CN103383315B - Automatic tool changer test bench for detecting comprehensive performance - Google Patents
Automatic tool changer test bench for detecting comprehensive performance Download PDFInfo
- Publication number
- CN103383315B CN103383315B CN201310268157.8A CN201310268157A CN103383315B CN 103383315 B CN103383315 B CN 103383315B CN 201310268157 A CN201310268157 A CN 201310268157A CN 103383315 B CN103383315 B CN 103383315B
- Authority
- CN
- China
- Prior art keywords
- scrambler
- bearing
- displacement transducer
- output shaft
- guide pole
- Prior art date
- Legal status (The legal status 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 status listed.)
- Expired - Fee Related
Links
Landscapes
- Drilling And Boring (AREA)
Abstract
Automatic tool changer test bench for detecting comprehensive performance belongs to numerically-controlled machine functional part Performance Detection field, integrate machinery, sensor technology and virtual instrument technique, complete following properties to detect: tool change time, output shaft positioning precision (grabbing cutter in-placing precision, tool changing in-placing precision, return precision, straight-line displacement precision, repetitive positioning accuracy), mechanical arm vibration, ATC smoothness of operation, tool changing success ratio, the comprehensive indexing accuracy of ferguson cam mechanism and dynamics.Positioning precision detects difficult technical matters because there is compound motion (rotary motion, rectilinear motion) to solve output shaft by scrambler A positioning component; Utilize scrambler A and scrambler B direct-detection cambered surface cam mechanism input/output argument, improve the comprehensive indexing accuracy of cambered surface cam mechanism and dynamics accuracy of detection.For professional production factory provides inspect on colligated-function scheme, for functional part professional production, factory has great Practical significance.
Description
Technical field
The present invention is a kind of automatic tool changer special comprehensive performance detection testing bench, belongs to numerically-controlled machine functional part Performance Detection field.
Background technology
Automatic tool changer is the critical function parts of machining center automatic tool changer, for realizing the function that tool magazine and main axle cutter exchange automatically, not only shorten the non-cutting time of work pieces process, and reduce the mismachining tolerance that workpiece causes because of multiple clamping in process, thus improve working (machining) efficiency and the precision of machining center, its performance directly affects the performance level of main frame.Therefore, it is very necessary for carrying out Performance Detection to automatic tool changer.For a long time, it is all be furnished with concrete tool magazine to carry out that the method for automatic tool changer detects in lathe factory, but this method be not suitable for the specialized factory of automatic tool changer.Develop a kind of dedicated test testing table independent of the detection automatic tool changer property indices outside tool magazine, for functional part professional production, factory has great Practical significance.
At present, the domestic research to automatic tool changer Performance Detection is little, and external related data is not found.The applicant has applied for " a kind of performance inspection platform for automatic tool changing mechanism " (publication number: CN101514943A on March 27th, 2009, publication date on August 26th, 2009), this testing table is mainly used in various kinematic parameter and the dynamics parameter of studying cambered surface cam mechanism used in globoid cam formula automatic tool changer, needs to remove mechanical arm during detection.Dalian University of Technology has applied for " tool magazine and automatic tool changer comprehensive performance detecting system " (application publication number CN102785126A on August 16th, 2012, November 21 2012 Shen Qing Publication day), Detection of content comprises tool magazine vibration, mechanical arm vibrates, tool magazine positioning error, the performance of mechanical arm tool changing movement precision and complete machine operating noise five aspects detects, though Detection of content increases to some extent, but the tool change time and tool changing success ratio that react automatic tool changer important performance are not detected, and the Performance Detection of this detection system to automatic tool changer needs the cooperation of tool magazine.
The type of drive of automatic tool changer is mainly divided into fluid pressure type, gas liquid type and mechanical cam coordinated type, its globoid cam formula automatic tool changer is fast with tool-changing speed, reliability is high, load-bearing capacity is strong, the advantages such as the life-span is long are widely used in high-grade machining center, cambered surface cam mechanism is its core component, current domestic globoid cam formula automatic tool changer is in tool weight, the aspects such as tool change time and tool changing reliability and Foreign Advanced Lerel still have larger gap, cause medium-to-high grade tool magazine and the main dependence on import of globoid cam formula automatic tool changer of domestic machining center, a large amount of employing Japan, Germany, the product of Korea S and Taiwan.This testing table is developed based on globoid cam formula automatic tool changer, and for professional production factory provides inspect on colligated-function method, quantitative test automatic tool changer combination property, for promoting that the development of China's automatic tool changer provides experimental basis.
The present invention uses sensor technology and virtual instrument technique, (as used the cutter of different quality under different operating mode, test under different tool-changing speed) detect the tool change time of automatic tool changer, output shaft positioning precision (grabs cutter in-placing precision, tool changing in-placing precision, return precision, straight-line displacement precision, repetitive positioning accuracy), mechanical arm vibrates, automatic tool changer smoothness of operation, the performance index such as tool changing success ratio, and examination and analysb is carried out to the comprehensive indexing accuracy of ferguson cam mechanism of its application and dynamics, can the performance level of concentrated expression automatic tool changer.Mode of motion in view of automatic tool changer output shaft is rotary motion, rectilinear motion and rotating and the compound motion of rectilinear motion, how to carry out simply location (rotary motion and the rectilinear motion) precision of output shaft, facilitates, the versatility of high-precision detection and detection scheme is the key issue that the present invention solves.
Summary of the invention
In order to make up the vacancy of automatic tool changer special comprehensive performance detection testing bench, this testing table with globoid cam formula automatic tool changer for detected object is researched and developed, the present invention integrates machinery, Electronic transducer technology and control technology, have developed automatic tool changer performance detection testing bench, for professional production factory provides inspect on colligated-function scheme.By design scrambler A positioning component, positioning precision detects difficult technical matters because there is compound motion to efficiently solve output shaft; By scrambler B rotating assembly, solve the problem that scrambler B is connected with globoid cam axle, be equivalent to input shaft, the output shaft of cambered surface cam mechanism in the automatic tool changer that globoid cam axle, output shaft adopt in this experiment respectively, therefore utilize scrambler A and scrambler B just can direct-detection cambered surface cam mechanism input/output argument.
This testing table controls automatic tool changer and carries out tool changing action, and simulate different conditions of work (different loads, different rotating speeds), in exchanging knives process, complete properties detect, the technical scheme taked (when hereinafter relating to direction, all around, all for pedestal front surface) as described below:
This testing table comprises globoid cam formula automatic tool changer, pedestal, supporting base A, supporting base B, simulation cutter, cutter left and right adjusting plate, cutter positioning assembly, scrambler A positioning component, coupling shaft A, scrambler B rotating assembly, location-plate, displacement transducer mounting bracket, seat vibration sensor, displacement transducer, scrambler A, wireless vibration sensor, scrambler B, casing vibration transducer, PC, observing and controlling cabinet, wherein globoid cam formula automatic tool changer, initial point proximity switch, mechanical arm, output shaft, globoid cam axle, cambered surface cam mechanism is the core component of globoid cam formula automatic tool changer, globoid cam axle and output shaft are the input of cambered surface cam mechanism, output element, globoid cam axle is perpendicular to automatic tool changer installed surface, output shaft is perpendicular to pedestal upper surface and be arranged on output shaft with globoid cam axis robot, output shaft driving mechanical hand completes tool changing action, scrambler A positioning component comprises bearing friction top, round nut and stop washer, locating sleeve, deep groove ball bearing, bearing seat, bearing cap, web joint, guide pole installing plate, guide pole, linear bearing mount pad, linear bearing, scrambler B rotating assembly comprises bearing (ball) cover, rotary shaft lip seal, coupling shaft B, cutter positioning assembly comprises locking key, broach shell, cylindrical pin with internal thread, flush end holding screw, spring, steel ball.
Pedestal, supporting base A, supporting base B, cutter left and right adjusting plate, cutter positioning assembly solve globoid cam formula automatic tool changer and the installation question of simulating cutter.Supporting base A, supporting base B are arranged on pedestal, and the position of supporting base B on pedestal is non-adjustable, and globoid cam formula automatic tool changer is provided with installs elongated hole for regulating its front and back position, is arranged on the side of supporting base B; Supporting base A opposite base can carry out all around position adjustments; Cutter left and right adjusting plate is arranged on supporting base B side, and relative supporting base B can carry out left and right directions adjustment; Cutter positioning assembly is totally two covers, is a set ofly arranged on cutter left and right adjusting plate, is a set ofly arranged on supporting base A side, and can carry out upper-lower position adjustment; Simulation cutter inserts in the broach shell of cutter positioning assembly, and carry out cutter axial location location by the conical bore of broach shell and steel ball, locking key inserts in the keyway of cutter and prevents cutter from rotating, and cooperation automatic tool changer completes tool changing action.
Scrambler A, displacement transducer, scrambler A positioning component, coupling shaft A, displacement transducer mounting bracket achieve the detection of output shaft positioning precision.Displacement transducer mounting bracket is arranged on pedestal, and its mounting hole is that elongated hole can carry out front and back position adjustment; Displacement transducer is chosen as rod-pulling type displacement transducer, mainly comprises cylinder body, pull bar, rotation joint, and its cylinder body is installed on this support, and cylinder body self structure and autogamy erecting frame can carry out up and down displacement transducer, right position regulates.Scrambler A is chosen as increment type axle sleeve type, installed by coupling shaft A and scrambler A positioning component, coupling shaft A one end coordinates with the screwed hole of centre of output shaft end face, and the other end coordinates with the axle sleeve of scrambler A and by scrambler clamping ring, axle sleeve is fixed on coupling shaft A; Scrambler A positioning component: load locating sleeve, bearing seat, deep groove ball bearing, bearing friction top successively at output shaft end, then use round nut and stop washer (being arranged on coupling shaft A) lifting axe to hold friction top in order to fixing deep groove ball bearing inner ring.Bearing seat and bearing cap are connected by screw and are fixed on bearing outer ring, and the plane surface stator coupler of scrambler A is fixed on bearing cap end face.Two pieces of web joint upper ends are separately fixed at bearing cap two lateral surface by elongated hole, jointly regulate the front and back position of web joint, guide pole installing plate, guide pole, linear bearing mount pad, linear bearing, displacement transducer, displacement transducer mounting bracket with displacement transducer mounting bracket, lower end is arranged on guide pole installing plate two lateral surface respectively; Two guide pole one end are fixed on guide pole installing plate, the other end coordinates with linear bearing, linear bearing is fixed on linear bearing mount pad, and linear bearing mount pad is arranged on displacement transducer mounting bracket and also linear bearing can be driven to carry out right position adjustment.Displacement transducer pull bar is by rotation jiont treatment on guide pole installing plate, and when pull bar and guide pole have parallel deviation, rotation joint can exempt from destruction by safeguard bit displacement sensor.
The design of scrambler A positioning component solves the technical matters of output shaft detection and localization difficulty because there is compound motion, guide pole and linear bearing form moving sets, linear bearing position is fixed, by stoping deep groove ball bearing outer ring to rotate to guide pole effect resistance moment of torsion, and deep groove ball bearing inner ring can with output shaft rotation; Under the guide effect of guide pole, the pull bar of scrambler A, displacement transducer and rotation joint, bearing seat, bearing cap, web joint, guide pole installing plate can move linearly with output shaft, and not with output shaft rotation.Scrambler A plane surface stator coupler is fixed on bearing cap end face, and scrambler A is in the process moved linearly with output shaft, and its axle sleeve with output shaft rotation, just can collect the swing offset of output shaft under the effect of coupling shaft A; Displacement transducer pull bar with output shaft rectilinear motion, the straight-line displacement of displacement transducer just exportable output shaft.
Scrambler B, scrambler B rotating assembly, location-plate achieve the detection of globoid cam axle running accuracy, and scrambler B is chosen as increment type axle sleeve type.Scrambler B rotating assembly comprises bearing (ball) cover, rotary shaft lip seal, coupling shaft B.Coupling shaft B one end and globoid cam axle are threaded connection, and by scrambler clamping ring, axle sleeve are fixed on coupling shaft B in the axle sleeve that the other end stretches into scrambler B; Coupling shaft B have passed through the bearing (ball) cover of casing relevant position, and this bearing (ball) cover processes O-ring seal mounting groove, in order to install rotary shaft lip seal, in order to avoid casing inner fluid leaks; The plane surface stator coupler of scrambler B is arranged on tank surface by location-plate.Scrambler B and scrambler A detects simultaneously, can obtain cambered surface cam mechanism input/output argument, and then analyzes comprehensive indexing accuracy and the dynamics of cambered surface cam mechanism.
Seat vibration sensor, with magnetic support, is adsorbed on base-plates surface, for detecting tool changing success ratio; Wireless vibration sensor is used for inspecting manipuator Vibration Condition, is screwed on manipulator arm, by wireless receiving module, vibration signal is passed to data collecting card; On the bearing (ball) cover that casing vibration transducer utilizes magnetic support to be adsorbed in scrambler B rotating assembly, for detecting the smoothness of operation of automatic tool changer.
Leak control and check system becomes primarily of PC, multifunctional data acquisition card, sensor, variable-frequency motor, initial point proximity switch and observing and controlling group, PC loads in observing and controlling cabinet, multifunctional data acquisition card inserts on the main frame of PC, the TT&C software system of applying virtual instrument language LabVIEW development experiments platform, control multifunctional data acquisition card pick-up transducers signal, export control signal, carry out Real-Time Monitoring with PC and carry out signal transacting, analysis and store, by the form of figure or form, properties testing result is shown, realize man-machine interaction.
This testing table physical construction installation relation block diagram and detecting and controlling system block diagram are respectively as shown in Fig. 1, Fig. 6.
The invention has the beneficial effects as follows:
(1). provide the special performance detection testing bench of ATC, this testing table, independent of tool magazine, utilizes simulation cutter to realize the true exchanging knives process of ATC.Under various working, carry out multinomial performance detection, can concentrated expression ATC performance level, and for improving ATC design, improve its performance and provide experimental basis.
(2). compared with front two testing tables CN101514943A, CN102785126A, it is wider that this testing table has sensing range, and detection method is simple and reliable, and accuracy of detection is high, the feature that specificity is stronger.Major embodiment is following 2 points:
1.. the detection to output shaft positioning precision:
This testing table solution---by design scrambler A positioning component, scrambler axle sleeve is directly connected with output shaft, utilize displacement transducer to have detected the straight-line displacement precision of output shaft, positioning precision detects difficult technical matters because there is the compound motion of rotation and rectilinear movement to solve ATC output shaft simultaneously.
CN101514943A solution---be also utilize scrambler to detect, but need when detecting to remove mechanical arm, and devising gear drive, scrambler is not directly installed on output shaft, and has been mounted on the gear shaft that coordinates with output shaft gear.Detection method is complicated and affect accuracy of detection.
CN102785126A---use PSD camera to measure robot movement precision, utilize binocular vision method to write Matlab algorithm to calculate the three-dimensional motion at testing light source center and to fall apart point group, simulate 3 D motion trace, finally decomposite translation and rotary motion curve.Its signal processing is complicated, and signal processing method directly will affect accuracy of detection.
2.. the detection to cambered surface cam mechanism indexing accuracy and dynamics:
The wide face of this experiment table solution---globoid cam is complex-shaped space curved surface, be difficult to processing, more bad detection, by in cambered surface cam mechanism input, output shaft directly installs photoelectric encoder, examination and analysb is carried out to the comprehensive indexing accuracy of ferguson cam mechanism and dynamics.
CN101514943A---carrying out this detection is also utilize two scramblers to detect, but detection signal is not directly obtain from the input, output shaft of cambered surface cam mechanism.Servomotor CRANK PULSES as input signal (being also provided with other gear train between servomotor and cambered surface cam mechanism), the scrambler outputed signal by being arranged on gear shaft (coordinating with cambered surface cam mechanism output shaft gear) obtains.Such mounting means will affect accuracy of detection.
(3). this testing table detects, controls to complete by PC, simple to operation, but applicability is strong, has reference to the Performance Detection of the tool changing device of other type.
Accompanying drawing explanation
Fig. 1---physical construction installs relation block diagram.
Fig. 2---test platform structure schematic diagram.
Fig. 3---scrambler A positioning component structural representation.
Fig. 4---scrambler B rotating assembly structural representation.
Fig. 5---cutter positioning modular construction schematic diagram.
Fig. 6---detecting and controlling system block diagram.
In figure, 2001---pedestal, 2002---supporting base A, 2003---seat vibration sensor, 2004---displacement transducer mounting bracket, 2005---displacement transducer, 2006---simulation cutter, 2007---cutter positioning assembly, 2008---scrambler A, 2009---scrambler A positioning component, 2010---coupling shaft A, 2011---wireless vibration sensor, 2012---scrambler B, 2013---scrambler B rotating assembly, 2014---location-plate, 2015---casing vibration transducer, 2016---globoid cam formula automatic tool changer, 2016-1---variable-frequency motor, 2016-2---initial point proximity switch, 2016-3---mechanical arm, 2017---supporting base B, 2018---cutter left and right adjusting plate, 2019---PC, 2020---observing and controlling cabinet, 3001---round nut and stop washer, 3002---bearing friction top, 3003---locating sleeve, 3004---deep groove ball bearing, 3005---bearing seat, 3006---bearing cap, 3007---web joint, 3008---guide pole installing plate, 3009---guide pole, 3010---linear bearing mount pad, 3011---linear bearing, 2016-4---output shaft, 4001---bearing (ball) cover, 4002---rotary shaft lip seal, 4003---coupling shaft B, 2016-5---globoid cam axle, 5001---locking key, 5002---broach shell, 5003---cylindrical pin with internal thread, 5004---flush end holding screw, 5005---spring, 5006---steel ball
Embodiment
Below in conjunction with accompanying drawing, the present invention will be further described:
In fig. 2, supporting base A (2002), supporting base B (2017) are arranged on pedestal (2001), lay respectively at pedestal both sides, globoid cam formula automatic tool changer (2016) is arranged on the right flank of supporting base B (2017); Cutter left and right adjusting plate (2018) is arranged on the leading flank of supporting base B (2017); Cutter positioning assembly (2007) is totally two covers, is a set ofly arranged on cutter left and right adjusting plate (2018), is another set ofly arranged on supporting base A (2002) left side; Simulation cutter (2006) is inserted in the broach shell (5002) of cutter positioning assembly (2007).
Requirement is coordinated with the locus of simulation cutter (2006) in order to reach globoid cam formula automatic tool changer (2016), to ensure that mechanical arm can accurately capture both sides cutter and complete tool changing task simultaneously, related components should be able to carry out the adjustment of relevant position, and wherein supporting base B (2017) position on pedestal is set to non-adjustable; Globoid cam formula automatic tool changer (2016) mounting hole is that elongated hole can carry out front and back position adjustment; Supporting base A (2002) can carry out all around position adjustments; Cutter left and right adjusting plate (2018) can carry out right position adjustment; Cutter positioning assembly (2007) can carry out upper-lower position adjustment.Architectural feature is described below: 1.. and pedestal (2001) is foundry goods, and surperficial relevant position (for installation bearing seat A) processes the T-slot of two front and back distributions thereon; 2.. supporting base A (2002) adds Plate Welding by square steel tube and forms, and the mounting hole be connected with pedestal is designed to left and right directions elongated hole, coordinates the T-slot on pedestal and tommyhead bolt just can carry out all around position adjustments; Left side is provided with the gathering sill regulating assembly (2007) position, cutter positioning.3.. supporting base B (2017) structure is that square steel tube adds Plate Welding and forms, position on pedestal is set to non-adjustable, at its right flank and leading flank, globoid cam formula automatic tool changer (2016), cutter left and right adjusting plate (2018) are installed respectively, and design attitude regulates gathering sill, positions after position adjustments puts in place with cylindrical pin with internal thread; 4.. cutter left and right adjusting plate (2018) is arranged on the leading flank of supporting base B (2017), and being designed with installation elongated hole can carry out left and right adjusting; And be designed with cutter positioning assembly (2007) position adjustments gathering sill.5.. cutter positioning assembly (2007) mounting hole is that elongated hole can carry out upper-lower position adjustment.
Simulation cutter (2006), be made up of blind rivet, handle of a knife and cutter hub, handle of a knife and blind rivet are standard component, cutter hub is fixed by screws in handle of a knife end, cutter hub weight configuration is several specification of 3Kg, 5Kg, 7Kg, 8Kg, to meet globoid cam formula automatic tool changer (2016) Performance Detection under different load conditions.
The installation of each sensor:
1.. seat vibration sensor (2003), for detecting the tool changing success ratio of globoid cam formula automatic tool changer (2016), utilizes magnetic support to be adsorbed in base-plates surface.
2.. displacement transducer (2005) is for detecting the straight-line displacement precision of output shaft (2016-4), be chosen as rod-pulling type displacement transducer, mainly comprise cylinder body, pull bar, rotation joint, its cylinder body is arranged on displacement transducer mounting bracket (2004), and pull bar is by the guide pole installing plate (3008) of rotation jiont treatment in scrambler A positioning component (2009).Displacement transducer mounting bracket (2004) is formed by Plate Welding, and the mounting hole of itself and pedestal is designed to elongated hole, can be used for front and back position and regulates.
3.. scrambler A (2008) elects increment type as, band hollow shaft sleeve and plane surface stator coupler, for detecting the rotation positioning precision of output shaft (2016-4), utilizing scrambler A positioning component (2009), coupling shaft A (2010) installs.On bearing cap (3006) lower surface that its plane surface stator coupler is fixed on scrambler A positioning component (2009) (illustrating see Fig. 3).Coupling shaft A (2010) one end coordinates with the screwed hole of centre of output shaft (2016-4) end face; The other end is optical axis, coordinates with the axle sleeve of scrambler A, and is fixed by scrambler clamping ring.
4.. the end that scrambler B (2012) utilizes scrambler B rotating assembly (2013), location-plate (2014) is installed on globoid cam axle (2016-5), with scrambler A (2008) with the use of, for detecting the comprehensive indexing accuracy of ferguson cam mechanism and carrying out dynamical property analysis.The plane surface stator coupler of scrambler B (2012) is installed on location-plate (2014), and location-plate (2014) is installed on casing; Coupling shaft B (4003) one end in scrambler B rotating assembly (2013) coordinates with the screwed hole of centre of globoid cam axle (2016-5) end face; The other end coordinates with the axle sleeve of scrambler B (2012), and is fixed (illustrating see Fig. 4) by scrambler clamping ring.
5.. wireless vibration sensor (2011) is for the Vibration Condition of inspecting manipuator (2016-3), be screwed on mechanical arm (2016-3) arm, and be furnished with wireless receiving module vibration signal is passed to data collecting card.
6.. casing vibration transducer (2015), for detecting globoid cam formula automatic tool changer (2016) smoothness of operation, utilizes magnetic support to be adsorbed on bearing (ball) cover (4001).
7.. initial point proximity switch (2016-2) carries control sensor for globoid cam formula automatic tool changer (2016), data collecting card gathers the triggering signal transmissions of proximity switch to PC (2019), both can be used as the initial point signal of scrambler A (2008), scrambler B (2012), and can be used for recording each tool change time simultaneously.
In figure 3, scrambler A positioning component (2009) comprising: round nut and stop washer (3001), bearing friction top (3002), locating sleeve (3003), deep groove ball bearing (3004), bearing seat (3005), bearing cap (3006), web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011).
Locating sleeve (3003), deep groove ball bearing (3004), bearing friction top (3002) installation site are as shown in FIG., locating sleeve (3003) and mechanical arm end face are fitted, deep groove ball bearing (3004) outer face exceeds output shaft (2016-4) end face, round nut and stop washer (3001) are arranged on coupling shaft A (2010), making bearing friction top (3002) hold out against deep groove ball bearing (3004) inner ring by upwards screwing round nut, making it be fixed on output shaft (2016-4) axle head.
Bearing seat (3005) and bearing cap (3006) are fixed by screws on deep groove ball bearing (3004) outer ring, and bearing seat (3005) is threaded between end face with bearing cap (3006) and leaves assemblage gap, to ensure that deep groove ball bearing (3004) outer ring, bearing seat (3005), bearing cap do not have end play between (3006), improve output shaft linear displacement detecting precision.The plane surface stator coupler of scrambler A (2008) is screwed on bearing cap (3006) lower surface.Web joint (3007) totally two, upper end is connected with bearing cap (3006) two lateral surface respectively by elongated hole, jointly regulate the front and back position of web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), displacement transducer (2005), displacement transducer mounting bracket (2004) with displacement transducer mounting bracket (2004), lower end is arranged on guide pole installing plate (3008) lateral surface.Displacement transducer (2005) pull bar passes through rotation jiont treatment at guide pole installing plate (3008) middle part; Guide pole (3009) totally two, upper end is installed on guide pole installing plate (3008) with screw respectively, and lower end coordinates with linear bearing (3011), is uniformly distributed in pull bar both sides.Linear bearing mount pad (3010) is two pieces altogether, is arranged on displacement transducer mounting bracket (2004), and is uniformly distributed in displacement transducer (2005) both sides.Linear bearing (3011) quantity is also 2, is arranged on respectively on linear bearing mount pad (3010).
When pull bar and guide pole have parallel deviation, rotation joint can exempt from destruction by safeguard bit displacement sensor, for making up the impact of part's machining errors on displacement transducer (2005) pull bar and two guide pole (3009) parallel accuracy, take following measure: 1.. on guide pole installing plate (3008), process guide pole (3009) rim of the mouth is installed; 2.. the mounting hole of displacement transducer (2005) rotation joint on guide pole installing plate (3008) is greater than rotation joint external thread diameter; 3.. linear bearing mount pad (3010) relative displacement transducer mounting bracket (2004) can carry out the adjustment of right position, is therefore provided with installation elongated hole in the upper relevant position of displacement transducer mounting bracket (2004).After scrambler A positioning component (3009) is installed, should ensure that the motion of guide pole (3009), displacement transducer (2005) pull bar is smooth and easy by regulating above, must not catching phenomenon be had.
In the diagram, scrambler B rotating assembly (2013) comprising: bearing (ball) cover (4001), rotary shaft lip seal (4002), coupling shaft B (4003).Rotary shaft lip seal (4002) is standard component, for the sealing in gap between coupling shaft B (4003) and bearing (ball) cover (4001).Bearing (ball) cover (4001) processes rotary shaft lip seal (4002) mounting groove on original paper basis.Coupling shaft B (4003) one end coordinates with the screwed hole of centre of globoid cam axle (2016-5) end face; The other end coordinates with the axle sleeve of scrambler B, and is fixed by scrambler clamping ring.
In Figure 5, cutter positioning assembly (2007) comprising: locking key (5001), broach shell (5002), cylindrical pin with internal thread (5003), flush end holding screw (5004), spring (5005), steel ball (5006).Broach shell (5002) adopts foundry goods, and its inside bore dimension designs according to the handle of a knife selected, blind rivet size; After cutter (2006) inserts broach shell (5002), spring (5005) shrinks, steel ball (5006) clamps handle of a knife under the pressure effect of spring (5005), and under the cooperation of broach shell (5002) conical bore, realize the axial location location (conical bore stops cutter to move inwards vertically, and steel ball stops cutter outwards to move vertically under the compression force of spring) of cutter; Locking key (5001) inserts in the keyway of cutter (2006), prevents cutter from rotating.Install on end face at cutter positioning assembly (2007) and design elongated hole, can carry out the adjustment of upper-lower position, position adjustments well uses cylindrical pin with internal thread (5003) to position afterwards.
Claims (1)
1. an automatic tool changer special comprehensive performance detection testing bench, is characterized in that: one-piece construction comprises pedestal (2001), supporting base A (2002), simulation cutter (2006), cutter positioning assembly (2007), globoid cam formula automatic tool changer (2016), supporting base B (2017), cutter left and right adjusting plate (2018), seat vibration sensor (2003), displacement transducer mounting bracket (2004), displacement transducer (2005), scrambler A (2008), scrambler A positioning component (2009), coupling shaft A (2010), wireless vibration sensor (2011), scrambler B (2012), scrambler B rotating assembly (2013), location-plate (2014), casing vibration transducer (2015), PC (2019), observing and controlling cabinet (2020), wherein globoid cam formula automatic tool changer (2016) comprising: variable-frequency motor (2016-1), initial point proximity switch (2016-2), mechanical arm (2016-3), output shaft (2016-4), globoid cam axle (2016-5), scrambler A positioning component (2009) comprising: round nut and stop washer (3001), bearing friction top (3002), locating sleeve (3003), deep groove ball bearing (3004), bearing seat (3005), bearing cap (3006), web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), scrambler B rotating assembly (2013) comprising: bearing (ball) cover (4001), rotary shaft lip seal (4002), coupling shaft B (4003), cutter positioning assembly (2007) comprising: locking key (5001), broach shell (5002), cylindrical pin with internal thread (5003), flush end holding screw (5004), spring (5005), steel ball (5006),
Supporting base A (2002), supporting base B (2017) are arranged on pedestal (2001), globoid cam formula automatic tool changer (2016) is arranged on supporting base B (2017) side, cambered surface cam mechanism is the core component of globoid cam formula automatic tool changer (2016), the input that globoid cam axle (2016-5) and output shaft (2016-4) are cambered surface cam mechanism, output element, globoid cam axle (2016-5) is perpendicular to globoid cam formula automatic tool changer (2016) installed surface, output shaft (2016-4) perpendicular to pedestal (2001) upper surface and with globoid cam axle (2016-5) spatial vertical, mechanical arm (2016-3) is arranged on output shaft (2016-4), output shaft (2016-4) driving mechanical hand (2016-3) completes tool changing action, cutter left and right adjusting plate (2018) is arranged on the another side of supporting base B (2017), cutter positioning assembly (2007) is totally two covers, is a set ofly arranged on cutter left and right adjusting plate (2018), is a set ofly arranged on supporting base A (2002) side, simulation cutter (2006) is inserted in the broach shell (5002) of cutter positioning assembly (2007), displacement transducer mounting bracket (2004) is arranged on pedestal (2001), is positioned at globoid cam formula automatic tool changer (2016) below, scrambler A (2008) elects increment type as, band hollow shaft sleeve and plane surface stator coupler, utilizes scrambler A positioning component (2009), coupling shaft A (2010) is arranged on output shaft (2016-4) axle head, rod-pulling type displacement transducer elected as by displacement transducer (2005), comprise cylinder body, pull bar, rotation joint, cylinder body is arranged on displacement transducer mounting bracket (2004), and pull bar is by the guide pole installing plate (3008) of rotation jiont treatment in scrambler A positioning component (2009), scrambler B (2012) elects increment type as, band hollow shaft sleeve and plane surface stator coupler, utilizes scrambler B rotating assembly (2013), location-plate (2014) is installed on globoid cam axle (2016-5) axle head, wireless vibration sensor (2011) is fixed on mechanical arm (2016-3), casing vibration transducer (2015) utilizes magnetic support to be adsorbed on bearing (ball) cover (4001),
Locating sleeve (3003) in scrambler A positioning component (2009), bearing seat (3005), deep groove ball bearing (3004), bearing friction top (3002) is contained on output shaft (2016-4) successively, be positioned at mechanical arm (2016-3) below, deep groove ball bearing (3004) outer face exceeds output shaft (2016-4) end face, round nut and stop washer (3001) are arranged on coupling shaft A (2010), bearing friction top (3002) is made to hold out against deep groove ball bearing (3004) inner ring by upwards screwing round nut, deep groove ball bearing (3004) is made to be fixed on output shaft (2016-4), bearing seat (3005) and bearing cap (3006) are fixed by screws on deep groove ball bearing (3004) outer ring, web joint (3007) totally two, upper end is connected with bearing cap (3006) left and right lateral surface respectively by elongated hole, jointly regulate the front and back position of web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), displacement transducer (2005), displacement transducer mounting bracket (2004) with displacement transducer mounting bracket (2004), lower end is arranged on guide pole installing plate (3008) lateral surface, displacement transducer (2005) pull bar passes through rotation jiont treatment at guide pole installing plate (3008) middle part, guide pole installing plate (3008) is greater than rotation joint external thread diameter for the mounting hole installing rotation joint, is positioned rotation joint by nut, guide pole (3009) totally two, be uniformly distributed in displacement transducer (2005) pull bar both sides, guide pole installing plate (3008) is inserted for installing in the installation rim of the mouth of guide pole (3009) in upper end, fixed by screw again, lower end is goed deep in linear bearing (3011) hole, and guide pole (3009) and linear bearing (3011) form moving sets, linear bearing mount pad (3010) totally two, be arranged on displacement transducer mounting bracket (2004), and be uniformly distributed in displacement transducer (2005) both sides, displacement transducer mounting bracket (2004) is provided with linear bearing mount pad (3010) and installs elongated hole, for regulating the right position of linear bearing mount pad (3010), linear bearing (3011) is arranged on linear bearing mount pad (3010), coupling shaft A (2010) one end coordinates with the screwed hole of centre of output shaft (2016-4) end face, and the other end coordinates with the axle sleeve of scrambler A (2008) and by scrambler clamping ring, axle sleeve is fixed on coupling shaft A (2010), the plane surface stator coupler of scrambler A is fixed on bearing cap (3006) end face,
Scrambler B rotating assembly (3013) centre bearer end cap (4001) is changed a social system on original paper basis, sets up the mounting groove of rotary shaft lip seal (4002); Coupling shaft B (4003) one end coordinates with the screwed hole of centre of globoid cam axle (2016-5) end face, and the other end inserts in the axle sleeve hole of scrambler B (2012), and is fixed by scrambler clamping ring; Location-plate (2014) is arranged on casing, is positioned at outside globoid cam axle (2016-5) end face, and the plane surface stator coupler of scrambler B (2012) is arranged on location-plate (2014).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310268157.8A CN103383315B (en) | 2013-06-30 | 2013-06-30 | Automatic tool changer test bench for detecting comprehensive performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310268157.8A CN103383315B (en) | 2013-06-30 | 2013-06-30 | Automatic tool changer test bench for detecting comprehensive performance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103383315A CN103383315A (en) | 2013-11-06 |
| CN103383315B true CN103383315B (en) | 2015-09-23 |
Family
ID=49491165
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310268157.8A Expired - Fee Related CN103383315B (en) | 2013-06-30 | 2013-06-30 | Automatic tool changer test bench for detecting comprehensive performance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN103383315B (en) |
Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104625401A (en) * | 2015-01-21 | 2015-05-20 | 胡和萍 | Bearing fixing seat device for laser welding machine |
| CN105643365A (en) * | 2016-03-29 | 2016-06-08 | 青海机数控机床有限责任公司 | Tool magazine and manipulator comprehensive performance detection method and platform |
| CN106141759A (en) * | 2016-07-16 | 2016-11-23 | 北京工业大学 | A kind of device and method detecting disc tool magazine turntable indexing accuracy |
| CN107633152A (en) * | 2017-10-27 | 2018-01-26 | 天津百利机械装备集团有限公司中央研究院 | Ferguson cam mechanism Kinematics Simulation method based on Creo, ADAMS environment |
| CN109085001B (en) * | 2018-07-24 | 2020-04-07 | 大连理工大学 | Test bench for verifying TBM tool changing robot function |
| CN109036079B (en) * | 2018-08-06 | 2020-04-07 | 大连理工大学 | Test bench for simulating tool changing of open TBM tool changing robot |
| CN110442085B (en) * | 2019-07-26 | 2020-11-13 | 北京工业大学 | Tool magazine and automatic tool changer comprehensive properties and reliability detection device |
| CN110293569B (en) * | 2019-07-30 | 2021-01-01 | 南京昱晟机器人科技有限公司 | Robot online calibration system and method |
| CN116592742A (en) * | 2023-07-18 | 2023-08-15 | 通用技术集团机床工程研究院有限公司 | Manual detection device for contour of cambered surface cam and automatic tool changing system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040037317A (en) * | 2002-10-28 | 2004-05-07 | 한국기계연구원 | a performance test divice of Automatic tool changer |
| CN101514943A (en) * | 2009-03-27 | 2009-08-26 | 北京工业大学 | Platform for detecting the performance of automatic tool changer |
| CN201417204Y (en) * | 2009-03-27 | 2010-03-03 | 北京工业大学 | Performance inspection platform for automatic tool changing mechanism |
| CN102785126A (en) * | 2012-08-16 | 2012-11-21 | 大连理工大学 | Tool magazine and automatic tool changer comprehensive performance detecting system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4531197B2 (en) * | 2000-05-08 | 2010-08-25 | 株式会社森精機製作所 | Automatic tool changer |
-
2013
- 2013-06-30 CN CN201310268157.8A patent/CN103383315B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20040037317A (en) * | 2002-10-28 | 2004-05-07 | 한국기계연구원 | a performance test divice of Automatic tool changer |
| CN101514943A (en) * | 2009-03-27 | 2009-08-26 | 北京工业大学 | Platform for detecting the performance of automatic tool changer |
| CN201417204Y (en) * | 2009-03-27 | 2010-03-03 | 北京工业大学 | Performance inspection platform for automatic tool changing mechanism |
| CN102785126A (en) * | 2012-08-16 | 2012-11-21 | 大连理工大学 | Tool magazine and automatic tool changer comprehensive performance detecting system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103383315A (en) | 2013-11-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103383315B (en) | Automatic tool changer test bench for detecting comprehensive performance | |
| CN106017959B (en) | Lead screw guide rails reliability test bench based on electro-hydraulic loading | |
| CN106944879B (en) | Double-tool-rest reliability testing device and method for detecting rotation precision of double tool rests | |
| CN205120329U (en) | Novel electronic servo -type unipolar exciter test platform | |
| CN111721697A (en) | General measuring device for key friction coefficients of bolt applicable to torque method and corner method | |
| CN214892946U (en) | Device for detecting hole site by zero-clearance machinery | |
| CN110538896A (en) | Automatic straightening device for shaft parts | |
| CN204575038U (en) | T-type elevator guide rail full-automatic detection apparatus | |
| CN206020024U (en) | Lead screw guide rails reliability test bench based on electro-hydraulic loading | |
| CN112504667B (en) | Reliability test bed for cutter spindle system of gear shaper | |
| CN103837353A (en) | Overhead-type excitation displacement velocity force value relation curve detection equipment | |
| CN106769007A (en) | Speed variator gear shift mechanism performance measurement test method | |
| CN204286347U (en) | A kind of main shaft dynamic rotation accuracy test system | |
| CN105115743A (en) | Numerical control external cylindrical grinding machine reliability test comprehensive loading device | |
| CN102183419B (en) | Wheel wrench tester | |
| CN106768934A (en) | Speed variator gear shift mechanism performance measurement pilot system | |
| CN206601246U (en) | A kind of test platform for studying single shaft resetting error mechanism | |
| CN108971530A (en) | Large-scale lathe revolving meber beat centering auxiliary tool and its method | |
| CN203869878U (en) | Top exciting displacement-velocity-force relationship curve detection device | |
| CN113790990A (en) | Reciprocating friction and wear testing machine for rod and pipe parts | |
| CN205228408U (en) | Axle stopper detection device | |
| CN211042553U (en) | Torque testing equipment | |
| CN211528181U (en) | Point contact friction wear testing machine for measuring surface of cylindrical microstructure | |
| CN208772481U (en) | Large-scale lathe revolving meber beat centering auxiliary tool | |
| CN205091138U (en) | Numerical control cylindrical grinder reliability test synthesizes loading device |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150923 Termination date: 20180630 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |