CN105965516A - Floating rapid-change type manipulator applicable to deburring - Google Patents
Floating rapid-change type manipulator applicable to deburring Download PDFInfo
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- CN105965516A CN105965516A CN201610400158.7A CN201610400158A CN105965516A CN 105965516 A CN105965516 A CN 105965516A CN 201610400158 A CN201610400158 A CN 201610400158A CN 105965516 A CN105965516 A CN 105965516A
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- main shaft
- knife
- power transmission
- chuck
- pulling force
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/006—Deburring or trimming
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/006—Conical shanks of tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23C—MILLING
- B23C3/00—Milling particular work; Special milling operations; Machines therefor
- B23C3/12—Trimming or finishing edges, e.g. deburring welded corners
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/70—Stationary or movable members for carrying working-spindles for attachment of tools or work
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/12—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for securing to a spindle in general
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0019—End effectors other than grippers
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Automatic Tool Replacement In Machine Tools (AREA)
Abstract
The invention relates to a floating quick-change type manipulator applicable to deburring. The floating rapid-change type manipulator comprises a floating cutting module, a spindle module and a tool quick-change module, wherein the floating cutting module comprises a tool, a chuck, an end cover and a tool shank, one end of the end cover is connected and fixed with the tool shank, the front end of the chuck penetrates the other end of the end cover, the rear end of the chuck is located in the end cover, the tool is fixed at the front end of the chuck, the chuck and the tool shank are connected through a dowel pin sleeved with an elastic sleeve, a dust ring and a first disc spring are arranged at the rear end of the chuck in a sleeving manner, the dust ring is tightly pressed between a chuck flange and the end cover and blocks an opening of the end cover, and the first disc spring is tightly pressed between the chuck flange and the tool shank. The manipulator realizes floating machining in a purely mechanical manner, pneumatic or hydraulic spindles in multiple directions are not required to be arranged, the manipulator is simple in structure, small in size and applicable to a robot platform, the applicability is improved, and the cost is low.
Description
Technical field
The invention belongs to end-effector field, be specifically related to a kind of floating quick-changing type end-effector being applicable to deburring.
Background technology
The superfine little microscopic metal granule of remaining bits and surface that metalwork surface occurs is referred to as burr, burr not only can directly reduce precision and the presentation quality of part itself, also can weaken its serviceability and life-span, therefore deburring be seemed increasingly important as single processing technique.Realizing automatization's deburring by industrial robot is a kind of high accuracy, high efficiency underturner's process, i.e., end at industrial robot installs end-effector, and industrial robot drives end-effector to complete the deburring work specified according to the program of regulation.
End-effector generally comprises cutting module, main shaft module and knife quick change module, cutting module is used for installing cutter, main shaft module is for providing power for cutter, under the effect of knife quick change module, the handle of a knife of cutting module can be quick installed on the main shaft interface of main shaft module or dismantle from main shaft interface.At present, some cutting modules can complete to float processing (processing of floating refer to cutter can along be parallel to tool axis axial float or along vertical space angle swinging or be provided simultaneously with these 2 kinds floatings, floating processing can realize along with cutting with invariableness cutting force, during deburring, can ensure that the surface configuration of part to be processed is not destroyed), the mode realizing floating processing at present is to install the dynamic main shaft of gas (liquid) in several orientation, need the dynamic structure of gas (liquid) is additionally installed, structure is complicated, size is big, cost is high, is only applicable to main equipment, and limitation is big.At present, main shaft module main body is servomotor, and servomotor is connected with main shaft by drive mechanism, and main shaft drives handle of a knife to rotate.The principle of knife quick change module is the taper-face contact by drawing, send handle of a knife to make it with main shaft interface or unclamps thus realize the quick change of cutter, at present, the drawing of handle of a knife, send and completed by pull bar or blind rivet, pull bar or blind rivet are connected with hydraulic pressure knife striking cylinder, need the extra structure of surging that arranges, structure complexity, size is big, cost is high, is only applicable to main equipment, and limitation is big.
Summary of the invention
It is an object of the invention to provide a kind of floating quick-changing type end-effector being applicable to deburring, this end-effector uses purely mechanic form to achieve floating processing, the dynamic main shaft of gas (liquid) in several orientation need not be set, simple in construction, volume is little, it is applicable to robot platform, improves the suitability, low cost.
The technical solution adopted in the present invention is:
A kind of floating quick-changing type end-effector being applicable to deburring, including floating strike price module, main shaft module and knife quick change module；Floating strike price module includes cutter, chuck, end cap and handle of a knife, end cap one end is connected fixing with handle of a knife, chuck front end passes the end cap other end, rear end is positioned at cover internal, cutter is fixed on chuck front end, it is connected by being cased with the power transmission pin of resilient sleeve between chuck with handle of a knife, chuck rear end is cased with dust ring and the first disc spring, and what dust ring compressed is located between chuck flange and end cap and is blocked by end cap opening, being located between chuck flange and handle of a knife of the first disc spring pressing.
Further, end cap is threaded connection with handle of a knife.
Further, knife quick change module includes pulling force final quotaion and the blind rivet being located in spindle hole, pulling claw and pull bar, handle of a knife connects end and is located in main shaft interface, blind rivet one end is threaded connection with handle of a knife, the other end is provided with square opening, pull bar one end coordinates with the square opening of blind rivet, the other end is threaded connection with pulling force final quotaion, pulling force final quotaion is axially positioned and is connected by power transmission flat key with main shaft, pulling claw is enclosed within the junction of blind rivet and pull bar, elastic ring it is cased with on pulling claw, the fixing end of pulling claw is stuck in the groove on pull bar, movable end can be stuck in the groove on blind rivet when shrinking.
Further, several power transmission flat keys are uniformly distributed between main shaft and pulling force final quotaion, power transmission flat key and the power transmission flat key groove on main shaft inwall and the power transmission flat key groove matched in clearance on pulling force final quotaion outer wall, the degree of depth of the power transmission flat key groove on main shaft inwall is not less than the height of power transmission flat key, and the degree of depth of the power transmission flat key groove on pulling force final quotaion outer wall is less than the height of power transmission flat key.
Further, pull bar being cased with the second disc spring of compression, second disc spring one end and pulling force final quotaion end contact, the power transmission flat key groove on pulling force final quotaion is open slot and opening is located on the end face contacted with the second disc spring.
Further, pulling force final quotaion is provided with flange, and the both sides of flange are cased with bearing respectively, and wherein, a bearing is axially positioned by main shaft, and another bearing is axially positioned by rear end cap, and one end of pulling force final quotaion is supported on rear end cap.
Further, main shaft module includes shell and sets main shaft in the enclosure, rotor coil and stator coil, and stator coil is fixed on shell, and rotor coil is fixed on electro spindle, is provided with bearing between main shaft and shell, and outer shell outer wall is provided with mounting interface.
Further, the encoder for surveying spindle speed it is provided with in shell.
The invention has the beneficial effects as follows:
1. in floating strike price module, the axial arranged axial float that can produce of the first disc spring, resilient sleeve on power transmission pin and the deformation of dust ring can produce bore to angle float, overall co-ordination achieves the floating processing of cutter, it is adaptable to deburring；Floating strike price module uses purely mechanic form to achieve floating processing, it is not necessary to arranging the dynamic main shaft of gas (liquid) in several orientation, simple in construction, volume is little, it is adaptable to robot platform, improves the suitability, low cost.
The most in use, elastic component (the first disc spring, resilient sleeve and dust ring) can wear and tear, and for ensureing the adjustability of floating rigidity, arranges screw pair at the joint face of end cap and handle of a knife, can be realized the regulation of floating rigidity by the degree of tightness that adjustable screw is secondary.
3. knife quick change module is by setting up pulling force final quotaion, pulling force final quotaion is made to form screw pair with pull bar, broaching tool and pine cutter is completed by this screw pair, when broaching tool process main shaft forward starts, handle of a knife is fixed on transfixion on pedestal, pull bar is coordinated by square opening with blind rivet, geo-stationary and there is certain resistance moment, main shaft low rotates, pulling force final quotaion is transferred torque to by power transmission flat key, existence because of screw thread pair, pull bar produces axial displacement, pull bar moves so that pulling claw shrinks tension blind rivet, blind rivet moves axially so that the conical surface of handle of a knife and interface is adjacent to produce deformation therewith, the conical surface produces bigger pressure and makes can transmit between main shaft and handle of a knife cutting moment after being adjacent to deformation；During pine cutter process main shaft reverse starting, handle of a knife is fixed on transfixion on pedestal, pull bar is coordinated by square opening with blind rivet, geo-stationary and have certain resistance moment, main shaft low rotates backward, by power transmission flat key transmission reverse torque to pulling force final quotaion, because of the existence of screw thread pair, pull bar produces the most axially displacement, and produce axial thrust the conical surface is disengaged, the most axially displacement of pull bar simultaneously makes elastic ring shrink, drive pulling claw to open thus unclamp blind rivet and handle of a knife is departed from.Knife quick change module uses purely mechanic form to achieve broaching tool and pine cutter, it is not necessary to arranging hydraulic pressure knife striking cylinder, simple in construction, volume is little, it is adaptable to robot platform, improves the suitability, low cost.
4. power is the same is directed to main shaft with cutting for the power of broaching tool and pine cutter process, so will produce a kind of defect, and i.e. when formal machining, main shaft is reversely processed and just be may be such that pull bar screws out and causes coming off of handle of a knife.By several power transmission flat keys and main shaft and pulling force final quotaion matched in clearance, this defect can be overcome, during during broaching tool, handle of a knife is fixed on tool magazine, main shaft low rotates, power transmission flat key is close to pulling force final quotaion and main shaft tangent plane, make to produce a pair resistance moment between screw pair and make pull bar screw in handle of a knife and strain, then handle of a knife is deviate from from tool magazine, before processing, main shaft can be in fast idle state, now main shaft drives it to rotate by conical surface transmission moment to handle of a knife, not power transmission at power transmission flat key groove, so power transmission flat key can be dumped in main shaft because of high speed centrifugation, so that pulling force final quotaion disengages with main shaft, accordingly even when have shock loading to make handle of a knife circumference play that screw pair also will not be made to screw out and make broach force reduce or what is more handle of a knife released；During pine cutter, handle of a knife is fixed in tool magazine, main shaft low rotates, because the circumferential play during spindle processing can make main shaft power transmission flat key groove produce circumferential misalignment with pulling force final quotaion power transmission flat key groove, originally main shaft can rotate around fixed pulling force final quotaion, after power transmission flat key groove aligns, power transmission flat key can again be close to pulling force final quotaion and main shaft tangent plane and transmit moment, so that produce resistance moment between pull bar and pulling force final quotaion, pull bar is produced by screw pair and moves axially and released by handle of a knife, then pulling claw opens handle of a knife and comes off, and so far completes pine cutter process.Main shaft and the special connection design of pulling force final quotaion, ensure that in the course of processing, the handle of a knife conical surface bears main cutting moment, the unsettled resistance moments that will not produce of parts such as the blind rivet of guarantee handle of a knife conical surface rear end and pull bar, the axial position assurance broach force of pull bar simultaneously, achieve broaching tool when main shaft low rotates forward, pine cutter during low speed and reverse, then can normal machining during high-speed rotation.
5. during broaching tool, handle of a knife is fixed in tool magazine, and main shaft low rotates, and power transmission flat key is close to pulling force final quotaion and main shaft tangent plane because of the second disc spring effect so that produces a pair resistance moment between screw pair and makes pull bar screw in and strained by handle of a knife；During pine cutter, handle of a knife is fixed in tool magazine, main shaft low rotates, because the circumferential play during spindle processing can make main shaft power transmission flat key groove produce circumferential misalignment with pulling force final quotaion power transmission flat key groove, originally main shaft can rotate around fixed pulling force final quotaion, after power transmission flat key groove aligns, power transmission flat key can transmit moment because the second disc spring effect is again close to pulling force final quotaion and electro spindle tangent plane, and the second disc spring serves the effect of compression to power transmission flat key.
6. pulling force final quotaion is axially positioned by main shaft, bearing (thrust ball bearing) and rear end cap.
7. main shaft module uses the form of electro spindle, compares traditional servomotor, simple in construction, and volume is little, it is adaptable to robot platform, improves the suitability.Directly mounting interface is set on shell, it is simple to and robot docking.
8. main shaft is tested the speed by encoder, thus reaches the purpose of closed loop control.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the embodiment of the present invention.
Fig. 2 is the top view of the embodiment of the present invention.
Fig. 3 is the sectional view of Fig. 2.
Fig. 4 is floating strike price module and the axonometric chart of blind rivet in the embodiment of the present invention.
Fig. 5 is the sectional view of Fig. 4.
Fig. 6 is knife quick change module and the axonometric chart of handle of a knife in the embodiment of the present invention.
Fig. 7 is the sectional view of Fig. 6.
Fig. 8 is main shaft module and the axonometric chart of part knife quick change module in the embodiment of the present invention.
Fig. 9 is the sectional view of Fig. 8.
In figure: 1-cutter；2-dust ring；3-the first butterfly spring；4-chuck；5-end cap；6-drive end bearing bracket；7-sunk screw；8-deep groove ball bearing；9-rotor coil；10-shell；11-stator coil；12-main shaft；13-rear end cap；14-encoder；15-axle sleeve；16-pulling force final quotaion；17-thrust ball bearing；18-power transmission flat key；19-pull bar；20-oil baffle disc；21-the second butterfly spring；22-elastic ring；23-pulling claw；24-blind rivet；25-handle of a knife；26-power transmission pin；27-resilient sleeve；28-mounting interface；A-floating strike price module；B-main shaft module；C-knife quick change module.
Detailed description of the invention
The present invention is further illustrated with embodiment below in conjunction with the accompanying drawings.
The important technological parameters of the present embodiment is:
As shown in Figures 1 to 5, a kind of floating quick-changing type end-effector being applicable to deburring, including floating strike price modules A, main shaft module B and knife quick change module C；Floating strike price modules A includes cutter 1, chuck 4, end cap 5 and handle of a knife 25, end cap 5 one end is connected fixing with handle of a knife 25, chuck 4 front end passes end cap 5 other end, it is internal that rear end is positioned at end cap 5, cutter 1 is fixed on chuck 4 front end, it is connected by being cased with the power transmission pin 26 of resilient sleeve 27 between chuck 4 with handle of a knife 25, chuck 4 rear end is cased with dust ring 2 and the first disc spring 3(in the present embodiment, 20 the first disc springs 3 are had to be cascaded), what dust ring 2 compressed is located between chuck 4 flange and end cap 5 and is blocked by end cap 5 opening, what the first disc spring 3 compressed is located between chuck 4 flange and handle of a knife 25.
For ensureing lightweight, end cap 5 uses aluminium alloy, dust ring 2 and resilient sleeve 27 according to calculating the corresponding quality of rubber materials of employing, it is ensured that deformation is suitable.Chuck 4 uses the force deformation Rhizoma Sparganii chuck 4 of similar TRIBOS, loads and unloads power by calculating reasonable chuck 4 inner chamber size and cutter 1.According to chucking power requirement, cutter 1 material is T8, and elastic modelling quantity is 2.23 × 1011N/m2, and chuck 4 material is 45 steel, and elastic modelling quantity is 2.09 × 1011N/m2, and primary Calculation chuck 4 inner chamber deflection is 0.69 μm.Cutter 1 makes a choice according to different processing tasks and machining status and configures, and cutter 1 can be selected for rotary file, polishing emery wheel, milling cutter and mill etc., is applicable to the processing modes such as milling, filing, grinding, polishing.Select the finger cutter of φ 6mm as deburrer 1 herein according to processing request, inquiry cutter 1 is chosen handbook and is learnt that recommendation cutting speed is 250-350m/min, recommendation cutting rotational speeds is 13000-19000r/min, and choosing final cutting speed is 250m/min, and cutting rotational speeds is 13000r/min.
In floating strike price modules A, the axial arranged axial float that can produce of the first disc spring 3, resilient sleeve 27 on power transmission pin 26 and the deformation of dust ring 2 can produce bore to angle float, overall co-ordination achieves the floating processing of cutter 1, it is adaptable to deburring；Floating strike price modules A uses purely mechanic form to achieve floating processing, it is not necessary to arranging the dynamic main shaft 12 of gas (liquid) in several orientation, simple in construction, volume is little, it is adaptable to robot platform, improves the suitability,.
As shown in Figure 3 and Figure 5, in the present embodiment, end cap 5 is threaded connection with handle of a knife 25.In use, elastic component (the first disc spring 3, resilient sleeve 27 and dust ring 2) can wear and tear, and for ensureing the adjustability of floating rigidity, arranges screw pair at the joint face of end cap 5 and handle of a knife 25, can be realized the regulation of floating rigidity by the degree of tightness that adjustable screw is secondary.
Such as Fig. 3, shown in Fig. 6 and Fig. 7, in the present embodiment, knife quick change module C includes pulling force final quotaion 16 and is located at the blind rivet 24 in main shaft 12 centre bore, pulling claw 23 and pull bar 19, handle of a knife 25 connects end and is located in main shaft 12 interface, blind rivet 24 one end is threaded connection with handle of a knife 25, the other end is provided with square opening, pull bar 19 one end coordinates with the square opening of blind rivet 24, the other end is threaded connection with pulling force final quotaion 16, pulling force final quotaion 16 is axially positioned and is connected by power transmission flat key 18 with main shaft 12, pulling claw 23 is enclosed within the junction of blind rivet 24 and pull bar 19, elastic ring 22 it is cased with on pulling claw 23, the fixing end of pulling claw 23 is stuck in the groove on pull bar 19, movable end can be stuck in the groove on blind rivet 24 when shrinking.
nullKnife quick change module C is by setting up pulling force final quotaion 16，Pulling force final quotaion 16 and pull bar 19 is made to form screw pair，Broaching tool and pine cutter is completed by this screw pair，When broaching tool process main shaft 12 forward starts，Handle of a knife 25 is fixed on transfixion on pedestal，Pull bar 19 is coordinated by square opening with blind rivet 24、Geo-stationary and there is certain resistance moment，Main shaft 12 slowly runs，Pulling force final quotaion 16 is transferred torque to by power transmission flat key 18，Existence because of screw thread pair，Pull bar 19 produces axial displacement，Pull bar 19 moves so that pulling claw 23 shrinks tension blind rivet 24，The conical surface (using 7:24 tapering in the present embodiment) that blind rivet 24 moves axially therewith so that handle of a knife 25 and interface is adjacent to produce deformation，The conical surface produces bigger pressure and makes can transmit between main shaft 12 and handle of a knife 25 cutting moment after being adjacent to deformation；During pine cutter process main shaft 12 reverse starting, handle of a knife 25 is fixed on transfixion on pedestal, pull bar 19 is coordinated by square opening with blind rivet 24, geo-stationary and have certain resistance moment, main shaft 12 low-speed reverse rotates, reverse torque is transmitted to pulling force final quotaion 16 by power transmission flat key 18, existence because of screw thread pair, pull bar 19 produces the most axially displacement, and produce axial thrust the conical surface is disengaged, the most axially displacement of pull bar 19 simultaneously makes elastic ring 22 shrink, drive pulling claw 23 to open thus unclamp blind rivet 24 and handle of a knife 25 is departed from.Knife quick change module C uses purely mechanic form to achieve broaching tool and pine cutter, it is not necessary to arranging hydraulic pressure knife striking cylinder, simple in construction, volume is little, it is adaptable to robot platform, improves the suitability, low cost.
Handle of a knife 25 is identical with the rotation direction of pulling force final quotaion 16 helix with the rotation direction of blind rivet 24 helix and pull bar 19, and during to ensure one power transmission, another cannot come off, and during broaching tool, the rotation direction of main shaft 12 should coordinate the rotation direction of two screw pairs.Owing to having bigger axial tension during broaching tool, so part (blind rivet 24, pulling claw 23, pull bar 19 and pulling force final quotaion 16) material type selecting is 40Cr, it is ensured that the intensity of broaching tool process and surface quality requirements.
As shown in Fig. 3, Fig. 7 and Fig. 9, in the present embodiment, 4 power transmission flat keys 18 are uniformly distributed between main shaft 12 and pulling force final quotaion 16, power transmission flat key 18 and power transmission flat key 18 groove on main shaft 12 inwall and the power transmission flat key 18 groove matched in clearance on pulling force final quotaion 16 outer wall, the degree of depth of power transmission flat key 18 groove on main shaft 12 inwall is not less than the height of power transmission flat key 18, and the degree of depth of power transmission flat key 18 groove on pulling force final quotaion 16 outer wall is less than the height of power transmission flat key 18.
Broaching tool and the power same cutting the same main shaft 12 that is directed to of power of pine cutter process, so will produce a kind of defect, and i.e. when formal machining, main shaft 12 is reversely processed and just be may be such that pull bar 19 screws out and causes coming off of handle of a knife 25.nullBy several power transmission flat keys 18 and main shaft 12 and pulling force final quotaion 16 matched in clearance，This defect can be overcome，During broaching tool, handle of a knife 25 is fixed in tool magazine，Main shaft 12 slowly runs，Power transmission flat key 18 is close to pulling force final quotaion 16 and main shaft 12 tangent plane，Make to produce a pair resistance moment between screw pair and make pull bar 19 screw in and strained by handle of a knife 25，Then handle of a knife 25 is deviate from from tool magazine，Before processing，Main shaft 12 can be in fast idle state，Now main shaft 12 drives it to rotate by conical surface transmission moment to handle of a knife 25，Not power transmission at power transmission flat key 18 groove，So power transmission flat key 18 can be dumped in main shaft 12 body because of high speed centrifugation，So that pulling force final quotaion 16 disengages with main shaft 12，Accordingly even when there is shock loading to make handle of a knife 25 circumference play screw pair also will not be made to screw out and make broach force reduce or be released by handle of a knife 25 what is more；During pine cutter, handle of a knife 25 is fixed in tool magazine, main shaft 12 slowly runs, because the circumferential play in main shaft 12 course of processing can make main shaft 12 power transmission flat key 18 groove produce circumferential misalignment with pulling force final quotaion 16 power transmission flat key 18 groove, originally main shaft 12 can rotate around fixed pulling force final quotaion 16, after power transmission flat key 18 groove aligns, power transmission flat key 18 can again be close to pulling force final quotaion 16 and main shaft 12 tangent plane and transmit moment, so that produce resistance moment between pull bar 19 and pulling force final quotaion 16, pull bar 19 is produced by screw pair and moves axially and released by handle of a knife 25, then pulling claw 23 opens handle of a knife 25 and comes off, so far pine cutter process is completed.Main shaft 12 and the special connection design of pulling force final quotaion 16, ensure that in the course of processing, handle of a knife 25 conical surface bears main cutting moment, the unsettled resistance moments that will not produce of parts such as the blind rivet 24 of guarantee handle of a knife 25 conical surface rear end and pull bar 19, the axial position assurance broach force of pull bar 19 simultaneously, achieve broaching tool when main shaft 12 low speed rotates forward, pine cutter during low speed and reverse, then can normal machining during high-speed rotation.
As shown in Fig. 3, Fig. 6 and Fig. 7, in the present embodiment, being cased with the second disc spring 21 of compression, second disc spring 21 one end and pulling force final quotaion 16 end contact on pull bar 19, power transmission flat key 18 groove on pulling force final quotaion 16 is open slot and opening is located on the end face contacted with the second disc spring 21.
During broaching tool, handle of a knife 25 is fixed in tool magazine, and main shaft 12 slowly runs, and power transmission flat key 18 is close to pulling force final quotaion 16 and main shaft 12 tangent plane because the second disc spring 21 acts on so that produces a pair resistance moment between screw pair and makes pull bar 19 screw in and strained by handle of a knife 25；During pine cutter, handle of a knife 25 is fixed in tool magazine, main shaft 12 slowly runs, because the circumferential play in main shaft 12 course of processing can make main shaft 12 power transmission flat key 18 groove produce circumferential misalignment with pulling force final quotaion 16 power transmission flat key 18 groove, originally main shaft 12 can rotate around fixed pulling force final quotaion 16, after power transmission flat key 18 groove aligns, power transmission flat key 18 can be because the second disc spring 21 acts on and is again close to pulling force final quotaion 16 and electro spindle 12 tangent plane and transmits moment, and the second disc spring 21 serves the effect of compression to power transmission flat key 18.
As shown in Fig. 3, Fig. 6 and Fig. 7, in the present embodiment, pulling force final quotaion 16 is provided with flange, the both sides of flange are cased with bearing (thrust ball bearing 17) respectively, wherein, one bearing (thrust ball bearing 17) is axially positioned by main shaft 12, and another bearing (thrust ball bearing 17) is axially positioned by rear end cap 13, and one end of pulling force final quotaion 16 is supported on rear end cap 13.Pulling force final quotaion 16 is axially positioned by main shaft 12, bearing (thrust ball bearing 17) and rear end cap 13.
As shown in Fig. 3, Fig. 8 and Fig. 9, in the present embodiment, main shaft module B includes shell 10 and the main shaft 12 being located in shell 10, rotor coil 9 and stator coil 11, stator coil 11 is fixed on shell 10, rotor coil 9 is fixed on electro spindle 12, being provided with bearing (deep groove ball bearing 8) between main shaft 12 and shell 10, shell 10 outer wall is provided with mounting interface 28.Main shaft module B uses the form of electro spindle 12, compares traditional servomotor, simple in construction, and volume is little, it is adaptable to robot platform, improves the suitability.Directly mounting interface 28 is set on shell 10, it is simple to and robot docking.
As shown in Figure 3 and Figure 9, in the present embodiment, the encoder 14 for surveying main shaft 12 speed it is provided with in shell 10.Main shaft 12 is tested the speed by encoder 14, thus reaches the purpose of closed loop control.
It should be appreciated that for those of ordinary skills, can be improved according to the above description or be converted, and all these modifications and variations all should be belonged to the protection domain of claims of the present invention.
Claims (8)
1. the floating quick-changing type end-effector being applicable to deburring, including floating strike price module, main shaft module and knife quick change module, it is characterized in that: floating strike price module includes cutter, chuck, end cap and handle of a knife, end cap one end is connected fixing with handle of a knife, chuck front end passes the end cap other end, rear end is positioned at cover internal, cutter is fixed on chuck front end, it is connected by being cased with the power transmission pin of resilient sleeve between chuck with handle of a knife, chuck rear end is cased with dust ring and the first disc spring, what dust ring compressed is located between chuck flange and end cap and is blocked by end cap opening, being located between chuck flange and handle of a knife of first disc spring pressing.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 1, it is characterised in that: end cap is threaded connection with handle of a knife.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 1, it is characterized in that: knife quick change module includes pulling force final quotaion and the blind rivet being located in spindle hole, pulling claw and pull bar, handle of a knife connects end and is located in main shaft interface, blind rivet one end is threaded connection with handle of a knife, the other end is provided with square opening, pull bar one end coordinates with the square opening of blind rivet, the other end is threaded connection with pulling force final quotaion, pulling force final quotaion is axially positioned and is connected by power transmission flat key with main shaft, pulling claw is enclosed within the junction of blind rivet and pull bar, elastic ring it is cased with on pulling claw, the fixing end of pulling claw is stuck in the groove on pull bar, movable end can be stuck in the groove on blind rivet when shrinking.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 3, it is characterized in that: several power transmission flat keys are uniformly distributed between main shaft and pulling force final quotaion, power transmission flat key and the power transmission flat key groove on main shaft inwall and the power transmission flat key groove matched in clearance on pulling force final quotaion outer wall, the degree of depth of the power transmission flat key groove on main shaft inwall is not less than the height of power transmission flat key, and the degree of depth of the power transmission flat key groove on pulling force final quotaion outer wall is less than the height of power transmission flat key.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 4, it is characterized in that: on pull bar, be cased with the second disc spring of compression, second disc spring one end and pulling force final quotaion end contact, the power transmission flat key groove on pulling force final quotaion is open slot and opening is located on the end face contacted with the second disc spring.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 3, it is characterized in that: pulling force final quotaion is provided with flange, the both sides of flange are cased with bearing respectively, wherein, one bearing is axially positioned by main shaft, another bearing is axially positioned by rear end cap, and one end of pulling force final quotaion is supported on rear end cap.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 1, it is characterized in that: main shaft module includes shell and sets main shaft in the enclosure, rotor coil and stator coil, stator coil is fixed on shell, rotor coil is fixed on electro spindle, being provided with bearing between main shaft and shell, outer shell outer wall is provided with mounting interface.
It is applicable to the floating quick-changing type end-effector of deburring the most as claimed in claim 7, it is characterised in that: it is provided with the encoder for surveying spindle speed in shell.
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| CN201610400158.7A CN105965516B (en) | 2016-06-08 | 2016-06-08 | Floating quick-changing type end-effector suitable for deburring |
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| CN201610400158.7A CN105965516B (en) | 2016-06-08 | 2016-06-08 | Floating quick-changing type end-effector suitable for deburring |
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| CN105965516B CN105965516B (en) | 2018-10-09 |
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| CN106182034A (en) * | 2016-08-26 | 2016-12-07 | 浙江万丰科技开发股份有限公司 | Robot imitates gesture deburring tool |
| CN106881615A (en) * | 2017-04-11 | 2017-06-23 | 台州北平机床有限公司 | Floating clamp |
| CN107081460A (en) * | 2017-06-06 | 2017-08-22 | 上汽通用五菱汽车股份有限公司 | A kind of deburrer |
| CN107363602A (en) * | 2017-08-10 | 2017-11-21 | 朱明� | A kind of gun turret milling machine quick change handle of a knife system |
| CN107661987A (en) * | 2017-10-09 | 2018-02-06 | 广州市昊志机电股份有限公司 | Main axle structure |
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| CN106182034A (en) * | 2016-08-26 | 2016-12-07 | 浙江万丰科技开发股份有限公司 | Robot imitates gesture deburring tool |
| CN106182034B (en) * | 2016-08-26 | 2018-06-29 | 浙江万丰科技开发股份有限公司 | Robot imitates gesture deburring tool |
| CN106881615A (en) * | 2017-04-11 | 2017-06-23 | 台州北平机床有限公司 | Floating clamp |
| CN107081460A (en) * | 2017-06-06 | 2017-08-22 | 上汽通用五菱汽车股份有限公司 | A kind of deburrer |
| CN107363602A (en) * | 2017-08-10 | 2017-11-21 | 朱明� | A kind of gun turret milling machine quick change handle of a knife system |
| CN107661987A (en) * | 2017-10-09 | 2018-02-06 | 广州市昊志机电股份有限公司 | Main axle structure |
| CN107661987B (en) * | 2017-10-09 | 2023-12-12 | 广州市昊志机电股份有限公司 | Main shaft structure |
| CN108098757A (en) * | 2018-02-01 | 2018-06-01 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
| CN108098757B (en) * | 2018-02-01 | 2024-04-02 | 深圳市兆威机电股份有限公司 | Flexible self-positioning mechanism and manipulator |
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| CN109015359A (en) * | 2018-08-03 | 2018-12-18 | 上海锐铎自动化有限公司 | A kind of radial floating quick change grinding head main shaft for deburring |
| CN109623422A (en) * | 2019-01-17 | 2019-04-16 | 湖南南方机床有限公司 | A kind of broaching tool knife handle component |
| CN109623422B (en) * | 2019-01-17 | 2024-03-22 | 湖南南方机床有限公司 | Broach handle of a knife subassembly |
| CN109940551A (en) * | 2019-03-21 | 2019-06-28 | 大族激光科技产业集团股份有限公司 | The method for dismounting of fixed plate and the knife handle pulling claw based on fixed plate |
| CN113134745A (en) * | 2020-01-17 | 2021-07-20 | 寅翊智造股份有限公司 | Clamping device |
| CN111843505A (en) * | 2020-07-16 | 2020-10-30 | 武汉数字化设计与制造创新中心有限公司 | In-situ measurement-milling and repairing integrated process method and system for field robot |
| CN111843505B (en) * | 2020-07-16 | 2022-04-01 | 武汉数字化设计与制造创新中心有限公司 | In-situ measurement-milling and repairing integrated process method and system for field robot |
| CN112040652A (en) * | 2020-08-24 | 2020-12-04 | 胜宏科技（惠州）股份有限公司 | Forming method for improving PTH half-hole burrs |
| CN112040652B (en) * | 2020-08-24 | 2024-01-30 | 胜宏科技（惠州）股份有限公司 | Forming method for improving burrs of PTH half holes |
| CN113400242A (en) * | 2021-06-17 | 2021-09-17 | 深圳市日野精密科技有限公司 | Machine tool spindle pull claw installation tool and use method thereof |
| CN113600883A (en) * | 2021-08-11 | 2021-11-05 | 赵信冬 | Floating knife handle |
| CN113579778A (en) * | 2021-08-23 | 2021-11-02 | 北京德铭纳精密机械有限公司 | Blind rivet tension device with hole blade |
| CN113681321B (en) * | 2021-08-31 | 2022-09-06 | 河北力准机械制造有限公司 | Cutter handle rotary flat-floating clamping mechanism |
| CN113681321A (en) * | 2021-08-31 | 2021-11-23 | 河北力准机械制造有限公司 | Cutter handle rotary flat-floating clamping mechanism |
| CN114161196A (en) * | 2021-12-10 | 2022-03-11 | 河南航天液压气动技术有限公司 | Novel quick-change tool structure for numerically controlled lathe |
| WO2024090281A1 (en) * | 2022-10-28 | 2024-05-02 | Dmg Mori Co., Ltd. | Device for machine tool, method for manufacturing device for machine tool, and machine tool |
| CN116673544A (en) * | 2023-07-28 | 2023-09-01 | 南通盛联威装备科技有限公司 | Heavy-load composite broach mechanism |
| CN116673544B (en) * | 2023-07-28 | 2023-11-10 | 南通盛联威装备科技有限公司 | Heavy-load composite broach mechanism |
| CN116728443A (en) * | 2023-08-08 | 2023-09-12 | 成都飞机工业（集团）有限责任公司 | Multifunctional knife handle grabbing device and application method thereof |
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Effective date of registration: 20201016 Address after: No.2288, Shangyu District, Shaoxing City, Zhejiang Province Patentee after: Shaoxing Shangyu District Institute of Technology Address before: 430070 Hubei Province, Wuhan city Hongshan District Luoshi Road No. 122 Patentee before: WUHAN University OF TECHNOLOGY |