CN103383315A - Automatic tool changer comprehensive performance detection test stand - Google Patents

Automatic tool changer comprehensive performance detection test stand Download PDF

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Publication number
CN103383315A
CN103383315A CN2013102681578A CN201310268157A CN103383315A CN 103383315 A CN103383315 A CN 103383315A CN 2013102681578 A CN2013102681578 A CN 2013102681578A CN 201310268157 A CN201310268157 A CN 201310268157A CN 103383315 A CN103383315 A CN 103383315A
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China
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scrambler
bearing
displacement transducer
output shaft
tool changer
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CN103383315B (en
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张跃明
刘晓娜
牟宏明
杨宇
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Beijing University of Technology
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Beijing University of Technology
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Abstract

The invention discloses an automatic tool changer comprehensive performance detection test stand, and belongs to the field of numerical control machine tool functional unit performance detection. The automatic tool changer comprehensive performance detection test stand integrates the mechanical technology and the sensor technology and virtual instruments, and accomplishes detection of all the following performances: tool change time, output shaft positioning accuracy (tool-capture-in-place accuracy, tool-change-in-place accuracy, returning accuracy, linear displacement accuracy and repetitive positioning accuracy), mechanical arm vibration, ATC operation stability, tool change success rate, globoidal indexing cam mechanism comprehensive indexing accuracy and dynamic characteristics. The technical problem that positioning accuracy is difficult to detect due to the fact that compound motion (rotary motion and linear motion) of the output shaft is solved by a positioning component of an encoder A; input and output parameters of a globoidal indexing cam mechanism are directly detected by the encoder A and an encoder B, and the comprehensive indexing accuracy and the dynamic characteristic detection accuracy of the globoidal indexing cam mechanism are improved. The automatic tool changer comprehensive performance detection test stand provides a comprehensive performance detection scheme for a professional manufacturing plant, and has significant practical meanings for a functional unit professional manufacturing plant.

Description

The automatic tool changer test bench for detecting comprehensive performance
Technical field
The present invention is a kind of automatic tool changer special comprehensive performance detection testing bench, belongs to numerically-controlled machine functional part Performance Detection field.
Background technology
Automatic tool changer is the critical function parts of machining center automatic tool changer, be used for realizing tool magazine and the main axle cutter function of exchange automatically, not only shortened the non-cutting time of workpiece processing, and reduced the mismachining tolerance that workpiece causes because of multiple clamping in process, thereby improved working (machining) efficiency and the precision of machining center, its performance directly affects the performance level of main frame.Therefore, it is very necessary automatic tool changer being carried out Performance Detection.For a long time, the method that automatic tool changer detects in lathe factory is all to be furnished with concrete tool magazine to carry out, but this method and be not suitable for the specialized factory of automatic tool changer.Develop a kind of dedicated test testing table that is independent of the detection automatic tool changer property indices outside tool magazine, factory has great Practical significance for the functional part professional production.
At present, domestic research to the automatic tool changer Performance Detection seldom, external related data is not found.The applicant has applied for " a kind of performance inspection platform for automatic tool changing mechanism " (publication number: CN101514943A on March 27th, 2009, open day on August 26th, 2009), this testing table is mainly used in studying various kinematic parameters and the dynamics parameter of cambered surface cam mechanism used in globoid cam formula automatic tool changer, need to remove mechanical arm during detection.Dalian University of Technology has applied for " tool magazine and automatic tool changer comprehensive performance detecting system " (application publication number CN102785126A on August 16th, 2012, November 21 2012 Shen Qing Publication day), Detection of content comprises the tool magazine vibration, the mechanical arm vibration, the tool magazine positioning error, the performance of mechanical arm tool changing movement precision and complete machine operating noise five aspects detects, though Detection of content increases to some extent, but tool change time and the tool changing success ratio of reaction automatic tool changer important performance are not detected, and this detection system needs the cooperation of tool magazine to the Performance Detection of automatic tool changer.
the type of drive of automatic tool changer mainly is divided into fluid pressure type, gas liquid type and mechanical cam coordinated type, its globoid cam formula automatic tool changer is fast with tool-changing speed, reliability is high, load-bearing capacity is strong, the advantages such as the life-span is long are widely used in high-grade machining center, cambered surface cam mechanism is its core component, present domestic globoid cam formula automatic tool changer is in tool weight, the aspects such as tool change time and tool changing reliability and Foreign Advanced Lerel still have larger gap, the medium-to-high grade tool magazine and the main dependence on import of globoid cam formula automatic tool changer that cause domestic machining center, a large amount of Japan that adopt, Germany, the product of Korea S and Taiwan.This testing table is to develop as the basis take globoid cam formula automatic tool changer, and factory provides the combination property detection method for professional production, and quantitative test automatic tool changer combination property is for the development that promotes China's automatic tool changer provides experimental basis.
the present invention uses sensor technology and virtual instrument technique, under different operating modes (as using the cutter of different quality, test under different tool-changing speeds) detect the tool change time of automatic tool changer, the output shaft bearing accuracy (is grabbed the cutter in-placing precision, the tool changing in-placing precision, the return precision, the straight-line displacement precision, repetitive positioning accuracy), the mechanical arm vibration, the automatic tool changer smoothness of operation, the performance index such as tool changing success ratio, and comprehensive indexing accuracy and the dynamics of the ferguson cam mechanism of its application detected and analyze, but the performance level of concentrated expression automatic tool changer.In view of the mode of motion of automatic tool changer output shaft for rotatablely move, rectilinear motion and rotation and straight-line compound motion, how to location (rotatablely moving and the rectilinear motion) precision of output shaft carry out simply, facilitate, the versatility of high-precision detection and detection scheme is the key issue that the present invention solves.
Summary of the invention
In order to make up the vacancy of automatic tool changer special comprehensive performance detection testing bench, this testing table is researched and developed take globoid cam formula automatic tool changer as detected object, the present invention integrates machinery, Electronic transducer technology and control technology, researched and developed the automatic tool changer performance detection testing bench, factory provides the combination property detection scheme for professional production.By design scrambler A positioning component, effectively solved output shaft because existing the compound motion bearing accuracy to detect difficult technical matters; By scrambler B rotating assembly, solved the problem that scrambler B is connected with the globoid cam axle, globoid cam axle, output shaft are equivalent to respectively input shaft, the output shaft of cambered surface cam mechanism in the automatic tool changer that this experiment is adopted, but therefore utilize just direct-detection cambered surface cam mechanism input/output argument of scrambler A and scrambler B.
This testing table is controlled automatic tool changer and is carried out the tool changing action, and simulate different condition of work (different loads, different rotating speeds), completing properties in exchanging knives process detects, the technical scheme of taking (when hereinafter relating to all around direction, all for the pedestal front surface) as described below:
this testing table comprises globoid cam formula automatic tool changer, pedestal, supporting base A, supporting base B, the simulation cutter, cutter left and right adjusting plate, the cutter positioning assembly, scrambler A positioning component, coupling shaft A, scrambler B rotating assembly, location-plate, the displacement transducer mounting bracket, the seat vibration sensor, displacement transducer, scrambler A, the wireless vibration sensor, scrambler B, the casing vibration transducer, PC, the observing and controlling cabinet, globoid cam formula automatic tool changer wherein, the initial point approach switch, mechanical arm, output shaft, the globoid cam axle, cambered surface cam mechanism is the core component of globoid cam formula automatic tool changer, globoid cam axle and output shaft are the input of cambered surface cam mechanism, output element, the globoid cam axle is perpendicular to the automatic tool changer installed surface, output shaft is arranged on output shaft perpendicular to pedestal upper surface and with the globoid cam axis robot, output shaft driving mechanical hand is completed the tool changing action, scrambler A positioning component comprises bearing friction top, round nut and stop washer, locating sleeve, deep groove ball bearing, bearing seat, bearing cap, web joint, guide pole installing plate, guide pole, linear bearing mount pad, linear bearing, scrambler B rotating assembly comprises bearing (ball) cover, rotary shaft lip seal, coupling shaft B, the cutter positioning assembly comprises locking key, broach shell, cylindrical pin with internal thread, flush end holding screw, spring, steel ball.
Pedestal, supporting base A, supporting base B, cutter left and right adjusting plate, cutter positioning assembly have solved the installation question of globoid cam formula automatic tool changer with the simulation cutter.Supporting base A, supporting base B are arranged on pedestal, and the position of supporting base B on pedestal is non-adjustable, and globoid cam formula automatic tool changer is provided with installs slotted hole for regulating its front and back position, is arranged on the side of supporting base B; The relative pedestal of supporting base A can carry out all around position adjustments; Cutter left and right adjusting plate is arranged on supporting base B one side, and supporting base B can carry out the left and right directions adjusting relatively; The cutter positioning assembly is totally two covers, and a cover is arranged on cutter left and right adjusting plate, and a cover is arranged on supporting base A one side, and can carry out upper-lower position and regulate; The simulation cutter inserts in the broach shell of cutter positioning assembly, carries out cutter axial location location by the conical bore of broach shell and steel ball, and locking key inserts in the keyway of cutter and prevents the cutter rotation, coordinates automatic tool changer to complete the tool changing action.
Scrambler A, displacement transducer, scrambler A positioning component, coupling shaft A, displacement transducer mounting bracket have been realized the detection of output shaft bearing accuracy.The displacement transducer mounting bracket is arranged on pedestal, and its mounting hole is that slotted hole can carry out the front and back position adjusting; Displacement transducer is chosen as the rod-pulling type displacement transducer, mainly comprises cylinder body, pull bar, rotation joint, and its cylinder body is installed on this support, and cylinder body self structure and autogamy erecting frame can carry out up and down, left and right position adjustments to displacement transducer.Scrambler A is chosen as increment type axle sleeve type, installed by coupling shaft A and scrambler A positioning component, coupling shaft A one end coordinates with the screwed hole of centre of output shaft end face, and the other end coordinates with the axle sleeve of scrambler A and by the scrambler clamping ring, axle sleeve is fixed on coupling shaft A; Scrambler A positioning component: at output shaft end pack into successively locating sleeve, bearing seat, deep groove ball bearing, bearing friction top, then hold friction top in order to fixing deep groove ball bearing inner ring with round nut and stop washer (being arranged on coupling shaft A) lifting axe.Bearing seat and bearing cap are connected by screw and are fixed on bearing outer ring, and the plane surface stator coupler of scrambler A is fixed on the bearing cap end face.Two web joint upper ends are separately fixed at bearing cap two lateral surfaces by slotted hole, jointly regulate the front and back position of web joint, guide pole installing plate, guide pole, linear bearing mount pad, linear bearing, displacement transducer, displacement transducer mounting bracket with the displacement transducer mounting bracket, the lower end is arranged on respectively guide pole installing plate two lateral surfaces; Two guide pole one ends are fixed on the guide pole installing plate, the other end coordinates with linear bearing, linear bearing is fixed on the linear bearing mount pad, and the linear bearing mount pad is arranged on the displacement transducer mounting bracket and can drives linear bearing and carries out the left and right position adjustments.On the guide pole installing plate, when pull bar and guide pole had parallel deviation, the rotation joint can exempt from destruction by the safeguard bit displacement sensor to the displacement transducer pull bar by the rotation jiont treatment.
The design of scrambler A positioning component has solved output shaft because there being the technical matters of compound motion detection and localization difficulty, guide pole and linear bearing consist of moving sets, the linear bearing position is fixed, by guide pole effect resistance moment of torsion being stoped the deep groove ball bearing outer ring rotate, and the deep groove ball bearing inner ring can be with output shaft rotation; The pull bar of scrambler A, displacement transducer and rotation joint, bearing seat, bearing cap, web joint, guide pole installing plate can be with the output shaft traveling priorities under the guide effect of guide pole, and not with output shaft rotation.Scrambler A plane surface stator coupler is fixed on the bearing cap end face, and scrambler A is in the process with the output shaft traveling priority, and its axle sleeve can with output shaft rotation, just can collect the swing offset of output shaft under the effect of coupling shaft A; The displacement transducer pull bar is with the output shaft rectilinear motion, and displacement transducer is the straight-line displacement of exportable output shaft just.
Scrambler B, scrambler B rotating assembly, location-plate have been realized the detection of globoid cam axle running accuracy, and scrambler B is chosen as increment type axle sleeve type.Scrambler B rotating assembly comprises bearing (ball) cover, rotary shaft lip seal, coupling shaft B.Coupling shaft B one end and globoid cam axle are threaded connection, and the other end stretches in the axle sleeve of scrambler B and by the scrambler clamping ring, axle sleeve is fixed on coupling shaft B; Coupling shaft B has passed the bearing (ball) cover of casing relevant position, processes the O-ring seal mounting groove on this bearing (ball) cover, in order to rotary shaft lip seal to be installed, in order to avoid the casing inner fluid leaks; The plane surface stator coupler of scrambler B is arranged on tank surface by location-plate.Scrambler B and scrambler A detect simultaneously, can obtain the cambered surface cam mechanism input/output argument, and then analyze comprehensive indexing accuracy and the dynamics of cambered surface cam mechanism.
The seat vibration sensor is adsorbed on base-plates surface with magnetic support, for detection of the tool changing success ratio; The wireless vibration sensor is screwed on manipulator arm for detection of the mechanical arm Vibration Condition, by wireless receiving module, vibration signal is passed to data collecting card; The casing vibration transducer utilizes magnetic support to be adsorbed on bearing (ball) cover in scrambler B rotating assembly, for detection of the smoothness of operation of automatic tool changer.
Control mainly to be become by PC, multifunctional data acquisition card, sensor, variable-frequency motor, initial point approach switch and observing and controlling group with detection system, PC is packed in the observing and controlling cabinet, multifunctional data acquisition card inserts on the main frame of PC, the TT﹠C software system of applying virtual instrument language LabVIEW development experiments platform, control multifunctional data acquisition card pick-up transducers signal, output control signal, carry out Real-Time Monitoring and carry out signal and process, analyze and storage with PC, form by figure or form shows the properties testing result, realizes man-machine interaction.
This testing table physical construction is installed and is concerned block diagram and detect the control system block diagram respectively as Fig. 1, shown in Figure 6.
The invention has the beneficial effects as follows:
⑴. the special-purpose performance detection testing bench of ATC is provided, and this testing table is independent of tool magazine, utilizes the simulation cutter to realize the true exchanging knives process of ATC.Under various working, carry out multinomial performance and detect, but concentrated expression ATC performance level, and for improving the ATC design, improving its performance experimental basis is provided.
⑵. compare with front two testing table CN101514943A, CN102785126A, it is wider that this testing table has sensing range, and detection method is simple and reliable, and accuracy of detection is high, the characteristics that specificity is stronger.Major embodiment is following 2 points:
1.. to the detection of output shaft bearing accuracy:
This testing table solution---by design scrambler A positioning component, the scrambler axle sleeve directly is connected with output shaft, utilize simultaneously displacement transducer to detect the straight-line displacement precision of output shaft, solved the ATC output shaft because existing the compound motion bearing accuracy of rotating with traveling priority to detect difficult technical matters.
The CN101514943A solution---be also to utilize scrambler to detect, but need to remove mechanical arm when detecting, and designed gear drive, scrambler is not directly installed on output shaft, and be mounted in gear shaft that output shaft gear coordinates on.Detection method is complicated and affect accuracy of detection.
CN102785126A---use the PSD camera that the robot movement precision is measured, utilize the binocular vision method to write the loose point group of three-dimensional motion that the Matlab algorithm calculates the testing light source center, simulate 3 D motion trace, decomposite at last translation and the curve that rotatablely moves.Its signal processing is complicated, and signal processing method will directly affect accuracy of detection.
2.. to the detection of cambered surface cam mechanism indexing accuracy and dynamics:
The wide face of this experiment table solution---globoid cam is complex-shaped space curved surface, be difficult to processing, more bad detection, by direct installation photoelectric encoder on cambered surface cam mechanism input, output shaft, comprehensive indexing accuracy and the dynamics of ferguson cam mechanism detected and analyze.
CN101514943A---carrying out this detection is also to utilize two scramblers to detect, but detection signal is not directly to obtain in input, output shaft from cambered surface cam mechanism.As input signal (also being provided with other gear train between servomotor and cambered surface cam mechanism), output signal is obtained by the scrambler that is arranged on gear shaft (coordinating with the cambered surface cam mechanism output shaft gear) the servomotor CRANK PULSES.Such mounting means will affect accuracy of detection.
⑶. this testing table detects, controls and complete by PC, and is simple to operation, but applicability is strong, and the Performance Detection of the tool changing device of other type is had reference.
Description of drawings
Fig. 1---physical construction is installed and is concerned block diagram.
Fig. 2---test platform structure schematic diagram.
Fig. 3---scrambler A positioning component structural representation.
Fig. 4---scrambler B rotating assembly structural representation.
Fig. 5---cutter positioning modular construction schematic diagram.
Fig. 6---detect the control system block diagram.
in figure, 2001---pedestal, 2002---supporting base A, 2003---the seat vibration sensor, 2004---the displacement transducer mounting bracket, 2005---displacement transducer, 2006---the simulation cutter, 2007---the cutter positioning assembly, 2008---scrambler A, 2009---scrambler A positioning component, 2010---coupling shaft A, 2011---the wireless vibration sensor, 2012---scrambler B, 2013---scrambler B rotating assembly, 2014---location-plate, 2015---the casing vibration transducer, 2016---globoid cam formula automatic tool changer, 2016-1---variable-frequency motor, 2016-2---initial point approach switch, 2016-3---mechanical arm, 2017---supporting base B, 2018---cutter left and right adjusting plate, 2019---PC, 2020---the observing and controlling cabinet, 3001---round nut and stop washer, 3002---the bearing friction top, 3003---locating sleeve, 3004---deep groove ball bearing, 3005---bearing seat, 3006---bearing cap, 3007---web joint, 3008---the guide pole installing plate, 3009---guide pole, 3010---the linear bearing mount pad, 3011---linear bearing, 2016-4---output shaft, 4001---bearing (ball) cover, 4002---rotary shaft lip seal, 4003---coupling shaft B, 2016-5---globoid cam axle, 5001---locking key, 5002---broach shell, 5003---cylindrical pin with internal thread, 5004---the flush end holding screw, 5005---spring, 5006---steel ball
Embodiment
The present invention will be further described below in conjunction with accompanying drawing:
In Fig. 2, supporting base A (2002), supporting base B (2017) are arranged on pedestal (2001), lay respectively at pedestal both sides, and globoid cam formula automatic tool changer (2016) is arranged on the right flank of supporting base B (2017); Cutter left and right adjusting plate (2018) is arranged on the leading flank of supporting base B (2017); Cutter positioning assembly (2007) is totally two covers, and a cover is arranged on cutter left and right adjusting plate (2018), another set of being arranged on supporting base A (2002) left side; Simulation cutter (2006) inserts in the broach shell (5002) of cutter positioning assembly (2007).
Coordinate requirement in order to reach globoid cam formula automatic tool changer (2016) with the locus of simulation cutter (2006), to guarantee that mechanical arm can accurately grasp the both sides cutter simultaneously and complete the tool changing task, related components should be able to be carried out the adjusting of relevant position, and wherein the position of supporting base B (2017) on pedestal is made as non-adjustable; Globoid cam formula automatic tool changer (2016) mounting hole is that slotted hole can carry out the front and back position adjusting; Supporting base A (2002) can carry out all around position adjustments; Cutter left and right adjusting plate (2018) can carry out the left and right position adjustments; Cutter positioning assembly (2007) can carry out upper-lower position to be regulated.Architectural feature is described below: 1.. and pedestal (2001) is foundry goods, the T-slot of distribution before and after surperficial relevant position (being used for installation bearing seat A) processes two thereon; 2.. supporting base A (2002) adds Plate Welding by square steel tube and forms, and the mounting hole that is connected with pedestal is designed to the left and right directions slotted hole, coordinates T-slot and tommyhead bolt on pedestal just can carry out all around position adjustments; Be provided with the gathering sill of regulating cutter positioning assembly (2007) position on the left side.3.. supporting base B (2017) structure is that square steel tube adds Plate Welding and forms, position on pedestal is made as non-adjustable, at its right flank and leading flank, globoid cam formula automatic tool changer (2016), cutter left and right adjusting plate (2018) are installed respectively, and design attitude regulates gathering sill, and position adjustments puts in place and positions with cylindrical pin with internal thread afterwards; 4.. cutter left and right adjusting plate (2018) is arranged on the leading flank of supporting base B (2017), is designed with the installation slotted hole and can carries out left and right adjusting; And be designed with cutter positioning assembly (2007) position adjustments gathering sill.5.. cutter positioning assembly (2007) mounting hole is that slotted hole can carry out the upper-lower position adjusting.
Simulation cutter (2006), formed by blind rivet, handle of a knife and cutter hub, handle of a knife and blind rivet are standard component, cutter hub is fixed by screws in the handle of a knife end, cutter hub weight is designed to 3Kg, 5Kg, several specifications of 7Kg, 8Kg, to satisfy the Performance Detection of globoid cam formula automatic tool changer (2016) under the different loads condition.
The installation of each sensor:
1.. seat vibration sensor (2003) utilizes magnetic support to be adsorbed in base-plates surface for detection of the tool changing success ratio of globoid cam formula automatic tool changer (2016).
2.. displacement transducer (2005) is for detection of the straight-line displacement precision of output shaft (2016-4), be chosen as the rod-pulling type displacement transducer, mainly comprise cylinder body, pull bar, rotation joint, its cylinder body is arranged on displacement transducer mounting bracket (2004), and pull bar is by the rotation jiont treatment on the guide pole installing plate (3008) in scrambler A positioning component (2009).Displacement transducer mounting bracket (2004) is formed by Plate Welding, and the mounting hole of itself and pedestal is designed to slotted hole, can be used for front and back position and regulates.
3.. scrambler A (2008) elects increment type as, band hollow shaft sleeve and plane surface stator coupler, for detection of the rotation bearing accuracy of output shaft (2016-4), utilize scrambler A positioning component (2009), coupling shaft A (2010) to install.Its plane surface stator coupler is fixed on bearing cap (3006) lower surface of scrambler A positioning component (2009) (seeing that Fig. 3 illustrates).Coupling shaft A (2010) one ends coordinate with the screwed hole of centre of output shaft (2016-4) end face; The other end is optical axis, coordinates with the axle sleeve of scrambler A, and is fixed by the scrambler clamping ring.
4.. scrambler B (2012) utilizes scrambler B rotating assembly (2013), location-plate (2014) to be installed on the end of globoid cam axle (2016-5), be used in conjunction with scrambler A (2008), for detection of the comprehensive indexing accuracy of ferguson cam mechanism and carry out dynamical property analysis.The plane surface stator coupler of scrambler B (2012) is installed on location-plate (2014), and location-plate (2014) is installed on casing; Coupling shaft B (4003) one ends in scrambler B rotating assembly (2013) coordinate with the screwed hole of centre of globoid cam axle (2016-5) end face; The other end coordinates with the axle sleeve of scrambler B (2012), and fixes (seeing that Fig. 4 illustrates) by the scrambler clamping ring.
5.. wireless vibration sensor (2011) is screwed on mechanical arm (2016-3) arm for detection of the Vibration Condition of mechanical arm (2016-3), and is furnished with wireless receiving module vibration signal is passed to data collecting card.
6.. casing vibration transducer (2015) utilizes magnetic support to be adsorbed on bearing (ball) cover (4001) for detection of globoid cam formula automatic tool changer (2016) smoothness of operation.
7.. initial point approach switch (2016-2) is controlled for globoid cam formula automatic tool changer (2016) carries and is used sensor, the trigger pip that data collecting card gathers approach switch is transferred to PC (2019), both can be used as the initial point signal of scrambler A (2008), scrambler B (2012), can be used for simultaneously recording each tool change time.
In Fig. 3, scrambler A positioning component (2009) comprising: round nut and stop washer (3001), bearing friction top (3002), locating sleeve (3003), deep groove ball bearing (3004), bearing seat (3005), bearing cap (3006), web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011).
Locating sleeve (3003), deep groove ball bearing (3004), bearing friction top (3002) installation site as shown in FIG., locating sleeve (3003) is fitted with the mechanical arm end face, deep groove ball bearing (3004) outer face exceeds output shaft (2016-4) end face, round nut and stop washer (3001) are arranged on coupling shaft A (2010), make bearing friction top (3002) hold out against deep groove ball bearing (3004) inner ring by upwards screwing round nut, make it be fixed on output shaft (2016-4) axle head.
Bearing seat (3005) and bearing cap (3006) are fixed by screws on deep groove ball bearing (3004) outer ring, and bearing seat (3005) is threaded with bearing cap (3006) and leaves assemblage gap between end face, to guarantee that deep groove ball bearing (3004) outer ring, bearing seat (3005), bearing cap do not have end play between (3006), improve output shaft linear displacement detecting precision.The plane surface stator coupler of scrambler A (2008) is screwed on bearing cap (3006) lower surface.Totally two of web joints (3007), the upper end is connected with bearing cap (3006) two lateral surfaces respectively by slotted hole, jointly regulate the front and back position of web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), displacement transducer (2005), displacement transducer mounting bracket (2004) with displacement transducer mounting bracket (2004), the lower end is arranged on guide pole installing plate (3008) lateral surface.Displacement transducer (2005) pull bar by the rotation jiont treatment at guide pole installing plate (3008) middle part; Totally two of guide poles (3009), upper end are installed on guide pole installing plate (3008) with screw respectively, and the lower end coordinates with linear bearing (3011), are uniformly distributed in pull bar both sides.Totally two of linear bearing mount pads (3010) are arranged on displacement transducer mounting bracket (2004), and are uniformly distributed in displacement transducer (2005) both sides.Linear bearing (3011) quantity is also 2, is arranged on respectively on linear bearing mount pad (3010).
When pull bar and guide pole have parallel deviation, the rotation joint can exempt from destruction by the safeguard bit displacement sensor, for making up part's machining errors to the impact of displacement transducer (2005) pull bar and two guide poles (3009) parallel accuracy, take following measure: 1.. process guide pole (3009) on guide pole installing plate (3008) rim of the mouth is installed; 2.. the mounting hole of displacement transducer (2005) rotation joint on guide pole installing plate (3008) is greater than rotation joint external thread diameter; 3.. linear bearing mount pad (3010) relative displacement transducer mounting bracket (2004) can carry out the adjusting of position, left and right, therefore upward is provided with the installation slotted hole in the relevant position at displacement transducer mounting bracket (2004).After scrambler A positioning component (3009) is installed, smooth and easy by guaranteeing that with adjusted guide pole (3009), displacement transducer (2005) pull bar move, catching phenomenon must not be arranged.
In Fig. 4, scrambler B rotating assembly (2013) comprising: bearing (ball) cover (4001), rotary shaft lip seal (4002), coupling shaft B (4003).Rotary shaft lip seal (4002) is standard component, is used for the sealing of coupling shaft B (4003) and bearing (ball) cover (4001) gap.Bearing (ball) cover (4001) processes rotary shaft lip seal (4002) mounting groove on the original paper basis.Coupling shaft B (4003) one ends coordinate with the screwed hole of centre of globoid cam axle (2016-5) end face; The other end coordinates with the axle sleeve of scrambler B, and is fixed by the scrambler clamping ring.
In Fig. 5, cutter positioning assembly (2007) comprising: locking key (5001), broach shell (5002), cylindrical pin with internal thread (5003), flush end holding screw (5004), spring (5005), steel ball (5006).Broach shell (5002) adopts foundry goods, and its internal holes size designs according to handle of a knife, the blind rivet size selected; After cutter (2006) inserts broach shell (5002), spring (5005) shrinks, steel ball (5006) tightens handle of a knife under the pressure-acting of spring (5005), and realize the axial location location (conical bore stops cutter motion inwards vertically, and steel ball stops cutter outwards motion vertically under the compression force of spring) of cutter under the cooperation of broach shell (5002) conical bore; Locking key (5001) inserts in the keyway of cutter (2006), prevents the cutter rotation.Install on end face at cutter positioning assembly (2007) and design slotted hole, can carry out the adjusting of upper-lower position, position adjustments well uses cylindrical pin with internal thread (5003) to position afterwards.

Claims (1)

1. automatic tool changer special comprehensive performance detection testing bench, it is characterized in that: one-piece construction comprises pedestal (2001), supporting base A (2002), simulation cutter (2006), cutter positioning assembly (2007), globoid cam formula automatic tool changer (2016), supporting base B (2017), cutter left and right adjusting plate (2018), seat vibration sensor (2003), displacement transducer mounting bracket (2004), displacement transducer (2005), scrambler A (2008), scrambler A positioning component (2009), coupling shaft A (2010), wireless vibration sensor (2011), scrambler B (2012), scrambler B rotating assembly (2013), location-plate (2014), casing vibration transducer (2015), PC (2019), observing and controlling cabinet (2020), wherein globoid cam formula automatic tool changer (2016) comprising: variable-frequency motor (2016-1), initial point approach switch (2016-2), mechanical arm (2016-3), output shaft (2016-4), globoid cam axle (2016-5), scrambler A positioning component (2009) comprising: round nut and stop washer (3001), bearing friction top (3002), locating sleeve (3003), deep groove ball bearing (3004), bearing seat (3005), bearing cap (3006), web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), scrambler B rotating assembly (2013) comprising: bearing (ball) cover (4001), rotary shaft lip seal (4002), coupling shaft B (4003), cutter positioning assembly (2007) comprising: locking key (5001), broach shell (5002), cylindrical pin with internal thread (5003), flush end holding screw (5004), spring (5005), steel ball (5006),
supporting base A (2002), supporting base B (2017) are arranged on pedestal (2001), globoid cam formula automatic tool changer (2016) is arranged on supporting base B (2017) one sides, cambered surface cam mechanism is the core component of globoid cam formula automatic tool changer (2016), globoid cam axle (2016-5) is the input of cambered surface cam mechanism with output shaft (2016-4), output element, globoid cam axle (2016-5) is perpendicular to automatic tool changer (2016) installed surface, output shaft (2016-4) perpendicular to pedestal (2001) upper surface and with globoid cam axle (2016-5) spatial vertical, mechanical arm (2016-3) is arranged on output shaft (2016-4), output shaft (2016-4) driving mechanical hand (2016-3) is completed the tool changing action, cutter left and right adjusting plate (2018) is arranged on the another side of supporting base B (2017), cutter positioning assembly (2007) is totally two covers, and a cover is arranged on cutter left and right adjusting plate (2018), and a cover is arranged on supporting base A (2002) one sides, simulation cutter (2006) inserts in the broach shell (5002) of cutter positioning assembly (2007), displacement transducer mounting bracket (2004) is arranged on pedestal (2001), is positioned at below automatic tool changer (2016), scrambler A (2008) elects increment type as, and band hollow shaft sleeve and plane surface stator coupler utilize scrambler A positioning component (2009), coupling shaft A (2010) to be arranged on output shaft (2016-4) axle head, displacement transducer (2005) is elected the rod-pulling type displacement transducer as, comprise cylinder body, pull bar, rotation joint, cylinder body is arranged on displacement transducer mounting bracket (2004), and pull bar is by the rotation jiont treatment on the guide pole installing plate (3008) in scrambler A positioning component (2009), scrambler B (2012) elects increment type as, and band hollow shaft sleeve and plane surface stator coupler utilize scrambler B rotating assembly (2013), location-plate (2014) to be installed on globoid cam axle (2016-5) axle head, wireless vibration sensor (2011) is fixed on mechanical arm (2016-3), casing vibration transducer (2015) utilizes magnetic support to be adsorbed on bearing (ball) cover (4001),
locating sleeve (3003) in scrambler A positioning component (2009), bearing seat (3005), deep groove ball bearing (3004), bearing friction top (3002) is contained on output shaft (2016-4) successively, be positioned at below mechanical arm (2016-3), deep groove ball bearing (3004) outer face exceeds output shaft (2016-4) end face, round nut and stop washer (3001) are arranged on coupling shaft A (2010), make bearing friction top (3002) hold out against deep groove ball bearing (3004) inner ring by upwards screwing round nut, deep groove ball bearing (3004) is fixed on output shaft (2016-4), bearing seat (3005) and bearing cap (3006) are fixed by screws on deep groove ball bearing (3004) outer ring, totally two of web joints (3007), the upper end is connected with the left and right lateral surface of bearing cap (3006) respectively by slotted hole, jointly regulate the front and back position of web joint (3007), guide pole installing plate (3008), guide pole (3009), linear bearing mount pad (3010), linear bearing (3011), displacement transducer (2005), displacement transducer mounting bracket (2004) with displacement transducer mounting bracket (2004), the lower end is arranged on guide pole installing plate (3008) lateral surface, displacement transducer (2005) pull bar by the rotation jiont treatment at guide pole installing plate (3008) middle part, the mounting hole that guide pole installing plate (3008) is used for the rotation joint is installed positions the rotation joint by nut greater than rotation joint external thread diameter, totally two of guide poles (3009), be uniformly distributed in displacement transducer (2005) pull bar both sides, the installation rim of the mouth that guide pole installing plate (3008) is used for installing guide pole (3009) is inserted in the upper end, fix by screw again, the lower end is goed deep in linear bearing (3011) hole, and guide pole (3009) consists of moving sets with linear bearing (3011), totally two of linear bearing mount pads (3010), be arranged on displacement transducer mounting bracket (2004), and be uniformly distributed in displacement transducer (2005) both sides, displacement transducer mounting bracket (2004) is provided with linear bearing mount pad (3010) slotted hole is installed, and is used for regulating the position, left and right of linear bearing mount pad (3010), linear bearing (3011) is arranged on linear bearing mount pad (3010), coupling shaft A (2010) one ends coordinate with the screwed hole of centre of output shaft (2016-4) end face, and the other end coordinates with the axle sleeve of scrambler A (2008) and by the scrambler clamping ring, axle sleeve is fixed on coupling shaft A (2010), the plane surface stator coupler of scrambler A is fixed on bearing cap (3006) end face,
Scrambler B rotating assembly (3013) centre bearer end cap (4001) is changed a social system on the original paper basis, sets up the mounting groove of rotary shaft lip seal (4002); Coupling shaft B (4003) one ends coordinate with the screwed hole of centre of globoid cam axle (2016-5) end face, and the other end inserts in the axle sleeve hole of scrambler B (2012), and is fixed by the scrambler clamping ring; Location-plate (2014) is arranged on casing, is positioned at outside globoid cam axle (2016-5) end face, and the plane surface stator coupler of scrambler B (2012) is arranged on location-plate (2014).
CN201310268157.8A 2013-06-30 2013-06-30 Automatic tool changer test bench for detecting comprehensive performance Expired - Fee Related CN103383315B (en)

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CN104625401A (en) * 2015-01-21 2015-05-20 胡和萍 Bearing fixing seat device for laser welding machine
CN105643365A (en) * 2016-03-29 2016-06-08 青海机数控机床有限责任公司 Tool magazine and manipulator comprehensive performance detection method and platform
CN106141759A (en) * 2016-07-16 2016-11-23 北京工业大学 A kind of device and method detecting disc tool magazine turntable indexing accuracy
CN107633152A (en) * 2017-10-27 2018-01-26 天津百利机械装备集团有限公司中央研究院 Ferguson cam mechanism Kinematics Simulation method based on Creo, ADAMS environment
CN109036079A (en) * 2018-08-06 2018-12-18 大连理工大学 A kind of testing stand for simulating the tool changing of Open TBM tool changing robot
CN109085001A (en) * 2018-07-24 2018-12-25 大连理工大学 A kind of testing stand for verifying TBM tool changing robot function
CN110293569A (en) * 2019-07-30 2019-10-01 南京昱晟机器人科技有限公司 A kind of robot on-line calibration system and method
CN110442085A (en) * 2019-07-26 2019-11-12 北京工业大学 A kind of tool magazine and automatic tool changer comprehensive performance and reliability detecting device
CN116592742A (en) * 2023-07-18 2023-08-15 通用技术集团机床工程研究院有限公司 Manual detection device for contour of cambered surface cam and automatic tool changing system

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CN101514943A (en) * 2009-03-27 2009-08-26 北京工业大学 Platform for detecting the performance of automatic tool changer
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104625401A (en) * 2015-01-21 2015-05-20 胡和萍 Bearing fixing seat device for laser welding machine
CN105643365A (en) * 2016-03-29 2016-06-08 青海机数控机床有限责任公司 Tool magazine and manipulator comprehensive performance detection method and platform
CN106141759A (en) * 2016-07-16 2016-11-23 北京工业大学 A kind of device and method detecting disc tool magazine turntable indexing accuracy
CN107633152A (en) * 2017-10-27 2018-01-26 天津百利机械装备集团有限公司中央研究院 Ferguson cam mechanism Kinematics Simulation method based on Creo, ADAMS environment
CN109085001A (en) * 2018-07-24 2018-12-25 大连理工大学 A kind of testing stand for verifying TBM tool changing robot function
CN109085001B (en) * 2018-07-24 2020-04-07 大连理工大学 Test bench for verifying TBM tool changing robot function
CN109036079A (en) * 2018-08-06 2018-12-18 大连理工大学 A kind of testing stand for simulating the tool changing of Open TBM tool changing robot
CN109036079B (en) * 2018-08-06 2020-04-07 大连理工大学 Test bench for simulating tool changing of open TBM tool changing robot
CN110442085A (en) * 2019-07-26 2019-11-12 北京工业大学 A kind of tool magazine and automatic tool changer comprehensive performance and reliability detecting device
CN110293569A (en) * 2019-07-30 2019-10-01 南京昱晟机器人科技有限公司 A kind of robot on-line calibration system and method
CN116592742A (en) * 2023-07-18 2023-08-15 通用技术集团机床工程研究院有限公司 Manual detection device for contour of cambered surface cam and automatic tool changing system

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