CN116175276A - Automatic Rotary Indexing Mechanism Based on End Gear Pair - Google Patents

Abstract

The invention discloses an automatic rotation indexing mechanism based on a toothed disk pair, which includes a fixed base module, a rotating table top module, a precision indexing module, a lifting and rotating module, an end toothed disk sealing module and an accessory module; the fixed base module is used as a bearing The foundation includes the working table; the rotary table module includes the jacking rotary table; the precision indexing module includes the end toothed plate pair, and the end toothed plate pair includes the upper toothed plate set on the jacking rotary table and the lower end toothed plate set on the working table; The lifting and rotating module includes a lifting and rotating column and a power component. The lifting and rotating column protrudes from the workbench and is connected with the jacking and rotating table. The power component has a lifting power source and a rotating power source. The lifting and rotating column is driven by the power component to lift The rotary table lifts or rotates to separate or mesh the upper and lower chainrings. During the repair and maintenance of the six modules, the entire module can be repaired or replaced, and individual components in the module can also be repaired or replaced, which not only simplifies the design complexity of the whole machine, but also effectively reduces the later maintenance costs.

Description

Automatic Rotation Indexing Mechanism Based on End Gear Pair

technical field

The invention relates to the technical field of automatic rotation indexing mechanism, in particular to an automatic rotation indexing mechanism based on a toothed disc pair.

Background technique

The indexing accuracy and reliability of the rotary indexing mechanism used in various machine tools and machining equipment largely determines the machining accuracy and performance stability of the whole machine, and is one of the key functional components. At present, rotary indexing mechanisms are mainly divided into two categories: continuous rotary indexing and discrete rotary indexing. Among them, discrete rotary indexing is widely used in specialized manufacturing fields because of its unique high reliability and high precision.

The machining accuracy of the key components of the RV reducer and cycloid reducer, such as the cycloid wheel and the bearing hole of the planet carrier, has a crucial impact on the performance of the reducer, thus indirectly affecting the comprehensive performance of precision mechanical equipment. However, at present, imported equipment such as high-precision coordinate grinding machines and high-precision boring-grinding integrated machine tools are usually used in domestic processing of bearing holes. Therefore, it is urgent to study the special processing equipment for key component bearing holes and their key functional components. Among them, the position accuracy of the bearing holes of the key components of the RV reducer and cycloidal reducer is extremely high, so it puts forward very high requirements for the indexing and positioning of the processing equipment. Considering that the bearing holes in the component are finite and evenly distributed, there is no requirement for continuous indexing of the rotary table of the processing equipment.

Considering that the end tooth disc is a key core precision component in the mechanical field, it is widely used in aerospace, high-end CNC machine tools, industrial robots, instrumentation, precision measurement and other fields, and is mainly used for rotary indexing and power transmission , especially in the field of high-end CNC machine tools, end gears are usually used as key precision components of rotary indexing tables, which have a crucial impact on the positioning accuracy and motion stability of the whole machine. The end sprocket pair is generally composed of two identical or mirror-symmetrical upper and lower sprockets. According to its application characteristics, high requirements are put forward for its positioning accuracy, self-centering, service life, meshing rigidity and bearing capacity. Require. At the same time, the number of teeth on the end sprocket determines the minimum indexing angle. It is also a key issue for the end sprocket to be able to freely select the number of teeth according to the needs.

The invention whose application number is CN104029080A discloses a gear indexing device at the end of a turntable, including a turntable, a base, a handle, a gear nut, a sector gear, a moving shaft, an inner race of a bearing, and a positioning pin. However, when the rotary indexing device at the end of the turntable needs to pull the handle manually to realize the separation and rotation of the upper and lower toothed plates, and it is necessary to realize pre-indexing by inserting positioning pins, the degree of automation Low, not suitable for high-volume specialized production and processing that requires a high degree of automation.

The invention with the application number CN106926055A discloses a C-axis indexing device for vertical lathes, including a servo motor, a transmission mechanism, a spline shaft, a bottom chainring of an end tooth plate, an upper tooth plate of an end tooth plate, and an anti-backlash gear And the box body, at the same time, the outer side of the lower tooth plate of the end tooth plate is equipped with a C-axis function switching oil cylinder for driving the lower tooth plate of the end tooth plate to move up and down. Although this device can automatically realize the indexing rotation of the C-axis of the vertical lathe, but the The device adopts hydraulic drive to move up and down the lower chainring of the end toothed plate, and there is a risk of hydraulic oil leaking and polluting the entire device, and the device uses a toothed synchronous belt to transmit the power from the servo motor to the harmonic reducer to achieve deceleration and torque increase. It not only makes the whole mechanism complicated (needs two independent mechanisms of servo motor and reducer) and is not compact enough (needs toothed synchronous belt to transmit power), but also increases the cost of the whole device.

The invention with the application number CN114102164A discloses a new type of end sprocket turntable, which includes a lower base body and a workbench. A cylinder body is installed inside the lower base body, a cylinder head is installed on the top of the cylinder body, and a cylinder head is arranged on the outside of the cylinder head. The bottom of the worktable is equipped with an upper toothed plate that meshes with the lower toothed plate. Although the rotary transmission efficiency of the turntable is high, the reduction ratio is large, the structure is compact, the transmission is stable, and it can work continuously under high power. However, the cooperation between the cylinder head and the cylinder body through the lower toothed disc, the upper toothed disc and the workbench is only used to form the braking structure of the turntable, and the upper and lower toothed discs cannot play the role of rotating precision indexing.

At the same time, through the analysis of the above-mentioned existing invention disclosures, the radial degrees of freedom of the upper and lower end toothed discs are fixed in the design, and the centering accuracy of the turntable is guaranteed through radial constraints, but usually the end toothed discs not only have high precision The indexing accuracy also has high-precision self-centering accuracy. The self-centering of the end sprocket and the radial constraint of the above-mentioned existing mechanism form an over-constraint, and the high-precision self-centering function of the end sprocket is lost.

Contents of the invention

In view of this, the present invention provides an automatic rotary indexing mechanism based on a toothed disc pair, which can fully realize automatic rotary indexing, and has a simple structure, high indexing and centering accuracy, stable operation, and wide application. market prospects.

The invention provides an automatic rotation indexing mechanism based on the end-tooth disc pair adopts the following technical scheme:

An automatic rotary indexing mechanism based on a toothed disc pair, comprising:

The fixed base module is used as the bearing base, and the fixed base module includes the workbench;

Rotary table module, including jacking rotary table;

The precision indexing module includes an end toothed plate pair, and the end toothed plate pair includes an upper end toothed plate arranged on the jacking rotary table and a lower end toothed plate arranged on the workbench;

The lifting and rotating module includes a lifting and rotating column and a power assembly. The lifting and rotating column extends from the workbench and is connected with the jacking and rotating table. The power assembly has a lifting power source and a rotating power source. Driven by the components, the jacking turntable is driven up and down or rotated to separate or mesh the upper and lower toothed discs.

Optionally, the tooth surface of the end sprocket pair is a space torus surface bounded by an inner circle and an outer circle, including a plurality of spaces whose radii gradually expand from the inner circle to the outer circle centered on the central axis of the end sprocket Concentric circular curves, the upper toothed disc and the lower toothed disc include tooth blanks, and the tooth blanks include Z convex teeth and Z grooves, and the linear shape of the convex teeth and grooves is a function of a specific circular curve.

Optionally, the protruding teeth and the grooves are linear in the width direction, and the protruding teeth and the grooves are distributed in a uniform array in sequence on a plane perpendicular to the central axis of the end tooth disc, and the protruding teeth are Wedge-shaped teeth, the groove is a wedge-shaped groove.

Optionally, the tooth top of the convex tooth is an isosceles trapezoidal plane that gradually descends from the outer circle to the inner circle of the end tooth disc, and the two sides gradually shrink symmetrically. The slopes of the tooth tips are the same.

Optionally, the function of the space circumference curve is a space circumference sine function curve, and the tooth surface equation of the end tooth disc is:

In the formula: x(r, θ), y(r, θ), z(r, θ) are the spatial coordinate values of the tooth surface of the end tooth disc, all of which are functions of the parameters r and θ; r is the ring tooth surface The radius value of the previous series of concentric circle curves, the unit is mm; r ₁ and r ₂ are the inner and outer circle radii of the end tooth disc respectively, the unit is mm; θ is the circumferential angle of the ring tooth surface, the unit is rad; Z is the number of teeth of the end tooth disc (that is, the number of convex teeth and grooves); h is the tooth height corresponding to a series of concentric circumferential curves on the tooth surface of the ring (that is, the height of convex teeth and grooves), in mm , and the value of h is defined as follows:

h＝h ₀ +k·(rr ₁ ), k＝tan(α)

In the formula: h ₀ is the initial tooth height of the inner circle, the unit is mm; k is the taper angle slope of the convex tooth top and the groove bottom; α is the taper angle of the convex tooth top and the groove bottom, the unit is rad .

Optionally, the bottom of the tooth embryo is provided with a plate bottom adapted to the tooth embryo.

Optionally, the end sprocket is provided with a plurality of countersunk holes distributed in a uniform circular array around the central axis of the end sprocket, and the inner and outer circumferential surfaces of the end sprocket are positioning circumferential surfaces with a certain accuracy. The end tooth disc is provided with a plurality of positioning pin holes.

Optionally, the power assembly includes a jacking cylinder and a torque motor;

The jacking cylinder is used to drive the separation or engagement of the upper toothed disc and the lower toothed disc, as a lifting power source;

The torque motor is used to drive the rotary motion of the jacking rotary table as a rotary power source;

The jacking cylinder is fixedly arranged on the fixed base module, and the torque motor is arranged on the jacking cylinder through a connecting plate and is fixedly connected with the lifting rotating column, forming a series combination of a lifting power source and a rotating power source.

Optionally, the rotary table module further includes a spline column fixedly arranged on the lifting rotary column, and the spline column is in clearance cooperation with the jacking rotary table for transmitting the driving force of the power assembly.

Optionally, it also includes an end sprocket sealing module, the end sprocket sealing module includes an upper seal, a sealing ring and a lower seal, the upper seal is fixedly connected to the jacking rotary table, and the lower seal is connected to the The workbench is fixedly connected, the sealing ring is set in the sealing ring groove of the lower sealing part, the inner wall of the upper sealing part exerts inward extrusion on the sealing ring, and the inner wall of the upper sealing part is in contact with the lower sealing part The outer wall circles are concentric and form a clearance fit.

In summary, the present invention includes at least one of the following beneficial technical effects:

1. The automatic rotation indexing mechanism adopts the driving mode of pneumatic jacking + electric rotation, and adopts a new type of end tooth disc pair for precise rotation indexing. The end tooth disc pair realizes indexing and self-centering, and the jacking cylinder Realize the separation and meshing of the end tooth discs, and the rotation is driven by the torque motor. The automatic rotation indexing mechanism has a simple structure, a high degree of automation, a wide range of applications, high indexing and centering accuracy, strong bearing capacity, and good stability;

2. The automatic rotation indexing mechanism transmits the driving force through the splines with loose fit, which can completely release the freedom constraints of the jacking rotary table except from the end gear plate, avoiding the over-constraint of the system, thereby ensuring the accuracy of structural positioning and indexing and reliability.

Description of drawings

Fig. 1 is the schematic diagram of the complete machine of the automatic rotation indexing mechanism of the embodiment of the present invention;

Fig. 2 is a schematic structural view of an automatic rotary indexing mechanism according to an embodiment of the present invention;

Fig. 3 is a schematic diagram of the exploded structure of the toothed disk pair in the embodiment of the present invention;

Fig. 4 is a schematic diagram of discrete points of the circumferential tooth profile of the end gear disc in an embodiment of the present invention;

Fig. 5 is a schematic diagram of the circumferential tooth profile of the end gear disc in the embodiment of the present invention;

Fig. 6 is a schematic diagram of a cluster of toothed lines on the circumference of a toothed disk according to an embodiment of the present invention;

Fig. 7 is a schematic diagram of the tooth surface of the end tooth disc according to the embodiment of the present invention;

Fig. 8 is a schematic diagram of the tooth base of the end tooth disc according to the embodiment of the present invention;

Fig. 9 is a schematic cross-sectional schematic view of the tooth base of the end tooth disc according to the embodiment of the present invention;

Fig. 10 is a schematic diagram of an end sprocket according to an embodiment of the present invention;

Fig. 11 is a schematic diagram of the meshing of the toothed disc pair according to the embodiment of the present invention;

Fig. 12 is a schematic diagram of the spline connection of the automatic rotation indexing mechanism of the embodiment of the present invention;

Fig. 13 is a flow chart of the configuration method of the end sprocket according to the embodiment of the present invention;

Fig. 14 is a schematic diagram of driving the automatic rotation indexing mechanism of the embodiment of the present invention.

Explanation of reference numerals: 1. Precision indexing module; 11. End tooth disc pair; 111. Upper end tooth disc; 112. Lower end tooth disc; 12. Discrete point of circumferential tooth profile line of end tooth disc; Partial enlargement of the point; 13. Circumferential tooth shape line of the end tooth disc; 14. Cluster of circumferential tooth profile lines of the end tooth disc; 141. Partial enlargement of the circumferential tooth profile line cluster; 15. Tooth surface of the end tooth disc; 16. Tooth embryo; 161, convex tooth; 162, groove; 163, inner cylindrical surface; 164, outer cylindrical surface; 165, convex tooth top cone angle oblique line; 166, groove bottom cone angle oblique line; 167, convex tooth cutting plane; 17 , countersunk hole; 18, positioning pin hole; 19, bottom of the plate; 2, fixed base module; 21, workbench; 22, linear bearing; 23, bracket; Key column; 33. Support ring; 34. Lifting rotary table; 4. Lifting and rotating module; 41. Lifting and rotating column; 42. Torque motor; 43. Connecting plate of motor cylinder; 44. Jacking cylinder; 5. End sprocket Sealing module; 51, upper sealing member; 52, sealing ring; 53, lower sealing member.

Detailed ways

The present invention will be described in further detail below in conjunction with accompanying drawings 1-14.

The embodiment of the invention discloses an automatic rotation indexing mechanism based on a toothed disc pair.

Referring to Fig. 1-Fig. 14, an automatic rotary indexing mechanism based on the end sprocket pair includes a fixed base module 2, a rotating table top module 3, a precision indexing module 1, a lifting and rotating module 4, an end sprocket sealing module 5 and The accessory module; the fixed base module 2 is used as the load-bearing base, including the workbench 21; the rotating table module 3 includes the jacking rotary table 34; the precision indexing module 1 includes the end tooth plate pair 11, and the end tooth plate pair 11 includes the The upper toothed plate 111 of the table 34 and the lower toothed plate 112 arranged on the worktable 21; the lifting and rotating module 4 includes a lifting and rotating column 41 and a power assembly, and the lifting and rotating column 41 protrudes from the working table 21 and is connected with the jacking and rotating table 34 , the power assembly has a lifting power source and a rotating power source, and the lifting rotating column 41 drives the jacking rotary table 34 to lift or rotate under the drive of the power assembly to separate or mesh between the upper toothed plate 111 and the lower end toothed plate 112. During the repair and maintenance of the six modules, the entire module can be repaired or replaced, and individual components in the module can also be repaired or replaced, which not only simplifies the design complexity of the whole machine, but also effectively reduces the later maintenance costs.

The rotary indexing mechanism adopts a modular design idea, including precision indexing module 1, fixed base module 2, rotating table module 3, lifting and rotating module 4, end gear disc sealing module 5 and accessory module. The coupling degree between the six modules is It is zero or very small, and the interaction between modules is relatively small. During the maintenance process, the entire module can be overhauled or replaced as a whole, and individual parts in each module can also be overhauled or replaced. Modular design It not only simplifies the design complexity of the whole machine, but also effectively reduces the later maintenance cost.

The end tooth disc pair 11 is composed of two identical end tooth discs, the upper end tooth disc 111 and the lower end tooth disc 112. After the processing is completed, paired grinding is performed. The end gear plate includes a tooth base 16 and a disc bottom 19 arranged on the tooth base 16. The tooth base 16 includes Z convex teeth 161 and Z grooves 162. The lines of the convex teeth 161 and the grooves 162 are The type is a specific circular curve function.

The shape of the protruding teeth 161 and the grooves 162 is a specific circular curve function, such as a sine function curve, a cosine function curve, and the like. Both the protruding teeth 161 and the grooves 162 are linear in the width direction, that is, the protruding teeth 161 are linear teeth, and the grooves 162 are linear grooves. In this embodiment, the width of the protruding teeth 161 and the grooves 162 refers to the length of the difference from the outer circle to the inner circle radius of the end tooth disc. On a plane perpendicular to the central axis of the end gear plate (the plane passes through the center height of the protruding teeth 161 and the grooves 162 ), all the protruding teeth 161 and the grooves 162 are distributed in a uniform array in sequence. Each protruding tooth 161 is a wedge-shaped tooth, and each groove 162 is a wedge-shaped groove, that is, the height and thickness of the protruding teeth 161 and the grooves 162 decrease uniformly from the outer circle to the inner circle of the end gear plate. In this embodiment, the height of the protruding teeth 161 and the grooves 162 refers to the length in the direction of the vertical plane perpendicular to the central axis of the end sprocket; The arc length of the center height of the protruding tooth 161 and the groove 162.

In order to avoid interference between the tooth tops of the convex teeth 161 and the groove bottoms of the grooves 162 when the upper toothed disc 111 and the lower toothed disc 112 of the end toothed disc pair 11 are mated, resulting in redundant constraints, unstable meshing and inaccurate positioning, The tooth tip of the tooth embryo 16 convex tooth 161 is subjected to a conical rotary cutting process, so that the tooth top of the convex tooth 161 is an isosceles trapezoidal plane that gradually descends from the outer circle to the inner circle of the end tooth disc, and the two sides gradually shrink symmetrically. The slope of the inclination angle is the same as the slope of the tooth top of the tooth base 16 convex tooth 161. At the same time, the edge of the cutting surface of the tooth top of the convex tooth 161 is rounded. The radius of the round corner is 0.1mm-0.5mm to avoid the edge when meshing caused by stress concentration. In order to avoid unnecessary interference of the inner and outer circles of the tooth base 16 on other parts when the upper gear 111 and the lower gear 112 of the end gear pair 11 are installed, the inner and outer circles of the gear base 16 are respectively adjusted. Circumferential resection is performed on the circle, and the range of unilateral resection is 0.1mm-0.5mm.

The tooth surfaces of the upper toothed disc 111 and the lower toothed disc 112 of the end toothed disc pair 11 are space circular curved surfaces bounded by the inner circle and the outer circle, which can be decomposed into strips with the central axis of the end toothed disc as the center. The space concentric circle curve that gradually expands from the circle to the outer circle, the curve function can be a sine function, a cosine function or any other available space circle curve function, in this embodiment, the line shape of the convex tooth 161 and the groove 162 is the space circle Sine function curve. Its tooth surface equation is:

In the formula: x(r, θ), y(r, θ), z(r, θ) are the spatial coordinate values of the tooth surface of the end tooth disc, all of which are functions of the parameters r and θ; r is the ring tooth surface The radius value of the previous series of concentric circle curves, the unit is mm; r ₁ and r ₂ are the inner and outer circle radii of the end tooth disc respectively, the unit is mm; θ is the circumferential angle of the ring tooth surface, the unit is rad; Z is the number of teeth of the end tooth disc (that is, the number of convex teeth and grooves); h is the tooth height corresponding to a series of concentric circumferential curves on the tooth surface of the ring (that is, the height of convex teeth and grooves), in mm , and the value of h is defined as follows:

h＝h ₀ +k·(rr ₁ ), k＝tan(α)

In the formula: h ₀ is the initial tooth height of the inner circle, the unit is mm; k is the taper angle slope of the convex tooth top and the groove bottom; α is the taper angle of the convex tooth top and the groove bottom, the unit is rad .

The disc bottom 19 arranged at the bottom of the tooth embryo 16 is convenient for the reliable installation of the upper tooth disc 111 and the lower end tooth disc 112 of the end tooth disc pair 11. The disc bottom 19 has a certain thickness and is the same as the tooth embryo 16. The circular ring of circle radius also can configure the dish bottom 19 of other shapes according to specific demand. In order to facilitate the locking and installation of the upper toothed disc 111 and the lower toothed disc 112 of the end toothed disc pair 11, a hole is dug at the central width of the end toothed disc convex teeth 161 and the groove 162 (that is, the middle circle between the inner circle and the outer circle). A plurality of countersunk holes 17 are formed. In this embodiment, six countersunk holes 17 are dug, and the six countersunk holes 17 are distributed in a uniform circular array around the central axis of the end sprocket. In other embodiments, it can also be made according to Specific requirements change location and distribution.

In this embodiment, in order to facilitate the positioning and installation of the upper toothed plate 111 and the lower toothed plate 112 of the end toothed plate pair 11, the inner circle and the outer circumferential surface of the end toothed plate are H/h6-level precision, and at the same time, the end tooth Two positioning pin holes 18 are punched out symmetrically on the central width of the disc convex teeth 161 and the groove 162 (the size of the positioning pin holes 18 is selected according to the size of the counterbore 17), and the distribution position of the positioning pin holes 18 can also be changed according to specific needs radius.

In this embodiment, only one of the positioning inner circumferential surface, the positioning outer circumferential surface and the positioning pin hole 18 can be used, and they cannot be used at the same time to avoid over-constraint, or use "positioning inner circumferential surface + a positioning pin hole 18" , "locate the outer peripheral surface + a positioning pin hole 18" to avoid over-positioning.

Referring to Fig. 13, based on the above description, the specific configuration process of the configuration method of the end sprocket pair 11 is as follows:

Step 1: First, determine the basic parameters of the toothed disc pair 11, including the radius r ₁ of the inner circle of the toothed disc, the radius r ₂ of the outer circle, the number of teeth Z, the initial tooth height h ₀ of the inner circle, and the taper angle α;

Step 2: Convert the tooth surface formula of the end tooth disc into a program form through programming, and import the basic parameters into the program, run the program to obtain the discrete points 12 of the tooth profile line of the end tooth disc circumference, as shown in Figure 4, a total of s end tooth discs There are 12 discrete points on the tooth profile line on the circumference of the gear disc, only one is shown in the figure;

Step 3: Import the discrete points of each toothed disc circumference tooth profile line 13 into the three-dimensional drawing software, and generate the end tooth disc circumferential tooth profile line 13 through the spline curve fitting function, as shown in Figure 5 (a total of s Circumferential toothed lines, only one is shown in the figure);

The fourth step: import the discrete points 12 of each tooth disc circumference tooth profile line into the three-dimensional software according to the method of the third step to obtain the tooth profile line clusters 14 of the tooth disc circumference, as shown in Figure 6;

The fifth step: through the space surface fitting function, the surface fitting is carried out on the tooth shape line cluster 14 of the end tooth disk circumference, so as to obtain the end tooth disk tooth surface 15, as shown in Figure 7;

Step 6: Draw the inner cylindrical surface 163, the outer cylindrical surface 164 and the bottom surface of the end-toothed tooth blank 16 through the surface stretching function, and obtain the three-dimensional solid model of the end-toothed tooth blank 16 by cutting and sewing, as shown in Figure 8 shown; and, the convex tooth 161 tooth top cone angle oblique line 165 and the groove 162 groove bottom cone angle oblique line 166 have the same slope, as shown in FIG. 9 ;

Step 7: Use the function of rotary cutting to shovel the tooth top of the tooth base 16 convex teeth 161 to obtain the tooth top plane and round the edges to prevent stress concentration when the upper tooth plate 111 and the lower tooth plate 112 mesh . The inner cylindrical surface 163 and the outer cylindrical surface 164 of the tooth embryo 16 are cut around by the stretching and cutting function, so as to avoid unnecessary damage to other components caused by the inner and outer circles of the tooth embryo 16 when the upper tooth disc 111 and the lower tooth disc 112 mesh. put one's oar in. Through the physical stretching function, the bottom 19 of the end tooth plate is drawn, and at the same time, the countersunk hole 17 and the positioning pin hole 18 are drilled on the end tooth plate, as shown in Figure 10, wherein the mark 167 in the figure is the convex tooth cutting plane 167 ;

Step 8: Finally, by copying the rotation function, two identical end sprockets, the upper end sprocket 111 and the lower end sprocket 112 , are obtained, and finally the end sprocket pair 11 is obtained.

In this embodiment, the rotary table module 3 includes a cover 31, a spline column 32, a support ring 33 and a jacking rotary table 34; the end sprocket sealing module 5 includes an upper seal 51, a seal ring 52 and a lower seal 53 The precision indexing module 1 includes an upper toothed disc 111 and a lower toothed disc 112; the fixed base module 2 includes a worktable 21, a linear bearing 22 and a support 23; the lifting and rotating module 4 includes a lifting and rotating column 41, a torque motor 42, and a motor-cylinder connection Plate 43 and jacking cylinder 44; the accessory module includes auxiliary components such as connecting bolts, seals and sensors.

In the rotary table module 3, the jacking rotary table 34 is used to place or connect the workpiece to be processed or related fixtures to realize the rotary indexing movement of the workpiece to be processed. The top of the jacking rotary table 34 is reserved with a plurality of connecting bolt holes. In this embodiment, six connecting bolt holes are reserved on the top of the jacking turntable 34;

The cover 31 is used to seal the through hole of the jacking turntable 34, and can also be replaced with a positioning column or other parts of the same size interface according to actual needs. The cover 31 is fixedly connected with the jacking turntable 34 by bolts, and according to Glue sealing is required;

The spline post 32 drives the jacking turntable 34 through the splines to realize the lifting and rotation movement. In this embodiment, the splines of the spline post 32 are standard rectangular outer splines, which are the same as the rectangular inner splines of the jacking turntable 34. The key parameters are the same, and the two are installed with a gap fit. It is H11/c11 (the tolerance level can also be scaled and changed according to the actual working conditions). The rotary indexing mechanism transmits the driving force through the splines with loose fit, which can completely release the constraints on the degree of freedom of the jacking rotary table 34 except from the end toothed disc, avoiding the over-constraint of the system, thereby ensuring the accuracy and reliability of the structural positioning indexing sex.

The support ring 33 is used to support the spline column 32 , and provides support when the spline column 32 pulls down the jacking turntable 34 , and the support ring 33 is fixedly connected with the jacking turntable 34 through bolts.

In the lifting and rotating module 4, the power assembly includes a jacking cylinder 44 and a torque motor 42; the jacking cylinder 44 is used to drive the separation or engagement of the upper toothed disc 111 and the lower toothed disc 112 as a lifting power source; the torque motor 42 is used for Drive the rotary motion of the jacking turntable 34 as a rotary power source; the jacking cylinder 44 and the torque motor 42 form a series combination of the lifting power source and the rotary power source. In this embodiment, the model of the torque motor 42 is Yaskawa-SGMCV-04BIA41, and the model of the jacking cylinder 44 is SMC-MGF40-20, and the final specific model can be selected according to actual needs.

The lifting and rotating column 41 is used to transmit the power from the lifting and rotating drive source, the top is fixedly connected with the spline column 32 through bolts, and the coaxial positioning and matching are realized with the spline column 32 through the straight port; the lifting and rotating column 41 is passed through the linear bearing 22 realizes motion orientation, and the bottom is fixedly connected to the top of the torque motor 42 through bolts; the torque motor 42 is used as a rotating power source, relying on its large torque characteristics to directly drive the lifting and rotating column 41 to achieve rotational movement, and then the power is transmitted to the jacking column 32 through the spline column 32. The rotary table 34 realizes the rotary motion of the jacking rotary table 34; the torque motor 42 has a rotary encoder, which can effectively detect the rotation angle of the motor, realize the pre-grading of the jacking rotary table 34, and avoid insufficient or excessive rotation angles. The upper toothed plate 111 and the lower toothed plate 112 are meshed, and the end toothed plate hits the teeth; the bottom of the torque motor 42 is fixed on the motor cylinder connecting plate 43 by bolts, and the coaxial positioning and matching are realized with the motor cylinder connecting plate 43 through the straight port; The motor cylinder connection plate 43 is used to connect the torque motor 42 and the jacking cylinder 44 to form a series combination of the lifting power source and the rotating power source, and is fixedly connected to the top of the jacking cylinder 44 by bolts; the jacking cylinder 44 is used as the lifting power source, When jacking up, the power is transmitted to the jacking rotary table 34 through the torque motor 42, the lifting rotary column 41 and the spline column 32, so as to realize the jacking movement of the jacking rotary table 34; the jacking cylinder 44 is used as the lifting power source to lift and rotate After the table 34 falls in place, the power is transmitted to the jacking rotary table 34 through the torque motor 42, the lifting rotating column 41, the spline column 32 and the supporting ring 33, so as to realize the locking of the upper toothed plate 111 and the lower end toothed plate 112; The 44 is equipped with a position sensor, which can effectively detect the lifting height of the cylinder, so as to avoid the end tooth plate hitting the teeth during the rotation due to insufficient jacking height; the jacking cylinder 44 is equipped with a pressure regulating valve, which can effectively control the driving air pressure and avoid falling lock When the end chainring is tightened, the pressure is too large and the end chainring is damaged.

The rotary indexing mechanism adopts the principle of power dispersion drive. The lifting and rotation of the jacking rotary table 34 are respectively realized by the jacking cylinder 44 and the torque motor 42, and the jacking cylinder 44 and the torque motor 42 are arranged in series, which can fully realize the automatic rotation and indexing. Degree movement, and relying on high-precision end tooth disc pair 11 to achieve precision indexing and self-centering, which not only reduces the space volume of the whole machine, but also effectively avoids the risk of high failure rate of integration.

The separation and meshing of the upper toothed disc 111 and the lower toothed disc 112 are realized by the jacking cylinder 44, and the jacking cylinder 44 has a position sensor, which can effectively detect the lifting height of the jacking cylinder 44, and avoid insufficient jacking height to cause the The end tooth plate hits the teeth, and is equipped with a pressure regulating valve, which can effectively control the size of the driving air pressure, avoiding excessive pressure when the end tooth plate is lowered and locked, which will cause damage to the end tooth plate, and the lifting force is large and can effectively realize the 111 1. The locking problem when the lower toothed disc 112 is engaged. The adjustment of the jacking force and locking force can be realized by changing the cylinder model or the air pressure. The problem of excessive locking during meshing; the rotary motion of the jacking rotary table 34 is realized by the torque motor 42, and the torque motor 42 has a rotary encoder, which can effectively detect the rotation angle of the jacking rotary table 34, and realize the lifting of the rotary table 34 The pre-indexing can avoid insufficient or too large rotation angle, which may cause the upper toothed plate 111 and the lower toothed plate 112 to collide with the teeth during the meshing process.

The rotary indexing mechanism uses the torque motor 42 to realize the rotation of the jacking rotary table 34 after the separation of the upper toothed plate 111 and the lower end toothed plate 112. The torque motor 42 has a large driving force and can realize high-torque direct drive without additional reducers, and the torque The internal rotary encoder of the motor 42 can detect the rotation angle of the jacking rotary table 34 in real time, with high precision, and will not cause the problem of wrong tooth meshing between the upper toothed plate 111 and the lower end toothed plate 112 .

Referring to Figure 14, the specific driving method and action flow of the rotary indexing mechanism are as follows:

S1: Installation and commissioning preparation: After the rotary indexing mechanism is assembled and commissioned in sequence, place it at the position specified by the machining equipment and fix it, connect the electricity and gas and connect it to the upper machine position, and adjust the jacking cylinder 44 position sensor fixed position, to ensure that the upper toothed plate 111 and the lower toothed plate 112 can be completely disengaged when the cylinder is jacked up and the sealing assembly is kept within the effective sealing range, and at the same time, it is ensured that the upper toothed plate 111 and the lower toothed plate 112 can be locked after the cylinder is pulled back. tight;

S2: Initial meshing state: In the initial meshing state, the upper toothed disc 111 and the lower toothed disc 112 are in the engaged and locked state; at this time, the moving part of the jacking cylinder 44 is in the _H1 position state, and the movement stroke of the cylinder is c ; The tooth marked A on the upper toothed disc 111 meshes with the tooth marked B on the lower toothed disc 112 ;

S3: Jacking and disengagement state: in the jacking and disengaging state, the upper toothed disc 111 is pushed up by the jacking cylinder 44, and the ascent distance is a, and a<c; at this time, the moving part of the jacking cylinder 44 is in the _H2 position state, and a=H ₂ -H ₁ ; at the same time, the upper toothed disc 111 and the lower toothed disc 112 are in a separated state, and the tooth marked A on the upper toothed disc 111 is located above the tooth marked B on the lower toothed disc 112, and the end toothed disc The highest tooth height is b, and b<a;

S4: Rotary indexing state: In the rotating indexing state, the upper toothed disc 111 is rotated by the torque motor 42, and the rotation angle is β (β=i*360/j, i is the number of teeth for rotating indexing, and j is the end tooth The total number of teeth of the disc); at this time, the moving part of the jacking cylinder 44 remains in the _H2 position state; meanwhile, the tooth marked A on the upper toothed disc 111 is located above the tooth marked C on the lower toothed disc 112;

S5: Back-down meshing state: In the falling-back meshing state, the upper toothed disc 111 is driven down by the jacking cylinder 44 and falls back to the initial state, and the cylinder exerts a pulling force on it to ensure that the upper end toothed disc 111 and the lower end toothed disc 112 are in the meshing lock again Tight state; at this time, the moving part of the jacking cylinder 44 falls back to the _H1 position state; at the same time, the tooth marked A on the upper toothed disc 111 meshes with the tooth marked C on the lower toothed disc 112;

S6: Preparation for the next cycle: After the rotary indexing mechanism completes the entire working cycle of S2-S5, the whole machine is in the initial meshing state again, and each component is ready for the next working cycle of jacking separation→rotary indexing→falling meshing until The whole processing procedure is completed.

In the precision indexing module 1, the upper toothed plate 111 is fixedly connected with the jacking rotary table 34 through bolts, and the positioning pin hole 7 is left on the upper end toothed plate 111, and the positioning pin is used for positioning and matching with the jacking rotary table 34; The toothed disc 112 is fixedly connected with the workbench 21 by bolts, and the lower toothed disc 112 has a positioning pin hole 7, which is used for positioning and matching with the worktable 21 through the positioning pin; The number of teeth, angle, radius, etc.) are exactly the same, and the interface size can be specially designed according to actual needs; the upper toothed plate 111 is matched with the lower end toothed plate 112. The degree of meshing will be better and better, and the accuracy and retention of the indexing will be better and better; the number of teeth of the upper toothed plate 111 and the lower end toothed plate 112 can be determined arbitrarily according to the specific working conditions, so as to meet the needs of different indexing angles , it is only necessary to ensure that the parameters of the upper toothed disc 111 and the lower toothed disc 112 are the same.

In the fixed base module 2, the workbench 21 is used as the base of the whole machine to act as a fixed support. The workbench 21 is designed as a rectangle (it can also be designed into other shapes such as a circle according to actual needs); the workbench 21 top The surface is a finishing surface, which is used to install parts such as end tooth discs and seals, and is also used as an operation table for temporary placement of parts or tools to be processed; the bottom surface of the workbench 21 is reinforced by reinforcing ribs, Increase the overall rigidity and deformation resistance while reducing weight; the two sides of the bottom of the workbench 21 are the installation interfaces of the rotary indexing mechanism, and the design of the interface shape and the connection and locking method can be changed according to the actual situation; the linear bearing 22 is used for The guide of the lifting and rotating column 41 is fixedly connected with the workbench 21 through bolts; the support 23 is used to support the lifting and rotating power source components, is fixedly connected with the workbench 21 through bolts, and is positioned and matched with the workbench 21 through positioning pins.

The end tooth plate sealing module 5, the end tooth plate sealing module 5 includes an upper seal 51, a seal ring 52 and a lower seal 53, the seal ring 52 adopts an O-shaped seal ring 52, and the upper seal 51 connects with the jacking rotary table 34 through bolts fixedly connected, and sealed with gasket or glue; the lower seal 53 is fixedly connected with the workbench 21 by bolts, and sealed with gasket or glue; the O-ring 52 is placed on the lower seal 53 In the groove of the sealing ring 52, the inner wall of the upper sealing member 51 squeezes it; the inner wall circle of the upper sealing member 51 is concentric with the outer wall circle of the lower sealing member 53, forming a clearance fit between them; the upper sealing member 51 and the O-shaped sealing ring 52 Together with the lower seal 53, it forms the sealing module of the end tooth disc during the lifting and rotating movement, so as to isolate the external dust, chips, cutting fluid and other impurities from causing irreversible damage to the end tooth disc, and can effectively isolate external dust, cutting chips, cutting fluid, etc. Impurities enter the interior, avoiding irreversible damage to the end tooth disc, and effectively improving the service life of the rotary indexing mechanism.

The above are all preferred embodiments of the present invention, and are not intended to limit the protection scope of the present invention, so: all equivalent changes made according to the structure, shape and principle of the present invention should be covered by the protection scope of the present invention Inside.

Claims (10)

1. An automatic rotary indexing mechanism based on an end fluted disc pair is characterized in that: comprising the following steps:

a stationary base module (2) as a load-bearing basis, the stationary base module (2) comprising a table (21);

a rotary table module (3) comprising a jacking rotary table (34);

the precision indexing module (1) comprises an end tooth disc pair (11), wherein the end tooth disc pair (11) comprises an upper end tooth disc (111) arranged on the jacking rotary table (34) and a lower end tooth disc (112) arranged on the workbench (21); the lifting rotary module (4) comprises a lifting rotary column (41) and a power assembly, wherein the lifting rotary column (41) extends out of the workbench (21) and is connected with the lifting rotary table (34), the power assembly is provided with a lifting power source and a rotary power source, and the lifting rotary column (41) drives the lifting rotary table (34) to lift or rotate under the driving of the power assembly so as to enable the upper end toothed disc (111) and the lower end toothed disc (112) to be separated or meshed.

2. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 1, wherein: the tooth surface of the end tooth disc pair (11) is a space circular curved surface taking an inner circle and an outer circle as boundaries, the tooth surface comprises a plurality of space concentric circular curves taking an end tooth disc central shaft as a center, the radius of the space concentric circular curves is gradually enlarged from the inner circle to the outer circle, the upper end tooth disc (111) and the lower end tooth disc (112) both comprise tooth blanks (16), the tooth blanks (16) comprise Z convex teeth (161) and Z grooves (162), and the line types of the convex teeth (161) and the grooves (162) are specific circular curve functions.

3. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 2, wherein: the convex teeth (161) and the grooves (162) are linear in the width direction, the convex teeth (161) and the grooves (162) are circumferentially distributed in a uniformly-arrayed mode at intervals on a plane perpendicular to the central axis of the end tooth disc, the convex teeth (161) are wedge-shaped teeth, and the grooves (162) are wedge-shaped grooves.

4. An automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 3, wherein: the tooth tops of the convex teeth (161) are isosceles trapezoid planes which gradually decline and incline from the outer circle to the inner circle of the end fluted disc and gradually shrink symmetrically on two sides, and the slope of the conical inclination of the isosceles trapezoid planes is the same as the slope of the tooth tops of the convex teeth (161).

5. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 2, wherein: the function of the space circumference curve is a space circumference sine function curve, and the tooth surface equation of the end tooth disc is as follows:

wherein: x (r, theta), y (r, theta) and z (r, theta) are the space coordinate values of the tooth surfaces of the end tooth disc and are functions of the parameters r and theta; r is a radius value of a series of concentric circumference curves on the circular tooth surface, and the unit is mm; r is (r) ₁ And r ₂ The inner circle radius and the outer circle radius of the end tooth disc are respectively, and the units are mm; θ is the circumferential angle of the circular tooth surface in rad; z is the number of teeth of the end tooth disc (namely the number of convex teeth (161) and grooves (162); h is tooth height (namely height of convex teeth (161) and grooves (162)) corresponding to a series of concentric circumference curves on the circular tooth surface, wherein the unit is mm, and the value of h is defined as follows:

h＝h ₀ +k·(r-r ₁ ),k＝tan(α)

wherein: h is a ₀ The initial tooth height of the inner circle is in mm; k is the taper angle slope of the tooth tops of the convex teeth (161) and the groove bottoms of the grooves (162); alpha is the taper angle of the tooth tops of the convex teeth (161) and the groove bottoms of the grooves (162), and the unit is rad.

6. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 2, wherein: the bottom of the tooth blank (16) is provided with a disc bottom (19) which is matched with the tooth blank (16).

7. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 6, wherein: the end tooth disc is provided with a plurality of countersunk holes (17) which are uniformly distributed in a circumferential array around the central shaft of the end tooth disc, the inner circumference and the outer circumference of the end tooth disc are positioning circumferential surfaces with certain precision, and the end tooth disc is provided with a plurality of positioning pin holes (18).

8. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 1, wherein: the power assembly comprises a jacking cylinder (44) and a torque motor (42);

the jacking cylinder (44) is used for driving the upper end toothed disc (111) and the lower end toothed disc (112) to be separated or meshed and is used as a lifting power source;

the torque motor (42) is used for driving the jacking rotary table (34) to rotate and is used as a rotary power source; the jacking cylinder (44) is fixedly arranged on the fixed matrix module (2), and the torque motor (42) is arranged on the jacking cylinder (44) through a connecting plate and is fixedly connected with the lifting rotary column (41) to form a series combination of a lifting power source and a rotary power source.

9. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 8, wherein: the rotary table top module (3) further comprises a spline column (32) fixedly arranged on the lifting rotary column (41), and the spline column (32) is in clearance fit with the jacking rotary table (34) and used for transmitting driving force of the power assembly.

10. The automatic rotary indexing mechanism based on an end-toothed disc pair according to claim 1, wherein: still include end tooth dish seal module (5), end tooth dish seal module (5) include seal (51), sealing washer (52) and lower seal (53), go up seal (51) and jacking revolving stage (34) fixed connection, lower seal (53) and workstation (21) fixed connection, sealing washer (52) set up in sealing washer (52) inslot of lower seal (53), in the inner wall of going up seal (51) applys inwards extrusion to sealing washer (52), the inner wall circle of going up seal (51) is concentric and forms clearance fit with the outer wall circle of lower seal (53).

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