CN109249226B

CN109249226B - Rotary workbench of numerical control milling machine

Info

Publication number: CN109249226B
Application number: CN201811326542.2A
Authority: CN
Inventors: 刘世豪; 牛魁; 张锋斌; 张雄彦; 杜彦斌
Original assignee: Hainan University
Current assignee: Hainan University
Priority date: 2018-11-08
Filing date: 2018-11-08
Publication date: 2023-09-12
Anticipated expiration: 2038-11-08
Also published as: CN109249226A

Abstract

The invention discloses a rotary workbench of a numerical control milling machine, which belongs to the technical field of machine tool processing equipment and comprises a rotary mechanism, a clamping mechanism, a driving mechanism and a base. The rotating mechanism realizes intermittent rotation of the platform through translation of the sliding seat, the clamping mechanism is used for clamping the rotating platform and guaranteeing machining rigidity, the driving mechanism is used for driving the rotating mechanism to linearly reciprocate and providing clamping force for the clamping mechanism, and the base is used for bearing the rotating mechanism, the clamping mechanism and the driving mechanism. The invention designs a rotary workbench of a numerical control milling machine aiming at the problems that the disassembly of a workpiece is time-consuming and labor-consuming and the disassembly and the machining are required to be independently carried out during the numerical control milling operation, has the characteristics of compact structure, low cost, single power source, rapid positioning, convenient disassembly and synchronous disassembly and machining, is matched with the assembly line operation, and utilizes a mechanical arm to disassemble and assemble the workpiece, thereby remarkably improving the machining efficiency.

Description

Rotary workbench of numerical control milling machine

Technical Field

The invention relates to a platform for machine tool machining, in particular to a rotary workbench of a numerical control milling machine, and belongs to the technical field of machine tool machining equipment.

Background

In the technical field of machine tool processing, the rotary platform is widely used. The rotary operation platform is used for pulling the gear at the bottom of the platform through the pulling gear to rotate, and the rotary operation platform can rapidly realize the rotation of a workpiece so as to facilitate mechanical processing. However, if the workpiece is required to be disassembled conveniently and the machining and the disassembly are performed synchronously, the radial dimension of the rotary platform is usually larger, and the rotary platform is usually heavier to ensure the rigidity, which is not beneficial to saving the cost and the space resource.

Disclosure of Invention

In order to ensure that the workpiece is convenient to detach, quick to position and synchronous to detach and process during matched assembly line work, the invention designs a rotary workbench of a numerical control milling machine, and the processing efficiency is remarkably improved.

The invention provides a rotary workbench of a numerical control milling machine, which comprises a rotary mechanism 1, a clamping mechanism 2, a driving mechanism 3 and a base 4.

In the rotary workbench of the numerical control milling machine, the rotary mechanism 1 comprises a sliding seat 11, a synchronous belt mechanism 12, a planetary gear train 13, a platform B14, a straight frame 15 and a platform A16; the synchronous belt mechanism 12 comprises a synchronous belt 121, a synchronous wheel A137, a synchronous wheel B122, a connecting shaft 123, a deep groove ball bearing 124, a one-way bearing 125, a shaft end gland 126 and a driving gear 127; the planetary gear train 13 comprises an output gear a131, an output shaft a132, an intermediate gear a133, an intermediate shaft a134, a fixed gear 135, a fixed shaft 136, a synchronous wheel a137, a left baffle 138, an intermediate shaft B139, an intermediate gear B1310, an output shaft B1311, an output gear B1312 and a right baffle 1313; the carriage 15 includes a carriage plate 151, a support shaft a152, a support fixing shaft 153, and a support shaft B154.

In the rotary table of the numerically controlled milling machine, the tightening mechanism 2 includes a hinge seat a22, a hinge seat B21, a torsion spring 23, a short link a24, a short link B25, a force-receiving rod 26, a long link a27, a long link B28, and a pressing plate 29.

In the above-mentioned numerically controlled fraise machine swivel work head, the said actuating mechanism 3 includes spring holder 31, compression spring A32, compression spring B33, spring holder end cover 34, push-pull rod 35, guide block 36, transition plate 37, slide block 38, ball screw 39, reduction gearbox 310, stepping motor 311, linear slide rail 312.

In the rotary table of the numerically controlled milling machine, the base 4 includes a lower stopper a41, a buffer adhesive 42, a right slider a43, a right slider B44, a rack 45, a right guide rail 46, a bottom plate 47, an upper stopper 48, a left guide rail 49, a left slider B410, a left slider a411, a lower stopper B412, a positioning support plate 413, and a positioning plate 414.

In the rotary workbench of the numerical control milling machine, the synchronous belt mechanism 12 is connected with the sliding seat 11 through the deep groove ball bearing 124, the outer ring of the deep groove ball bearing 124 is axially fixed through the hole shoulder and the hole spring retainer ring of the sliding seat 11, the inner ring of the deep groove ball bearing 124 is axially fixed through the shaft shoulder and the shaft spring retainer ring of the connecting shaft 123, one end of the connecting shaft 123 is connected with the inner ring of the one-way bearing 125 through a key, the inner ring of the one-way bearing 125 is axially fixed through the shaft shoulder and the shaft end gland 126 of the connecting shaft 123, the outer ring of the one-way bearing 125 is connected with the driving gear 127 through a key, the outer ring of the one-way bearing 125 is axially fixed through the driving gear 127 Kong Jian and the hole spring retainer ring, the other end of the connecting shaft 123 is axially fixed with the synchronizing wheel B122 through the shaft shoulder and the shaft end gland of the connecting shaft, and the synchronizing wheel B122 and the synchronizing wheel A137 transmit motion and torque through the synchronous belt 121.

In the numerical control milling machine rotary working table, the planetary gear train 13 is in interference fit with the slide seat 11 through the fixed shaft 136 and is fixed through an internal thread cylindrical pin, the fixed shaft 136 is connected with the fixed gear 135 through keys, the fixed gear 135 is axially fixed through a shaft shoulder and a sleeve of the fixed shaft 136, the fixed shaft 136 is connected with the left baffle 138 through a bearing, the bearing outer ring is axially fixed through a hole shoulder and a hole of the left baffle 138, the fixed shaft 136 is connected with the right baffle 1313 through a bearing, the bearing inner ring is axially fixed through a sleeve and a hole of the spring baffle, the bearing outer ring is axially fixed through a hole shoulder and a hole of the right baffle 1313, the fixed gear 135 is meshed with the intermediate gear B1310, the intermediate gear B1310 is connected with the intermediate gear B139 through keys, the intermediate gear B139 is axially fixed through a shaft shoulder and a sleeve of the intermediate gear B139, the intermediate gear B139 is connected with the left baffle 138 through a bearing, the bearing inner ring is axially fixed through a hole and a hole of the left baffle 138, the intermediate gear B139 is axially fixed through a hole and a hole of the spring baffle, the intermediate gear B is axially fixed through a sleeve of the left baffle 138, the intermediate gear B139 is axially fixed through a hole of the sleeve of the left baffle 138, the output shaft B is axially fixed through a hole of the sleeve of the hole of the left baffle 3 and a hole of the spring baffle, the output shaft B is axially fixed through a hole of the output shaft B1, the output shaft is axially fixed through a hole of the output shaft B1, the output shaft is axially through a hole of the output shaft 1, the output shaft is axially is fixed through a hole of the output shaft is axially through a hole of the output shaft 1, and the output shaft is a gear is axially is fixed through the output shaft 1, and the output shaft is, the bearing inner ring is axially fixed through a sleeve and a shaft spring retainer ring, the bearing outer ring is axially fixed through a right baffle 1313 hole shoulder and a hole spring retainer ring, the assembly relation of an output gear A131, an output shaft A132, an intermediate gear A133 and an intermediate shaft A134 is the same as that of an output gear B1312, an output shaft B1311, an intermediate gear B1310 and an intermediate shaft B139, and a synchronous wheel A137 is fixedly connected with a left baffle 138 through bolts.

In the rotary workbench of the numerically controlled milling machine, the linear frame 15 is in interference fit with the sliding seat 11 through the supporting fixed shaft 153 and is fixed through the internal thread cylindrical pin, the supporting fixed shaft 153 is connected with the linear plate 151 through a bearing, the bearing inner ring is axially fixed through the shaft shoulder of the supporting fixed shaft 153 and the spring retainer ring for the shaft, the bearing outer ring is axially fixed through the hole shoulder of the linear plate 151 and the spring retainer ring for the hole, the supporting shaft B154 is connected with the linear plate 151 through a bearing, the bearing inner ring is axially fixed through the shaft shoulder of the supporting shaft B154 and the spring retainer ring for the shaft, the bearing outer ring is axially fixed through the hole shoulder of the linear plate 151 and the spring retainer ring for the hole, and the assembly mode of the supporting shaft A152 is the same as that of the supporting shaft B154; platform B14 is interference fit and connected by cylindrical pins to output shaft B1311 and support shaft B154, and platform a16 is interference fit and connected by cylindrical pins to output shaft a132 and support shaft a 152.

In the rotary workbench of the numerical control milling machine, the hinge seat A22 and the hinge seat B21 are arranged in parallel and fixedly connected with the bottom plate 47, the hinge seat A22 is connected with the short connecting rod A24 through a revolute pair, the torsional spring 23 is arranged at the revolute pair, the short connecting rod A24 is connected with the stress rod 26 and the long connecting rod A27 through the revolute pair to form a composite revolute pair, the long connecting rod A27 is connected with the pressing plate 29 through the revolute pair, the hinge seat B21, the short connecting rod B25 and the long connecting rod B28 are identical in assembly mode with the hinge seat A22, the short connecting rod A24 and the long connecting rod A27, and the short connecting rod B25 and the short connecting rod A24, the long connecting rod B28 and the long connecting rod A27 are arranged in parallel.

In the rotary workbench of the numerical control milling machine, the driving mechanism 3 is fixedly connected with the bottom plate 47 through the linear sliding rail 312 and is fixedly connected with the sliding seat 11 through the spring seat 31, the stepping motor 311 is fixedly connected with the reduction gearbox 310, the output shaft of the reduction gearbox 310 is connected with the ball screw 39 through the coupler, the ball screw 39 is connected with the sliding block 38 through the nut seat, the sliding block 38 is fixedly connected with the transition plate 37, the transition plate 37 is fixedly connected with the force guide block 36, the force guide block 36 is in interference fit with the push-pull rod 35 and is connected with the push-pull rod 35 through the cylindrical pin, the shaft end of the push-pull rod 35 is provided with a shaft shoulder, two sides of the shaft shoulder are respectively connected with the compression spring A32 and the compression spring B33, the spring seat 31 is used for fixing the compression spring A32 and the compression spring B33 in the cavity through the spring seat end cover 34, and the push-pull rod 35 is in clearance fit with the spring seat end cover 34.

In the above-mentioned numerically controlled fraise machine swivel work head, lower stopper a41, rack 45, right guide rail 46, go up stopper 48, left guide rail 49, lower stopper B412, location backup pad 413 all are fixed on bottom plate 47, lower stopper a41, lower stopper B412, go up stopper 48 and all be fixed with cushion gum 42, right slider a43, right slider B44, right guide rail 46 and left slider a411, left slider B410, left guide rail 49 parallel arrangement, right slider a43, right slider B44, left slider a411, left slider B410 links firmly with slide 11, locating plate 414 links firmly with location backup pad 413.

In the rotary workbench of the numerically controlled milling machine, when the rotary mechanism 1 slides forward along the right guide rail 46 and the left guide rail 49 (far away from the direction of the tightening mechanism 2), the rotary mechanism 1 keeps the original state smooth, when the platform A16 leaves the tightening mechanism 2, the driving gear 127 is meshed with the rack 45, the driving gear 127 drives the synchronizing wheel B122 to rotate under the action of the one-way bearing 125, the synchronizing wheel B122 drives the synchronizing wheel A137 to rotate, the synchronizing wheel A137 is fixedly connected with the planetary gear train 13, the planetary gear train 13 drives the platform B14 and the platform A16 to rotate 180 degrees around the fixed shaft 136, the platform B14 and the platform A16 exchange positions, and the platform B14 and the platform A16 do not rotate by themselves only relative to the ground translation when rotating around the fixed shaft 136; when the rotating mechanism 1 slides reversely along the right guide rail 46 and the left guide rail 49, the driving gear 127 is meshed with the rack 45, the driving gear 127 does not drive the synchronous wheel B122 to rotate under the action of the unidirectional bearing 125, and the rotating mechanism 1 keeps the state of the platform B14 and the platform A16 after the positions are interchanged smooth to the initial position; t-shaped grooves are formed in the platform B14 and the platform A16, so that the clamp can be conveniently installed, grooves reserved for the pressing plates 29 are formed in the two corners of the platform B14 and the platform A16, the clamping is convenient, and the platform is high, so that interference with a workpiece is avoided.

In the rotary workbench of the numerical control milling machine, the clamping mechanism 2 belongs to a parallelogram mechanism, so that the pressing plate 29 is ensured to provide clamping force in the vertical direction; the torsion spring 23 ensures that the short link a24, the short link B25, the long link a27, the long link B28 are perpendicular to the bottom plate 47, i.e. the platen 29 is away from the platform a16 or the platform B14 when the force bar 26 is not being forced.

In the rotary workbench of the numerical control milling machine, the driving mechanism 3 uses the ball screw 39, and has the advantages of small friction loss, high transmission efficiency and long service life; when the sliding seat 11 is pushed and pulled by the push-pull rod 35, the compression spring A32 and the compression spring B33 eliminate the starting impact and the reversing impact of the push-pull rod 35 on the sliding seat 11; before the force-guiding block 36 acts on the force-bearing rod 26, the sliding seat 11 and the platform A16 or the platform B14 stop moving, and when the force-guiding block 36 acts on the force-bearing rod 26, the compression spring B33 provides axial displacement compensation for the push-pull rod 35.

In the rotary workbench of the numerically controlled milling machine, the positioning plate 414 is used for positioning the platform A16 or the platform B14, in order to prevent the platform A16 or the platform B14 from colliding when sliding the positioning plate 414, a large chamfer is formed on the positioning plate 414, and in order to ensure the horizontal positioning of the platform, the positioning plate 414 is provided with a positioning boss.

The rotary workbench of the numerical control milling machine has the advantages of compact structure, low cost, single power source, rapid positioning, convenient disassembly and synchronous disassembly and machining, and has the following beneficial effects: when a workpiece is machined on the platform B, the other platform A is far away from the main shaft, the workpiece on the platform A is more convenient to assemble and disassemble, the rotary workbench can realize the workpiece machining on the platform B and the workpiece assembling and disassembling on the platform A to be synchronously carried out, after the workpiece machining on the platform B is finished, the position interchange of the platform A and the platform B can be realized through the rotary workbench, and in the position interchange process of the platform A and the platform B, the platform A, B only translates relative to the ground and does not rotate, so that the operation is circulated, the time can be saved, and particularly when the mechanical arm is matched with the assembly line to work, the workpiece on the workbench far away from the main shaft is disassembled and assembled, so that the work efficiency can be remarkably improved.

Drawings

Fig. 1 is a schematic diagram of the overall structure of the present invention.

Fig. 2 is a schematic view of a rotary mechanism according to the present invention.

Fig. 3 is a cross-sectional view of the planetary gear train of the present invention.

Fig. 4 is a cross-sectional view of the in-line shelf of the present invention.

Fig. 5 is a schematic view of a synchronous belt mechanism according to the present invention.

FIG. 6 is a schematic view of the tightening mechanism of the present invention.

Fig. 7 is a schematic view of a driving mechanism according to the present invention.

Fig. 8 is a schematic view of a base of the present invention.

The meaning of each serial number of the drawings is: 1. a rotation mechanism; 2. a clamping mechanism; 3. a driving mechanism; 4. a base; 11. a slide; 12. a synchronous belt mechanism; 13. a planetary gear train; 14. a platform B; 15. a character frame; 16. a platform A; 121. a synchronous belt; 122. a synchronizing wheel B; 123. a connecting shaft; 124. deep groove ball bearings; 125. a one-way bearing; 126. shaft end gland; 127. a drive gear; 131. an output gear A; 132. an output shaft A; 133. an intermediate gear A; 134. an intermediate shaft A; 135. a fixed gear; 136. a fixed shaft; 137. a synchronizing wheel A; 138. a left baffle; 139. an intermediate shaft B; 1310. an intermediate gear B; 1311. an output shaft B; 1312. an output gear B; 1313. a right baffle; 151. a character plate; 152. a support shaft A; 153. supporting a fixed shaft; 154. a support shaft B; 21. a hinge base B; 22. a hinge base A; 23. a torsion spring; 24. a short connecting rod A; 25. a short connecting rod B; 26. a force-bearing rod; 27. a long connecting rod A; 28. a long connecting rod B; 29. a pressing plate; 31. a spring seat; 32. compressing the spring A; 33. a compression spring B; 34. a spring seat end cap; 35. a push-pull rod; 36. a force guide block; 37. a transition plate; 38. a slide block; 39. a ball screw; 310. a reduction gearbox; 311. a stepping motor; 312. a linear slide rail; 41. a lower limiting block A; 42. buffer glue; 43. a right slider A; 44. a right slider B; 45. a rack; 46. a right guide rail; 47. a bottom plate; 48. an upper limiting block; 49. a left guide rail; 410. a left slider B; 411. a left slider A; 412. a lower limiting block B; 413. positioning a supporting plate; 414. and (5) positioning the plate.

Detailed Description

In order to facilitate understanding of the technical means, working procedures and structural functions achieved by the present invention, specific embodiments thereof will be further described with reference to the accompanying drawings.

Referring to fig. 1, the rotary mechanism 1 makes a linear reciprocating motion under the action of the driving mechanism 3, and the first step is: the force guide block 36 is separated from the force bearing rod 26, the clamping mechanism 2 is restored under the action of the torsion spring 23, the pressing plate 29 releases the platform A16, and the compression spring B is restored to the original length; and a second step of: the slide 11 slides forward (away from the direction of the tightening mechanism 2) a certain distance, and the platform a16 leaves the positioning plate 414; and a third step of: the sliding seat 11 continues to slide forward, the driving gear 127 is meshed with the rack 45, the platform A16 and the platform B14 rotate 180 degrees around the fixed shaft 136, the platform A16 and the platform B14 exchange positions, and the sliding seat 11 is contacted with the upper limiting block 48; fourth step: the sliding seat 11 slides reversely (approaches to the direction of the clamping mechanism 2), the driving gear 127 is meshed with the rack 45, the state of the platform A16 and the platform B14 after the exchange position is kept unchanged under the action of the unidirectional bearing 125, the platform B14 slides onto the positioning plate 414 to be contacted with the positioning boss of the positioning plate 414, and meanwhile, the sliding seat 11 is contacted with the lower limiting block B412 and the lower limiting block A41; fifth step: the force guide block 36 is close to the force receiving rod 26, the clamping mechanism 2 works under the action of the force receiving rod 26, the pressing plate 29 moves downwards in the vertical direction to clamp the platform B14, and the compression spring B is compressed. When the workpiece on the platform A16 is machined, the machined workpiece on the platform B14 is disassembled and is assembled with the workpiece to be machined, after the workpiece on the platform A16 is machined, the platform A16 and the platform B14 are quickly interchanged in position through the actions, the platform B14 is quickly positioned to enter a machining state, and particularly when the mechanical arm is matched with a production line to work, the workpiece is disassembled and assembled, so that the working efficiency can be remarkably improved.

Referring to fig. 2, when the rotating mechanism 1 slides forward along the right guide rail 46 and the left guide rail 49 (far from the direction of the tightening mechanism 2), the rotating mechanism 1 keeps the original state smooth, when the platform a16 leaves the tightening mechanism 2, the driving gear 127 is meshed with the rack 45, the driving gear 127 drives the synchronizing wheel B122 to rotate under the action of the unidirectional bearing 125, the synchronizing wheel B122 drives the synchronizing wheel a137 to rotate, the synchronizing wheel a137 is fixedly connected with the planetary gear train 13, the planetary gear train 13 drives the platform B14 and the platform a16 to rotate 180 degrees around the fixed shaft 136, the platform B14 and the platform a16 exchange positions, and the platform B14 and the platform a16 do not rotate by themselves and only translate relative to the ground when rotating around the fixed shaft 136; when the rotating mechanism 1 slides reversely along the right guide rail 46 and the left guide rail 49, the driving gear 127 is meshed with the rack 45, the driving gear 127 does not drive the synchronous wheel B122 to rotate under the action of the unidirectional bearing 125, and the rotating mechanism 1 keeps the state of the platform B14 and the platform A16 after the positions are interchanged smooth to the initial position; t-shaped grooves are formed in the platform B14 and the platform A16, so that the clamp can be conveniently installed, grooves reserved for the pressing plates 29 are formed in the two corners of the platform B14 and the platform A16, the clamping is convenient, and the platform is high, so that interference with a workpiece is avoided.

Referring to fig. 6, the clamping mechanism 2 belongs to a parallelogram mechanism, and ensures that the pressing plate 29 provides clamping force in the vertical direction; the torsion spring 23 ensures that the short link a24, the short link B25, the long link a27, the long link B28 are perpendicular to the bottom plate 47, i.e. the platen 29 is away from the platform a16 or the platform B14 when the force bar 26 is not being forced.

Referring to fig. 7, the driving mechanism 3 uses the ball screw 39, and has the advantages of small friction loss, high transmission efficiency and long service life; when the sliding seat 11 is pushed and pulled by the push-pull rod 35, the compression spring A32 and the compression spring B33 eliminate the starting impact and the reversing impact of the push-pull rod 35 on the sliding seat 11; before the force-guiding block 36 acts on the force-bearing rod 26, the sliding seat 11 and the platform A16 or the platform B14 stop moving, and when the force-guiding block 36 acts on the force-bearing rod 26, the compression spring B33 provides axial displacement compensation for the push-pull rod 35.

Referring to fig. 8, the positioning plate 414 is used for positioning the platform a16 or the platform B14, in order to prevent the platform a16 or the platform B14 from colliding when sliding the positioning plate 414, a large chamfer is formed on the positioning plate 414, and in order to ensure the horizontal positioning of the platform, a positioning boss is arranged on the positioning plate 414.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Furthermore, it should be understood that although the present disclosure describes embodiments, not every embodiment is provided with a separate embodiment, and that this description is provided for clarity only, and that the disclosure is not limited to the embodiments described in detail below, and that the embodiments described in the examples may be combined appropriately to form other embodiments that will be understood by those skilled in the art.

Claims

1. The utility model provides a numerically controlled fraise machine swivel work head, includes rotary mechanism (1), clamping mechanism (2), actuating mechanism (3), base (4), its characterized in that:

the rotating mechanism (1) comprises a sliding seat (11), a synchronous belt mechanism (12), a planetary gear train (13), a platform B (14), a character frame (15) and a platform A (16); the synchronous belt mechanism (12) comprises a synchronous belt (121), a synchronous wheel A (137), a synchronous wheel B (122), a connecting shaft (123), a deep groove ball bearing (124), a one-way bearing (125), a shaft end gland (126) and a driving gear (127); the planetary gear train (13) comprises an output gear A (131), an output shaft A (132), an intermediate gear A (133), an intermediate shaft A (134), a fixed gear (135), a fixed shaft (136), a synchronous wheel A (137), a left baffle plate (138), an intermediate shaft B (139), an intermediate gear B (1310), an output shaft B (1311), an output gear B (1312) and a right baffle plate (1313); the character shelf (15) comprises a character plate (151), a supporting shaft A (152), a supporting fixed shaft (153) and a supporting shaft B (154);

the clamping mechanism (2) comprises a hinge seat A (22), a hinge seat B (21), a torsion spring (23), a short connecting rod A (24), a short connecting rod B (25), a stress rod (26), a long connecting rod A (27), a long connecting rod B (28) and a pressing plate (29);

the driving mechanism (3) comprises a spring seat (31), a compression spring A (32), a compression spring B (33), a spring seat end cover (34), a push-pull rod (35), a force guide block (36), a transition plate (37), a sliding block (38), a ball screw (39), a reduction gearbox (310), a stepping motor (311) and a linear sliding rail (312);

the base (4) comprises a lower limiting block A (41), buffer glue (42), a right sliding block A (43), a right sliding block B (44), a rack (45), a right guide rail (46), a bottom plate (47), an upper limiting block (48), a left guide rail (49), a left sliding block B (410), a left sliding block A (411), a lower limiting block B (412), a positioning support plate (413) and a positioning plate (414);

the synchronous belt mechanism (12) is connected with the sliding seat (11) through a deep groove ball bearing (124), the outer ring of the deep groove ball bearing (124) is axially fixed through a hole shoulder and a hole spring retainer ring of the sliding seat (11), the inner ring of the deep groove ball bearing (124) is axially fixed through a shaft shoulder and a shaft spring retainer ring of a connecting shaft (123), one end of the connecting shaft (123) is connected with the inner ring of a one-way bearing (125) through a key, the inner ring of the one-way bearing (125) is axially fixed through the shaft shoulder and a shaft end gland (126) of the connecting shaft (123), the outer ring of the one-way bearing (125) is connected with a driving gear (127) through a key, the outer ring of the one-way bearing (125) is axially fixed through a hole shoulder and a hole spring retainer ring of the driving gear (127), the other end of the connecting shaft (123) is connected with a synchronous wheel B (122) through a key, and the synchronous wheel B (122) is axially fixed through the shaft shoulder and the shaft end gland of the connecting shaft (123), and the synchronous wheel B (122) transmits motion and torque through a synchronous belt (121);

the planetary gear train (13) is in interference fit with the sliding seat (11) through a fixed shaft (136) and is fixed through an internal thread cylindrical pin, the fixed shaft (136) is connected with a fixed gear (135) through a key, the fixed gear (135) is axially fixed through a shaft shoulder and a sleeve of the fixed shaft (136), the fixed shaft (136) is connected with a left baffle plate (138) through a bearing, an inner ring of the bearing is axially fixed through the shaft shoulder and a spring retainer ring for the shaft of the fixed shaft (136), an outer ring of the bearing is axially fixed through a hole shoulder and a spring retainer ring for the hole of the left baffle plate (138), and the fixed shaft (136) is axially fixed with a right baffle plate (1313)

Through bearing connection, the bearing inner ring is axially fixed through a sleeve and a spring retainer ring for a shaft, the bearing outer ring is axially fixed through a hole shoulder and a spring retainer ring for a hole of a right baffle plate (1313), a fixed gear (135) is meshed with a middle gear B (1310), the middle gear B (1310) is axially fixed through a key with a middle shaft B (139) through a shaft shoulder and a sleeve, the middle shaft B (139) is axially connected with a left baffle plate (138) through a bearing, the bearing outer ring is axially fixed through a shaft shoulder and a spring retainer ring for a shaft of the middle shaft B (139), the bearing inner ring is axially fixed through a sleeve and a spring retainer ring for a shaft of the right baffle plate (1313), the bearing outer ring is axially fixed through a hole shoulder and a spring retainer ring for a right baffle plate (1313), the middle gear B (1310) is meshed with an output gear B (1312), the output gear B (1312) is axially connected with the output shaft B (1311) through a key, the output gear B (1312) is axially fixed through a shaft B (1) and a shaft shoulder and a spring retainer ring for a shaft of the left baffle plate (1311), the bearing outer ring is axially fixed through a shaft shoulder and a shaft B (1311) and a spring retainer ring for a shaft of the shaft (1311) through a shaft shoulder and a spring retainer ring for a shaft of the bearing shaft (1311), the output shaft B (1311) is connected with the right baffle (1313) through a bearing, the bearing inner ring is axially fixed through a sleeve and a shaft spring retainer ring, the bearing outer ring is axially fixed through a hole shoulder and a hole spring retainer ring of the right baffle (1313), the output gear A (131), the output shaft A (132), the intermediate gear A (133) and the intermediate shaft A (134) are assembled in the same relation as the output gear B (1312), the output shaft B (1311), the intermediate gear B (1310) and the intermediate shaft B (139), and the synchronous wheel A (137) is fixedly connected with the left baffle (138) through bolts;

the horizontal bracket (15) is in interference fit with the sliding seat (11) through a supporting fixed shaft (153) and is fixed through an internal thread cylindrical pin, the supporting fixed shaft (153) is connected with the horizontal plate (151) through a bearing, an inner bearing ring is axially fixed through a shaft shoulder of the supporting fixed shaft (153) and a spring retainer ring for a shaft, an outer bearing ring is axially fixed through a hole shoulder of the horizontal plate (151) and the spring retainer ring for a hole, a supporting shaft B (154) is connected with the horizontal plate (151) through a bearing, an inner bearing ring is fixed through a shaft shoulder of the supporting shaft B (154) and the spring retainer ring for a shaft, an outer bearing ring is axially fixed through a hole shoulder of the horizontal plate (151) and the spring retainer ring for a hole, and the assembly mode of the supporting shaft A (152) is the same as that of the supporting shaft B (154); the platform B (14) is in interference fit with the output shaft B (1311) and the support shaft B (154) and is connected through a cylindrical pin, and the platform A (16) is in interference fit with the output shaft A (132) and the support shaft A (152) and is connected through a cylindrical pin;

the hinge seat A (22) and the hinge seat B (21) are arranged in parallel and fixedly connected with the bottom plate (47), the hinge seat A (22) is connected with the short connecting rod A (24) through a revolute pair, a torsion spring (23) is arranged at the revolute pair, the short connecting rod A (24) is connected with the stress rod (26) and the long connecting rod A (27) through the revolute pair to form a composite revolute pair, the long connecting rod A (27) is connected with the pressing plate (29) through the revolute pair, the hinge seat B (21), the short connecting rod B (25), the long connecting rod B (28) are assembled in the same way as the hinge seat A (22), the short connecting rod A (24) and the long connecting rod A (27), and the short connecting rod B (25) and the long connecting rod A (27) are arranged in parallel;

the driving mechanism (3) is fixedly connected with the bottom plate (47) through a linear sliding rail (312) and is fixedly connected with the sliding seat (11) through a spring seat (31), the stepping motor (311) is fixedly connected with the reduction gearbox (310), an output shaft of the reduction gearbox (310) is connected with the ball screw (39) through a coupler, the ball screw (39) is connected with the sliding block (38) through a nut seat, the sliding block (38) is fixedly connected with the transition plate (37), the transition plate (37) is fixedly connected with the force guide block (36), the force guide block (36) is in interference fit with the push-pull rod (35) and is connected with the push-pull rod (35) through a cylindrical pin, shaft shoulders are respectively arranged at the shaft ends of the push-pull rod (35), the two sides of the shaft shoulders are respectively connected with the compression spring A (32) and the compression spring B (33), the spring seat (31) is fixedly arranged in a cavity through a spring seat end cover (34), and the push-pull rod (35) is in clearance fit with the end cover (34).

The lower limiting block A (41), the rack (45), the right guide rail (46), the upper limiting block (48), the left guide rail (49), the lower limiting block B (412) and the positioning support plate (413) are all fixed on the bottom plate (47), the lower limiting block A (41), the lower limiting block B (412) and the upper limiting block (48) are all fixed with buffer glue (42), the right sliding block A (43), the right sliding block B (44), the right guide rail (46) and the left sliding block A (411), the left sliding block B (410) and the left guide rail (49) are arranged in parallel, the right sliding block A (43), the right sliding block B (44), the left sliding block A (411), the left sliding block B (410) and the sliding seat (11) are fixedly connected, and the positioning plate (414) is fixedly connected with the positioning support plate (413);

when the rotating mechanism (1) slides forward along the right guide rail (46) and the left guide rail (49) (far away from the direction of the clamping mechanism (2)), the rotating mechanism (1) keeps the original state smooth, when the platform A (16) leaves the clamping mechanism (2), the driving gear (127) is meshed with the rack (45), the driving gear (127) drives the synchronous wheel B (122) to rotate under the action of the one-way bearing (125), the synchronous wheel B (122) drives the synchronous wheel A (137) to rotate, the synchronous wheel A (137) is fixedly connected with the planetary gear train (13), the planetary gear train (13) drives the platform B (14) and the platform A (16) to rotate for 180 degrees around the fixed shaft (136) to translate, and the platform B (14) and the platform A (16) do not rotate relative to the ground only when rotating around the fixed shaft (136); when the rotating mechanism (1) slides reversely along the right guide rail (46) and the left guide rail (49) (approaching to the direction of the clamping mechanism (2)), the driving gear (127) is meshed with the rack (45), the driving gear (127) does not drive the synchronous wheel B (122) to rotate under the action of the unidirectional bearing (125), and the rotating mechanism (1) keeps the state of the platform B (14) and the platform A (16) after the positions are interchanged to be smooth to the initial position; the T-shaped grooves are formed in the platform B (14) and the platform A (16), so that the clamp can be conveniently installed, grooves reserved for the pressing plates (29) are formed in the two corners of the platform B (14) and the platform A (16), and the clamping and the platform are convenient to be high, so that interference with a workpiece is avoided;

the clamping mechanism (2) belongs to a parallelogram mechanism, and ensures that the pressing plate (29) provides clamping force in the vertical direction; the torsion spring (23) ensures that when the stress rod (26) is not stressed, the short connecting rod A (24), the short connecting rod B (25), the long connecting rod A (27) and the long connecting rod B (28) are perpendicular to the bottom plate (47), namely the pressing plate (29) is far away from the platform A (16) or the platform B (14);

the driving mechanism (3) uses a ball screw (39) and has the advantages of small friction loss, high transmission efficiency and long service life; when the sliding seat (11) is pushed and pulled by the push-pull rod (35), the starting impact and the reversing impact of the sliding seat (11) caused by the push-pull rod (35) are eliminated by the compression spring A (32) and the compression spring B (33); before the force guide block (36) acts on the force-bearing rod (26), the sliding seat (11) and the platform A (16) or the platform B (14) stop moving, and when the force guide block (36) acts on the force-bearing rod (26), the compression spring B (33) provides axial displacement compensation for the push-pull rod (35);

the locating plate (414) is used for locating the platform A (16) or the platform B (14), in order to prevent the platform A (16) or the platform B (14) from colliding when sliding the locating plate (414), a large chamfer is formed on the locating plate (414), and in order to ensure the horizontal locating of the platform, a locating boss is arranged on the locating plate (414).