WO2019023762A1

WO2019023762A1 - Movement device for adjusting the orientation of a working tool

Info

Publication number: WO2019023762A1
Application number: PCT/BG2018/000026
Authority: WO
Inventors: Георги Кирилов БАХАРЕВ
Original assignee: Киберис Ооо
Priority date: 2017-08-02
Filing date: 2018-05-25
Publication date: 2019-02-07

Abstract

The utility model relates to a movement device intended for processing objects, for example heat cutting metals using lathes for cutting metal profiles with a cutter. The problem addressed by the utility model is solved using a motor device consisting of two parallel kinematic structures for transmitting rotation, consisting of a body, and two motors with parallel axes, each connected to two coaxial shafts, and being characterized in that a kinematic structure comprises a chain drive, the input of which is disposed in a working member (4), said chain drive being disposed in an extension member (7) and comprising an input shaft (8.1) and an output shaft (8.2), the input shaft (8.1) being provided with a chain sprocket (9.1), and the output shaft (8.2) being provided with a chain sprocket (9.2). The chain sprockets (9.1) and (9.2) are interconnected by a chain (10), the input shaft (8.1) is fixed to a housing of the extension member (7), and the output shaft (8.2) is movably connected to a cutter holder (11).

Description

MOTOR DEVICE TO CHANGE ORIENTATION

WORKING TOOLS

TECHNICAL FIELD

The invention relates to a motor device for changing the orientation by means of two rotational movements of the working tool, intended for machining objects about thermally cutting metals. The propulsion device serves for three-dimensional motion in the space of a gas or plasma cutter. The invention can be used in the assembly installation for volumetric cutting with a cutter.

PRIOR ART

There are many known devices for movement and orientation change with two rotational movements of a gas or plasma cutter, which consist of two working engines located in perpendicular planes. The first engine is located in the first plane and gives the first rotational movement with the help of a working arm, to which the second engine is attached perpendicular to the axis of the first engine, to which the working tool is attached. In these devices, the axes are the direct axes of the drive, and the kinematic scheme is consistent and direct.

The disadvantage of these devices is the increased inertia of their elements, those who rotate and thus create large shock loads when the acceleration changes. This leads to a load of gearboxes and more pronounced effects of hysteresis and flexibility of gearbox elements, which causes inaccuracies in positioning. This effect: is the result of direct connections between the constituent elements. This effect is a consequence of the sequential (direct) kinematic scheme, since all these movements are transmitted in a kinematic scheme sequentially. This long kinematic scheme in practice implements a large-scale installation that requires large spaces to provide all the rotational movements, and also involves a large mass of components. It is known that a large mass of components leads to greater inertia with different movements of the working tool. Therefore, we need higher power outputs. Another significant disadvantage of these devices is the significantly increased engine cable ejaculation, on the second rotation axis of rotation due to the large number of YIKLOV rotation.

A device for changing the orientation of the cutter, for processing bulky metal objects with two engines, in which the elements are arranged in a parallel (indirect) kinematic scheme, is known. These elements have relatively smaller masses and, therefore, lower ones. shock loads at work. The device moves the tool around the object to be machined when the cutter is inclined towards 45 °, relative to the vertical axis, which is parallel to the Z axis from the Cartesian coordinate system of the machine. The device consists of two drive motors with parallel axes, which are connected to two coaxial shafts, the first shaft is hollow, and the second is placed inside the first, mounted into each other.

The first engine moves the working arm, with the help of a gearing system, and it is docked to the working shoulder, which is led and to which the holder of the working tool is connected. The second engine moves the working tool. It is connected with the help of gear wheels with a hollow shaft, which is mounted with bearings, coaxially on a normal shaft. In the process of work, the rotational movement of one shaft, with a system of rollers and consoles, is converted into a linear one, and again returns to the second shaft to rotational ones. This kinematic chain is located inside the working arm, which is driven by the first engine. This circular motion becomes a translational motion, and then the translational motion becomes circular again, as this transformed rotation is finally transmitted to the working tool. PCT application WO2013 / 041404; ,

The disadvantage of this device is that the angle of inclination of the tool relative to the vertical axis of the machine, which is parallel to the Z axis of the Cartesian coordinate system, is up to 45 °. Translation of translational movement into rotational movement and vice versa, through a roller cantilever system, which is located inside the working arm, implies a limited radial movement of the working tool.

The aim of the invention is to create a mechanism for changing the orientation with two different rotational movements of the working tool. But in such a way. That the disadvantages of the known devices are overcome, thus allowing the working tool to rotate around a vertical axis of 360 °. Thus, it will be possible to tilt the working tool against this axis to +/- 80 ° for 3D surface treatment, for flat parts, in the XY plane, for the same Cartesian coordinate system. Also, when ZB-processing of volumetric parts in XY, XZ and YZ planes, it will be possible to tilt the working tool with the requirement of inclination +/- 180 °, relative to the vertical axis parallel to the Z axis on the machines, and provided that there is a parallel structural kinematic scheme. These conditions will ensure the reduction of the device volume and shock loads and inertial forces during operation. The new device will have a significantly lower weight and, consequently, the need for less power consumption by the drive.

DISCLOSURE OF INVENTION.

The present invention is solved using a motor device for changing the orientation by two rotational movements of the working tool, which consists of two parallel kinematic chains for the implementation of these rotations. The chains consist of a body equipped with two motors with parallel axes, the outputs of which are individually fixed to two coaxial shafts. The first shaft is hollow, and the second is placed inside, the first. In this case, the shafts give the working tool two different rotational movements through a system of gear and chain transmissions.

The first motor is fixed by a hollow shaft with the help of a gear system, a working arm is attached to it, to which, in turn, a ramen body is fixedly attached and an extension cord is connected through a connector — a fast bundle. To the end of the extension, which is an outgoing shaft, the holder of the working tool is movably connected, to which the working tool is fixedly attached. The rotational movement of the first kinematic chain is transmitted from the first motor, which rotates the set of the entire system from the working arm to the working tool, including the working tool itself. Parallel to the first motor, there is a second motor on the body, which through a gear transmission is connected with an internal coaxial shaft located along the axis of the first shaft. At the same time on the other end of it through a gear cone gear in the working shoulder with the help

s quick ligament connected extension cable through the first axis of the gear chain located in it. The second motor through the system (straight and tapered) gear and chain ₍ transmission transmits the second rotational movement along the second kinematic chain, through the working arm, ramenny body and through the connector (fast ligament) extension cable. At the same time, the chain transmission located in the extension cable transfers the opposite rotation ^{: to the} holder of the working tool and the working tool itself, which is fixedly attached to the holder.

The chain drive in the extension consists of two shafts with parallel axes. In this case, the first shaft is fixedly attached to the extension casing, and the second shaft is connected with it by means of a chain. The end of the second shaft of the chain drive is connected with the holder of the working tool. During rotation, obtained from the second motor, near a stationary shaft, a chain transmission, a rotational movement of the outgoing shaft of the extender is formed of the same magnitude of angular displacement, but in the opposite direction. This leads to rotation of the tool holder and the tool itself around the moving gear shaft in the direction opposite to that of the extension, but with the same offset angle specified by the second motor.

A special case is a variant in which the second kinematic chain is shortened (attached when 3D machining three-dimensional parts in the ΧΥ, XZ and YZ planes) and directly to the quick bond of a shaped body, the working tool is attached by means of a holder without an extension. In this case, the chain gear transmission disappears, and the shoulder body directly transmits the rotational movement from the second kinematic chain to the holder of the working tool and can perform 3D processing of three-dimensional parts in the, XZ and YZ planes.

The advantages of the device are that the driving in both cases is carried out in a parallel kinematic scheme, which provides compactness and a small mass of the component parts / elements of the device. In this case, the axis of movement does not coincide completely with the axis of rotation of the tool. In the particular case of 3D processing of flat components in cartesian XY plane is avoided ^* converting rotary motion into translational and rotational again, that is able to restrict the rotary movement of the working tool to tilt to 45 ° relative vertical axis, which is parallel to the Z Cartesian axis in coordinate system of the machine. It is possible to tilt the holder, in turn, and the working tool to +/- 80 ° relative to the vertical axis parallel to the Z axis in the Cartesian coordinate system of the machine. Explanation

BRIEF DESCRIPTION OF THE DRAWINGS

In fig. 1 shows the general situational scheme of the spatial position of the planes and axes, on which the kinematic diagrams of the device are realized with or without an extension o. using a straight tool;

In fig. 2, an exemplary embodiment of an extension device is provided with specific technical elements;

. EXAMPLES OF IMPLEMENTATION OF THE INVENTION

Exemplary implementation 1. A motor device was created to change the orientation of the working tool for machining three-dimensional parts, for example with a cubic shape, which has two kinematic chains and which is a body I s equipped with two motors 3.1 and 3.2. Motors mounted on the body have parallel axes, each of which is attached to two coaxial shafts. The first 2.1 is hollow, and the second 2.2 is placed in the center of the hollow shaft 2.1. The first shaft 2.1 transmits the rotation along the first kinematic chain from the motor 3.1 through a gear to the working shoulder 4, to which the ramus body 5 is fixedly attached and the extension 7 is connected to the end of the extension 7 in a movable form by means of a fast bundle 6 which in turn. The working tool 12 itself is fixedly attached. The rotational movement of the first kinematic chain, transmitted from the first motor 3.1, rotates the whole system from the shoulder 4 to the working tool 12 near the vertical axis passing through the center of the shaft 2.2 and parallel to the machine axis of the Cartesian coordinate system Z.

The second shaft 2.2 transmits the second rotary movement through a gear, conical gear and chain drive system. The second kinematic chain, in which the conical gear transmission is located inside the working arm 4, through the scapular body 5, through the fast ligament (connector) 6 of the extension 7, alternating the rotational movement extension along the axis of the shaft 2.2. The chain gear in extension 7 is composed _! of two shafts with parallel axes 8.1 and 8.2. Wherein The first shaft 8.1 is an input shaft according to the kinematic scheme to the extension 7, which at one end is attached through the angular gears to the shaft 2.2, and the extension 7 is fixedly attached to the other end, and ends stationary with a fixed gear 9.1. Through the wheel 9.1 passes the chain 10, which connects it with the second chain gear wheel 9.2 mounted on the shaft 8.2, coming out to the working tool. At the other end of the shaft 8.2, opposite the gear 9.2, the holder of the working tool 11 is fixed, to which the working tool 12 itself is attached. At the same time, the shaft 8.2 transfers the rotation to the holder 11 with the same angle of rotation as the extension, but in the other direction. ^! Ϊ _,

The operation of the device according to the invention is as follows:

When a signal is applied, the motor 3.1 generates a torque that is transmitted through the shaft 2.1 to the working arm 4, which begins to rotate and, because the shoulder body 5 is fixed to it, the extension 7 through the fast bundle 6, the tool holder 11 and the working tool 12, All of these elements in the set begin to carry out rotational movements caused by the motor 3.1 and transmitted by the working arm 4. This is the first kinematic chain and everything is carried out near the vertical axis parallel to the Cartesian axis of the Z machine. When a signal is applied to the motor 3.2, it begins to rotate the second shaft 2.2, which, through a bevel gear, starts to rotate the extension 7 around the shaft axis 2.2. During this movement, the stationary gear wheel of the chain gear 9.1, through the chain 10, causes the rotational movement of the second chain gear 9.2, which twists the shaft 8.2 with the holder 11 and the working tool 12. With these two rotations and the kinematic diagram thus made with extension 7, it is possible for the holder 11 and the working tool 12 itself rotate 360 ° about the vertical axis of the shaft 2.1, parallel to the Cartesian axis of the machine Z, as well as tilt the axis of the tool relative to the aforementioned vertical fecal axis to +/- 80 °.

Exemplary implementation 2. A special case of this implementation is an option in which the second Kinematic chain is shortened (attached when 3D machining three-dimensional parts in the, XZ and YZ planes). In this case, to to the quick bundle 6, the ramenna body 5 is directly attached to the holder 11 with the working tool 12 in the absence of an extension 7 (Fig. 1). Thus, the ramenny body 5 directly transfers rotation from the second kinematic chain to the holder 11 and the working tool 12. This scheme is applicable for 3D processing of three-dimensional parts, avoiding turning the rotational movement into a translational and again into a rotational movement, as is known in existing devices.

The device is as follows:

When a signal is applied, the motor 3.1 creates a rotational moment, which is transmitted through the shaft 2.1 to the working arm 4, which starts to rotate and, as the fixed-body body 5 and the holder 11 with the working tool 12 are attached to it through the bundle 6, all these elements start the first rotational motion, given by the motor 3.1 and transmitted by the working arm 4. This represents the first kinematic chain.

When a signal is applied, the motor 3.2 twists the second shaft 2.2, which, through a bevel gear, drives the shaft 8.2, which in turn drives the holder 11 fixedly attached to its other end and the working tool 12. When these two rotations are performed and thus performed kinematic scheme, it is possible for the holder 11 and the working tool 12 itself to perform radial movement up to 360 ° in all planes.

· INDUSTRIAL APPLICABILITY

The invention finds application in the processing of parts in different planes of one installation. Does not require changes in the position of parts. Processing may consist of cutting, grinding H _j other technological processing associated with the processing of materials. Also when chamfering or oblique cutting at a certain angle using plasma cutting. The invention also finds application in the field of plasma and laser cutting or welding of metal parts. The invention can find application in the creation of machine tools - CNC, for setting the orientation of the working tool. Literature: 1. MOUTH of applications O2013 / 041404

Claims

CLAIM

1. A motor device for changing the orientation of the working tool by means of two rotational movements, which consists of two parallel kinematic chains for creating these rotations, which are made of a body equipped with two motors with parallel axes, each of which is connected to one of two coaxial shafts, because the first hollow shaft, and the second ^one is placed in it, since the two different shafts transmitting the rotary motion of the working tool through a system of gears, since the first motor pref The working arm moves with the extension and the tool holder fixedly attached to it, and the second motor sets the working tool radially in that the second motor (3.2) via the second shaft (2.2), which is completed with a bevel gear drive, located in the working gear shoulder (4) is connected to the input shaft (8.1) included in the kinematic chain of the chain drive, since the working shoulder (4) is fixedly connected to the ramen body (5), and through the fast link (6) and to the extension cord (7), which is located chain transmission a shaft of two shafts, incoming (8.1) and outgoing (8.2), having parallel axes, each of which is equipped with gear wheels (9.1) and (9.2.) because these shafts are connected to each other with a chain (10), since the first the shaft (8.1) included in the chain transmission is fixed by a rigid bond to the extension casing (7) _y ; and the second outgoing shaft (8.2) is connected with the holder of the working tool (11). ]. :. . .

2. Device according to claim 1, characterized in that the second kinematic chain is shorter, since a quick bundle (6) on Ramen body (5) is directly secured desktop holder ^'tool (11) with the working tool (12).