Anti-torsion high-rigidity feeding module and asynchronous adsorption supporting module of follow-up auxiliary clamping device

Abstract

The invention belongs to the technical field of machining clamps, and discloses an anti-torsion high-rigidity feeding module and an asynchronous adsorption supporting module of a follow-up auxiliary clamping device. The anti-torque high-rigidity feeding module is composed of the symmetrically-arranged electric cylinders, the overall rigidity and feeding precision of the device can be effectively improved, the influence of torque and vibration borne by the device on the device during machining is reduced, and the clamping stability of the device on a thin-wall part is improved. The asynchronous adsorption supporting module is matched with the high-rigidity anti-torque feeding module, so that a suction cup at the tail end can achieve three-degree-of-freedom movement, fixed-point adsorption is achieved, suction cup adsorption failure caused by interference between an adsorption position and a machined position is avoided, stable clamping of a large thin-wall part is achieved, meanwhile, the asynchronous adsorption supporting module is suitable for more complex working conditions, and the machining efficiency is improved. And high-precision and high-efficiency machining of the large thin-wall part is further achieved.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical processing fixtures, and relates to a torque-resistant high-rigidity feeding module and an asynchronous adsorption supporting module of a follow-up auxiliary clamping device. Technical Background

[0002] Large thin-walled structural parts are widely used in high-end equipment to reduce weight and increase efficiency, such as aircraft wings, high-speed rail shells, and fan blades. They are particularly widely used in the aviation industry. Such workpieces are the main components of the aircraft's aerodynamic shape and the main force-bearing structure of the wing fuselage. Therefore, reliable connection of such workpieces is very important. Large thin-walled structural parts are usually connected by screwing and riveting. The connection strength of these two connection methods is directly related to the quality and accuracy of hole making. Therefore, the hole making processing requirements for such workpieces are extremely strict.

[0003] Due to the large length-to-thickness ratio and low rigidity of large thin-walled parts, deformation and vibration are easily generated during processing, and irregular collisions occur between the tool and the workpiece, which not only lead to poor hole quality, low precision, and serious damage to the tool, but also lead to tool jamming and tool breakage, resulting in the scrapping of the workpiece. In order to reduce the deformation and vibration of such workpieces during processing, special profiling fixtures are often used to support and clamp the components in a large-area covering manner to improve the rigidity characteristics of the processing area. This method has poor versatility and is extremely costly.

[0004] In order to solve such problems, Yin Li designed a flexible tooling fixture for aluminum alloy curved and thin-walled parts in the article "Research and Design of Flexible Tooling Fixtures for Aluminum Alloy Curved and Thin-Walled Parts". The end of the tooling is composed of an equidistant array of suction cups, which are used to clamp the workpiece by adsorption to improve processing accuracy and clamping efficiency. However, this fixture can only assist in clamping the workpiece from the bottom and the clamping position is fixed. The position of the suction cup is fixed, so it is easy to interfere with the position to be processed, and the suction cups are difficult to adsorb on the edge, which has great limitations.

[0005] Wang Fuji and others invented a patent with the patent number "CN202310949532.9" and the patent name "A follow-up auxiliary clamping device for suppressing machining deformation". They invented a clamping device that can suppress machining deformation and follow the machine tool spindle. The device uses a single-sided feed module and a fixed adsorption position adsorption module to assist in clamping large thin-walled parts. The anti-torque and vibration effects are poor, the adsorption position is very fixed, and it is easy to interfere with the processed position, resulting in adsorption failure. There are few application scenarios and high limitations. It is only suitable for the central part of large thin-walled parts.

[0006] Fu Rao and others invented a patent with the patent number "CN202310949531.4" and the patent name "An end effector for making holes in thin-walled structures". They invented an end effector that is suitable for industrial robotic arms and can assist in clamping thin-walled structures and making holes. The actuator uses a ball screw connected to the housing as a feed module to drive a fixed adsorption module for clamping. This layout has poor adaptability to vibration and torque during processing, and it is difficult to perform stable auxiliary clamping.

[0007] When using such devices to assist in clamping large thin-walled parts, during the processing, their performance in overcoming torque and vibration is insufficient, and the end adsorption position is easy to interfere with the processed position. The suction cup cannot be fully adsorbed effectively under most working conditions, and the clamping effect is not good, resulting in poor processing quality and excessive hole position, making it difficult to achieve the purpose of high-precision and efficient processing. Therefore, there is an urgent need for a torque-resistant high-rigidity feed module that can overcome torque and vibration during processing and an asynchronous adsorption support module that is generally applicable to a variety of thin-walled working conditions, so as to achieve stable and efficient clamping of large thin-walled parts and meet the adsorption support needs of various working conditions. Summary of the invention

[0008] In order to overcome the problems existing in the above-mentioned prior art, the present invention proposes a torque-resistant high-rigidity feed module and an asynchronous adsorption support module of a follow-up auxiliary clamping device. The torque-resistant high-rigidity feed module of the device is composed of a symmetrically arranged electric cylinder, which can effectively increase the overall rigidity and feed accuracy of the device and reduce the impact of torque and vibration on the device during processing. The asynchronous adsorption support module cooperates with the high-rigidity torque-resistant feed module to enable the end suction cup to achieve three-degree-of-freedom movement, achieve fixed-point adsorption, avoid interference that causes suction cup adsorption failure, and adapt to more complex working conditions, realize stable clamping of large thin-walled parts, and further achieve the purpose of high-precision and efficient processing.

[0009] The technical solution of the present invention:

[0010] A torsion-resistant high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device, comprising a torsion-resistant high-rigidity feeding module 2 and an asynchronous adsorption support module 1;

[0011] The anti-torque high-rigidity feed module 2 is divided into two groups, which are symmetrically distributed on both sides of the spindle fixing device 5, and the overall layout is symmetrical; the anti-torque high-rigidity feed module 2 is connected by a closed-loop stepper motor 201, a bottom mounting seat 202, an electric cylinder body 203 and an end connector 204. The closed-loop stepper motor 201 and the electric cylinder body 203 are connected to the bottom mounting seat 202 by bolts, so that the closed-loop stepper motor 201 cooperates with the outer side of the electric cylinder body 203, and the end connector 204 is connected to the end of the electric cylinder body 203 by its own thread; the inner side of the electric cylinder body 203 is fixed to the spindle The device 5 is connected with the self-contained threaded hole by bolts to achieve close fit; the asynchronous adsorption support module 1 includes an adsorption support plate 101, a servo motor 102, a small synchronous pulley 103, a cross roller bearing 104, a bearing pressure plate 105, an upper bearing plate 106, a lower bearing plate 107 and a synchronous belt 108; the lower bearing plate 107 is provided with a stepper motor 1071, a motor support seat 1072, an active slider 1074, a driven slider 1073, an air pipe joint 1075, a linear guide module 1076, a suction cup 1077 and a triangular reinforcement rib 1078 from the surrounding to the axis;

[0012] The circular mounting groove in the middle of the adsorption support plate 101 is used to install the cross roller bearing 104. The outer ring of the cross roller bearing 104 is transitionally matched with the circular mounting groove of the adsorption support plate 101, and its inner ring is interference fit with the outer ring of the upper bearing plate 106; the lower surface of the bearing pressure plate 105 is connected to the adsorption support plate 101 by bolts, and the outer ring of the cross roller bearing 104 is pressed at the same time. At the same time, the upper bearing plate 106 is connected to the lower bearing plate 107 by threads, and the inner ring of the cross roller bearing 104 is pressed; the lower end of the adsorption support plate 101 is provided with a mounting groove, and the adsorption support plate 101 is provided with a mounting groove, and the inner ring of the cross roller bearing 104 is pressed at the same time. A threaded hole is opened in the mounting groove, the upper end surface of the servo motor 102 is fitted with the end surface of the mounting groove, and the servo motor 102 is connected to the adsorption support plate 101 by bolts; a threaded hole is opened on the radial groove surface of the servo motor 102 axis; the small synchronous pulley 103 is connected to the motor shaft of the servo motor 102 by bolts, so that the servo motor 102 drives the small synchronous pulley 103, and the small synchronous pulley 103 and the upper bearing plate 106 are driven by the synchronous belt 108, and the upper bearing plate 106 drives the lower bearing plate 107, thereby making the suction cup 1077 perform a circular motion;

[0013] The lower bearing plate 107 is fan-shaped and has a groove in the middle. Threaded mounting holes are opened on both sides of the groove and on the outer side of the lower bearing plate 107; the triangular reinforcement rib 1078 is connected to the outer side of the lower bearing plate 107 by bolts; the linear guide module 1076 is connected to the lower bearing plate 107 by bolts; the upper part of the driven slider 1073 has a metric threaded mounting hole and an imperial threaded connection hole, and the lower part has an imperial threaded connection hole. The driven slider 1073 is installed on the linear guide module 1076 by bolts, and the suction cup 1077 is connected to the driven slider 1 The lower part of 073 is connected by threads, and the air pipe joint 1075 is connected to the upper part of the driven slider 1073 by threads; the driven slider 1073 is connected to the active slider 1074 by spring screws; the stepper motor 1071 is connected to the motor support seat 1072 by bolts, and the bottom of the motor support seat 1072 is connected to the lower bearing plate 107 by bolts. The closed-loop stepper motor 201 drives the active slider 1074 to move, thereby driving the driven slider 1073 and the suction cup 1077 to move linearly.

[0014] Thus, the servo motor 102 drives the four suction cups 1077 to perform circular motion synchronously, and the four stepper motors 1071 drive each suction cup 1077 to perform linear motion individually, so that the entire device can achieve three-degree-of-freedom motion of the suction cup 1077.

[0015] The end connector 204 is connected to the upper end of the sensor 3 through a threaded connection, circular mounting grooves and a central through hole are opened at both ends of the adsorption support plate 101, and the lower end of the sensor 3 is connected to the adsorption support plate 101 through bolts; the asynchronous adsorption support module 1 and the anti-torque high-rigidity feed module 2 are connected through bolts.

[0016] Beneficial effects of the present invention:

[0017] The symmetrical structural layout of the torque-resistant high-rigidity feed module in the present invention can greatly improve the overall rigidity, significantly reduce the impact of torque and vibration transmitted to the fixture by the workpiece and the machine tool during processing, greatly improve the feed accuracy and thus greatly improve the processing accuracy.

[0018] The servo motor in the asynchronous adsorption support module drives the small synchronous pulley, which in turn drives the upper bearing plate to achieve transmission, so that the suction cup moves in a circle. The lower bearing plate is fan-shaped and slotted in the middle. The linear guide module is connected to the lower bearing plate by bolts; the driven slider is installed on the linear guide module by bolts, and the suction cup is connected to the lower part of the driven slider by threads; the driven slider is connected to the active slider by spring screws; the closed-loop stepper motor drives the active slider to move, thereby driving the driven slider and the suction cup to move linearly. This design can solve the problem that the suction cup on the edge of the workpiece cannot fully adsorb and support, and the problem that the adsorption position in the hole-dense working condition interferes with the processed position, resulting in adsorption failure. Overall, the anti-torque high-rigidity feed module can drive the asynchronous adsorption support module to feed with high precision, reduce the influence of vibration and torque during processing, and at the same time, the asynchronous adsorption support module can avoid the processed position and adsorb the workpiece under the edge condition by adjusting the position of the suction cup, optimize the auxiliary clamping effect of the follow-up auxiliary clamping device, so that it can be widely promoted to more complex working conditions and achieve high-precision and efficient processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 This is an overall diagram of a torsion-resistant high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device of the present invention.

[0020] Figure 2 It is a front view of a torsional high-rigidity feeding module of a follow-up auxiliary clamping device and a torsional high-rigidity feeding module in an asynchronous adsorption support module of the present invention.

[0021] Figure 3 It is an exploded schematic diagram of the upper part of the asynchronous adsorption support module in the torsion-resistant high-rigidity feeding module and the asynchronous adsorption support module of the follow-up auxiliary clamping device of the present invention.

[0022] Figure 4 It is an exploded schematic diagram of the lower half of the parts of an asynchronous adsorption support module in a torsional high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device of the present invention.

[0023] In the figure: 1 asynchronous adsorption support module; 2 anti-torque high rigidity feed module; 3 sensor; 4 machine tool spindle head; 5 spindle fixing device; 101 adsorption support plate; 102 servo motor; 103 small synchronous pulley; 104 cross roller bearing; 105 bearing pressure plate; 106 upper bearing plate; 107 lower bearing plate; 108 synchronous belt; 107 lower bearing plate; 1071 stepper motor; 1072 motor support seat; 1074 active slider; 1073 driven slider; 1075 air pipe joint; 1076 linear guide module; 1077 suction cup; 1078 triangular reinforcement rib; 201 closed-loop stepper motor; 202 bottom mounting seat; 203 electric cylinder body; 204 end connector. DETAILED DESCRIPTION

[0024] The specific implementation of the present invention is further described below in conjunction with the accompanying drawings and technical solutions.

[0025] Example 1

[0026] refer to Figure 1 The present invention discloses a torsion-resistant high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device, comprising a torsion-resistant high-rigidity feeding module 2 and an asynchronous adsorption support module 1.

[0027] refer to Figure 3 In this embodiment, the anti-torque high-rigidity feeding module 2 is composed of a closed-loop stepper motor 201, a bottom mounting seat 202, an electric cylinder body 203 and an end connector 204. The closed-loop stepper motor 201 and the electric cylinder body 203 are connected to the bottom mounting seat 202 by bolts, so that the closed-loop stepper motor 201 cooperates with the outer side of the electric cylinder body 203, and the end connector 204 is connected to the end of the electric cylinder body 203 by its own threaded connection; the inner side of the electric cylinder body 203 is connected to the spindle fixing device 5 by bolts and self-contained threaded holes to achieve a tight fit; there are two groups in a set of equipment, which are distributed on both sides of the spindle fixing device 5, and the overall layout is symmetrical and connected to the adsorption support plate at the same time. The closed-loop stepper motor 201 drives the electric cylinder body 203 to perform linear feeding motion.

[0028] refer to Figure 3 In this embodiment, a circular mounting groove is opened in the middle of the adsorption support plate 101 for mounting the cross roller bearing 104. The outer ring of the cross roller bearing 104 is transitionally matched with the circular mounting groove of the adsorption support plate 101, and its inner ring is interference matched with the outer ring of the upper bearing plate 106; the lower surface of the bearing pressure plate 105 is connected to the adsorption support plate 101 by bolts, and the outer ring of the cross roller bearing 104 is pressed at the same time. At the same time, the upper bearing plate 106 is connected to the lower bearing plate 107 by threads, and the inner ring of the cross roller bearing 104 is pressed; the lower end of the adsorption support plate 101 is opened with a mounting groove, and a threaded hole is opened in the mounting groove. The servo motor The upper end face of the machine 102 fits with the end face of the installation groove, and the servo motor 102 is connected to the adsorption support plate 101 by bolts; the radial groove surface of the servo motor 102 shaft has a threaded hole; the small synchronous pulley 103 is connected to the motor shaft of the servo motor 102 by bolts, so that the servo motor 102 drives the small synchronous pulley 103, and the small synchronous pulley 103 and the upper bearing plate 106 are transmitted through the synchronous belt 108, and the upper bearing plate 106 drives the lower bearing plate 107, thereby making the suction cup 1077 perform circular motion; this structure uses a synchronous belt for transmission, and the bed bottom has high precision, which can make the suction cup accurately reach the predetermined position. This structure enables multiple suction cups connected to the lower bearing plate to achieve circular motion, realizes the gradual obstacle avoidance of the processed position, and can adapt to the dense working conditions of the center holes of thin-walled workpieces.

[0029] The end connector 204 is connected to the upper end of the sensor 3 through a threaded connection, circular mounting grooves and a central through hole are opened at both ends of the adsorption support plate 101, and the lower end of the sensor 3 is connected to the adsorption support plate 101 through bolts; the asynchronous adsorption support module 1 and the anti-torque high-rigidity feed module 2 are connected through bolts.

[0030] The lower bearing plate 107 is fan-shaped and has a groove in the middle. Threaded mounting holes are opened on both sides of the groove and on the outer side of the lower bearing plate 107; the triangular reinforcement rib 1078 is connected to the outer side of the lower bearing plate 107 by bolts; the linear guide module 1076 is connected to the lower bearing plate 107 by bolts; the upper part of the driven slider 1073 has a metric threaded mounting hole and an imperial threaded connection hole, and the lower part has an imperial threaded connection hole. The driven slider 1073 is installed on the linear guide module 1076 by bolts, and the suction cup 1077 is connected to the lower part of the driven slider 1073 by screws. The air pipe joint 1075 is connected to the upper part of the driven slider 1073 through a thread; the driven slider 1073 is connected to the active slider 1074 through a spring screw; the stepper motor 1071 is connected to the motor support seat 1072 through bolts, and the bottom of the motor support seat 1072 is connected to the lower bearing plate 107 through bolts. The closed-loop stepper motor 201 drives the active slider 1074 to move, thereby driving the driven slider 1073 and the suction cup 1077 to move in a straight line, further realizing the adaptation to the thin-wall edge working condition.

[0031] The servo motor 102 drives the four suction cups 1077 to perform circular motion synchronously, and the four stepper motors 1071 drive each suction cup 1077 to perform linear motion individually, thereby realizing three-degree-of-freedom motion of the suction cup 1077 as a whole. This allows the avoidance of the processed position of large thin-walled workpieces and the adsorption of workpieces under edge conditions by adjusting the position of the suction cups, thereby optimizing the auxiliary clamping effect of the follow-up auxiliary clamping device, enabling it to be widely applied to more complex working conditions, achieving stable clamping of large thin-walled parts, and ensuring their high-precision and efficient processing.

Claims

1. A torsional high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device, characterized in that: It comprises a torque-resistant high-rigidity feeding module (2) and an asynchronous adsorption support module (1); The anti-torque high-rigidity feed module (2) is composed of two groups, which are symmetrically distributed on both sides of the spindle fixing device (5) and are symmetrically arranged as a whole; the anti-torque high-rigidity feed module (2) is connected by a closed-loop stepper motor (201), a bottom mounting seat (202), an electric cylinder body (203) and an end connecting piece (204); the closed-loop stepper motor (201) and the electric cylinder body (203) are connected to the bottom mounting seat (202) by bolts, so that the closed-loop stepper motor (201) and the outer side of the electric cylinder body (203) are matched, and the end connecting piece (204) and the end of the electric cylinder body (203) are connected by their own threads; the inner side of the electric cylinder body (203) is connected to the spindle fixing device (5 ) are connected with the self-contained threaded holes by bolts to achieve close fit; the asynchronous adsorption support module (1) comprises an adsorption support plate (101), a servo motor (102), a small synchronous pulley (103), a cross roller bearing (104), a bearing pressure plate (105), an upper bearing plate (106), a lower bearing plate (107) and a synchronous belt (108); the lower bearing plate (107) is provided with a stepper motor (1071), a motor support seat (1072), an active slider (1074), a driven slider (1073), an air pipe joint (1075), a linear guide module (1076), a suction cup (1077) and a triangular reinforcement rib (1078) from the periphery to the axis; The adsorption support plate (101) has a circular mounting groove in the middle for mounting a cross roller bearing (104); the outer ring of the cross roller bearing (104) is transitionally matched with the circular mounting groove of the adsorption support plate (101); its inner ring is interference matched with the outer ring of the upper bearing plate (106); the lower surface of the bearing pressure plate (105) is connected to the adsorption support plate (101) by bolts and the outer ring of the cross roller bearing (104) is pressed at the same time; the upper bearing plate (106) is connected to the lower bearing plate (107) by threads and the inner ring of the cross roller bearing (104) is pressed; the lower end of the adsorption support plate (101) has a mounting groove, and the mounting groove A threaded hole is opened in the groove, the upper end surface of the servo motor (102) is fitted with the end surface of the installation groove, and the servo motor (102) is connected to the adsorption support plate (101) by bolts; a threaded hole is opened on the radial groove surface of the servo motor (102) shaft; the small synchronous pulley (103) is connected to the motor shaft of the servo motor (102) by bolts, thereby the servo motor (102) drives the small synchronous pulley (103), the small synchronous pulley (103) and the upper bearing plate (106) are driven by the synchronous belt (108), and the upper bearing plate (106) drives the lower bearing plate (107), thereby causing the suction cup (1077) to perform circular motion; The lower bearing plate (107) is fan-shaped and has a groove in the middle. Threaded mounting holes are provided on both sides of the groove and on the outer side of the lower bearing plate (107); the triangular reinforcing rib (1078) is connected to the outer side of the lower bearing plate (107) by bolts; the linear guide module (1076) is connected to the lower bearing plate (107) by bolts; the driven slider (1073) has a metric threaded mounting hole and an imperial threaded connection hole on the upper part and an imperial threaded connection hole on the lower part; the driven slider (1073) is installed on the linear guide module (1076) by bolts, and the suction cup (1077) is connected to the driven slider (107) 3) The lower part is connected by threads, and the air pipe joint (1075) is connected to the upper part of the driven slider (1073) by threads; the driven slider (1073) is connected to the active slider (1074) by spring screws; the stepper motor (1071) is connected to the motor support seat (1072) by bolts, and the bottom of the motor support seat (1072) is connected to the lower bearing plate (107) by bolts, and the closed-loop stepper motor (201) drives the active slider (1074) to move, thereby driving the driven slider (1073) and the suction cup (1077) to perform linear motion; Thus, the servo motor (102) drives the four suction cups (1077) to synchronously perform circular motion, and the four stepping motors (1071) drive each suction cup (1077) to perform linear motion individually, so that the device as a whole can achieve three-degree-of-freedom motion of the suction cup (1077); The end connection piece (204) is connected to the upper end of the sensor (3) via threads; circular mounting grooves and a central through hole are provided at both ends of the adsorption support plate (101); the lower end of the sensor (3) is connected to the adsorption support plate (101) via bolts; and the asynchronous adsorption support module (1) and the anti-torque high-rigidity feed module (2) are connected via bolts.

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