CN117381698A - High-precision gear ring rotation driving device - Google Patents

Abstract

The application discloses a high-precision gear ring rotary driving device, which relates to the technical field of assembly tools and comprises a frame, a base, two fixing seats, a plurality of first driving assemblies and a plurality of second driving assemblies; the base is connected with the frame in a sliding way; the fixed seat is connected with the base in a sliding way; the rotary assembly comprises a servo motor, a driving gear, a driven gear ring and a follow-up ring, wherein the servo motor drives the driving gear to rotate, the driven gear ring is meshed with the driving gear, the driving gear rotates to drive the driven gear ring to rotate, and the follow-up ring can rotate relative to the corresponding fixing seat; the device also comprises two clamps, wherein the two clamps are respectively arranged on the two driven gear rings. According to the steering engine assembling device, the working efficiency of assembling the steering engine on the rear equipment cabin can be improved, the labor cost is reduced, and meanwhile, the accuracy of the assembling position of the steering engine on the rear equipment cabin can be improved.

Description

A high-precision ring gear rotation drive device

Technical field

The present application relates to the technical field of assembly tooling, and in particular to a high-precision ring gear rotation driving device.

Background technique

The steering gear is a position (angle) servo driver. It is suitable for control systems that require the angle to continuously change and be maintained. It has a wide range of application scenarios (such as ships, etc.).

Currently, four steering gears need to be installed on the circumferential side wall of the ship's rear equipment cabin (shaped like a hollow cylinder), and the four steering gears are respectively distributed in the four quadrant positions of the circumferential side wall of the rear equipment cabin. .

In the prior art, when assembling the steering gear on the rear equipment cabin, it is necessary to first rotate and install the rear equipment cabin on the assembly tooling, and manually control the rotation of the rear equipment cabin so that the rear equipment cabin rotates to four assembly positions in sequence. to an assembly position, and then manually install the steering gear in the rear equipment compartment at the position where the steering gear is to be assembled.

In the above process, manually controlling the rotation of the rear equipment cabin and assembling the steering gear on the rear equipment cabin not only has low work efficiency and high labor costs, but also the position accuracy of the manual control of the rotation of the rear equipment cabin is not easy to control, which will affect the subsequent steering gear. It affects the accuracy of the installation position of the machine to the rear equipment compartment.

Contents of the invention

This application provides a high-precision ring gear rotation drive device, which can improve the work efficiency of assembling the steering gear on the rear equipment cabin, reduce labor costs, and at the same time improve the accuracy of the assembly position of the steering gear on the rear equipment cabin.

This application provides a high-precision ring gear rotation driving device, which adopts the following technical solution:

A high-precision ring gear rotation driving device, including a frame, a base, two fixed seats, a number of first driving assemblies and a number of second driving assemblies;

The base and the frame are slidingly connected in the vertical direction, and a plurality of first driving assemblies drive the base to slide; the fixed base and the base are slidingly connected in the horizontal direction, and the two fixed bases are parallel to each other and the sliding direction are also parallel to each other, and a plurality of the second driving assemblies respectively drive the two fixed bases to slide;

It also includes a rotating component, which is arranged on the fixed base; the rotating component includes a servo motor, a driving gear, a driven ring gear and a follower ring, and the servo motor is arranged on the fixed base, The driving gear is connected to the servo motor, and the servo motor drives the driving gear to rotate; the driven ring gear is located between the two fixed seats, and the driven ring gear meshes with the driving gear , the rotation of the driving gear drives the driven ring gear to rotate, and the rotation axis of the driven ring gear is parallel to the sliding direction of the fixed seat; the follower ring is arranged on the other fixed seat, The following ring can rotate relative to the corresponding fixed seat, and the rotation axis of the following ring coincides with the rotation axis of the driven ring gear;

It also includes two clamps, the two clamps are respectively arranged on the driven ring gear and the following ring, and the two clamps are located between the driven ring gear and the following ring.

By adopting the above technical solution, after the rear equipment compartment is transported to the frame, the first driving component will drive the base to move downward, and then the second driving component will drive the two fixed seats to slide so that the rear equipment compartment is clamped by the two clamps. The first driving component drives the base to move upwards and drives the rear equipment cabin to move to the position where the steering gear is to be installed; then, the rotating component drives the rear equipment cabin to rotate sequentially to the position where the steering gear is to be installed with higher control accuracy, and the Automated assembly equipment (such as robots, etc.) completes the assembly of the steering gear on the rear equipment cabin; it can improve the efficiency of assembling the steering gear on the rear equipment cabin, reduce labor costs, and at the same time improve the accuracy of the assembly position of the steering gear on the rear equipment cabin. accuracy.

Optionally, the rotating assembly further includes a plurality of limiters, which are respectively provided on the two fixed seats, and are respectively located inside the driven ring gear and outside the follower ring. ; There is an annular guide rail on the driven ring gear, and the axis of the annular guide rail coincides with the rotation axis of the driven ring gear; There is a groove on the limiter, and the annular guide rail is connected with several of the limiters at the same time. The groove on the positioning member is snap-fitted, and the limiting member limits the displacement of the driven ring gear in the radial and axial directions relative to the fixed seat; the outer end of the follower ring is also in contact with the fixed seat at the same time. The grooves on a plurality of the limiters are snap-fitted, and the limiters limit the displacement of the follower coil relative to the fixed seat in the radial and axial directions.

By adopting the above technical solution, during the rotation of the driven ring gear and the subsequent rotation of the follower ring, the movement of the two in the axial direction and the radial direction is limited by the limiting piece, making both of them more efficient. Good positioning accuracy in the circumferential direction can improve the position accuracy of the equipment cabin rotation after the rotating component is controlled.

Optionally, the limiting member is rotationally connected to the fixed base, and the rotation axis of the limiting member is parallel to the rotation axis of the driven ring gear.

By adopting the above technical solution, the resistance caused by the stopper to the rotation of the driven ring gear and the subsequent rotation of the follower ring can be reduced, thereby reducing the wear between the driven ring gear and the stopper, and the wear between the follower ring and the follower ring. The wear between the stoppers and the wear between the driven ring gear and the driving gear can ensure the position accuracy of the equipment cabin rotation after the rotating component is controlled.

Optionally, a plurality of the limiting members are arranged in a circumferential arrangement on the fixed base with the axis of the driven ring gear as an axis.

By adopting the above technical solution, the limiting force of several limiters on the driven ring gear and the follower ring is more evenly distributed on the annular guide rail and the follower ring, thereby reducing the number of the driven ring gear and the follower ring. The probability of deformation and wear of the ring due to uneven force can be extended, and the service life of the annular guide rail and the following ring can be extended, which can further ensure the position accuracy of the equipment cabin rotation after the rotating component is controlled.

Optionally, a contact pad for abutting against the annular guide rail is detachably connected to the limiting member, and the contact pad is located in the groove.

By adopting the above technical solution, the abutment pad replaces the limiter and contacts the annular guide rail and the follower coil, which can reduce the wear of the annular guide rail and the follower coil due to direct contact with the limiter. At the same time, the abutment pad is easy to disassemble and assemble. It is convenient for the stopper to stabilize and limit the driven ring gear and the follower ring.

Optionally, the contact pad has elasticity, and is pressed by the annular guide rail when the contact pad contacts the annular guide rail.

By adopting the above technical solution, the wear caused by the contact between the annular guide rail and the follower ring and the limiter can be further reduced, and at the same time, the limiting effect of the limiter on the driven ring gear and the follower ring can be further improved.

Optionally, there is a gap between the annular guide rail and the clamp, and there is also a gap between the driven ring gear and the fixed seat.

By adopting the above technical solution, the impact of the reaction force of the clamping force on the annular guide rail when the clamp clamps the rear equipment compartment can be reduced, thereby slowing down the wear rate of the annular guide rail; at the same time, it can also reduce the rotation and fixation of the driven ring gear. The wear between the seats can further slow down the wear of the driven ring gear.

Optionally, the clamp includes a number of tooling plates and a number of positioning pins. The tooling plate is provided with an escape groove that matches the end structure of the rear equipment cabin, and the positioning pins can be connected to the end of the rear equipment cabin. The positioning holes at the bottom are plugged and matched.

By adopting the above technical solution, the clamping effect of the clamp on the rear equipment cabin can be further improved, thereby improving the relative position stability of the rear equipment cabin when the rotating assembly controls the rotation of the rear equipment cabin, and facilitating the high-precision rotation of the rear equipment cabin by the rotating assembly. adjust.

Optionally, the second driving assembly includes a rotating block and two connecting rods. The rotating block is located between the two fixed seats. The rotating block is rotationally connected to the base. The rotating axis of the rotating block Horizontal and perpendicular to the sliding direction of the fixed base; both ends of the connecting rod are hinged with the rotating block and the fixed base respectively, and the rotation of the rotating block can drive the two fixed bases to slide in reverse and synchronously.

By adopting the above technical solution, controlling the rotation of the rotating block can drive the two fixed seats to slide in reverse and synchronously through the two connecting rods, so that when the rear equipment cabin is clamped by the clamp, the reaction force of the rear equipment cabin to the two fixed seats can be balanced, and thus Reduce the probability that the driven ring gear or the following gear will be damaged due to uneven stress on the two driven ring gears.

Optionally, a number of retractable auxiliary components are also included. The auxiliary components are located between the two fixing seats. Both ends of the auxiliary components are respectively connected to the two fixing seats, and the auxiliary components can be moved along with the two fixing seats. The fixed seat slides and telescopes.

By adopting the above technical solution, after the rear equipment cabin is clamped, the auxiliary assembly can keep the two fixing seats in the clamping position, thereby assisting the two clamps in maintaining the stability of the clamping of the rear equipment cabin.

To sum up, this application includes at least one of the following beneficial effects:

1. It can improve the work efficiency of assembling the steering gear in the rear equipment compartment, reduce labor costs, and at the same time improve the accuracy of the assembly position of the steering gear in the rear equipment compartment;

2. It can improve the clamping effect of the rear equipment cabin, facilitate the rotating assembly to control the rotation of the rear equipment cabin with high precision, and improve the position accuracy of the rear equipment cabin after rotation, thereby improving the accuracy of the assembly position of the steering gear on the rear equipment cabin. sex;

3. High-precision rotation control of the rear equipment compartment is achieved through gear transmission. Several limiters limit the movement of the driven ring gear and the follower ring in the axial and radial directions, so that the driven ring gear and the follower ring are The moving coils have better positioning accuracy in the circumferential direction, which can further improve the accuracy of the rotation of the equipment cabin behind the control of the rotating assembly;

4. It can reduce the wear of the driven ring gear and the follower ring during the use of the rotating assembly, thereby further ensuring that the rotating assembly can control the rotation of the rear equipment cabin with high precision.

Description of the drawings

Figure 1 is a schematic structural diagram of a high-precision ring gear rotation driving device according to an embodiment of the present application;

Figure 2 is a front view of Figure 1;

Figure 3 is a schematic structural diagram of the fixed seat where the driven ring gear is located in the embodiment of the present application;

Figure 4 is a front view of Figure 3;

Figure 5 is a cross-sectional view along line A-A in Figure 4;

Fig. 6 is a cross-sectional view of the mating portion of the annular guide rail and the stopper along the line B-B in Fig. 5 .

Explanation of reference signs: 1. Frame; 2. Base; 3. Fixing base; 31. Through hole; 4. First driving component; 5. Second driving component; 51. Driving motor; 52. Rotating block; 53. Connecting rod; 6. Rotating component; 61. Servo motor; 62. Driving gear; 63. Driven ring gear; 631. Annular guide rail; 64. Follower ring; 65. Limiter; 651. Groove; 66. Resistor Pad; 7. Clamp; 71. Tooling plate; 711. Avoidance groove; 72. Positioning pin; 8. Auxiliary components; 9. Reinforcement plate.

Detailed ways

The present application will be further described in detail below in conjunction with Figures 1-6.

Referring to Figures 1 and 2, an embodiment of the present application discloses a high-precision ring gear rotation drive device that cooperates with automated transportation equipment for transporting the rear equipment cabin and automated assembly equipment for assembling the steering gear on the rear equipment cabin. use. After the automated transportation equipment sends the rear equipment cabin to the high-precision ring gear rotation drive device in the position to be clamped, the high-precision ring gear rotation drive device clamps the rear equipment cabin and controls it to move to the position where the steering gear is to be assembled, and then The rear equipment cabin is controlled by a high-precision ring gear rotation drive device to rotate to the position where the steering gear is to be assembled, and the steering gear is assembled on the rear equipment cabin by automated assembly equipment. In this embodiment, the automated transportation equipment is preferably an AGV trolley, and the automated assembly equipment is preferably a program-controlled robot; since AGV trolleys and program-controlled robots are common existing technologies, they will not be described in detail here, and The expression is omitted in the drawings.

In addition, in this embodiment, the rear equipment compartment is not further limited, and the rear equipment compartment is omitted from the drawings.

The high-precision ring gear rotation driving device includes a frame 1, a base 2, two fixed seats 3, a plurality of first driving assemblies 4, a plurality of second driving assemblies 5, a rotating assembly 6 and two clamps 7.

The frame 1 is used to provide support for the high-precision ring gear rotation drive device. The frame 1 is installed vertically on the ground, and the bottom of the frame 1 is fixedly connected to the ground.

In this embodiment, it is preferred that the entire frame 1 has a rectangular parallelepiped structure. After the frame 1 is installed on the ground, its height direction is perpendicular to the ground.

The base 2 is installed on one side of the frame 1, and the base 2 and the frame 1 are slidingly connected in the vertical direction. A plurality of first driving assemblies 4 are installed on the top of the frame 1 for controlling the base 2 to slide relative to the frame 1 in the vertical direction. In this embodiment, the high-precision ring gear rotation driving device preferably includes two first driving components 4, and preferably the first driving component 4 is a cylinder; the piston rod of the first driving component 4 is fixed to the base 2 above the base 2 connection, thereby controlling the base 2 to slide in the vertical direction relative to the frame 1 . In other embodiments, the first driving component 4 may also be a screw drive structure driven by a motor, or the like.

In this embodiment, it is preferred that the base 2 has a rectangular plate-like structure as a whole. After the base 2 is installed on the frame 1, the length direction of the base 2 is parallel to the length direction of the frame 1, and the width direction of the base 2 is in contact with the sliding movement of the base 2. The direction is parallel.

Furthermore, it is preferred that two rails are fixedly installed on the frame 1 , and the length direction of the rails is parallel to the height direction of the frame 1 . Both rails cooperate with the base 2 to guide the base 2 to slide in the vertical direction relative to the frame 1, thereby improving the stability of the first driving assembly 4 in driving the base 2 to slide.

The process of the first driving assembly 4 driving the base 2 to slide relative to the frame 1 has limitations, which must be met when the first driving assembly 4 drives the base 2 to slide downward to the extreme position or when it has not reached the extreme position. At this time, the automated transportation equipment The rear equipment compartment of the transport can be positioned exactly in the position to be clamped for the high-precision ring gear rotation drive.

The fixed base 3 is installed on the side of the base 2 away from the frame 1, and the two fixed bases 3 are installed on both ends of the base 2 in the length direction. A plurality of second driving components 5 are installed on the base 2 and located between the two fixed bases 3 . In this embodiment, it is preferred that the high-precision ring gear rotation driving device includes a second driving component 5 .

In this embodiment, it is preferred that the fixing base 3 has a plate-like structure as a whole and is installed on the base 2 in a vertical state.

The second driving assembly 5 includes a rotating block 52 , two connecting rods 53 and a driving motor 51 .

The rotating block 52 is rotatably installed on the side of the base 2 away from the frame 1 . The rotation axis of the rotating block 52 is horizontal and perpendicular to the sliding direction of the base 2 . The installation position of the rotating block 52 on the base 2 is centered.

The two connecting rods 53 are respectively located between the rotating block 52 and the two fixed seats 3. The two ends of the connecting rod 53 are respectively hinged with the rotating block 52 and the adjacent fixed base 3, and the rotation axes of the connecting rod 53 and the rotating block 52 and The rotation axes of the connecting rod 53 and the fixed base 3 are both parallel to the rotation axis of the rotating block 52 .

The drive motor 51 is fixedly installed on the side of the base 2 close to the frame 1. The frame 1 has a space for the drive motor 51 to be installed, and when the base 2 slides in the vertical direction, the space is enough to drive the motor 51. The base 2 slides and moves. In this embodiment, the driving motor 51 is preferably a servo motor 61 . The output shaft of the driving motor 51 passes through the base 2 and is fixedly connected to the rotating block 52 for driving the rotating block 52 to rotate relative to the base 2 .

The fixed base 3 is slidingly connected to the base 2, and the sliding direction of the fixed base 3 is parallel to the length direction of the base 2. When the rotating block 52 rotates, the two connecting rods 53 can drive the two fixed seats 3 to slide relative to the base 2. At this time, the two fixed seats 3 slide relative to the base 2 in reverse and synchronized directions, and there is a gap between the two fixed seats 3 and the rotating block 52. The spacing remains equal.

Furthermore, it is preferred that two rails are fixedly installed on the base 2, and the length direction of the rails is parallel to the length direction of the base 2. Both rails cooperate with the fixed base 3 to guide the fixed base 3 to slide in the horizontal direction relative to the base 2, thereby improving the stability of the second driving assembly 5 in driving the fixed base 3 to slide.

The process of the second driving assembly 5 driving the two fixed bases 3 to slide synchronously in the opposite direction relative to the base 2 also has limitations. It must be satisfied that when the two fixed bases 3 slide toward each other to the extreme position or not to the extreme position, the rear equipment compartment can be positioned at this time. The two fixed seats 3 are clamped and positioned to realize the clamping of the rear equipment compartment by the high-precision ring gear rotation drive device.

When the high-precision ring gear rotation driving device clamps the rear equipment compartment, both fixed seats 3 will be affected by the reaction force of the clamping force. In order to improve the stability of the equipment compartment after being clamped by the high-precision ring gear rotation drive device, the high-precision ring gear rotation drive device also includes a number of retractable auxiliary components 8 .

The auxiliary component 8 is installed horizontally between the two fixed bases 3 to form an additional connection relationship between the two fixed bases 3, thereby improving the relative position stability between the two fixed bases 3 when the two fixed bases 3 clamp the rear equipment compartment. In this embodiment, it is preferred that the auxiliary component 8 is also a cylinder, and preferably one end of the cylinder is fixedly connected to the top of one fixed seat 3 , and the other end of the piston rod is fixedly connected to the top of another fixed seat 3 .

The auxiliary component 8 is connected with the second driving component 5 through signals. When the second driving component 5 drives the two fixed seats 3 to slide synchronously in the opposite direction, the length of the auxiliary component 8 will adapt accordingly; when the second driving component 5 stops When the two fixed bases 3 are driven to slide, the length of the auxiliary assembly 8 will also be fixed, thereby improving the relative position stability between the two fixed bases 3 at this time.

Referring to FIGS. 1 and 3 , the rotating assembly 6 includes a servo motor 61 , a driving gear 62 , a driven ring gear 63 , a follower ring 64 and a plurality of limiting members 65 .

The servo motor 61 is fixedly installed on a fixed base 3 and is located on the side of the fixed base 3 away from the other fixed base 3 . The driving gear 62 is located on the side of the fixed base 3 close to the other fixed base 3. The output shaft of the servo motor 61 is fixedly connected to the driving gear 62. The servo motor 61 can drive the driving gear 62 to rotate, and the rotation axis of the driving gear 62 is fixed to the fixed base 3. The sliding direction of seat 3 is parallel.

The driven ring gear 63 is installed on the side of the fixed base 3 where the servo motor 61 is located close to the other fixed base 3, and is located on the side of the driving gear 62 away from the base 2, and the driven ring gear 63 meshes with the driving gear 62. In this embodiment, it is preferred that the number of teeth and the radial size of the driven ring gear 63 are much larger than the number of teeth and the radial size of the driving gear 62 . The number of teeth and the radial size of the driving gear 62 and the driven ring gear 63 will not be further discussed here. Limited, it can be adjusted according to the size of the rear equipment compartment in actual applications.

The follower coil 64 is installed on another fixed base 3 and is located on the side of the fixed base 3 close to the servo motor 61 . In this embodiment, it is preferred that the driven ring gear 63 and the follower ring 64 are both annular plate-like structures as a whole. The axes of the driven ring gear 63 and the follower ring 64 are both parallel to the sliding direction of the fixed seat 3, and from The axis of the moving ring gear 63 and the axis of the driven gear 64 coincide with each other.

Referring to FIG. 1 and FIG. 3 , a plurality of limiting members 65 are respectively installed on the two fixed bases 3 .

Referring to Figures 5 and 6, after a plurality of limiters 65 are installed on the fixed seat 3 where the driven ring gear 63 is located, a number of limiters 65 are located inside the driven ring gear 63. On the driven ring gear 63 An annular guide rail 631 extends toward its inner side, and the axis of the annular guide rail 631 coincides with the axis of the driven ring gear 63 . The limiter 65 has a groove 651 that matches the annular guide rail 631. The annular guide rail 631 engages with the grooves 651 of several limiters 65 at the same time. At this time, the several limiters 65 can both press the driven ring gear. 63 plays a supporting role and can also be used to guide the driven ring gear 63 to rotate stably with its own axis as the axis. At this time, the rotation axis of the driven ring gear 63 coincides with its own axis, and at this time, the driven ring gear 63 and There is a gap between corresponding fixing seats 3 . In this embodiment, the cross-section of the annular guide rail 631 is preferably triangular; in other embodiments, the shape of the annular guide rail 631 may also be different.

When the annular guide rail 631 engages with the groove 651 on the limiting member 65, the annular guide rail 631 contacts and offsets the groove wall of the groove 651. At this time, the limiting member 65 can limit the displacement of the driven ring gear 63 along its own axial direction and radial direction during rotation, so that the driven ring gear 63 can have a better circumferential direction relative to the fixed seat 3 positioning accuracy.

Referring to Figures 1 and 6, after a plurality of limiters 65 are installed on the fixed base 3 where the follower coil 64 is located, the plurality of limiters 65 are located outside the follower coil 64, and the outer ends of the follower coil 64 can simultaneously It engages with the grooves 651 of several limiting members 65 . Similarly, at this time, a plurality of limiting members 65 can not only support the following coil 64, but also be used to guide the following coil 64 to rotate stably with its own axis as the axis. At this time, the rotation axis of the following coil 64 is consistent with Its own axes coincide.

In the same way, when the outer end of the following coil 64 is engaged with the groove 651 on the limiting member 65, the following coil 64 contacts and offsets the groove wall of the groove 651. At this time, the limiting member 65 can limit the displacement of the following ring 64 along its own axial direction and radial direction during rotation, so that the following ring 64 can have better circumferential positioning relative to the fixed seat 3 Accuracy.

Referring to Figures 2 and 3, when the rear equipment cabin is in a clamped state, the servo motor 61 drives the driving gear 62 to rotate, the driving gear 62 will drive the driven ring gear 63 to rotate, and the follower ring 64 will follow through the rear equipment cabin. The moving ring gear 63 rotates synchronously, so that the rotating assembly 6 can control the rear equipment compartment to rotate and adjust the position state. Among them, the servo motor 61 can control the rotation of the driven ring gear 63 with high precision through the driving gear 62 to achieve tooth-based rotation.

Both fixing bases 3 are provided with through holes 31 , and preferably the through holes 31 have a circular cross-section. After the driven ring gear 63 is installed on one fixed base 3, the axis of the driven ring gear 63 coincides with the axis of the through hole 31 on the corresponding fixed base 3; after the driven ring 64 is installed on another fixed base 3, the driven ring 63 is installed on another fixed base 3. The axis of the moving coil 64 coincides with the axis of the corresponding through hole 31 on the fixed base 3 . When the rear equipment compartment is clamped between the two fixing seats 3, the through hole 31 can provide space for the automated assembly equipment to assemble the steering gear inside the rear equipment compartment.

Referring to FIGS. 3 and 5 , further, preferably, the limiting member 65 is rotationally connected to the fixed base 3 , and the rotation axis of the limiting member 65 is parallel to the rotation axis of the driven ring gear 63 . When the servo motor 61 drives the driving gear 62 to rotate and drives the driven ring gear 63 to rotate, several limiters 65 will rotate accordingly under the action of friction between themselves and the annular guide rail 631, thereby reducing the impact of the limiters 65 on the driven gear. The resistance generated by the rotation of the ring gear 63 makes the rotation process of the driven ring gear 63 smoother. In this embodiment, it is preferred that the limiting member 65 is a roller.

Referring to Figure 1, in the same way, when the following ring 64 passes through the rear equipment compartment and rotates synchronously with the driven ring gear 63, several limiting members 65 will also rotate under the action of friction between themselves and the outer ends of the following ring 64. , thereby also reducing the resistance produced by the limiter 65 to the rotation of the follower coil 64, making the rotation process of the follower coil 64 smoother.

Referring to Figures 1 and 4, furthermore, it is preferred that six limiting pieces 65 are installed on each of the two fixed bases 3, and the six limiting pieces 65 are circumferential on the fixed base 3 with the axis of the through hole 31 as the axis. array distribution. This makes the limiting effect of the six limiting parts 65 on the annular guide rail 631 more evenly distributed on the annular guide rail 631, and also makes the limiting effect of the six limiting parts 65 on the following coil 64 more evenly distributed on the following coil 64. , reducing the probability of local damage to the annular guide rail 631 and the follower coil 64 due to uneven force.

Referring to Figures 1 and 3, further, in the process of the limiting member 65 rotating with the rotation of the driven ring gear 63 and rotating with the rotation of the follower ring 64, the annular guide rail 631, the limiter 65 and the follower ring 64 Both the stopper 65 and the stopper 65 will be worn to varying degrees, which will affect the control accuracy of the subsequent rotation control of the rear equipment cabin by the rotating assembly 6 .

For this reason, it is preferred that the limiting member 65 is detachably connected to the fixing base 3 by bolts. When the positioning and limiting functions of the limiter 65 are affected due to wear, the staff can solve the above problem by replacing the limiter 65 with a new one.

Referring to Figures 1 and 6, further, preferably, the limiting member 65 is detachably connected to a contact pad 66 for contacting the annular guide rail 631 and the follower ring 64 instead of itself. The contact pad 66 is elastic and has a certain elasticity. In terms of deformation ability, in this embodiment, the contact pad 66 is preferably made of rubber material, and the contact pad 66 is preferably detachably connected to the limiting member 65 in a set manner.

After the contact pad 66 is connected to the limiter 65, the contact pad 66 can cover the groove wall of the groove 651 and form a new groove 651 for the annular guide rail 631 and the outer end of the follower ring 64 to engage and fit, and At this time, after the annular guide rail 631 and the outer end of the follower ring 64 engage with the groove 651, they will squeeze the abutting pad 66 to cause elastic deformation. The annular guide rail 631 and the follower ring 64 can be kept in contact with the limiter 65 through the abutment pad 66 , so that the limiter 65 can stably limit the driven ring gear 63 and the follower ring 64 .

During the use of the rotating assembly 6, the contact pad 66 can simultaneously reduce the wear between the annular guide rail 631 and the follower ring 64 and the limiter 65. When the contact pad 66 is worn, the positioning effect of the limiter 65 and When the limiting function is affected, the staff can solve the above problem by replacing the abutting pad 66 with a new one.

Referring to FIGS. 1 and 3 , the two clamps 7 correspond to the driven ring gear 63 and the following ring 64 respectively, and the two clamps 7 are located between the driven ring gear 63 and the following ring 64 . When the two fixed seats 3 clamp the rear equipment cabin, the clamp 7 will replace the driven ring gear 63 and the follower ring 64 and directly contact the rear equipment cabin to offset it, reducing the reaction force on the driven device after the rear equipment cabin is clamped. The wear caused by the ring gear 63 and the follower gear 64.

In this embodiment, in order to protect the driven ring gear 63 and the following ring 64, it is preferable that the side of the driven ring gear 63 facing away from the corresponding fixed seat 3 and the side of the following ring 64 facing away from the corresponding fixed seat 3 are fixedly installed with annular rings. The reinforcement plate 9 has an axis that coincides with the axis of the driven ring gear 63, and the corresponding clamps 7 are installed on the reinforcement plate 9, thereby further reducing the impact on the driven ring gear 63 during the clamping process of the rear equipment compartment. And the wear caused by the follower coil 64.

Furthermore, the annular guide rail 631 is located at an end of the driven ring gear 63 away from the clamp 7 along the axis direction of the driven ring gear 63, and there is a gap between the annular guide rail 631 and the clamp 7, which can reduce the force of the rear equipment compartment after being clamped. The probability that the reaction force is successively transmitted to the annular guide rail 631 through the clamp 7 and the reinforcing plate 9 can further reduce the loss during use of the annular guide rail 631 and extend the service life of the annular guide rail 631.

The clamp 7 is detachably connected to the reinforcing plate 9. When the clamp 7 wears to a certain extent after being used for a period of time, it will affect the clamping effect of the high-precision ring gear rotation drive device on the rear equipment compartment. At this time, the staff can disassemble and replace it. The new clamp 7 can solve the above problems.

The clamp 7 includes several tooling plates 71 . In this embodiment, preferably the clamp 7 includes a total of three tooling plates 71 , and the three tooling plates 71 are distributed in a circular array on the reinforcement plate 9 with the axis of the reinforcement plate 9 as the axis.

The clamp 7 also includes a number of positioning pins 72. In this embodiment, preferably the clamp 7 adjacent to the driven ring gear 63 includes two positioning pins 72, and preferably the clamp 7 adjacent to the driven ring 64 includes three positioning pins. 72. A number of positioning pins 72 are distributed in a circular array on the reinforcing plate 9 with the axis of the reinforcing plate 9 as the axis.

In addition, in this embodiment, it is also preferred that the tooling plate 71 and the positioning pins 72 are detachably connected to the reinforcing plate 9 by bolts.

Among them, the side of the tooling plate 71 adjacent to the driven ring gear 63 close to the axis of the reinforcing plate 9 is provided with an escape groove 711 that is adapted to the protruding structure at the end of the rear equipment compartment; the structures of several positioning pins 72 are consistent with The positioning holes opened on the end of the rear equipment compartment are suitable.

In actual application, the position and number of the tooling plate 71 included in the fixture 7, the position and number of the positioning pins 72, whether there is an escape groove 711 on the tooling plate 71, etc., can all be determined according to the actual structure of the rear equipment compartment and the clamping requirements. Make adjustments.

When the rear equipment cabin is clamped between the two fixing seats 3, the two reinforcing plates 9 are in contact with the two ends of the rear equipment cabin. At the same time, the protruding structures at both ends of the rear equipment cabin are in contact with the avoidance holes on the different tooling plates 71. The grooves 711 are snap-fitted, and the different positioning pins 72 are also plug-fitted with the positioning holes at the end of the rear equipment cabin, thereby improving the clamping effect of the clamp 7 on the rear equipment cabin, that is, improving the clamping effect of the rear equipment cabin. Positional stability, thereby improving the positional accuracy when the subsequent rotating assembly 6 drives the rear equipment cabin to rotate and change the positional state.

The implementation principle of a high-precision ring gear rotation driving device in the embodiment of this application is:

After the automated transportation equipment sends the rear equipment cabin to the high-precision ring gear rotation drive device, the high-precision ring gear rotation drive device controls a number of first drive assemblies 4 and a number of second drive assemblies 5 to clamp and move the rear equipment cabin to the The position of the steering gear to be assembled; then the rotating assembly 6 controls the rear equipment cabin to accurately rotate to the position of the steering gear to be assembled with high precision, and then the automated assembly equipment completes the assembly of the steering gear on the rear equipment cabin; repeat the above steps until All four servos are assembled on the rear equipment compartment.

The above are all preferred embodiments of the present application, and do not limit the scope of protection of the present application. Therefore, any equivalent changes made based on the structure, shape, and principle of the present application shall be covered by the protection scope of the present application. Inside.

Claims (10)

1. The high-precision gear ring rotary driving device is characterized by comprising a frame (1), a base (2), two fixing seats (3), a plurality of first driving components (4) and a plurality of second driving components (5);

the base (2) is connected with the frame (1) in a sliding manner along the vertical direction, and the plurality of first driving assemblies (4) drive the base (2) to slide; the fixed seats (3) are connected with the base (2) in a sliding manner along the horizontal direction, the two fixed seats (3) are parallel to each other, the sliding directions of the two fixed seats are also parallel to each other, and the two fixed seats (3) are respectively driven to slide by the second driving assemblies (5);

the rotary assembly (6) is arranged on the fixed seat (3); the rotating assembly (6) comprises a servo motor (61), a driving gear (62), a driven gear ring (63) and a follow-up ring (64), wherein the servo motor (61) is arranged on the fixed seat (3), the driving gear (62) is connected with the servo motor (61), and the servo motor (61) drives the driving gear (62) to rotate; the driven gear ring (63) is positioned between the two fixed seats (3), the driven gear ring (63) is meshed with the driving gear (62), the driving gear (62) rotates to drive the driven gear ring (63) to rotate, and the rotation axis of the driven gear ring (63) is parallel to the sliding direction of the fixed seats (3); the follower ring (64) is arranged on the other fixed seat (3), the follower ring (64) can rotate relative to the corresponding fixed seat (3), and the rotation axis of the follower ring (64) is coincident with the rotation axis of the driven gear ring (63);

the device further comprises two clamps (7), wherein the two clamps (7) are respectively arranged on the driven gear ring (63) and the follow-up ring (64), and the two clamps (7) are both positioned between the driven gear ring (63) and the follow-up ring (64).

2. The high-precision gear ring rotary driving device according to claim 1, wherein the rotary assembly (6) further comprises a plurality of limiting pieces (65), and the limiting pieces (65) are respectively arranged on the two fixed seats (3) and are respectively positioned on the inner side of the driven gear ring (63) and the outer side of the follower ring (64); the driven gear ring (63) is provided with a ring-shaped guide rail (631), and the axis of the ring-shaped guide rail (631) coincides with the rotation axis of the driven gear ring (63); the limiting piece (65) is provided with a groove (651), the annular guide rail (631) is simultaneously matched with the grooves (651) on the limiting piece (65) in a clamping mode, and the limiting piece (65) limits the driven gear ring (63) to displace relative to the fixed seat (3) along the radial direction and the axial direction; the outer end part of the follow-up ring (64) is also in clamping fit with a plurality of grooves (651) on the limiting pieces (65), and the limiting pieces (65) limit the follow-up ring (64) to displace relative to the fixed seat (3) along the radial direction and the axial direction.

3. A high precision gear ring rotation driving device according to claim 2, characterized in that the limiting member (65) is rotationally connected to the fixed seat (3), and the rotation axis of the limiting member (65) is parallel to the rotation axis of the driven gear ring (63).

4. A high precision gear ring rotation driving device according to claim 3, characterized in that the plurality of limiting members (65) are circumferentially arranged on the fixed base (3) with the axis of the driven gear ring (63) as the axis.

5. A high precision gear ring rotation driving device according to claim 2, characterized in that the limiting member (65) is detachably connected with an abutment pad (66) for abutting against the annular guide rail (631), the abutment pad (66) being located in the recess (651).

6. The high-precision ring gear rotation driving device according to claim 5, wherein the abutment pad (66) has elasticity, and the abutment pad (66) is pressed by the annular rail (631) when contacting the annular rail (631).

7. A high precision gear ring rotation driving device according to claim 2, characterized in that there is a space between the annular guide rail (631) and the clamp (7), and a space between the driven gear ring (63) and the fixed seat (3).

8. The high-precision gear ring rotation driving device according to claim 1, wherein the fixture (7) comprises a plurality of tooling plates (71) and a plurality of positioning pins (72), avoidance grooves (711) matched with the end structures of the rear equipment compartment are formed in the tooling plates (71), and the positioning pins (72) can be in plug-in fit with positioning holes in the end parts of the rear equipment compartment.

9. A high precision gear ring rotation driving device according to claim 1, characterized in that the second driving assembly (5) comprises a rotation block (52) and two connecting rods (53), the rotation block (52) is located between the two fixed bases (3), the rotation block (52) is rotationally connected with the base (2), and the rotation axis of the rotation block (52) is horizontal and perpendicular to the sliding direction of the fixed bases (3); the two ends of the connecting rod (53) are respectively hinged with the rotating block (52) and the fixed seat (3), and the rotating block (52) can rotate to drive the two fixed seats (3) to reversely and synchronously slide.

10. The high-precision gear ring rotation driving device according to claim 9, further comprising a plurality of telescopic auxiliary assemblies (8), wherein the auxiliary assemblies (8) are located between the two fixed seats (3), two ends of each auxiliary assembly (8) are respectively connected with the two fixed seats (3), and the auxiliary assemblies (8) can stretch and retract along with the sliding of the two fixed seats (3).