WO2017148453A1

WO2017148453A1 - Floating compression rotary power head

Info

Publication number: WO2017148453A1
Application number: PCT/CN2017/082547
Authority: WO
Inventors: 林中尉
Original assignee: 苏州阿福机器人有限公司
Priority date: 2016-03-01
Filing date: 2017-04-28
Publication date: 2017-09-08
Also published as: CN205497204U

Abstract

A floating compression rotary power head, which comprises a power head shaft (12) and a driving portion which drives the power head shaft (12) to rotate, the driving portion being provided with a housing (11), the power head shaft (12) being rotatably arranged on the housing (11), and which also comprises an electromagnetic element (2) which is used for driving the power head shaft (12) to oscillate. When a current passes through the electromagnetic element (2), an action force produced by an electromagnetic field drives the housing (11) to oscillate. The oscillation direction of the housing (11) and the size of the action force driving the housing (11) to oscillate may be altered by altering the size and direction of the current. The floating compression rotary power head has a simple structure and may implement floating force size and direction adjustment.

Description

Floating compacted rotary power head

Technical field

This technology is designed to power the power head on the workpiece, especially a power head for grinding the burrs on the workpiece.

Background technique

The power head generally includes a power head shaft and a driving portion (such as a motor, a pneumatic motor, and the like) that drives the power head shaft to rotate, and the driving portion has a housing, and the power head shaft for mounting the cutter is disposed on the housing. The driving part drives the power head shaft to rotate, and the cutter rotates for processing.

In the process of grinding burrs and the like, the tool needs to be placed on the workpiece with a constant floating force, and the tool is required to change position as the shape of the workpiece changes. In order to keep the tool in contact with the workpiece by a relatively constant floating force, a conventional floating mechanism is used, and a pneumatic device is used. For structural reasons, for example, when the cylinder structure is used, the piston resistance is large, and when the diaphragm structure is used, the diaphragm itself is used. Elasticity affects the floating force, which can result in unstable floating forces and poor flexibility of the float, especially in applications where a small floating force is required, the aerodynamic floating structure cannot be adapted.

Summary of the invention

The purpose of the present technology is to provide a floating compaction rotary power head that is simple in structure, adjustable in magnitude and direction of floating force.

The present technology can be a floating compression rotary power head, the power head includes a power head shaft and a driving portion for driving the power head shaft to rotate, the driving portion has a housing, and the power head shaft for mounting the cutter is disposed on the housing The utility model further comprises an electromagnetic component for driving the power head to swing; when the electromagnetic component receives the current, the electromagnetic field generates a force to drive the housing to swing; by changing the magnitude and direction of the current, the swinging direction of the housing and the driving shell can be changed. The amount of force that swings.

The beneficial effects of the technology: the driving part (air motor, motor, etc.) drives the power head shaft and the tool fixed on the power head shaft to rotate, and the workpiece is cut. The electromagnetic element (such as an electric motor, an electromagnet, etc.) converts the current into a force that drives the housing to oscillate in the form of an electromagnetic field, so that the housing or the like oscillates, and the tool on the power head shaft is pressed against the workpiece. By changing the magnitude of the current flowing through the electromagnetic element, the magnitude of the force of the drive housing swing can be varied to change the floating contact force of the tool; by changing the direction of the current flowing through the electromagnetic element, the direction of the floating contact force can be changed. The technology can be said to be an electromagnetic floating device, which overcomes the influence of frictional resistance or elastic interference resistance of a conventional floating device, and can generate a high-sensitivity and high-flexibility floating pressing force. When used on a numerical control device, the outer casing of the electromagnetic component is fixed to the tool holder or the fixture of the numerical control device, and the floating compression rotary rotary power head is moved along a certain trajectory by the tool holder or the clamp, and is fixed at the same time. The tool on the power head shaft is machined under the driving of the driving part. If the current flowing through the electromagnetic element is constant, the tool can always rest on the workpiece with a relatively constant force to realize the floating pressing process.

In the above-mentioned floating and compacting rotary power head, the power head is fixed on the power head mounting block, and the electromagnetic component is connected to the housing through the power head mounting block. When the electromagnetic component is supplied with current, the electromagnetic field generates force to drive the power head to be installed. The block and the housing oscillate.

In the above-mentioned floating compression rotary power head, the electromagnetic component is an electric motor, and an output shaft of the electric motor is connected to the housing. When the electric motor is supplied with current, the output shaft drives the housing to rotate. Of course, a deceleration structure may also be disposed between the output shaft of the motor and the housing, and the output shaft of the motor drives the housing to rotate through the deceleration structure.

The above-mentioned floating compression rotary power head has a driving part which is a pneumatic motor, and a gas source pipe supplying air to the air motor is connected to the air motor through a rotary joint; the rotation central axis of the rotary joint is coaxial with the swinging central axis of the housing swinging . The rotary joint coaxially rotating with the swinging central axis of the housing swing is used to prevent the air source tube from affecting the floating force, and the air source tube does not affect the force of driving the power head component to swing.

The above-mentioned floatable compact rotary power head has a driving portion as a motor.

In the above-mentioned floating-pressing rotary power head, the electromagnetic component is an electromagnetic component capable of generating a magnetic field for adsorbing a ferromagnetic material after being energized, the electromagnetic component is disposed on a base, and the housing is swingably disposed on the base, The housing is made of a ferromagnetic material or a ferromagnetic material is fixed on the housing. When the electromagnetic element is supplied with current, the ferromagnetic material is caused by the magnet generated by the electromagnetic element to cause the housing to swing relative to the housing. Preferably, the housing is swung 360° relative to the base. The electromagnetic component is an electromagnet. There are many mechanisms for oscillating the housing 360° relative to the housing. For example, the housing can be oscillated 360° on the base by a cross universal mechanism or a ball joint. The cross universal mechanism mainly includes a universal ring, an inner pin and an outer pin. A universal ring is arranged between the casing and the base, and the universal ring is connected to the base through two coaxial inner pins; the universal ring passes through two coaxial The outer pin is connected to the housing, and the outer pin axis is perpendicular to the inner pin axis. The housing can rotate around the inner pin relative to the universal ring and the base, or can rotate with the universal ring around the outer pin relative to the base, so that the housing can swing in any direction within a range of 360 degrees with respect to the base. angle.

The above-mentioned floatable compact rotary power head further comprises a speed reducing device, the output portion of the electromagnetic component is connected to the input portion of the speed reducer, the housing is connected to the output portion of the speed reducer; and the electromagnetic component drives the housing to swing through the speed reducer .

The above-mentioned floatable compact rotary power head further includes a transmission mechanism, and an output portion of the electromagnetic component is connected to the housing through a transmission mechanism; the electromagnetic component drives the housing to swing by the transmission mechanism. The transmission mechanism can be various, for example, the electromagnetic component is disposed on a base, the housing is swingingly disposed on the base; the transmission mechanism is a swing guide mechanism; and the swing guide mechanism is fixed to the electromagnetic component output. a part of the swinging rod, a slider hinged at the end of the swinging rod, and a guiding rod with a sliding rail; the sliding block is arranged in the sliding passage; the guiding rod is fixedly connected with the housing; the electromagnetic component is supplied with current, and the electromagnetic component is outputted The swinging rod is swung, and the slider moves in the slide, so that the guide rod and the housing swing relative to the base. Of course, the power head can also be mounted on the base through the power head. For example, the power head is fixed on a power head mounting block, and the power head mounting block is swinging on the base; the guide rod is fixedly connected with the power head mounting block; the electromagnetic component is supplied with current, and the electromagnetic component output portion drives the swing rod to swing and slide. The block moves within the chute, and the guide bar and the power head mounting block swing relative to the base such that the power head fixed to the power head mounting block swings relative to the base. Preferably, the driving part is a pneumatic motor, the power head mounting block has a gas supply passage communicating with the air motor; the rotary joint is mounted on the power head mounting block; one end of the rotary joint is connected to the air supply passage, and the other end is connected with the air for supplying compressed air. The source pipe is in communication; the rotating central axis of the rotary joint is coaxial with the swinging central axis of the power head mounting block swing. The rotary joint coaxially rotating with the swinging central shaft of the housing and the power head mounting block is used to prevent the air source tube from affecting the floating force, and the air source tube does not affect the force of driving the power head component to swing.

In the above-mentioned floatable compression rotary power head, the housing is disposed on a swinging mechanism, and the electromagnetic component is coupled to the swinging mechanism to drive the housing to swing by the swinging mechanism. For example, the swinging mechanism is a crank rocker mechanism, the housing is fixed on the rocker in the crank rocker mechanism, and the output part of the electromagnetic component is connected with the crank in the crank rocker mechanism to drive the crank to rotate counterclockwise or clockwise (can be changed In the direction of rotation, the electromagnetic element drives the rocker to achieve the swing of the housing.

DRAWINGS

1 is a schematic view of a floatable compression rotary power head of Embodiment 1.

2 is a perspective view of a floatable compression rotary power head of Embodiment 2.

Fig. 3 is a cross-sectional view of the second embodiment.

Fig. 4 is a perspective view showing the second embodiment in which the stand and the like are removed.

Figure 5 is a perspective view of the swing guide mechanism.

Figure 6 is another perspective view of the swing guide mechanism.

Fig. 7 is a cross-sectional view showing a swing guide mechanism, a rotating shaft, and the like.

Figure 8 is a perspective view of the floatable compression rotary power head of the third embodiment.

Fig. 9 is a cross-sectional view of the third embodiment.

Fig. 10 is a perspective view showing the removal of the stand and the like in the third embodiment.

Fig. 11 is another perspective view showing the removal of the stand and the like in the embodiment 3.

Fig. 12 is a perspective view of a crank rocker mechanism, a casing, and the like.

Fig. 13 is a perspective view of a crank, a rocker, a slider, and the like.

Figure 14 is a cross-sectional view of the floatable compact rotary power head of the fourth embodiment.

Figure 15 is another cross-sectional view of the floatable compact rotary power head of the fourth embodiment.

detailed description

Example 1:

Referring to the floating-compressive rotary power head using electromagnetic force shown in FIG. 1, the power head (pneumatic grinding head) 1 includes a pneumatic motor as a driving portion, and the air motor has a housing 11 for mounting the cutter 8. The power head shaft 12 is rotatably disposed on the casing, and the output shaft of the motor 2 for driving the power head to swing is connected to the power head mounting block 3, and the casing 11 is fixed to the power head mounting block.

The air supply mechanism 4 communicates with the power head mounting block and the air motor through the two

air supply pipes

51, 52, respectively. The power head mounting block is provided with an air supply passage 6 communicating with a source of compressed air. One end of the air supply passage communicates with the rotary joint 7 and the other end communicates with the air supply pipe 51. The rotary joint 7 is connected to a gas source pipe that supplies compressed air, and is mounted on the power head mounting block, and the rotation center axis of the rotary joint 7 on the power head mounting block is coaxial with the output shaft of the motor 2.

The electric motor 2 as an electromagnetic element may be a direct current motor. When the direct current motor 2 is energized, the direct current motor generates a rotational torque, and the torque is transmitted to the pneumatic grinding head through the power head mounting block, so that the pneumatic grinding head generates a rotation force, thereby pressing the tool against On the workpiece. By varying the magnitude and direction of the current flowing through the DC motor, the direction of oscillation of the tool and the amount of pressing force of the tool against the workpiece can be varied.

When used on a numerical control device, the motor casing is fixed to the tool holder or fixture of the numerical control device, and is moved along a certain path by the tool holder or the clamp; while the tool is driven by the driving portion, the tool will always be Floating compression is achieved by a relatively constant force against the workpiece.

By changing the magnitude of the current flowing through the motor, the output torque of the motor can be changed, thereby changing the floating pressing force of the tool to the workpiece; by changing the direction of the output torque of the motor, the direction of the floating pressing force can be changed. The technology uses a force electromagnetic floating device to overcome the influence of frictional resistance or elastic interference resistance of a conventional floating device, and can generate a high-sensitivity and high-flexibility floating pressing force.

Example 2:

Referring to the floating and compacting rotary power head shown in Figures 2 and 3, the utility model mainly comprises a base 200, an electric motor (electromagnetic element) 202 fixed on the base, a power head mounting block 204, a swinging guide mechanism 203, and fixed to the power. The pneumatic grinding head 201 on the head mounting block 204, bearing 205.

Referring to Figures 4-7, the swing guide mechanism 203 mainly includes a swing rod 2031 fixed to an output shaft of the motor, a guide rod 2032, a rotating shaft 2033, and a slider 2034. The slider 2034 is similar to the bearing structure and includes an inner ring 20341, an outer ring 20342, and balls 20343 between the inner ring and the outer ring. A slide rail 20311 is opened on the swing lever 2031. The outer ring of the slider is slidably disposed in the slide. One end of the guide rod is fixedly connected with the inner ring of the slider, and the other end is fixedly connected with the rotating shaft. The rotating shaft is set on the machine base through two left and right bearings 205, and is turned The shaft is rotatable relative to the base about the axis of the shaft. One end of the rotating shaft extends into the intake passage 2001 opened on the base.

The pneumatic grinding head 201 belongs to the prior art and mainly comprises a power head shaft and a pneumatic motor that drives the power head shaft to rotate. The air motor has a housing 2011, and the power head shaft 2018 for mounting the cutter is rotatably disposed on the housing. The housing 2011 is fixedly coupled to the power head mounting block 204.

The motor receives current, the motor output shaft drives the swing rod to swing, and the outer ring of the slider moves in the slide. The guide rod, the rotating shaft, the power head mounting block fixed on the rotating shaft, and the power head on the fixed power head mounting block are all around the axis of the shaft. Swing relative to the base. By changing the magnitude and direction of the motor current, the swinging direction of the power head and the force of the swinging of the components such as the power head can be changed.

The inside of the rotating shaft 2033 has an intake passage 20331 communicating with the intake passage 2001 on the base. The intake passage 20331 communicates with the air motor through the air supply passage 2041 inside the power head mounting block. The gas source pipe supplying the air to the air motor is connected to the air inlet passage 2001 on the machine base, and supplies air to the air motor through the air inlet passage 20331 and the air supply passage 2041, so that the air source pipe does not swing the driving power head and the like. The force exerts an influence.

Example 3:

Referring to the floating and compacting rotary power head shown in Figures 8 and 9, mainly comprising a base 300, an electric motor (electromagnetic element) 302 on the fixed base, a crank rocker mechanism 303, an electric grinding head 301, a bearing 305, a rotating shaft 306, an annular power head mounting block 304. The electric grinding head includes a power head shaft and a motor that drives the power head shaft to rotate. The motor has a housing 3011 on which the power head shaft 3018 for mounting the tool is rotatably disposed.

The rotating shaft 306 is fixed on the base 300, and the housing 3011 is fixed on the power head mounting block 304. The power head mounting block 304 is rotatably disposed on the rotating shaft by two bearings 305. The housing and the power head mounting block are rotatable relative to the base about the axis of rotation.

Referring to Figures 10-13, the crank rocker mechanism 303 includes a crank 3031 that is fixed to the output shaft of the motor 302, a rocker block 3035 that is fixed to the housing 3011, and a slider 3034. The slider 3034 is similar to the bearing structure and includes an inner ring 30341, an outer ring 30342, and balls 30343 between the inner ring and the outer ring. A slideway 30351 is opened on the rocker block. The outer ring of the slider is slidably disposed in the slide. One end of the crank is fixedly connected to the inner ring of the slider, and the other end is fixedly connected to the output shaft of the motor.

The motor 302 is energized, the motor output shaft drives the crankshaft to swing, and the outer ring of the slider moves in the slide on the rocker block. The axis of the rocker block, the electric grinder, the power head mounting block 304 and the like are perpendicular to the axis of the shaft. Swing in the plane relative to the base. By changing the magnitude and direction of the current of the motor 302, the swinging direction of the electric grind head and the amount of force that drives the electric grind head to swing can be changed.

The rocker block and the housing of the electric grinding head are fixedly connected and swing around the axis of the rotating shaft, so the connected rocker block and electric motor are fixed. The housing of the grinding head can also be seen as a rocker that oscillates about the axis of the shaft.

Of course, it is also possible to remove the power head mounting block 304, and the housing is directly disposed on the rotating shaft by the two bearings 305.

Example 4:

Referring to Figures 14 and 15, the floatable compression rotary power head mainly comprises a base 400, an electromagnet 402 on the fixed base that can generate a magnetic force, a pneumatic grinding head 401, a power head mounting block 404, and a cross To the mechanism 405, the core or the magnet 406.

The pneumatic grinding head 401 belongs to the prior art and mainly comprises a power head shaft 4018 and a pneumatic motor that drives the power head shaft to rotate. The air motor has a housing 4011, and the power head shaft for mounting the cutter is disposed on the housing. The housing 4011 is fixed to the power head mounting block 404, and the power head mounting block 404 is swingably disposed on the base by a 360-degree mechanism.

The cross universal mechanism 405 mainly includes a universal ring 4051, an inner pin 4052, and an outer pin 4053. A universal ring is disposed between the power head mounting block and the base, and the universal ring is disposed on the base by two coaxial outer pins; The universal ring is rotatably coupled to the power head mounting block by two coaxial inner pins, the outer pin axis being perpendicular to the inner pin axis. The power head mounting block can rotate around the inner pin relative to the universal ring and the base, or can rotate with the universal ring around the outer pin relative to the base, so the housing can swing in any direction within 360 degrees with respect to the base. A certain angle.

Of course, it is also possible to regard the power head mounting block as a part of the housing. In this case, it is equivalent to the housing being directly disposed on the base by 360° swinging through the cross universal mechanism.

A magnetic core or magnet 406 is fixed to the housing at a position opposite to the electromagnet. The core or magnet 406 and the electromagnet are opposite but not in contact with each other in the axial direction of the power head shaft. When the electromagnet is energized, a magnetic force is generated, and the core or the magnet can be attracted, so that the iron core or the magnet moves to a center position directly below the electromagnet. Of course, the housing fixed to the core and the magnet will swing relative to the base due to the attraction of the core or the magnet, so that the housing always has a tendency to swing directly below the electromagnet, that is, to ensure the power head shaft. There is always a tendency to swing to the center position directly below the electromagnet. By varying the magnitude of the current flowing into the electromagnet, the amount of force that causes the core or magnet and the housing to be attracted to the center position can be varied. This type of structure is simple, but the floating sensitivity is high.

Claims

a floating compression rotary power head, the power head including a power head shaft and a driving portion for driving the power head shaft to rotate, the driving portion having a housing, and the power head shaft for mounting the cutter is disposed on the housing, wherein The utility model is characterized in that it further comprises an electromagnetic component for driving the power head to swing; when the electromagnetic component is supplied with current, the electromagnetic field generates a force to drive the housing to swing; by changing the magnitude and direction of the current, the swing direction and the driving of the casing can be changed. The amount of force that the housing oscillates.
A rotatable compression rotary power head according to claim 1, wherein the power head is fixed on the power head mounting block, and the electromagnetic component is connected to the housing through the power head mounting block, when the electromagnetic component is supplied with current, The force is generated by the electromagnetic field to drive the power head mounting block and the housing to swing.
The variable-rotation rotary power head according to claim 1, wherein the electromagnetic component is an electric motor, and an output shaft of the electric motor is connected to the housing. When the electric motor is supplied with current, the output shaft drives the housing to rotate.
A rotatable compression rotary power head according to claim 1, wherein the driving portion is a pneumatic motor, and the air source pipe supplying the air to the air motor is connected to the air motor through a rotary joint; the rotation central axis of the rotary joint and The swinging center axis of the housing swing is coaxial.
A floatable compact rotary power head according to claim 1 wherein the drive portion is a motor.
A rotatable compression rotary power head according to claim 1, wherein said electromagnetic component is an electromagnetic component capable of generating a magnetic field for adsorbing ferromagnetic material after being energized, and the electromagnetic component is disposed on a housing, the housing The swing is disposed on the base, the housing is made of ferromagnetic material or the ferromagnetic material is fixed on the housing, and when the electromagnetic element is supplied with current, the ferromagnetic material acts on the magnet generated by the electromagnetic element to make the housing Swing relative to the base.
A floatable compact rotary power head according to claim 6 wherein the housing is swung 360° relative to the base.
A floatable compact rotary power head according to claim 6 wherein the electromagnetic component is an electromagnet.
A rotatable compression rotary power head according to claim 1, further comprising: a reduction gear, the output portion of the electromagnetic element being connected to the input portion of the reduction gear, and the housing being connected to the output portion of the reduction device; The electromagnetic element drives the housing to swing by the speed reducing device.
A rotatable compression rotary power head according to claim 1, further comprising a transmission mechanism, wherein the output portion of the electromagnetic component is connected to the housing through the transmission mechanism; and the electromagnetic component drives the housing to swing by the transmission mechanism.
A rotatable compression rotary power head according to claim 10, wherein said electromagnetic component is disposed on a base, and said housing is swingably disposed on the base; said transmission mechanism is a swing guide mechanism; The swing guiding rod mechanism comprises a swing rod fixed at an output part of the electromagnetic component, a slider hinged at an end of the swing rod, and a guide rod with a slide rail; the slider is slidably disposed in the slide rail; the guide rod is fixedly connected with the housing; The component is energized, and the output part of the electromagnetic component drives the swinging lever to swing, and the slider Moving within the chute causes the guide and housing to oscillate relative to the base.
A rotatable compression rotary power head according to claim 11, wherein the power head is fixed on a power head mounting block, and the power head mounting block is swingingly disposed on the base; the guide rod is fixed to the power head mounting block. Connecting; the electromagnetic component passes current, the output part of the electromagnetic component drives the swinging rod to swing, the slider moves in the sliding passage, and the guiding rod and the power head mounting block swing relative to the base, so that the power head fixed on the power head mounting block is relatively Swing on the base.
A rotatable compression rotary power head according to claim 12, wherein the driving portion is a pneumatic motor, the power head mounting block has a gas supply passage communicating with the air motor; and the rotary joint is mounted on the power head mounting block. One end of the rotary joint communicates with the air supply passage, and the other end communicates with the air supply pipe that supplies compressed air; the rotation central axis of the rotary joint is coaxial with the swinging central axis of the power head mounting block swinging.
A rotatable compression rotary power head according to claim 1, wherein the housing is disposed on a swinging mechanism, and the electromagnetic member is coupled to the swinging mechanism to drive the housing to swing by the swinging mechanism.