An adaptive in-situ steering support device for mirror milled machining

Abstract

The application discloses a self-adaptive in-situ steering support device for mirror milling, which comprises a mounting mechanism including an upper mounting plate and a lower mounting plate, wherein the upper mounting plate and the lower mounting plate are both provided with a central circular hole; a planetary gear mechanism including a central shaft and at least two gear pairs; each gear pair includes two gears, namely an intermediate gear and a planetary gear; the central shaft penetrates the lower central circular hole from the bottom; a gear section of the upper part of the central shaft is a sun gear, and the sun gear is located between the upper mounting plate and the lower mounting plate; gear shafts at the upper and lower ends of all the gears are rotatably mounted on the upper mounting plate and the lower mounting plate; the sun gear is engaged with the intermediate gears, and each intermediate gear is engaged with the corresponding planetary gear; the sun gear and all the gears have the same size; a plurality of spherical rollers, a support is mounted on the top end of the central shaft and the top end of each planetary gear, each spherical roller is mounted on a support through a pin shaft, and the pin shaft is horizontally arranged; the orientations of all the supports are consistent.

Description

Technical Field

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

[0002] Milling large, thin-walled components is a challenging problem in advanced manufacturing, as these components are more prone to deformation and chatter during machining. To reduce deformation and chatter during machining, support is needed for the workpiece during milling. Using a support mechanism to hold the thin-walled component during milling is an effective method, but the machining performance depends on the structural design of the support head. To ensure the support head remains in contact with the thin-walled component and provides sufficient support force, the support head needs to have flexible rolling capabilities and ample flexibility.

[0003] Existing support head solutions often use magnetorheological fluids and vibrating cylinders to provide flexibility. Specifically, this is achieved by adjusting the damping of the magnetorheological fluid by changing the magnetic field, or by changing the stiffness of the needle cylinder by changing the air pressure. By placing universal ball bearings at the ends of the magnetorheological fluid damper and the cylinder, the rolling capability of the support head on the surface of thin-walled components can be ensured.

[0004] Existing support head structures primarily rely on universal ball bearings and rubber rollers for rolling, each with its own drawbacks. Universal ball bearings, being rigid, can scratch the workpiece when rolling on thin-walled surfaces, reducing the surface quality of the workpiece on the supported side. Rubber rollers, while flexible, can only roll in a fixed direction and cannot move freely along the surface of thin-walled components. Such support heads interfere with the end effector motion of the support robot, placing high demands on the robot's motion trajectory planning.

[0005] Therefore, providing a support device for adaptive in-situ steering of rubber rollers has become a problem that the industry needs to solve. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the main objective of this invention is to provide an adaptive in-situ steering support device for mirror milling.

[0007] To achieve the aforementioned main objectives, the present invention discloses an adaptive in-situ steering support device for mirror milling, comprising:

[0008] The mounting mechanism includes an upper mounting plate and a lower mounting plate; a stud is provided on the upper mounting plate or the lower mounting plate, and the stud is located between the upper mounting plate and the lower mounting plate; the upper mounting plate is provided with an upper central circular hole, and the lower mounting plate is provided with a lower central circular hole.

[0009] A planetary gear mechanism includes a central shaft and at least two gear pairs; each gear pair includes two gears, namely a median gear and a planet gear; the central shaft passes through a lower central circular hole from the bottom, and the upper part of the central shaft is a gear segment, which is the sun gear, located between an upper mounting plate and a lower mounting plate; the gear shafts at both ends of the gear are rotatably mounted on the upper and lower mounting plates; the sun gear meshes with the median gear, and each median gear meshes with its corresponding planet gear; the sun gear and all gears have the same specifications and dimensions;

[0010] Several spherical rollers are mounted on a bracket at the top of the central shaft and at the top of each planetary gear. Each spherical roller is mounted on a bracket by a pin, which is set horizontally. All brackets are oriented in the same direction.

[0011] In this specification, mirror milling refers to machining thin-walled structures using a mirror / symmetrically arranged mechanism. Common forms include milling at one end and supporting at the other, and milling at both ends simultaneously. This invention addresses the scenario of milling at one end and supporting at the other.

[0012] In this invention, the intermediate gear refers to a gear sandwiched between the sun gear and the planet gears for reversing direction.

[0013] In this invention, the bracket can ensure the flexible rolling of the support device and provide sufficient flexibility and support force for the support device, which can meet the support requirements for the processing of thin-walled components.

[0014] In this invention, the sun gear, intermediate gear, and planet gears in the planetary gear mechanism are of the same size and have the same rotation angle amplitude when rotating, ensuring that all supports are oriented in the same direction at any given time; thus ensuring that all spherical rollers are oriented in the same direction at any given time.

[0015] In this invention, the support device makes full use of the normally idle robot end flange movement to achieve adaptive steering, and the movement direction of the spherical rubber roller on the support device is consistent with the movement direction of the robot end flange.

[0016] In this invention, the support device is connected to the robot's fifth link through a connecting sleeve and a fixing clamp, and the attitude invariance of the robot's fifth link during the robot's movement ensures reliable motion during the adaptive in-situ rotation process.

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

[0018] The support device of the present invention can be used as an end effector of the support mechanism in mirror milling (connected to the end of the robot for performing specific tasks), 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 rotational support, ensuring the milling accuracy of thin-walled components, reducing chatter during milling, and improving the surface finish of the milled parts. "Adaptive" means that the forward direction of the support device automatically matches the running direction of the robot end effector; "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, the device further includes a housing, which includes an upper coarse cylinder and a lower fine cylinder, the coarse cylinder and the fine cylinder being coaxial; a bottom plate is provided at the bottom of the coarse 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 fine cylinder; an installation mechanism is located inside the coarse cylinder, and a lower installation plate is fixedly connected to the bottom plate; a central shaft passes through the fine cylinder.

[0021] According to one specific embodiment of the present invention, the housing further includes a cover plate that covers the coarse cylinder and is fixedly connected to the edge of the coarse cylinder; the cover plate is provided with holes for the spherical roller to extend out.

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

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

[0024] According to one specific embodiment of the present invention, the sun gear and any two gears of the gear pair are arranged in a triangular configuration on their three axes (the three axes are not collinear, i.e., the planetary gears are offset). This offset planetary gear design can significantly reduce the size of the support device and improve the stability of the movement process.

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

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

[0027] According to one specific embodiment of the present invention, the sun gear and four planetary gear pairs are arranged in a 3x3 grid, with the sun gear located in the center and the four planetary gears located at the four corners respectively.

[0028] According to one 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 to 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's end effector. Compared to a universal ball bearing support head, the support device of the present invention uses rubber rollers to provide in-situ support, which can ensure the stability of the support while protecting the machined side surface of the component.

[0031] To more clearly illustrate the purpose, technical solution, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. Attached Figure Description

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

[0033] Figure 2 This is a partial structural schematic diagram of the support device in Embodiment 1, which is relative to... Figure 1 The robot connectors have been removed;

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

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

[0036] Figure 5 This is a partial structural diagram of the shell in Embodiment 1;

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

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

[0039] Figure 8 This is an exploded view of the planetary gear mechanism in Example 1. Detailed Implementation

[0040] Many specific details are set forth in the following description in conjunction with embodiments in order to provide a full understanding of the invention. However, it should be understood that the following embodiments and detailed descriptions are for illustrative purposes only and do not limit the scope of protection of the invention.

[0041] Example 1

[0042] like Figures 1-8 As shown, this embodiment provides an adaptive in-situ steering support device for mirror milling, such as... Figures 1-2 As shown, it includes: a mounting mechanism 1, a planetary gear mechanism 2, several spherical rollers (e.g., spherical rubber rollers 3), a housing 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 stud 111 is provided on the upper mounting plate 11, and a corresponding screw hole 121 is provided on the lower mounting plate 12, with the stud 111 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; both the upper mounting plate 11 and the lower mounting plate 12 are provided with 8 gear mounting holes 101, and the gear shafts at both ends of all gears are installed in the corresponding gear mounting holes 101.

[0044] like Figures 6-8 As shown, the planetary gear mechanism 2 includes a central shaft 21 and four gear pairs 22. Each gear pair 22 includes two gears: a median gear 221 and a planetary gear 222. The central shaft 21 passes through a lower central circular hole 122 from the bottom. The upper part of the central shaft 21 is a gear segment, which is the sun gear 211. The sun gear 211 is located between the upper mounting plate 11 and the lower mounting plate 12. The sun gear 211 meshes with the four median gears 221, and each median gear 221 meshes with its corresponding planetary gear 222. The sun gear 211 and all gears have the same dimensions. The sun gear 211 and the two gears of any gear pair are arranged in a triangular pattern along their three axes, with the maximum angle of the triangle being 100°. The sun gear 211 and the four gear pairs are arranged in a 3x3 grid, with the sun gear 211 located in the center and the four planetary gears located at the four corners.

[0045] like Figures 4-5 As shown, the housing 4 includes an upper coarse cylinder 401, a lower fine cylinder 402, and a cover plate 403. The coarse cylinder 401 and the fine cylinder 402 are coaxial. The bottom of the coarse cylinder 401 is provided with a base plate 404, and a circular hole 405 is opened in the center of the base plate 404. The edge of the circular hole 405 is connected to the top of the fine cylinder 402. The mounting mechanism 1 is located inside the coarse cylinder 401, and the lower mounting plate 12 is fixedly connected to the base plate 404. The central shaft 21 passes through the fine cylinder 402. The cover plate 403 covers the coarse cylinder 401 and is fixedly connected to the edge of the coarse cylinder 401. The cover plate 403 is provided with five holes 406 for the spherical rubber roller 3 to extend out.

[0046] like Figures 1-2 As shown, a bracket 31 is installed at the top of the central shaft 21 and at the top of each planetary gear 222. Each spherical rubber roller 3 is mounted on a bracket 31 by 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 shaft 21 is fixedly connected to the robot end flange 6. The lower mounting plate 12 coincides with the axis of the robot end flange 6 but their attitudes are unrelated, allowing the support device to achieve in-situ turning while maintaining a stable support position.

[0048] like Figure 1 As shown, the robot connector 5 includes a connecting sleeve 51 and a fixing clamp 52. The support device is connected to the robot's fifth link through the connecting sleeve 51 and the fixing clamp 52, and the attitude invariance of the robot's fifth link during the robot's movement ensures reliable motion during the adaptive in-situ rotation process.

[0049] When installing the support device of this embodiment, the central shaft 21 of the support device is mounted on the robot end flange 6, and the connecting sleeve 51 and fixing clamp 52 of the support device are mounted on the robot's fifth link. The initial orientation of all brackets 31 should be consistent with the initial orientation of the robot end.

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

[0051] Although the present invention has been described above by way of embodiments, the above embodiments are only used to exemplify possible implementations of the present invention and are not intended to limit the scope of protection 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 scope of protection 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 includes an upper mounting plate and a lower mounting plate; a stud is provided on the upper mounting plate or the lower mounting plate, and a corresponding screw hole is provided on the lower mounting plate or the upper mounting plate; the stud is located between the upper mounting plate and the lower mounting plate; the upper mounting plate is provided with an upper central circular hole, and the lower mounting plate is provided with a lower central circular hole. A planetary gear mechanism includes a central shaft and at least two gear pairs; each gear pair includes two gears, namely a median gear and a planet gear; the central shaft passes through the lower central circular hole from the bottom; the upper part of the central shaft is a gear segment, which is a sun gear, located between an upper mounting plate and a lower mounting plate; the gear shafts at both ends of the gear are rotatably mounted on the upper and lower mounting plates; the sun gear meshes with the median gear, and each median gear meshes with its corresponding planet gear; the sun gear and all gears have the same specifications and dimensions; A plurality of spherical rollers are provided, with a bracket mounted on the top of the central shaft and the top of each planetary gear. Each spherical roller is mounted on a bracket by a pin, and the pin is horizontally positioned. All the brackets are oriented in the same manner.

2. The adaptive in-situ steering support device according to claim 1, characterized in that, The device further includes a housing, which comprises an upper coarse cylinder and a lower fine cylinder, the coarse cylinder and the fine cylinder being coaxial; the bottom of the coarse cylinder is provided with a base plate, the center of the base plate having a circular hole, the edge of the circular hole being connected to the top of the fine cylinder; the mounting mechanism is located inside the coarse cylinder, the lower mounting plate being fixedly connected to the base plate; the central shaft passes through the fine cylinder.

3. The adaptive in-situ steering support device according to claim 2, characterized in that, The housing further includes a cover plate that covers the coarse cylinder and is fixedly connected to the edge of the coarse cylinder; the cover plate is provided with holes 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, Both the upper mounting plate and the lower mounting plate are provided with a number of gear mounting holes, and the gear shafts at both ends of all the gears are installed 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 any two gears of the gear pair are arranged in a triangular configuration along their 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 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 planetary gear pairs are arranged in a 3x3 grid, with the sun gear located in the center and the four planetary gears located at the four corners.

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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