Tooth holder set structure

Abstract

The embodiment of the present application provides a tooth holder set pair structure, which comprises a base, a first sliding rail arranged on the base and extending along a first direction, a sliding seat assembly arranged on the first sliding rail and capable of reciprocating relative to the first sliding rail along the first direction, and a sliding rod arranged on the sliding seat assembly and extending along the first direction, the sliding rod being capable of reciprocating relative to the sliding seat assembly along the first direction, and one end of the sliding rod being provided with a clamping jaw, wherein a clamping mechanism is arranged on the base and located on one side of the first sliding rail in the first direction, and the clamping mechanism is used for fixing a workpiece to be set paired; and the movement of the sliding seat assembly along the first direction and the movement of the sliding rod along the first direction are independent of each other. In the technical scheme of the present application, the movement range of the clamping jaw is expanded through two-stage movement of the first sliding rail and the sliding rod along the first direction, so that the tooth holder set pair structure can adapt to workpieces to be set paired of different sizes and the applicability of the tooth holder set pair structure is improved.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery manufacturing technology, and more specifically, to a cutting tooth holder assembly structure. Background Technology

[0002] Currently, cutting tooth holder assembly structures are typically used to position and fix the cutting tooth holder to a preset assembly position on the workpiece to be assembled. However, the movement range of the grippers in existing structures is limited by the fixed stroke of a single slide rail. When the workpiece size changes, the grippers cannot flexibly adapt to the assembly requirements of different diameters or lengths. In related technologies, the conveying distance of the grippers is changed by adjusting the position of the slide rail, but in actual use, the slide rail needs to be readjusted every time the workpiece size is changed, which is cumbersome and time-consuming, affecting the assembly efficiency. Especially when the size of the workpiece to be assembled increases further, the problem of insufficient gripper stroke in existing structures becomes more prominent. Summary of the Invention

[0003] The present invention aims to at least solve the technical problem of insufficient travel of the gripper in existing structures in the prior art or related technologies.

[0004] In view of this, embodiments of the present invention provide a cutting tooth holder assembly structure.

[0005] To achieve the above objectives, embodiments of the present invention provide a cutting tooth assembly structure, comprising: a base; a first slide rail disposed on the base and extending along a first direction; a slide assembly disposed on the first slide rail and reciprocating relative to the first slide rail along the first direction; a sliding rod disposed on the slide assembly and extending along the first direction, reciprocating relative to the slide assembly along the first direction, one end of the sliding rod being provided with a gripper; and a clamping mechanism disposed on the base, the clamping mechanism being located on one side of the first slide rail in the first direction, the clamping mechanism being used to fix the workpiece to be assembled; wherein, the movement of the slide assembly along the first direction is independent of the movement of the sliding rod along the first direction; when the gripper moves toward the clamping mechanism, the slide assembly moves relative to the base in the direction toward the clamping mechanism, and the sliding rod moves relative to the slide assembly in the direction toward the clamping mechanism; when the gripper moves away from the clamping mechanism, the sliding rod moves relative to the slide assembly in the direction away from the clamping mechanism, and the slide assembly moves relative to the base in the direction away from the clamping mechanism.

[0006] The cutting tooth holder assembly structure proposed according to the present invention includes a base, a first slide rail, a slide assembly, and a clamping mechanism. The first slide rail is disposed on the base and extends along a first direction. The slide assembly is disposed on the first slide rail and can reciprocate along the first direction. A sliding rod is disposed on the slide assembly and extends along the first direction. The sliding rod can reciprocate relative to the slide assembly along the first direction. One end of the sliding rod is provided with a gripper. The clamping mechanism is located on one side of the first slide rail in the first direction and is used to fix the workpiece to be assembled. Based on the above structural configuration, the slide assembly can drive the sliding rod and the gripper to move as a whole along the first direction. Based on the movement of the slide assembly, the sliding rod can continue to move relative to the slide assembly along the first direction, thereby forming a two-stage progressive movement along the first direction. Through the two-stage movement cooperation of the sliding rod and the slide assembly, the movement range of the gripper is composed of the superposition of the movement stroke of the slide assembly relative to the first slide rail and the movement stroke of the sliding rod relative to the slide assembly, so that the gripper can move from the side away from the clamping mechanism to a corresponding preset position close to the clamping mechanism, or remove the cutting tooth holder from the side of the clamping mechanism.

[0007] In summary, this solution expands the range of motion of the gripper through the two-stage movement of the first slide rail and the sliding rod along the first direction, thereby adapting to workpieces of different sizes to be assembled and improving the applicability of the cutting tooth holder assembly structure.

[0008] In some technical solutions, the cutting tooth assembly structure may optionally include: a first driving unit, installed at one end of the first slide rail away from the clamping mechanism, so that the first driving unit drives the slide assembly to move along the first slide rail; and a second driving unit, installed on the slide assembly, so that the second driving unit drives the sliding rod to move relative to the slide assembly in a first direction.

[0009] In this technical solution, the first drive unit provides driving force for the movement of the slide assembly along the first slide rail, and the second drive unit provides driving force for the movement of the sliding rod relative to the slide assembly. Since the slide assembly and the sliding rod are driven independently by the first drive unit and the second drive unit respectively, the slide assembly and the sliding rod can be started simultaneously to achieve rapid movement of the gripper, or they can be moved sequentially to achieve step-by-step positioning. This allows the two-stage movement to obtain independent power sources, realizing flexible control of the two-stage sliding in terms of motion timing.

[0010] In some technical solutions, optionally, the cutting tooth holder assembly structure further includes: a first screw, rotatably mounted on a first slide rail, the first screw being connected to a first drive unit, and the first screw being threadedly connected to a slide assembly to move the slide assembly along a first direction; and a rack, fixedly mounted on a sliding rod, extending along the first direction, the rack being used to mesh with a gear of a second drive unit to drive the sliding rod to move along the first direction.

[0011] In this technical solution, the first drive unit drives the first screw to rotate, and utilizes the threaded engagement between the first screw and the slide assembly to convert the rotational motion into linear movement of the slide assembly along the first slide rail. The second drive unit, through the engagement of a gear at its output end with a rack fixed to the sliding rod, converts the rotational motion into linear movement of the sliding rod along a first direction. Both the threaded engagement and the rack-and-gear engagement are rigid transmissions, which are less prone to slippage or lag during motion transmission, thus improving the positional accuracy of the slide assembly and the sliding rod in their respective directions of movement, thereby enhancing the accuracy of the gripper in conveying the cutting tooth holder to the desired position.

[0012] In some technical solutions, optionally, the cutting tooth holder assembly structure further includes: a control module, disposed on the base, the control module being electrically connected to the first drive unit and the second drive unit respectively, the control module being used to control the operation of the first drive unit and the second drive unit, controlling the first drive unit to drive the slide assembly to move a first stroke, and controlling the second drive unit to drive the sliding rod to move a second stroke, so that the gripper moves toward or away from the clamping mechanism along a first direction.

[0013] In this technical solution, the control module sends control commands to the first drive unit and the second drive unit respectively, causing the slide assembly and the sliding rod to move in a predetermined sequence. The control module controls the first drive unit to drive the slide assembly to move a first stroke, causing the gripper to move rapidly from its initial position to near the target position. The control module then controls the second drive unit to drive the sliding rod to move a second stroke, allowing the gripper to complete the remaining precise movement. This divides the gripper's movement process into two stages: coarse positioning and fine positioning. The slide assembly is responsible for large-scale position adjustments, while the sliding rod is responsible for small-scale position corrections, which helps improve positioning accuracy and assembly efficiency.

[0014] In some technical solutions, optionally, the slide assembly specifically includes: a second slide rail, movably connected to the first slide rail, the second slide rail extending along a second direction, and the second slide rail reciprocating relative to the first slide rail along a first direction; a lifting seat, disposed on the second slide rail, a sliding rod movably connected to the lifting seat, the sliding rod reciprocating relative to the lifting seat along the first direction, and the lifting seat reciprocating relative to the second slide rail along the second direction, so as to drive the sliding rod to move along the second direction; wherein, the first direction and the second direction intersect.

[0015] In this technical solution, the slide assembly achieves movement along a second direction via a second slide rail and a lifting seat. The lifting seat can move along the second slide rail, thereby driving the sliding rod and gripper to move to different positions along the second direction. When the lifting seat moves along the second direction, the position of the gripper in the first direction is jointly determined by the slide assembly and the sliding rod, while its position in the second direction is determined by the lifting seat. This allows the gripper to move flexibly within the plane defined by the first and second directions, thus meeting the assembly requirements of the workpieces to be assembled at different positions and expanding the spatial applicability of the assembly structure.

[0016] In some technical solutions, the slide assembly may optionally include: a third drive unit, installed at one end of the second slide rail away from the first slide rail; and a second screw, rotatably disposed on the second slide rail, the second screw being drivenly connected to the third drive unit and threadedly connected to the lifting seat, so that the third drive unit drives the lifting seat to move in the second direction.

[0017] In this technical solution, the third drive unit drives the second screw to rotate, and utilizes the threaded engagement between the second screw and the lifting seat to convert the rotational motion into linear movement of the lifting seat along the second slide rail. Through independent control of the third drive unit by the control module, the displacement of the lifting seat in the second direction can be precisely adjusted. After the lifting seat moves into position, the self-locking characteristic of the second screw drive helps maintain the stability of the lifting seat in the second direction, preventing unexpected positional displacement due to vibration or external forces during the gripper's transport of the cutting tooth seat, thereby improving the positioning accuracy of the gripper in the second direction.

[0018] In some technical solutions, the clamping mechanism may optionally include: a clamping plate, disposed on the base, the clamping plate being rotatably connected to the base; and a rotary drive unit, disposed on the base, the rotary drive unit being drively connected to the clamping plate, the rotary drive unit driving the clamping plate to rotate around the rotation axis of the clamping plate.

[0019] In this technical solution, a chuck is used to support and fix the workpieces to be assembled. A rotary drive unit drives the chuck to rotate around a rotation axis, allowing the workpieces to be assembled to rotate to a preset angle. After the chuck rotates to the preset angle, the jaws transport the cutting tooth holder to the corresponding assembly position on the workpiece along a first direction. By coordinating the rotation of the chuck with the movement of the jaws along the first direction, the jaws can transport the cutting tooth holder to different angular positions in the circumferential direction of the workpiece, thereby meeting the assembly requirements of the cutting tooth holder at multiple angular positions in space.

[0020] In some technical solutions, the axis of rotation may optionally intersect with a straight line along a first direction and passing through the center of the gripper.

[0021] In this technical solution, the rotation axis intersects the extension line of the gripper center along the first direction, so that the movement path of the gripper along the first direction passes through the rotation axis of the chuck. When the gripper transports the cutting tooth holder to the chuck along the first direction, the movement direction of the cutting tooth holder is directly opposite the rotation axis of the chuck. After the workpiece to be assembled is rotated to any angle, the movement of the gripper along the first direction can transport the cutting tooth holder to a preset position on the workpiece to be assembled that is opposite to the gripper center. This helps to reduce the position compensation of the gripper in other directions and simplifies the positioning path of the cutting tooth holder.

[0022] In some technical solutions, the clamping mechanism may optionally include: multiple guide grooves provided on the clamping plate, the guide grooves extending radially along the clamping plate, and the multiple guide grooves being spaced apart circumferentially along the clamping plate; clamping blocks movably provided in the guide grooves, with some clamping blocks located outside the guide grooves, and the clamping blocks being movable radially along the clamping plate to fix the workpieces to be assembled.

[0023] In this technical solution, the clamping blocks are housed within guide grooves and can reciprocate along these grooves. By adjusting the position of the clamping blocks along the guide grooves, their radial position can be changed, thus accommodating workpieces of different sizes to be assembled. The guide grooves are spaced apart circumferentially along the chuck, and each clamping block applies clamping force to the workpiece to be assembled from different circumferential positions. When each clamping block moves synchronously radially inward, the workpiece to be assembled can be positioned at the rotation center of the chuck; when each clamping block moves synchronously radially outward, the workpiece to be assembled can be released, which helps improve the positioning accuracy of the workpiece on the chuck.

[0024] In some technical solutions, the gripper and the sliding rod can optionally be detachably connected.

[0025] In this technical solution, the gripper is detachably mounted to one end of the sliding rod, allowing the operator to replace the gripper according to the specifications and outline of the cutting tooth holder to be assembled. When the specifications of the cutting tooth holder to be assembled change, only the gripper needs to be replaced, without replacing the entire sliding rod.

[0026] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0027] Figure 1 A schematic diagram of the structure of a cutting tooth holder assembly according to an embodiment of the present invention is shown;

[0028] Figure 2 A schematic diagram of the structure of a cutting tooth holder assembly according to an embodiment of the present invention is shown;

[0029] Figure 3 A schematic diagram of a cutting tooth holder assembly structure according to an embodiment of the present invention is shown.

[0030] Wherein, 1: Cutting tooth seat assembly structure; 11: Base; 111: First slide rail; 112: First drive unit; 113: First screw; 12: Slide assembly; 121: Second slide rail; 122: Lifting seat; 123: Second drive unit; 1231: Gear; 124: Third drive unit; 125: Second screw; 13: Sliding rod; 131: Gripper; 132: Rack; 14: Clamping mechanism; 141: Clamping plate; 142: Guide groove; 143: Clamping block; 144: Rotary drive unit; 15: Control module. Detailed Implementation

[0031] To better understand the above-described objectives, features, and advantages of the embodiments of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0032] Many specific details are set forth in the following description in order to provide a full understanding of this application. However, embodiments of the invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of this application is not limited to the specific embodiments disclosed below.

[0033] Traditional cutting tooth holders are assembled manually by marking lines, which requires repeated manual adjustments, is time-consuming, has low production efficiency, high labor intensity, and makes it difficult to guarantee positioning accuracy. The assembled dimensions fluctuate greatly, resulting in insufficient product consistency.

[0034] The following reference Figures 1 to 3 Some embodiments of the present invention are described.

[0035] like Figure 1 and Figure 2 As shown, this embodiment provides a cutting tooth assembly structure 1, including a base 11, a first slide rail 111, a slide assembly 12, and a clamping mechanism 14. The first slide rail 111 is disposed on the base 11 and extends along a first direction. The slide assembly 12 is disposed on the first slide rail 111 and can reciprocate along the first direction. A sliding rod 13 is disposed on the slide assembly 12 and extends along the first direction. The sliding rod 13 can reciprocate relative to the slide assembly 12 along the first direction. One end of the sliding rod 13 is provided with a gripper 131. The clamping mechanism 14 is located on one side of the first slide rail 111 in the first direction and is used to fix the workpiece to be assembled. Through the two-stage movement of the first slide rail 111 and the sliding rod 13 along the first direction, the range of motion of the gripper 131 is expanded, thereby adapting to workpieces of different sizes to be assembled and improving the applicability of the cutting tooth assembly structure 1.

[0036] The base 11 serves as the installation foundation for the entire structure. It can be made of cast iron through sand casting. The upper surface of the base 11 can be milled to form a flat installation plane. Multiple bolt holes and locating pin holes can be made on the installation plane for fixing the corresponding structure.

[0037] The first slide rail 111 can be a linear guide rail made of hardened bearing steel. The first slide rail 111 is fixed to the upper surface of the base 11 by bolt connection, and the extension direction of the first slide rail 111 is set as the first direction. The sliding surface of the first slide rail 111 is ground to reduce the sliding friction coefficient.

[0038] The main body of the slide assembly 12 may be provided with a retainer or sliding bushing with embedded steel balls to reduce the resistance when the slide assembly 12 reciprocates along the first slide rail 111. The sliding rod 13 may be inserted into the interior of the slide assembly 12. Specifically, a through hole may be opened in the slide assembly 12, and a linear bearing or copper alloy guide sleeve may be installed in the through hole. The sliding rod 13 is inserted into the through hole. The outer circular surface of the sliding rod 13 is precision ground, so the sliding rod 13 can slide freely relative to the slide assembly 12 in the first direction.

[0039] The gripper 131 can be fixed to the end of the sliding rod 13 by threaded connection or pin connection, and the gripping center of the gripper 131 coincides with the axis of the sliding rod 13. The clamping mechanism 14 is arranged on the front side of the first slide rail 111 along the first direction, that is, the clamping mechanism 14 is located on the extension line of the first slide rail 111. A gap is left between the clamping mechanism 14 and the first slide rail 111 to accommodate the conveying path of the workpiece to be assembled and the cutting tooth holder.

[0040] Since the movement of the slide assembly 12 and the movement of the sliding rod 13 are independent of each other, when the cutting tooth holder needs to be sent to the clamping mechanism 14, the slide assembly 12 and the sliding rod 13 move toward the clamping mechanism 14. The displacements of the slide assembly 12 and the sliding rod 13 are superimposed, so that the actual moving distance of the gripper 131 is equal to the sum of the two parts of the stroke. Conversely, the movement is also superimposed when retracting, so that the total moving range of the gripper 131 is much greater than the stroke of a single slide rail. Therefore, the cutting tooth holder assembly structure 1 can adapt to a variety of workpieces with large differences in length dimensions.

[0041] The sliding rod 13 and the gripper 131 can be moved as a whole along the first direction by the sliding block assembly 12. Based on the movement of the sliding block assembly 12, the sliding rod 13 can continue to move relative to the sliding block assembly 12 along the first direction, thus forming a two-stage progressive movement along the first direction. Through the two-stage movement cooperation between the sliding rod 13 and the sliding block assembly 12, the movement range of the gripper 131 is composed of the combined movement stroke of the sliding block assembly 12 relative to the first slide rail 111 and the movement stroke of the sliding rod 13 relative to the sliding block assembly 12, so that the gripper 131 can move from the side away from the gripping mechanism 14 to a corresponding preset position close to the gripping mechanism 14, or move the cutting tooth seat out from the gripping mechanism 14.

[0042] Regarding layout variations, the first slide rail 111 can be arranged on the central axis of the base 11, or it can be offset to one side of the base 11 depending on the position of the clamping mechanism 14. The specific offset depends on the feeding direction of the workpiece to be assembled and the layout requirements of the production line. Multiple weight-reducing holes or reinforcing ribs can also be added to the base 11 to reduce the overall weight while ensuring rigidity. Simultaneously, limit blocks and buffers can be installed at both ends of the first slide rail 111 to prevent the slide assembly 12 from overtravel.

[0043] In summary, through the two-stage movement of the first slide rail 111 and the sliding rod 13 along the first direction, the range of motion of the gripper 131 is expanded, thereby enabling it to adapt to workpieces of different sizes to be assembled and improving the applicability of the cutting tooth assembly structure 1.

[0044] In some embodiments, optionally, such as Figure 1 and Figure 2 As shown, the tooth holder assembly structure 1 further includes: a first drive unit 112 installed on one end of the first slide rail 111 away from the clamping mechanism 14, so that the first drive unit 112 drives the slide assembly 12 to move along the first slide rail 111; and a second drive unit 123 installed on the slide assembly 12, so that the second drive unit 123 drives the sliding rod 13 to move relative to the slide assembly 12 in a first direction.

[0045] The first drive unit 112 can specifically be a combination of a servo motor and a planetary reducer. The servo motor is fixed to the end of the first slide rail 111 via a motor mount, and the motor's output shaft is connected to the first screw 113 via a flexible coupling. The first drive unit 112 provides driving force to the slide assembly 12 in the first direction. The second drive unit 123 also uses a servo motor and is fixed to the side wall or top of the slide assembly 12 via a mounting bracket. A gear 1231 is mounted on the output shaft of the second drive unit 123, and the gear 1231 meshes with the rack 132 on the sliding rod 13. The second drive unit 123 provides driving force for the movement of the sliding rod 13 relative to the slide assembly 12.

[0046] Since the slide assembly 12 and the sliding rod 13 are driven independently by the first drive unit 112 and the second drive unit 123 respectively, the slide assembly 12 and the sliding rod 13 can be started simultaneously to achieve rapid movement of the gripper 131, or they can move sequentially to achieve step-by-step positioning, so that the two-stage movement can obtain independent power sources and realize flexible control of the two-stage sliding in motion sequence.

[0047] In terms of material selection, the servo motor housing is made of die-cast aluminum alloy to facilitate heat dissipation and reduce weight. Regarding manufacturing processes, the motor mount and the first slide rail 111 are fastened together using locating keys and bolts to improve the coaxiality of the motor axis and the first screw 113 axis. In layout variations, the first drive unit 112 can also be a stepper motor or a hydraulic motor, depending on the required thrust and control precision; the second drive unit 123 can be arranged above or to the side of the slide assembly 12 to avoid the movement path of the sliding rod 13.

[0048] In summary, since the slide assembly 12 and the sliding rod 13 are driven independently by the first drive unit 112 and the second drive unit 123 respectively, the slide assembly 12 and the sliding rod 13 can be started simultaneously to achieve rapid movement of the gripper 131, or they can move sequentially to achieve step-by-step positioning, so that the two-stage movement can obtain independent power sources and achieve flexible control of the two-stage sliding in motion sequence.

[0049] In some embodiments, optionally, such as Figure 1 and Figure 3 As shown, the cutting tooth assembly structure 1 further includes: a first screw 113 rotatably disposed on the first slide rail 111, the first screw 113 being connected to the first drive unit 112 in a transmission connection, and the first screw 113 being threadedly connected to the slide assembly 12 so that the slide assembly 12 moves along the first direction; and a rack 132 fixedly disposed on the sliding rod 13, the rack 132 extending along the first direction, the rack 132 being used to mesh with the gear 1231 of the second drive unit 123 so as to drive the sliding rod 13 to move along the first direction.

[0050] The two ends of the first screw 113 are supported on the bearing seats of the first slide rail 111 by rolling bearings. The bearing seats are fixed to the two ends of the first slide rail 111 respectively. One end of the first screw 113 is connected to the output shaft of the first drive unit 112 by a coupling. The threaded part of the first screw 113 engages with the nut block preset on the slide assembly 12. When the first drive unit 112 drives the first screw 113 to rotate, because of the threaded engagement between the screw and the nut block, the rotational motion is converted into linear movement of the slide assembly 12 along the first slide rail 111. Therefore, the slide assembly 12 can move precisely in the first direction.

[0051] The rack 132 can be made of alloy steel by gear hobbing. The rack 132 is fixed to the upper or side surface of the sliding rod 13 by screws or welding. The tooth surface of the rack 132 can be hardened by quenching. The length of the rack 132 matches the stroke of the sliding rod 13. The gear 1231 at the output end of the second drive unit 123 meshes with the rack 132. When the second drive unit 123 drives the gear 1231 to rotate, the sliding rod 13 moves linearly relative to the slide assembly 12 in the first direction due to the meshing action of the gear 1231 and the rack 132.

[0052] Since both the threaded engagement and the gear 1231 rack meshing are rigid transmissions, they are less prone to slippage or lag during motion transmission. This helps improve the positional accuracy of the slide assembly 12 and the sliding rod 13 in their respective moving directions, thereby improving the accuracy of the gripper 131 in conveying the cutting tooth seat to the required position.

[0053] In the process options, the first screw 113 can be replaced by a ball screw instead of a trapezoidal threaded screw to improve transmission efficiency and positioning accuracy. The ball screw nut has built-in circulating balls, resulting in less friction. In layout variations, the rack 132 can be set on the lower surface or side of the sliding rod 13. Correspondingly, the position of the gear 1231 of the second drive unit 123 is also adjusted to adapt to different space constraints.

[0054] In some embodiments, optionally, such as Figure 1 As shown, the tooth holder assembly structure 1 further includes a control module 15 disposed on the base 11. The control module 15 is electrically connected to the first drive unit 112 and the second drive unit 123 respectively. The control module 15 is used to control the operation of the first drive unit 112 and the second drive unit 123, control the first drive unit 112 to drive the slide assembly 12 to move a first stroke, and control the second drive unit 123 to drive the sliding rod 13 to move a second stroke, so that the gripper 131 moves toward or away from the clamping mechanism 14 in a first direction.

[0055] The control module 15 can be installed in a sealed control box, which is fixed to the side or top of the base 11. The control box contains a programmable logic controller (PLC) or motion controller. The control module 15 is connected to the drivers of the first drive unit 112 and the second drive unit 123 via power cables and signal cables, respectively. The control module 15 has a pre-stored position control program that calculates the first stroke required for the slide assembly 12 and the second stroke required for the sliding rod 13 based on the position parameters of the workpiece to be assembled. When the control module 15 starts running, it first sends a pulse command to the first drive unit 112, causing the slide assembly 12 to move rapidly for the first stroke. This first stroke typically occupies most of the total stroke, for example, 70%, thus bringing the gripper 131 closer to the target position. Subsequently, the control module 15 sends a fine pulse command to the second drive unit 123, causing the sliding rod 13 to move for the second stroke. This second stroke is smaller and is used to accurately compensate for the remaining distance.

[0056] Since the control module 15 sends control commands to the first drive unit 112 and the second drive unit 123 respectively, the slide assembly 12 and the sliding rod 13 move in a predetermined order. The movement process of the gripper 131 is divided into two stages: coarse positioning and fine positioning. The slide assembly 12 is responsible for large-scale position adjustment, and the sliding rod 13 is responsible for small-scale position correction, which is conducive to improving positioning accuracy and assembly efficiency.

[0057] In terms of materials, the control box is made of stainless steel sheet metal through bending and welding, and has dustproof and waterproof functions. In terms of manufacturing process, the wiring terminals of the control module 15 are crimped, and shielded cables are used for the signal lines to reduce electromagnetic interference. In a layout variation, the control module 15 can be placed outside the base 11 and can be connected to the drive unit via an aviation connector, facilitating remote operation and maintenance.

[0058] In some embodiments, optionally, such as Figure 1 and Figure 2 As shown, the slide assembly 12 specifically includes: a second slide rail 121 movably connected to the first slide rail 111, the second slide rail 121 extending along a second direction, and the second slide rail 121 reciprocating relative to the first slide rail 111 along a first direction; a lifting seat 122 disposed on the second slide rail 121, a sliding rod 13 movably connected to the lifting seat 122, the sliding rod 13 reciprocating relative to the lifting seat 122 along the first direction, and the lifting seat 122 reciprocating relative to the second slide rail 121 along the second direction, so as to drive the sliding rod 13 to move along the second direction; wherein, the first direction and the second direction intersect.

[0059] The bottom of the second slide rail 121 can be fitted with the first slide rail 111 by setting an additional slider. The slider is fixed below the second slide rail 121, so the second slide rail 121, as the main body of the slide assembly 12, can move along the first direction. The second slide rail 121 itself extends along the second direction, which intersects with the first direction. For example, the second direction is vertical and the first direction is horizontal, and the two are perpendicular to each other.

[0060] The lifting seat 122 can be configured as a movable seat. One side of the lifting seat 122 is slidably engaged with the second slide rail 121. Specifically, the lifting seat 122 can be provided with a guide groove or slider that engages with the second slide rail 121, allowing the lifting seat 122 to slide up and down along the second slide rail 121. The sliding rod 13 passes through the interior of the lifting seat 122, and a linear bearing can be provided between the sliding rod 13 and the lifting seat 122, allowing the sliding rod 13 to reciprocate relative to the lifting seat 122 in a first direction. When the lifting seat 122 moves along the second slide rail 121, the lifting seat 122 drives the sliding rod 13 and the gripper 131 to move as a whole in a second direction, thereby changing the position of the gripper 131 in the second direction.

[0061] Since the lifting seat 122 can move along the second slide rail 121, it drives the sliding rod 13 and the gripper 131 to move to different positions along the second direction. When the lifting seat 122 moves along the second direction, the position of the gripper 131 in the first direction is determined by the slide assembly 12 and the sliding rod 13, and the position in the second direction is determined by the lifting seat 122. This allows the gripper 131 to move flexibly in the plane determined by the first and second directions, thereby meeting the assembly requirements of the workpieces to be assembled at different positions and expanding the spatial applicability of the assembly structure.

[0062] In terms of materials, the second slide rail 121 can be made of lightweight aluminum alloy through extrusion molding, with an anodized surface to increase wear resistance. The lifting seat 122 can be made of cast steel, and wear-resistant copper sheets can be installed on the sliding surface in contact with the second slide rail 121. In terms of manufacturing process, the sliding surface of the second slide rail 121 undergoes straightness testing to ensure smooth movement of the lifting seat 122. In layout variations, the angle between the first and second directions can be set to 60 degrees or 45 degrees to accommodate the needs of inclined plane assembly; as long as the first and second directions intersect, they are not limited to being perpendicular.

[0063] In some embodiments, optionally, such as Figure 2 As shown, the slide assembly 12 further includes: a third drive unit 124 mounted on one end of the second slide rail 121 away from the first slide rail 111; a second screw 125 rotatably disposed on the second slide rail 121, the second screw 125 being connected to the third drive unit 124 in a transmission connection, and the second screw 125 being threadedly connected to the lifting seat 122, so that the third drive unit 124 drives the lifting seat 122 to move along the second direction.

[0064] The third drive unit 124 can be fixed to the top of the second slide rail 121, i.e., the end opposite to the first slide rail 111. The third drive unit 124 can be a servo motor with a brake to prevent the lifting seat 122 from sliding down after power failure. The second screw 125 is arranged along the second direction. The two ends of the second screw 125 can be supported by bearings at the upper and lower ends of the second slide rail 121. The upper end of the second screw 125 can be connected to the output shaft of the third drive unit 124 through a coupling. A nut block can be provided on the lifting seat 122. The nut block is threadedly engaged with the second screw 125. When the third drive unit 124 drives the second screw 125 to rotate, the lifting seat 122 moves linearly along the second direction due to the threaded engagement.

[0065] Since the third drive unit 124 drives the lifting seat 122 through the second screw 125, and the control module 15 can independently control the third drive unit 124, the displacement of the lifting seat 122 in the second direction can be precisely adjusted. After the lifting seat 122 moves into position, the self-locking characteristic of the second screw 125 transmission helps to maintain the position stability of the lifting seat 122 in the second direction, preventing the lifting seat 122 from undergoing unexpected positional deviation due to vibration or external force during the process of the gripper 131 conveying the cutting tooth seat, thereby improving the positioning accuracy of the gripper 131 in the second direction.

[0066] In a layout variation, the third drive unit 124 can also be installed at the bottom of the second slide rail 121, and power is transmitted to the second screw 125 through the bevel gear 1231, depending on the limitations of the installation space.

[0067] In some embodiments, optionally, such as Figure 1 and Figure 2 As shown, the clamping mechanism 14 specifically includes: a clamping plate 141 disposed on the base 11, the clamping plate 141 being rotatably connected to the base 11; and a rotation drive unit 144 disposed on the base 11, the rotation drive unit 144 being drively connected to the clamping plate 141, the rotation drive unit 144 driving the clamping plate 141 to rotate around the rotation axis of the clamping plate 141.

[0068] The chuck 141 can be configured as a disc-shaped or flange-shaped component. The lower part of the chuck 141 can be connected to a pre-set bearing seat on the base 11 via a roller bearing. The inner ring of the roller bearing is fixed to the chuck 141, and the outer ring is fixed to the base 11, so the chuck 141 can rotate freely around the rotation axis. The rotary drive unit 144 is installed below or to the side of the base 11. The output end of the rotary drive unit 144 meshes with the outer gear ring of the chuck 141 via a reducer, or is connected to the pulley below the chuck 141 via a synchronous belt.

[0069] When the rotary drive unit 144 is activated, it drives the chuck 141 to rotate around the rotation axis, causing the workpiece to be assembled on the chuck 141 to rotate to a preset angle. Since the chuck 141 is used to support and fix the workpiece to be assembled, the rotary drive unit 144 drives the chuck 141 to rotate around the rotation axis, enabling the workpiece to be assembled to rotate to the preset angle. After the chuck 141 rotates to the preset angle, the jaws 131 transport the cutting tooth holder to the corresponding assembly position on the workpiece along the first direction. Through the coordination of the rotation of the chuck 141 and the movement of the jaws 131 along the first direction, the jaws 131 can transport the cutting tooth holder to different angular positions in the circumferential direction of the workpiece to be assembled, thereby meeting the assembly requirements of the cutting tooth holder at multiple angular positions in space.

[0070] In the layout variation, the rotary drive unit 144 can be a direct-drive torque motor, eliminating the reduction mechanism and directly driving the chuck 141, which is suitable for high-precision positioning requirements.

[0071] In some embodiments, optionally, such as Figure 3 As shown, the axis of rotation intersects a straight line along the first direction that passes through the center of the gripper 131. When the gripper 131 moves along the first direction, the straight line along the movement path of the gripper 131 passes through the axis of rotation of the chuck 141. Since the axis of rotation intersects the extension of the center of the gripper 131 along the first direction, the movement path of the gripper 131 along the first direction passes through the axis of rotation of the chuck 141. When the gripper 131 transports the cutting tooth holder to the chuck 141 along the first direction, the movement direction of the cutting tooth holder is directly opposite the axis of rotation of the chuck 141. After the workpiece to be assembled is rotated to any angle, the movement of the gripper 131 along the first direction can transport the cutting tooth holder to a preset position on the workpiece to be assembled that is opposite to the center of the gripper 131. This helps to reduce the position compensation of the gripper 131 in other directions and simplifies the positioning path of the cutting tooth holder.

[0072] In some embodiments, optionally, such as Figure 3 As shown, the clamping mechanism 14 further includes: a plurality of guide grooves 142 provided on the clamping plate 141, the guide grooves 142 extending radially along the clamping plate 141, and the plurality of guide grooves 142 being spaced apart circumferentially along the clamping plate 141; each guide groove 142 is provided with a clamping block 143, some of the clamping blocks 143 being located outside the guide groove 142, the clamping blocks 143 being movably provided within the guide groove 142, and the clamping blocks 143 being movable radially along the clamping plate 141 for fixing the workpieces to be assembled.

[0073] The guide groove 142 can be configured as a T-shaped groove or a dovetail groove opened on the upper surface of the chuck 141. The guide groove 142 extends from near the center of the chuck 141 outwards. Each guide groove 142 is equipped with a clamping block 143. The lower part of the clamping block 143 matches the shape of the guide groove 142, and the upper part of the clamping block 143 protrudes from the surface of the chuck 141. The number of guide grooves 142 is usually three or four, evenly distributed along the circumference of the chuck 141. For example, three guide grooves 142 are spaced 120 degrees apart, and four guide grooves 142 are spaced 90 degrees apart. Each clamping block 143 can be driven to slide along the guide groove 142 by a threaded rod, hydraulic cylinder, or pneumatic cylinder. When each clamping block 143 moves radially inwards synchronously, each clamping block 143 clamps the workpiece to be assembled from different directions, so that the center of the workpiece to be assembled is automatically aligned with the rotation axis of the chuck 141. When each clamping block 143 moves outwards synchronously, the workpiece is released.

[0074] Since the clamping blocks 143 are partially housed within the guide groove 142 and can reciprocate along the guide groove 142, their radial position can be changed by adjusting their position along the guide groove 142, thus adapting to workpieces of different sizes to be assembled. The guide groove 142 is spaced circumferentially along the chuck 141. Each clamping block 143 applies clamping force to the workpiece from different circumferential positions. When each clamping block 143 moves synchronously radially inward, the workpiece can be positioned at the rotation center of the chuck 141. When each clamping block 143 moves synchronously radially outward, the workpiece can be released, which helps improve the positioning accuracy of the workpiece on the chuck 141. The clamping blocks 143 can be adjusted individually by manually rotating the lead screw, or synchronously driven by a central bevel gear to achieve automated clamping.

[0075] In some embodiments, optionally, such as Figure 1 and Figure 2 As shown, the gripper 131 is detachably connected to the sliding rod 13.

[0076] A connecting handle can be provided at one end of the gripper 131. The connecting handle is inserted into the mounting hole at the end of the sliding rod 13 and fixed by a positioning pin or bolt that passes laterally through the connecting handle and the sliding rod 13. Therefore, the gripper 131 can be removed from the sliding rod 13 for replacement.

[0077] Since the gripper 131 is detachably installed at one end of the sliding rod 13, the operator can replace the corresponding gripper 131 according to the specifications and outline of the cutting tooth holder to be assembled. When the specifications of the cutting tooth holder to be assembled change, only the gripper 131 needs to be replaced without replacing the entire sliding rod 13.

[0078] In a layout variation, the end of the sliding rod 13 can be designed as a quick-change interface, such as a spring chuck or a magnetic chuck, to enable quick replacement of the gripper 131 and reduce downtime.

[0079] In one specific embodiment, a semi-automatic cutting tooth holder assembly fixture structure is provided, eliminating the need for manual assembly using rulers and angle gauges, thereby improving production efficiency, workpiece positioning accuracy, and product consistency. To achieve these objectives, this embodiment employs the following technical solution: the three moving axes of the fixture structure—X-axis (i.e., the first slide rail), Y-axis (i.e., the second slide rail), and Z-axis (i.e., the sliding rod)—are driven by a Programmable Logic Controller (PLC) to move the sliding module and gear rack, enabling horizontal and vertical movement of the fixture's clamping end, i.e., the cutting tooth holder position. This improves positioning accuracy and eliminates the need for manual determination of the distance between cutting tooth holders using rulers. The rotating disk (i.e., the clamping mechanism) of the fixture structure rotates under PLC control, determining the rotation angle between the cutting tooth holders and eliminating the need for manual determination of the angle between them using angle gauges. The rotating disk can be equipped with a centering mechanism and a braking mechanism to ensure the accuracy of the cutting tooth holder angle dimensions and enhance operational safety.

[0080] according to Figure 1 The structure shown uses a PLC controller and a first, second, and third drive unit to control the horizontal and vertical movement of the grippers, ensuring the distance dimensions of the cutting tooth holders. The rotating disk of the tooling structure is controlled by a PLC controller and a rotary drive unit to rotate and brake, ensuring the angular dimensions between the cutting tooth holders. The chuck clamping mechanism (i.e., the clamping plate) ensures the centering accuracy of the workpiece.

[0081] The tooling is controlled by a handheld teach pendant, which controls the PLC controller and servo motor to drive the tooling to move quantitatively in the XYZ direction and rotate quantitatively in the A-axis direction. This replaces manual scribing for assembly, improving assembly accuracy and efficiency and ensuring product consistency.

[0082] In summary, the fixture uses a PLC-controlled servo motor to drive the X-axis and Y-axis sliding modules and the Z-axis gear rack to move, positioning the gripper end and ensuring the distance dimensions of the cutting tooth holder. The fixture also uses a PLC-controlled servo motor to drive the rotary table to rotate, eliminating the need for manual angle measurement with a ruler, improving assembly efficiency and accuracy, and ensuring the angular dimensions of the cutting tooth holder.

[0083] In this invention, the terms "sealed," "fixed," and "third" are used for descriptive purposes only and should not be construed as indicating or implying relative importance; the term "multiple" refers to two or more unless otherwise explicitly defined. The terms "installed," "connected," "linked," and "fixed," etc., should be interpreted broadly. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "linked" can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0084] In the description of this invention, it should be understood that the terms "upper," "lower," "left," "right," "front," "rear," 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 unit 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.

[0085] In the description of this specification, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0086] The above are merely preferred embodiments of the present invention and are not intended to limit the invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A pick seat pair structure, characterized by, include: Base; A first slide rail is disposed on the base, and the first slide rail extends along a first direction; A slide assembly is disposed on the first slide rail, and the slide assembly is reciprocating relative to the first slide rail along the first direction; A sliding rod is provided on the slide assembly. The sliding rod extends along the first direction and can reciprocate relative to the slide assembly along the first direction. One end of the sliding rod is provided with a gripper. A clamping mechanism is provided on the base, the clamping mechanism is located on one side of the first slide rail in the first direction, and the clamping mechanism is used to fix the workpieces to be assembled. The movement of the slide assembly along the first direction is independent of the movement of the sliding rod along the first direction. When the gripper moves toward the clamping mechanism, the slide assembly moves relative to the base in the direction toward the clamping mechanism, and the sliding rod moves relative to the slide assembly in the direction toward the clamping mechanism. When the gripper moves away from the clamping mechanism, the sliding rod moves relative to the slide assembly in the direction away from the clamping mechanism, and the slide assembly moves relative to the base in the direction away from the clamping mechanism.

2. The pick holder pair structure according to claim 1, characterized in that, Also includes: A first drive unit is installed at one end of the first slide rail away from the clamping mechanism, so that the first drive unit drives the slide assembly to move along the first slide rail; A second drive unit is mounted on the slide assembly to drive the slide rod to move relative to the slide assembly along the first direction.

3. The pick holder pair structure according to claim 2, characterized in that, Also includes: A first screw is rotatably mounted on the first slide rail. The first screw is connected to the first drive unit and threadedly connected to the slide assembly, so that the slide assembly moves along the first direction. A rack is fixedly mounted on the sliding rod, the rack extends along the first direction, and the rack is used to mesh with the gear of the second drive unit to drive the sliding rod to move along the first direction.

4. The pair of tooth block structures of claim 2, wherein Also includes: A control module is disposed on the base. The control module is electrically connected to the first drive unit and the second drive unit respectively. The control module is used to control the operation of the first drive unit and the second drive unit, control the first drive unit to drive the slide assembly to move a first stroke, and control the second drive unit to drive the sliding rod to move a second stroke, so that the gripper moves toward or away from the clamping mechanism along the first direction.

5. The pair of tooth block structures of claim 1, wherein The slide assembly specifically includes: The second slide rail is movably connected to the first slide rail, the second slide rail extends along a second direction, and the second slide rail can reciprocate relative to the first slide rail along the first direction. A lifting seat is provided on the second slide rail. The sliding rod is movably connected to the lifting seat. The sliding rod can reciprocate relative to the lifting seat in the first direction. The lifting seat can reciprocate relative to the second slide rail in the second direction, so as to drive the sliding rod to move in the second direction. Wherein, the first direction intersects with the second direction.

6. The pick holder pair structure according to claim 5, characterized in that, The slide assembly also includes: The third drive unit is installed at the end of the second slide rail that is away from the first slide rail; The second screw is rotatably mounted on the second slide rail. The second screw is connected to the third drive unit and threadedly connected to the lifting seat, so that the third drive unit drives the lifting seat to move along the second direction.

7. The pair of tooth block structures of claim 1, wherein The clamping mechanism specifically includes: A clamping plate is disposed on the base, and the clamping plate is rotatably connected to the base; A rotary drive unit is disposed on the base and is connected to the chuck in a transmission manner. The rotary drive unit drives the chuck to rotate around the rotation axis of the chuck.

8. The cutting tooth holder assembly structure according to claim 7, characterized in that, The axis of rotation intersects a straight line along the first direction and passing through the center of the gripper.

9. The cutting tooth holder assembly structure according to claim 7, characterized in that, The clamping mechanism further includes: Multiple guide grooves are provided on the clamping plate, the guide grooves extend radially along the clamping plate, and the multiple guide grooves are spaced apart circumferentially along the clamping plate; The clamping blocks are movably disposed within the guide groove, with a portion of the clamping blocks located outside the guide groove. The clamping blocks can move radially along the clamping plate to fix the workpieces to be assembled.

10. The cutting tooth holder assembly structure according to claim 1, characterized in that, The gripper is detachably connected to the sliding rod.

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