WO2020014912A1 - 带自动消隙装置的高精度回转工作台及其自动消隙方法 - Google Patents

带自动消隙装置的高精度回转工作台及其自动消隙方法 Download PDF

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Publication number
WO2020014912A1
WO2020014912A1 PCT/CN2018/096190 CN2018096190W WO2020014912A1 WO 2020014912 A1 WO2020014912 A1 WO 2020014912A1 CN 2018096190 W CN2018096190 W CN 2018096190W WO 2020014912 A1 WO2020014912 A1 WO 2020014912A1
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WIPO (PCT)
Prior art keywords
base
gear
turntable bearing
turntable
outer ring
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PCT/CN2018/096190
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English (en)
French (fr)
Inventor
蔡汉生
蔡桂阳
黄展源
郑栩栩
杨煜俊
何锦彬
王虹丽
吴杰
谢创鸿
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巨轮中德机器人智能制造有限公司
巨轮智能装备股份有限公司
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Application filed by 巨轮中德机器人智能制造有限公司, 巨轮智能装备股份有限公司 filed Critical 巨轮中德机器人智能制造有限公司
Priority to PCT/CN2018/096190 priority Critical patent/WO2020014912A1/zh
Publication of WO2020014912A1 publication Critical patent/WO2020014912A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
    • B25H1/00—Work benches; Portable stands or supports for positioning portable tools or work to be operated on thereby
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16H—GEARING
    • F16H55/00—Elements with teeth or friction surfaces for conveying motion; Worms, pulleys or sheaves for gearing mechanisms
    • F16H55/02—Toothed members; Worms
    • F16H55/17—Toothed wheels
    • F16H55/18—Special devices for taking up backlash

Definitions

  • the invention relates to a high-precision rotary worktable with an automatic anti-backlash device and an automatic anti-backlash method.
  • the return error is one of the important factors affecting the accuracy of the turntable. If you do not try to eliminate the return error, relying only on improving the accuracy of the parts will greatly increase the cost of the turntable. Whether it is a worm gear or a gear transmission, there is a backlash of the transmission pair.
  • the backlash is used to prevent the gear teeth from being jammed due to errors and thermal deformation. It also leaves a certain space for the lubricant film between the tooth surfaces. At the same time, the backlash also brings the idle distance to the mechanism when it is reversed, making the mechanism inaccurate. Positioning. During the work of the mechanism, it is unavoidable to transfer the above-mentioned errors caused by the backlash of the gear teeth. Therefore, when high-precision angle information or position information is required, a suitable anti-backlash method and error adjustment method must be adopted to reduce or Eliminate the amount of error, improve transmission accuracy, and achieve better operating results.
  • the object of the present invention is to provide a high-precision rotary table with an automatic backlash eliminating device and an automatic backlash elimination method for improving the machining efficiency and accuracy of a machine tool.
  • the design idea of the present invention is to change the traditional worm and worm gear transmission and adopt the gear shaft to engage the turntable bearing transmission, which has a compact structure, light weight, large bearing capacity and high transmission efficiency; an automatic anti-backlash device is provided on the back of the table to automatically eliminate the gear meshing clearance , To ensure the rotation accuracy of the worktable; at the same time, the worktable is equipped with a high-precision automatic alignment center of the chuck, fast and accurate positioning, installation and removal of the workpiece is flexible and fast.
  • a high-precision rotary table with an automatic backlash eliminating device including a table surface, a chuck, a base, a turntable bearing, a turntable driving device and an automatic backlash eliminating device;
  • the base is fixedly connected to the base by bolts.
  • the worktable On the machine bed, the worktable is located above the base.
  • the turntable bearing is located between the worktable and the base.
  • the inner ring of the turntable bearing is fixedly connected to the base by bolts.
  • the outer ring of the turntable bearing is fixedly connected to the worktable surface.
  • the outer ring of the turntable bearing is provided with an oil injection hole through the base;
  • the turntable drive device includes a servo motor, a planetary reducer and a gear shaft, the gear shaft meshes with the teeth of the outer ring of the turntable bearing, and the upper end of the gear shaft Equipped with deep groove ball bearings and pressed by bearing end caps, the lower end of the gear shaft is connected to the planetary reducer, and the outer ring of the planetary reducer is fixedly connected to the gear seat passing through the base;
  • the automatic anti-backlash device includes two linear guides and guides Slide block, tie rod and butterfly spring set, two linear guide rails are fixed under the base, and the guide rail slider is fixed to the bottom plate of the gear seat
  • One end of the tie rod connecting gear base plate, the other end of the rod through the spring sleeve is provided by a set of Belleville springs preloaded nut, spring seat is fixedly connected with the base.
  • the chuck adopts a chuck that automatically aligns the rotation center, and the positioning is fast and accurate, and the installation and disassembly of the workpiece are flexible and fast.
  • An automatic backlash elimination method using the high-precision rotary table of the present invention includes:
  • the gear table is used to engage the turntable bearing to drive the table to rotate:
  • the control system According to the shape and processing technology of the processed part, write the program list with the specified code and program format, and then input the program list to the control system.
  • the control system After the control system processes the program, it sends a signal with power to the servo system of the workbench.
  • the servo motor drives the planetary reducer and the gear shaft to rotate, which drives the outer ring of the turntable bearing to rotate, thereby driving the worktable surface and the chuck on the worktable surface to rotate; cooperate with the movement synthesis of each axis and the spindle swing head to process the workpiece on the worktable surface;
  • the gear shaft meshes with the gear teeth of the outer ring of the turntable bearing.
  • the butterfly spring group provides a certain pre-tensioning force.
  • the turntable drive is pulled toward the center of the worktable by the pull rod, which drives the gear shaft to closely contact the gear teeth of the outer ring of the turntable bearing and eliminates Tooth side clearance.
  • the turntable bearing is a large-sized bearing with a special structure that can support a large number of axial loads, radial loads, and overturning moments at the same time, and integrates multiple functions such as support, rotation, transmission, and fixation;
  • Automatic backlash elimination device is set on the back of the table to automatically eliminate the gap on the tooth side to ensure the accuracy of the rotary table;
  • the servo device is internally connected to the planetary reducer to drive.
  • the servo motor has good control performance, high accuracy and long service life.
  • the planetary reducer is small in size, light in weight, high in load capacity, stable in operation, long in service life, and low in noise. ;
  • a high-precision automatic centering chuck is installed on the worktable for fast three-jaw clamping of workpieces on the turntable.
  • the positioning is fast and accurate, and the installation and removal of the workpieces are flexible and fast.
  • the invention has the advantages of good control performance, high precision, high bearing capacity, long service life, stable operation, low noise and the like.
  • FIG. 1 is a schematic structural diagram of an embodiment of the present invention
  • FIG. 2 is a schematic plan view of the embodiment of FIG. 1; FIG.
  • FIG. 3 is a schematic structural diagram of a turntable driving device at A in FIG. 1;
  • FIG. 4 is a schematic structural diagram of the automatic anti-backlash device of FIG. 1;
  • FIG. 5 is a schematic top plan view of an automatic anti-backlash device
  • FIG. 6 is a schematic structural diagram at B in FIG. 1.
  • 01 working table
  • 02 gear shaft
  • 03 automatic anti-backlash device
  • 04 chuck
  • 05 base
  • 06 turntable bearing
  • 07 gear oil hole
  • 08 planetary reducer
  • 09 servo motor 10
  • deep groove ball bearings 11, bearing end caps; 12, gear holders; 13, the bottom plate of the gear holder; 14, linear guides; 15, guide rail sliders; 16, tie rods; 17, spring seat pads; 18, Tie rod positioning screw; 19, spring seat; 20, butterfly spring group; 21, nut.
  • this embodiment is a high-precision rotary table with an automatic anti-backlash device, including a table surface 01, a chuck 04, a base 05, a turntable bearing 06, a turntable driving device, and an automatic backlash elimination device 03.
  • the base 05 is fixedly connected to the machine bed by bolts
  • the work table surface 01 is located above the base 05
  • the turntable bearing 06 is arranged between the worktable surface and the base.
  • the inner ring of the turntable bearing is fixedly connected to the base by bolts.
  • the ring is fixedly connected to the work surface.
  • the chuck 04 is set on the work surface.
  • the outer ring of the turntable bearing is provided with an oil injection hole 07 passing through the base.
  • the base 05 is drilled with a through hole.
  • the turntable driving device includes a servo motor 09 and a planetary deceleration.
  • Gear 08 and gear shaft 02. The gear shaft meshes with the teeth of the outer ring of the turntable bearing.
  • the upper end of the gear shaft is equipped with a deep groove ball bearing 10 and pressed by the bearing end cover 11.
  • the lower end of the gear shaft is connected to a planetary reducer to reduce the planetary speed.
  • the outer ring of the device is fixedly connected to the gear base 12 passing through the base by bolts, and the gear base 12 is connected to the bottom plate 13 of the gear base; the backlash-free device 03 and the backlash-free device are installed on the back of the base Includes two linear guide rails 14, guide rail slider 15, pull rod 16 and butterfly spring group 20.
  • Two linear guide rails 14 are fixed under the base 05, two sets of guide rail sliders 15 are fixed on the bottom plate 13 of the gear seat, and the rod positioning screws 18 is connected to the right side of the base plate 13 of the gear seat, one end of the tie rod is connected to the base plate of the gear seat through a tie rod positioning screw 18, the other end of the tie rod passes through the spring seat 19, and the spring seat 19 fixes the spring seat pad 17 to the base 05 by bolts On the other hand, the other end of the pull rod passes through the spring seat and is sleeved with a butterfly spring group pre-compressed by two hexagonal nuts 21.
  • the automatic backlash elimination method of the present invention is as follows:
  • the gear table is used to engage the turntable bearing to drive the table to rotate:
  • the control system processes the program, it sends a signal with power to the servo system of the workbench.
  • the motor 09 drives the planetary reducer 08 and the gear shaft 02 to rotate, which drives the outer ring of the turntable bearing 06 to rotate, thereby driving the table surface 01 and the chuck on the table surface to rotate, and cooperates with other axes such as the X axis, Z axis, and the spindle swing head.
  • Motion synthesis you can mill a variety of curved surfaces, three-dimensional graphics and text on the workpiece on the worktable to complete the machine tool processing operation;
  • the gear shaft 02 meshes with the gear teeth of the outer ring of the turntable bearing 06.
  • the butterfly spring group 20 provides a certain pre-tensioning force.
  • the turntable drive device is pulled toward the center of the worktable rotation by the tie rod 16, and the gear shaft 02 is brought into close contact with the outside of the turntable bearing 06.
  • the gear teeth of the ring eliminate the backlash and ensure the smooth operation and rotation accuracy of the table.
  • Gear oil injection hole 07 is connected to the lubrication system of the machine tool.
  • the tooth surface of the outer ring gear teeth of turntable bearing 06 is regularly filled with lubricating oil.
  • a certain thickness of oil film is formed between the tooth surface of turntable bearing 06 and gear shaft 02, which can reduce gears. Friction, accelerate heat dissipation, reduce vibration shock and noise, and extend the service life of turntable bearing 06 and gear shaft 02.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Machine Tool Units (AREA)

Abstract

本发明涉及一种带自动消隙装置的高精度回转工作台及其自动消隙方法，包括工作台面、卡盘、底座、转盘轴承、转盘驱动装置和自动消隙装置；底座固定在机床床面上，工作台面位于底座的上方，转盘轴承设置于工作台面与底座之间，转盘轴承的内圈与底座固定连接，转盘轴承的外圈与工作台面固定连接，卡盘设置在工作台面上；在转盘轴承的外圈处设置注油孔；转盘驱动装置的齿轮轴与转盘轴承外圈的轮齿啮合，齿轮轴的上端装配有深沟球轴承，齿轮轴的下端连接行星减速器，行星减速器的外圈与穿过底座的齿轮座固定连接；自动消隙装置的两条线性导轨固定于底座下面，导轨滑块固定于齿轮座的底板上，拉杆的一端连接齿轮座的底板，拉杆的另一端穿过弹簧座套设蝶形弹簧组，弹簧座与底座固定连接。其自动消隙方法，包括采用齿轮轴啮合转盘轴承带动工作台旋转及采用自动消隙装置消除齿侧间隙。具有控制性能好、精度高、承载能力高、使用寿命长、运转平稳、噪声低等优点。

Description

带自动消隙装置的高精度回转工作台及其自动消隙方法 技术领域
本发明涉及一种带自动消隙装置的高精度回转工作台及其自动消隙方法。
背景技术
传统的数控转台多采用蜗轮蜗杆传动机构，其传动效率低、磨损严重。蜗轮蜗杆啮合传动时，啮合轮齿间的相对滑动速度大，故摩擦损耗大、效率低。另一方面，由于相对滑动速度大使齿面磨损严重、发热量大，为了减小磨损和加快散热，必须采用价格较为昂贵的减摩性和抗摩性较好的材料以及良好的润滑装置，因此，成本较高。
转台转动过程中，回程误差是影响转台精度的重要因素之一，如果没有设法消除回程误差，仅依靠提高零件精度将使转台成本大幅度增加。无论是蜗轮蜗杆传动机构还是齿轮传动机构，都有传动副的侧隙存在。侧隙用来防止由于误差和热变形而使轮齿卡住，也为齿面间的润滑油膜留一定的空间，但侧隙同时又给机构在反转时带来空程，使机构不能准确定位。机构工作过程中，不可避免地会将上述由轮齿侧隙产生的误差传递，因此在需要高精度角度信息或者位置信息的场合，必须采用合适的消隙方法和误差的调整方法，以减少或消除误差量，提高传动精度，达到更好的运行效果。
发明内容
本发明的目的是提供一种提高机床的加工效率及加工精度的带自动消隙装置的高精度回转工作台及其自动消隙方法。
本发明的设计思路：改变传统的蜗杆蜗轮传动，采用齿轮轴啮合转盘轴承传动，结构紧凑、重量轻、承载能力大、传动效率高；在工作台背面设置自动消隙装置，自动消除齿轮啮合间隙，保证工作台的回转精度；同时，工作台上面安装有高精度自动对正回转中心的卡盘，定位快速、准 确，安装、拆卸工件灵活快捷。
本发明的目的是这样实现的：一种带自动消隙装置的高精度回转工作台，包括工作台面、卡盘、底座、转盘轴承、转盘驱动装置和自动消隙装置；底座通过螺栓固定连接在机床床面上，工作台面位于底座的上方，转盘轴承设置于工作台面与底座之间，转盘轴承的内圈通过螺栓与底座固定连接，转盘轴承的外圈与工作台面固定连接，卡盘设置在工作台面上；在转盘轴承的外圈处设置有穿过底座的注油孔；转盘驱动装置包括伺服电机、行星减速器和齿轮轴，齿轮轴与转盘轴承外圈的轮齿啮合，齿轮轴的上端装配有深沟球轴承，并用轴承端盖压住，齿轮轴的下端连接行星减速器，行星减速器的外圈与穿过底座的齿轮座固定连接；自动消隙装置包括两条线性导轨、导轨滑块、拉杆和蝶形弹簧组，两条线性导轨固定于底座下面，导轨滑块固定于齿轮座的底板上，拉杆的一端连接齿轮座的底板，拉杆的另一端穿过弹簧座套设由螺母预压紧的蝶形弹簧组，弹簧座与底座固定连接。
本发明，卡盘采用自动对正回转中心的卡盘，定位快速、准确，安装、拆卸工件灵活快捷。
采用本发明高精度回转工作台的自动消隙方法，包括：
1)、采用齿轮轴啮合转盘轴承带动工作台旋转：
根据加工零件的形状及加工工艺，用规定的代码和程序格式编写程序单，然后将程序单输入到控制系统，控制系统将程序处理后，向工作台的伺服系统发出带有功率的信号，由伺服电机驱动行星减速器及齿轮轴旋转，带动转盘轴承外圈转动，从而带动工作台面及工作台面上卡盘旋转；配合各轴及主轴摆头的运动合成，对工作台面上的工件进行加工；
2)、采用自动消隙装置消除齿侧间隙：
齿轮轴与转盘轴承外圈的轮齿啮合，蝶形弹簧组提供一定的预紧力，通过拉杆将转盘驱动装置拉向工作台面回转中心，带动齿轮轴紧贴转盘轴承外圈的轮齿而消除齿侧间隙。
本发明的有益效果是：
1)、采用齿轮轴啮合转盘轴承传动，结构紧凑、重量轻、承载能力大、传动效率高；
2)、转盘轴承是一种能够同时承受较大的轴向负荷、径向负荷和倾覆力矩等综合载荷，集支承、旋转、传动、固定等多种功能于一身的特殊结构的大型轴承；
3)、工作台背面设置自动消隙装置，自动消除齿侧间隙，保证回转工作台精度；
4)、驱动装置内部采用伺服电机连接行星减速器驱动，伺服电机控制性能好、精度高，使用寿命长；行星减速器体积小、重量轻，承载能力高，运转平稳、使用寿命长，噪声低；
5)、工作台上面安装有高精度自动对心卡盘，用于在转台上快速三爪装卡工件，定位快速、准确，安装、拆卸工件灵活快捷。
本发明，具有控制性能好、精度高、承载能力高、使用寿命长、运转平稳、噪声低等优点。
下面实施例结合附图说明对本发明作进一步的说明。
附图说明
图1是本实用新型的一个实施例的结构示意图；
图2是图1实施例的俯视结构示意图；
图3是图1的A处即转盘驱动装置的结构示意图；
图4是图1的自动消隙装置的结构示意图；
图5是自动消隙装置的俯视结构示意图；
图6是图1的B处的结构示意图。
图中，01、工作台面；02、齿轮轴；03、自动消隙装置；04、卡盘；05、底座；06、转盘轴承；07、齿轮注油孔；08、行星减速器；09、伺服电机；10、深沟球轴承；11、轴承端盖；12、齿轮座；13、齿轮座的底板；14、线性导轨；15、导轨滑块；16、拉杆；17、弹簧座垫块；18、拉杆定 位螺钉；19、弹簧座；20、蝶形弹簧组；21、螺母。
具体实施方式
参照图1至图6，本实施例是一种带自动消隙装置的高精度回转工作台，包括工作台面01、卡盘04、底座05、转盘轴承06、转盘驱动装置和自动消隙装置03；底座05通过螺栓固定连接在机床床面上，工作台面01位于底座05的上方，转盘轴承06设置于工作台面与底座之间，转盘轴承的内圈通过螺栓与底座固定连接，转盘轴承的外圈与工作台面固定连接，卡盘04设置在工作台面上；在转盘轴承的外圈处设置有穿过底座的注油孔07；底座05钻有通孔，转盘驱动装置包括伺服电机09、行星减速器08和齿轮轴02，齿轮轴与转盘轴承外圈的轮齿啮合，齿轮轴的上端装配有深沟球轴承10，并用轴承端盖11压住，齿轮轴的下端连接行星减速器，行星减速器的外圈通过螺栓与穿过底座的齿轮座12固定连接，齿轮座12与齿轮座的底板13连接；底座背面安装自动消隙装置03，自动消隙装置包括两条线性导轨14、导轨滑块15、拉杆16和蝶形弹簧组20，两条线性导轨14固定于底座05下面，两组导轨滑块15固定于齿轮座的底板13上，拉杆定位螺钉18连接在齿轮座的底板13的右边，拉杆的一端通过拉杆定位螺钉18连接齿轮座的底板，拉杆的另一端穿过弹簧座19，弹簧座19通过螺栓将弹簧座垫块17固定在底座05上，拉杆的另一端穿过弹簧座后套设由两颗六角螺母21预压紧的蝶形弹簧组。
本发明的自动消隙方法，如下：
1)、采用齿轮轴啮合转盘轴承带动工作台旋转：
根据加工零件的形状及加工工艺，用规定的代码和程序格式编写程序单，然后将程序单输入到控制系统，控制系统将程序处理后，向工作台的伺服系统发出带有功率的信号，伺服电机09驱动行星减速器08及齿轮轴02旋转，带动转盘轴承06外圈转动，从而带动工作台面01及工作台面上的卡盘旋转，配合其他各轴如X轴、Z轴以及主轴摆头的运动合成，即可对工作台上的工件铣削出各种曲面、立体的图形及文字，完成机床加工作业；
2)、采用自动消隙装置消除齿侧间隙：
齿轮轴02与转盘轴承06外圈的轮齿啮合，蝶形弹簧组20提供一定的预紧力，通过拉杆16将转盘驱动装置拉向工作台面回转中心，带动齿轮轴02紧贴转盘轴承06外圈的轮齿而消除齿侧间隙，保证工作台的平稳运转和旋转精度。
齿轮注油孔07与机床的润滑系统连接，定时向转盘轴承06外圈轮齿的齿面加注润滑油，在转盘轴承06和齿轮轴02的齿面之间形成一定厚度的油膜，可以减少齿轮摩擦、加快散热、降低振动冲击和噪音，延长转盘轴承06和齿轮轴02的使用寿命。

Claims (3)

  1. 一种带自动消隙装置的高精度回转工作台，其特征在于：包括工作台面(01)、卡盘(04)、底座(05)、转盘轴承(06)、转盘驱动装置和自动消隙装置(03)；
    所述底座通过螺栓固定连接在机床床面上，所述工作台面位于底座的上方，所述转盘轴承设置于工作台面与底座之间，转盘轴承的内圈通过螺栓与底座固定连接，转盘轴承的外圈与工作台面固定连接，所述卡盘设置在工作台面上；在转盘轴承的外圈处设置有穿过底座的注油孔(07)；
    所述转盘驱动装置包括伺服电机(09)、行星减速器(08)和齿轮轴(02)，所述齿轮轴与转盘轴承外圈的轮齿啮合，齿轮轴的上端装配有深沟球轴承(10)，并用轴承端盖(11)压住，齿轮轴的下端连接行星减速器，行星减速器的外圈与穿过底座的齿轮座(12)固定连接；
    所述自动消隙装置包括两条线性导轨(14)、导轨滑块(15)、拉杆(16)和蝶形弹簧组(20)，两条线性导轨固定于底座下面，导轨滑块固定于齿轮座的底板(13)上，拉杆的一端连接齿轮座的底板，拉杆的另一端穿过弹簧座(19)套设由螺母(21)预压紧的蝶形弹簧组，弹簧座与底座固定连接。
  2. 根据权利要求1所述的带自动消隙装置的高精度回转工作台，其特征在于：所述卡盘采用自动对正回转中心的卡盘。
  3. 一种采用权利要求1或2所述的高精度回转工作台的自动消隙方法，其特征在于，包括：
    1)、采用齿轮轴啮合转盘轴承带动工作台旋转：
    根据加工零件的形状及加工工艺，用规定的代码和程序格式编写程序单，然后将程序单输入到控制系统，控制系统将程序处理后，向工作台的伺服系统发出带有功率的信号，由伺服电机(09)驱动行星减速器(08)及齿轮轴(02)旋转，带动转盘轴承(06)外圈转动，从而带动工作台面(01) 及工作台面上卡盘旋转；配合各轴及主轴摆头的运动合成，对工作台面上的工件加工；
    2)、采用自动消隙装置消除齿侧间隙：
    齿轮轴(02)与转盘轴承(06)外圈的轮齿啮合，蝶形弹簧组(20)提供一定的预紧力，通过拉杆(16)将转盘驱动装置拉向工作台面回转中心，带动齿轮轴(02)紧贴转盘轴承(06)外圈的轮齿而消除齿侧间隙。
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