A toothed workpiece rotation positioner and toothed workpiece processing equipment

Abstract

The present invention discloses a toothed workpiece rotary positioner and toothed workpiece processing equipment. The rotary positioner includes a plurality of radially extending arms; each arm is provided with a first guide rail, a workpiece support seat is provided on the first guide rail, a roller assembly is provided on the workpiece support seat, and the roller assembly is used to support and position the workpiece; each arm is provided with a first drive assembly, which is used to drive each toothed workpiece support seat to translate on the first guide rail, thereby realizing the positioning of the toothed workpiece; at least one arm is provided with a second guide rail and a second drive assembly on one side, a rotary drive seat is provided on the second guide rail, a rotary drive assembly is provided on the rotary drive seat, the rotary drive assembly is used to drive the toothed workpiece to rotate, and the second drive assembly is used to drive the rotary drive seat to translate on the second guide rail. The toothed workpiece rotary positioner can realize the support, fixation and driven rotation of workpieces with a wide range of diameters, and has low requirements on the torque output of the drive motor.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical processing, and in particular relates to a toothed workpiece rotation positioner and toothed workpiece processing equipment. Background Art

[0002] When manufacturing large toothed workpieces, the toothed workpieces need to be rotated horizontally to facilitate their processing. However, the existing rotating platform drives the entire platform to rotate, and then drives the workpiece to rotate, which requires the drive motor to provide a large torque output. In addition, the overall mass of the platform and the workpiece is large, and the rotational inertia is also large, which makes it impossible to achieve uniform control of the workpiece rotation speed. Summary of the invention

[0003] In view of the above problems, the present invention discloses a toothed workpiece rotation positioner and a toothed workpiece processing device to overcome the above problems or at least partially solve the above problems.

[0004] In order to achieve the above object, the present invention adopts the following technical solutions:

[0005] In one aspect, the present invention discloses a toothed workpiece rotation positioner, the rotation positioner comprising a plurality of radially extending arms;

[0006] Each of the support arms is provided with a first guide rail, a workpiece support seat is provided on the first guide rail, a roller assembly is provided on the workpiece support seat, and the roller assembly is used to support and position the toothed workpiece; each of the support arms is provided with a first driving assembly, which is used to drive each of the workpiece support seats to translate on the first guide rail, thereby realizing the positioning of the toothed workpiece;

[0007] A second guide rail and a second drive assembly are provided on one side of at least one of the support arms, a rotary drive seat is provided on the second guide rail, a rotary drive assembly is provided on the rotary drive seat, the rotary drive assembly is used to drive the toothed workpiece to rotate, and the second drive assembly is used to drive the rotary drive seat to translate on the second guide rail.

[0008] Further, the roller assembly includes a vertical roller and two horizontal roller groups;

[0009] The vertical roller is vertically arranged on the workpiece support seat, and is used for centering and fixing the toothed workpiece; the two horizontal roller groups are radially symmetrically arranged on both sides of the vertical roller, and are used for supporting the toothed workpiece to rotate on each of the support arms, and each of the horizontal roller groups is provided with a plurality of horizontal rollers, and the plurality of horizontal rollers are arranged in parallel, and the axis of each horizontal roller is parallel to the direction of the support arm.

[0010] Further, the first driving assembly includes a first motor and a first screw rod, the first motor drives the first screw rod to rotate, the workpiece support seat is sleeved on the first screw rod, and the first screw rod is engaged with a threaded hole on the workpiece support seat;

[0011] The second drive assembly comprises a second motor and a second screw rod, the second motor drives the second screw rod to rotate, the rotary drive seat is sleeved on the second screw rod, and the second screw rod is engaged with a threaded hole on the rotary drive seat; or

[0012] The second driving assembly includes a second motor, a translation rack and a translation gear. The translation rack is arranged on the support arm, and the second motor and the translation gear are arranged on the rotary driving seat. The second motor drives the translation gear to rotate, thereby driving the rotary driving seat to translate.

[0013] Further, the rotary drive assembly includes a third motor, a reducer and a drive gear, and the rotary drive seat includes a mechanical quick-insertion device;

[0014] The third motor is connected to the driving gear through the reducer, and the driving gear drives the toothed workpiece to rotate by meshing with the teeth on the toothed workpiece; the mechanical quick-insertion device is used to realize the clamping and replacement of the driving gear.

[0015] Furthermore, the first motor, the second motor and the third motor are servo motors, and the first screw rod and the second screw rod are ball screw rods.

[0016] Furthermore, a displacement sensor is provided on the support arm for measuring and controlling the displacement of the workpiece support seat, thereby controlling the toothed workpiece to achieve precise centering.

[0017] Furthermore, two groups of distance meters are provided on the workpiece support seat, and the two groups of distance meters are respectively arranged on the two horizontal roller groups to assist in the hoisting and positioning of the toothed workpiece.

[0018] Another aspect of the present invention discloses a toothed workpiece processing device, the toothed workpiece processing device comprising a six-axis robot and the rotary positioner according to the above-mentioned;

[0019] A ground rail is provided below the six-axis robot, and the six-axis robot moves along the X-axis and Y-axis directions on the ground rail. A processing device is provided on the manipulator of the six-axis robot for machining the toothed workpiece;

[0020] The rotary positioner is used to control the rotation of the toothed workpiece according to the position of the toothed workpiece being machined.

[0021] Furthermore, the toothed workpiece processing equipment further comprises at least one of the following devices: a 3D contour scanning device, a rotary drive component replacement device, a machining tool and a control device; the 3D contour scanning device, the rotary drive component replacement device and the machining tool can be arranged on the manipulator;

[0022] The 3D contour scanning device is used to scan the 3D contour of the toothed workpiece and send the contour data generated by the scanning to the control device. The control device controls the rotary drive component replacement device to replace the model of the rotary drive component according to the contour data, and then controls the machining tool to process the toothed workpiece.

[0023] Furthermore, the mechanical processing includes grinding and / or chamfering, and a waste collection mechanism is provided below the rotary positioner for collecting waste generated by grinding and chamfering the toothed workpiece.

[0024] The advantages and beneficial effects of the present invention are:

[0025] In the toothed workpiece rotary positioner of the present invention, by providing a sliding roller assembly and a rotary drive assembly, it is possible to support, fix and drive rotation of workpieces with a wide range of diameters; and the positioner only needs to drive the workpiece to rotate, reducing the requirement for the torque output of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings:

[0027] Figure 1 It is a three-dimensional structural diagram of a rotary positioner in an embodiment of the present invention;

[0028] Figure 2 It is a three-dimensional structural diagram of the rotary positioner when loading a toothed workpiece in an embodiment of the present invention;

[0029] Figure 3 A bottom view of the rotary positioner in an embodiment of the present invention;

[0030] Figure 4 A bottom view of the rotary positioner when loading a toothed workpiece in an embodiment of the present invention;

[0031] Figure 5 It is a front view of the rotary positioner in the embodiment of the present invention;

[0032] Figure 6It is a front view of the rotary positioner when loading a toothed workpiece in an embodiment of the present invention;

[0033] Figure 7 A three-dimensional structural diagram of a toothed workpiece processing device in an embodiment of the present invention;

[0034] Figure 8 A top view of a toothed workpiece processing device in an embodiment of the present invention;

[0035] Fig. 9 It is a front view of a toothed workpiece processing device in an embodiment of the present invention;

[0036] Fig.10 It is a right side view of the toothed workpiece processing device in the embodiment of the present invention;

[0037] Fig.11 A three-dimensional structural diagram of a six-axis robot in an embodiment of the present invention;

[0038] Fig.12 It is a right side view of the six-axis robot in the embodiment of the present invention;

[0039] Fig.13 A front view of a six-axis robot in an embodiment of the present invention;

[0040] Fig.14 1 is a top view of a six-axis robot in an embodiment of the present invention.

[0041] In the figure: 1. support arm, 2. first guide rail, 3. workpiece support seat, 4. second guide rail, 5. rotary drive seat, 6. vertical roller, 7. horizontal roller, 8. first screw rod, 9. second motor, 10. second screw rod, 11. third motor, 12. reducer, 13. drive gear, 14. waste collection mechanism. DETAILED DESCRIPTION

[0042] In order to make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the specific embodiments of the present invention and the corresponding drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0043] The technical solutions provided by various embodiments of the present invention are described in detail below in conjunction with the accompanying drawings.

[0044] Example 1

[0045] In an embodiment of the present invention, a toothed workpiece rotation positioner is disclosed, such as Figure 1-6As shown, the rotary positioner includes a plurality of radially extending arms 1. To ensure the balance of the rotary positioner, the plurality of arms 1 are evenly arranged on the rotation plane. The number of arms 1 can be set as required, and the number is preferably 3 or 4.

[0046] Each support arm 1 is radially provided with a first guide rail 2, and a workpiece support seat 3 is provided on the first guide rail 2. The workpiece support seat 3 can move radially on the first guide rail 2, and a roller assembly is provided on the workpiece support seat 3. The roller assembly is used for supporting and positioning the toothed workpiece. When the toothed workpiece is placed on the rotary positioner, the workpiece support seat 3 on each support arm 1 moves radially on the first guide rail 2 to adjust the position. The toothed workpiece is supported and centrally positioned through the roller assembly, so that the toothed workpiece is coaxial with the rotary positioner. A first driving assembly is provided in each support arm 1, which is used to drive each workpiece support seat 3 to translate on the first guide rail 2, thereby realizing the positioning of the toothed workpiece.

[0047] like Figure 1 As shown, at least one side of the support arm 1 is provided with a second guide rail 4 and a second driving assembly, a rotary drive seat 5 is provided on the second guide rail 4, the rotary drive seat 5 can move radially on the second guide rail 4, a rotary drive assembly is provided on the rotary drive seat 5, the rotary drive assembly is used to drive the toothed workpiece to rotate, and the second driving assembly is used to drive the rotary drive seat 5 to translate on the second guide rail 4. After the toothed workpiece is centered and positioned, the second driving assembly drives the rotary drive seat 5 to move according to the position of the toothed workpiece, so as to realize the driving connection between the rotary drive assembly and the toothed workpiece.

[0048] In summary, in the toothed workpiece rotation positioner of the present invention, by arranging a sliding roller assembly and a rotary drive assembly, it is possible to support, fix and drive rotation of workpieces with a wide range of diameters; and in the positioner, only the workpiece itself needs to be driven to rotate, reducing the requirements for the torque output of the drive motor and the rotational inertia of the motor.

[0049] Preferably, if Figure 1 and Figure 5 As shown, the roller assembly includes a vertical roller 6 and two horizontal roller groups.

[0050] The vertical roller 6 is vertically arranged on the workpiece support seat 3. When the toothed workpiece is placed on the rotary positioner, the vertical roller 6 abuts against the non-toothed surface of the toothed workpiece to fix the toothed workpiece in the center. Since the toothed workpiece may be an external toothed workpiece or an internal toothed workpiece, two horizontal roller assemblies are arranged in this embodiment. The two horizontal roller groups are radially symmetrically arranged on both sides of the vertical roller 6 to support the toothed workpiece to rotate on each support arm 1. When the workpiece is an external toothed workpiece, the vertical roller 6 abuts against the inner cylindrical surface of the workpiece, and the outer horizontal roller group supports the workpiece; when the workpiece is an internal toothed workpiece, the vertical roller 6 abuts against the outer cylindrical surface of the workpiece, and the inner horizontal roller group supports the workpiece. A plurality of horizontal rollers 7 are arranged on each horizontal roller group, and the plurality of horizontal rollers 7 are arranged in parallel, and the axis of each horizontal roller 7 is parallel to the direction of the support arm 1. The number of horizontal rollers 7 on the horizontal roller group is preferably two.

[0051] In this embodiment, the rotary positioner realizes the centering positioning and support of the toothed workpiece through the vertical roller 6 and the horizontal roller 7. Since the rollers can roll, the toothed workpiece can rotate on the rotary positioner relative to the rotary positioner.

[0052] In one embodiment, Figure 1 As shown, the first drive assembly includes a first motor and a first screw 8. The first motor drives the first screw 8 to rotate. The first motor can be connected to the first screw 8 through a gear or a transmission belt. The workpiece support seat 3 is sleeved on the first screw 8, and the first screw 8 is engaged with the threaded hole on the workpiece support seat 3. When the first motor rotates, it drives the first screw 8 to rotate, thereby realizing the movement of the workpiece support seat 3. By changing the direction of rotation of the first motor, the direction of movement of the workpiece support seat 3 is changed. In order to increase the output torque of the first drive assembly, a reducer can be set between the first motor and the first screw 8, so that the vertical rollers 6 on each arm 1 are firmly in contact with the toothed workpiece, so as to realize the centering and fixing of the toothed workpiece.

[0053] The second drive assembly includes a second motor 9 and a second screw rod 10. The second motor 9 drives the second screw rod 10 to rotate. The second motor 9 is connected to the second screw rod 10 through a gear or a transmission belt. The rotary drive seat 5 is sleeved on the second screw rod 10, and the second screw rod 10 is engaged with a threaded hole on the rotary drive seat 5. When the second motor 9 rotates, the second screw rod 10 is driven to rotate, thereby realizing the movement of the rotary drive seat 5, so that the rotary drive assembly is connected to the tooth surface of the toothed workpiece. By changing the rotation direction of the second motor 9, the movement direction of the rotary drive seat 5 is changed.

[0054] In one embodiment, the second drive assembly includes a second motor, a translation rack and a translation gear. The translation rack is radially arranged on the support arm 1, and the second motor and the translation gear are arranged on the rotary drive seat 5. The second motor and the translation gear can be connected by setting a transmission. The second motor drives the translation gear to rotate, thereby driving the rotary drive seat 5 to translate on the second guide rail 4.

[0055] In one embodiment, Figure 1 As shown, the rotary drive assembly includes a third motor 11, a reducer 12 and a drive gear 13, and the rotary drive seat 5 includes a mechanical quick-insertion device.

[0056] The third motor 11 is connected to the driving gear 13 through the reducer 12. The reducer 12 is provided to increase the output torque of the rotary drive assembly, so as to facilitate the rotation of the large and heavy workpiece. The driving gear 13 drives the toothed workpiece to rotate by meshing with the teeth on the toothed workpiece, wherein the tooth profile on the driving gear 13 is consistent with the tooth profile on the toothed workpiece, so as to facilitate the meshing drive of the two and prevent the driving gear 13 from damaging the teeth on the toothed workpiece. The rotary positioner in this embodiment can be replaced with a driving gear 13 with a corresponding tooth profile for different toothed workpieces. In order to facilitate the replacement of the driving gear 13 model, a mechanical quick-insertion device is provided between the reducer 12 and the driving gear 13. The mechanical quick-insertion device is specifically provided with a guide groove at the output end of the reducer 12, and a driving key is provided on the guide groove. When the guide groove and the guide shaft at the bottom of the driving gear 13 are plugged and connected, the driving key is engaged and fixed with the limit plate at the bottom of the driving gear 13, thereby realizing the transmission connection between the reducer 12 and the driving gear 13. The mechanical quick-insertion device is used to realize the rapid fixation and replacement of the driving gear 13.

[0057] Preferably, in order to make the centering positioning and rotation driving of the toothed workpiece more accurate, the first motor, the second motor 9 and the third motor 11 are servo motors, and the first screw rod 8 and the second screw rod 10 are ball screws. The servo motor can control the speed and position accuracy very accurately; the ball screw has the characteristics of high precision, reversibility, high efficiency and low friction resistance.

[0058] In a preferred embodiment, a displacement sensor is provided on the support arm 1 for measuring and controlling the displacement of the workpiece support seat 3, and feeding back the displacement information of the workpiece support seat 3 to the first drive assembly, so as to facilitate the adjustment of the first drive assembly, thereby controlling the precise centering of the toothed workpiece. The displacement sensor can be a magnetic scale displacement sensor, a laser displacement sensor or an encoder.

[0059] Preferably, two sets of distance meters are provided on the workpiece support seat 3, and the two sets of distance meters are respectively arranged on two horizontal roller groups, for assisting the hoisting and positioning of the toothed workpiece. When the toothed workpiece is hoisted above the rotary positioner, the two sets of distance meters respectively measure the distance between them and the toothed workpiece, and then feed the distance information back to the first drive assembly, and the first drive assembly adjusts the position of the workpiece support seat 3 to achieve better positioning of the toothed workpiece.

[0060] In this embodiment, in order to increase the carrying capacity of the rotary positioner and reduce its own weight, each arm 1 can be a rigid structure frame. In addition, a plurality of anchor bolts can be evenly arranged at the lower end of each arm 1 to facilitate the fixed connection of the rotary positioner with other structures.

[0061] Example 2

[0062] The embodiment of the present invention discloses a toothed workpiece processing device, such as Figure 7-10 As shown, the toothed workpiece processing equipment includes a six-axis robot and the above-mentioned rotary positioner. The six-axis robot can realize multi-angle processing of the workpiece and has the characteristics of compact structure, small footprint and large working range.

[0063] like Figure 11-14 As shown, in order to facilitate the six-axis robot to move better, a ground track is provided under the six-axis robot, and the six-axis robot moves along the X-axis and Y-axis on the ground track to expand its range of activities and perform different work tasks. The manipulator of the six-axis robot is provided with processing equipment for machining tooth-shaped workpieces.

[0064] The rotary positioner is used to control the rotation of the toothed workpiece according to the position of the toothed workpiece to be machined, so as to facilitate the six-axis robot to machine different positions of the toothed workpiece.

[0065] In one embodiment, the toothed workpiece processing equipment further includes at least one of the following devices: a 3D contour scanning device, a rotary drive component replacement device, a machining tool, and a control device; the 3D contour scanning device, the rotary drive component replacement device, and the machining tool can be arranged on the manipulator, can be arranged on the manipulator at the same time, or can be replaced on the manipulator. Among them, the control device is used for information collection, data calculation, and action execution of the toothed workpiece processing equipment.

[0066] After the toothed workpiece is centered and fixed on the rotary positioner, the 3D contour scanning device on the six-axis robot manipulator begins to scan the 3D contour of the toothed workpiece and sends the contour data generated by the scan to the control device. The contour data includes the diameter, thickness, tooth shape and tooth size of the toothed workpiece. The control device performs data calculations based on the contour data and controls the rotary drive component replacement device to replace the model of the rotary drive component so that the model of the rotary drive component corresponds to the model of the toothed workpiece. The rotary drive component replacement device can be a pneumatic three-claw gripping mechanism. The control device calculates the processing path and angle of the machining tool based on the contour data of the toothed workpiece, and then controls the rotary drive component on the rotary positioner to drive the toothed workpiece to rotate, and controls the machining tool to process the toothed workpiece. The machining tool can be a grinding tool for grinding and chamfering the toothed workpiece.

[0067] Preferably, if Figure 7 As shown, the mechanical processing includes grinding and / or chamfering, and a waste collection mechanism 14 is provided under the rotary positioner to collect waste generated by grinding and chamfering the toothed workpiece, so as to clean the waste in time and prevent the waste from affecting the processing of the workpiece.

[0068] The above description is only an embodiment of the present invention and is not intended to limit the protection scope of the present invention. Any modification, equivalent replacement, improvement, expansion, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. A toothed workpiece rotation positioner, characterized in that: The rotary positioner includes a plurality of radially extending arms; Each of the support arms is provided with a first guide rail, a workpiece support seat is provided on the first guide rail, a roller assembly is provided on the workpiece support seat, and the roller assembly is used to support and position the toothed workpiece; each of the support arms is provided with a first driving assembly, which is used to drive each of the workpiece support seats to translate on the first guide rail, thereby realizing the positioning of the toothed workpiece; A second guide rail and a second drive assembly are provided on one side of at least one of the support arms, a rotary drive seat is provided on the second guide rail, a rotary drive assembly is provided on the rotary drive seat, the rotary drive assembly is used to drive the toothed workpiece to rotate, and the second drive assembly is used to drive the rotary drive seat to translate on the second guide rail; The first driving assembly includes a first motor and a first screw rod, the first motor drives the first screw rod to rotate, the workpiece support seat is sleeved on the first screw rod, and the first screw rod is engaged with a threaded hole on the workpiece support seat; The second drive assembly includes a second motor and a second screw, the second motor drives the second screw to rotate, the rotary drive seat is sleeved on the second screw, and the second screw is engaged with the threaded hole on the rotary drive seat; or, the second drive assembly includes a second motor, a translation rack and a translation gear, the translation rack is arranged on the support arm, the second motor and the translation gear are arranged on the rotary drive seat, and the second motor drives the translation gear to rotate, thereby driving the rotary drive seat to translate; The rotary drive assembly includes a third motor, a reducer and a drive gear, and the rotary drive seat includes a mechanical quick-insertion device; The third motor is connected to the driving gear through the reducer, and the driving gear drives the toothed workpiece to rotate by meshing with the teeth on the toothed workpiece; the mechanical quick-insertion device is used to realize the clamping and replacement of the driving gear.

2. The rotary positioner according to claim 1, characterized in that: The roller assembly includes a vertical roller and two horizontal roller groups; The vertical roller is vertically arranged on the workpiece support seat, and is used for centering and fixing the toothed workpiece; the two horizontal roller groups are radially symmetrically arranged on both sides of the vertical roller, and are used for supporting the toothed workpiece to rotate on each of the support arms, and each of the horizontal roller groups is provided with a plurality of horizontal rollers, and the plurality of horizontal rollers are arranged in parallel, and the axis of each horizontal roller is parallel to the direction of the support arm.

3. The rotary positioner according to claim 1, characterized in that: The first motor, the second motor and the third motor are servo motors, and the first screw rod and the second screw rod are ball screw rods.

4. The rotary positioner according to claim 1, characterized in that: The support arm is provided with a displacement sensor for measuring and controlling the displacement of the workpiece support seat, thereby controlling the toothed workpiece to achieve precise centering.

5. The rotary positioner according to claim 2, characterized in that: Two groups of distance meters are arranged on the workpiece support seat, and the two groups of distance meters are respectively arranged on the two horizontal roller groups to assist in the hoisting and positioning of the toothed workpiece.

6. A toothed workpiece processing device, characterized in that: The toothed workpiece processing equipment comprises a six-axis robot and a rotary positioner according to any one of claims 1 to 5; A ground rail is provided below the six-axis robot, and the six-axis robot moves along the X-axis and Y-axis directions on the ground rail. A processing device is provided on the manipulator of the six-axis robot for machining the toothed workpiece; The rotary positioner is used to control the rotation of the toothed workpiece according to the position of the toothed workpiece being machined.

7. The toothed workpiece processing equipment according to claim 6, characterized in that: The toothed workpiece processing equipment further comprises at least one of the following devices: a 3D contour scanning device, a rotary drive component replacement device, a machining tool and a control device; the 3D contour scanning device, the rotary drive component replacement device and the machining tool can be arranged on the manipulator; The 3D contour scanning device is used to scan the 3D contour of the toothed workpiece and send the contour data generated by the scanning to the control device. The control device controls the rotary drive component replacement device to replace the model of the rotary drive component according to the contour data, and then controls the machining tool to process the toothed workpiece.

8. The toothed workpiece processing equipment according to claim 6, characterized in that: The mechanical processing includes grinding and / or chamfering, and a waste collection mechanism is provided under the rotary positioner to collect waste generated by grinding and chamfering the toothed workpiece.

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