CN102935574B - Opening positioner - Google Patents
Opening positioner Download PDFInfo
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- CN102935574B CN102935574B CN201210464007.XA CN201210464007A CN102935574B CN 102935574 B CN102935574 B CN 102935574B CN 201210464007 A CN201210464007 A CN 201210464007A CN 102935574 B CN102935574 B CN 102935574B
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- 230000008878 coupling Effects 0.000 claims description 6
- 238000010168 coupling process Methods 0.000 claims description 6
- 238000005859 coupling reaction Methods 0.000 claims description 6
- 238000010586 diagram Methods 0.000 description 8
- 238000003466 welding Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 238000006073 displacement reaction Methods 0.000 description 3
- 241000237858 Gastropoda Species 0.000 description 1
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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
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, industrial automation level has had rapid progress, and in the welding job of structural member, the use of robot workstation is also more and more extensively, and, coordinate the positioner of industrial robot welding also in eruptive growth.
At present, in actual applications, mainly there is the following two kinds installation way in long pipe fittings positioner:
A kind of mode, the mode held out against for traditional machine tool three-jaw chuck one end end face clamping other end realizes displacement rotation.But, this scheme has individual defect, to be exactly workpiece feeding can only be by long pipe fittings the horizontal direction of positioner or loading and unloading on axial direction, this needs far away for the relative distance of positioner active and follower layout, such modified gear institute floor space is very large affects Production Line Configured of enterprise, and stretch into from end face, this is for overlength pipe fitting or huge pipe fitting clamping and inconvenience thereof.
Another kind of mode, for popular open type installation way, as shown in Figure 1, be made up of arc block 1, cylinder 2, axial location block 3, power source 4 and workpiece 5, this scheme radial direction have employed cylinder 2 and positions, axially have employed the axial location block 3 that briquetting adds roller location, the power source 4 of lower end adopts gear drive.But there is such problem in this installation way:
1) cylinder 2 is difficult to carry out accurate radial location to workpiece, and namely the axiality at center determined of arc block 1 centre of gyration and cylinder 2 is very poor, just sees the effect only playing lower support at present;
2) axially adopt axial location block 3 and roller location, but adopt and be axially also difficult to accurate limiting in this way, and axially loaded easily lodges;
3) this structure is difficult to realize 360 degree of rotations, only can realize workpiece and swing among a small circle, as shown in Figure 1.
Therefore, the clamping problems demand that existing installation way exists solves.
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 the workpiece centre of gyration coaxial with the frock centre of gyration, realizes the function that opening positioner 360 degree rotates.
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 the transmission mechanism for rotational workpieces, wherein, be provided with opening above described first executing agency and be connected with described transmission mechanism; Described first executing agency is connected with transmission mechanism; Follower, is provided with the second executing agency supporting described workpiece, is provided with opening above described second executing agency.
Further, in said apparatus, described first executing agency comprises: bearing outer ring, bearing inner race, for carrying load carrier and the governor motion of 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, and described governor motion is connected with described bearing inner race and described load carrier respectively.
Further, in said apparatus, described first executing agency also comprises: governor motion, and described governor motion is connected with described bearing inner race, described load carrier respectively; Described bearing inner race is connected with transmission mechanism.
Further, in said apparatus, described bearing inner race and described bearing outer ring realize relatively rotating by rotatable coupling; Wherein, described rotatable coupling comprises: cylinder ball, and distribution is arranged in the arc groove of described bearing outer ring; Retainer, is arranged between described bearing outer ring and described bearing inner race, and for fixing the position of described cylinder ball, described cylinder ball is rotated in original place; Back-up ring, is embedded in the draw-in groove of described bearing outer ring, and 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 said apparatus, described load carrier is V-block; And/or described bearing outer ring is also configured with base.
Further, in said apparatus, described governor motion comprises: lifting adjusting screw and the guide post matched with described lifting adjusting screw;
Wherein, described lifting adjusting screw, guide post are all embedded with described load carrier and described bearing inner race and are connected, and one end of described guide post is fixedly connected on bearing inner race, and the other end is free to slide in the circular hole of described load carrier.
Further, in said apparatus, described transmission mechanism comprises: arc gear wheel, its side is provided with the adapter sleeve be connected with described bearing inner race; Pinion group, matches with described arc gear wheel; Canine tooth wheels, match with described pinion group; Servomotor, is provided with decelerator, and described servomotor is used for by driving described pinion group to drive described canine tooth wheels.
Further, in said apparatus, described pinion group comprises the first pinion, the second pinion, third pinion, fourth pinion and the 5th pinion; Described first pinion, described second pinion are meshed with described arc gear wheel respectively; Described third pinion engages with described first pinion, described fourth pinion engages with described second pinion; Described 5th pinion is connected with described servomotor; Described canine tooth wheels comprise first gear and second largest gear; Described first gear engages with described third pinion, and described second largest gear engages with described fourth pinion; Described first gear, described second largest gear are all connected with described 5th pinion; Wherein, the first angle α that the line at described arc gear wheel center and described first pinion center, described second pinion center forms, is greater than described arc gear wheel center and described third pinion center, the second angle β that the line at described fourth pinion center forms.
Further, in said apparatus, described driving mechanism also comprises: clamp system, is connected with described load carrier.
Further, in said apparatus, described clamp system comprises: the first compact heap, the second compact heap, left-handed leading screw, dextrorotation leading screw and motor; Wherein, described first compact heap is connected with described left-handed leading screw by the first swivel nut; Described second compact heap is connected with described dextrorotation leading screw by the second swivel nut; Described motor is connected to the gear wheel be connected with described dextrorotation leading screw by pinion, described motor is for driving described left-handed leading screw and described dextrorotation screw turns, and described first swivel nut is along described left-handed leading screw, the second swivel nut along the poly-middle clamping work pieces of described dextrorotation leading screw.
Further, in said apparatus, described first swivel nut is socketed on described left-handed leading screw, and described 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 is connected with described gear wheel through described installing plate.
Further, in said apparatus, described follower also comprises described clamp system; And/or
Described second executing agency of described follower is identical with described first executing agency's structure.
Further, in said apparatus, in described load carrier, carried workpiece touching position is provided with electric control permanent magnet fixture.
Further, in said apparatus, described second executing agency of described follower is identical with described first executing agency's structure.
Relative to prior art, the present invention has following advantage:
The present invention can realize the opening part loading and unloading at opening positioner, and it is coaxial with the frock centre of gyration to realize the workpiece centre of gyration, and 360 degree of high accuracy transmissions and rotation, 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 meet the structural requirement of opening part place work piece.Meanwhile, V-block regulates 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, Double-gear engages, and ensure that opening part realizes 360 degree of rotations, and stable drive, compact conformation.
The clamp system of opening positioner of the present invention, integrated model is fixed on inner ring, can rotate with workpiece simultaneously, can ensure the location clamping in positioner work very well, and simple and compact for structure being easy to controls.
In addition, the opening Shifter structure that various embodiments of the present invention provide is simple, easy to make.And, opening positioner overall appearance of the present invention is neatly smooth.
Generally speaking, the opening positioner that the present invention proposes not only structure is simple, is easy to make, and maintains easily, also improve clamping speed and degree of convenience, decrease positioner erection space simultaneously and saved factory building planned land use, reduce cost.
Accompanying drawing explanation
The accompanying drawing forming a part of the present invention is used to provide a further understanding of the present invention, and schematic description and description of the present invention, for explaining the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings:
Fig. 1 is the schematic diagram of pipe fitting clamping mode in 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 in opening positioner embodiment of the present invention;
Fig. 4 is the schematic diagram of transmission mechanism in opening positioner embodiment of the present invention;
Fig. 5 is the schematic diagram of opening positioner embodiment middle gear of the present invention distribution;
Fig. 6 is the schematic diagram of clamp system in 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 block
2 cylinders
3 axial location blocks
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 systems
31a first compact heap
31b second compact heap
32a first swivel nut
32b second swivel nut
The left-handed leading screw of 33a
33b dextrorotation leading screw
34 gear wheels
35 pinions
36 motors
Detailed description of the invention
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
It should be noted that, when not conflicting, the embodiment in the present invention and the feature in embodiment can combine 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, Double-gear engaged transmission is simultaneously determined by calculating, realize the function that opening positioner 360 degree rotates, driven by motor screw turns achieves 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, as shown in Figures 2 to 4, described opening positioner comprises: driving mechanism and follower.Wherein, described driving mechanism, is provided with and supports and the first executing agency 10 of positioning workpieces and the transmission mechanism 20 for rotational workpieces, be provided with opening, and described first executing agency 10 is connected above described first executing agency 10 with transmission mechanism 20.Described follower, is provided with the second executing agency supporting described workpiece, is provided with opening above described second executing agency.
In above-described embodiment, as shown in Figure 3, described 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 mechanism 20 also follows the rotation of transmission mechanism 20 and rotates; Described load carrier is embedded in the mouth of described bearing inner race 14, and described governor motion is connected with described bearing inner race 14 and described load carrier respectively, and adjusts height by lifting adjusting screw 18.
It should be noted that, described load carrier is for carrying workpiece.
As shown in Figure 3, in above-described embodiment, described bearing inner race 14 is connected by rotatable coupling with described bearing outer ring 11.Described rotatable coupling comprises: retainer, cylinder ball, back-up ring 15, seal 16, base 100.Wherein: described retainer is arranged between described bearing outer ring 11 and described bearing inner race 14; Described cylinder ball distribution 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 to be embedded on described bearing outer ring 11 in 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 to make a variation pivoting support structure, and inner-ring bearing is fixed, race bearing meshed transmission gear mechanism, like this, the structure of opening positioner more clamps gathers, and facilitates layout.
Preferably, in a preferred embodiment, described load carrier can be V-block 17, can refer to shown in Fig. 3 here.
It should be noted that, described first executing agency 10 is the main part being responsible for performing displacement rotating function, and being different from its centre of gyration setting accuracy of other locate modes is ensure by the coaxial accuracy of bearing.Such as: described 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 are to lifting adjusting screw 18,2 guide posts and 1 base 100.Wherein, 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 cylinder ball is rotated in original place; Back-up ring 15 is embedded in bearing outer ring 11 draw-in groove, 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-like outer band 11, described V-block 17 regulates by lifting adjusting screw 18 apart from the distance (highly) of pivot, described bearing outer ring 11 is fixed on base 100, and described bearing inner race 14 drives V-block 17 to rotate.
In a preferred embodiment, described governor motion comprises further: lifting adjusting screw 18 and the guide post matched 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 bearing inner race 14, and the other end is free to slide in the circular hole of described load carrier.
It should be noted that, according to carried workpiece size and shape, described lifting adjusting screw 18 coordinates with described guide post, does adaptability adjustment to described load carrier for carrying described workpiece position, such as adjust the openings of sizes of load carrier, to adapt to the size, shape etc. of described workpiece.
, please refer to the transmission mechanism 20 shown in Fig. 4 herein, in the various embodiments described above, described transmission mechanism 20 can comprise further: arc gear wheel 21, pinion group 22, canine tooth wheels 23, servomotor 25.
Wherein, the side of described arc gear wheel 21 is provided with the adapter sleeve 26 be connected with described bearing inner race 14; 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 for driving pinion group 22, and then drives described canine tooth wheels 23 to rotate, and finally realizes the rotation of arc gear wheel 21.
It should be noted that, 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 first pinion, described second pinion are meshed with described arc gear wheel 21 respectively; Described third pinion, described fourth pinion engage with described first pinion, described second pinion respectively; Described 5th pinion is connected with described servomotor 25.
Described canine tooth wheels 23 comprise first gear and second largest gear; Described first gear engages with described third pinion, and described second largest gear engages with described fourth pinion; Described first gear, described second largest gear are all connected with described 5th pinion.Therefore, in the present embodiment, described servomotor 25 for driving the 5th pinion, and then drives the first gear in described canine tooth wheels 23 and second largest pinion rotation, 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 center and described first pinion center, described second pinion center forms, is greater than described arc gear wheel 21 center and described third pinion center, the second angle β that the line at described fourth pinion center forms.
Such as: 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 to do the rotation gone round and begun again, still 360 degree of rotations can be realized after ensureing sector gear opening, according to calculating, need two pinion groups 22 to keep engaging with arc gear wheel 21 simultaneously, and two are greater than the second angle β of arc gear wheel 21 opening part line with the first angle α of arc gear wheel 21 line of centres, again in order to ensure overall dimensions and avoid pinion group 21 and arc gear wheel 21 to interfere, have employed 8 gear train designs of 1 arc gear wheel, 5 pinions 22, gear wheel 23.With adapter sleeve bolt, arc gear wheel 21 is fixed on bearing inner race 14.
It should be noted that, 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 system 30, and described clamp system 30 is connected with described load carrier.In the present embodiment, described clamp system 30 is for pipe fitting clamping, and described clamp system 30 can be leading screw clamp system or uses electric control permanent magnet fixture, and can be embedded in the design carrying out clamping in V-block 17.
As shown in Figure 6 and Figure 7, in the present embodiment, described clamp system 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 first compact heap 31a is connected with described left-handed leading screw 33a by the first swivel nut 32a; Described second compact heap 31b is connected with described dextrorotation leading screw 33b by the second swivel nut 32b; Described motor 36 is connected to the gear wheel 34 be connected with described dextrorotation leading screw 33b by pinion 35, described motor 36 rotates for driving described left-handed leading screw 33a and described dextrorotation leading screw 33b, clamping work pieces during described first swivel nut 32a, the second swivel nut 32b are poly-along leading screw 33.
In above-described embodiment, as shown in Figure 6, described first swivel nut 32a is socketed on described left-handed leading screw 33a, and described second swivel nut 32b is socketed on described dextrorotation leading screw 33b; Described left-handed leading screw 33a and described dextrorotation leading screw 33b is arranged in chute 38, and described chute 38 two ends are respectively arranged with installing plate 37, and described dextrorotation leading screw 33b is connected with described gear wheel 34 through described installing plate 37.
Such as: described clamp system 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 of left-handed one section of dextrorotation, and gear wheel 34 is installed in side, drives rotation by motor 36, motion during leading screw 33 rotating band movable snail sleeve about 32 is poly-, thus realizes clamping.
It should be noted that, described follower also comprises described clamp system 30.
With above-described embodiment alternatively, described clamp system 30 also can be fixed on outer ring, and the opening Shifter structure of adopting in this way more clamps gathers, and facilitates layout.
Alternatively, the clamp system 30 in above-described embodiment can be replaced: use electric control permanent magnet fixture absorption clamping work pieces.As shown in Figure 8, in described load carrier, carried workpiece touching position is provided with electric control permanent magnet fixture.That is, electric control permanent magnet fixture is embedded in described load carrier as in V-block 17, utilizes magnetic-adsorption workpiece, this structure is simple, with low cost, be easy to control.
Preferably, described second executing agency of described follower is identical with described first executing agency 10 structure.
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 of transmission mechanisms of arc sector gear;
3) clamp system: for pipe fitting clamping leading screw clamp system and electric control permanent magnet fixture can be used to be embedded in the design carrying out clamping in 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, arrange according to shown in Fig. 2.
It should be noted that, 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, coordinates and links, realize the displacement of high repeatable accuracy with robot, thus finally realizes the automation of workpiece welding.
As can be seen from the various embodiments described above, the opening positioner that various embodiments of the present invention provide can realize the opening part loading and unloading at above-mentioned opening positioner.Especially it is pointed out that the most high energy of the repeatable accuracy of welding robot 101 reaches 0.02mm, therefore, in order to coordinate with it, the transmission accuracy of opening positioner requires very high, and the opening positioner that the embodiment of the present invention provides can realize 360 degree of high accuracy transmissions.Further, the opening positioner that the embodiment of the present invention provides realizes 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 provide is described:
As shown in the figure, long tube workpiece can put down from the arc opening of opening positioner, be positioned in the lifting adjustable V type block 17 in executing agency 10 in " opening variation bearing " structure, clamp system 30 utilizes motor 36 to drive leading screw 33 to rotate, clamping work pieces during first swivel nut 32a, the second swivel nut 32b are poly-along leading screw 33, and whole clamp system 30 is fixedly connected with V-block 17, servomotor 25 driven gear of transmission mechanism 20 rotates, arc gear wheel 21 has the whole mechanism of drive to rotate, thus realizes the clamping deflection function of whole positioner.
In order to ensure that positioner still can realize 360 degree of rotations after opening, two must be had with sector gear 21 meshed gears simultaneously, and two are greater than the angle of arc gear wheel 21 opening part line with the angle of arc gear wheel 21 line of centres, finally achieve 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 overall dimensions is relatively little, adds overall appearance many uses circular-arc-shaped design, 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 various embodiments of the present invention provide can realize the opening part loading and unloading at above-mentioned opening positioner.Meanwhile, it is coaxial with the frock centre of gyration that opening positioner of the present invention can realize the workpiece centre of gyration, and can realize 360 degree of high accuracy transmissions and rotation, 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 meet the structural requirement of opening part place work piece.Meanwhile, V-block regulates 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, Double-gear engages, and ensure that opening part realizes 360 degree of rotations, and stable drive.Compact conformation.
The clamp system of opening positioner of the present invention, integrated model is fixed on inner ring, can rotate with workpiece simultaneously, can ensure the location clamping in positioner work very well, and simple and compact for structure being easy to controls.
In addition, the opening Shifter structure that various embodiments of the present invention provide is simple, easy to make.And, opening positioner overall appearance of the present invention is neatly smooth.
Generally speaking, the opening positioner that the present invention proposes not only structure is simple, is easy to make, and maintains easily, also improve clamping speed and degree of convenience, decrease positioner erection space simultaneously and saved factory building planned land use, reduce cost.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (13)
1. an opening positioner, is characterized in that, comprising:
Driving mechanism, be provided with and support and first executing agency (10) of positioning workpieces, the transmission mechanism (20) for rotational workpieces and the clamp system (30) for clamping work pieces, wherein, described first executing agency (10) top is provided with the opening for carrying out workpiece loading and unloading, and described first executing agency (10) comprises the load carrier for carrying workpiece and coordinates the bearing outer ring (11) and bearing inner race (14) that realize rotating within the scope of workpiece 360 ° with described transmission mechanism (20); Described load carrier is connected with described bearing inner race (14), described clamp system (30), and described bearing inner race (14) is connected with described transmission mechanism (20) and follows the rotation of described transmission mechanism (20) and rotate;
Follower, is provided with and supports and locate the second executing agency of described workpiece, be provided with opening above described second executing agency.
2. opening positioner according to claim 1, is characterized in that, described bearing inner race (14) and described bearing outer ring (11) can relatively rotate; Described load carrier is embedded on described bearing inner race (14).
3. opening positioner according to claim 2, is characterized in that, described first executing agency (10) also comprises:
Governor motion, described governor motion is connected with described bearing inner race (14), described load carrier respectively;
Described bearing inner race (14) is connected with transmission mechanism (20).
4. opening positioner according to claim 2, is characterized in that, described bearing inner race (14) and described bearing outer ring (11) realize relatively rotating by rotatable coupling;
Wherein, described rotatable coupling comprises:
Cylinder ball, distribution is arranged in the arc groove of described bearing outer ring (11);
Retainer, is arranged between described bearing outer ring (11) and described bearing inner race (14), and for fixing the position of described cylinder ball, described cylinder ball is rotated in original place;
Back-up ring (15), is embedded in the draw-in groove of described bearing outer ring (11), and 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) is also configured with 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 matched with described lifting adjusting screw (18);
Wherein, described lifting adjusting screw (18), guide post are all embedded with described load carrier and described bearing inner race (14) and are connected, and one end of described guide post is fixedly connected on bearing inner race (14), 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), its side is provided with the adapter sleeve (26) be connected with described bearing inner race (14);
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 for driving described canine tooth wheels (23) by the described pinion group (22) of driving.
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 first pinion, described second pinion are meshed with described arc gear wheel (21) respectively; Described third pinion engages with described first pinion, described fourth pinion engages with described second pinion; Described 5th pinion is connected with described servomotor (25);
Described canine tooth wheels (23) comprise first gear and second largest gear; Described first gear engages with described third pinion, and described second largest gear engages with described fourth pinion; Described first gear, described second largest gear are all connected with described 5th pinion;
Wherein, the first angle α that the line at described arc gear wheel (21) center and described first pinion center, described second pinion center forms, is greater than described arc gear wheel (21) center and described third pinion center, the second angle β that the line at described fourth pinion center forms.
9. opening positioner according to claim 2, it is characterized in that, described clamp system (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 first compact heap (31a) is connected with described left-handed leading screw (33a) by the first swivel nut (32a); Described second compact heap (31b) is connected with described dextrorotation leading screw (33b) by the second swivel nut (32b); Described motor (36) is connected to the gear wheel (34) be connected with described dextrorotation leading screw (33b) by pinion (35), described motor (36) rotates for driving described left-handed leading screw (33a) and described dextrorotation leading screw (33b), and described first swivel nut (32a) is along described left-handed leading screw (33a), the second swivel nut (32b) along the poly-middle clamping work pieces of described dextrorotation leading screw (33b).
10. opening positioner according to claim 9, it is characterized in that, described first swivel nut (32a) is socketed on described left-handed leading screw (33a), and described 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) is connected with described gear wheel (34) through described installing plate (37).
11. opening positioners according to claim 2, is characterized in that,
Described follower also comprises described clamp system (30); And/or
Described second executing agency of described follower is identical with described first executing agency (10) structure.
12. opening positioners according to any one of claim 2 to 8, is characterized in that, in described load carrier, carried workpiece touching position is provided with electric control permanent magnet fixture.
13. opening positioners according to claim 12, is characterized in that, described second executing agency of described follower is identical with described first executing agency (10) structure.
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 CN102935574A (en) | 2013-02-20 |
| CN102935574B true CN102935574B (en) | 2015-06-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210464007.XA Active CN102935574B (en) | 2012-11-16 | 2012-11-16 | Opening positioner |
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Families Citing this family (3)
| 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 |
| CN104191121B (en) * | 2014-08-25 | 2017-01-11 | 刘家超 | Automatic welding mechanism for circumferential welds |
| CN115178957A (en) * | 2022-07-26 | 2022-10-14 | 大连奥托股份有限公司 | Large-scale work piece welding device that shifts |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4044670B2 (en) * | 1998-03-30 | 2008-02-06 | 京セラ株式会社 | Pipe automatic 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 |
| CN100522459C (en) * | 2007-06-13 | 2009-08-05 | 昆山华恒工程技术中心有限公司 | Large-sized fitting circular seam solder displacement machine |
| CN100544878C (en) * | 2007-08-25 | 2009-09-30 | 昆山华恒工程技术中心有限公司 | A kind of pipe cutting positioner |
| CN101224529B (en) * | 2008-01-31 | 2010-10-13 | 哈尔滨工业大学 | Pipe all-position welding device for remote control welding |
| CN101885130B (en) * | 2010-07-08 | 2013-06-12 | 昆山华恒工程技术中心有限公司 | Automatic circular seam welding pipe tongs |
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