CN104162838A - Parallel deburrer and deburring method based on universal joints and ball screw structures - Google Patents
Parallel deburrer and deburring method based on universal joints and ball screw structures Download PDFInfo
- Publication number
- CN104162838A CN104162838A CN201410386379.4A CN201410386379A CN104162838A CN 104162838 A CN104162838 A CN 104162838A CN 201410386379 A CN201410386379 A CN 201410386379A CN 104162838 A CN104162838 A CN 104162838A
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- China
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- deburring
- constant velocity
- fork
- velocity cardan
- leading screw
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Grinding And Polishing Of Tertiary Curved Surfaces And Surfaces With Complex Shapes (AREA)
Abstract
The invention provides a parallel deburrer and a deburring method based on universal joints and ball screw structures. The deburrer comprises stepping motors, an upper workbench, the constant-speed universal joints, ball screws, a lower workbench, a deburring motor and a deburring bulb. The three stepping motors are fixed to three corners of the upper portion of the upper workbench respectively and connected with one ends of the constant-speed universal joints through couplers, the other ends of the constant-speed universal joints are connected with the ball screw parts through couplers, each ball screw part is composed of a lead screw, a nut and a sleeve, the other ends of the sleeves are connected with the constant-speed universal joints fixed to the upper portion of the lower workbench, the motor is placed in the middle of the upper portion of the lower workbench, and the deburring bulb is connected with an output shaft of the motor through a coupler. According to the deburrer, shaft power output in different directions can be achieved through a parallel mechanism, and multi-angle deburring of workpieces can be performed.
Description
Technical field
The present invention relates to a kind of parallel connection type flash trimmer and burr removing method based on universal joint and ball screw arrangement, belong to automated manufacturing crossing domain, especially relevant to automatic system, machining, flight-line maintenance, mechanical epilation thorn, mounting technology.
Background technology
Deburring is no matter in traditional machinery industry or modern mechanical industry, all significant aspect the precision of raising machine components, traditional deburring mainly relies on manpower, and too mechanization of this work is irritated tasteless, and people's precision is relatively low, can not meet present manufacturing requirement, and in deburring process, along with people's physical consumption, firmly inhomogeneous, all can affect to a certain extent the precision of workpiece.
Along with manufacturing development, also there are some deburring machineries, the following problem of mechanism's ubiquity of these deburring machineries: take up room large, structure is loaded down with trivial details, expensive, can not realize multi-angle deburring, deburring efficiency is not high.If therefore a kind of mechanism can take up room reducing, improve on the basis of deburring efficiency, can realize again multi-angle deburring, will greatly reduce the mechanization work of manpower, the automation that has also improved deburring machinery simultaneously.
In summary it can be seen, for improving the accuracy of manufacture and the efficiency of part, in the urgent need to one possess take up room little, high accuracy, machine that can multi-angle deburring, requires this deburring machine can carry out to the part of different size the high accuracy deburring of all angles.
In recent years, flash trimmer is mainly taking serial mechanism as main, but serial mechanism has the inferior position that it is difficult to overcome itself.First: when to workpiece deburring, the precision of having relatively high expectations, serial mechanism is made up of multiple joints, and in the process of manufacturing, the cooperation in each joint can produce certain error, and multiple joints will produce error accumulation; Second: series connection is to be supported by a bar, similar cantilever beam, rigidity nature is just little, and structure is relatively also unstable; The the 3rd: serial mechanism is in deburring, owing to only having a bar to support, unstable, in certain size range, easily produce fluctuation up and down; The the 4th: the drive motors of serial mechanism and transmission system are mostly placed on moving large forearm, increase the inertia of system, worsen power performance.
Therefore, due to some shortcomings that are difficult to overcome of tandem type flash trimmer, parallel connection type flash trimmer has become new study hotspot, but present most parallel institution is mainly used in the industries such as electronics, food, medical machinery, bio-pharmaceuticals, commodity, and the components and parts of its industry are carried, pick up, assembled.And in mechanical epilation thorn field, the application of parallel institution is little, and present most of parallel institutions can not be realized the conversion of wide-angle, this has also limited the application of parallel institution in mechanical epilation thorn field.
Summary of the invention
Based on the problem and shortage of the above existence, the object of the invention is to overcome above-mentioned difficulties by parallel institution.This parallel institution supports via 3 bars, and rigidity is large, and Stability Analysis of Structures; Because rigidity is large, can, the in the situation that of same bearer ability, reduce the use of material, cost is reduced; Parallel institution does not have error accumulation and amplification relation, and the small but excellent degree of error is high; Parallel institution is placed in motor on upper table, has reduced movement load.
For achieving the above object, the present invention realizes by the following technical solutions:
A parallel connection type flash trimmer based on universal joint and ball screw arrangement, described flash trimmer mainly comprises three stepping motors, upper table, six constant velocity cardan joints, three rhizoid bars, three nuts, three sleeves, lower table, deburring motor, deburring bulb.Each constant velocity cardan joint is by initiatively pitching, forming from moving fork and ball, first, second, third stepping motor is connected with the active fork of first, second, third, etc. speed universal joint by shaft coupling respectively, above-mentioned three initiatively fork connect by ball between moving fork with corresponding three, first, second, third leading screw one end is being connected from moving fork by shaft coupling and the fast universal joint of above-mentioned first, second, third, etc. respectively; The other end of first, second, third leading screw is connected with a sleeve by a nut respectively, and between nut and sleeve, by being welded to connect, the internal diameter of sleeve is slightly larger than the external diameter of leading screw; The other end of three sleeves is being connected from moving fork by shaft coupling and the 4th, the 5th, the 6th constant velocity cardan joint respectively, above-mentioned three initiatively connect by ball between fork from moving fork and corresponding three, four, the active of the 5th, the 6th constant velocity cardan joint fork is individually fixed on lower table, lower table top is provided with motor, and deburring bulb is connected with the output shaft of motor.
Described stepping motor rotates by constant velocity cardan joint control leading screw, regulates the distance between upper table and lower table, realizes the variation of lower table and horizontal plane relative angle, realizes the different angles of part are carried out to deburring.
Described upper table is to lay stepping motor, and the output of stepping motor is passed to leading screw through constant velocity cardan joint, and upper table is the brain of whole system, and it is controlling the forward-reverse of stepping motor, the running that makes whole system have bar not wad a quilt with cotton accurately.
According to the burr removing method of above-mentioned flash trimmer, it is by controlling first, second, in the 3rd stepping motor, step actuator is accepted the quantity of pulse signal, make first, second, the 3rd stepping motor turns over different angles, utilize constant velocity cardan joint can realize the effect that varied angle power transmits, respectively power is passed to first, second, the 3rd leading screw, due to first, second, the angle difference that the 3rd stepping motor turns over, make first, second, the rotation of the 3rd leading screw and the variation of self length of causing is also different, because upper table is all the time in horizontal direction, thereby make lower table and horizontal direction produce certain angle, realize the different angles of workpiece are carried out to deburring.
The present invention has following advantage: simple in structure, and installation, debugging, easy to maintenance; Precision is high, rigidity is large, can realize accurate location; Widely applicable, can realize plane, hole, complex-curved burr are removed; Lower table quality is light, can obtain very high dynamic characteristic, easily realizes the motion of high speed, high acceleration; Selected components standardization level is high, can realize modular design; Flexibility is good, and workbench can be realized the change compared with wide-angle; The parallel institution that adopts 3DOF, can easierly solve mechanism parameter, carry out correlation theory calculating.
Brief description of the drawings:
The structure chart of Fig. 1 flash trimmer of the present invention.
The partial enlarged drawing of ball-screw in Fig. 2 flash trimmer of the present invention.
The partial enlarged drawing of lower table and parts thereof in Fig. 3 flash trimmer of the present invention.
In figure, the title of each several part is as follows:
The active fork of 1-the 4th constant velocity cardan joint, 2-the 4th constant velocity cardan joint from moving fork, 3-the 3rd shaft coupling, 4-the first sleeve, 5-the first nut, 6-the first leading screw, 7-the second shaft coupling, 8-the first constant velocity cardan joint from moving fork, the active fork of 9-the first constant velocity cardan joint, 10-the first shaft coupling, 11-the first stepping motor, the active fork of 12-the 5th constant velocity cardan joint, 13-the 5th constant velocity cardan joint from moving fork, 14-the 6th shaft coupling, 15-the second sleeve, 16-the second nut, 17-the second leading screw, 18 5-linked axial organs, 19-the second constant velocity cardan joint from moving fork, the active fork of 20-the second constant velocity cardan joint, 21-tetrad axial organ, 22-the second stepping motor, 23-the 3rd stepping motor, 24-the 7th shaft coupling, 25-upper table, the active fork of 26-C grade speed universal joint, 27-C grade speed universal joint from moving fork, 28-the 8th shaft coupling, 29-the 3rd leading screw, 30-the 3rd nut, 31-the 3rd sleeve, 32-the 9th shaft coupling, 33-the 6th constant velocity cardan joint from moving fork, the active fork of 34-the 6th constant velocity cardan joint, 35-lower table, 36-deburring motor, 37-deburring bulb
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiments of the invention are elaborated, the present embodiment is implemented under taking technical solution of the present invention as prerequisite, provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
With reference to Fig. 1, a kind of parallel connection type flash trimmer based on universal joint and ball screw arrangement of the present invention mainly comprises three stepping motors, upper table, six constant velocity cardan joints, three ball screws, lower table, deburring motor, deburring bulb.Constant velocity cardan joint is by initiatively pitching and forming from moving fork, and ball-screw is made up of leading screw, nut, sleeve.The first stepping motor 11, the second stepping motor 22, the 3rd stepping motor 23 respectively by the first shaft coupling 10, tetrad axial organ 21, the 7th shaft coupling 24 and the first constant velocity cardan joint initiatively pitch 9, the second constant velocity cardan joint initiatively pitch 20, initiatively pitching of the fast universal joint of C grade 26 be connected; Initiatively fork be connected by ball between moving fork, the first leading screw 6, the second leading screw 17, the 3rd leading screw 29 be being connected from moving fork 27 from moving fork 19, the fast universal joint of C grade from moving fork 8, the second constant velocity cardan joint with the first constant velocity cardan joint by the second shaft coupling 7,5-linked axial organ 18, the 8th shaft coupling 28 respectively; The other end of the first leading screw 6, the second leading screw 17, the 3rd leading screw 29 is connected with one end of the first sleeve 4, the second sleeve 15, the 3rd sleeve 31 by the first nut 5, the second nut 16, the 3rd nut 30; The other end of the first sleeve 4, the second sleeve 15, the 3rd sleeve 31 is being connected from moving fork 33 from moving fork 13, the 6th constant velocity cardan joint from moving fork 2, the 5th constant velocity cardan joint with the 4th constant velocity cardan joint by the 3rd shaft coupling 3, the 6th shaft coupling 14, the 9th shaft coupling 32 respectively; The 4th constant velocity cardan joint initiatively pitch 1, the 5th constant velocity cardan joint initiatively pitch 12, initiatively pitching of the 6th constant velocity cardan joint 34 be individually fixed on lower table, and limit respectively free degree that it rotates around self, the active fork of the 4th constant velocity cardan joint, the 5th constant velocity cardan joint, the 6th constant velocity cardan joint and from realizing the variation of angle between diaxon between moving fork, and there is no the rotation of axle, deburring motor 36 is arranged on the central authorities of lower table 35, and the output shaft of deburring motor is provided with deburring bulb 37.
Parallel connection type flash trimmer motion process based on universal joint and ball screw arrangement of the present invention is described below:
The first stepping motor 11 is fixed on a jiao of upper table 25 of level, initiatively pitching of the output shaft of the first stepping motor 11 and the first constant velocity cardan joint 9 is connected, when the first stepping motor 11 starts, 9 power is passed to the first leading screw 6 by initiatively pitching of the first constant velocity cardan joint, the first leading screw 6 is connected with the first sleeve 4 by the first nut 5, the rotation of the first leading screw 6 causes that the length of ball-screw entirety changes, the other end of the first sleeve 4 is connected with the first constant velocity cardan joint that is fixed on workbench, thereby cause the variation of upper table 25 and lower table 35 distances, the second stepping motor 22 is fixed on a jiao of upper table 25 of level, initiatively pitching of the output shaft of the second stepping motor 22 and the second constant velocity cardan joint 20 is connected, when the second stepping motor 22 starts, 20 power is passed to the second leading screw 17 by initiatively pitching of the second constant velocity cardan joint, the second leading screw is connected with the second sleeve 15 by the second nut 16, the rotation of the second leading screw 17 causes that the length of ball-screw entirety changes, the other end of the second sleeve 15 is connected with the constant velocity cardan joint that is fixed on lower table, thereby cause the variation of upper table 25 and lower table 35 distances, the 3rd stepping motor 23 is fixed on a jiao of upper table 25 of level, the output shaft of the 3rd stepping motor 23 and C grade speed universal joint middle initiatively pitched 26 and is connected, when the 3rd stepping motor 23 starts, 26 power is passed to the 3rd leading screw 29 by initiatively pitching of C grade speed universal joint, the 3rd leading screw 29 is connected with the 3rd sleeve 31 by the 3rd nut 30, the rotation of the 3rd leading screw 29 causes that the length of ball-screw entirety changes, the other end of the 3rd sleeve 31 is connected with the constant velocity cardan joint that is fixed on lower table 35, thereby cause the variation of upper table 25 and lower table 35 distances, by controlling the first stepping motor 11, the second stepping motor 22, in the 3rd stepping motor 23, step actuator is accepted the quantity of pulse signal, make the first stepping motor 11, the second stepping motor 22, the 3rd stepping motor 23 turns over different angles, utilize constant velocity cardan joint can realize the effect that varied angle power transmits, respectively power is passed to the first leading screw 6, the second leading screw 17, the 3rd leading screw 29, due to the first stepping motor 11, the second stepping motor 22, the angle difference that the 3rd stepping motor 23 turns over, make the first leading screw 6, the second leading screw 17, the rotation of the 3rd the leading screw 29 and variation of self length of causing is also different, and upper table 25 is all the time in horizontal direction, thereby make lower table 35 and horizontal direction produce certain angle, in the central authorities of lower table 35, deburring motor 36 is installed, the rotation of deburring motor 36 drives deburring bulb 37 to rotate together, thereby the burr of workpiece is removed.
Flash trimmer of the present invention utilizes parallel institution can realize the axle power output of different directions, can carry out multi-angle deburring to workpiece, in modern large-scale production, can reduce the long-term deburring work of carrying out mechanization of manpower, and precision is high, efficiency is high, can realize continuous non-stop run.
Claims (3)
1. the parallel connection type flash trimmer based on universal joint and ball screw arrangement, described flash trimmer comprises three stepping motors, upper table, six constant velocity cardan joints, three rhizoid thick sticks, three nuts, three sleeves, lower table, deburring motor, deburring bulb, each constant velocity cardan joint is by initiatively pitching, from moving fork and ball composition, it is characterized in that, first, second, the 3rd stepping motor is respectively by shaft coupling and first, second, the active fork of C grade speed universal joint is connected, above-mentioned three initiatively fork and corresponding three connect by ball between moving fork, first, second, the 3rd leading screw one end is respectively by shaft coupling and above-mentioned first, second, being connected from moving fork of C grade speed universal joint, the other end of first, second, third leading screw is connected with a sleeve by a nut respectively, the other end of three sleeves is being connected from moving fork by shaft coupling and the 4th, the 5th, the 6th constant velocity cardan joint respectively, above-mentioned three initiatively connect by ball between fork from moving fork and corresponding three, four, the active of the 5th, the 6th constant velocity cardan joint fork is individually fixed on lower table, deburring motor is fixed on the central authorities of lower table, and deburring bulb is connected with the output shaft of deburring motor.
2. flash trimmer according to claim 1, is characterized in that, described three stepping motors are arranged on upper table, and described upper table is all the time in horizontal direction.
3. the burr removing method of flash trimmer according to claim 1, it is characterized in that, by controlling first, second, in the 3rd stepping motor, step actuator is accepted the quantity of pulse signal, make first, second, the 3rd stepping motor turns over different angles, utilize constant velocity cardan joint can realize the effect that varied angle power transmits, respectively power is passed to first, second, the 3rd leading screw, due to first, second, the angle difference that the 3rd stepping motor turns over, make first, second, the rotation of the 3rd leading screw and the variation of self length of causing is also different, because described upper table is all the time in horizontal direction, thereby make lower table and horizontal direction produce certain angle, realize the different angles of workpiece are carried out to deburring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410386379.4A CN104162838B (en) | 2014-08-07 | 2014-08-07 | Parallel deburrer and deburring method based on universal joints and ball screw structures |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410386379.4A CN104162838B (en) | 2014-08-07 | 2014-08-07 | Parallel deburrer and deburring method based on universal joints and ball screw structures |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104162838A true CN104162838A (en) | 2014-11-26 |
| CN104162838B CN104162838B (en) | 2017-02-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410386379.4A Expired - Fee Related CN104162838B (en) | 2014-08-07 | 2014-08-07 | Parallel deburrer and deburring method based on universal joints and ball screw structures |
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| CN (1) | CN104162838B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891216A (en) * | 2017-02-23 | 2017-06-27 | 上海理工大学 | Six-freedom parallel type flash trimmer |
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| JPH10277985A (en) * | 1997-01-30 | 1998-10-20 | Ntn Corp | Positioning device |
| CN1962192A (en) * | 2006-11-24 | 2007-05-16 | 哈尔滨工业大学 | Five-axle linked tandem and parallel digital control polishing machine tool |
| CN201023184Y (en) * | 2006-12-01 | 2008-02-20 | 哈尔滨工业大学 | Seven-shaft series-parallel numerical control milling machine |
| CN202922351U (en) * | 2012-11-11 | 2013-05-08 | 中信戴卡股份有限公司 | Wheel deburring device |
| CN103372803A (en) * | 2012-04-20 | 2013-10-30 | 成都酷玩网络科技有限公司 | Novel die polishing device |
| CN204235382U (en) * | 2014-08-07 | 2015-04-01 | 青岛理工大学 | Based on the parallel connection type flash trimmer of universal joint and ball screw arrangement |
-
2014
- 2014-08-07 CN CN201410386379.4A patent/CN104162838B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10277985A (en) * | 1997-01-30 | 1998-10-20 | Ntn Corp | Positioning device |
| CN1962192A (en) * | 2006-11-24 | 2007-05-16 | 哈尔滨工业大学 | Five-axle linked tandem and parallel digital control polishing machine tool |
| CN201023184Y (en) * | 2006-12-01 | 2008-02-20 | 哈尔滨工业大学 | Seven-shaft series-parallel numerical control milling machine |
| CN103372803A (en) * | 2012-04-20 | 2013-10-30 | 成都酷玩网络科技有限公司 | Novel die polishing device |
| CN202922351U (en) * | 2012-11-11 | 2013-05-08 | 中信戴卡股份有限公司 | Wheel deburring device |
| CN204235382U (en) * | 2014-08-07 | 2015-04-01 | 青岛理工大学 | Based on the parallel connection type flash trimmer of universal joint and ball screw arrangement |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106891216A (en) * | 2017-02-23 | 2017-06-27 | 上海理工大学 | Six-freedom parallel type flash trimmer |
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| CN104162838B (en) | 2017-02-22 |
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Granted publication date: 20170222 Termination date: 20180807 |