WO2023246362A1 - 一种自动装拆芯轴装置 - Google Patents

一种自动装拆芯轴装置 Download PDF

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Publication number
WO2023246362A1
WO2023246362A1 PCT/CN2023/093717 CN2023093717W WO2023246362A1 WO 2023246362 A1 WO2023246362 A1 WO 2023246362A1 CN 2023093717 W CN2023093717 W CN 2023093717W WO 2023246362 A1 WO2023246362 A1 WO 2023246362A1
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WIPO (PCT)
Prior art keywords
loosening
base
clamping
tightening
mandrel
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PCT/CN2023/093717
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English (en)
French (fr)
Inventor
刘华中
刘俊华
郭聪聪
马雪琳
娄亚军
Original Assignee
北京机械工业自动化研究所有限公司
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Application filed by 北京机械工业自动化研究所有限公司 filed Critical 北京机械工业自动化研究所有限公司
Publication of WO2023246362A1 publication Critical patent/WO2023246362A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/04—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes for assembling or disassembling parts

Definitions

  • the locking nut has a large torque and high labor intensity
  • the technical problem to be solved by the present invention is to provide an automatic assembly and disassembly of the mandrel device to realize the automation of the assembly and disassembly of the spindle head parts in view of the above-mentioned defects of the prior art.
  • the present invention provides an automatic assembly and disassembly of a mandrel device, wherein the mandrel used for automatic assembly and disassembly of shaft head parts includes:
  • the turntable mechanism includes a base and a precision turntable installed on the base.
  • the precision turntable is evenly distributed with a plurality of rotary stations, and each of the rotary stations is provided with a tool for inserting shaft head parts.
  • core The positioning sleeve of the shaft, the plurality of rotary stations include an empty station, a processing station and an intermediate station;
  • a tightening and loosening mechanism is provided on one side of the precision turntable corresponding to the processing station.
  • the tightening and loosening mechanism includes a main beam and an automatic tightening machine installed on the main beam.
  • the automatic tightening machine Facing the processing station, it is arranged above the precision turntable, and the automatic tightening machine has a processing position and an original position respectively relative to the processing station; and
  • a counter-torque mechanism is provided under the precision rotary table facing the processing station, and is used to provide a torque opposite to the tightening and loosening mechanism.
  • the counter-torque mechanism has a torque relative to the processing station. working position and a retreat position;
  • each rotation of the precision rotary table drives the positioning sleeve to move to one station for positioning, so as to sequentially transport the shaft head parts of the mandrel to be installed or disassembled.
  • the above-mentioned automatic assembly and disassembly of the mandrel device also includes:
  • clamping and loosening mechanism includes:
  • the base plate is connected to the main beam
  • the clamping moving member includes a clamping guide rail and a clamping slider
  • the clamping guide rail is installed on the upper surface of the base plate
  • the clamping slider is installed on the upper surface of the base plate.
  • the clamping plate is installed on the clamping slider.
  • the clamping part has a V-shaped structure, a clamping opening is provided on one side of the positioning sleeve, and the end surface of the V-shaped structure passes through the clamping opening and is clamped to The end clamping groove of the mandrel is used to clamp the mandrel on the positioning sleeve.
  • the loosening moving member includes a loosening guide bush and a loosening guide post
  • the loosening base is a frame structure
  • the loosening guide sleeve is installed on the loosening guide.
  • the loosening guide post is installed in the loosening guide sleeve and passes through the upper plane of the loosening base
  • the loosening plate is installed on the top of the loosening guide post
  • the loosening guide A cylinder connecting block is provided at the lower end of the guide pillar, and the cylinder connecting block is connected to the loosening cylinder.
  • the loosening cylinder is fixed on the lower surface of the frame of the loosening base.
  • the top loosening component further includes a traverse cylinder for driving the top loosening base to move horizontally, and the cylinder rod of the traversing cylinder and the loosening top base are Side connection, the bottom of the traversing cylinder is installed on the base plate;
  • the top loose moving part also includes a base guide rail and a base slider, the base guide rail is installed on the lower surface of the base plate, the The base slide block is installed on the base guide rail, and the top loose base is installed on the base slide block.
  • reaction torque mechanism includes:
  • a tightening sleeve is installed on the top of the lifting seat.
  • a tightening head is installed in the central guide hole of the tightening sleeve.
  • the tightening head has an outer hexagonal cylinder structure and is adapted to the inner hexagonal counterbore at the bottom of the mandrel. , the tightening head is inserted into the hexagonal counterbored hole to prevent the spindle from rotating.
  • the invention can realize the automation of the assembly and disassembly of the shaft head parts and the mandrel, and can cooperate with the robot to complete the automatic assembly and disassembly of the shaft head parts of the mandrel; the overall structure is simple and compact, and is convenient for operation, repair and maintenance; it can realize the automatic assembly and disassembly of the shaft head parts.
  • the fully automated process of parts assembly and disassembly of the mandrel also realizes the modularization of structural units.
  • Figure 2 is a schematic structural diagram from another direction of Figure 1;
  • reference signs 100 shaft head parts 200 mandrel 300 lock nut 400 increase set 1 turntable mechanism 11 Precision rotary table 12 positioning bushing 13 clamp opening 14 base 2Reaction torque mechanism 21Tighten the head 22 tightening sets 23 rails 24 sliders 25 lift seat 26 lifting cylinder connection block 27 lifting cylinder 28 spring 29 lifting cylinder base 3.
  • Clamping and loosening mechanism 31 substrate 32 top loose parts 321 top pine base 322 top pine board 323 Top Pine Guide Pillar 324 top loose guide bushing 325 jacking cylinder 326 cylinder connection block 327 Base Rail 328 base slider 329 traverse cylinder 33 clamping parts 331 clamping plate 332 clamping guide rail 333 clamp slider 334 clamping part 335 clamping cylinder 4Tightening and loosening mechanism 41 main beam 42 automatic tightening machine 43 lifting mounting base 44Tighten and loosen the sleeve 45 lifting guide rail 46Move slider
  • Figure 1 is a schematic structural diagram of an embodiment of the present invention
  • Figure 2 is a schematic structural diagram of Figure 1 from another direction
  • Figure 3 is a schematic structural diagram of the turntable mechanism 1 of an embodiment of the present invention.
  • the invention is an automatic assembly and disassembly device of the mandrel 200 to realize the automation of the assembly and disassembly of the spindle head part 100 and the mandrel 200, and can cooperate with the robot to complete the automatic assembly and disassembly of the spindle head part 100 of the mandrel 200; the overall structure is simple and compact, and is easy to operate. , repairs and maintenance.
  • the automatic assembly and disassembly of the mandrel 200 of the present invention used for the automatic assembly and disassembly of the mandrel 200 of the spindle head part 100, includes: a turntable mechanism 1, including a base 14 and a precision turntable 11 installed on the base 14. There are a plurality of rotary stations evenly distributed on the precision rotary table 11. Each of the rotary stations is provided with a positioning sleeve 12 for inserting the core shaft 200 of the spindle head part 100.
  • the plurality of rotary stations include Empty station, processing station and intermediate station; tightening and loosening mechanism 4 is provided on one side of the precision rotary table 11 corresponding to the processing station.
  • the shaft head part 100 of the mandrel 200 is installed or to be disassembled.
  • This embodiment may also include: a clamping and loosening mechanism 3, which is provided on one side of the precision rotary table 11 facing the processing station, and is used to loosen the expansion sleeve 400 of the spindle head part 100 and the mandrel 200. .
  • the precision rotary table 11 is preferably a stepper rotary mechanism with precision indexing.
  • a motor and a standard indexing mechanism are installed in the base 14 of the lower part of the precision rotary table 11.
  • the precision rotary table 11 can be set with 2, 3, 4 or more rotary stations, the figure shows 4 stations, that is, the 4 stations are respectively installed with positioning sleeves 12, and the 4 positioning sleeves 12 are evenly distributed on the precision rotary table 11, and the positioning sleeves 12
  • the inner hole is a through hole, and has a clearance fit relationship with the bottom shaft diameter of the mandrel 200, that is, the mandrel 200 can be inserted into the positioning sleeve 12 for positioning.
  • the precision rotary table 11 stops once every horizontal rotation, and the shaft sleeve will move to one station for positioning.
  • the shaft head parts 100 with the mandrel 200 above the positioning sleeve 12 are transported in sequence.
  • Figure 4 is a schematic structural diagram of the reaction torque mechanism 2 according to an embodiment of the present invention
  • Figure 5 is a side view of Figure 4.
  • the reaction torque mechanism 2 includes: a lifting base 25, which is installed on the base 14 through a sliding member.
  • the sliding member includes a sliding block 24 and a guide rail 23.
  • the sliding block 24 is installed on the base 14.
  • the slide block 24 and the guide rail 23 are assembled together, so that the lifting base 25 can slide up and down along the guide rail 23 under the action of external force; the lifting cylinder 27 is installed on the base 14 and connects the blocks through the lifting cylinder 27 26 is connected to the lifting base 25.
  • the lifting cylinder 27 drives the lifting base 25 to move up and down along the sliding member to respectively switch the working position and the retracted position; and a tightening sleeve 22 is installed on the lifting base.
  • a tightening head 21 is installed in the central guide hole of the tightening sleeve 22.
  • the tightening head 21 has an outer hexagonal cylinder structure and is adapted to the inner hexagonal counterbore at the bottom of the mandrel 200, so The tightening head 21 can be inserted into the hexagonal counterbore to prevent the spindle 200 from rotating.
  • the central guide hole of the tightening sleeve 22 is preferably a hexagonal hole structure, which is used to guide the tightening head 21 up and down and prevent the tightening head 21 from rotating.
  • the lower part of the tightening sleeve 22 is provided with an elastic lifting hole.
  • the cylinder rod of the lifting cylinder 27 is connected to the lifting seat 25 through the cylinder connecting block 326.
  • the reaction torque part is lifted and lowered. action; the spring 28 has a certain pushing force limit on the reaction torque tightening head 21. If the pressure on the upper part of the reaction torque tightening head 21 is too large, the spring 28 contracts, and the reaction torque tightening head 21 shrinks accordingly.
  • the clamping moving part includes a clamping guide rail 332 and a clamping slider 333.
  • the clamping guide rail 332 is installed on the upper surface of the base plate 31, and the clamping slider 333 is installed on the clamping guide rail.
  • the clamping plate 331 is installed on the clamping slider 333.
  • the other side of the clamping plate 331 is connected to the cylinder rod of the clamping cylinder 335.
  • the bottom of the clamping cylinder 335 is connected to the base plate 31.
  • the action of the cylinder 335 can drive the clamping plate 331 to move horizontally.
  • the clamping part 334 is preferably a V-shaped structure.
  • a clamping opening 13 is provided on one side of the positioning sleeve 12.
  • the end surface of the V-shaped structure passes through the clamping opening 13 and is clamped to the core shaft 200.
  • the mandrel 200 is clamped on the positioning sleeve 12 without moving.
  • the loosening moving part includes a loosening guide sleeve 324 and a loosening guide post 323.
  • the loosening base 321 is a frame structure, and the loosening guide sleeve 324 is installed on the loosening base. 321 and located at the upper part, the loosening guide post 323 is installed in the loosening guide sleeve 324 and passes through the upper plane of the loosening base 321; the loosening plate 322 is installed on the loosening guide.
  • the top of the column 323 and the lower end of the top loosening guide post 323 are provided with a cylinder connecting block 326.
  • the cylinder connecting block 326 is connected to the cylinder rod of the top loosening cylinder 325.
  • the top loosening cylinder 325 is fixed on the top loosening cylinder 325. On the lower surface of the frame of the loosening base 321, the loosening cylinder 325 moves to drive the cylinder rod, and the cylinder rod drives the cylinder connecting block 326 to move up and down together with the loosening guide post 323 and the loosening plate 322.
  • the top loosening component 32 of this embodiment also includes a traverse cylinder 329 for driving the top loosening base 321 to move horizontally.
  • the cylinder rod of the traversing cylinder 329 is connected to the side of the top loosening base 321 , the bottom of the traversing cylinder 329 is installed on the base plate 31, and the action of the traversing cylinder 329 drives the top loosening base 321 and its upper parts to move horizontally;
  • the top loosening moving part also includes a base guide rail 327 and a base.
  • the base slider 328 is installed on the lower surface of the base plate 31.
  • the base slider 328 is installed on the base guide rail 327.
  • the top loose base 321 is installed on the base. On the seat slider 328.
  • FIG 8 is a schematic structural diagram of the tightening and loosening mechanism 4 according to an embodiment of the present invention.
  • the main beam 41 is an L-shaped structure, and the lower side of the bottom of the main beam 41 is connected with the side of the base 14 through mounting holes through bolts to ensure that the uprights of the main beam 41 are connected to the
  • the table surface of the precision rotary table 11 is vertical.
  • a motor-driven lifting guide rail 45 is installed on the side of the main beam 41.
  • a moving slide block 46 is installed on the lifting guide rail 45.
  • An L-shaped lifting block is installed on the moving slide block 46.
  • the automatic tightening machine 42 is installed at the front end of the lifting mounting base 43, the lower end of the tightening shaft of the automatic tightening machine 42 is equipped with a tightening and loosening sleeve 44, the axis of the tightening shaft of the automatic tightening machine 42 Coaxial with the axis of the positioning sleeve 12 of the processing station, driven by the motor of the lifting guide rail 45, the lifting mounting base 43 can move up and down.
  • the present invention is used in conjunction with a manipulator, which is placed next to the automatic assembly and disassembly of the mandrel 200 device.
  • the manipulator grabs the mandrel 200 with the locking nut 300 and the expansion sleeve 400 from the mandrel 200 storage rack, and places it vertically on the precision rotary table 11 empty station of the turntable mechanism 1 (as shown in Figure 1 Position A) on the positioning sleeve 12, and then the manipulator places the shaft head part 100 on the mandrel 200.
  • the precision rotary table 11 rotates one station (to position B shown in Figure 1) and then stops and positioned.
  • the manipulator can continue to place the mandrel 200 on the positioning sleeve 12 of the empty station A; the precision rotary table 11 rotates one station again (to position C shown in Figure 1). At this time, the shaft head part 100 and the mandrel 200 are installed.
  • the positioning sleeve 12 reaches the processing station C of the precision rotary table 11 .
  • the counter-torque mechanism 2 is directly opposite the processing station C below, the tightening and loosening mechanism 3 is directly opposite the side, and the tightening and loosening mechanism 4 is directly opposite the upper part.
  • the sleeve 44 continues to be tightened to reach the set torque, and the tightening head 21 acts as a counter-torque. Finally, the sleeve 400 is tightened to tighten the shaft head part 100 to meet the machining requirements. After that, the tightening and loosening sleeve 44 and the tightening head 21 return to their original positions, and the precision rotary table 11 rotates again to make the shaft head part 100 of the expansion sleeve 400 reach the intermediate station D. After that, the manipulator can move the shaft head part 100 together with the core. The shaft 200 is taken out from the intermediate station D and automatically placed on the machine tool for positioning and processing.
  • the spindle head part 100 together with the mandrel 200 is retrieved by the robot, and positioned on the positioning sleeve 12 of the intermediate station D or empty stations A and B on the precision rotary table 11, and the precision rotary table 11 rotates it.
  • the tightening head 21 and the tightening and loosening sleeve 44 perform the previous work process again, and the locking nut 300 is loosened in the reverse direction.
  • the expansion sleeve 400 and the shaft head part 100 have space to loosen, and then clamped
  • the loosening mechanism 3 provides a loosening force to loosen it.
  • the traverse cylinder 329 of the clamping and loosening mechanism 3 moves the clamping plate 331 horizontally along the clamping guide rail 332 for a fixed stroke.
  • the front end of the clamping plate 331 is clamped
  • the part 334 clamps the slot of the core shaft 200 end through the clamping opening 13 on the side of the positioning sleeve 12; the traverse cylinder 329 pushes the loosening base 321 to move horizontally along the base guide rail 327 for a fixed stroke, and the loosening plate 322 moves upward.
  • the surface reaches the lower end surface of the shaft head part 100, and the jacking cylinder 325 pushes the cylinder connecting block 326 to drive the jacking guide post 323 to move upward along the jacking guide sleeve 324, so that the upper surface of the jacking plate 322 pushes against the lower surface of the shaft head part 100.
  • the robot takes away the shaft head part 100 at the intermediate station D, thus completing the entire automated process of attaching and disassembling the shaft head part 100 to the mandrel 200 .
  • the present invention can continuously realize the work of assembling and disassembling the spindle head part 100 of the mandrel 200 by cooperating with the manipulator.
  • the overall structure is simple and compact, convenient for operation, repair and maintenance; it can realize a fully automated process of assembling and disassembling 100 shaft head parts and 200 mandrels, and realizes the modularization of structural units.

Abstract

一种自动装拆芯轴装置，包括：转台机构，包括底座和安装在其上的精密回转台，该精密回转台上均布有多个回转工位，每个回转工位上均设置有定位轴套，回转工位包括空工位、加工工位和中间工位；拧紧拧松机构，对应于该加工工位设置在该精密回转台的一侧，包括主梁和安装在其上的自动拧紧机，该自动拧紧机正对该加工工位设置在该精密回转台上方，且该自动拧紧机相对于该加工工位分别具有一加工位置和一原始位置；以及反力矩机构，正对该加工工位设置在该精密回转台的下方，且相对于该加工工位分别具有一工作位置和一退回位置；其中，该精密回转台每转动一次带动该定位轴套移动一个工位定位，以依次输送待安装或待拆卸芯轴的轴头零件。

Description

一种自动装拆芯轴装置 技术领域
本发明涉及一种轴头零件装拆芯轴装置，特别是一种可以实现轴头零件装拆芯轴自动化的自动装拆芯轴装置。
背景技术
现有技术中安装在汽车上的一种轴头零件，对其进行端面和外圆面机加工前，需要先串入带锁紧螺母和涨套的芯轴，然后拧紧锁紧螺母使涨套涨紧轴头零件的内孔，之后芯轴随工件一起被放到机床上进行端面和外圆面的加工；加工完成后从机床取下，拧松锁紧螺母使涨套有收缩空间，芯轴与工件脱离。目前，装芯轴，拧紧和拧松锁紧螺母，芯轴与工件脱离等均由人工完成；而装拆芯轴过程中锁紧螺母的拧紧力矩达到300Nm左右，且每个工厂每天要装拆大量芯轴，人工装拆芯轴的工作量很大，耗时费力且装拆不方便。总之，现有技术主要存在如下缺陷：
1)芯轴装拆过程中锁紧螺母扭矩大，劳动强度高；
2)芯轴装拆量大，容易导致工人疲劳；
3)人工装拆，工作效率低；
4)锁紧螺母扭矩控制精度低，不方便检查。
发明内容
本发明所要解决的技术问题是针对现有技术的上述缺陷，提供一种自动装拆芯轴装置，以实现轴头零件装拆芯轴自动化。
为了实现上述目的，本发明提供了一种自动装拆芯轴装置，其中，用于自动装拆轴头零件的芯轴，包括：
转台机构，包括底座和安装在所述底座上的精密回转台，所述精密回转台上均布有多个回转工位，每个所述回转工位上均设置有用于插装轴头零件的芯 轴的定位轴套，所述多个回转工位包括空工位、加工工位和中间工位；
拧紧拧松机构，对应于所述加工工位设置在所述精密回转台的一侧，所述拧紧拧松机构包括主梁和安装在所述主梁上的自动拧紧机，所述自动拧紧机正对所述加工工位设置在所述精密回转台上方，且所述自动拧紧机相对于所述加工工位分别具有一加工位置和一原始位置；以及
反力矩机构，正对所述加工工位设置在所述精密回转台的下方，用于提供与所述拧紧拧松机构相反的力矩，所述反力矩机构相对于所述加工工位分别具有一工作位置和一退回位置；
其中，所述精密回转台每转动一次带动所述定位轴套移动一个工位定位，以依次输送待安装或待拆卸芯轴的轴头零件。
上述的自动装拆芯轴装置，其中，还包括：
卡紧顶松机构，正对所述加工工位设置在所述精密回转台的一侧，用于使轴头零件与芯轴的涨套松脱。
上述的自动装拆芯轴装置，其中，所述卡紧顶松机构包括：
基板，与所述主梁连接；
卡紧部件，包括卡紧板、卡紧气缸和卡紧移动件，所述卡紧板安装在所述卡紧移动件上并与所述卡紧气缸连接，所述卡紧移动件和卡紧气缸分别安装在所述基板上，所述卡紧板的前端设置有用于将所述芯轴卡紧在所述定位轴套上的卡紧部；以及
顶松部件，包括顶松板、顶松基座、顶松移动件和顶松气缸，所述顶松板通过顶松移动件与所述顶松基座连接，所述顶松基座分别与所述顶松气缸和基板连接，所述顶松板的前端设置有用于托住所述轴头零件的下表面的托举部。
上述的自动装拆芯轴装置，其中，所述卡紧移动件包括卡紧导轨和卡紧滑块，所述卡紧导轨安装在所述基板的上表面，所述卡紧滑块安装在所述卡紧导轨上，所述卡紧板安装在所述卡紧滑块上。
上述的自动装拆芯轴装置，其中，所述卡紧部为V型结构，所述定位轴套一侧设置有卡紧开口，所述V型结构的端面穿过所述卡紧开口卡到所述芯轴的端卡槽上，以将所述芯轴卡紧在所述定位轴套上。
上述的自动装拆芯轴装置，其中，所述顶松移动件包括顶松导套和顶松导柱，所述顶松基座为框架结构，所述顶松导套安装在所述顶松基座内并位于上 部，所述顶松导柱安装在所述顶松导套内并穿过所述顶松基座的上平面；所述顶松板安装在所述顶松导柱的顶端，所述顶松导柱的下端设置有气缸连接块，所述气缸连接块与所述顶松气缸连接，所述顶松气缸固定在所述顶松基座的框架下表面。
上述的自动装拆芯轴装置，其中，所述顶松部件还包括用于带动所述顶松基座水平移动的横移气缸，所述横移气缸的缸杆与所述顶松基座的侧面连接，所述横移气缸的底部安装在所述基板上；所述顶松移动件还包括基座导轨和基座滑块，所述基座导轨安装在所述基板的下表面，所述基座滑块安装在所述基座导轨上，所述顶松基座安装在所述基座滑块上。
上述的自动装拆芯轴装置，其中，所述反力矩机构包括：
升降座，通过滑移件安装在所述底座上；
升降气缸，安装在所述底座上并通过升降气缸连接块与所述升降座连接，所述升降气缸带动所述升降座沿所述滑移件上下移动以分别切换所述工作位置和退回位置；以及
拧紧套，安装在所述升降座的顶端，所述拧紧套的中心导向孔内安装有拧紧头，所述拧紧头为外六角柱体结构，与所述芯轴底部的内六角沉孔适配，所述拧紧头插入所述内六角沉孔中以防止所述芯轴转动。
上述的自动装拆芯轴装置，其中，所述拧紧套的中心导向孔为内六角孔结构，用于所述拧紧头的上下导向及防止所述拧紧头转动，所述拧紧套的下部设置有用于弹性顶升所述拧紧头的弹簧，所述拧紧头的顶部压力大于所述芯轴的重量时，所述拧紧头自然缩回以防止将所述芯轴顶出所述定位轴套。
上述的自动装拆芯轴装置，其中，所述主梁为L型结构，所述主梁的底端与所述底座连接，所述主梁的立柱与所述精密回转台垂直，所述主梁的侧面安装有电机驱动的升降导轨，所述升降导轨上安装有移动滑块，所述移动滑块上安装有升降安装座，所述自动拧紧机安装在所述升降安装座前端，所述自动拧紧机的拧紧轴下端安装有拧紧拧松套筒，所述自动拧紧机的拧紧轴的轴线与所述加工工位的定位轴套的轴线同轴。
本发明的技术效果在于：
本发明可以实现轴头零件装拆芯轴自动化，能配合机械手完成轴头零件自动装拆芯轴的工作；整体结构简单紧凑，方便操作、维修和维护；能实现轴头 零件装拆芯轴全自动化流程，也实现了结构单元的模块化。
以下结合附图和具体实施例对本发明进行详细描述，但不作为对本发明的限定。
附图说明
图1为本发明一实施例的结构示意图；
图2为图1另一方向的结构示意图；
图3为本发明一实施例的转台机构结构示意图；
图4为本发明一实施例的反力矩机构结构示意图；
图5为图4的侧视图；
图6为本发明一实施例的卡紧顶松机构结构示意图；
图7为图6另一方向的结构示意图；
图8为本发明一实施例的拧紧拧松机构结构示意图。
其中，附图标记
100轴头零件
200芯轴
300锁紧螺母
400涨套
1转台机构
11精密回转台
12定位轴套
13卡紧开口
14底座
2反力矩机构
21拧紧头
22拧紧套
23导轨
24滑块
25升降座
26升降气缸连接块
27升降气缸
28弹簧
29升降气缸座
3卡紧顶松机构
31基板
32顶松部件
321顶松基座
322顶松板
323顶松导柱
324顶松导套
325顶松气缸
326气缸连接块
327基座导轨
328基座滑块
329横移气缸
33卡紧部件
331卡紧板
332卡紧导轨
333卡紧滑块
334卡紧部
335卡紧气缸
4拧紧拧松机构
41主梁
42自动拧紧机
43升降安装座
44拧紧拧松套筒
45升降导轨
46移动滑块
具体实施方式
下面结合附图对本发明的结构原理和工作原理作具体的描述：
参见图1-图3，图1为本发明一实施例的结构示意图，图2为图1另一方向的结构示意图，图3为本发明一实施例的转台机构1结构示意图。本发明为一种自动装拆芯轴200装置，以实现轴头零件100装拆芯轴200自动化，能配合机械手完成轴头零件100自动装拆芯轴200的工作；整体结构简单紧凑，方便操作、维修和维护。本发明的自动装拆芯轴200装置，用于自动装拆轴头零件100的芯轴200，包括：转台机构1，包括底座14和安装在所述底座14上的精密回转台11，所述精密回转台11上均布有多个回转工位，每个所述回转工位上均设置有用于插装轴头零件100的芯轴200的定位轴套12，所述多个回转工位包括空工位、加工工位和中间工位；拧紧拧松机构4，对应于所述加工工位设置在所述精密回转台11的一侧，所述拧紧拧松机构4包括主梁41和安装在所述主梁41上的自动拧紧机42，所述自动拧紧机42正对所述加工工位设置在所述精密回转台11上方，且所述自动拧紧机42相对于所述加工工位分别具有一加工位置和一原始位置；以及反力矩机构2，正对所述加工工位设置在所述精密回转台11的下方，用于提供与所述拧紧拧松机构4相反的力矩，所述反力矩机构2相对于所述加工工位分别具有一工作位置和一退回位置；其中，所述精密回转台11每转动一次带动所述定位轴套12移动一个工位定位，以依次输送待安装或待拆卸芯轴200的轴头零件100。本实施例还可包括：卡紧顶松机构3，正对所述加工工位设置在所述精密回转台11的一侧，用于使轴头零件100与芯轴200的涨套400松脱。
其中，精密回转台11优选为精密分度的步进回转机构，精密回转台11下部的底座14内安装有电机和标准的分度机构，精密回转台11上可以根据需要设定2、3、4或更多的回转工位，图示为4个工位，即4个工位上分别安装有定位轴套12，4个定位轴套12均布在精密回转台11上，定位轴套12的内孔为通孔，与芯轴200的底部轴径为间隙配合关系，即芯轴200能够插到定位轴套12上定位。精密回转台11每水平转动停止一次，轴套将移动一个工位定位，定位轴套12上方带有芯轴200的轴头零件100即被依次输送
参见图4及图5，图4为本发明一实施例的反力矩机构2结构示意图；图5为图4的侧视图。本实施例中，所述反力矩机构2包括：升降座25，通过滑移件安装在所述底座14上，该滑移件包括滑块24和导轨23，滑块24安装在 升降座25的侧面，滑块24与导轨23装配到一起，这样升降座25就可以沿导轨23在外力作用下上下滑动；升降气缸27，安装在所述底座14上并通过升降气缸27连接块26与所述升降座25连接，所述升降气缸27带动所述升降座25沿所述滑移件上下移动以分别切换所述工作位置和退回位置；以及拧紧套22，安装在所述升降座25的顶端上表面，所述拧紧套22的中心导向孔内安装有拧紧头21，所述拧紧头21为外六角柱体结构，与所述芯轴200底部的内六角沉孔适配，所述拧紧头21能插入到所述内六角沉孔中以防止所述芯轴200转动。其中，所述拧紧套22的中心导向孔优选为内六角孔结构，用于所述拧紧头21的上下导向及防止所述拧紧头21转动，所述拧紧套22的下部设置有用于弹性顶升所述拧紧头21的弹簧28，如果所述拧紧头21的顶部压力大于所述芯轴200的重量时，则所述拧紧头21自然缩回，以防止将所述芯轴200顶出所述定位轴套12。导轨23与升降气缸座29一起安装到精密回转台11的侧面固定后，升降气缸27的缸杆通过气缸连接块326与升降座25连接，在升降气缸27的伸缩动作下，反力矩部分做升降动作；弹簧28对反力矩拧紧头21有一定的顶推力限制作用，如果反力矩拧紧头21上部压力过大，则弹簧28收缩，反力矩拧紧头21随之收缩。
参见图6及图7，图6为本发明一实施例的卡紧顶松机构3结构示意图，图7为图6另一方向的结构示意图。本实施例的所述卡紧顶松机构3包括：基板31，与所述主梁41连接，其右侧面通过开连接孔与主梁41侧立面螺栓连接固定；卡紧部件33，包括卡紧板331、卡紧气缸335和卡紧移动件，所述卡紧板331安装在所述卡紧移动件上并与所述卡紧气缸335连接，所述卡紧移动件和卡紧气缸335分别安装在所述基板31上，所述卡紧板331的前端设置有用于将所述芯轴200卡紧在所述定位轴套12上的卡紧部334；以及顶松部件32，包括顶松板322、顶松基座321、顶松移动件和顶松气缸325，所述顶松板322通过顶松移动件与所述顶松基座321连接，所述顶松基座321分别与所述顶松气缸325和基板31连接，所述顶松板322的前端设置有用于托住所述轴头零件100的下表面的托举部，托举部优选为U型结构，向前移动时能让开芯轴200并托住轴头零件100的下表面，方便向上托举轴头零件100。
其中，所述卡紧移动件包括卡紧导轨332和卡紧滑块333，所述卡紧导轨332安装在所述基板31的上表面，所述卡紧滑块333安装在所述卡紧导轨332 上，所述卡紧板331安装在所述卡紧滑块333上，卡紧板331另一侧与卡紧气缸335的缸杆连接，卡紧气缸335的底部连接在基板31上，卡紧气缸335动作可带动卡紧板331水平移动。所述卡紧部334优选为V型结构，所述定位轴套12一侧设置有卡紧开口13，所述V型结构的端面穿过所述卡紧开口13卡到所述芯轴200的端卡槽上，以将所述芯轴200卡紧在所述定位轴套12上不动。
本实施例中，所述顶松移动件包括顶松导套324和顶松导柱323，所述顶松基座321为框架结构，所述顶松导套324安装在所述顶松基座321内并位于上部，所述顶松导柱323安装在所述顶松导套324内并穿过所述顶松基座321的上平面；所述顶松板322安装在所述顶松导柱323的顶端，所述顶松导柱323的下端设置有气缸连接块326，所述气缸连接块326与所述顶松气缸325的缸杆连接，所述顶松气缸325固定在所述顶松基座321的框架下表面，顶松气缸325动作带动缸杆，缸杆带动气缸连接块326连同顶松导柱323和顶松板322一起上下移动。本实施例的所述顶松部件32还包括用于带动所述顶松基座321水平移动的横移气缸329，所述横移气缸329的缸杆与所述顶松基座321的侧面连接，所述横移气缸329的底部安装在所述基板31上，横移气缸329动作带动顶松基座321连同其上零件做水平移动；所述顶松移动件还包括基座导轨327和基座滑块328，所述基座导轨327安装在所述基板31的下表面，所述基座滑块328安装在所述基座导轨327上，所述顶松基座321安装在所述基座滑块328上。
参见图8，图8为本发明一实施例的拧紧拧松机构4结构示意图。本实施例中，所述主梁41为L型结构，所述主梁41的底部下侧面通过开安装孔与所述底座14的侧面通过螺栓连接，保证所述主梁41的立柱与所述精密回转台11的台面垂直，所述主梁41的侧面安装有电机驱动的升降导轨45，所述升降导轨45上安装有移动滑块46，所述移动滑块46上安装有L型的升降安装座43，所述自动拧紧机42安装在所述升降安装座43前端，所述自动拧紧机42的拧紧轴下端安装有拧紧拧松套筒44，所述自动拧紧机42的拧紧轴的轴线与所述加工工位的定位轴套12的轴线同轴，在升降导轨45的电机带动下，升降安装座43可上下移动。
本发明与机械手配合使用，机械手放置在自动装拆芯轴200装置旁边。工 作时，机械手从芯轴200存放架上抓取带锁紧螺母300和涨套400的芯轴200，并将其垂直放置在转台机构1的精密回转台11空工位(如图1所示A位置)的定位轴套12上，然后机械手再将轴头零件100放置到该芯轴200上就位，精密回转台11转动一个工位(到图1所示B位置)后停止并定位，机械手可继续向空工位A的定位轴套12上放置芯轴200；精密回转台11再次转动一个工位(到图1所示C位置)，此时装有轴头零件100和芯轴200的定位轴套12到达精密回转台11的加工工位C。加工工位C下方正对反力矩机构2，侧方正对卡紧顶松机构3，上方正对拧紧拧松机构4。
反力矩机构2的升降气缸27推动升降座25沿导轨23上升固定行程，拧紧套22贴近芯轴200的下底面，拧紧头21的上端面与芯轴200的下底面接触，该上端面会受到芯轴200和轴头零件100总重力的下压，弹簧28会令拧紧头21收缩；卡紧顶松机构3的升降安装座43沿升降导轨45自动下行，自动拧紧机42下端的拧紧拧松套筒44顶到锁紧螺母300，自动拧紧机42带动拧紧拧松套筒44转动，拧紧拧松套筒44与锁紧螺母300自动扣合，锁紧螺母300开始锁紧，锁紧力增加过程中芯轴200也会发生回转，则芯轴200底部的内六角沉孔与拧紧头21自动对正，靠弹簧28的弹力，拧紧头21与内六角沉孔也自动扣合，拧紧拧松套筒44继续拧紧达到设定扭矩，拧紧头21起到反力矩作用，最终实现涨套400涨紧轴头零件100，满足机加工要求。之后，拧紧拧松套筒44和拧紧头21退回原位，精密回转台11再次转动使涨紧涨套400的轴头零件100到达中间工位D，之后机械手可以将该轴头零件100连同芯轴200从中间工位D取出，自动放到机床上定位加工。
机加工完成后的轴头零件100连同芯轴200被机械手取回，精密回转台11上的中间工位D或空工位A、B的定位轴套12上定位，精密回转台11将其转动到加工工位C后，拧紧头21和拧紧拧松套筒44再次执行上一工作流程，反向拧松锁紧螺母300，涨套400和轴头零件100有了松脱空间，然后卡紧顶松机构3提供一个松脱力使其松脱。
拧紧头21和拧紧拧松套筒44再次退回原位后，卡紧顶松机构3的横移气缸329将卡紧板331沿卡紧导轨332水平移动固定行程，卡紧板331前端的卡紧部334通过定位轴套12侧方的卡紧开口13将芯轴200端卡槽卡住；横移气缸329推动顶松基座321沿基座导轨327水平移动固定行程，顶松板322上表 面到达轴头零件100下端面处，顶松气缸325推动气缸连接块326，带动顶松导柱323沿顶松导套324上移，使顶松板322上表面顶到轴头零件100下表面，最终顶松气缸325的推力将轴头零件100与涨套400松脱，然后顶松板322和卡紧板331退回原位，精密回转台11再次转动，将该轴头零件100转到中间工位D，机械手在中间工位D将该轴头零件100取走，至此完成轴头零件100装拆芯轴200的整个自动化流程。
本发明可以通过与机械手的配合，连续实现轴头零件100装拆芯轴200的工作。整体结构简单紧凑，方便操作、维修和维护；能实现轴头零件100装拆芯轴200全自动化流程，并实现了结构单元的模块化。
当然，本发明还可有其它多种实施例，在不背离本发明精神及其实质的情况下，熟悉本领域的技术人员当可根据本发明作出各种相应的改变和变形，但这些相应的改变和变形都应属于本发明所附的权利要求的保护范围。

Claims (10)

  1. 一种自动装拆芯轴装置，其特征在于，用于自动装拆轴头零件的芯轴，包括：
    转台机构，包括底座和安装在所述底座上的精密回转台，所述精密回转台上均布有多个回转工位，每个所述回转工位上均设置有用于插装轴头零件的芯轴的定位轴套，所述多个回转工位包括空工位、加工工位和中间工位；
    拧紧拧松机构，对应于所述加工工位设置在所述精密回转台的一侧，所述拧紧拧松机构包括主梁和安装在所述主梁上的自动拧紧机，所述自动拧紧机正对所述加工工位设置在所述精密回转台上方，且所述自动拧紧机相对于所述加工工位分别具有一加工位置和一原始位置；以及
    反力矩机构，正对所述加工工位设置在所述精密回转台的下方，用于提供与所述拧紧拧松机构相反的力矩，所述反力矩机构相对于所述加工工位分别具有一工作位置和一退回位置；
    其中，所述精密回转台每转动一次带动所述定位轴套移动一个工位定位，以依次输送待安装或待拆卸芯轴的轴头零件。
  2. 如权利要求1所述的自动装拆芯轴装置，其特征在于，还包括：
    卡紧顶松机构，正对所述加工工位设置在所述精密回转台的一侧，用于使轴头零件与芯轴的涨套松脱。
  3. 如权利要求2所述的自动装拆芯轴装置，其特征在于，所述卡紧顶松机构包括：
    基板，与所述主梁连接；
    卡紧部件，包括卡紧板、卡紧气缸和卡紧移动件，所述卡紧板安装在所述卡紧移动件上并与所述卡紧气缸连接，所述卡紧移动件和卡紧气缸分别安装在所述基板上，所述卡紧板的前端设置有用于将所述芯轴卡紧在所述定位轴套上的卡紧部；以及
    顶松部件，包括顶松板、顶松基座、顶松移动件和顶松气缸，所述顶松板通过顶松移动件与所述顶松基座连接，所述顶松基座分别与所述顶松气缸和基板连接，所述顶松板的前端设置有用于托住所述轴头零件的下表面的托举部。
  4. 如权利要求3所述的自动装拆芯轴装置，其特征在于，所述卡紧移动 件包括卡紧导轨和卡紧滑块，所述卡紧导轨安装在所述基板的上表面，所述卡紧滑块安装在所述卡紧导轨上，所述卡紧板安装在所述卡紧滑块上。
  5. 如权利要求3或4所述的自动装拆芯轴装置，其特征在于，所述卡紧部为V型结构，所述定位轴套一侧设置有卡紧开口，所述V型结构的端面穿过所述卡紧开口卡到所述芯轴的端卡槽上，以将所述芯轴卡紧在所述定位轴套上。
  6. 如权利要求3或4所述的自动装拆芯轴装置，其特征在于，所述顶松移动件包括顶松导套和顶松导柱，所述顶松基座为框架结构，所述顶松导套安装在所述顶松基座内并位于上部，所述顶松导柱安装在所述顶松导套内并穿过所述顶松基座的上平面；所述顶松板安装在所述顶松导柱的顶端，所述顶松导柱的下端设置有气缸连接块，所述气缸连接块与所述顶松气缸连接，所述顶松气缸固定在所述顶松基座的框架下表面。
  7. 如权利要求6所述的自动装拆芯轴装置，其特征在于，所述顶松部件还包括用于带动所述顶松基座水平移动的横移气缸，所述横移气缸的缸杆与所述顶松基座的侧面连接，所述横移气缸的底部安装在所述基板上；所述顶松移动件还包括基座导轨和基座滑块，所述基座导轨安装在所述基板的下表面，所述基座滑块安装在所述基座导轨上，所述顶松基座安装在所述基座滑块上。
  8. 如权利要求7所述的自动装拆芯轴装置，其特征在于，所述反力矩机构包括：
    升降座，通过滑移件安装在所述底座上；
    升降气缸，安装在所述底座上并通过升降气缸连接块与所述升降座连接，所述升降气缸带动所述升降座沿所述滑移件上下移动以分别切换所述工作位置和退回位置；以及
    拧紧套，安装在所述升降座的顶端，所述拧紧套的中心导向孔内安装有拧紧头，所述拧紧头为外六角柱体结构，与所述芯轴底部的内六角沉孔适配，所述拧紧头插入所述内六角沉孔中以防止所述芯轴转动。
  9. 如权利要求8所述的自动装拆芯轴装置，其特征在于，所述拧紧套的中心导向孔为内六角孔结构，用于所述拧紧头的上下导向及防止所述拧紧头转动，所述拧紧套的下部设置有用于弹性顶升所述拧紧头的弹簧，所述拧紧头的顶部压力大于所述芯轴的重量时，所述拧紧头自然缩回以防止将所述芯轴顶出 所述定位轴套。
  10. 如权利要求8所述的自动装拆芯轴装置，其特征在于，所述主梁为L型结构，所述主梁的底端与所述底座连接，所述主梁的立柱与所述精密回转台垂直，所述主梁的侧面安装有电机驱动的升降导轨，所述升降导轨上安装有移动滑块，所述移动滑块上安装有升降安装座，所述自动拧紧机安装在所述升降安装座前端，所述自动拧紧机的拧紧轴下端安装有拧紧拧松套筒，所述自动拧紧机的拧紧轴的轴线与所述加工工位的定位轴套的轴线同轴。
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