Rotary tool head capable of measuring pressure and robot

Abstract

The utility model provides a pressure-measurable rotating tool head and a robot, the pressure-measurable rotating tool head comprises a rotatable cutter handle provided with a forming machine head, a middle-through adapter for installing the rotatable cutter handle, and an axial load bearing, a pressure sensor and a radial load bearing which are sequentially arranged along the axial direction of the rotatable cutter handle, the pressure sensor is arranged on the adapter seat, the radial load bearing is arranged in the adapter seat, and an inner ring of the radial load bearing is connected with the rotatable cutter handle. The pressure-measurable rotating tool head, the forming machine head and the rotatable cutter handle can freely rotate relative to a plate surface along the stress direction during forming, the tool head can be prevented from deforming, the forming precision of equipment is ensured, the scraping condition of the plate surface is improved, meanwhile, the stress condition of the tool head in the forming process is fed back in real time through the pressure sensor, and the forming precision is improved. And the plate surface forming process can be further optimized.

Description

Technical Field

[0001] The utility model belongs to the technical field of progressive forming, and in particular relates to a pressure-measuring rotating tool head and a robot. Background Art

[0002] RTM (Realtime Manufacturing) is a mold-free flexible forming technology that can process target parts without special molds. RTM uses two six-axis industrial robots to cooperate with each other to gradually process metal plates according to CAD data. It has the characteristics of large working space, flexible layout, and various forming methods. At present, the specific operation of the RTM progressive forming process is to install a cylindrical ball head on the flange of two industrial robots respectively. Through the robot editing path, the two cylindrical ball heads squeeze the plate on the front and back sides. When the two cylindrical ball heads move, due to the pressure on both the front and back sides, different concave shapes will be formed on the plate surface according to the path. Finally, with the cooperation of the two robots, one robot pushes forward and the other retreats. The distance between the two tool round heads remains unchanged, forming a robot that pushes forward to form, and the robot that retreats plays a supporting role to prevent the plate from being deformed too much, and the plate is squeezed into the required shape or shell. However, this mode still has problems such as the two tool heads scraping the plate surface when moving, causing serious damage to the plate surface. The tool heads are in contact with the plate surface for a long time and are subjected to friction in the opposite direction of movement, which may cause the tool heads to tilt backwards and affect the forming accuracy. In addition, it is difficult to optimize the process later because of the inability to feedback the positive pressure on the plate surface during the forming process. Utility Model Content

[0003] The purpose of the utility model is to solve the deficiencies of the prior art and to provide a pressure-measuring rotating tool head and a robot which have good board surface forming effects and can provide real-time feedback on the pressure on the board surface during the forming process.

[0004] In order to achieve the above object, the technical solution of the utility model is implemented as follows:

[0005] Based on one aspect of the utility model, a pressure-measuring rotating tool head is provided, comprising a rotatable tool handle provided with a forming machine head, an adapter seat through which the middle of the rotatable tool handle is installed, and an axial load bearing, a pressure sensor, and a radial load bearing are sequentially arranged along the axial direction of the rotatable tool handle, wherein the pressure sensor is arranged on the adapter seat, and the radial load bearing is arranged inside the adapter seat and the inner ring is connected to the rotatable tool handle. The tool head tool handle is designed to be freely rotatable by the axial load bearing and the radial load bearing. When the robot moves forward on the board surface, the tool head can be prevented from always being subjected to force in the same direction, and the tool head can be prevented from being deflected, affecting the forming accuracy, and improving the scratching of the board surface. By adding a pressure sensor between the axial load bearing and the adapter seat, the positive pressure of the tool head squeezing the board surface during the forming process and the friction force that hinders the movement of the tool head when the tool head moves on the board surface can be measured simultaneously. The pressure test data can be used to further optimize the process later.

[0006] In one embodiment, it further includes a shaft end cover fixedly connected to the rear end of the rotatable tool handle, the pressure sensor is disposed between the adapter and the seat ring of the axial load bearing, and the shaft end cover is tightly abutted against the inner ring of the radial load bearing along the axial direction of the radial load bearing. An adjusting gasket is also provided between the rear end of the rotatable tool handle and the shaft end cover. The rear end of the rotatable tool handle is connected to the shaft end cover and the adjusting gasket by bolts, and the shaft end cover and the inner ring of the radial load bearing can be pressed by the bolts, and the pressing force can be adjusted by the adjusting gasket. At the same time, the pressure sensor is disposed between the adapter and the seat ring of the axial load bearing, which not only ensures that the rotatable tool handle is installed on the adapter as a whole and does not fall off, but also fixes the pressure sensor in the axial direction, and is easy to assemble.

[0007] In one embodiment, the pressure sensor is a ring-type pressure sensor, the rotatable tool handle passes through the pressure sensor and a gap is retained between the outer wall of the rotatable tool handle and the inner wall of the through hole of the pressure sensor, thereby ensuring that there is sufficient space for movement between the rotatable tool handle and the pressure sensor when the rotatable tool handle rotates.

[0008] In one of the embodiments, an intermediate retaining ring is further provided in the gap, the inner wall of the intermediate retaining ring is fixedly connected to the outer wall of the rotatable tool handle, a gap is retained between the outer wall of the intermediate retaining ring and the inner wall of the through hole of the pressure sensor, and the intermediate retaining ring abuts against the inner ring of the radial load bearing.

[0009] In one embodiment, the number of the radial load bearings is two, and a shaft retaining ring is provided between the two radial load bearings. The shaft retaining ring is pressed against the inner ring of one of the radial load bearings, and the intermediate retaining ring is pressed against the inner ring of the other radial load bearing. The shaft retaining ring and the intermediate retaining ring can fix the inner rings of the two radial load bearings so that they do not move relative to each other.

[0010] In one embodiment, the inner wall of the through hole of the adapter and the outer ring of the radial load bearing are fixed by clamping a boss and a clamping groove.

[0011] In one embodiment, the rotatable tool handle includes a tool handle body, a tool handle chuck disposed at the front end of the tool handle body, and a tool handle nut threadedly connected to the tool handle chuck, and the molding machine head is fastened to the tool handle chuck through the tool handle nut.

[0012] In one embodiment, the radial load bearing is a needle roller bearing, and the axial load bearing is a thrust cylindrical roller bearing.

[0013] According to another aspect of the utility model, a robot is provided, wherein a pressure-measurable rotating tool head as described in any one of the above items is installed on a joint axis of the robot.

[0014] Compared with the prior art, the beneficial effect of the utility model is that the forming machine head and the rotatable tool handle can rotate freely relative to the board surface according to the force direction during forming. The force direction of the forming machine head and the rotatable tool handle can be adjusted to prevent deformation of the tool head to the greatest extent and prevent the tool head from tilting backward, thereby ensuring the forming accuracy of the equipment. The friction between the tool head and the board surface is converted into rolling friction, which effectively reduces the friction between the tool head and the forming board surface, improves the scratching of the board surface, and optimizes the board surface forming process. At the same time, real-time feedback of the force condition of the tool head during the forming process is achieved through the pressure sensor. In the case that the RTM process is less used in the market, it can help the equipment to collect pressure data in real time, thereby further optimizing the board surface forming process. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a three-dimensional structural schematic diagram of an embodiment of a pressure-measuring rotating tool head of the utility model;

[0016] Figure 2 for Figure 1 The schematic diagram of the structure of the front view angle of the pressure measuring rotating tool head is shown;

[0017] Figure 3 for Figure 2 The cross-sectional structure diagram in the AA direction;

[0018] Figure 4 for Figure 3 A partial enlarged view of point B in the middle;

[0019] Figure 5 for Figure 2 The schematic diagram of the structure of the pressure-measurable rotating tool head from the right side;

[0020] Figure 6 for Figure 2 The schematic diagram of the structure of the pressure-measurable rotating tool head from the left side;

[0021] Figure 7 for Figure 1 The schematic diagram of the structure of the assembly of the pressure-measurable rotating tool head and the robot joint axis is shown.

[0022] Explanation of the reference numerals: 1 forming machine head, 2 rotatable tool handle, 21 tool handle body, 22 tool handle chuck, 23 tool handle nut, 25 boss, 3 adapter, 4 axial load bearing, 41 seat ring, 5 pressure sensor, 6 radial load bearing, 61 first radial load bearing, 63 second radial load bearing, 7 bolt, 8 shaft end cover, 9 adjusting gasket, 11 bearing end cover, 13 shaft retaining ring, 15 intermediate retaining ring, 17 robot joint shaft, 19 flange. DETAILED DESCRIPTION

[0023] Combined with reference Figure 1-6 The present embodiment provides an RTM pressure-measurable rotary tool head, comprising a rotatable tool handle 2 provided with a molding machine head 1, an adapter seat 3 through which the middle of the rotatable tool handle 2 is installed, and an axial load bearing 4, a pressure sensor 5, and a radial load bearing 6 are sequentially arranged along the axial direction of the rotatable tool handle 2. The shaft ring and seat ring of the axial load bearing 4 are respectively against the rotatable tool handle 2 and the pressure sensor 5. The radial load bearing 6 is arranged inside the adapter seat 3 and the inner ring is connected to the rotatable tool handle 2.

[0024] In this embodiment, the molding machine head 1 is a tool head round rod, and the rotatable tool handle 2 includes a tool handle body 21, a tool handle chuck 22 arranged at the front end of the tool handle body 21, and a tool handle nut 23 threadedly connected to the tool handle chuck 22. The fixing method of the tool head round rod is consistent with the method of fixing the drill bit of the machine tool. The tool handle nut 23 is used to lock the tool handle chuck 22, thereby ensuring that the tool head round rod is concentric with the whole body and does not slide or fall.

[0025] In this embodiment, the axial load bearing 4 is a thrust cylindrical roller bearing, and the radial load bearing 6 is a needle bearing. Two needle bearings are continuously arranged, namely a first radial load bearing 61 and a second radial load bearing 63. The first radial load bearing 61 and the second radial load bearing 63 fix the outer rings of the bearings through the boss 25 on the inner wall of the adapter 3. One end of the adapter 3 is fixedly connected to a bearing end cover 11 and the bearing end cover 11 is pressed against the outer ring of the second radial load bearing 63. Considering that the two needle bearings are the key structures for the internal rotation of the tool head, the inner and outer rings of the needle bearings can be separated from each other. Therefore, the shaft retaining ring 13 and the intermediate retaining ring 15 are fixedly connected on the surface of the rotatable tool handle 2 in sequence to fix the inner rings of the two needle bearings so that they do not move against each other. The shaft retaining ring 13 is pressed against the inner ring of the second radial load bearing 63, and the intermediate retaining ring 15 is pressed against the inner ring of the first radial load bearing 61.

[0026] The rear part of the handle body 21 has a threaded hole, and the shaft end cover 8 and the adjusting gasket 9 are connected by bolts 7. The shaft end cover 8 can be pressed against the inner ring of the second radial load bearing 63 by bolts 7, and then the pressing force can be adjusted by adjusting the gasket 9 to ensure that the rotatable handle 2 does not fall off as a whole, which plays a role in limiting the axial freedom of the rotatable handle 2. The pressure sensor 5 is a ring-type pressure sensor, which is arranged between the adapter 3 and the seat ring of the axial load bearing 4. The inner wall of the intermediate retaining ring 15 is precisely matched with the cylinder at the rear of the rotatable handle 2. The outer wall of the intermediate retaining ring 15 is opposite to the inner wall of the through hole of the pressure sensor 5 and a gap is reserved with the inner wall of the through hole of the pressure sensor 5 to ensure that the rotatable handle 2 has enough space for movement with the pressure sensor 5 when rotating.

[0027] The shaft ring and seat ring 41 of the axial load bearing 4 are respectively pressed against the rotatable tool handle 2 and the pressure sensor 5, and the tail cylinder of the rotatable tool handle 2 passes through the axial load bearing 4 and is precisely matched with the inner ring of the axial load bearing 4, limiting the three degrees of freedom of the axial load bearing 4. The pressure sensor 5 is connected to the adapter 3 by six bolts, and the pressure sensor 5 blocks the outer ring of the first radial load bearing 61 to ensure that the outer ring of the bearing has no axial movement. The first radial load bearing 61 and the second radial load bearing 63 are precisely installed with the adapter 3, the middle boss 25 limits the outer rings of the first radial load bearing 61 and the second radial load bearing 63, the bearing end cover 11 is connected with the adapter 3 by bolts, and finally covers the outer ring of the second radial load bearing 63 to ensure that the outer ring of the bearing does not move. Based on this, the tool head is formed with the forming machine head 1, the rotatable tool handle 2, the axial load bearing 4, the middle retaining ring 15, the first radial load bearing 61, the shaft retaining ring 13, the second radial load bearing 63, the adjusting gasket 9, and the rotating shaft end cover 8 as movable parts, and the rest are fixed support parts.

[0028] In other embodiments, the axial load bearing 4 may also be a thrust ball bearing, and the radial load bearing 6 may also be a ball bearing or a sliding bearing.

[0029] Based on the pressure-measuring rotating tool head of this embodiment, a robot is also provided, such as Figure 7 As shown, the robot joint shaft 17 is equipped with Figure 1 The pressure-measurable rotary tool head shown in the figure has an adapter seat 3 of the pressure-measurable rotary tool head connected to the end of the flange 19 by bolts, so that the entire tool head and the robot form an integral kit.

[0030] When the pressure-measurable rotating tool head of this embodiment is working, the ball head at the top of the molding machine head 1 at the end contacts the flat plate, and continuously translates on the flat plate plane according to the robot's running path. After a circle of translation, it gradually moves forward until the flat plate is deformed according to the trajectory. When the molding machine head 1 is subjected to the reaction force of the plate, the force will be transmitted back to the pressure sensor 5 (the pressure sensor has a data line interface outside, not shown in the figure). The pressure sensor 5 converts the pressure it feels into a signal and transmits it back to the computer for the operator to read, so as to realize the real-time feedback of the plate force. As the robot tool head translates on the plate surface, when the ball head contacts the deformation area, there will be a friction force on the contact surface opposite to the translation direction. At this time, the molding machine head 1 and the rotatable tool handle 2 will rotate freely due to the direction of the force, so the force direction of the adjustable molding machine head 1 and the rotatable tool handle 2 will continuously change to prevent deformation. At the same time, when the ball head contacts the plate surface, the rotation of the ball head will also convert the sliding friction between the ball head and the plate surface into rolling friction, which can alleviate the scratches on the plate surface to a certain extent.

[0031] The utility model has a pressure-measurable rotating tool head, a molding machine head and a rotatable tool handle which can freely rotate relative to the plate surface along the force direction during molding. The force direction of the molding machine head and the rotatable tool handle can be adjusted to prevent deformation of the tool head to the greatest extent, prevent the tool head from tilting backward, ensure the molding accuracy of the equipment, and convert the friction between the tool head and the plate surface into rolling friction, which effectively reduces the friction between the tool head and the molding plate surface, improves the scratching of the plate surface, and optimizes the plate surface molding process. At the same time, real-time feedback of the force condition of the tool head during the molding process is achieved through the pressure sensor. In the case that the RTM process is less used in the market, it can help the equipment to collect pressure data in real time, thereby further optimizing the plate surface molding process, and the overall structure is easy to assemble.

[0032] A person skilled in the art should understand that the discussion of any of the above embodiments is merely illustrative and is not intended to imply that the scope of protection of the present application is limited to these examples. In line with the concept of the present application, the technical features in the above embodiments or different embodiments may be combined, the steps may be implemented in any order, and there are many other variations of different aspects of one or more embodiments of the present application as described above, which are not provided in detail for the sake of simplicity.

[0033] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A pressure-measuring rotating tool head, characterized in that: The invention comprises a rotatable tool holder (2) provided with a forming machine head (1), an adapter seat (3) through which the middle of the rotatable tool holder (2) is installed, and an axial load bearing (4), a pressure sensor (5), and a radial load bearing (6) arranged in sequence along the axial direction of the rotatable tool holder (2), wherein the pressure sensor (5) is arranged on the adapter seat (3), and the radial load bearing (6) is arranged inside the adapter seat (3), and the inner ring of the radial load bearing (6) is connected to the rotatable tool holder (2).

2. The pressure-measurable rotary tool head according to claim 1, characterized in that: It also includes a shaft end cover (8) fixedly connected to the rear end of the rotatable tool handle (2), the pressure sensor (5) is disposed between the adapter seat (3) and the seat ring of the axial load bearing (4), and the shaft end cover (8) is tightly pressed against the inner ring of the radial load bearing (6) along the axial direction of the radial load bearing (6).

3. The pressure-measurable rotary tool head according to claim 2, characterized in that: The pressure sensor (5) is a ring-type pressure sensor; the rotatable tool handle (2) passes through the pressure sensor (5); and a gap is retained between the outer wall of the rotatable tool handle (2) and the inner wall of the through hole of the pressure sensor (5).

4. The pressure-measurable rotary tool head according to claim 2, characterized in that: An adjusting gasket (9) is also provided between the rear end of the rotatable tool handle (2) and the rotating shaft end cover (8).

5. The pressure-measurable rotary tool head according to claim 3, characterized in that: An intermediate retaining ring (15) is also provided in the gap, the inner wall of the intermediate retaining ring (15) is fixedly connected to the outer wall of the rotatable tool holder (2), a gap is retained between the outer wall of the intermediate retaining ring (15) and the inner wall of the through hole of the pressure sensor (5), and the intermediate retaining ring (15) abuts against the inner ring of the radial load bearing (6).

6. The pressure-measurable rotary tool head according to any one of claims 1 to 5, characterized in that: The number of the radial load bearings (6) is two, and a shaft retaining ring (13) is provided between the two radial load bearings (6).

7. The pressure-measurable rotary tool head according to any one of claims 1 to 5, characterized in that: The inner wall of the through hole of the adapter seat (3) and the outer ring of the radial load bearing (6) are fixed by clamping the boss and the clamping groove.

8. The pressure-measurable rotary tool head according to any one of claims 1 to 5, characterized in that: The rotatable tool handle (2) comprises a tool handle body (21), a tool handle chuck (22) arranged at the front end of the tool handle body (21), and a tool handle nut (23) threadedly connected to the tool handle chuck (22); the molding machine head (1) is fastened to the tool handle chuck (22) via the tool handle nut (23).

9. The pressure-measurable rotary tool head according to any one of claims 1 to 5, characterized in that: The radial load bearing (6) is a needle roller bearing, and the axial load bearing (4) is a thrust cylindrical roller bearing.

10. A robot, characterized in that: The joint axis of the robot is equipped with a pressure-measurable rotating tool head as described in any one of claims 1 to 9.

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