Self-adaptive in-situ steering supporting device for mirror image milling

Abstract

The invention discloses a self-adaptive in-situ steering supporting device for mirror image milling, which comprises a mounting mechanism, a driving mechanism, a driving mechanism, a driving mechanism and a driving mechanism, and is characterized in that the mounting mechanism comprises an upper mounting plate and a lower mounting plate; central round holes are formed in the upper and lower mounting plates; the planet wheel mechanism comprises a central shaft and at least two gear pairs; each gear pair comprises two gears, namely an idle gear and a planet gear; the central shaft penetrates through the lower central circular hole from the bottom; one section of the upper part of the central shaft is a gear section, the gear section is a sun gear, and the sun gear is positioned between the upper mounting plate and the lower mounting plate; gear shafts at the upper ends and the lower ends of all the gears are rotatably mounted on the upper mounting plate and the lower mounting plate; the sun gear is meshed with the idle gears, and each idle gear is meshed with the corresponding planet gear; the sun gear and all the gears are consistent in specification and size; the top end of the center shaft and the top end of each planet wheel are each provided with a support, each spherical roller is installed on one support through a pin shaft, and the pin shafts are horizontally arranged. And all the brackets are consistent in orientation and posture.

Description

Technical Field

[0001] The invention belongs to the field of intelligent manufacturing / structural design, and in particular relates to an adaptive in-situ steering support device for mirror milling processing. Background Art

[0002] Milling of large-sized thin-walled components is a difficult problem in the field of advanced manufacturing. Such components are more prone to deformation and vibration during processing. In order to reduce the deformation and vibration problems during processing, it is necessary to provide support for the workpiece during the milling of thin-walled components. The milling process of thin-walled components is supported by a support mechanism. The processing effect of this support method depends on the structural design of the support head on the support mechanism. In order to ensure that the support head is always in contact with the thin-walled component and provide a certain support force, the support head needs to have flexible rolling ability and sufficient flexibility.

[0003] Existing support head solutions often use magnetorheological fluid and vibration-type cylinders to provide flexibility for the support head. The specific method is to adjust the damping of the magnetorheological fluid by changing the magnetic field, or to change the stiffness of the needle-type cylinder by changing the air pressure. Universal ball bearings are set at the ends of the magnetorheological fluid damper and the cylinder to ensure the rolling ability of the support head on the surface of the thin-walled component.

[0004] The existing support head structure mainly relies on universal ball bearings and rubber rollers to achieve rolling, and both methods have their own disadvantages. The structure of the universal ball bearing is rigid, and it will scratch the workpiece when rolling on the surface of the thin-walled component, reducing the surface quality of the workpiece on the support side. The structure of the rubber roller is soft but can only roll in a fixed direction and cannot move freely along the surface of the thin-walled component. This kind of support head will interfere with the end movement of the support robot, and put forward high requirements for the motion trajectory planning of the support robot.

[0005] Therefore, providing a support device for the rubber roller with adaptive in-situ steering has become a problem that needs to be solved in the industry. Summary of the invention

[0006] In order to solve the deficiencies in the prior art, the main purpose of the present invention is to provide an adaptive in-situ steering support device for mirror milling processing.

[0007] In order to achieve the above main purpose, the present invention discloses an adaptive in-situ steering support device for mirror milling, which comprises:

[0008] The mounting mechanism comprises an upper mounting plate and a lower mounting plate; a screw hole column is arranged on the upper mounting plate or the lower mounting plate, and the screw hole column is located between the upper mounting plate and the lower mounting plate; an upper central circular hole is arranged on the upper mounting plate, and a lower central circular hole is arranged on the lower mounting plate;

[0009] A planetary gear mechanism, comprising a central shaft and at least two gear pairs; each gear pair comprises two gears, namely an intermediate gear and a planetary gear; the central shaft passes through the lower central circular hole from the bottom, a section of the upper portion of the central shaft is a gear section, the gear section is a sun gear, and the sun gear is located between an upper mounting plate and a lower mounting plate; the gear shafts at the upper and lower ends of the gear can be rotatably mounted on the upper mounting plate and the lower mounting plate; the sun gear meshes with the intermediate gear, and each intermediate gear meshes with its corresponding planetary gear; the specifications and dimensions of the sun gear and all the gears are consistent;

[0010] A plurality of spherical rollers, a bracket is installed at the top of the central shaft and the top of each planetary wheel, each spherical roller is installed on a bracket through a pin shaft, and the pin shaft is arranged horizontally; all brackets have the same orientation posture.

[0011] In this specification, mirror milling refers to: using mirrored / symmetrically arranged mechanisms to process thin walls, common forms include milling one end and supporting the other end and milling both ends simultaneously. The scenario targeted by the present invention is milling one end and supporting the other end.

[0012] In the present invention, the intermediate gear refers to a gear sandwiched between the sun gear and the planetary gear for reversing.

[0013] In the present invention, the bracket can not only ensure the flexible rolling of the supporting device, but also provide sufficient flexibility and supporting force for the supporting device, thereby meeting the supporting requirements for processing thin-walled components.

[0014] In the present invention, the sun gear, intermediate gear and planetary gear in the planetary gear mechanism have the same size and the same amplitude of the rotation angle during rotation, thereby ensuring that all brackets have the same orientation at any time; and further ensuring that all spherical rollers have the same orientation at any time.

[0015] In the present invention, the support device fully utilizes the motion of the robot end flange which is usually idle to realize adaptive steering, and the motion direction of the spherical rubber roller on the support device is consistent with the motion direction of the robot end flange.

[0016] In the present invention, the supporting device is connected to the fifth connecting rod of the robot through a connecting sleeve and a fixing clamp, and the posture invariance of the fifth connecting rod of the robot during the movement of the robot is utilized to ensure reliable movement during the adaptive in-situ rotation process.

[0017] The support device of the present invention uses a plurality of spherical rollers to provide adaptive in-situ steering support, and the rolling direction of the spherical rollers automatically adapts to the feeding direction of the robot end. When the rolling direction of the spherical rollers changes, the center of the rollers remains in place. The support device can move freely along the surface of the thin-walled component and provide stable support for the thin-walled component.

[0018] The support device of the present invention can be used as the end effector of the support mechanism in mirror milling (a device connected to the end of a robot and used to perform specific work), providing support for the milling process of large-sized thin-walled components.

[0019] The support device of the present invention can provide adaptive in-situ rotation support, ensure the milling precision of thin-walled components, reduce the vibration during milling, and improve the quality of milling surface processing. "Adaptive" means that the forward direction of the support device automatically matches the running direction of the robot end; "in-situ rotation" means that when the support point (spherical roller) on the support device rotates, the position of the spherical roller remains unchanged.

[0020] According to a specific embodiment of the present invention, it further includes a shell, which includes a thick cylinder on the top and a thin cylinder on the bottom, and the thick cylinder and the thin cylinder are coaxial; a bottom plate is provided at the bottom of the thick cylinder, a circular hole is opened in the center of the bottom plate, and the edge of the circular hole is connected to the top of the thin cylinder; the mounting mechanism is located inside the thick cylinder, and the lower mounting plate is fixedly connected to the bottom plate; the central axis passes through the thin cylinder.

[0021] According to a specific embodiment of the present invention, the shell further includes a cover plate, which covers the thick cylinder and is fixedly connected to the edge of the thick cylinder; the cover plate is provided with a hole for the spherical roller to extend out.

[0022] According to a specific embodiment of the present invention, the spherical roller is a spherical rubber roller.

[0023] According to a specific implementation of the present invention, a plurality of gear mounting holes are provided on the upper mounting plate and the lower mounting plate, and the gear shafts at the upper and lower ends of all the gears are installed in the corresponding gear mounting holes.

[0024] According to a specific embodiment of the present invention, the three axes of the sun gear and any two gears of the gear pair are arranged in a triangle (the three axes are not collinear, that is, the planetary gears are offset). The offset design of the planetary gear position can significantly reduce the size of the support device and improve the stability of the movement process.

[0025] According to a specific embodiment of the present invention, the maximum angle of the triangle is 90°-110°.

[0026] According to a specific embodiment of the present invention, the number of the gear pairs is four.

[0027] According to a specific implementation of the present invention, the sun gear and the four gear pairs are arranged in a nine-square grid, with the sun gear located in the center and the four planetary gears located at the four corners.

[0028] According to a specific embodiment of the present invention, the bottom end of the central shaft is fixedly connected to the end flange of the milling robot.

[0029] The present invention has the following beneficial effects:

[0030] Compared with a single set of rubber roller support heads, the support device of the present invention can move freely on the surface of thin-walled components, and the forward direction of the support head automatically adapts to the direction of the robot end; compared with a universal ball bearing support head, the support device of the present invention uses rubber rollers to provide in-situ support, which can protect the processed side surface of the component while ensuring the stability of the support.

[0031] In order to more clearly illustrate the purpose, technical solutions and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 is a schematic diagram of the overall structure of the support device of Example 1;

[0033] Figure 2 is a partial structural schematic diagram of the support device of Example 1, which is relative to Figure 1 The robot connectors are hidden;

[0034] Figure 3 is an exploded view of the mounting mechanism in Example 1;

[0035] Figure 4 is an exploded view of the housing in Example 1;

[0036] Figure 5 is a partial structural schematic diagram of a housing in Embodiment 1;

[0037] Figure 6 is a top view of the planetary gear mechanism in Embodiment 1;

[0038] Figure 7 is a schematic diagram of the overall structure of the planetary gear mechanism in Example 1;

[0039] Figure 8 It is a schematic diagram of the exploded view of the planetary gear mechanism in Example 1. DETAILED DESCRIPTION

[0040] In the following description, many specific details are explained in conjunction with the embodiments to facilitate a full understanding of the present invention. However, it should be understood that the following embodiments and detailed descriptions are only for illustrative purposes and do not limit the scope of protection of the present invention.

[0041] Example 1

[0042] like Figure 1-Figure 8 As shown, this embodiment provides an adaptive in-situ steering support device for mirror milling processing, such as Figure 1-Figure 2 As shown, it includes: a mounting mechanism 1, a planetary gear mechanism 2, a plurality of spherical rollers (such as spherical rubber rollers 3), a shell 4, and a robot connector 5.

[0043] like Figure 3 As shown, the mounting mechanism 1 includes an upper mounting plate 11 and a lower mounting plate 12; a screw hole column 111 is provided on the upper mounting plate 11, and a screw hole 121 is correspondingly provided on the lower mounting plate 12, and the screw hole column 111 is located between the upper mounting plate 11 and the lower mounting plate 12; an upper central circular hole 112 is provided on the upper mounting plate 11, and a lower central circular hole 122 is provided on the lower mounting plate 12; 8 gear mounting holes 101 are provided on the upper mounting plate 11 and the lower mounting plate 12, and the gear shafts at the upper and lower ends of all gears are installed in the corresponding gear mounting holes 101.

[0044] like Figure 6-Figure 8 As shown, the planetary gear mechanism 2 includes a central shaft 21 and four gear pairs 22; each gear pair 22 includes two gears, namely an intermediate gear 221 and a planetary gear 222; the central shaft 21 passes through the lower central circular hole 122 from the bottom, and a section of the upper part of the central shaft 21 is a gear section, which is a sun gear 211, and the sun gear 211 is located between the upper mounting plate 11 and the lower mounting plate 12; the sun gear 211 is meshed with four intermediate gears 221, and each intermediate gear 221 is meshed with its corresponding planetary gear 222; the specifications and sizes of the sun gear 211 and all the gears are consistent; the sun gear 211 and the two gears of any gear pair are arranged in a triangle with three axes, and the maximum angle of the triangle is 100°. The sun gear 211 and the four gear pairs are arranged in a nine-square grid, with the sun gear 211 located in the center and the four planetary gears located at the four corners.

[0045] like Figure 4-Figure 5 As shown, the housing 4 includes a thick cylinder 401 at the top, a thin cylinder 402 at the bottom, and a cover plate 403. The thick cylinder 401 and the thin cylinder 402 are coaxial. A bottom plate 404 is provided at the bottom of the thick cylinder 401. A circular hole 405 is opened at the center of the bottom plate 404. The edge of the circular hole 405 is connected to the top of the thin cylinder 402. The mounting mechanism 1 is located inside the thick cylinder 401. The lower mounting plate 12 is fixedly connected to the bottom plate 404. The central axis 21 passes through the thin cylinder 402. The cover plate 403 covers the thick cylinder 401 and is fixedly connected to the edge of the thick cylinder 401. The cover plate 403 is provided with five holes 406 for the spherical rollers 3 to extend out.

[0046] like Figure 1-Figure 2 As shown, a bracket 31 is installed at the top of the central shaft 21 and the top of each planetary wheel 222, and each spherical rubber roller 3 is installed on a bracket 31 through a pin, and the pin is set horizontally; all brackets 31 are oriented in the same direction.

[0047] like Figure 2 As shown, the bottom end of the central axis 21 is fixedly connected to the robot end flange 6. The axis positions of the lower mounting plate 12 and the robot end flange 6 coincide with each other but their postures are not related, allowing the support device to achieve in-situ steering and maintain a stable support position.

[0048] like Figure 1 As shown, the robot connecting member 5 includes a connecting sleeve 51 and a fixing clamp 52. The supporting device is connected to the fifth connecting rod of the robot through the connecting sleeve 51 and the fixing clamp 52, and the posture invariance of the fifth connecting rod of the robot during the movement of the robot is used to ensure the reliable movement of the adaptive in-situ rotation process.

[0049] When installing the support device of this embodiment, the central axis 21 of the support device is installed on the robot end flange 6, and the connecting sleeve 51 and the fixing clamp 52 of the support device are installed on the fifth connecting rod of the robot. The initial direction of all brackets 31 should be consistent with the initial direction of the robot end.

[0050] When the support device of this embodiment is used, the robot end is moved along the rotation direction of the five brackets. When the robot end is changed in the forward direction, the robot end flange is rotated to be consistent with the new forward direction, and the rotation direction of the five brackets 31 on the support device is adaptively changed to the new forward direction, and the positions of the five brackets 31 remain unchanged.

[0051] Although the present invention has been described above through embodiments, the above embodiments are only used to exemplarily describe the feasible implementation schemes of the present invention, and are not used to limit the protection scope of the present invention. Any equivalent substitutions or changes made by those skilled in the art in accordance with the present invention should also be covered by the protection scope defined by the claims of the present invention.

Claims

1. An adaptive in-situ steering support device for mirror milling, characterized in that: include: The mounting mechanism comprises an upper mounting plate and a lower mounting plate; a screw hole column is provided on the upper mounting plate or the lower mounting plate, and the screw hole column is located between the upper mounting plate and the lower mounting plate; an upper central circular hole is provided on the upper mounting plate, and a lower central circular hole is provided on the lower mounting plate; A planetary gear mechanism, comprising a central shaft and at least two gear pairs; each of the gear pairs comprises two gears, namely an intermediate gear and a planetary gear; the central shaft passes through the lower central circular hole from the bottom; a section of the upper portion of the central shaft is a gear section, the gear section is a sun gear, and the sun gear is located between the upper mounting plate and the lower mounting plate; the gear shafts at the upper and lower ends of the gear can be rotatably mounted on the upper mounting plate and the lower mounting plate; the sun gear is meshed with the intermediate gear, and each intermediate gear is meshed with its corresponding planetary gear; the specifications and sizes of the sun gear and all the gears are consistent; A plurality of spherical rollers, a bracket is installed at the top of the central shaft and the top of each planetary wheel, each spherical roller is installed on one of the brackets through a pin shaft, and the pin shaft is arranged horizontally; all the brackets have the same orientation posture.

2. The adaptive in-situ steering support device according to claim 1, characterized in that: It further includes a shell, which includes a thick cylinder on the top and a thin cylinder on the bottom, and the thick cylinder and the thin cylinder are coaxial; a bottom plate is provided at the bottom of the thick cylinder, a circular hole is opened in the center of the bottom plate, and the edge of the circular hole is connected to the top of the thin cylinder; the mounting mechanism is located inside the thick cylinder, and the lower mounting plate is fixedly connected to the bottom plate; the central axis passes through the thin cylinder.

3. The adaptive in-situ steering support device according to claim 2, characterized in that: The shell further comprises a cover plate, which covers the thick cylinder and is fixedly connected to the edge of the thick cylinder; the cover plate is provided with a hole for the spherical roller to extend out.

4. The adaptive in-situ steering support device according to claim 1, characterized in that: The spherical roller is a spherical rubber roller.

5. The adaptive in-situ steering support device according to claim 1, characterized in that: The upper mounting plate and the lower mounting plate are both provided with a plurality of gear mounting holes, and the gear shafts at the upper and lower ends of all the gears are mounted in the corresponding gear mounting holes.

6. The adaptive in-situ steering support device according to claim 1, characterized in that: The sun gear and the two gears of any gear pair are arranged in a triangle with three axes.

7. The adaptive in-situ steering support device according to claim 6, characterized in that: The maximum angle of the triangle is 90°-110°.

8. The adaptive in-situ steering support device according to claim 1, characterized in that: The number of the gear pairs is four.

9. The adaptive in-situ steering support device according to claim 8, characterized in that: The sun gear and the four gear pairs are arranged in a nine-square grid, with the sun gear located in the center and the four planetary gears located at four corners respectively.

10. The adaptive in-situ steering support device according to claim 1, characterized in that: The bottom end of the central shaft is fixedly connected to the end flange of the milling robot.

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