, in order to cooperate with it, the transmission accuracy of opening positioner requires very high, and the opening positioner that the embodiment of the invention provides can be realized 360 degree high accuracy transmissions.And the opening positioner that the embodiment of the invention provides is realized Quick-clamped.
Below in conjunction with Fig. 2 to Fig. 8, the course of work of the opening positioner that various embodiments of the present invention are provided describes:
As shown in the figure, the long tube workpiece can put down from the arc opening of opening positioner, be positioned in the lifting adjustable V type piece 17 in executing agency's 10 interior " opening variation bearing " structures, clamp mechanism 30 is utilized motor 36 to drive leading screw 33 and is rotated, the first swivel nut 32a, the second swivel nut 32b are along leading screw 33 poly-middle clamping work pieces, and whole clamp mechanism 30 is fixedly connected with V-block 17, servomotor 25 driven gears of transmission mechanism 20 rotate, arc gear wheel 21 has the whole mechanism of drive to rotate, thereby realizes the clamping deflection function of whole positioner.
Behind opening, still can realize 360 degree rotations in order to guarantee positioner, must there be simultaneously two with sector gear 21 meshed gears, and two with the angle of arc gear wheel 21 lines of centres angle greater than arc gear wheel 21 opening part lines, finally realized the clamping deflection function of whole positioner.
In addition, the opening positioner overall structure that various embodiments of the present invention provide is simply compact, and the overall dimensions less is added overall appearance and used the circular arc design more, and positioner is in work is rotated, and it is clean and tidy, very elegant in appearance that the lines flow smoothly.
Therefore, the opening positioner that provides of various embodiments of the present invention can be realized the opening part loading and unloading at above-mentioned opening positioner.Simultaneously, opening positioner of the present invention can realize that the workpiece centre of gyration is coaxial with the frock centre of gyration, and can realize 360 degree high accuracy transmission and rotations, and can realize Quick-clamped.
Further, in the executing agency of opening positioner of the present invention, the high accuracy turning power of the existing bearing of structure of opening bearing also can satisfy the structural requirement of opening part place work piece.Simultaneously, V-block can be regulated adjustable height by screw rod, can adapt to the gripping of the pipe fitting of different size.
In the transmission mechanism of opening positioner of the present invention, the Double-gear engagement has guaranteed that opening part realization 360 degree rotate, and stable drive.Compact conformation.
The clamp mechanism of opening positioner of the present invention, integrated model are fixed on the inner ring, can rotate simultaneously with workpiece, can finely guarantee that the location in positioner work clamps, and simple and compact for structure being easy to are controlled.
In addition, the opening positioner that various embodiments of the present invention provide is simple in structure, easy to make.And, opening positioner overall appearance of the present invention is clean and tidy smooth.
Generally speaking, the opening positioner that the present invention proposes is not only simple in structure, is easy to make, and maintains easily, and has also improved clamping speed and degree of convenience, has also reduced the positioner erection space simultaneously and has saved the factory building planned land use, has reduced cost.
The above only is preferred embodiment of the present invention, and is in order to limit the present invention, within the spirit and principles in the present invention not all, any modification of doing, is equal to replacement, improvement etc., all should be included within protection scope of the present invention.

Claims (14)

1. an opening positioner is characterized in that, comprising:
Driving mechanism is provided with and supports and first executing agency (10) of positioning workpieces and be used for the transmission mechanism (20) of rotational workpieces, wherein, described the first executing agency (10) top be provided with opening and and be connected transmission mechanism (20) connection;
Follower is provided with the second executing agency that supports and locate described workpiece, and described the second executing agency top is provided with opening.
2. opening positioner according to claim 1 is characterized in that, described the first executing agency (10) comprising: bearing outer ring (11), bearing inner race (14), be used for the load carrier of carrying workpiece; Wherein, described bearing inner race (14) can relatively rotate with described bearing outer ring (11); Described load carrier is embedded on described bearing inner race (14).
3. opening positioner according to claim 2 is characterized in that, described the first executing agency (10) also comprises:
Governor motion, described governor motion and described bearing inner race (14) be connected load carrier and be connected respectively; And/or
Described bearing inner race (14) is connected 20 with transmission mechanism) connect.
4. opening positioner according to claim 2 is characterized in that, described bearing inner race (14) is realized and can be relatively rotated by the part that is rotatably connected with described bearing outer ring (11);
Wherein, the described part that is rotatably connected comprises:
The cylinder ball, distributing is arranged in the arc groove of described bearing outer ring (11);
Retainer is arranged between described bearing outer ring (11) and the described bearing inner race (14), and is used for the position of fixing described cylinder ball, and described cylinder ball is rotated in the original place;
Back-up ring (15) is embedded in the draw-in groove of described bearing outer ring (11), and is used for the axial location of described bearing inner race (14);
Seal (16) is arranged in the draw-in groove at described bearing outer ring (11) opening part two ends.
5. opening positioner according to claim 2 is characterized in that,
Described load carrier is V-block (17); And/or
Described bearing outer ring (11) also disposes base (100).
6. opening positioner according to claim 3 is characterized in that, described governor motion comprises: lifting adjusting screw (18), and the guide post that matches with described lifting adjusting screw (18);
Wherein, described lifting adjusting screw (18), guide post are embedded with described load carrier and described bearing inner race (14) respectively and are connected, and an end of described guide post is fixedly connected on the bearing inner race (14), and the other end is free to slide in the circular hole of described load carrier.
7. opening positioner according to claim 2 is characterized in that, described transmission mechanism (20) comprising:
Arc gear wheel (21) is provided with the adapter sleeve (26) that is connected with described bearing inner race (14) on its side;
Pinion group (22) matches with described arc gear wheel (21);
Canine tooth wheels (23) match with described pinion group (22);
Servomotor (25) is provided with decelerator (24), and described servomotor (25) is used for driving described canine tooth wheels (23) by driving described pinion group (22).
8. opening positioner according to claim 7 is characterized in that,
Described pinion group (22) comprises the first pinion, the second pinion, third pinion, fourth pinion and the 5th pinion; Described the first pinion, described the second pinion are meshed with described arc gear wheel (21) respectively; Described third pinion, described fourth pinion respectively with described the first pinion, described the second pinion; Described the 5th pinion is connected with described servomotor (25);
Described canine tooth wheels (23) comprise first gear and second largest gear; Described first gear and the engagement of described third pinion, described second largest gear and the engagement of described fourth pinion; Described first gear, described second largest gear all are connected with described the 5th pinion;
Wherein, the first angle α that the line at described arc gear wheel (21) center and described the first pinion center, described the second pinion center forms is greater than the second angle β of described arc gear wheel (21) center with the line composition at described third pinion center, described fourth pinion center.
9. opening positioner according to claim 2 is characterized in that, described driving mechanism also comprises:
Clamp mechanism (30) is connected with described load carrier.
10. opening positioner according to claim 9 is characterized in that, described clamp mechanism (30) comprising: the first compact heap (31a), the second compact heap (31b), left-handed leading screw (33a), dextrorotation leading screw (33b) and motor (36);
Wherein, described the first compact heap (31a) is connected with described left-handed leading screw (33a) by the first swivel nut (32a); Described the second compact heap (31b) is connected with described dextrorotation leading screw (33b) by the second swivel nut (32b); Described motor (36) is connected in by pinion (35) and is connected the gear wheel (34) that dextrorotation leading screw (33b) connects, described motor (36) is used for driving described left-handed leading screw (33a) and described dextrorotation leading screw (33b) rotates, and described the first swivel nut (32a), the second swivel nut (32b) are respectively along described left-handed leading screw (33a) and the poly-middle clamping work pieces of described dextrorotation leading screw (33b).
11. opening positioner according to claim 10 is characterized in that, described the first swivel nut (32a) is socketed on described left-handed leading screw (33a), and described the second swivel nut (32b) is socketed on described dextrorotation leading screw (33b);
Described left-handed leading screw (33a) and described dextrorotation leading screw (33b) are arranged in chute (38), described chute (38) two ends are respectively arranged with installing plate (37), and described dextrorotation leading screw (33b) sees through described installing plate (37) and is connected with described gear wheel (34).
12. opening positioner according to claim 9 is characterized in that,
Described follower also comprises described clamp mechanism (30); And/or
Described second executing agency of described follower is identical with described the first executing agency (10) structure.
13. to 8 each described opening positioners, it is characterized in that according to claim 2, be provided with the electric control permanent magnet anchor clamps with the workpiece touching position that carries in the described load carrier.
14. opening positioner according to claim 13 is characterized in that, described second executing agency of described follower is identical with described the first executing agency (10) structure.
CN201210464007.XA 2012-11-16 2012-11-16 Opening positioner CN102935574B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201210464007.XA CN102935574B (en) 2012-11-16 2012-11-16 Opening positioner

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201210464007.XA CN102935574B (en) 2012-11-16 2012-11-16 Opening positioner

Publications (2)

Publication Number Publication Date
CN102935574A true CN102935574A (en) 2013-02-20
CN102935574B CN102935574B (en) 2015-06-10

Family

ID=47694513

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201210464007.XA CN102935574B (en) 2012-11-16 2012-11-16 Opening positioner

Country Status (1)

Country Link
CN (1) CN102935574B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103801889A (en) * 2014-03-04 2014-05-21 唐山开元机器人系统有限公司 Alignment clamp with top opening and 360-degree rotation function
CN104191121A (en) * 2014-08-25 2014-12-10 刘家超 Automatic welding mechanism for circumferential welds

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2355840Y (en) * 1998-12-23 1999-12-29 上海交通大学 Position changing machine for U shape bend pipe circular seam welding
JP2000158129A (en) * 1998-03-30 2000-06-13 Kyocera Corp Automatic pipe welding machine
CN101077556A (en) * 2007-06-13 2007-11-28 昆山华恒工程技术中心有限公司 Large-sized fitting circular seam solder displacement machine
CN101112742A (en) * 2007-08-25 2008-01-30 昆山华恒工程技术中心有限公司 Pipe cutting positioner
CN101224529A (en) * 2008-01-31 2008-07-23 哈尔滨工业大学 Pipe all-position welding device for remote control welding
CN101885130A (en) * 2010-07-08 2010-11-17 昆山华恒工程技术中心有限公司 Automatic circular seam welding pipe tongs

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000158129A (en) * 1998-03-30 2000-06-13 Kyocera Corp Automatic pipe welding machine
CN2355840Y (en) * 1998-12-23 1999-12-29 上海交通大学 Position changing machine for U shape bend pipe circular seam welding
CN101077556A (en) * 2007-06-13 2007-11-28 昆山华恒工程技术中心有限公司 Large-sized fitting circular seam solder displacement machine
CN101112742A (en) * 2007-08-25 2008-01-30 昆山华恒工程技术中心有限公司 Pipe cutting positioner
CN101224529A (en) * 2008-01-31 2008-07-23 哈尔滨工业大学 Pipe all-position welding device for remote control welding
CN101885130A (en) * 2010-07-08 2010-11-17 昆山华恒工程技术中心有限公司 Automatic circular seam welding pipe tongs

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN103801889A (en) * 2014-03-04 2014-05-21 唐山开元机器人系统有限公司 Alignment clamp with top opening and 360-degree rotation function
CN104191121A (en) * 2014-08-25 2014-12-10 刘家超 Automatic welding mechanism for circumferential welds

Also Published As

Publication number Publication date
CN102935574B (en) 2015-06-10

Similar Documents

Publication Publication Date Title
CN201800045U (en) Clamping mechanism for multiple-degree-of-freedom robot
CN202151779U (en) A numerical control test workbench capable of serving as a turning machine and a milling machine
CN104139265B (en) Elastic track formula pipeline outer wall automatic welding mechanism
CN201792126U (en) Five-axis steel pipe intersecting line cutting machine
CN202540054U (en) Numerical control device
CN103433591B (en) Lightweight endless-rotating numerical control groove pipe cutting machine and retaining wall on slope method
CN200991776Y (en) Pipeline flange drilling-hole special machine tool
CN201613464U (en) Crankshaft oblique oil hole drilling jig
CN204954324U (en) Automatic equipment system of nut
CN1680071A (en) Pieces hold-unit for workstations, transfer machines and like
CN204913115U (en) Five degrees of freedom welding cutting machine people
CN103862218A (en) Clamping device
CN105033897B (en) Flexible holding device for cylindrical bay section Butt Assembling
CN106737279B (en) Various dimensions are adjustable, and pincers fill workbench
CN202367453U (en) Static pressure direct drive rotating platform device of large milling turning machining center
CN202411844U (en) Rotary table mechanism for combined boring and milling machine tool of gantry drill
CN105364602B (en) Instrument exchanging decice
CN202344373U (en) Full-automatic disk rotating polisher
CN203509053U (en) Inner clamping fixing device for surface machining of three-way ball valve
CN100581714C (en) Intersecting line welding robot
CN103495971B (en) A kind of five degree of freedom Combined robot platform
CN201783828U (en) Centering clamp mechanism of numerical control drilling machine for pipes
CN204036450U (en) Feeding robot
CN101585109A (en) Full-automatic high speed four-shaft two-operating positions rotary welding device
CN204108316U (en) The lathe of machining piston

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20150923

Address after: 404100 Chongqing Yubei District City Longxing Zhen Ying Long Road No. 19

Patentee after: Chongqing Sanyi High Intelligent Robot Co., Ltd.

Address before: 410100 Changsha economic and Technological Development Zone, Hunan City, the 31 industrial city

Patentee before: Sanyi Heavy Industry Co., Ltd.

Patentee before: Chongqing Sanyi High Intelligent Robot Co., Ltd.

Effective date of registration: 20150923

Address after: 404100 Chongqing Yubei District City Longxing Zhen Ying Long Road No. 19

Patentee after: Chongqing Sanyi High Intelligent Robot Co., Ltd.

Address before: 410100 Changsha economic and Technological Development Zone, Hunan City, the 31 industrial city

Patentee before: Sanyi Heavy Industry Co., Ltd.

Patentee before: Chongqing Sanyi High Intelligent Robot Co., Ltd.

COR Change of bibliographic data
CB03 Change of inventor or designer information

Inventor after: Li Ren

Inventor after: Qiu Quanfeng

Inventor after: Jiang Shan

Inventor before: Qiu Quanfeng

Inventor before: Jiang Shan

Inventor before: Li Ren

Inventor after: Li Ren

Inventor after: Qiu Quanfeng

Inventor after: Jiang Shan

Inventor before: Qiu Quanfeng

Inventor before: Jiang Shan

Inventor before: Li Ren

C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20160429

Address after: 410205, Hunan Province, Yuelu District, Changsha Province, No. 39, Hill Road, China Central Power Software Park, room 1606-1607

Patentee after: Hunan auspicious Intelligent Machine Co.

Address before: 404100 Chongqing Yubei District City Longxing Zhen Ying Long Road No. 19

Patentee before: Chongqing Sanyi High Intelligent Robot Co., Ltd.

Effective date of registration: 20160429

Address after: 410205, Hunan Province, Yuelu District, Changsha Province, No. 39, Hill Road, China Central Power Software Park, room 1606-1607

Patentee after: Hunan auspicious Intelligent Machine Co.

Address before: 404100 Chongqing Yubei District City Longxing Zhen Ying Long Road No. 19

Patentee before: Chongqing Sanyi High Intelligent Robot Co., Ltd.

TR01 Transfer of patent right

Effective date of registration: 20210201

Address after: Room 802, building 10, phase I, Changsha Zhongdian Software Park, 39 Jianshan Road, Changsha hi tech Development Zone, Changsha City, Hunan Province, 410000

Patentee after: CHINA POWER INDUSTRY INTERNET Co.,Ltd.

Address before: Room 1606-1607, CLP Software Park, 39 Jianshan Road, Yuelu District, Changsha City, Hunan Province, 410205

Patentee before: HUNAN SHARING INTELLIGENT MACHINES Co.,Ltd.

TR01 Transfer of patent right