Device for realizing automatic centering and clamping of materials by differential mechanism and continuous rotation

Abstract

This invention discloses a device for automatic centering and clamping of materials with continuous rotation using a differential mechanism. The device includes a mounting base, a clamping motor, a rotary motor, a differential mechanism, an inner gear ring, an outer gear ring, and a gripper assembly. The clamping motor and rotary motor are connected to the differential mechanism. Changing the operating state of the clamping motor and rotary motor allows for relative or synchronous rotation of the inner and outer gear rings, thereby achieving clamping or rotation of the workpiece. This invention enables precise automatic centering and clamping of larger materials while allowing for continuous rotation. It solves the problems of other structures, such as the inability to achieve continuous rotation due to pipeline layout, poor safety of electrical synchronous control, and the limited clamping stroke and inability to clamp large-diameter materials in pneumatic (hydraulic) structures. The device has a simple structure, convenient layout, and can significantly reduce the device's footprint, facilitating integration into automated production lines.

Description

Technical Field

[0001] This invention relates to the field of large material clamping technology, and in particular to a device that uses a differential mechanism to achieve automatic centering and clamping of materials and continuous rotation. Background Technology

[0002] In aerospace, weaponry, and other industries, there is a frequent need for automatic centering, clamping, and rotation of workpieces. Existing technologies generally employ the following structural methods to achieve this:

[0003] 1. The material is centered and clamped using a pneumatic (hydraulic) method to achieve rotation;

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

[0005] 3. A dual-motor synchronous control method is adopted for centering and clamping, and to achieve material rotation;

[0006] 4. The material is rotated by using rollers to lift or clamp it.

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

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

[0009] 2. The method of centering and clamping by arranging the clamping motor (cylinder, etc.) on the rotating mechanism has a large structural footprint, makes it difficult to arrange the motor (cylinder, etc.) pipeline, and has a limited rotation stroke, which cannot achieve continuous rotation and cannot meet the working conditions that require large stroke or continuous rotation.

[0010] 3. The dual-motor synchronous control method for centering and clamping is complex to debug and difficult to control. In case of abnormal synchronous control, the safety of equipment and materials cannot be guaranteed, resulting in poor safety.

[0011] 4. The material rotation is achieved by using rollers to lift or clamp it, but the centering is not accurate 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] This invention provides a device that uses a differential mechanism to automatically center and clamp materials and enable continuous rotation, thereby solving the problems existing in existing centering, clamping, and rotation devices.

[0013] The technical means employed in this invention are as follows:

[0014] A device that uses a differential mechanism to automatically center and clamp materials and can rotate continuously includes a mounting base, a clamping motor, a rotary motor, a differential mechanism, an inner gear ring, an outer gear ring, and a gripper assembly.

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

[0016] The differential mechanism includes a first input shaft, a second input shaft, a first output shaft, a second output shaft, and a differential transmission assembly; the rotary motor is connected to the first input shaft, and the clamping motor is connected to the second input shaft; a first drive gear is provided on the first output shaft; and a second drive gear is provided on the second output shaft.

[0017] When the rotary motor is in a non-rotating state and the clamping motor is in a rotating state, the clamping motor drives the inner gear ring to rotate relative to the outer gear ring through the second input shaft, the differential transmission assembly, the first output shaft, and the first drive gear, thereby driving the gripper assembly disposed on the outer gear ring to close or open; when the clamping motor is in a non-rotating state and the rotary motor is in a rotating state, the rotary motor drives the inner gear ring and the outer gear ring 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] Furthermore, 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 that mesh 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 at both ends of the intermediate shaft I.

[0021] The planetary gear set includes a sun gear, a planet carrier, and a bevel gear set. Rotating bushings I and II are respectively located on both sides of the planet carrier. Intermediate shafts II and III are respectively installed inside rotating bushings I and II. One end of each intermediate shaft is connected to the bevel gear set located within the planet carrier. The first gear II is also installed on the intermediate shaft II. A sun gear is installed on each of rotating bushings I and II. The second gear I, the second gear II, and the sun gear on rotating bushing I mesh sequentially. The second gear III meshes with the sun gear on rotating bushing II. The intermediate shaft III is connected to the first output shaft.

[0022] Furthermore, the bevel gear set includes four bevel gears, which are arranged 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 mesh with each other in pairs. Two bevel gears of one pair of bevel gear sets are respectively mounted on the intermediate shaft II and the intermediate shaft III, and two bevel gears of the other pair of bevel gear sets are mounted on the planet carrier.

[0023] Furthermore, the outer end face of the outer gear ring is provided with a gripper assembly groove in the radial direction, the gripper assembly is disposed in the gripper assembly groove, the gripper assembly is provided with a planar threaded groove, the gear ring surface of the inner gear ring is provided with a planar thread that meshes with the planar threaded groove on the gripper assembly, and the relative rotation of the inner gear ring and the outer gear ring can drive the gripper assembly to move in the gripper assembly groove in the radial direction of the gear ring.

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

[0025] Furthermore, the mounting base includes a base fixing part and a gear ring mounting part;

[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 that is adapted to the inner diameter of the gear ring.

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

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

[0029] Furthermore, the gripper assembly includes a gripper base and grippers, the gripper base being disposed in the groove of the gripper assembly, and the grippers being fixed on the gripper base.

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

[0031] Beneficial effects: The device disclosed in this invention, which uses a differential mechanism to achieve automatic centering and clamping of materials and continuous rotation, achieves precise automatic centering and clamping of larger materials while enabling continuous rotation by setting up a differential mechanism, inner gear ring, and outer gear ring. 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) structures, and inability to clamp large-diameter materials. The structure is simple and easy to lay out, which can significantly reduce the occupied size of the device and facilitate integration into automated production lines. Attached Figure Description

[0032] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a first-direction axial view of the device disclosed in this invention, which utilizes a differential mechanism to achieve automatic centering and clamping of materials and allows for continuous rotation.

[0034] Figure 2 This is a second-direction axial view of the device disclosed in this invention, which utilizes a differential mechanism to achieve automatic centering and clamping of materials and allows for continuous rotation.

[0035] Figure 3 This is an axial view of the differential mechanism in the device disclosed in this invention, which utilizes a differential mechanism to achieve automatic centering and clamping of materials and allows for continuous rotation.

[0036] Figure 4 This is a top view of the differential mechanism in this invention;

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

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

[0039] Figure 7 This is a cross-sectional view of the inner toothed ring, outer toothed ring, and gripper assembly in this invention.

[0040] In the diagram: 1. Mounting base; 10. Base fixing part; 11. Gear ring mounting part; 12. Workpiece clearance hole; 2. Clamping motor; 3. Rotary 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 bushing I; 477. Rotating bushing II; 48. Differential gearbox; 5. Inner gear ring; 50. Planar thread; 6. Outer gear ring; 60. Gripper assembly groove; 7. Gripper assembly; 70. Gripper base; 71. Gripper; 710. Gripper fixing part; 711. Gripper holding part; 72. Planar thread tooth groove; 8. First drive gear; 9. Second drive gear. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0042] like Figure 1 , Figure 2 , Figure 3 and Figure 4 As shown, the device disclosed in this invention for automatically centering and clamping materials using a differential mechanism and enabling continuous rotation includes a mounting base 1, a clamping motor 2, a rotary motor 3, a differential mechanism 4, an inner gear ring 5, an outer gear ring 6, and a gripper assembly 7.

[0043] The differential mechanism 4 is mounted on the mounting base 1; the mounting base 1 is also equipped with the inner gear ring 5 and the outer gear ring 6; the outer gear ring 6 is provided with a plurality of gripper assemblies 7 in the circumferential direction; 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 rotary motor 3 is connected to the first input shaft 40, and the clamping motor 2 is connected to the second input shaft 41; a first drive gear 8 is provided on the first output shaft 42; and a second drive gear 9 is provided on the second output shaft 43.

[0045] When the rotary 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 gear ring 5 to rotate relative to the outer gear ring 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 gripper assembly 7 disposed on the outer gear ring 6 to close or open; when the clamping motor 2 is in a non-rotating state and the rotary motor 3 is in a rotating state, the rotary motor 3 drives the inner gear ring 5 and the outer gear ring 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] This invention discloses a device for automatic centering and clamping of materials with continuous rotation using a differential mechanism. By incorporating an inner gear ring, an outer gear ring, a differential mechanism, a clamping motor, and a rotary motor, the clamping motor drives the inner and outer gear rings to rotate relative to each other via the differential mechanism. This, in turn, drives the grippers on the outer gear ring to open or close, clamping or releasing the workpiece. Simultaneously, the rotary motor drives the inner and outer gear rings to rotate synchronously, thereby rotating the clamped workpiece to complete the processing. This device, which utilizes a differential mechanism for automatic centering and clamping of materials with continuous rotation, has a simple structure and convenient layout, significantly reducing the device's footprint. The central area of ​​the inner and outer gear rings serves as the clamping area, increasing the clamping area and facilitating integration into automated production lines. At the same time, it can both clamp the workpiece and 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) structures and inability to clamp large-diameter materials.

[0047] In a specific embodiment, such as 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 that mesh 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 at 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. Rotating bushings I 476 and II 477 are respectively provided on both sides of the planet carrier 471. Intermediate shafts II 473 and III 474 are respectively installed inside rotating bushings I 476 and II 477. One end of intermediate shafts II 473 and III 474 is connected to the bevel gear set 472 located inside the planet carrier 471. A first gear II 451 is also installed on intermediate shaft II 473. A sun gear 470 is installed on each of rotating bushings I 476 and II 477. The second gear I 460, the second gear II 461, and the sun gear 470 on rotating bushing I 476 mesh sequentially. The second gear III 462 meshes with the sun gear 470 on rotating bushing II 477. The intermediate shaft III 474 is connected to the first output shaft 42.

[0051] Specifically, in this application, the differential mechanism further 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, both the first input shaft and the second input shaft can be mounted on the differential gearbox via bearings or other components. The first gear I is mounted on the first input shaft and located outside the differential gearbox, while the second gear I is mounted on the second input shaft and located inside the differential gearbox. An intermediate shaft I is also installed inside the differential gearbox, and second gear II and second gear III are respectively mounted at both ends of the intermediate shaft I inside the differential gearbox. The second gear I and the second gear II mesh with each other. A planetary gear set is also installed inside the differential gearbox. Specifically, as shown... Figure 4 , Figure 5 and Figure 6As shown, the planetary carrier is mounted on the differential gearbox via rotating bushings I and II on both sides. In this embodiment, the rotating bushings and the planetary carrier are an integral structure. The planetary carrier can rotate within the differential gearbox via the rotating bushings. A sun gear is mounted on each of the rotating bushings I and II. The sun gear is located in the differential gearbox and between the inner wall of the differential gearbox and the planetary carrier. The sun gear on rotating bushing I meshes with the second gear II, and the sun gear on rotating bushing II meshes with the second gear III. Intermediate shafts II and III are respectively provided inside rotating bushings I and II. Intermediate shafts II and III can rotate within rotating bushings I and II. One end of intermediate shafts II and III is connected to a bevel gear set located inside the planetary carrier. A first gear II is also mounted on the other end of intermediate shaft II. The first gear II is located outside the differential gearbox and meshes with the first gear I. The other end of intermediate shaft III is connected to the first output shaft, and the first input shaft is connected to the second output shaft. When the rotary motor is rotating and the clamping motor is not rotating, the rotary motor drives the first input shaft to rotate. The first input shaft and the second output shaft are connected, so the first input shaft drives the second output shaft to rotate. The second output shaft can drive the outer gear ring to rotate through the second drive gear. At the same time, the rotary motor drives the first input shaft to rotate. The first gear I on the first input shaft can drive the first gear II to rotate. The first gear II drives the intermediate shaft II to rotate. The intermediate shaft II drives the bevel gear set to rotate. The bevel gear set drives the intermediate shaft III connected to the bevel gear set to rotate. The intermediate shaft III drives the first drive gear to rotate through the first output shaft. In turn, the first drive gear drives the inner gear ring to rotate. In this embodiment, the transmission ratio of each gear set is 1:1, thus realizing the synchronous rotation of the inner gear ring and the outer gear ring driven by the rotary motor. The synchronous rotation of the inner gear ring and the outer gear ring realizes the continuous rotation of the workpiece to be processed (the workpiece to be processed is clamped by the gripper assembly set on the outer gear ring). When the clamping motor is rotating and the rotary motor is not rotating, the first input shaft, the second output shaft, and the second drive gear are all not rotating, so the outer gear ring is stationary (the outer gear ring does not rotate). The clamping motor drives the second gear I to rotate through the second input shaft. Since the second gear I meshes 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 second gear II and the second gear III drive the two sun gears to rotate, and the sun gears drive the planet carrier to rotate. The rotation of the planet carrier can drive the intermediate shaft III to rotate through the bevel gear set in the planet carrier (one end of the intermediate shaft II is not rotating due to the mutual meshing of the first gear I and the first gear II). The intermediate shaft III drives the inner gear ring to rotate relative to the outer gear ring through the first output shaft and the first drive gear. The relative rotation of the inner and outer gear rings can drive the gripper assembly mounted on the outer gear ring to open or close to clamp or release 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 achieve centering and clamping of the workpiece, and at the same time realize the continuous rotation of the workpiece. It has a simple structure, convenient layout, can greatly reduce the occupancy size of the device, and is easy to integrate 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. The four bevel gears 475 are arranged in pairs opposite each other 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 mesh with each other in pairs. Two bevel gears 475 of one pair of bevel gear sets are respectively mounted on the intermediate shaft II 473 and the intermediate shaft III 474, and two bevel gears 475 of the other pair of bevel gear sets are mounted on the planet carrier 471.

[0053] Specifically, in this embodiment, the planetary carrier has a square receiving cavity, within which four bevel gears are arranged in pairs to form two bevel gear sets. The two bevel gears of one pair are fixedly connected to intermediate shafts II and III, respectively. Intermediate shafts II and III can be integrally machined with the bevel gears, or they can be separate structures assembled by welding or other methods. The other ends of intermediate shafts II and III have threaded connections or other connection methods to facilitate connection between intermediate shaft II and the connecting shaft of the first gear II, and between intermediate shaft III and the first output shaft. The two bevel gears of the other pair are arranged opposite each other and mounted on the planetary carrier via bevel gear shafts. The axes of the two pairs of bevel gear sets are perpendicular, allowing the two bevel gears of one pair to mesh with the two bevel gears of the other pair. In this embodiment, the use of bevel gear sets simplifies the structure, facilitates layout, significantly reduces the device's footprint, and provides efficient transmission performance, thus improving the equipment's usability.

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

[0055] Specifically, in this embodiment, the gripper assembly adopts a three-jaw gripping mechanism. Three gripper assembly grooves are provided radially on the outer end face of the outer gear ring 6. The three gripper assembly grooves are evenly distributed circumferentially. The gripper assembly is provided with a planar threaded groove. The gear ring surface of the inner gear ring is provided with a planar thread that meshes with the planar threaded groove of the gripper assembly. The relative rotation of the inner and outer gear rings can drive the gripper assembly to move radially in the gripper assembly grooves, thereby realizing the clamping or releasing of the workpiece. In this embodiment, the gripper assembly adopts a three-jaw gripping mechanism, which can realize automatic centering of the clamped workpiece, thereby ensuring processing quality and stable operation.

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

[0057] Specifically, in this embodiment, the outer ring wall of the outer gear ring and the inner gear ring are provided with driving teeth. The first driving gear and the second driving gear mesh with the driving teeth on the inner gear ring and the outer gear ring, respectively. Thus, 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 their rotation, the structure is simplified and the size of the equipment is reduced, while the transmission efficiency is also high.

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

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

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

[0061] Specifically, the mounting base can be a single-piece structure or a modular assembly, including a base fixing part and a gear ring mounting part arranged perpendicularly to each other. The base fixing part is horizontally positioned for mounting and securing the entire device. The base fixing part can be directly fixed to the ground or a fixed mounting platform to achieve fixed installation of the device. Alternatively, the base fixing part can be mounted on a rotary table or a translational table to extend the device's degrees of freedom and thus meet multi-degree-of-freedom motion requirements. The base fixing part is equipped with a gear ring mounting part, which has workpiece clearance holes adapted to the inner diameter of the gear ring. The inner gear ring is mounted on the gear ring mounting part via bearings, thereby enabling the inner gear ring to rotate on the gear ring mounting part.

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

[0063] Specifically, in this embodiment, the inner gear ring and the outer gear ring are connected by a sliding bearing, thereby enabling smooth relative rotation between the inner gear ring and the outer gear ring.

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

[0065] Specifically, in this embodiment, such as Figure 7 As shown, the gripper base is a long strip-shaped structure. The bottom surface of the gripper base is machined with a planar threaded toothed groove structure, and the two sides of the gripper base are machined with grooves arranged along the length direction. The inner wall of the gripper assembly slide groove is provided with a strip-shaped protrusion structure. When the gripper base is placed in the gripper assembly slide groove, the strip-shaped protrusion structure can extend into the grooves on both sides of the gripper base to guide the gripper base, so that the gripper base can slide in the gripper assembly slide groove. The gripper 71 includes a vertically arranged gripper fixing part 710 and a gripper holding part 711. The gripper fixing part 710 is fixed to the gripper base by bolts or other structures. The gripper holding part 711 is arranged along the central axis of the gear ring, so that the workpiece can be clamped or released under the action of the gripper base. By setting the gripper holding part, the clamping area between the gripper assembly and the workpiece can be increased, ensuring the stability of the clamping.

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

[0067] Specifically, such as Figure 3 and Figure 4 As shown in the figure, in this embodiment, the first input shaft and the second output shaft are an integral shaft structure, which can further simplify the structure of the device and reduce the size of the device.

[0068] In this application, the differential mechanism can also adopt a planetary gear structure or a synchronous belt pulley set, and the clamping assembly can also use a linkage, cam, or lead screw to open or close the gripper. In this application, the clamping force can be controlled by controlling the 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, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions 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 for automatically centering and clamping materials using a differential speed mechanism, capable of continuous rotation, characterized in that: It includes a mounting base, clamping motor, rotary motor, differential mechanism, inner gear ring, outer gear ring, and gripper assembly; The differential mechanism is mounted on the mounting base; the mounting base is also equipped with the inner gear ring and the outer gear ring; the outer gear ring is provided with a plurality of gripper assemblies in the circumferential direction; the central area of ​​the inner gear ring and the outer gear ring is the clamping area; The differential mechanism includes a first input shaft, a second input shaft, a first output shaft, a second output shaft, and a differential transmission assembly; the rotary motor is connected to the first input shaft, and the clamping motor is connected to the second input shaft; a first drive gear is provided on the first output shaft; and a second drive gear is provided on the second output shaft. When the rotary motor is in a non-rotating state and the clamping motor is in a rotating state, the clamping motor drives the inner gear ring to rotate relative to the outer gear ring through the second input shaft, the differential transmission assembly, the first output shaft, and the first drive gear, thereby driving the gripper assembly disposed on the outer gear ring to close or open; when the clamping motor is in a non-rotating state and the rotary motor is in a rotating state, the rotary motor drives the inner gear ring and the outer gear ring 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. 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 that mesh 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 at both ends of the intermediate shaft I. The planetary gear set includes a sun gear, a planet carrier, and a bevel gear set. Rotating bushings I and II are respectively located on both sides of the planet carrier. Intermediate shafts II and III are respectively installed inside rotating bushings I and II. One end of each intermediate shaft is connected to the bevel gear set located within the planet carrier. The first gear II is also installed on the intermediate shaft II. A sun gear is installed on each of rotating bushings I and II. The second gear I, the second gear II, and the sun gear on rotating bushing I mesh sequentially. The second gear III meshes with the sun gear on rotating bushing II. The intermediate shaft III is connected to the first output shaft. The bevel gear set includes four bevel gears, which are arranged 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 mesh with each other in pairs. Two bevel gears of one pair of bevel gear sets are respectively mounted on the intermediate shaft II and the intermediate shaft III, and two bevel gears of the other pair of bevel gear sets are mounted on the planet carrier.

2. The device for automatic centering and clamping of materials and continuous rotation using a differential mechanism as described in claim 1, characterized in that: The outer end face of the outer gear ring is provided with a claw assembly groove in the radial direction. The claw assembly is disposed in the claw assembly groove and has a planar threaded groove. The gear ring surface of the inner gear ring is provided with a planar thread that meshes with the planar threaded groove on the claw assembly. The relative rotation of the inner gear ring and the outer gear ring can drive the claw assembly to move in the radial direction of the gear ring in the claw assembly groove.

3. The device for automatically centering and clamping materials and enabling continuous rotation using a differential mechanism as described in claim 1, characterized in that: The outer ring and the outer ring of the inner ring are provided with driving teeth.

4. The device for automatically centering and clamping materials and enabling continuous rotation using a differential mechanism as described in claim 1, characterized in that: The mounting base includes a base fixing part and a gear ring mounting part; 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 that is adapted to the inner diameter of the gear ring. The inner gear ring is mounted on the gear ring mounting part via a bearing.

5. The device for automatically centering and clamping materials and enabling continuous rotation using a differential mechanism according to claim 4, characterized in that: The inner gear ring and the outer gear ring are connected by a sliding bearing.

6. The device for automatically centering and clamping materials and enabling continuous rotation using a differential mechanism according to claim 1, characterized in that: The gripper assembly includes a gripper base and grippers. The gripper base is disposed in the groove of the gripper assembly, and the grippers are fixed on the gripper base.

7. The device for automatically centering and clamping materials and enabling continuous rotation using a differential mechanism according to claim 1, characterized in that: The first input shaft and the second output shaft are an integral shaft structure.

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