CN111730581A - Swing driving device and processing equipment - Google Patents
Swing driving device and processing equipment Download PDFInfo
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- CN111730581A CN111730581A CN202010525562.3A CN202010525562A CN111730581A CN 111730581 A CN111730581 A CN 111730581A CN 202010525562 A CN202010525562 A CN 202010525562A CN 111730581 A CN111730581 A CN 111730581A
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- 238000012545 processing Methods 0.000 title claims abstract description 13
- 230000005540 biological transmission Effects 0.000 claims description 43
- 230000007246 mechanism Effects 0.000 claims description 27
- 239000007788 liquid Substances 0.000 claims description 16
- 238000004891 communication Methods 0.000 claims description 13
- 238000007789 sealing Methods 0.000 claims description 9
- 238000001816 cooling Methods 0.000 claims description 5
- 239000002826 coolant Substances 0.000 claims description 2
- 125000006850 spacer group Chemical group 0.000 claims description 2
- 239000000126 substance Substances 0.000 claims description 2
- 230000007547 defect Effects 0.000 abstract description 4
- 230000008030 elimination Effects 0.000 description 9
- 238000003379 elimination reaction Methods 0.000 description 9
- 238000003754 machining Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 4
- 238000005299 abrasion Methods 0.000 description 3
- 210000004907 gland Anatomy 0.000 description 3
- 230000002093 peripheral effect Effects 0.000 description 3
- 238000005498 polishing Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 239000000110 cooling liquid Substances 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 239000012636 effector Substances 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000010009 beating Methods 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000005520 cutting process Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
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- 230000037361 pathway Effects 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 210000000707 wrist Anatomy 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
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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
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
Abstract
The invention discloses a swing driving device and processing equipment.A branch part is arranged to be connected with a first side arm and a second side arm at two sides of a connecting piece, and second ends of the first side arm and the second side arm are connected with two side faces of an external power head, so that the defect of insufficient stability caused by connection of only one end in the prior art is avoided, and the swing driving device has stronger stability; meanwhile, a hollow communicating cavity is arranged in the branch part, and a driving part and a pipeline are arranged in the hollow communicating cavity, wherein the output end of the driving part is connected with an external power head and used for driving the external power head; the output end of the pipeline is connected to the external power head so as to control the whole running pipeline of the external power head to be arranged in the hollow communicating cavity, the structure is reasonable, and the problems of safety and easiness in damage caused by a large number of external wires are avoided.
Description
Technical Field
The invention belongs to the technical field of machining, and particularly relates to a swing driving device and machining equipment.
Background
The existing casting automatic polishing equipment has two forms, one is a numerical control machine structure, and most of motion shafts move linearly; the other type is a robot structure, and a six-axis industrial robot and a grinding tool are often adopted. The automatic grinding equipment adopting the machine tool structure has the advantages of good rigidity, suitability for heavy cutting, poor flexibility and small working space. Adopt six industrial robot structures's equipment of polishing, because the motion is vice many, consequently workspace is big, and the flexibility is high, nevertheless also because the motion is vice cuts mostly the member more simultaneously, leads to the rigidity not enough, and the process velocity is slow. Both devices cannot meet the use requirements of high rigidity and flexibility.
With social progress and scientific and technological development, the application of industrial robots is more and more common. An industrial robot is a multipurpose manipulator which can realize automatic control, can be programmed repeatedly, has multiple degrees of freedom and establishes a spatial right-angle relationship of motion degrees of freedom. It works primarily by performing a linear motion along axis X, Y, Z.
In the production of industrial robots, peripheral equipment with performance characteristics other than the performance characteristics of the industrial robots, such as a rotary table for rotating workpieces, a moving table for moving workpieces and the like, is generally required. The motion and position control of these peripheral devices is required to be compatible with industrial robots and to require corresponding precision. Generally, the robot motion axes can be divided into a robot axis, a base axis and a tool axis according to their functions, and the base axis and the tool axis are collectively called as an external axis. In actual production, a 6-joint industrial robot is commonly used, the manipulator has 6 movable joints (axes), and the definition of the motion axes of different industrial robot bodies is different. The axis used to ensure that the end effector reaches any position in the workspace is referred to as the base axis or spindle; the axis used to achieve any spatial pose of the end effector is called the wrist axis or the minor axis.
The existing industrial robot is applied to the field of grinding, and a grinding device is usually added after a mature robot or a robot hand (such as a six-axis robot) is purchased. For example, PCT/EP2017/057982 (chinese national phase patent No. 201780034786.0), filed by fel robert co-located robot technology limited on 04.04.2017 (chinese national phase), discloses a robot-assisted grinding apparatus comprising: the grinding machine comprises a manipulator, a linear actuator and a grinding machine with a rotary grinding tool, wherein the grinding machine is connected with the manipulator through the linear actuator. The device further comprises a protective cover which partially encloses the rotating grinding tool, wherein the rotating grinding tool protrudes from the protective cover at least on the first side. An adjustment mechanism is provided that connects the protective cover to the grinding machine and is designed to adjust the position of the protective cover relative to the grinding machine.
Please refer to table 1, which is a definition of the motion axes of a six-axis robot body commonly found in the existing robot. Generally, a great amount of technical support is required for producing precision robots, so that some megahead companies provide industrial robots such as six-axis robots which can be widely applied, and peripheral equipment is added to the industrial robots by other companies for secondary development in various scene applications so as to adapt to applications in different scenes.
Definition of common industrial robot body motion axis
TABLE 1
Adopt six industrial robot and polishing equipment in addition and be beating the motion pair many, consequently the working space is big, and the flexibility is high, nevertheless also because the motion pair is many to be the member more simultaneously, leads to the rigidity not enough, and the process velocity is slow. Both devices cannot meet the use requirements of high rigidity and flexibility. More importantly, the six-axis industrial robot and the grinding equipment are adopted for grinding, so that the following problems exist:
the end-mounted actuating member of the existing six-axis robot is usually a connecting end part and is unstable, and the working stability of the actuating member is also influenced.
Secondly, as the working time of the transmission chain of the existing robot increases, the transmission precision is reduced after abrasion occurs, so that the processing precision of the workpiece is reduced. Meanwhile, in a precise servo gear transmission system with a forward and reverse rotation requirement, the positioning of the servo system is affected by the gaps between the gears which are meshed with each other, so that the positioning is inaccurate.
In the grinding process, various pipelines are arranged outside the robot body, such as hydraulic pipelines, compressed air pipes, cooling liquid pipes and the like required for exchange, cleaning, cooling and the like, generally, the various pipelines move along with the operation of the robot body to cause abrasion, and faults are easy to occur. For example, the pipelines are easily burned by sparks generated in the grinding process, and the structure of the robot is more complicated due to the fact that various telescopic mechanisms are arranged to facilitate the pipelines to move along with various axial directions of the robot body.
Disclosure of Invention
The invention aims to provide a swing driving device and processing equipment to solve the technical problems of unstable connection and safety and easiness in damage caused by external pipelines of an existing processing robot.
In order to solve the problems, the technical scheme of the invention is as follows:
a swing drive device of the present invention comprises
A branch portion including a connector, a first side arm, and a second side arm; the connecting piece is used for connecting an external platform; the first end of the first side arm and the first end of the second side arm are respectively connected to two sides of the connecting piece; the second end of the first side arm and the second end of the second side arm are used for connecting two side surfaces of an external power head;
a hollow communicating cavity is arranged in the branch part;
the driving part is arranged in the hollow communicating cavity, and the output end of the driving part is connected with the external power head and is used for driving the external power head to swing around the second ends of the first side arm and the second side arm;
the pipeline is arranged in the hollow communicating cavity, and the output end of the pipeline is connected to the interior of the external power head and used for controlling the external power head;
according to the swing driving device, the hollow communicating cavity comprises a first hollow cavity arranged in the connecting piece, a second hollow cavity arranged in the first side arm and a third hollow cavity arranged in the second side arm; wherein the content of the first and second substances,
the first hollow cavity is respectively communicated with the second hollow cavity in a first mode, and the first hollow cavity is communicated with the third hollow cavity in a second mode;
the driving part is arranged in the first communication;
the line is disposed within the second communication.
According to the swing driving device, the pipeline comprises a driving and/or signal routing pipeline and a gas-liquid pipeline which are arranged in the second communication; the driving and/or signal wiring pipeline is connected with a power component of the external power head and is used for driving and controlling the power component; and the gas-liquid pipeline is communicated with a cooling pipeline of the external power head and is used for providing a required cooling medium.
According to the swing driving device, the driving part comprises a driving piece, a transmission chain and a gear backlash elimination mechanism, the output end of the driving piece is connected with the input end of the transmission chain, the output end of the transmission chain is connected with the input end of the gear backlash elimination mechanism, and the output end of the gear backlash elimination mechanism is connected with the external power head.
According to the swing driving device, the gear anti-backlash mechanism comprises an anti-backlash rotating shaft, an anti-backlash gear, an output gear and an elastic piece;
the anti-backlash rotating shaft is rotatably connected to the second hollow cavity;
the anti-backlash gear is arranged on the anti-backlash rotating shaft; the anti-backlash gear is a first bevel gear; direct-write bevel gear
The output gear is rotationally connected with the second hollow cavity and meshed with the anti-backlash gear; the output gear is a second bevel gear; in the meshed state, the large end of the first bevel gear is positioned at the same side as the small end of the second bevel gear;
the first end of the elastic part is connected to the inner arm surface of the second hollow cavity, and the second end of the elastic part is attached to the gap eliminating rotating shaft and used for providing axial force in the direction of the gap eliminating rotating shaft, wherein the first end surface faces the second end surface.
According to the swing driving device, the transmission chain comprises a first gear, a second gear, a third gear, a fourth gear and a transmission shaft;
the first gear is arranged at the output end of the driving piece;
the transmission shaft is rotatably connected with the second hollow cavity;
the second gear and the third gear are sequentially arranged on the transmission shaft; the second gear is meshed with the first gear;
the fourth gear is arranged on the anti-backlash rotating shaft and is meshed with the third gear.
According to the swing driving device, the first gear is a fixed double-piece anti-backlash gear and comprises a first thin-piece gear, a second thin-piece gear, a gasket and a locking piece; the first sheet gear, the gasket and the second sheet gear are sequentially attached to the output end of the driving piece; the locking piece penetrates through the first sheet gear and the second sheet gear and is used for locking the axial relative positions of the first sheet gear and the second sheet gear.
According to the swing driving device, the first gear, the second gear, the third gear, the fourth gear, the anti-backlash gear and the output gear are all helical gears.
According to the swing driving device, the driving piece is a servo motor arranged in the first hollow cavity.
In the swing driving device, the surface of the second end of the first side arm facing the second side arm and the surface of the second end of the second side arm facing the first side arm are both provided with connecting channels for enabling the external power head to extend into and swing the second ends of the first side arm and the second side arm.
In the swing driving device, at least one of the joints between the first side arm and the second side arm and the external power head is provided with a joint device which is used for sealing the joint and can rotate along with the rotation of the external power head.
The invention relates to a swing driving device, which comprises a connecting ring and a joint bearing, wherein the joint bearing is arranged on the connecting ring; the outer ring of the joint bearing is arranged at the connecting part; the connecting ring is connected to the inner ring of the joint bearing and used for being connected with the external power head.
The machining equipment comprises the swing driving device.
Due to the adoption of the technical scheme, compared with the prior art, the invention has the following advantages and positive effects:
1. according to the embodiment of the invention, the branch part is arranged to be connected with the first side arm and the second side arm at two sides of the connecting piece, and the second ends of the first side arm and the second side arm are connected with two side surfaces of the external power head, so that the defect of insufficient stability caused by connection of only one end in the prior art is avoided, and the branch part has stronger stability; meanwhile, a hollow communicating cavity is arranged in the branch part, and a driving part and a pipeline are arranged in the hollow communicating cavity, wherein the output end of the driving part is connected with an external power head and used for driving the external power head; the output end of the pipeline is connected to the external power head so as to control the whole running pipeline of the external power head to be arranged in the hollow communicating cavity, the structure is reasonable, and the problems of safety and easiness in damage caused by a large number of external wires are avoided.
2. According to the embodiment of the invention, the driving part for driving the external power head to rotate is set as the driving part to drive the transmission chain, and the transmission chain transmits power to the gear backlash elimination mechanism and outputs the power by the gear backlash elimination mechanism, so that the precision error generated in the transmission process can be corrected by the last gear backlash elimination mechanism, the error caused in the transmission process is reduced, the transmission precision is improved, and the processing precision is improved.
3. According to the embodiment of the invention, at least one of the joints of the first side arm and the second side arm with the external power head is provided with the joint device, the joint device seals the joint and can rotate along with the rotation of the external power head, the stability of the whole wiring string is improved by the arrangement of the joint device, the wiring string of the driving and/or signal line and the gas-liquid pipeline cannot be knotted when the external power head rotates, and the stability is greatly improved.
4. In an embodiment of the invention, the second side arm can form a third hollow cavity through the concave side arm body and the second side arm end cover, the third hollow cavity is directly connected with a line through a gas-liquid pipeline, the radial width of the second side arm is set according to the height of the rotary joint, the joint bearing is arranged in the through hole of the second side arm, the joint bearing inner ring and the external power head are connected through the connecting ring, the radial width of the second side arm can contain the joint bearing, and the radial width can be adaptively set according to the height of the second side arm, so that the overall structure is more compact.
Drawings
FIG. 1 is a cross-sectional view of a swing drive of the present invention;
fig. 2 is a sectional view of a driving part of the swing driving apparatus of the present invention;
FIG. 3 is a cross-sectional view of the power spindle of the swing drive of the present invention;
FIG. 4 is a schematic view of the swing drive of the present invention;
fig. 5 is another schematic diagram of the swing driving apparatus of the present invention.
Description of reference numerals: 1: a connecting member; 2: a first side arm; 3: a second side arm; 4: a drive member; 5: a first gear; 6: a second gear; 7: a third gear; 8: a fourth gear; 9: a backlash eliminating gear; 10: an output gear; 11: drive and/or signal line routing paths; 12: a gas-liquid pipeline; 13: a connecting ring; 14: a power spindle; 1401: a housing; 1402: a main shaft; 1403: a first main shaft bearing portion; 1404: a second main shaft bearing portion; 1405: a rotor assembly; 1406: a stator assembly; 1407: a front end cover; 1408: a rear end cap; 1409: a sealing cover; 1410: sealing the positioning sleeve; 1411: a tool holder; 1412: a gland; 15: a cutter; 16: a first anti-backlash bearing; 17: a second anti-backlash bearing; 18: a thrust bearing; 19: an elastic member; 20: eliminating a gap end cover; 21: and a seal.
Detailed Description
The present invention provides a swing driving device and a processing apparatus, which will be described in detail with reference to the accompanying drawings and specific embodiments. Advantages and features of the present invention will become apparent from the following description and from the claims.
Example one
Referring to fig. 1, 2, 4 and 5, in one embodiment, a swing driving apparatus includes a branch portion and a driving portion.
The branch portion includes a link 1, a first side arm 2, and a second side arm 3. The connecting piece 1 is used for connecting an external platform. The first end of the first side arm 2 and the first end of the second side arm 3 are connected to both sides of the connecting piece 1 respectively.
The second end of the first side arm 2 and the second end of the second side arm 3 are used for being connected with two side faces of an external power head and used for being connected with the external power head in a rotating mode to form stable rotating connection of two end faces, and therefore the external power head can swing relative to the first side arm and the second side arm. Specifically, the first side arm 2 and the second side arm 3 are connected to the connecting piece 1 to form a Y-shaped connecting rod with a hollow interior, and through holes are formed in the arm surfaces of the first side arm 2 and the second side arm 3 which are arranged oppositely, so that the connecting section of the external power head and the through holes extending into and rotatably connected to the two sides of the connecting section are connected.
The branch part is internally provided with a hollow communicating cavity, and the hollow communicating cavity is internally provided with a driving part for driving the external power head and a pipeline for controlling the external power head.
The hollow communicating cavity specifically comprises a first hollow cavity arranged in the connecting piece 1, a second hollow cavity arranged in the first side arm 2 and a third hollow cavity arranged in the second side arm 3, the first hollow cavity is respectively communicated with the second hollow cavity, and the first hollow cavity and the third hollow cavity are communicated with each other.
The drive part is arranged in the first communication, and the output end of the drive part is connected with the external power head and used for driving the external power head to swing around the second ends of the first side arm 2 and the second side arm 3.
The pipeline is arranged in the second communication, and the output end of the pipeline is connected into the external power head through the joint of the second side arm 3 and the external power head so as to control the operation of the external power head.
The branch part is arranged to be connected with the first side arm 2 and the second side arm 3 at two sides of the connecting piece 1, and the second ends of the first side arm 2 and the second side arm 3 are connected with two side surfaces of an external power head, so that the defect of insufficient stability caused by connection of only one end in the prior art is avoided, and the branch part has stronger stability; meanwhile, a first communication for arranging the driving part is formed by matching a first hollow cavity of the connecting piece 1 and a second hollow cavity of the first side arm 2; the first hollow cavity and the third hollow cavity of the second side arm 3 are matched to form a second communication for arranging a pipeline, the pipeline is connected to an external power head to control the operation of the external power head, the pipeline is integrally arranged in the second communication, the structure is reasonable, and the problems that a large amount of external wires cause safety and are easy to damage are avoided.
In this embodiment, the pipeline may specifically include a driving and/or signal routing pipeline and a gas-liquid pipeline 12, both disposed in the second communication. The driving and/or signal wiring pipeline is connected with a power component of the external power head and is used for providing a power supply required by the power component and controlling the output of the power component; the gas-liquid pipeline is communicated with a cooling pipeline of the external power head and used for providing required cooling media.
The following explains a specific structure of the swing drive device of the present embodiment:
referring to fig. 2, in the present embodiment, the driving portion may specifically include a driving element 4, a transmission chain, and a gear backlash eliminating mechanism. The output end of the driving piece 4 is connected with the input end of the transmission chain, the output end of the transmission chain is connected with the input end of the gear backlash eliminating mechanism, and the output end of the gear backlash eliminating mechanism is connected with an external power head. The driving part for driving the external power head to rotate is set to be the driving part 4 to drive the transmission chain, the transmission chain transmits power to the gear anti-backlash mechanism and the transmission chain is output by the gear anti-backlash mechanism, so that precision errors generated in the transmission process can be corrected by the gear anti-backlash mechanism arranged at the last, errors caused in the transmission process are reduced, the transmission precision is improved, and the machining precision is improved.
The gear anti-backlash mechanism specifically comprises an anti-backlash rotating shaft, an anti-backlash gear 9, an output gear 10 and an elastic piece 19.
The anti-backlash gear 9 and the output gear 10 are a first bevel gear and a second bevel gear, respectively. The gap eliminating rotating shaft is rotatably connected with the second hollow cavity. The first bevel gear is arranged on the anti-backlash rotating shaft.
The output gear 10 is rotatably connected to the second hollow cavity and meshed with the anti-backlash gear 9, and specifically, the second hollow cavity can be rotatably connected by arranging a rotating shaft, and the output gear 10 can also be directly arranged in a gear shaft form. In the meshing state, the large end of the first bevel gear is arranged at the same side as the small end of the second bevel gear.
The first end of the elastic element 19 is connected to the inner arm surface of the second hollow cavity, and the second end is attached to the gap eliminating rotating shaft and used for providing axial force in the direction from the first end surface to the second end surface for the gap eliminating rotating shaft.
The tooth surfaces of the anti-backlash gear 9 and the output gear 10 are arranged obliquely, and the rotating shaft is pushed by the elastic member 19 to make the tooth surface of the anti-backlash gear 9 abut against the tooth surface of the output gear 10. In the running process of the gear backlash eliminating mechanism, the tooth surface is gradually worn, the elastic force of the elastic piece 19 pushes the worn backlash eliminating gear 9 to the worn output gear 10, so that the tooth surface of the backlash eliminating gear 9 and the tooth surface of the output gear 10 are always kept close to each other, and the function of automatic adjustment is realized.
Further, the driving member 4 may be a servo motor, or may be other driving elements, and is not limited in particular.
The transmission chain arranged between the driving member 4 and the gear backlash eliminating mechanism can comprise a first gear 5, a second gear 6, a third gear 7, a fourth gear 8 and a transmission shaft. The first gear 5 is provided on an output shaft of the drive motor. The transmission shaft is rotatably connected to the second hollow cavity through transmission bearings arranged at two ends of the transmission shaft. The second gear 6 and the third gear 7 are arranged on the transmission shaft in sequence, and the second gear 6 is meshed with the first gear 5. The fourth gear 8 is arranged on the anti-backlash rotating shaft, and the fourth gear 8 is meshed with the third gear 7.
The specific transmission process is that the output shaft of the servo motor drives the first gear 5 to rotate; the first gear 5 drives the meshed second gear 6 to rotate; the rotating second gear 6 drives the transmission shaft and the third gear 7 to rotate through the connection with the transmission shaft; the third gear 7 drives the meshing fourth gear 8 to rotate, so that the anti-backlash gear 9 and the output gear 10 meshed with the anti-backlash gear are driven to rotate through the connection of the fourth gear 8 and the anti-backlash rotating shaft.
Of course, in other embodiments, in the case of a relatively small transmission ratio, the fourth gear 8 may be eliminated and directly engaged with the anti-backlash gear 9 by the third gear 7 on the transmission shaft, and the arrangement form of the transmission chain may be various and is not limited herein.
In particular, the first gear 5 may be arranged as a fixed double anti-backlash gear 9. The fixed double-piece anti-backlash gear 9 comprises a first thin-piece gear, a second thin-piece gear, a spacer and a locking piece. The first sheet gear, the gasket and the second sheet gear are sequentially attached to the output end of the driving part 4. The locking piece penetrates through the first sheet gear and the second sheet gear and is used for locking the axial relative positions of the first sheet gear and the second sheet gear. In specific implementation, an output shaft of the servo motor can be set as a stepped shaft and provided with a threaded hole, the first sheet gear, the gasket and the second sheet gear are sequentially arranged on the small-diameter section of the output shaft, and the first sheet gear is attached to the stepped surface of the output shaft; the locking piece is a locking bolt and is screwed into the threaded hole to lock the relative position relation among the first sheet gear, the gasket and the second sheet gear.
Wherein, the first gear 5, the second gear 6, the third gear 7, the fourth gear 8, the anti-backlash gear 9 and the output gear 10 can be all set as helical gears. When the selected gear is a helical gear, the corresponding bearing is a tapered roller bearing or other bearing capable of bearing axial force.
Referring to fig. 1 and 2, in this embodiment, the surfaces of the second end of the first side arm 2 and the second end of the second side arm 3 facing the accommodating space are both provided with a connecting channel for the external power head to extend into and form a stable rotational connection between the two end surfaces.
At least one of the joints of the first side arm 2 and the second side arm 3 with the external power head is provided with a joint device which is used for sealing the joint and can rotate along with the rotation of the external power head.
In particular, a joint arrangement may be provided at the connection of the external power head to the second side arm 3, comprising at least a connection ring 13 and a joint bearing. The outer ring of the joint bearing is arranged in a through hole at the joint, and the connecting ring 13 is connected to the inner ring of the joint bearing and is connected with an external power head.
And the inner ring of the joint bearing can accommodate the driving and/or signal line routing passage 11 and the gas-liquid pipeline 12 to pass through, and can rotate along with the rotation of the external power head under the state that the outer ring of the joint bearing is fixed. The joint is sealed, the joint can rotate along with the rotation of the external power head, the arrangement of the joint device improves the stability of the whole wiring string, the wiring of the driving and/or signal line and the wiring string of the gas-liquid pipeline 12 cannot be knotted when the external power head rotates, and the stability is greatly improved.
The gas-liquid pipeline 12 passes through the first hollow part, then passes through the third hollow part of the second side arm 3, and then passes through the inner ring of the joint bearing, and the radial width of the second side arm 3 can be set according to the height of the joint device.
Above-mentioned structural design both realized fine leakproofness, second side arm 3 can form the third through cavity through the side arm body that is the concavity and the 3 end covers of second side arm, the 12 line bunch of the interior portion of third direct passage gas-liquid pipeline, the radial width of second side arm 3 sets up according to rotary joint's height, connect the bearing and set up in the perforating hole of second side arm 3, and connect joint bearing inner race and outside unit head by go-between 13 connection, but the radial width holding of second side arm 3 connect the bearing can, it can to set up its radial width according to its high adaptability, make overall structure set up compacter.
Example two
The present embodiment further describes the gear backlash elimination mechanism on the basis of the first embodiment.
Referring to fig. 2, in the present embodiment, the anti-backlash gear 9 and the output gear 10 are both bevel gears with a certain taper. When in meshing, the axis of the anti-backlash gear 9 is parallel to the axis of the output gear 10, and the large end of the anti-backlash gear 9 and the small end of the output gear 10 are positioned on the same side. The elastic force transmitted from the backlash elimination gear 9 through the elastic member 19 presses the inclined tooth surface to the tooth surface of the output gear 10. The taper of the bevel gear can be calculated according to the required bearing force and pressing force. Of course, the axes of the two gears are not necessarily perpendicular, and are not particularly limited.
The anti-backlash rotating shaft connected with the anti-backlash gear 9 can be a stepped shaft, and the stepped shaft and the anti-backlash gear 9 can be in key connection or can be a gear shaft directly made into a whole.
And a first anti-backlash bearing 16 and a second anti-backlash bearing 17 are respectively arranged at two ends of the stepped shaft. The inner rings of the first anti-backlash bearing 16 and the second anti-backlash bearing 17 are respectively arranged on the anti-backlash rotating shaft, and the outer rings of the first anti-backlash bearing 16 and the second anti-backlash bearing 17 are respectively arranged on the first side arm 2. Specifically, the first anti-backlash bearing 16 and the second anti-backlash bearing 17 may be cylindrical roller bearings to realize the rotational connection between the stepped shaft and the first side arm 2, and at the same time, may bear the radial impact caused by the operation of the gear.
The elastic member 19 may be disposed in various manners. The elastic element and the wear-resistant material part can be combined, the wear-resistant material is connected with one end of the anti-backlash rotating shaft, and the elastic piece 19 is positioned between the wear-resistant material and the first side arm 2 to provide elastic force. The thrust bearing 18 may be provided at a small diameter end of the stepped shaft, the inner ring side arm of the thrust bearing 18 is attached to the stepped side surface of the stepped shaft, the elastic member 19 is provided between the outer ring of the thrust bearing 18 and the inner arm surface of the first side arm 2, and the elastic force of the elastic member 19 is transmitted to the stepped shaft through the thrust bearing 18.
The first anti-backlash bearing 16 and the second anti-backlash bearing 17 are arranged at two ends of the anti-backlash rotating shaft to offset radial force caused by meshing of gear parts, and the third bearing of the thrust bearing 18 is arranged between the elastic part 19 and the anti-backlash rotating shaft, so that firstly, the elastic force is transmitted through the thrust bearing 18, and serious abrasion caused by direct contact of the elastic part 19 and the anti-backlash rotating shaft is avoided; secondly, the radial force on the anti-backlash rotating shaft is counteracted through the arrangement of the first anti-backlash bearing 16 and the second anti-backlash bearing 17, and the problem that the thrust bearing 18 can only bear the axial force and cannot bear the radial force is solved.
The elastic member 19 may be embodied as a disc spring set or a linear spring or a rectangular spring. In other embodiments, the specific form of the elastic member 19 may be selected according to the required elastic force, and is not limited in particular.
An anti-backlash end cap 20 can be further arranged at the first side arm 2 connected with the elastic piece 19, the anti-backlash end cap 20 is connected to the first side arm 2 in a threaded connection mode, and the elastic piece 19 is connected to the anti-backlash end cap 20. The arrangement mode enables the elastic force of the elastic piece 19 on the stepped shaft to be adjustable, the deformation degree of the elastic piece 19 can be controlled by rotating the clearance elimination end cover 20 in threaded connection, and then the elastic force of the elastic piece 19 is increased or reduced.
In practical implementation, the tooth profiles of the anti-backlash gear 9 and the output gear 10 are straight teeth or helical teeth, and the specific form can be determined according to the magnitude of torque required to be transmitted and the like.
Meanwhile, the tooth thickness of the anti-backlash gear 9 should be larger or smaller than that of the output gear 10. The gear surfaces of the two gears with small tooth thickness are approved to be completely meshed with the gear with large tooth thickness after axial displacement. Of course, it is also possible that the tooth thickness is the same, except that the meshing portions of the two gears will decrease after wear, which in the case of severe wear may lead to failure of the gears.
In this embodiment, first side arm 2 and second side arm 3 all can set up the mode into bolted connection's casing and end cover, seals through setting up materials such as sealed pad for when installation and maintenance, can directly open first side arm 2 or second side arm 3 and change and debug parts such as the drive chain of inner arm, gear anti-backlash mechanism.
EXAMPLE III
The present embodiment specifically explains the specific structure of the external power head and the connection manner with the swing driving device mentioned in the first embodiment.
Referring to fig. 3, the external power head may be embodied as a power spindle 14, and the power spindle 14 may include a housing 1401, a front end cap 1407, a rear end cap 1408, a seal positioning sleeve 1410, a first spindle bearing portion 1403, a second spindle bearing portion 1404, a stator assembly 1406, a rotor assembly 1405, and a tool mount 1411.
The housing 1401 is hollow, and has a first end with an opening for extending the spindle 1402, and a second end with two first and second protrusions for connecting to the first and second side arms 2 and 3. The first convex part directly extends into a through hole on the first side arm 2 and is connected with the output gear 10, and a sealing member 21 is arranged at the through hole; the fixed connection between the first male member and the output gear 10 can be realized by a bolt. The second projection is directly bolted to the connection ring 13 of the second side arm 3, and the second projection is provided with openings for the passage of the drive and/or signal line routing channels 11 and the gas and liquid lines 12.
The main shaft 1402 is disposed within the hollow cavity of the housing 1401, and has a first end protruding out of the opening of the housing 1401. A first main shaft bearing 1403 and a second main shaft bearing 1404 are provided in the housing 1401 and are respectively sleeved at two ends of the main shaft 1402. Outer rings of the first main shaft bearing 1403 and the second main shaft bearing 1404 are provided on an inner arm surface of the housing 1401, and inner rings are connected to the main shaft 1402, so that the main shaft 1402 can rotate relative to the housing 1401.
The stator assembly 1406 and rotor assembly 1405 are effectively permanent magnet synchronous machines. The rotor assembly 1405 is located in the housing 1401, and is sleeved on the main shaft 1402; the stator assembly 1406 is disposed in the housing 1401 and corresponds to the rotor assembly 1405, and a gap is left between the stator assembly 1406 and the rotor assembly 1405. At the same time, drive and/or signal wire routing pathways 11 are connected to the stator assembly 1406 for controlling the stator assembly 1406.
A front end cap 1407 and a rear end cap 1408 are respectively provided at the front and rear ends of the housing 1401 for positioning bearings at both ends. Front end cap 1407 is provided with an opening through which spindle 1402 extends.
A seal retaining cup 1410 is provided on the spindle 1402 at the front end cap 1407 for sealing the gap between the spindle 1402 and the front end cap 1407. The front end cap 1407 is further provided with a sealing cap 1409 for fixing the relative position between the sealing positioning sleeve 1410 and the front end cap 1407.
The first end of the main shaft 1402 is conical, the tool seat 1411 is provided with a conical hole corresponding to the main shaft 1402, the first end of the main shaft 1402 is sleeved with the tool seat 1411, the tool seat 1411 and the main shaft 1402 are covered by a gland 1412, and the gland 1412 is fixed on the main shaft 1402 through bolts. The tool seat 1411 is provided with an interface for connecting with the tool 15.
Further, a hollow cavity is further opened at a position where the housing 1401 contacts the stator assembly 1406, the hollow cavity is communicated with the gas-liquid pipeline 12, and cooling liquid in the gas-liquid pipeline 12 can be introduced into the hollow cavity to cool the stator assembly 1406 in an operating state.
Example four
A machining apparatus comprising the oscillating drive device of any one of the above embodiments.
The processing equipment is provided with the change driving device for connecting with the external power head, the branch part is arranged at two sides of the connecting piece 1 and is connected with the first side arm 2 and the second side arm 3, and the second ends of the first side arm 2 and the second side arm 3 form an accommodating space for rotatably connecting the external power head and forming stable rotary connection of two end faces, so that the defect of insufficient stability caused by connection of only one end in the prior art is avoided, and the processing equipment has stronger stability; meanwhile, a driving part for driving the external power head to rotate is set to be a setting mode that the driving part 4 drives the transmission chain, and the transmission chain transmits power to the gear backlash eliminating mechanism and outputs the power by the gear backlash eliminating mechanism, so that precision errors generated in the transmission process can be corrected by the last gear backlash eliminating mechanism, errors caused in the transmission process are reduced, the transmission precision is improved, and the overall processing precision of the processing equipment is improved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, it is still within the scope of the present invention if they fall within the scope of the claims of the present invention and their equivalents.
Claims (13)
1. A swing drive device is characterized by comprising
A branch portion including a connector, a first side arm, and a second side arm; the connecting piece is used for connecting an external platform; the first end of the first side arm and the first end of the second side arm are respectively connected to two sides of the connecting piece; the second end of the first side arm and the second end of the second side arm are used for connecting two side surfaces of an external power head;
a hollow communicating cavity is arranged in the branch part;
the driving part is arranged in the hollow communicating cavity, and the output end of the driving part is connected with the external power head and is used for driving the external power head to swing around the second ends of the first side arm and the second side arm;
and the pipeline is arranged in the hollow communicating cavity, and the output end of the pipeline is connected to the inside of the external power head and is used for controlling the external power head.
2. The swing drive of claim 1, wherein the hollow communication chamber comprises a first hollow chamber disposed within the connector, a second hollow chamber disposed within the first side arm, and a third hollow chamber disposed within the second side arm; wherein the content of the first and second substances,
the first hollow cavity is respectively communicated with the second hollow cavity in a first mode, and the first hollow cavity is communicated with the third hollow cavity in a second mode;
the driving part is arranged in the first communication;
the line is disposed within the second communication.
3. The swing drive of claim 2 wherein said lines comprise drive and/or signal routing lines and gas-liquid lines, both disposed in said second communication; the driving and/or signal wiring pipeline is connected with a power component of the external power head and is used for driving and controlling the power component; and the gas-liquid pipeline is communicated with a cooling pipeline of the external power head and is used for providing a required cooling medium.
4. The wobble drive of claim 2 wherein the drive portion comprises a drive member, a drive chain, and a gear backlash mechanism, wherein an output of the drive member is coupled to an input of the drive chain, an output of the drive chain is coupled to an input of the gear backlash mechanism, and an output of the gear backlash mechanism is coupled to the external power head.
5. The swing drive of claim 4, wherein the gear anti-backlash mechanism comprises an anti-backlash shaft, an anti-backlash gear, an output gear, and an elastic member;
the anti-backlash rotating shaft is rotatably connected to the second hollow cavity;
the anti-backlash gear is arranged on the anti-backlash rotating shaft; the anti-backlash gear is a first bevel gear;
the output gear is rotationally connected with the second hollow cavity and meshed with the anti-backlash gear; the output gear is a second bevel gear; in the meshed state, the large end of the first bevel gear is positioned at the same side as the small end of the second bevel gear;
the first end of the elastic part is connected to the inner arm surface of the second hollow cavity, and the second end of the elastic part is attached to the gap eliminating rotating shaft and used for providing axial force in the direction of the gap eliminating rotating shaft, wherein the first end surface faces the second end surface.
6. The swing drive of claim 5 wherein the drive train includes a first gear, a second gear, a third gear, a fourth gear, a drive shaft;
the first gear is arranged at the output end of the driving piece;
the transmission shaft is rotatably connected with the second hollow cavity;
the second gear and the third gear are sequentially arranged on the transmission shaft; the second gear is meshed with the first gear;
the fourth gear is arranged on the anti-backlash rotating shaft and is meshed with the third gear.
7. The swing drive of claim 6, wherein the first gear is a fixed dual-leaf anti-backlash gear comprising a first leaf gear, a second leaf gear, a spacer, a locking member; the first sheet gear, the gasket and the second sheet gear are sequentially attached to the output end of the driving piece; the locking piece penetrates through the first sheet gear and the second sheet gear and is used for locking the axial relative positions of the first sheet gear and the second sheet gear.
8. The swing drive of claim 6 wherein the first gear, the second gear, the third gear, the fourth gear, the anti-backlash gear, and the output gear are helical gears.
9. The wobble drive of claim 4 wherein the drive member is a servo motor disposed within the first hollow cavity.
10. The swing drive apparatus according to claim 1, wherein the face of the second end of the first side arm facing the second side arm and the face of the second end of the second side arm facing the first side arm are both opened with connecting channels for the external power head to extend and swing the second ends of the first side arm and the second side arm.
11. The wobble drive apparatus of claim 1, wherein at least one of the connections between the first side arm and the second side arm and the external power head is provided with a joint device for sealing the connection and rotating with the external power head.
12. The swing drive of claim 11 wherein the joint means includes a connecting ring and a joint bearing; the outer ring of the joint bearing is arranged at the connecting part; the connecting ring is connected to the inner ring of the joint bearing and used for being connected with the external power head.
13. A processing plant, characterized in that it comprises an oscillating drive as claimed in any one of claims 1 to 12.
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| CN202010525562.3A CN111730581A (en) | 2020-06-10 | 2020-06-10 | Swing driving device and processing equipment |
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| CN202010525562.3A CN111730581A (en) | 2020-06-10 | 2020-06-10 | Swing driving device and processing equipment |
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