Device capable of realizing automatic centering and clamping of materials and continuously rotating by utilizing differential mechanism

Abstract

The invention discloses a device for achieving automatic centering and clamping of materials and continuous rotation through a differential mechanism. The device comprises a mounting base, a clamping motor, a rotating motor, the differential mechanism, an inner-layer gear ring, an outer-layer gear ring and a clamping jaw assembly, wherein the clamping motor, the rotating motor, the differential mechanism, the inner-layer gear ring, the outer-layer gear ring and the clamping jaw assembly are mounted on the mounting base. The clamping motor and the rotating motor are connected with the differential mechanism, and the working states of the clamping motor and the rotating motor are changed, so that relative rotation or synchronous rotation of the inner-layer gear ring and the outer-layer gear ring can be realized, and clamping or rotation of a workpiece is further realized. According to the device capable of achieving automatic centering and clamping of the materials and continuous rotation through the differential mechanism, accurate automatic centering and clamping of the large materials are achieved, and meanwhile the continuous rotation action of the materials can be completed; the problems that other structures cannot achieve continuous rotation due to pipeline arrangement, electrical synchronous control is poor in safety, and a pneumatic (hydraulic) structure is small in clamping stroke and cannot clamp large-diameter materials are solved, the structure is simple, layout is convenient, the occupied space size of the device can be greatly reduced, and integration of automatic production lines is facilitated.

Description

Technical Field

[0001] The invention relates to the technical field of large material clamping, and in particular to a device which utilizes a differential mechanism to realize automatic centering and clamping of materials and can continuously rotate. Background Art

[0002] In the aerospace, weapons industry and other industries, it is often necessary to realize the automatic centering, clamping and rotation of the workpiece. The existing technology generally adopts the following structures to achieve this:

[0003] 1. Use pneumatic (hydraulic) method to perform centering clamping and realize material rotation;

[0004] 2. The clamping motor (cylinder, etc.) is arranged on the rotating mechanism to perform centering clamping and realize material rotation;

[0005] 3. Use dual motor synchronous control to perform centering clamping and realize material rotation;

[0006] 4. Use roller lifting or clamping to achieve material rotation.

[0007] The above structure has the following technical problems:

[0008] 1. Pneumatic and hydraulic centering clamping methods have no center hole or the center hole is too small. The small clamping stroke leads to poor automatic compatibility and cannot meet the requirements of clamping large strokes and large workpieces.

[0009] 2. The clamping motor (cylinder, etc.) is arranged on the rotating mechanism for centering clamping. The device structure occupies a large size, the motor (cylinder, etc.) pipeline layout is difficult, and the rotation stroke is limited, and continuous rotation cannot be achieved. It cannot meet the use conditions that require a large stroke or continuous rotation;

[0010] 3. The dual-motor synchronous control method is used for centering and clamping, which is complicated to debug and difficult to control. There is a problem that the safety of equipment and materials cannot be guaranteed when the synchronous control is abnormal, and the safety is poor;

[0011] 4. The material rotation is achieved by roller lifting or clamping. The centering is inaccurate during the rotation process, especially for thin-walled materials. It is difficult to clamp and rotate curved materials, and the applicable working conditions are limited. Summary of the invention

[0012] The invention provides a device which utilizes a differential mechanism to realize automatic centering, clamping and continuous rotation of materials, so as to solve the problems existing in the existing centering, clamping and rotating devices.

[0013] The technical means adopted by the present invention are as follows:

[0014] A device that utilizes a differential mechanism to achieve automatic centering, clamping, and continuous rotation of materials, comprising a mounting base, a clamping motor, a rotating motor, a differential mechanism, an inner gear ring, an outer gear ring, and a clamping jaw assembly;

[0015] The differential mechanism is mounted on the mounting base; the inner gear ring and the outer gear ring are also mounted on the mounting base; a plurality of clamping claw assemblies are arranged in the circumferential direction of the outer gear ring; the central area of ​​the inner gear ring and the outer gear ring is the clamping area;

[0016] The differential mechanism comprises a first input shaft, a second input shaft, a first output shaft, a second output shaft and a differential transmission assembly; the rotating motor is connected to the first input shaft, and the clamping motor is connected to the second input shaft; the first output shaft is provided with a first driving gear; the second output shaft is provided with a second driving gear;

[0017] When the rotating motor is in a non-rotating state and the clamping motor is in a rotating state, the clamping motor drives the inner ring gear to rotate relative to the outer ring gear through the second input shaft, the differential transmission assembly, the first output shaft and the first drive gear, thereby driving the clamping jaw assembly provided on the outer ring gear to close or open; when the clamping motor is in a non-rotating state and the rotating motor is in a rotating state, the rotating motor drives the inner ring gear and the outer ring gear to rotate synchronously through the first input shaft, the differential transmission assembly, the first output shaft, the second output shaft, the first drive gear and the second drive gear.

[0018] Further, the differential transmission assembly includes a first gear set, a second gear set and a planetary gear set;

[0019] The first gear set includes a first gear I and a first gear II meshing with each other, and the first gear I is mounted on the first input shaft;

[0020] The second gear set includes a second gear I, a second gear II and a second gear III, the second gear I is mounted on the second input shaft, and the second gear II and the second gear III are coaxially mounted on both ends of the intermediate shaft I;

[0021] The planetary gear set includes a sun gear, a planet carrier and a bevel gear set. A rotating shaft sleeve I and a rotating shaft sleeve II are respectively provided on both sides of the planet carrier. An intermediate shaft II and an intermediate shaft III are respectively installed in the rotating shaft sleeve I and the rotating shaft sleeve II. One end of the intermediate shaft II and the intermediate shaft III are respectively connected to the bevel gear set arranged in the planet carrier. The first gear II is also installed on the intermediate shaft II. A sun gear is respectively installed on the rotating shaft sleeve I and the rotating shaft sleeve II. The second gear I, the second gear II and the sun gear arranged on the rotating shaft sleeve I are meshed in sequence. The second gear III is meshed with the sun gear arranged on the rotating shaft sleeve II; the intermediate shaft III is connected to the first output shaft.

[0022] Furthermore, the bevel gear set includes four bevel gears, and the four bevel gears are arranged opposite to each other in pairs to form two pairs of bevel gear sets. The two pairs of bevel gear sets are arranged perpendicular to each other so that the four bevel gears are meshed with each other in pairs, and the two bevel gears of one pair of bevel gear sets are respectively installed on the intermediate shaft II and the intermediate shaft III, and the two bevel gears of the other pair of bevel gear sets are installed on the planetary carrier.

[0023] Furthermore, a jaw assembly slide groove is provided on the outer end face of the outer gear ring along the radial direction, the jaw assembly is arranged in the jaw assembly slide groove, a planar thread groove is provided on the jaw assembly, and a planar thread meshing with the planar thread groove on the jaw assembly is provided on the gear ring surface of the inner gear ring. The relative rotation of the inner gear ring and the outer gear ring can drive the jaw assembly to move in the jaw assembly slide groove along the radial direction of the gear ring.

[0024] Furthermore, driving teeth are provided on the outer ring walls of the outer gear ring and the inner gear ring.

[0025] Further, the mounting base includes a base fixing portion and a gear ring mounting portion;

[0026] The base fixing part and the gear ring mounting part are arranged vertically, and the gear ring mounting part is provided with a workpiece clearance hole adapted to the inner diameter of the gear ring;

[0027] The inner gear ring is mounted on the gear ring mounting portion via a bearing.

[0028] Furthermore, the inner gear ring and the outer gear ring are connected via a sliding bearing.

[0029] Furthermore, the clamping jaw assembly comprises a clamping jaw base and a clamping jaw, wherein the clamping jaw base is arranged in a sliding groove of the clamping jaw assembly, and the clamping jaw is fixed on the clamping jaw base.

[0030] Furthermore, the first input shaft and the second output shaft are an integrated shaft structure.

[0031] Beneficial effects: The present invention discloses a device that utilizes a differential mechanism to achieve automatic centering and clamping of materials and continuous rotation. By setting up a differential mechanism, an inner gear ring, an outer gear ring and other structures, it can achieve accurate automatic centering and clamping of larger materials while allowing the materials to complete continuous rotation. It solves the problems of other structures that cannot achieve continuous rotation due to pipeline layout, poor safety of electrical synchronous control, small clamping stroke of pneumatic (hydraulic) structure and inability to clamp large diameter materials. It has a simple structure and convenient layout, can greatly reduce the footprint of the device, and is easy to integrate into automated production lines. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 It is a first direction axial view of the device disclosed in the present invention that realizes automatic centering, clamping and continuous rotation of materials by using a differential mechanism;

[0034] Figure 2 It is a second direction axial view of the device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism disclosed in the present invention;

[0035] Figure 3 It is an axial view of a differential mechanism in a device for realizing automatic centering, clamping and continuous rotation of materials using a differential mechanism disclosed in the present invention;

[0036] Figure 4 is a top view of the differential mechanism of the present invention;

[0037] Figure 5 is a schematic diagram of a differential transmission assembly in the present invention;

[0038] Figure 6 is a cross-sectional view of a differential transmission assembly in the present invention;

[0039] Figure 7 It is a cross-sectional view of the inner gear ring, outer gear ring and clamping jaw assembly in the present invention.

[0040] In the figure: 1, mounting base; 10, base fixing part; 11, gear ring mounting part; 12, workpiece clearance hole; 2, clamping motor; 3, rotating motor; 4, differential mechanism; 40, first input shaft; 41, second input shaft; 42, first output shaft; 43, second output shaft; 44, differential transmission assembly; 45, first gear set; 450, first gear I; 451 first gear II; 46, second gear set; 460, second gear I; 461, second gear II; 463, intermediate shaft I; 47, planetary gear set; 4 70. Sun gear; 471. Planet carrier; 472. Bevel gear set; 473. Intermediate shaft II; 474. Intermediate shaft III; 475. Bevel gear; 476. Rotating sleeve I; 477. Rotating sleeve II; 48. Differential gear box; 5. Inner gear ring; 50. Flat thread; 6. Outer gear ring; 60. Gripper assembly slide groove; 7. Gripper assembly; 70. Gripper base; 71. Gripper; 710. Gripper fixing part; 711. Gripper clamping part; 72. Flat thread tooth groove; 8. First drive gear; 9. Second drive gear. DETAILED DESCRIPTION

[0041] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device disclosed in the present invention uses a differential mechanism to realize automatic centering, clamping and continuous rotation of materials, including a mounting base 1, a clamping motor 2, a rotating motor 3, a differential mechanism 4, an inner gear ring 5, an outer gear ring 6 and a clamping jaw assembly 7;

[0043] The differential mechanism 4 is mounted on the mounting base 1; the inner gear ring 5 and the outer gear ring 6 are also mounted on the mounting base 1; a plurality of clamping claw assemblies 7 are arranged in the circumferential direction of the outer gear ring 6; the central area of ​​the inner gear ring 5 and the outer gear ring 6 is the clamping area;

[0044] The differential mechanism 4 includes a first input shaft 40, a second input shaft 41, a first output shaft 42, a second output shaft 43 and a differential transmission assembly 44; the rotating motor 3 is connected to the first input shaft 40, and the clamping motor 2 is connected to the second input shaft 41; the first output shaft 42 is provided with a first driving gear 8; the second output shaft 43 is provided with a second driving gear 9;

[0045] When the rotating motor 3 is in a non-rotating state and the clamping motor 2 is in a rotating state, the clamping motor 2 drives the inner ring gear 5 to rotate relative to the outer ring gear 6 through the second input shaft 41, the differential transmission assembly 44, the first output shaft 42 and the first drive gear 8, thereby driving the clamping jaw assembly 7 arranged on the outer ring gear 6 to close or open; when the clamping motor 2 is in a non-rotating state and the rotating motor 3 is in a rotating state, the rotating motor 3 drives the inner ring gear 5 and the outer ring gear 6 to rotate synchronously through the first input shaft 40, the differential transmission assembly 44, the first output shaft 42, the second output shaft 43, the first drive gear 8 and the second drive gear 9.

[0046] The device disclosed in the present invention realizes automatic centering, clamping and continuous rotation of materials by using a differential mechanism. Due to the arrangement of an inner gear ring, an outer gear ring, a differential mechanism, a clamping motor and a rotating motor, the clamping motor can drive the inner gear ring and the outer gear ring to rotate relative to each other through the differential mechanism, thereby driving the clamping claws on the outer gear ring to open or close to clamp or release the workpiece. At the same time, the rotating motor can drive the inner gear ring and the outer gear ring to rotate synchronously, thereby driving the clamped workpiece to rotate and complete the processing of the workpiece. The device disclosed in the present invention realizes automatic centering, clamping and continuous rotation of materials by using a differential mechanism. Since it only has an installation base, an inner gear ring, an outer gear ring, a differential mechanism, a clamping motor, a rotating motor and a clamping claw assembly, it has a simple structure and convenient layout, and can greatly reduce the occupied size of the device. The central area of ​​the inner gear ring and the outer gear ring is the clamping area, which increases the clamping area and is convenient for integration into an automated production line. At the same time, it can not only clamp the workpiece, but also drive the workpiece to rotate continuously, solving the problems of other structures that cannot achieve continuous rotation due to pipeline layout, poor safety of electrical synchronous control, small clamping stroke of pneumatic (hydraulic) structure and inability to clamp large diameter materials.

[0047] In a specific embodiment, Figure 3 , Figure 4 , Figure 5 and Figure 6 As shown, the differential transmission assembly 44 includes a first gear set 45, a second gear set 46 and a planetary gear set 47;

[0048] The first gear set 45 includes a first gear I 450 and a first gear II 451 meshing with each other, and the first gear I 450 is mounted on the first input shaft 40;

[0049] The second gear set 46 includes a second gear I 460, a second gear II 461 and a second gear III 462, the second gear I 460 is mounted on the second input shaft 41, and the second gear II 461 and the second gear III 462 are coaxially mounted on both ends of the intermediate shaft I 463;

[0050] The planetary gear set 47 includes a sun gear 470, a planet carrier 471 and a bevel gear set 472. A rotating shaft sleeve I 476 and a rotating shaft sleeve II 477 are respectively provided on both sides of the planet carrier 471. An intermediate shaft II 473 and an intermediate shaft III 474 are respectively installed in the rotating shaft sleeve I 476 and the rotating shaft sleeve II 477. One end of the intermediate shaft II 473 and the intermediate shaft III 474 are respectively connected to the bevel gear set 472 disposed in the planet carrier 471. The intermediate shaft II 473 is also installed with the first gear II 451. The rotating shaft sleeve I 476 and the rotating shaft sleeve II 477 are respectively installed with a sun gear 470. The second gear I 460, the second gear II 461 and the sun gear 470 arranged on the rotating shaft sleeve I 476 are meshed in sequence. The second gear III 462 is meshed with the sun gear 470 arranged on the rotating shaft sleeve II 477; the intermediate shaft III 474 is connected to the first output shaft 42.

[0051] Specifically, in the present application, the differential mechanism also includes a differential gearbox 48, and the differential transmission assembly is installed in the differential gearbox 48. The differential transmission assembly includes three gear sets: a first gear set, a second gear set and a planetary gear set; the first gear set includes a first gear I and a first gear II, the second gear set includes a second gear I, a second gear II and a second gear III, and the planetary gear set includes a sun gear, a planet carrier and a bevel gear set. In this embodiment, the first input shaft and the second input shaft can be installed on the differential gearbox through components such as bearings, the first gear I is installed on the first input shaft and is located on the outside of the differential gearbox, the second gear I is installed on the second input shaft and is located on the inside of the differential gearbox, and an intermediate shaft I is also installed in the differential gearbox, and the second gear II and the second gear III are respectively installed at both ends of the intermediate shaft I in the differential gearbox; the second gear I and the second gear II are meshed with each other; a planetary gear set is also installed in the differential gearbox, specifically, as Figure 4 , Figure 5 and Figure 6As shown, both sides of the planet carrier are respectively installed on the differential gear box through a rotating shaft sleeve I and a rotating shaft sleeve II. In this embodiment, the rotating shaft sleeve and the planet carrier are an integrated structure, and the planet carrier can rotate in the differential gear box through the rotating shaft sleeve. A sun gear is respectively installed on the rotating shaft sleeve I and the rotating shaft sleeve II. The sun gear is placed in the differential gear box and located between the inner wall of the differential gear box and the planet carrier. The sun gear on the rotating shaft sleeve I is meshed with the second gear II, and the sun gear on the rotating shaft sleeve II is meshed with the second gear III. An intermediate shaft II and an intermediate shaft III are respectively provided in the rotating shaft sleeve I and the rotating shaft sleeve II. The intermediate shaft II and the intermediate shaft III can rotate in the rotating shaft sleeve I and the rotating shaft sleeve II. One end of the intermediate shaft II and the intermediate shaft III are respectively connected to the bevel gear set placed in the planet carrier, and a first gear II is also installed at the other end of the intermediate shaft II. The first gear II is located outside the differential gear box and meshed with the first gear I. The other end of the intermediate shaft III is connected to the first output shaft, and the first input shaft is connected to the second output shaft. When the rotating motor is in a rotating state and the clamping motor is in a non-rotating state, the rotating motor drives the first input shaft to rotate, and the first input shaft and the second output shaft are connected so that the first input shaft drives the second output shaft to rotate, and the second output shaft can drive the outer ring gear to rotate through the second driving gear. At the same time, the rotating motor drives the first input shaft to rotate, and the first gear I on the first input shaft can drive the first gear II to rotate, and the first gear II drives the intermediate shaft II to rotate, and the bevel gear group is driven on the intermediate shaft II to rotate, and the intermediate shaft III connected to the bevel gear group is driven to rotate through the bevel gear group, and the intermediate shaft III drives the first driving gear to rotate through the first output shaft, and then the inner ring gear is driven to rotate by the first driving gear. In this embodiment, the transmission ratio of each gear group is 1:1, so that the rotating motor drives the inner ring gear and the outer ring gear to rotate synchronously, and the synchronous rotation of the inner ring gear and the outer ring gear realizes the continuous rotation of the workpiece to be processed (the workpiece to be processed is clamped by the clamping jaw assembly set on the outer ring gear). When the clamping motor is in a rotating state and the rotating motor is in a non-rotating state, at this time, the first input shaft, the second output shaft and the second driving gear are all in a non-rotating state, so that the outer ring gear is in a stationary state (the outer ring gear does not rotate), and the clamping motor drives the second gear I to rotate through the second input shaft. Since the second gear I is meshed with the second gear II, the second gear I drives the second gear II to rotate, and the second gear II drives the coaxially arranged second gear III to rotate synchronously; the two sun gears are driven to rotate through the second gear II and the second gear III, and the sun gear drives the planetary carrier to rotate. The rotation of the planetary carrier can drive the intermediate shaft III to rotate through the bevel gear set in the planetary carrier (one end of the intermediate shaft II is in a non-rotating state due to the mutual meshing of the first gear I and the first gear II), and the intermediate shaft III drives the inner ring gear to rotate relative to the outer ring gear through the first output shaft and the first driving gear. The relative rotation of the inner ring gear and the outer ring gear can drive the clamping jaw assembly installed on the outer ring gear to open or close to achieve clamping or loosening of the workpiece.In this embodiment, the differential transmission assembly includes a first gear set, a second gear set and a planetary gear set, which can easily realize the centering clamping of the workpiece and can also realize the continuous rotation of the workpiece. It has a simple structure and convenient layout, which can greatly reduce the footprint of the device and facilitate integration into automated production lines.

[0052] like Figure 5 and Figure 6 As shown, in this embodiment, the bevel gear set 472 includes four bevel gears 475, and the four bevel gears 475 are arranged opposite to each other in pairs to form two pairs of bevel gear sets. The two pairs of bevel gear sets are arranged perpendicular to each other, so that the four bevel gears 475 are meshed with each other in pairs, and the two bevel gears 475 of one pair of bevel gear sets are respectively installed on the intermediate shaft II 473 and the intermediate shaft III 474, and the two bevel gears 475 of the other pair of bevel gear sets are installed on the planetary carrier 471.

[0053] Specifically, in this embodiment, a square accommodating cavity is provided in the planet carrier, and four bevel gears are provided in the square accommodating cavity. The four bevel gears are arranged opposite to each other in pairs to form two bevel gear sets, wherein the two bevel gears of one pair of bevel gear sets are respectively fixedly connected to the intermediate shaft II and the intermediate shaft III, and the intermediate shaft II and the intermediate shaft III can be a structure processed as one piece with the bevel gears, or can be a one-piece structure assembled by welding or other methods of split structures, and the other ends of the intermediate shaft II and the intermediate shaft III are provided with a threaded connection structure or other connection structures, so that the intermediate shaft II is connected to the connecting shaft of the first gear II, and the intermediate shaft III is connected to the first output shaft. The two bevel gears of the other pair of bevel gear sets are arranged opposite to each other and are installed on the planet carrier through the bevel gear shaft, and the axes of the two pairs of bevel gear sets are arranged vertically, so that the two bevel gears of one pair of bevel gear sets are respectively meshed with the two bevel gears of the other pair of bevel gear sets. In this embodiment, the use of bevel gear sets simplifies the structure, is convenient for layout, can greatly reduce the space size of the device, and has efficient transmission performance, thereby improving the performance of the equipment.

[0054] like Figure 7 As shown, a jaw assembly groove 60 is provided on the outer end face of the outer gear ring 6 along the radial direction, the jaw assembly 7 is arranged in the jaw assembly groove 60, a planar thread groove 72 is provided on the jaw assembly 7, and a planar thread 50 is provided on the gear ring surface of the inner gear ring 5 that meshes with the planar thread groove 72 on the jaw assembly 7. The relative rotation of the inner gear ring 5 and the outer gear ring 6 can drive the jaw assembly 7 to move in the jaw assembly groove 60 along the radial direction of the gear ring.

[0055] Specifically, in this embodiment, the jaw assembly adopts a three-jaw clamping mechanism, and three jaw assembly slide grooves are provided on the outer end face of the outer gear ring 6 in the radial direction. The three jaw assembly slide grooves are evenly distributed circumferentially, and the jaw assembly is provided with a flat thread groove. The gear ring surface of the inner gear ring is provided with a flat thread that meshes with the flat thread groove of the jaw assembly. The relative rotation of the inner gear ring and the outer gear ring can drive the jaw assembly to move in the jaw assembly slide groove along the radial direction of the gear ring, thereby clamping or releasing the workpiece. In this embodiment, the jaw assembly adopts a three-jaw clamping mechanism, which can achieve automatic centering of the clamped workpiece, thereby ensuring processing quality and operational stability.

[0056] like Figure 1 and Figure 2 As shown, driving teeth are provided on the outer ring walls of the outer gear ring 6 and the inner gear ring 5.

[0057] Specifically, in this embodiment, driving teeth are provided on the outer ring walls of the outer gear ring and the inner gear ring, and the first driving gear and the second driving gear are respectively meshed with the driving teeth on the inner gear ring and the outer gear ring, so that the inner gear ring and the outer gear ring can be directly driven to rotate by the first driving gear and the second driving gear. By directly meshing with the inner and outer gear rings and driving them to rotate, the first and second driving gears not only simplify the structure and reduce the size of the equipment, but also have higher transmission efficiency.

[0058] like Figure 1 and Figure 2 As shown, the mounting base 1 includes a base fixing portion 10 and a gear ring mounting portion 11;

[0059] The base fixing portion 10 and the gear ring mounting portion 11 are vertically arranged, and the gear ring mounting portion 11 is provided with a workpiece clearance hole 12 adapted to the inner diameter of the gear ring;

[0060] The inner gear ring 5 is mounted on the gear ring mounting portion 11 via a bearing.

[0061] Specifically, the mounting base can be an integrated structure or a split structure, including a base fixing part and a gear ring mounting part that are arranged perpendicular to each other. The base fixing part is arranged horizontally for mounting and fixing the entire device. The base fixing part can be directly fixed on the ground and fixed mounting platform and other structures to achieve fixed installation of the device. The base fixing part can also be installed on a mounting platform such as a rotary table or a translation table to expand the degree of freedom of the device and thus achieve the movement requirements of multiple degrees of freedom. A gear ring mounting part is arranged on the base fixing part, and a workpiece clearance hole corresponding to the inner diameter of the gear ring is arranged on the gear ring mounting part. The inner gear ring is installed on the gear ring mounting part through a bearing, so that the inner gear ring can rotate on the gear ring mounting part.

[0062] Furthermore, the inner gear ring 5 and the outer gear ring 6 are connected via a sliding bearing.

[0063] Specifically, in this embodiment, the inner gear ring and the outer gear ring are connected via a sliding bearing, thereby enabling the inner gear ring and the outer gear ring to rotate relative to each other smoothly.

[0064] Furthermore, the clamping jaw assembly 7 includes a clamping jaw base 70 and a clamping jaw 71 . The clamping jaw base 70 is disposed in the clamping jaw assembly slide slot 60 , and the clamping jaw 71 is fixed on the clamping jaw base 70 .

[0065] Specifically, in this embodiment, Figure 7 As shown, the clamp base is a long block structure, the bottom surface of the clamp base is processed with a flat threaded tooth groove structure, the two side surfaces of the clamp base are processed with grooves arranged along the length direction, and a strip-shaped protrusion structure is provided on the inner wall of the clamp assembly slide groove. When the clamp base is set in the clamp assembly slide groove, the strip-shaped protrusion structure can extend into the grooves on both sides of the clamp base to guide the clamp base, so that the clamp base can slide in the clamp assembly slide groove. The clamp 71 includes a vertically arranged clamp fixing portion 710 and a clamp clamping portion 711. The clamp fixing portion 710 is fixed to the clamp base by bolts and other structures, and the clamp clamping portion 711 is arranged along the central axis direction of the gear ring, so that the workpiece can be clamped or released under the drive of the clamp base. By setting the clamp clamping portion, the clamping area of ​​the clamp assembly and the workpiece can be increased to ensure the stability of clamping.

[0066] Furthermore, the first input shaft 40 and the second output shaft 43 are an integral shaft structure.

[0067] Specifically, if Figure 3 and Figure 4 As shown, in this embodiment, the first input shaft and the second output shaft are an integrated shaft structure, which can further simplify the structure of the device and reduce the volume of the device.

[0068] In the present application, the differential mechanism may also adopt a planetary gear structure or a synchronous pulley set, and the clamping assembly may also adopt a connecting rod, a cam, a lead screw, and other structures to realize the opening or closing of the clamping jaws. In the present application, the clamping force may be controlled by controlling the motor torque of the clamping motor, or by adding a torque sensor to the device.

[0069] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A device that uses a differential mechanism to achieve automatic centering, clamping and continuous rotation of materials, characterized in that: It includes a mounting base, a clamping motor, a rotating motor, a differential mechanism, an inner gear ring, an outer gear ring and a clamping jaw assembly; The differential mechanism is mounted on the mounting base; the inner gear ring and the outer gear ring are also mounted on the mounting base; a plurality of clamping claw assemblies are arranged in the circumferential direction of the outer gear ring; the central area of ​​the inner gear ring and the outer gear ring is the clamping area; The differential mechanism comprises a first input shaft, a second input shaft, a first output shaft, a second output shaft and a differential transmission assembly; the rotating motor is connected to the first input shaft, and the clamping motor is connected to the second input shaft; the first output shaft is provided with a first driving gear; the second output shaft is provided with a second driving gear; When the rotating motor is in a non-rotating state and the clamping motor is in a rotating state, the clamping motor drives the inner ring gear to rotate relative to the outer ring gear through the second input shaft, the differential transmission assembly, the first output shaft and the first drive gear, thereby driving the clamping jaw assembly provided on the outer ring gear to close or open; when the clamping motor is in a non-rotating state and the rotating motor is in a rotating state, the rotating motor drives the inner ring gear and the outer ring gear to rotate synchronously through the first input shaft, the differential transmission assembly, the first output shaft, the second output shaft, the first drive gear and the second drive gear.

2. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: The differential transmission assembly includes a first gear set, a second gear set and a planetary gear set; The first gear set includes a first gear I and a first gear II meshing with each other, and the first gear I is mounted on the first input shaft; The second gear set includes a second gear I, a second gear II and a second gear III, the second gear I is mounted on the second input shaft, and the second gear II and the second gear III are coaxially mounted on both ends of the intermediate shaft I; The planetary gear set includes a sun gear, a planet carrier and a bevel gear set. A rotating shaft sleeve I and a rotating shaft sleeve II are respectively provided on both sides of the planet carrier. An intermediate shaft II and an intermediate shaft III are respectively installed in the rotating shaft sleeve I and the rotating shaft sleeve II. One end of the intermediate shaft II and the intermediate shaft III are respectively connected to the bevel gear set arranged in the planet carrier. The first gear II is also installed on the intermediate shaft II. A sun gear is respectively installed on the rotating shaft sleeve I and the rotating shaft sleeve II. The second gear I, the second gear II and the sun gear arranged on the rotating shaft sleeve I are meshed in sequence. The second gear III is meshed with the sun gear arranged on the rotating shaft sleeve II; the intermediate shaft III is connected to the first output shaft.

3. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 2, characterized in that: The bevel gear set includes four bevel gears, and the four bevel gears are arranged opposite to each other in pairs to form two pairs of bevel gear sets. The two pairs of bevel gear sets are arranged perpendicular to each other so that the four bevel gears are meshed with each other in pairs. The two bevel gears of one pair of bevel gear sets are respectively installed on the intermediate shaft II and the intermediate shaft III, and the two bevel gears of the other pair of bevel gear sets are installed on the planet carrier.

4. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: A jaw assembly groove is provided on the outer end face of the outer gear ring along the radial direction, the jaw assembly is arranged in the jaw assembly groove, a planar thread groove is provided on the jaw assembly, and a planar thread meshing with the planar thread groove on the jaw assembly is provided on the gear ring surface of the inner gear ring. The relative rotation of the inner gear ring and the outer gear ring can drive the jaw assembly to move in the jaw assembly groove along the radial direction of the gear ring.

5. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: Driving teeth are arranged on the outer ring walls of the outer gear ring and the inner gear ring.

6. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: The mounting base includes a base fixing portion and a gear ring mounting portion; The base fixing part and the gear ring mounting part are arranged vertically, and the gear ring mounting part is provided with a workpiece clearance hole adapted to the inner diameter of the gear ring; The inner gear ring is mounted on the gear ring mounting portion via a bearing.

7. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 6, characterized in that: The inner gear ring and the outer gear ring are connected via a sliding bearing.

8. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: The clamping jaw assembly comprises a clamping jaw base and a clamping jaw, wherein the clamping jaw base is arranged in a sliding groove of the clamping jaw assembly, and the clamping jaw is fixed on the clamping jaw base.

9. The device for realizing automatic centering, clamping and continuous rotation of materials by using a differential mechanism according to claim 1, characterized in that: The first input shaft and the second output shaft are an integrated shaft structure.

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