Multidirectional flexible centripetal synchronous movement device and method for realizing synchronous loading

Abstract

The invention discloses a multidirectional flexible centripetal synchronous motion device and a method for realizing synchronous loading, and relates to the technical field of mechanical motion control. The device comprises a control system, a central gear shaft assembly, a multi-type driven shaft, a rack groove sliding block, a punch sliding block assembly, a guide structure, a laser sensor mechanism and a hydraulic power mechanism. And synchronous loading control under various working modes is realized through switching meshing of the central driving shaft and the driven shafts with different heights. The rack groove sliding block is provided with a 45-degree inclined protrusion and matched with an inclined groove in the lower portion of the punch, and circular motion is converted into centripetal motion. The laser sensor detects the displacement deviation of each punch in real time and feeds back the displacement deviation to the control system to automatically adjust pressure output, and synchronous control over the multiple punches is achieved. The device has the advantages of being simple in structure, adjustable in punch number, high in movement synchronization precision, low in cost, convenient and fast to maintain and the like, and is suitable for complex machining scenes such as multi-direction forging and special-shaped part inner cavity forming.

Description

Technical Field

[0001] This invention relates to the field of mechanical motion control technology, and in particular to a multi-directional flexible centripetal synchronous motion device and a method for achieving synchronous loading. Background Technology

[0002] With the development of precision forging, multi-directional stamping, and internal cavity forming technologies for complex structural parts, higher requirements are placed on processing equipment in terms of multi-directionality, synchronization, and adjustability. Especially in scenarios involving the precision machining of inner surfaces of symmetrical or asymmetrical cavities and the internal support and pressing of irregularly shaped tubes, traditional unidirectional or fixed loading structures are difficult to meet the comprehensive requirements of consistency in punch movement trajectory and force balance. Therefore, multi-directional flexible synchronous loading structures have become an important research direction in the current equipment manufacturing field.

[0003] In existing technologies, commonly used centripetal motion structures include three-jaw chucks, hydraulic synchronous loading mechanisms, and pneumatic clamping assemblies. Among these, the three-jaw chuck has a simple structure and is suitable for positioning and clamping general workpieces. However, it relies on manual or a single drive source to control the opening and closing of each jaw, making it difficult to achieve high-precision synchronous movement. Furthermore, the clamping accuracy is significantly affected by manual intervention, making it unsuitable for synchronous loading scenarios requiring high consistency. Hydraulic or pneumatic synchronous mechanisms control the synchronous movement of multiple loading ends through a central hydraulic cylinder or annular oil circuit. While this can achieve centripetal control to some extent, such structures generally suffer from the following drawbacks: 1. Pressure can only be centrally controlled, lacking the ability to fine-tune independent pressure or displacement in each direction; 2. The structure is complex, relying on multiple hydraulic circuits, control valve groups and electronic control systems, resulting in high manufacturing and maintenance costs; 3. The response speed and positioning accuracy are limited by the response lag of the hydraulic system itself, making it difficult to achieve fast and accurate synchronous adjustment; 4. It has strong sealing properties, and the number and layout of punches are difficult to adjust flexibly, lacking flexibility and scalability.

[0004] Against this backdrop, there is an urgent need for a new type of multi-directional flexible centripetal synchronous motion device that can achieve synchronous motion control of multiple punches while maintaining a simple structure and controllable cost. It should have comprehensive capabilities such as adjustable number of punches, switching of meshing modes, and real-time monitoring and feedback, thereby meeting the urgent needs of complex forging processes for precision, flexibility, and reliability. Summary of the Invention

[0005] The technical problem to be solved by this invention is to address the problems of low synchronous control accuracy, fixed number of punches, uneven force distribution, complex structure and high maintenance cost in existing multi-directional loading devices. This invention provides a mechanical device with a simple structure, flexible switching of operating modes, adjustable number of punches, and real-time monitoring and closed-loop control of multi-directional flexible centripetal synchronous motion through laser sensing, so as to achieve precise synchronous loading of multi-directional punches and high consistency forging.

[0006] To solve the above-mentioned technical problems, the present invention provides a multi-directional flexible centripetal synchronous motion device, comprising: The control assembly (100) includes a control system (110) and a servo motor (120). The central gear shaft assembly includes a central drive shaft (210), gear A (211), threaded section (212), and a turbine (220), key (221), turbine gear (222), and turbine drive shaft (223) linked thereto. The turbine (220) is connected to the control system (110) and is used to drive the central drive shaft (210) to move up and down and selectively mesh with different driven shafts. Multiple driven shaft assemblies, including: Type 1 driven shaft (310) is provided with a first gear B (311), a second gear B (312), and a third gear B (313). Type 2 driven shaft (320) is provided with a first gear C and a second gear C; Type 3 driven shaft (330) is equipped with a first gear D and a second gear D; Type 4 driven shaft (340) is equipped with gear G; The plurality of driven shafts (310~340) are evenly distributed around the central driving shaft (210) and mesh with it; The rack and pinion groove slider (510) has a rack structure on the side near the driven shaft and a 45° angled protrusion (511) on the upper part, which is used to convert the circular motion into centripetal displacement. The punch slider assembly includes a punch slider (520), a slanted groove (521), an arc punch (522), and an I-shaped slider (523). The slanted groove (521) at the lower part of the punch and the slanted protrusion (511) of the rack groove slider (510) fit together to realize the centripetal propulsion of the punch. The housing (410) structure and guiding system include an annular groove at the bottom of the housing and an I-shaped groove (420~432) on the side wall of the housing, which are used to constrain the movement direction of the slider and the punch; The laser sensor mechanism (530) includes a laser sensor (533), a transmitter, a receiver and a lens assembly, which are disposed on the top of each punch (522) for real-time detection of the centripetal displacement of the punch; The control system (110) is communicatively connected to the laser sensor (530) and the turbine drive shaft (223), and adjusts the pressure in each direction according to the feedback signal of the sensor, so that multiple punches (522) can move synchronously.

[0007] The central drive shaft (210) can be switched to three different working modes by meshing with the driven shafts (310~340) of different heights to control the punches of different combinations to perform flexible loading and synchronous movement, thereby realizing the centripetal multi-directional synchronous forging function with low cost, high precision and high scalability.

[0008] Optionally, the driven shaft includes four types: Type 1 driven shaft (310): It is equipped with a first gear B (311), a second gear B (312), and a third gear B (313); Type 2 driven shaft (320): It is provided with a first gear C and a second gear C, and a bushing is provided below the second gear; Type 3 driven shaft (330): It is provided with a first gear D and a second gear D, and a shoulder and a bushing are provided below the second gear; Type 4 driven shaft (340): A gear G is provided on the upper part.

[0009] Optionally, the lower part of the rack groove slider (510) is embedded in the groove at the bottom of the housing (410) and can slide clockwise or counterclockwise along the annular groove, thereby driving the punch slider (520) to advance or retract towards the center.

[0010] Optionally, the 45° angled protrusion (511) provided on the rack groove slider (510) engages with the 45° angled groove (521) at the bottom of the punch slider (520) to realize the conversion of the motion direction.

[0011] Optionally, the laser sensor mechanism (530) is irradiated on a preset reference surface of the sliding platform. Its initial position is zero. The synchronization of the punch (522) is determined by detecting the change in the displacement of the laser beam. If there is a difference, the hydraulic pressure is adjusted by the control system (110) to compensate.

[0012] Optionally, the device can operate in three modes: Mode 1: The central driving shaft (210) meshes with the lower gears of the driven shaft (310, 320); Mode 2: The central driving shaft (210) meshes with the gears in the middle of the driven shaft (310, 330); Mode 3: The central driving shaft (210) meshes with the upper gear of the driven shaft (310, 320, 330, 340); Each mode controls a different number and layout of punches (522) to participate in the centripetal motion.

[0013] Optionally, the power mechanism is a hydraulic press, which outputs pressure in the centripetal direction to drive the punch (522) to move synchronously in the centripetal direction.

[0014] Optionally, the number of punches (522) participating in synchronous driving can be adjusted by increasing or decreasing the number of the rack groove slider (510) to achieve flexible processing to adapt to blanks of different shapes.

[0015] Optionally, the control system (110) can adjust the displacement synchronization error of each punch (522) in real time through closed-loop control based on the feedback data of the laser sensor (530), thereby improving the impact accuracy and force uniformity.

[0016] To solve the above-mentioned technical problems, the present invention also provides a method for synchronously loading a punch using any of the aforementioned multi-directional flexible centripetal synchronous motion devices, comprising the following steps: Start the control system (110) to control the turbine (220) to rotate, which in turn drives the central drive shaft (210) to move up and down; Select a meshing target so that the central drive shaft (210) meshes with the driven shaft gear (311~313, etc.) at the corresponding height; The rack groove slider (510) moves clockwise or counterclockwise in the annular groove inside the housing (410); The slider movement is linked with the punch slider (520) through the 45° structure, so that multiple punches (522) move synchronously in the centripetal direction; The laser sensor (530) detects the displacement of each punch in real time and feeds it back to the control system; The control system adjusts the hydraulic press pressure based on the detection data to ensure that the punch displacement remains synchronized; The number of sliders is increased or decreased according to the shape of the target billet to complete the flexible forging process.

[0017] The beneficial effects of the technical solution of this invention are: This invention achieves synchronous displacement of multiple punches along the centripetal direction by meshing a central driving shaft with various types of driven shafts, combined with a rack and pinion groove slider and a 45° inclined plane linkage structure. This effectively solves the problems of uneven force and inconsistent displacement of punches in existing devices, and improves forming accuracy and product consistency.

[0018] This invention, through the detachable design of the rack and pinion groove slider and the three meshing modes of the central gear shaft assembly, allows users to flexibly select different numbers and positions of punches to participate in the work according to the shape of the blank and processing requirements, thereby achieving flexible configuration and high adaptability of the equipment.

[0019] This invention adopts a fully mechanical transmission method, which eliminates the need for complex hydraulic circuits or multi-channel electrical control devices. It features a simple structure, mature processing technology, and clear fault points, significantly reducing manufacturing and maintenance costs and improving equipment stability and maintainability.

[0020] The laser sensors of this invention are deployed on the top of each punch, which can detect their displacement changes in real time. The control system feeds back and adjusts the output of the press, achieving precise synchronous control and effectively improving the system's response speed and operating accuracy.

[0021] The device of this invention is particularly suitable for use in applications such as irregularly shaped blanks, multi-directional loading, or complex internal surface forging, and has good scalability and engineering practical value. Attached Figure Description

[0022] Figure 1 This is the overall structure of the device of the present invention; Figure 2 This is a top view of the device of the present invention; Figure 3 This is a schematic diagram of the central drive shaft of the central component of the present invention; Figure 4 This is a structural schematic diagram of type one of the transmission shafts of the present invention; Figure 5 This is a schematic diagram of the structure of type two of the transmission shaft of the present invention; Figure 6 This is a schematic diagram of the structure of type three of the transmission shaft of the present invention; Figure 7 This is a structural schematic diagram of type four of the transmission shaft of the present invention; Figure 8 These are the front view, side view, and top view of the sliding punch of the present invention; Figure 9 These are the front and top views of the rack groove slider of the present invention; Figure 10 This is a schematic diagram of the meshing state between the central driving shaft and each driven shaft in Mode 1 of the present invention. Figure 11 This is a schematic diagram of the meshing state between the central driving shaft and each driven shaft in Mode 2 of the present invention; Figure 12 This is a schematic diagram of the meshing state between the central driving shaft and each driven shaft in Mode 3 of the present invention. Detailed Implementation

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, but this is not intended to limit the scope of the invention.

[0024] In the description of this invention, it should be understood that the terms "center," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," and "counterclockwise," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing this invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this invention.

[0025] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0026] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0027] In this invention, unless otherwise explicitly specified and limited, "above" or "below" the second feature can include direct contact between the first and second features, or contact between the first and second features through another feature between them. Furthermore, "above," "over," and "on top" of the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a higher horizontal level than the second feature. "Below," "below," and "under" the second feature includes the first feature being directly above or diagonally above the second feature, or simply indicates that the first feature is at a lower horizontal level than the second feature.

[0028] Please see Figure 1 and Figure 2 As shown, an embodiment of a multi-directional flexible centripetal synchronous motion device is illustrated, comprising: The control assembly 100 includes a control system 110 and a servo motor 120; The central gear shaft assembly includes a central drive shaft 210, a gear A211, a threaded section 212, and a turbine 220, a key 221, a turbine gear 222, and a turbine drive shaft 223 that are linked to it. The turbine 220 is connected to the control system 110 and is used to drive the central drive shaft 210 to move up and down and selectively mesh with different driven shafts. Multiple driven shaft assemblies, including: Type 1 driven shaft 310 is provided with a first gear B311, a second gear B312, and a third gear B313; Type 2 driven shaft 320, equipped with a first gear C and a second gear C; Type 3 driven shaft 330, equipped with a first gear D and a second gear D; Type 4 driven shaft 340, equipped with gear G; Multiple driven shafts 310-340 are evenly distributed around the central driving shaft 210 and mesh with it; The rack and pinion groove slider 510 has a rack structure on the side near the driven shaft and a 45° angled protrusion 511 on the upper part, which is used to convert the circular motion into centripetal displacement. The punch slider assembly includes a punch slider 520, a slanted groove 521, an arc punch 522, and an I-shaped slider 523. The slanted groove 521 at the bottom of the punch and the slanted protrusion 511 of the rack groove slider 510 fit together to achieve the centripetal propulsion of the punch. The housing 410 structure and guiding system include an annular groove at the bottom of the housing and I-shaped grooves 420~432 on the side wall of the housing, which are used to constrain the movement direction of the slider and the punch; The laser sensor mechanism 530, including a laser sensor 533, a transmitter, a receiver and a lens assembly, is disposed on the top of each punch 522 and is used to detect the centripetal displacement of the punch in real time. The control system 110 is communicatively connected to the laser sensor 530 and the turbine drive shaft 223. It adjusts the pressure in each direction according to the sensor feedback signal, so that multiple punches 522 can move synchronously.

[0029] The central drive shaft 210 can switch to three different working modes by meshing with driven shafts 310~340 of different heights to control different combinations of punches to perform flexible loading and synchronous movement, thereby achieving a low-cost, high-precision, and highly scalable centripetal multi-directional synchronous forging function.

[0030] Optionally, the driven shaft includes four types: Type 1 driven shaft 310: equipped with a first gear B311, a second gear B312, and a third gear B313; Type 2 driven shaft 320: It is provided with a first gear C and a second gear C, and a bushing is provided below the second gear; Type 3 driven shaft 330: It is provided with a first gear D and a second gear D, and a shoulder and a sleeve are provided below the second gear; Type 4 driven shaft 340: A gear G is provided on the upper part.

[0031] Optionally, the lower part of the rack groove slider 510 is embedded in the groove at the bottom of the housing 410, and can slide clockwise or counterclockwise along the annular groove, thereby driving the punch slider 520 to move inward or retract.

[0032] Optionally, the 45° angled protrusion 511 on the rack groove slider 510 engages with the 45° angled groove 521 at the bottom of the punch slider 520 to achieve a change in the direction of motion.

[0033] Optionally, the laser sensor mechanism 530 is irradiated on a preset reference surface of the sliding platform. Its initial position is zero. The synchronization of the punch 522 is determined by detecting the change in the displacement of the laser beam. If there is a difference, the hydraulic pressure is adjusted by the control system 110 to compensate.

[0034] Optionally, the device can operate in three modes: Mode 1: The central driving shaft 210 meshes with the lower gears of the driven shafts 310 and 320; Mode 2: The central driving shaft 210 meshes with the driven shafts 310 and 330 in the middle gear; Mode 3: The central driving shaft 210 is fully engaged with the upper gears of the driven shafts 310, 320, 330, and 340; Each mode controls a different number and layout of punches 522 to participate in the centripetal motion.

[0035] Optionally, the power mechanism is a hydraulic press, which outputs pressure in the centripetal direction to drive the punch 522 to move synchronously in the centripetal direction.

[0036] Optionally, the number of punches 522 participating in synchronous drive can be adjusted by increasing or decreasing the number of the rack groove slider 510, so as to achieve flexible processing to adapt to blanks of different shapes.

[0037] Optionally, the control system 110 can adjust the displacement synchronization error of each punch 522 in real time through closed-loop control based on the feedback data of the laser sensor 530, thereby improving the impact accuracy and force uniformity.

[0038] To solve the above-mentioned technical problems, the present invention also provides a method for synchronously loading a punch using any of the above-mentioned multi-directional flexible centripetal synchronous motion devices, comprising the following steps: Start the control system 110 to control the turbine 220 to rotate, which in turn drives the central drive shaft 210 to move up and down. Select the meshing target so that the central driving shaft 210 meshes with the driven shaft gears 311~313 of the corresponding height; The rack and pinion groove slider 510 moves clockwise or counterclockwise in the annular groove inside the housing 410; The slider movement is linked to the punch slider 520 through a 45° structure, so that multiple punches 522 move synchronously in the centripetal direction; The laser sensor 530 detects the displacement of each punch in real time and feeds it back to the control system; The control system adjusts the hydraulic press pressure based on the detection data to ensure that the punch displacement remains synchronized; The number of sliders is increased or decreased according to the shape of the target billet to complete the flexible forging process.

[0039] The following description will further illustrate the characteristics and functions of the present invention.

[0040] To make the technical solution of the present invention clearer, the multi-directional flexible centripetal synchronous motion device of the present invention will be described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the described embodiments are only preferred embodiments of the present invention and do not constitute a limitation on the scope of protection of the present invention.

[0041] I. Device Structure like Figures 1 to 12 As shown, the multi-directional flexible centripetal synchronous motion device of the present invention mainly includes: Control Assembly 100 The control assembly includes a control system 110 and a servo motor 120, which are used to uniformly control the central gear shaft assembly 200, the hydraulic system, and the laser sensor mechanism 530. The control system 110 receives feedback signals from the sensors and adjusts the hydraulic output according to the displacement differences of the punches to achieve synchronization of the punches.

[0042] Central gear shaft assembly 200 The central gear shaft assembly includes a central drive shaft 210, on which a gear A211 and a threaded section 212 are mounted. A turbine 220 is connected to a turbine gear 222 via a key 221 and is driven by a turbine drive shaft 223. The turbine drive shaft 223 is connected to a control system 110, which drives the central drive shaft 210 to move vertically up and down, thereby selecting to mesh with different levels of driven shafts 310-340 and switching between different operating modes.

[0043] Driven shaft assembly The device has 6 driven shafts, which are distributed around the central driving shaft 210, and the structure is as follows: Type 1 driven shaft 310: It is provided with a first gear B311, a second gear B312, and a third gear B313 in sequence, and a bushing is provided in the middle and lower part; Type 2 driven shaft 320: It is provided with a first gear C and a second gear C, and a bushing is provided below the second gear; Type 3 driven shaft 330: It is provided with a first gear D and a second gear D, and a shoulder and a sleeve are provided below the second gear; Type 4 driven shaft 340: A gear G is provided on the upper part for single-point driving of a slider in a special position.

[0044] 510 rack and pinion groove slider The slider slides within an annular groove at the bottom of the device, and a rack structure meshing with it is located near the driven shaft. A 45° angled strip-shaped protrusion 511 is located on the upper part. The lower part is embedded in a groove at the bottom of the housing 410, providing both limiting and guiding functions.

[0045] Punch slider assembly 520 It includes a punch slider 520, a 45° angled groove 521, an arc punch 522, and an I-shaped slider 523. Among them, the punch slider 520 and the oblique protrusion 511 of the slider 510 cooperate with each other to convert the circumferential sliding of the slider into the linear motion of the punch in the radial centripetal direction.

[0046] Guide structure The housing 410 structure is provided with annular grooves and I-shaped grooves for guidance: The annular groove at the bottom of the housing is used to constrain the slider 510 to move in the circumferential direction. The side wall of the housing is provided with an I-shaped groove to limit the forward and backward centripetal linear movement of the punch 522 and prevent it from deviating.

[0047] Laser sensor mechanism 530 It includes a laser sensor 533 and an optical system, the latter consisting of a laser emitter, a receiver, and a lens assembly. The sensor is mounted above each punch 522 to illuminate the movement path of the punch, detect the displacement changes of each punch in real time, and feed them back to the control system 110.

[0048] Power mechanism The system includes a hydraulic press and its supporting drive system, which provides centripetal loading force to each punch 522. The hydraulic press is linked with the control system 110, adjusting the output when the sensor reports different displacements to achieve synchronous control of the punches.

[0049] II. Operating Method of the Device The device of this invention has three operating modes, and the specific operation is as follows: Mode 1 Figure 9 As shown: The control system 110 drives the turbine drive shaft 223 to rotate, causing the turbine 220 to drive the central drive shaft 210 to rise. Gear A211 meshes with the lower gear of the driven shaft of type 1 310 and type 2 320; The meshing driven shaft drives the rack groove slider 510 to move clockwise or counterclockwise along the annular groove; The inclined protrusion 511 on the slider pushes the punch slider 520 to move up along the 45° inclined surface, which in turn drives the punch 522 to move inward; The laser sensor 533 detects displacement differences and feeds them back to the control system for hydraulic adjustment to ensure synchronization.

[0050] Mode 2 Figure 10 As shown: The central drive shaft 210 continues to move upward and meshes with the middle gear of the driven shaft of type 1 310, type 2 320, and type 3 330; The other steps are the same as in Mode 1, but the number and position combination of the punches involved in the drive are different; Suitable for forging tasks involving locally symmetrical or eccentric workpieces.

[0051] Mode 3 Figure 11 As shown: The central drive shaft 210 rises to its highest position, so that gear A211 fully meshes with the upper gears of all driven shafts 310~340; It enables all punches 522 to move centripetally simultaneously, making it suitable for complex forming scenarios with omnidirectional balanced loading.

[0052] This device allows for free configuration of combinations of 2 to 6 punches by controlling the meshing levels and adjusting the number of sliders. It can also be controlled in a closed loop through a laser sensing feedback system, significantly improving the flexibility, stability, and synchronization accuracy of the centripetal loading device. It is suitable for high-precision forming tasks under various working conditions.

[0053] In summary, this invention achieves synchronous displacement of multiple punches along the centripetal direction by combining the meshing of a central driving shaft with various types of driven shafts, along with a rack and pinion groove slider and a 45° inclined plane linkage structure. This effectively solves the problems of uneven force and inconsistent displacement of punches in existing devices, and improves forming accuracy and product consistency.

[0054] This invention, through the detachable design of the rack and pinion groove slider and the three meshing modes of the central gear shaft assembly, allows users to flexibly select different numbers and positions of punches to participate in the work according to the shape of the blank and processing requirements, thereby achieving flexible configuration and high adaptability of the equipment.

[0055] This invention adopts a fully mechanical transmission method, which eliminates the need for complex hydraulic circuits or multi-channel electrical control devices. It features a simple structure, mature processing technology, and clear fault points, significantly reducing manufacturing and maintenance costs and improving equipment stability and maintainability.

[0056] The laser sensors of this invention are deployed on the top of each punch, which can detect their displacement changes in real time. The control system feeds back and adjusts the output of the press, achieving precise synchronous control and effectively improving the system's response speed and operating accuracy.

[0057] The device of this invention is particularly suitable for use in applications such as irregularly shaped blanks, multi-directional loading, or complex internal surface forging, and has good scalability and engineering practical value.

[0058] The above are merely preferred embodiments of the present invention and are not intended to limit the implementation methods and protection scope of the present invention. Those skilled in the art should recognize that any equivalent substitutions and obvious changes made based on the description and illustrations of the present invention should be included within the protection scope of the present invention.

Claims

1. A multidirectional compliant concentric synchronous motion device, characterized by, The application relates to a centering multi-direction synchronous forging device. The device comprises a control assembly (100) and a center gear shaft assembly. The control assembly (100) comprises a control system (110) and a servo motor (120). The center gear shaft assembly comprises a center driving shaft (210), a gear A (211), a threaded section (212), a turbine (220), a key (221), a turbine gear (222) and a turbine transmission shaft (223). The turbine (220) is connected with the control system (110) and is used for driving the center driving shaft (210) to move up and down and selectively engage with different driven shafts. The device further comprises a plurality of driven shaft assemblies. The driven shaft assemblies comprise a type one driven shaft (310) provided with a first gear B (311), a second gear B (312) and a third gear B (313), a type two driven shaft (320) provided with a first gear C and a second gear C, a type three driven shaft (330) provided with a first gear D and a second gear D, and a type four driven shaft (340) provided with a gear G. The plurality of driven shafts (310-340) are uniformly distributed around the center driving shaft (210) and engage with the center driving shaft (210). A rack groove slider (510) is provided with a rack structure near a side of the driven shaft and is provided with a 45-degree inclined convex (511) at the upper portion, which is used for converting the circumferential motion into the centripetal displacement. A punch slider assembly comprises a punch slider (520), an inclined groove (521), a circular arc punch (522) and an I-shaped slider (523). The inclined groove (521) at the lower portion of the punch is matched with the inclined convex (511) of the rack groove slider (510), so that the punch is advanced centripetally. A box body (410) structure and a guide system comprise an annular groove at the bottom of the box body and I-shaped grooves (420-432) at the sidewall of the box body, which are used for restricting the movement direction of the slider and the punch. A laser sensor mechanism (530) comprises a laser sensor (533), an emitter, a receiver and a lens assembly, which are arranged at the top of each punch (522) and are used for detecting the centripetal displacement of the punch in real time. The control system (110) is communicatively connected with the laser sensor (530) and the turbine transmission shaft (223) and adjusts the pressure in each direction according to the feedback signal of the sensor, so that the plurality of punches (522) realize synchronous movement. The center driving shaft (210) can be switched to three different working modes by engaging with the gears of the driven shafts (310-340) with different heights, so as to control the flexible loading and synchronous movement of different combinations of punches, thereby realizing the centering multi-direction synchronous forging function with low cost, high precision and high expansibility.

2. The multidirectional compliant concentric synchronous motion device of claim 1, wherein, The driven shafts comprise four types. The type one driven shaft (310) is provided with the first gear B (311), the second gear B (312) and the third gear B (313). The type two driven shaft (320) is provided with the first gear C and the second gear C, and the second gear is provided with a shaft sleeve below. The type three driven shaft (330) is provided with the first gear D and the second gear D, and the second gear is provided with a shaft shoulder and a shaft sleeve below. The type four driven shaft (340) is provided with a gear G at the upper portion.

3. The apparatus of claim 1, wherein, The rack groove slider (510) is embedded in the groove at the bottom of the box (410), and can slide clockwise or counterclockwise along the annular groove, thereby driving the punch slider (520) to advance or retract.

4. The apparatus of claim 1, wherein, The 45° angle inclined protrusion (511) provided on the rack groove slider (510) is engaged with the 45° angle inclined groove (521) at the lower part of the punch slider (520), so as to realize the conversion of the movement direction.

5. The apparatus of claim 1, wherein, The laser sensor mechanism (530) is irradiated on the preset reference surface of the sliding platform, and the initial position is zero. The synchronization of the punch (522) is judged by detecting the displacement change of the laser beam. If there is a difference, the hydraulic pressure is adjusted by the control system (110) for compensation.

6. The apparatus of claim 1, wherein, The device can run three modes: Mode one: the central driving shaft (210) is engaged with the lower gear of the driven shaft (310, 320); Mode two: the central driving shaft (210) is engaged with the middle gear of the driven shaft (310, 330); Mode three: the central driving shaft (210) is engaged with the upper gear of the driven shaft (310, 320, 330, 340); Each mode controls different number and layout of punches (522) to participate in centripetal motion.

7. The apparatus of claim 1, wherein, The power mechanism is a hydraulic machine, which outputs pressure in the centripetal direction, and is used to drive the punch (522) to move synchronously in the centripetal direction.

8. The apparatus of claim 1, wherein, The rack groove slider (510) can adjust the number of punches (522) participating in synchronous driving by increasing or decreasing the number, so as to realize flexible processing of different shapes of blanks.

9. The apparatus of claim 1, wherein, The control system (110) can adjust the displacement synchronization error of each punch (522) in real time through closed-loop control based on the feedback data of the laser sensor (530), so as to improve the impact accuracy and force uniformity.

10. A method for synchronously loading a punch by using the multidirectional flexible centripetal synchronous movement device according to any one of claims 1 to 9, characterized in that, The following steps are included: Start the control system (110) to control the rotation of the turbine (220) to drive the central driving shaft (210) to move up and down; Select the engagement target, so that the central driving shaft (210) is engaged with the driven shaft gear (311~313, etc.) at the corresponding height; Drive the rack groove slider (510) to move clockwise or counterclockwise in the annular groove in the box (410); The slider movement is linked with the punch slider (520) through the 45° structure, so that multiple punches (522) move synchronously in the centripetal direction; The laser sensor (530) detects the displacement of each punch in real time and feeds back to the control system; The control system adjusts the hydraulic pressure according to the detection data to ensure that the displacement of the punch remains synchronous; According to the shape of the target blank, the number of sliders is increased or decreased to complete the flexible forging process.

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