Flexible centering drive

Abstract

The application discloses a flexible centering driving device. Two arm embracing rotating mechanisms are symmetrically arranged on the equipment frame on both sides along the centering center line of a workpiece, each arm embracing rotating mechanism comprises an arm embracing rotating component, a rotary transmission part, a bearing seat and an arm embracing side cable fixing block which are symmetrically arranged along the center line of the workpiece, the arm embracing rotating component is installed and connected to the bearing seat, the arm embracing side cable fixing block is arranged above the bearing seat, one of the arm embracing rotating components on both sides is connected with the rotary transmission part, and the arm embracing side cable fixing block and the rotary transmission part are connected with a cable component. According to the structure, the driving cylinder can be fixed at any position of the equipment, the structure arrangement is more free, the adjustment of the structure is more convenient, the accurate centering is realized by the simultaneous movement of the arm embracing, and the expansibility is high.

Description

TECHNICAL FIELD

[0001] The present application relates to a kind of mechanical positioning automation device, in particular to a kind of flexible centering driving device. BACKGROUND

[0002] With the improvement of the degree of automation of manufacturing industry, a large number of workpiece positioning mechanisms are needed on production line to assist workpiece clamping and processing, and the positioning mode of 4-point clamping centering is generally used for circular disc-shaped workpieces. At present, in order to ensure the synchronous clamping of 4 points, gear meshing is generally used in the inside of both sides, and connecting rod structure is used between both sides to ensure the synchronous action of 4 points by one power device. There are two shortcomings in this driving mode:

[0003] 1. Since both sides need to be connected by connecting rod, a connecting rod must exist in the mechanism, and the motor or cylinder used for driving must be connected to one side of the connecting rod, so the structural arrangement is very limited.

[0004] 2. The synchronism and symmetry of the opening and closing of the arms on both sides need to rely on the length control of the screw rods at both ends of the connecting rod, and the spacing and opening and closing angle of the arms cannot be changed after processing is completed. Poor compatibility. SUMMARY

[0005] In order to solve the problems in the background art, the present application provides a flexible centering driving device, which aims to change the driving force transmission path from rigid connecting rod mechanism to flexible coaxial steel cable structure, so that the arm centering mechanism is more flexible in structural arrangement, and the spacing and opening and closing angle of the arms are more flexible.

[0006] The technical solution adopted by the present application is:

[0007] The device comprises a steel cable assembly and two arm rotating mechanisms; two arm rotating mechanisms are symmetrically arranged on the equipment frame along the center line of the workpiece centering on both sides, each arm rotating mechanism comprises an arm rotating assembly, a rotary transmission member, a bearing seat and an arm side steel cable fixing block, which are symmetrically arranged along the center line of the workpiece centering on both sides; the arm rotating assemblies on both sides are installed and connected to the bearing seat, the bearing seat is provided with an arm side steel cable fixing block above, one of the arm rotating assemblies on both sides is connected with the rotary transmission member, and the arm side steel cable fixing block and the rotary transmission member are connected with the steel cable assembly.

[0008] Each arm rotating assembly comprises a roller, an arm and a gear, one end of the arm is fixedly connected with the gear through a shaft, the other end of the arm is connected with the roller for centering and clamping; the shafts between the arms and the gears of the two arm rotating assemblies are rotatably sleeved on bearing seats through respective bearings, the gears of the two arm rotating assemblies are meshed with each other, one of the gears of the two arm rotating assemblies is coaxially fixedly connected with a rotary transmission member, an arm side cable fixing block is arranged on the side of the rotary transmission member, the first coaxial cable of the cable assembly passes through the arm side cable fixing block and is fixedly connected with the rotary transmission member when passing through.

[0009] The cable assembly drives a cylinder, a cylinder sliding block and a driving side cable fixing block; the cylinder body of the cylinder is fixedly provided with the driving side cable fixing block at both ends for connecting the coaxial cable, the cylinder sliding block and the driving side cable fixing block at both ends of the cylinder body are connected through respective coaxial cables, a rotary transmission member of an arm rotating mechanism and each arm side cable fixing block.

[0010] Each coaxial cable comprises a steel wire sleeve and a steel wire core shaft sleeved in the steel wire sleeve, and the two coaxial cables are connected between each arm side cable fixing block and the cylinder according to the following connection:

[0011] One end of the steel wire sleeve of the third coaxial cable is fixed on the driving side cable fixing block at one end of the cylinder body, one end of the steel wire core shaft of the third coaxial cable passes out from the steel wire sleeve and the driving side cable fixing block and is fixedly connected with one end of the cylinder sliding block of the cylinder; the other end of the steel wire sleeve of the third coaxial cable is fixed on one end of the arm side cable fixing block, and the other end of the steel wire core shaft of the third coaxial cable passes out from the steel wire sleeve and the arm side cable fixing block and is fixedly connected with the rotary transmission member from one direction;

[0012] One end of the steel wire sleeve of the first coaxial cable is fixed on the driving side cable fixing block at the other end of the cylinder body, one end of the steel wire core shaft of the first coaxial cable passes out from the steel wire sleeve and the driving side cable fixing block and is fixedly connected with the other end of the cylinder sliding block of the cylinder; the other end of the steel wire sleeve of the first coaxial cable is fixed on the other end of the arm side cable fixing block, and the other end of the steel wire core shaft of the first coaxial cable passes out from the steel wire sleeve and the arm side cable fixing block and is fixedly connected with the rotary transmission member from the other direction.

[0013] The two arm side cable fixing blocks are connected to the same cylinder and are driven to move in linkage by the same cylinder.

[0014] The cylinder can be fixed at any position of the equipment frame.

[0015] The beneficial effects of the present application are:

[0016] The coaxial steel cable is used for transmission in the application, and the extension and retraction movement is changed into rotation movement through the rotary transmission member. Due to the flexible feature of the coaxial steel cable, the driving cylinder can be fixed at any position of the equipment, and the structural arrangement is more free.

[0017] The symmetry of the holding arms can be adjusted by adjusting the two coaxial steel cables forming a closed loop, and the opening and closing angle of the holding arms can be adjusted by adjusting the stroke of the driving cylinder, so that the adjustment of the structure is more convenient.

[0018] Due to the use of coaxial steel cable for transmission, a plurality of pairs of centering holding arms can be used in one centering mechanism, and accurate centering can be achieved by ensuring that the holding arms move simultaneously, and the expansibility is strong. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a structural diagram of the device of the application.

[0020] Figure 2 is a structural state diagram of the device of the application after the workpiece centering process.

[0021] In the figure: first coaxial steel cable A1, second coaxial steel cable A2, third coaxial steel cable A3, fourth coaxial steel cable A4, driving cylinder A5, cylinder sliding block A6, driving side steel cable fixing block A7;

[0022] Roller B1, holding arm B2, bearing seat B3, holding arm side steel cable fixing block B4, rotary transmission member B5, gear B6. DETAILED DESCRIPTION

[0023] The application will be further described in detail below in combination with the drawings and specific embodiments.

[0024] As shown in Figure 1 and Figure 2 , the device comprises a steel cable assembly and two holding arm rotating mechanisms.

[0025] Two holding arm rotating mechanisms are symmetrically arranged on the equipment frame on both sides (but not limited to 2 sides) along the workpiece centering centerline, each holding arm rotating mechanism comprises a holding arm rotating assembly arranged symmetrically along the vertical centerline of the workpiece centering centerline, a rotary transmission member B5, a bearing seat B3 and a holding arm side steel cable fixing block B4; the holding arm rotating assemblies on both sides are installed and connected to the bearing seat B3, the bearing seat B3 is provided with the holding arm side steel cable fixing block B4 above, one of the holding arm rotating assemblies on both sides is connected with the rotary transmission member B5, and the holding arm side steel cable fixing block B4 and the rotary transmission member B5 are connected with the steel cable assembly.

[0026] Each of the arm rotating assemblies comprises a roller B1, an arm B2 and a gear B6, one end of the arm B2 is fixedly connected with the gear B6 through a shaft, the other end of the arm B2 is connected with the roller B1 for centering clamping; the shafts between the arms B2 and the gears B6 of the two arm rotating assemblies are rotatably sleeved on the bearing seats B3 through respective bearings, the gears B6 of the two arm rotating assemblies are meshed with each other, one of the gears B6 of the two arm rotating assemblies is coaxially fixedly connected with the rotary transmission member B5, the rotary transmission member B5 is provided with the arm side cable fixing block B4 on the side, and the first coaxial cable of the cable assembly passes through the arm side cable fixing block B4 and is fixedly connected with the rotary transmission member B5 when passing through.

[0027] The movements of the two arm rotating assemblies are also symmetrical movements along vertical planes perpendicular to the centering centerline of the workpiece.

[0028] The bearing seat B3 and the arm side cable fixing block B4 are fixed on the equipment frame, and the arm side cable fixing block B4 is located on the side of the bearing seat B3. The arm B2 is connected with the bearing seat B3 through a bearing and can rotate freely. The roller B1 is connected to one end of the arm B2, and the gear B6 is fixed on the shaft at the other end of the arm B2 and rotates together with the arm B2. The rotary transmission member B5 is fixed on one of the gears B6 that are meshed with each other and can drive the gear to rotate.

[0029] The cable assembly drives the cylinder A5, the cylinder slide A6 and the drive side cable fixing block A7; the cylinder body of the driving cylinder A5 is fixedly provided with the drive side cable fixing block A7 at both ends for connecting the coaxial cable, the cylinder slide A6 of the driving cylinder A5 is driven to move, the cylinder slide A6 of the driving cylinder A5 and the drive side cable fixing blocks A7 at both ends of the cylinder body are respectively connected through one coaxial cable and the rotary transmission member B5 and each arm side cable fixing block B4 of the arm rotating mechanism, and the rotary transmission member B5 and the arm side cable fixing block B4 of the other arm rotating mechanism are also connected through another coaxial cable and the drive side cable fixing blocks A7 at both ends of the cylinder body of the driving cylinder A5.

[0030] Each coaxial cable comprises a steel wire sleeve and a steel wire core shaft sleeved in the steel wire sleeve, and the connection between each arm side cable fixing block B4 and the driving cylinder A5 is achieved through two coaxial cables as follows, and the two coaxial cables specifically include the first coaxial cable A1 and the third coaxial cable A3.

[0031] The steel wire sleeve of the third coaxial steel cable A3 is fixed at one end of the driving side cable fixing block A7 at one end of the cylinder body, and the steel wire core shaft of the third coaxial steel cable A3 is fixed at one end of the cylinder sliding block A6 of the driving cylinder A5 after passing through the steel wire sleeve and the driving side cable fixing block A7; the other end of the steel wire sleeve of the third coaxial steel cable A3 is fixed at one end of the arm embracing side cable fixing block B4, and the other end of the steel wire core shaft of the third coaxial steel cable A3 is fixed to the rotary transmission member B5 from the other direction after passing through the steel wire sleeve and the arm embracing side cable fixing block B4.

[0032] The steel wire sleeve of the first coaxial steel cable A1 is fixed at one end of the driving side cable fixing block A7 at the other end of the cylinder body, and the steel wire core shaft of the first coaxial steel cable A1 is fixed at the other end of the cylinder sliding block A6 of the driving cylinder A5 after passing through the steel wire sleeve and the driving side cable fixing block A7; the other end of the steel wire sleeve of the first coaxial steel cable A1 is fixed at the other end of the arm embracing side cable fixing block B4, and the other end of the steel wire core shaft of the first coaxial steel cable A1 is fixed to the rotary transmission member B5 from the other direction after passing through the steel wire sleeve and the arm embracing side cable fixing block B4.

[0033] The two directions of the above-mentioned one direction and the other direction are opposite.

[0034] The two arm embracing side cable fixing blocks B4 are connected to the same driving cylinder A5 and are driven to move in linkage by the same driving cylinder A5.

[0035] The coaxial steel cables include the first coaxial steel cable A1, the second coaxial steel cable A2, the third coaxial steel cable A3, and the fourth coaxial steel cable A4; the second coaxial steel cable A2 and the fourth coaxial steel cable A4 are also the same.

[0036] The first coaxial steel cable A1, the second coaxial steel cable A2, the third coaxial steel cable A3, and the fourth coaxial steel cable A4 all include a steel wire core shaft and a steel wire sleeve, and the steel wire core shaft can be freely pulled out of the steel wire sleeve.

[0037] The coaxial steel cable has a flexible feature and can be arbitrarily bent.

[0038] In this way, the two coaxial steel cables form a closed loop, the steel wire core shafts of the first coaxial steel cable A1 and the third coaxial steel cable A3 are respectively connected to the rotary transmission member B5 and the cylinder sliding block A6, and the steel wire sleeves of the first coaxial steel cable A1 and the third coaxial steel cable A3 are respectively connected to the arm embracing side cable fixing block B4 and the driving side cable fixing block A7. The steel wire core shafts of the second coaxial steel cable A2 and the fourth coaxial steel cable A4 are respectively connected to the rotary transmission member B5 and the cylinder sliding block A6, and the steel wire sleeves of the second coaxial steel cable A2 and the fourth coaxial steel cable A4 are respectively connected to the arm embracing side cable fixing block B4 and the driving side cable fixing block A. The second coaxial steel cable A2 and the fourth coaxial steel cable A4 are arranged in the same way.

[0039] Due to the flexible feature of the coaxial steel cable, the driving cylinder A5 can be fixed at any position of the equipment frame. In the specific implementation, the driving cylinder A5 can be fixed on the equipment frame, and the driving side steel cable fixing block A7 is fixed on both sides of the driving cylinder A5.

[0040] In the specific implementation, the symmetry of the holding arm B2 can be adjusted by adjusting the two coaxial steel cables forming a closed loop, and the opening and closing angle of the holding arm B2 can be adjusted by adjusting the stroke of the driving cylinder A5.

[0041] The working process of the present application is as follows:

[0042] In the initial state, the holding arms B2 of the holding arm rotating mechanisms on both sides are separated and in an open state, as shown in FIG. 1. Figure 1 The holding arm rotating mechanisms on both sides are in a holding centering region.

[0043] When a workpiece enters the holding centering region, the driving cylinder A5 moves, driving the holding arms B2 of the holding arm rotating mechanisms on both sides to move synchronously towards the center through the coaxial steel cable, and then the workpiece is held tightly to position the workpiece to the center, as shown in FIG. 2. Figure 2

[0044] When the workpiece is positioned to the center, the driving cylinder A5 moves reversely, driving the holding arms B2 of the holding arm rotating mechanisms on both sides to move synchronously to the outside, and then the workpiece is separated and released, and the workpiece remains stationary without force, completing the workpiece centering function.

[0045] When the driving cylinder A5 moves, the cylinder slider A6 will pull the steel wire shafts of the four coaxial steel cables at the same time, and at the same time, the steel wire sleeve of the coaxial steel cable is fixed, at this time, the steel wire shaft connected with the rotary transmission member B5 will drive the rotary transmission member B5 to rotate, and then drive a gear B6 to rotate, and since the two gears B6 are engaged, the holding arm B2 is driven to rotate.

[0046] The two coaxial steel cables of the same holding arm rotating mechanism pull the rotary transmission member B5 from two opposite directions to rotate in the same direction, without interference.​

Claims

1. A flexible centering driving device, characterized in that: the device comprises a cable assembly and two arm-rotating mechanisms; two arm-rotating mechanisms are symmetrically arranged on the equipment frame along the centering line of the workpiece, each arm-rotating mechanism comprises an arm-rotating assembly, a rotary transmission (B5), a bearing seat (B3) and an arm-side cable fixing block (B4) arranged symmetrically along the centering line of the workpiece; the arm-rotating assemblies on both sides are installed and connected to the bearing seat (B3), the arm-side cable fixing block (B4) is arranged above the bearing seat (B3), one of the arm-rotating assemblies on both sides is connected to the rotary transmission (B5), and the arm-side cable fixing block (B4) and the rotary transmission (B5) are connected to the cable assembly; the cable assembly comprises a driving cylinder (A5), a cylinder sliding block (A6) and a driving-side cable fixing block (A7); the cylinder body of the driving cylinder (A5) is fixedly installed with the driving-side cable fixing block (A7) at both ends for connecting coaxial cables, and the cylinder sliding block (A6) of the driving cylinder (A5) and the driving-side cable fixing block (A7) at both ends are connected through a coaxial cable and a rotary transmission (B5) and an arm-side cable fixing block (B4) of each arm-rotating mechanism, respectively; each coaxial cable comprises a steel wire sleeve and a steel wire core shaft sleeved in the steel wire sleeve, and two coaxial cables are connected between each arm-side cable fixing block (B4) and the driving cylinder (A5) as follows: one end of the steel wire sleeve of the third coaxial cable (A3) is fixed to the driving-side cable fixing block (A7) at one end of the cylinder body, one end of the steel wire core shaft of the third coaxial cable (A3) is fixed to the cylinder sliding block (A6) of the driving cylinder (A5) after passing out from the steel wire sleeve and the driving-side cable fixing block (A7), and the other end of the steel wire sleeve of the third coaxial cable (A3) is fixed to one end of the arm-side cable fixing block (B4), and the other end of the steel wire core shaft of the third coaxial cable (A3) is fixed to the rotary transmission (B5) from one direction after passing out from the steel wire sleeve and the arm-side cable fixing block (B4); one end of the steel wire sleeve of the first coaxial cable (A1) is fixed to the driving-side cable fixing block (A7) at the other end of the cylinder body, one end of the steel wire core shaft of the first coaxial cable (A1) is fixed to the other end of the cylinder sliding block (A6) of the driving cylinder (A5) after passing out from the steel wire sleeve and the driving-side cable fixing block (A7), and the other end of the steel wire sleeve of the first coaxial cable (A1) is fixed to the other end of the arm-side cable fixing block (B4), and the other end of the steel wire core shaft of the first coaxial cable (A1) is fixed to the rotary transmission (B5) from the other direction after passing out from the steel wire sleeve and the arm-side cable fixing block (B4). ​ Each embrace arm rotating assembly includes a roller (B1), an embrace arm (B2) and a gear (B6), one end of the embrace arm (B2) is fixedly connected with the gear (B6) through a shaft, the other end of the embrace arm (B2) is connected with the roller (B1) for centering and clamping; the shafts between the embrace arms (B2) and the gears (B6) of the embrace arm rotating assemblies on both sides are rotatably sleeved on the bearing seats (B3) through respective bearings, the gears (B6) of the embrace arm rotating assemblies on both sides are engaged with each other, one of the gears (B6) of the embrace arm rotating assemblies on both sides is coaxially fixedly connected with the rotary transmission member (B5), the embrace arm side cable fixing block (B4) is arranged on the side of the rotary transmission member (B5), the first coaxial cable of the cable assembly is arranged through the embrace arm side cable fixing block (B4) and is fixedly connected with the rotary transmission member (B5) when being arranged through.

2. The flexible centering driving device according to claim 1, characterized in that: the two embrace arm side cable fixing blocks (B4) are connected to the same driving cylinder (A5) and are driven to move in linkage by the same driving cylinder (A5).

3. The flexible centering driving device according to claim 1, characterized in that: the driving cylinder (A5) can be fixed at any position of the equipment frame.

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