A torsion-resistant high-rigidity feeding module and an asynchronous adsorption supporting module of a follow-up auxiliary clamping device

Abstract

The present application belongs to the technical field of machining clamps, and discloses a torsion-resistant high-rigidity feeding module and an asynchronous adsorption supporting module of a follow-up auxiliary clamping device. The torsion-resistant high-rigidity feeding module is composed of symmetrical electric cylinders, which can effectively increase the overall rigidity and feeding accuracy of the device, reduce the influence of torque and vibration on the device during machining, and improve the stability of clamping of thin-walled parts. The asynchronous adsorption supporting module cooperates with the high-rigidity torsion-resistant feeding module to enable the end suction cup to realize three-degree-of-freedom motion and achieve fixed-point adsorption, thereby avoiding adsorption failure of the suction cup due to interference between the adsorption position and the machined position, realizing stable clamping of large thin-walled parts, and further realizing high-precision and high-efficiency machining of large thin-walled parts under more complex working conditions.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of machining clamps, and relates to a high-rigidity feeding module with high torque resistance 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. In particular, they are widely used in the aviation industry. Such workpieces are the main components of the aerodynamic shape of an aircraft and the main load-bearing structure of the wing body. Therefore, reliable connection of such workpieces is very important. The connection method of large thin-walled structural parts usually uses screwing and riveting. The connection strength of these two connection methods is directly related to the quality and precision of hole making. Therefore, the hole making process of such workpieces requires extremely strict requirements.

[0003] Due to the large length-thickness ratio of large thin-walled parts, the rigidity is low, and deformation and vibration are easily generated during machining. Irregular collisions occur between the tool and the workpiece, which not only leads to poor hole making quality and low precision, but also causes serious tool damage, and even tool breakage, resulting in workpiece scrap. In order to reduce the deformation and vibration of such workpieces during machining, a special profiling clamp is usually used to cover the workpiece with a large area for support and clamping to improve the rigidity characteristics of the machining area. This method has poor universality and high cost.

[0004] In order to solve such problems, Yin Li published a paper entitled "Research and Design of Flexible Tooling Clamp for Aluminum Alloy Curved Thin-walled Parts", which designed a flexible tooling clamp for aluminum alloy curved thin-walled parts. The tooling end is composed of an equidistant array of suction cups for adsorbing clamping of the workpiece to improve machining precision and clamping efficiency. However, this clamp can only clamp the workpiece from the lower part and the clamping position is fixed. The suction cup position is fixed, so it is easy to interfere with the machining position, and the edge part of the suction cup is difficult to adsorb, which has great limitations.

[0005] Wang Fujijie et al. invented a patent with the patent number "CN202310949532.9" and the patent name "A follow-up auxiliary clamping device for suppressing machining deformation". A clamping device that can suppress machining deformation is invented, which follows the spindle of the machine tool. The device uses a single-sided feeding module and an adsorption position fixed adsorption module to assist in clamping large thin-walled parts. The anti-torque and vibration effect is poor, the adsorption position is very fixed, and it is easy to interfere with the machined position, leading to adsorption failure. The application scenario is less, the limitation is high, and it is only suitable for large thin-walled part center working conditions.

[0006] Fuzao et al. invented a patent with the patent number "CN202310949531.4" and the patent name "A end effector for thin-walled structure drilling", which invented an end effector that can assist clamping thin-walled structure and drilling, which is suitable for industrial robot. The effector uses a ball screw connected to the shell as a feeding module to drive the fixed adsorption module for clamping. This layout is less adaptable to vibration and torque during processing, making it difficult to assist stable clamping.

[0007] Using such devices to assist clamping large thin-walled parts, during processing, its performance is insufficient to overcome torque and vibration, and the end adsorption position is easy to interfere with the processed position. The suction cup cannot be fully effective in most working conditions, the clamping effect is not good, leading to poor processing quality, hole position deviation, and difficulty in achieving high-precision and efficient processing. Therefore, it is urgent to develop a high-rigidity anti-torque feeding module that can overcome torque and vibration during processing and an asynchronous adsorption support module that is suitable for various thin-walled working conditions, to realize stable and efficient clamping of large thin-walled parts and meet the adsorption and support requirements of various working conditions. SUMMARY

[0008] In order to overcome the problems existing in the prior art, the present application provides an anti-torque high-rigidity feeding module and an asynchronous adsorption support module for a follow-up auxiliary clamping device. The anti-torque high-rigidity feeding module is composed of symmetrical electric cylinders, which can effectively increase the overall rigidity and feeding accuracy of the device, and reduce the influence of torque and vibration on the device during processing. The asynchronous adsorption support module cooperates with the high-rigidity anti-torque feeding module to enable the end suction cup to realize three-degree-of-freedom motion and achieve point adsorption, avoiding interference leading to suction cup adsorption failure. At the same time, it is suitable for more complex working conditions, realizes stable clamping of large thin-walled parts, and further achieves the purpose of high-precision and efficient processing.

[0009] Technical scheme of the present application:

[0010] An anti-torsion high-rigidity feeding module and an asynchronous adsorption support module for a follow-up auxiliary clamping device, comprising an anti-torque high-rigidity feeding module 2 and an asynchronous adsorption support module 1;

[0011] The anti-torque high-rigidity feeding module 2 is symmetrical and distributed on both sides of the main shaft fixing device 5, and is symmetrical as a whole; the anti-torque high-rigidity feeding module 2 is connected by a closed-loop stepping motor 201, a bottom mounting seat 202, an electric cylinder body 203 and a terminal connecting piece 204; the closed-loop stepping motor 201 and the electric cylinder body 203 are connected with the bottom mounting seat 202 through bolts, so that the closed-loop stepping motor 201 and the electric cylinder body 203 are matched on the outside; the terminal connecting piece 204 is connected with the electric cylinder body 203 through its own thread; the inside of the electric cylinder body 203 is connected with the main shaft fixing device 5 through bolts and thread holes to realize close cooperation; 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 pressing plate 105, an upper bearing plate 106, a lower bearing plate 107 and a synchronous belt 108; the lower bearing plate 107 is sequentially provided with a stepping motor 1071, a motor support seat 1072, a driving sliding block 1074, a driven sliding block 1073, an air pipe joint 1075, a linear guide rail module 1076, a suction cup 1077 and a triangular reinforcing rib 1078 from the periphery to the shaft center;

[0012] The adsorption support plate 101 is provided with a circular mounting groove in the middle 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 the inner ring is interference-fitted with the outer ring of the upper bearing plate 106; the lower surface of the bearing pressing plate 105 is connected with the adsorption support plate 101 through bolts, and the outer ring of the cross roller bearing 104 is pressed at the same time; the upper bearing plate 106 and the lower bearing plate 107 are connected through threads, and the inner ring of the cross roller bearing 104 is pressed at the same time; the adsorption support plate 101 is provided with a mounting groove at the lower end, and the mounting groove is provided with a threaded hole; the upper end surface of the servo motor 102 is matched with the end surface of the mounting groove, and the servo motor 102 is connected with the adsorption support plate 101 through bolts; the shaft radial groove of the servo motor 102 is provided with a threaded hole; the small synchronous pulley 103 is connected with the motor shaft of the servo motor 102 through bolts, so that the servo motor 102 drives the small synchronous pulley 103; the small synchronous pulley 103 is driven by the synchronous belt 108, the upper bearing plate 106 drives the lower bearing plate 107, and the suction cup 1077 performs circumferential motion;

[0013] The lower force plate 107 is fan-shaped and has a slot in the middle, and threaded mounting holes are formed on both sides of the slot and the outer side of the lower force plate 107; the triangular reinforcing rib 1078 is connected to the outer side of the lower force plate 107 through bolts; the linear guide rail module 1076 is connected to the lower force plate 107 through bolts; the driven slider 1073 has metric threaded mounting holes in the upper part and English threaded connection holes in the lower part, and the driven slider 1073 is installed on the linear guide rail module 1076 through bolts; the suction cup 1077 is connected to the lower part of the driven slider 1073 through threads, and the air pipe joint 1075 is connected to the upper part of the driven slider 1073 through threads; the driven slider 1073 is connected to the driving slider 1074 through spring screws; the stepping 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 force plate 107 through bolts; the closed-loop stepping motor 201 drives the driving slider 1074 to move, thereby driving the driven slider 1073 and the suction cup 1077 to move linearly.

[0014] Therefore, the servo motor 102 drives the four suction cups 1077 to move synchronously in a circular motion, and the four stepping motors 1071 drive each suction cup 1077 to move linearly independently, so that the device as a whole realizes three degrees of freedom motion of the suction cup 1077.

[0015] The end connecting piece 204 is connected to the upper end of the sensor 3 through threads, the adsorption support plate 101 has circular mounting grooves and a central through hole at both ends, 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 high-torque-resistant high-rigidity feeding module 2 are connected through bolts.

[0016] The beneficial effects of the present application are as follows:

[0017] The symmetrical structure of the high-torque-resistant high-rigidity feeding module in the present application can improve the overall rigidity, significantly reduce the torque and vibration transmitted to the clamp during the machining process, and improve the feeding accuracy and machining accuracy.

[0018] The servo motor in the asynchronous adsorption support module drives a small synchronous pulley, which in turn drives the upper bearing plate to achieve transmission, causing the suction cup to move in a circular motion. The lower bearing plate is fan-shaped and slotted in the middle. The linear guide module is bolted to the lower bearing plate. The driven slider is mounted on the linear guide module via bolts, and the suction cup is threaded to the lower portion of the driven slider. The driven slider is connected to the active slider via spring screws. A closed-loop stepper motor drives the active slider, thereby driving the driven slider and suction cup in linear motion. This design can solve the problem of the suction cup not being able to fully support the edge of the workpiece, and the problem of adsorption failure caused by interference between the adsorption position and the processed position in dense hole conditions. Overall, the torque-resistant, high-rigidity feed module drives the asynchronous adsorption support module for high-precision feeding, reducing the impact of vibration and torque during machining. At the same time, the asynchronous adsorption support module avoids the processed position by adjusting the suction cup position and adsorbs the workpiece in edge conditions, optimizing the auxiliary clamping effect of the follower auxiliary clamping device, enabling its application to more complex working conditions to achieve high-precision and efficient machining. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0020] Figure 2 This 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 This is an exploded schematic diagram of the upper part of the asynchronous adsorption support module in the torsional high-rigidity feeding module and the asynchronous adsorption support module of a follow-up auxiliary clamping device of the present invention.

[0022] Figure 4 This is an exploded schematic diagram of the lower half of the asynchronous adsorption support module in the torsional high-rigidity feeding module and the 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 connector; 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 embodiments of the present application are further illustrated in the following with reference to the drawings and technical solutions.

[0025] Example 1

[0026] Reference Figure 1 The present application is a torsion-resistant high-rigidity feeding module and an asynchronous adsorption support module of a follow-up auxiliary clamping device, which comprises a torsion-resistant high-rigidity feeding module 2 and an asynchronous adsorption support module 1.

[0027] Reference Figure 3 In this embodiment, the torsion-resistant high-rigidity feeding 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 is connected with the electric cylinder body 203 through bolts and the bottom mounting seat 202, so that the closed-loop stepper motor 201 cooperates with the outside of the electric cylinder body 203. The end connecting piece 204 is connected with the end of the electric cylinder body 203 through its own thread. The inside of the electric cylinder body 203 is connected with the main shaft fixing device 5 through bolts and self-threaded holes to realize close cooperation. There are two groups in a set of equipment, which are distributed on both sides of the main shaft fixing device 5, and the whole is symmetrically arranged and connected on the adsorption support plate at the same time. The closed-loop stepper motor 201 drives the electric cylinder body 203 to move linearly.

[0028] Reference Figure 3 In this embodiment, a circular mounting groove is opened in the middle of the adsorption support plate 101 for installing the crossed roller bearing 104. The outer ring of the crossed roller bearing 104 is transitionally matched with the circular mounting groove of the adsorption support plate 101, and the inner ring is interference-fitted with the outer ring of the upper supporting plate 106. The lower surface of the bearing pressing plate 105 is connected with the adsorption support plate 101 through bolts, and at the same time, the outer ring of the crossed roller bearing 104 is pressed tightly. At the same time, the upper supporting plate 106 is connected with the lower supporting plate 107 through threads, and the inner ring of the crossed roller bearing 104 is pressed tightly. A mounting groove is opened at the lower end of the adsorption support plate 101, and a threaded hole is opened in the groove. The upper end surface of the servo motor 102 is matched with the end surface of the mounting groove, and the servo motor 102 is connected with the adsorption support plate 101 through bolts. The threaded hole is opened in the radial groove surface of the servo motor 102 shaft. The small synchronous pulley 103 is connected with the motor shaft of the servo motor 102 through bolts, so that the servo motor 102 drives the small synchronous pulley 103. The small synchronous pulley 103 is connected with the upper supporting plate 106 through the synchronous belt 108 to realize transmission. The upper supporting plate 106 drives the lower supporting plate 107, and then the suction cup 1077 moves in a circular motion. This structure uses a synchronous belt for transmission, has high bed precision, and can make the suction cup accurately reach the predetermined position. This structure makes the multiple suction cups connected to the lower supporting plate move in a circular motion, realizes step-by-step obstacle avoidance of the machined position, and can adapt to the dense working condition of the center hole of the thin-walled workpiece.

[0029] The end connector 204 is connected with the upper end of the sensor 3 through screw thread connection, the adsorption support plate 101 is provided with circular mounting slots and a central through hole at both ends, the lower end of the sensor 3 is connected with the adsorption support plate 101 through bolts; the asynchronous adsorption support module 1 and the high rigidity feeding module 2 are connected through bolts.

[0030] The lower force plate 107 is fan-shaped and has a slot in the middle, and threaded mounting holes are formed on both sides of the slot and the outer side of the lower force plate 107; the triangular reinforcing rib 1078 is connected with the outer side of the lower force plate 107 through bolts; the linear guide rail module 1076 is connected with the lower force plate 107 through bolts; the driven slider 1073 is provided with metric threaded mounting holes and inch threaded connection holes at the upper and lower parts, respectively, and is installed on the linear guide rail module 1076 through bolts; the suction cup 1077 is connected with the lower part of the driven slider 1073 through threads; the air pipe joint 1075 is connected with the upper part of the driven slider 1073 through threads; the driven slider 1073 is connected with the driving slider 1074 through spring screws; the stepping motor 1071 is connected with the motor support seat 1072 through bolts, and the bottom of the motor support seat 1072 is connected with the lower force plate 107 through bolts; the closed-loop stepping motor 201 drives the driving slider 1074 to move, thereby driving the driven slider 1073 and the suction cup 1077 to move linearly, and further realizing the adaptation to the edge working condition of the thin-walled workpiece.

[0031] The servo motor 102 drives the four suction cups 1077 to move synchronously in a circular motion, and the four stepping motors 1071 drive each suction cup 1077 to move linearly independently, thereby realizing three degrees of freedom motion of the suction cup 1077, avoiding the processed position of the large thin-walled workpiece and adsorbing the workpiece in the edge working condition by adjusting the position of the suction cup, optimizing the auxiliary clamping effect of the follow-up auxiliary clamping device, and enabling it to be greatly promoted to more complex working conditions, realizing stable clamping of the large thin-walled workpiece and ensuring high-precision and high-efficiency machining.

Claims

1. A follow-up auxiliary clamping device, characterized in that: It includes an anti-torque 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 main shaft 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 (203) and an end connector (204); the closed-loop stepper motor (201) and the electric cylinder (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 (203) are matched, and the end connector (204) is connected to the end of the electric cylinder (203) by its own thread; the inner side of the electric cylinder (203) is connected to the main shaft fixing device (5 ) are connected with the self-threaded holes 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 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), and its inner ring is interference-fitted 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) 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 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); the small synchronous pulley (103) is connected to the motor shaft of the servo motor (102) by bolts, whereby 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 causing the suction cup (1077) to perform circular motion; The lower bearing plate (107) is fan-shaped and slotted in the middle, and threaded mounting holes are opened on both sides of the slot 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) is opened with a metric thread mounting hole and an English thread connection hole, and the lower part is opened with an English thread connection hole. The driven slider (1073) is mounted 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 a thread, and the air pipe joint (1075) is connected to the upper part of the driven slider (1073) by a thread; the driven slider (1073) is connected to the active slider (1074) by a spring screw; the stepper motor (1071) is connected to the motor support seat (1072) by a bolt, and the bottom of the motor support seat (1072) is connected to the lower bearing plate (107) by a bolt, 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 perform circular motion synchronously, and the four stepping motors (1071) drive each suction cup (1077) to perform linear motion independently, so that the entire device realizes three-degree-of-freedom motion of the suction cup (1077); The end connector (204) is connected to the upper end of the sensor (3) via a threaded connection, circular mounting grooves and a central through hole are provided 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) via a bolt; the asynchronous adsorption support module (1) and the anti-torque high-rigidity feed module (2) are connected via bolts.

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