A curved constant force transmission mechanism and method

Abstract

The application discloses a kind of bending constant force transmission mechanism and method, it is related to cutting mechanism field, the mechanism includes mounting seat, input end, flexible framework, output end, bending mechanism, pressure displacement sensing assembly and control system, the input end is rotatably connected on the mounting seat, the input end, flexible framework and output end are sequentially transmission connection, the bending mechanism can adjust the bending angle of the flexible framework, the pressure displacement sensing assembly can detect the position and pressure of the output end, the bending mechanism and the pressure displacement sensing assembly are connected the control system respectively.The application has the advantages that constant force cutting is realized, the cutting consumables and product high adhesion are guaranteed, and the cutting quality is improved.

Description

Technical Field

[0001] This invention relates to the field of cutting mechanisms, and more particularly to a bending constant force transmission mechanism and method. Background Technology

[0002] Currently, most cutting mechanisms on the market employ direct-axis transmission mechanisms. For example, patent document CN211991992U discloses a cutting device for processing hardware accessories, whose transmission mechanism is a direct-axis drive shaft. The drive shaft is mounted on the output shaft of a servo motor and passes through a first bearing housing. A turntable is mounted on the drive shaft, and a fixed seat is mounted on the turntable. The cutting tool is installed inside the fixed seat. The output position of the direct-axis transmission mechanism cannot be adjusted according to pressure, resulting in uncontrollable cutting force of the cutting tool on the workpiece, making constant-force cutting impossible. Summary of the Invention

[0003] The technical problem to be solved by this invention is how to achieve constant force cutting.

[0004] This invention solves the aforementioned technical problems through the following technical means: a constant force bending transmission mechanism, comprising a mounting base, an input end, a flexible frame, an output end, a bending mechanism, a pressure displacement sensing assembly, and a control system. The input end is rotatably connected to the mounting base. The input end, flexible frame, and output end are sequentially connected by transmission. The bending mechanism can adjust the bending angle of the flexible frame. The pressure displacement sensing assembly can detect the position and pressure of the output end. The bending mechanism and the pressure displacement sensing assembly are respectively connected to the control system. The input end is used to be installed at the output end of the machine tool, and the output end is used to install cutting consumables. The machine tool can drive the cutting consumables to rotate and cut the workpiece through the sequential transmission of the input end, flexible frame, and output end. During the cutting process, the workpiece generates varying pressure on the output end. The control system can monitor the position and pressure of the output end in real time through the pressure displacement sensing assembly, and can control the bending angle of the flexible frame through a closed loop control of the bending mechanism based on the monitored values, thereby adjusting the distance between the cutting consumables and the workpiece to achieve constant force cutting, ensuring a high fit between the cutting consumables and the product, and improving cutting quality.

[0005] As an optimized technical solution, the bending constant force transmission mechanism also includes a dustproof bladder, which surrounds the outer periphery of the flexible skeleton, and the two ends of the dustproof bladder are fixedly connected to the mounting base and the output end, respectively.

[0006] As an optimized technical solution, the flexible skeleton includes multiple unit skeletons arranged in a row and connected sequentially. One end of each unit skeleton has a protruding structure, and three inflatable structures are evenly distributed circumferentially around the outer periphery of the protruding structure. The other end of each unit skeleton has a groove structure. Adjacent unit skeletons are connected through the protruding and groove structures. The protruding structure is axially confined within the cavity of the groove structure, and the inflatable structures inflate and contact the inner wall of the groove structure. The bending mechanism includes three air passages, each penetrating the flexible skeleton and supplying air to the three inflatable structures on each unit skeleton. Each air passage is equipped with a pressure proportional valve, which is connected to the control system. The control system can control the different pressure ratios of the three air passages through the pressure proportional valves, thereby controlling the size ratio of the three inflatable structures on each unit skeleton, adjusting the radial angle between adjacent unit skeletons, and thus adjusting the bending angle of the flexible skeleton. The flexible skeleton can bend in any direction within 360°. Because the protruding structure is axially confined within the cavity of the groove structure, there is no axial movement between adjacent unit skeletons.

[0007] As an optimized technical solution, the input end also has a protruding structure. The unit frame at one end of the flexible skeleton is connected to the protruding structure of the input end via a groove structure. The output end also has a groove structure, and the unit frame at the other end of the flexible skeleton is connected to the groove structure of the output end via a protruding structure. Because the inflatable structure expands and contacts the inner wall of the groove structure, a fixed connection is achieved between adjacent unit frames and between the flexible skeleton and the input and output ends. This ensures that torque and speed transmission can be maintained even after the flexible skeleton bends, allowing the machine's torque and speed to be transmitted to the output end in a 1:1 ratio.

[0008] As an optimized technical solution, the bending mechanism also includes a venting interface, which is disposed on the mounting base, and each air passage is connected to the venting interface.

[0009] As an optimized technical solution, the outer periphery of the unit frame is provided with a connecting bracket, and the connecting bracket has three connecting holes evenly distributed around the circumference of the unit frame; the pressure displacement sensing assembly includes three telescopic displacement sensors, each with two ends fixedly connected to the input end and the output end respectively, and the three telescopic displacement sensors passing through the three connecting holes of each unit frame. The telescopic displacement sensors can detect the pressure at the output end, and when the flexible frame bends, it will cause the length of the three telescopic displacement sensors to change. The control system can calculate the position of the output end based on the length change value of the three telescopic displacement sensors.

[0010] As an optimized technical solution, the pressure displacement sensing assembly also includes a data interface, which is disposed on the mounting base, and each telescopic displacement sensor is connected to the data interface.

[0011] A bending constant force transmission method, employing the aforementioned bending constant force transmission mechanism, includes the following steps: installing the input end to the output end of the machine tool, installing the cutting consumable to the output end, the machine tool driving the cutting consumable to rotate and cut the workpiece through the sequential transmission of the input end, flexible frame and output end, during the cutting process the workpiece generates changing pressure on the output end, the control system monitors the position and pressure of the output end in real time through the pressure displacement sensing assembly, and adjusts the distance between the cutting consumable and the workpiece according to the monitored values ​​to achieve constant force cutting.

[0012] As an optimized technical solution, the method of adjusting the distance between the cutting consumable and the workpiece includes an active mode. In the active mode, the control system controls the bending angle of the flexible skeleton through a closed loop of the bending mechanism, so that the cutting consumable moves closer to or further away from the workpiece.

[0013] As an optimized technical solution, the method of adjusting the distance between the cutting consumable and the workpiece also includes a passive mode. In the passive mode, a robot is used to carry the mother machine and the bending constant force transmission mechanism, or a robot is used to carry the workpiece. The control system controls the robot to move with the bending constant force transmission mechanism or the workpiece, so that the cutting consumable is closer to or farther away from the workpiece.

[0014] The advantages of this invention are:

[0015] 1. The control system can monitor the position and pressure at the output end in real time through the pressure displacement sensor assembly, and can control the bending angle of the flexible skeleton through the bending mechanism in a closed loop according to the monitoring value, thereby adjusting the distance between the cutting consumable and the workpiece, realizing constant force cutting, ensuring that the cutting consumable and the product are highly fitted, and improving the cutting quality.

[0016] 2. The control system can control the different air pressure ratios of the three air paths through the air pressure proportional valve, thereby controlling the size ratio of the three inflatable structures on each unit frame, realizing the adjustment of the radial angle between adjacent unit frames, thereby realizing the adjustment of the bending angle of the flexible frame. The flexible frame can bend in any direction of 360°. Since the protruding structure is axially limited in the inner cavity of the groove structure, there will be no axial movement between adjacent unit frames.

[0017] 3. Because the inflatable structure expands and contacts the inner wall of the groove structure, it achieves a fixed connection between adjacent unit skeletons and a fixed connection between the flexible skeleton and the input and output ends. This ensures that the transmission of torque and speed can be guaranteed even after the flexible skeleton bends, and the torque and speed of the machine can be transmitted to the output end in a 1:1 ratio. Attached Figure Description

[0018] Figure 1 This is an isometric schematic diagram of the bending constant force transmission mechanism according to an embodiment of the present invention.

[0019] Figure 2 This is an isometric schematic diagram of the bending constant force transmission mechanism removing the dustproof bladder according to an embodiment of the present invention.

[0020] Figure 3 This is a cross-sectional schematic diagram of the bending constant force transmission mechanism according to an embodiment of the present invention.

[0021] Figure 4 This is an isometric schematic diagram of the unit skeleton in an embodiment of the present invention.

[0022] Figure 5 This is a schematic diagram of the bending direction of the flexible skeleton in an embodiment of the present invention. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of the present invention.

[0024] like Figures 1 to 5 As shown, an embodiment of the present invention discloses a bending constant force transmission mechanism, including a mounting base 1, an input end 2, a flexible frame 3, an output end 4, a bending mechanism 5, a pressure displacement sensing assembly 6, a dustproof bladder 7, and a control system.

[0025] Input end 2 is rotatably connected to mounting base 1 via bearing. Input end 2, flexible skeleton 3, and output end 4 are sequentially connected by transmission. Input end 2 can be an input flange or input shaft, and output end 4 can be a mounting flange or mounting shaft. The machine tool can be a transmission polishing machine or a CNC machine tool. After installing input end 2 to the output end of the machine tool and installing cutting consumables to output end 4, the machine tool can drive the cutting consumables to rotate through the sequential transmission of input end 2, flexible skeleton 3, and output end 4. Bending mechanism 5 can adjust the bending angle of flexible skeleton 3. Pressure displacement sensing assembly 6 can detect the position and pressure of output end 4. Bending mechanism 5 and pressure displacement sensing assembly 6 are respectively connected to the control system, which adopts PLC. Dustproof bladder 7 surrounds the outer periphery of flexible skeleton 3, and the two ends of dustproof bladder 7 are fixedly connected to mounting base 1 and output end 4 respectively.

[0026] The flexible skeleton 3 includes multiple unit skeletons arranged in a row and connected in sequence; one end of each unit skeleton is provided with a protruding structure 31, and three inflatable structures 32 are evenly distributed around the outer periphery of the protruding structure 31; the other end of each unit skeleton is provided with a groove structure 33; adjacent unit skeletons are connected by the cooperation of the protruding structure 31 and the groove structure 33, the protruding structure 31 is axially limited in the inner cavity of the groove structure 33, and the inflatable structure 32 is inflated and in contact with the inner wall of the groove structure 33; a connecting bracket 34 is provided on the outer periphery of each unit skeleton, and the connecting bracket 34 is provided with three connecting holes 35 evenly distributed around the circumference of the unit skeleton.

[0027] The input end 2 is also provided with a protrusion structure 31. The unit skeleton at one end of the flexible skeleton 3 is connected to the protrusion structure 31 of the input end 2 through the groove structure 33. The output end 4 is also provided with a groove structure 33. The unit skeleton at the other end of the flexible skeleton 3 is connected to the groove structure 33 of the output end 4 through the protrusion structure 31.

[0028] The bending mechanism 5 includes an air passage (not shown) and an air inlet 51; the air passage has three lines, which respectively pass through the flexible frame 3 and supply air to the three inflatable structures 32 on each unit frame; each air passage is equipped with a pressure proportional valve, and each pressure proportional valve is connected to the control system; the air inlet 51 is set on the mounting base 1, and each air passage is connected to the air inlet 51, which is used to connect to the air source.

[0029] The control system can control the different air pressure ratios of the three air paths through the air pressure proportional valve, thereby controlling the size ratio of the three inflatable structures 32 on each unit frame, realizing the adjustment of the radial angle between adjacent unit frames, and thus realizing the adjustment of the bending angle of the flexible frame 3. The flexible frame 3 can bend in any direction of 360°. Since the protruding structure 31 is axially limited in the inner cavity of the groove structure 33, there will be no axial movement between adjacent unit frames. At the same time, since the inflatable structure 32 is in tight contact with the inner wall of the groove structure 33, the fixed connection between adjacent unit frames and the fixed connection between the flexible frame 3 and the input end 2 and the output end 4 are realized. Thus, even after the flexible frame 3 bends, the transmission of torque and speed can still be guaranteed. The torque and speed of the machine can be transmitted to the output end 4 in a 1:1 ratio.

[0030] The pressure displacement sensing assembly 6 includes telescopic displacement sensors 61 and a data interface 62. Three telescopic displacement sensors 61 are provided, with both ends of each sensor fixedly connected to the input end 2 and the output end 4, respectively, enabling the detection of pressure at the output end 4. The three telescopic displacement sensors 61 pass through three connecting holes 35 in each unit frame. When the flexible frame 3 bends, the length of the three telescopic displacement sensors 61 changes. The control system can calculate the position of the output end 4 based on the length changes of the three telescopic displacement sensors 61. The data interface 62 is mounted on the mounting base 1, and each telescopic displacement sensor 61 is connected to the data interface 62. The data interface 62 is used to connect to the control system to transmit the monitoring values ​​of each telescopic displacement sensor 61.

[0031] The bending constant force transmission mechanism of the present invention can be used in combination in multiple ways, such as a cross universal joint shaft or a multi-segment wave line transmission.

[0032] This invention also discloses a bending constant force transmission method, which employs the bending constant force transmission mechanism and includes the following steps: the input end 2 is installed to the output end of the machine tool, and the cutting consumable is installed to the output end 4. The machine tool drives the cutting consumable to rotate and cut the workpiece through the sequential transmission of the input end 2, the flexible frame 3, and the output end 4. During the cutting process, the workpiece generates changing pressure on the output end 4 due to the change in the shape of its outer surface. The control system monitors the position and pressure of the output end 4 in real time through the pressure displacement sensing assembly 6, and adjusts the distance between the cutting consumable and the workpiece according to the monitored values ​​to achieve constant force cutting.

[0033] The methods for adjusting the distance between the cutting consumable and the workpiece include active mode and passive mode. In active mode, the control system controls the bending angle of the flexible skeleton 3 through the bending mechanism 5 in a closed loop, so that the cutting consumable moves closer to or away from the workpiece. In passive mode, a robot is used to carry the mother machine and the bending constant force transmission mechanism, or a robot is used to carry the workpiece. The control system controls the robot to move with the bending constant force transmission mechanism or the workpiece, so that the cutting consumable moves closer to or away from the workpiece.

[0034] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A flexure constant force transmission mechanism, characterized by: The system includes a mounting base, an input end, a flexible frame, an output end, a bending mechanism, a pressure displacement sensing assembly, and a control system. The input end is rotatably connected to the mounting base. The input end, flexible frame, and output end are sequentially connected by a transmission mechanism. The bending mechanism can adjust the bending angle of the flexible frame. The pressure displacement sensing assembly can detect the position and pressure of the output end. The bending mechanism and the pressure displacement sensing assembly are respectively connected to the control system. The flexible frame includes multiple unit frames arranged in a row and connected sequentially. One end of each unit frame has a protruding structure, and three inflatable structures are evenly distributed circumferentially around the outer periphery of the protruding structure. The other end of each unit frame has a groove structure. Adjacent unit frames are connected through the cooperation of the protruding structure and the groove structure. The protruding structure is axially confined in the inner cavity of the groove structure, and the inflatable structure is inflated and in contact with the inner wall of the groove structure. The bending mechanism includes three air passages, each passing through the flexible frame and supplying air to three inflation structures on each unit frame. Each air passage is equipped with a proportional pressure valve, which is connected to the control system. The input end also has a protruding structure, and a unit frame at one end of the flexible frame connects to this protruding structure via a groove. The output end also has a groove, and a unit frame at the other end of the flexible frame connects to this groove via a protruding structure. A connecting bracket is provided around the outer periphery of each unit frame, and this bracket has three connecting holes evenly distributed around the circumference of the unit frame. The pressure displacement sensing assembly includes three telescopic displacement sensors, each with two ends fixedly connected to the input end and the output end, respectively. Each of the three telescopic displacement sensors passes through one of the three connecting holes in each unit frame.

2. The flexure constant velocity transmission mechanism of claim 1, wherein: The bending constant force transmission mechanism also includes a dustproof bladder, which surrounds the outer periphery of the flexible frame, and the two ends of the dustproof bladder are fixedly connected to the mounting base and the output end, respectively.

3. The flexure constant velocity transmission mechanism of claim 1, wherein: The bending mechanism also includes a vent, which is located on the mounting base, and all three air passages are connected to the vent.

4. The flexure constant velocity transmission mechanism of claim 1, wherein: The pressure displacement sensing assembly also includes a data interface, which is disposed on the mounting base, and each telescopic displacement sensor is connected to the data interface.

5. A method of bending constant force transmission, using a bending constant force transmission mechanism according to any one of claims 1-4, characterized in that, Includes the following steps: The input end is installed at the output end of the machine tool, and the cutting consumable is installed at the output end. The machine tool drives the cutting consumable to rotate and cut the workpiece through the sequential transmission of the input end, flexible frame and output end. During the cutting process, the workpiece generates changing pressure on the output end. The control system monitors the position and pressure of the output end in real time through the pressure displacement sensor assembly, and adjusts the distance between the cutting consumable and the workpiece according to the monitoring values ​​to achieve constant force cutting.

6. The method of claim 5, wherein: Methods for adjusting the distance between the cutting consumable and the workpiece include an active mode. In the active mode, the control system controls the bending angle of the flexible skeleton through a closed-loop bending mechanism, so that the cutting consumable moves closer to or further away from the workpiece.

7. The method of claim 6, wherein: Methods for adjusting the distance between cutting consumables and workpieces also include passive mode. In passive mode, a robot is used to carry the mother machine and bending constant force transmission mechanism, or a robot is used to carry the workpiece. The control system controls the robot to move with the bending constant force transmission mechanism or the workpiece, so that the cutting consumables are closer to or further away from the workpiece.

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