CN111152207A - Winding wrist and control method thereof - Google Patents

Abstract

The invention discloses a winding wrist and a control method thereof, wherein the winding wrist comprises a bracket, a first movable head and a second movable head which are rotationally connected through a pin shaft, the second movable head is fixedly connected with a winding and spreading head, the bracket is provided with a driving structure for driving the first movable head to horizontally rotate and horizontally move and the second movable head to vertically rotate, and the winding wrist can drive a wrist action end to horizontally rotate, move and vertically rotate through a power source, so that the wrist action end has six degrees of freedom, and the winding and spreading head is effectively driven to wind; the wrist winding machine has only one power source, so that the cost can be saved, and the failure probability of the power source is reduced; meanwhile, the whole device has compact structure and high integration degree.

Description

Winding wrist and control method thereof

Technical Field

The invention relates to the technical field of non-metal belt paving and winding, in particular to a winding wrist and a control method thereof.

Background

In the field of modern aerospace, due to the fact that requirements for aerospace tools are higher and higher, requirements for materials are correspondingly higher and higher, wherein the most significant is that the materials are light in weight and high in strength, early changes mainly comprise changing steel materials into aluminum alloys or other alloy materials, in recent years, alloy materials such as aluminum alloys cannot meet the requirements sometimes, and research and development personnel begin to consider using composite materials. As a result, additive technology is becoming widely accepted, which is mainly to use metal as a substrate and then wind, lay or coat non-metal materials, such as glass fiber soaked by organic liquid, on the surface.

The winding machine is used for clamping a non-metal belt when the winding machine is vertically wound, the non-metal belt is driven by a winding wrist to realize different space motions, so that the non-metal belt is wound on the surface of a workpiece well, the rotary table can drive the workpiece to be processed to rotate, therefore, when the winding machine is wound, actions of the winding wrist do not need to be changed for a standard rotary part, a plurality of mechanical arms (robots) are controlled by multiple shafts at present, the flexibility of the robot is good, but a plurality of driving motors are used, the manufacturing cost is high, and the failure rate of the driving motors is also high.

Disclosure of Invention

The invention aims to solve the defects that in the prior art, a mechanical arm (robot) is controlled in a multi-axis mode, a plurality of driving motors are used, the manufacturing cost is high, and the failure rate of the driving motors is high.

In order to achieve the purpose, the invention adopts the following technical scheme:

a winding wrist comprises a support, a first movable head and a second movable head which are rotationally connected through a pin shaft, wherein a winding and laying head is fixedly connected to the second movable head, and a driving structure for driving the first movable head to horizontally rotate and horizontally move and the second movable head to vertically rotate is arranged on the support;

the driving structure comprises a longitudinal bevel gear and a transverse bevel gear, wherein the longitudinal bevel gear is vertically arranged on an axis in an meshed mode, the transverse bevel gear is vertically horizontally arranged on the axis, a movable friction plate moving up and down is arranged at the lower end of the longitudinal bevel gear, an upper friction plate is arranged above the movable friction plate, a lower friction plate is arranged below the movable friction plate, a first movable head is fixedly connected with the upper friction plate, a pair of bevel gear sets meshed with each other is arranged below the lower friction plate, a threaded rod is horizontally arranged at one end of a driven bevel gear, a moving nut matched with the threaded rod is arranged on the threaded rod, the moving nut is fixedly connected with a movable rod, and the movable rod is fixedly connected with a support and is in sliding connection.

Specifically, the lower surface of the extension shaft at the lower end of the longitudinal bevel gear is provided with a coaxial spline groove, the upper end of the movable friction plate is provided with a spline shaft matched with the spline groove at the lower end of the extension shaft, the spline shaft is inserted into the spline groove, and the movable friction plate can move along the axial direction of the longitudinal bevel gear.

Further, the outside of activity friction plate sets up and activity friction plate swivelling joint's sleeve, fixed block one side sets up the dead lever, set up the telescopic link between dead lever and the outside sleeve of activity friction plate, one side that the telescopic link is close to the dead lever sets up the combination piece, the upper end and the lower extreme that combine the piece all set up the second cylinder respectively with between the dead lever, the second cylinder can drive the activity friction plate and reciprocate, make it and last friction plate or lower friction plate combine.

Preferably, an elastic piece is arranged between the movable friction plate and the upper friction plate and between the movable friction plate and the lower friction plate, so that the movable friction plate can return conveniently.

Furthermore, the lower end of the lower friction plate is fixedly connected with a driving bevel gear, the driving bevel gear is meshed with a driven bevel gear, one side of the fixed rod, which is arranged on one side of the lower friction plate, is provided with a supporting table for rotatably supporting the lower friction plate, and a telescopic rod is arranged between the supporting table and the fixed rod.

One end of the transverse bevel gear is provided with a bearing plate, one side of the bearing plate is provided with a movable pressing plate matched with the bearing plate, the movable pressing plate is movably connected with an output shaft of the driving motor, the output shaft is sleeved with a rotary sleeve, opposite surfaces of the rotary sleeve and the bearing plate are respectively provided with a bearing surface matched with the movable pressing plate, pin shafts at two ends of the rotary sleeve and a second movable head are respectively provided with a gear oil pump, two oil cylinders are connected with an inlet and an outlet of the oil cylinder, and the rotary sleeve is fixedly connected with an inner gear of the oil cylinder.

Specifically, the outside of activity clamp plate sets up connecting sleeve, connecting sleeve and activity clamp plate swivelling joint, set up first cylinder between connecting sleeve and the support, the movable clamp plate that can drive of first cylinder reciprocates, makes it combine with rotatory sleeve or bearing plate.

Specifically, the first gear oil pump is arranged outside the output shaft, the first gear oil pump is connected with the output shaft and the rotating sleeve in a rotating and sealing mode, one end of the rotating sleeve extends to the inside of the first gear oil pump and is fixedly connected with the internal gear, the second gear oil pump is arranged outside the pin shaft and is connected with the pin shaft in a rotating and sealing mode, the oil pump gear is fixedly sleeved outside the pin shaft, the oil outlet end of the first gear oil pump is communicated with the oil inlet end of the second gear oil pump, the oil inlet end of the first gear oil pump is communicated with the oil outlet end of the second gear oil pump, when the internal gear inside the first gear oil pump is driven, oil in the first gear oil pump enters the inside of the second gear oil pump, the oil drives the oil pump gear inside the second gear oil pump to rotate, and the oil pump gear drives the pin shaft and the second movable head to rotate.

The control method for winding the wrist is provided with a power source W1 and connecting points D1, D2 and D3 which act in three directions, and comprises the following steps:

s1: the power source W1 is connected with the one-direction action connection point D1, the actions in two directions are kept still, and the power source W1 drives the direction corresponding to the D1 to act;

s2: the power source W1 is disconnected from the directional movement connecting point D1, the directional movement is kept still, the power source W1 is connected to the other directional movement connecting point D2, the movement in both directions is kept still, and the power source W1 drives the direction corresponding to D2 to move.

The invention has three-directional actions, namely rotation and movement in the horizontal direction and rotation in the vertical plane, and the power of the driving motor has three transmission paths by combining the movable friction plate with the upper friction plate or the lower friction plate and combining the movable pressing plate with the rotating sleeve or the pressure bearing plate, thereby ensuring six degrees of freedom in the space of the winding and spreading head.

The invention has the beneficial effects that: the winding wrist can drive the wrist action end to horizontally rotate, move and vertically rotate through one power source, so that the wrist action end has six degrees of freedom, and the winding and laying head is effectively driven to wind; the wrist winding machine has only one power source, so that the cost can be saved, and the failure probability of the power source is reduced; meanwhile, the whole device has compact structure and high integration degree.

Drawings

FIG. 1 is a schematic structural view of the front face of a wrapped wrist proposed by the present invention;

FIG. 2 is a schematic structural view of the wrist wrapping at the front side A;

FIG. 3 is a schematic structural diagram of the wound wrist according to the present invention from the top;

FIG. 4 is a schematic structural diagram of the present invention, viewed from the top B, of a wound wrist;

FIG. 5 is a schematic view of the connection of a gear oil pump in the winding wrist proposed by the present invention;

fig. 6 is a sectional view of the inside of the first gear oil pump in the winding wrist proposed by the present invention.

In the figure: 401. a support; 402. a longitudinal bevel gear; 403. a transverse bevel gear; 404. a movable rod; 405. a fixed block; 406. a threaded rod; 407. moving the nut; 408. a movable friction plate; 409. an upper friction plate; 410. a lower friction plate; 411. a drive bevel gear; 412. a driven bevel gear; 413. a first movable head; 414. a second movable head; 415. an oil outlet pipe; 416. a guiding slide rod; 417. a drive motor; 418. an output shaft; 419. a movable pressing plate; 420. a first cylinder; 421. a spline shaft; 422. an extension shaft; 423. an elastic member; 424. fixing the rod; 425. a combining block; 426. a second cylinder; 427. a telescopic rod; 428. a pressure plate 429, a rotating sleeve; 430. a connecting sleeve; 431. an oil inlet pipe; 432. a first gear oil pump; 433. an internal gear; 434. a second gear oil pump; 435. and (7) a pin shaft.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.

Referring to fig. 1, the wrist winding device comprises a support 401, a first movable head 413 and a second movable head 414 which are rotatably connected through a pin 435, wherein a winding and laying head is fixedly connected to the second movable head 414, and a driving structure for driving the first movable head 413 to horizontally rotate and horizontally move and driving the second movable head 414 to vertically rotate is arranged on the support 401.

Specifically, referring to fig. 1 and 2, the driving structure includes a longitudinal bevel gear 402 having a vertically arranged axis and a transverse bevel gear 403 having a vertically and horizontally arranged axis, which are engaged with each other, spline grooves coaxial with the lower surface of an extension shaft 422 at the lower end of the longitudinal bevel gear 402, a spline shaft 421 matching the spline grooves at the lower end of the extension shaft 422 is arranged at the upper end of the movable friction plate 408, the spline shaft 421 is inserted into the spline grooves, and the movable friction plate 408 is movable along the axial direction of the longitudinal bevel gear 402.

Further, an upper friction plate 409 is disposed above the movable friction plate 408, and one end of the upper friction plate 409 is fixedly connected to a first movable head 413.

Further, a lower friction plate 410 is arranged below the movable friction plate 408, a pair of bevel gear sets engaged with each other is arranged below the lower friction plate 410, the lower end of the lower friction plate 410 is fixedly connected with a driving bevel gear 411, the driving bevel gear 411 is engaged with a driven bevel gear 412, one end of the driven bevel gear 412 is provided with a threaded rod 406 arranged horizontally, the threaded rod 406 is provided with a matched moving nut 407, the moving nut 407 is fixedly connected with a moving rod 404, the moving rod 404 is fixedly connected with a support 401 and is in sliding connection with a fixed block 405, and the fixed block 405 is used for connecting a rack.

Further, a sleeve rotatably connected with the movable friction plate 408 is arranged outside the movable friction plate 408, a fixed rod 424 is arranged on one side of the fixed block 405, an expansion rod 427 is arranged between the fixed rod 424 and the sleeve outside the movable friction plate 408, a combination block 425 is arranged on one side of the expansion rod 427, which is close to the fixed rod 424, a second air cylinder 426 is respectively arranged between the upper end and the lower end of the combination block 425 and the fixed rod 424, and the second air cylinder 426 can drive the movable friction plate 408 to move up and down so as to be combined with the upper friction plate 409 or the lower friction plate 410.

When the movable friction plate 408 is combined with the upper friction plate 409, the first movable head 413 and the second movable head 413 can be driven to rotate horizontally; when the movable friction plate 408 is combined with the lower friction plate 410, the longitudinal bevel gear 402 may drive the threaded rod to rotate through the bevel gear set below the lower friction plate 410, so that the moving nut 407, the moving rod 404, and the frame 401 move horizontally relative to the fixed block 405 together.

In this embodiment, a spring is disposed between the movable friction plate 408 and the upper friction plate 409 and the lower friction plate 410, so that the movable friction plate 408 can return.

It should be noted that, a support platform for rotatably supporting the lower friction plate 410 is disposed on one side of the fixed rod 424, and the telescopic rods 427 are disposed between the support platform and the fixed rod 424, in this embodiment, all the telescopic rods 427 are disposed for matching with the horizontal movement of the support 401.

Further, referring to fig. 3 and 4, one end of the transverse bevel gear 403 is fixedly provided with a bearing plate 428, one side of the bearing plate 428 is provided with a matched movable pressing plate 419, the movable pressing plate 419 is movably connected with the output shaft 418 at the output end of the driving motor 417, in this embodiment, one side of the movable pressing plate 419 close to the inside of the output shaft 418 is provided with a guide sliding rod 416, the guide sliding rod 416 is coaxially arranged with the output shaft 418 and is slidably connected with the output shaft 418 without radial relative rotation, and the radial cross section of the guide sliding rod 416 may be a spline-shaped cross section.

Furthermore, a rotating sleeve 429 is sleeved on the output shaft 418, the rotating sleeve 429 is rotatably connected with the output shaft 418, bearing surfaces matched with the movable pressing plate 419 are arranged on the opposite surfaces of the rotating sleeve 429 and the bearing plate 428, gear oil pumps are respectively arranged on the pin shafts 435 at the two ends of the rotating sleeve 429 and the second movable head 414, the inlets and the outlets of the two oil cylinders are connected with each other, and the rotating sleeve 429 is fixedly connected with an inner gear 433 of the oil cylinder.

Specifically, referring to fig. 4, 5 and 6, a first gear oil pump 432 is disposed outside the output shaft 418, the first gear oil pump 432 is connected with the output shaft 418 and a rotating sleeve 429 in a rotating and sealing manner, one end of the rotating sleeve 429 extends into the first gear oil pump 432 and is fixedly connected with an internal gear 433, a second gear oil pump 434 is disposed outside the pin 435, the second gear oil pump 434 is connected with the pin 435 in a rotating and sealing manner, an oil pump gear is fixedly sleeved outside the pin 435, the first gear oil pump 432 and the second gear oil pump 434 are filled with oil, an oil outlet of the first gear oil pump 432 is communicated with an oil inlet of the second gear oil pump 434, an oil inlet of the first gear oil pump 432 is communicated with an oil outlet of the second gear oil pump 434, and when the internal gear 433 inside the first gear oil pump 432 is driven, the oil in the first gear oil pump 432 enters the second gear oil pump 434, the oil drives an oil pump gear inside the second gear oil pump 434 to rotate, and the oil pump gear drives the pin 435 and the second movable head 414 to rotate.

In this embodiment, a connecting sleeve 430 is disposed outside the movable platen 419, the connecting sleeve 430 is rotatably connected to the movable platen 419, a first air cylinder 420 is disposed between the connecting sleeve 430 and the bracket 401, and the first air cylinder 420 can drive the movable platen 419 to move up and down to be coupled to the rotating sleeve 429 or the pressure-bearing plate 428.

When the movable pressing plate 419 is combined with the rotating sleeve 429, the driving motor 417 can drive the inner gear 433 of the first gear oil pump 432 to rotate, oil in the first gear oil pump 432 enters the second gear oil pump 434, the oil drives the oil pump gear in the second gear oil pump 434 to rotate, and the oil pump gear drives the pin 435 and the second movable head 414 to rotate; when the movable press plate 419 is combined with the bearing plate 428, the driving motor 417 may drive the transverse bevel gear 403 to rotate, thereby driving the longitudinal bevel gear 402 to rotate.

A controller is also provided in the present wrap wrist for controlling the first cylinder 420 and the second cylinder 426, while a brake structure, not shown, is provided to release the positioning after the position of the active head is changed when the position of the active head is changed.

The control method for winding the wrist is provided with a power source W1 and connecting points D1, D2 and D3 which act in three directions, and comprises the following steps:

s1: the power source W1 is connected with the one-direction action connection point D1, the actions in two directions are kept still, and the power source W1 drives the direction corresponding to the D1 to act;

s2: the power source W1 is disconnected from the directional movement connecting point D1, the directional movement is kept still, the power source W1 is connected to the other directional movement connecting point D2, the movement in both directions is kept still, and the power source W1 drives the direction corresponding to D2 to move.

The invention has three directions of actions, rotation and movement in the horizontal direction and rotation in the vertical plane through the combination of the movable friction plate 408 and the upper friction plate 409 or the lower friction plate 410 and the movable pressure plate 419 and the rotating sleeve 429 or the pressure bearing plate 428, and the power of the driving motor 417 has three transmission paths through the combination of the movable friction plate 408 and the upper friction plate 409 or the lower friction plate 410 and the movable pressure plate 419 and the rotating sleeve 429 or the pressure bearing plate 428, thereby ensuring the space of the winding head to have 6 degrees of freedom.

Route 1: the movable press plate 419 is coupled to the pressure receiving plate 428, and the movable friction plate 408 is coupled to the upper friction plate 409, so that the power output from the driving motor 417 drives the first movable head 413 and the second movable head 414 to horizontally rotate through the output shaft 418, the movable press plate 419, the pressure receiving plate 428, the transverse bevel gear 403, the longitudinal bevel gear 402, the extension shaft 422, the movable friction plate 408, and the upper friction plate 409.

Route 2: when the movable pressing plate 419 is coupled to the pressure receiving plate 428 to control the second cylinder 426, and the movable friction plate 408 is decoupled from the upper friction plate 409 to couple the movable friction plate 408 to the lower friction plate 410, the power output from the driving motor 417 drives the movable rod 404, the bracket 401, the first movable head 413, and the second movable head 414 to move horizontally through the output shaft 418, the movable pressing plate 419, the pressure receiving plate 428, the transverse bevel gear 403, the longitudinal bevel gear 402, the extension shaft 422, the movable friction plate 408, the lower friction plate 410, the bevel gear set, the threaded rod 406, and the moving nut 407.

Route 3: the first cylinder 420 is controlled to disconnect the movable platen 419 and the pressure plate 428 to couple the movable platen 419 and the rotating sleeve 429, the coupling state of the movable friction plate 408 may be changed or not changed, and the power output from the driving motor 417 horizontally moves through the output shaft 418, the movable platen 419, the rotating sleeve 429, the internal gear 433 inside the first gear oil pump 432, the oil pump gear inside the second gear oil pump 434, the driving pin 435, and the second movable head 414.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.

Claims (8)

1. A winding wrist is characterized by comprising a support (401), a first movable head (413) and a second movable head (414) which are rotatably connected through a pin shaft (435), wherein a driving structure for driving the first movable head (413) to horizontally rotate and horizontally move and driving the second movable head (414) to vertically rotate is arranged on the support (401);

the driving structure comprises a longitudinal bevel gear (402) with a vertically arranged axis and a transverse bevel gear (403) with a vertically and horizontally arranged axis which are meshed with each other, the lower end of the longitudinal bevel gear (402) is provided with a movable friction plate (408) which moves up and down, an upper friction plate (409) is arranged above the movable friction plate (408), a lower friction plate (410) is arranged below the movable friction plate (408), the upper friction plate (409) is fixedly connected with a first movable head (413), a pair of bevel gear sets meshed with each other is arranged below the lower friction plate (410), wherein one end of the driven bevel gear (412) is provided with a horizontally arranged threaded rod (406), a matched movable nut (407) is arranged on the threaded rod (406), the movable nut (407) is fixedly connected with the movable rod (404), the movable rod (404) is fixedly connected with the bracket (401) and is in sliding connection with the fixed block (405);

one end of horizontal bevel gear (403) sets up bearing plate (428), bearing plate (428) one side sets up assorted activity clamp plate (419), output shaft (418) swing joint of activity clamp plate (419) and driving motor (417), cup joint rotatory sleeve (429) on output shaft (418), the opposite face of rotatory sleeve (429) and bearing plate (428) all sets up and activity clamp plate (419) assorted bearing face, round pin axle (435) at the both ends of rotatory sleeve (429) and second activity head (414) set up the gear oil pump respectively, two the import and the export interconnect of hydro-cylinder, internal gear (433) of rotatory sleeve (429) fixed connection hydro-cylinder.

2. A wrapped wrist according to claim 1, characterized in that a connection sleeve (430) is arranged outside the movable pressure plate (419), the connection sleeve (430) is rotatably connected with the movable pressure plate (419), and a first air cylinder (420) is arranged between the connection sleeve (430) and the support (401).

3. A winding wrist according to claim 2, characterized in that a first gear oil pump (432) is arranged outside the output shaft (418), the first gear oil pump (432) is connected with the output shaft (418) and a rotating sleeve (429) in a rotating and sealing manner, one end of the rotating sleeve (429) extends to the inside of the first gear oil pump (432) and is fixedly connected with an internal gear (433), a second gear oil pump (434) is arranged outside the pin (435), the second gear oil pump (434) is connected with the pin (435) in a rotating and sealing manner, an oil pump gear is fixedly sleeved outside the pin (435), an oil outlet end of the first gear oil pump (432) is communicated with an oil inlet end of the second gear oil pump (434), and an oil inlet end of the first gear oil pump (432) is communicated with an oil outlet end of the second gear oil pump (434).

4. A winding wrist according to claim 3, characterized in that the lower surface of the extension shaft (422) at the lower end of the longitudinal bevel gear (402) is provided with spline grooves coaxial with the spline grooves at the lower end of the extension shaft (422), and the upper end of the movable friction plate (408) is provided with a spline shaft (421) matching with the spline grooves at the lower end of the extension shaft (422), and the spline shaft (421) is inserted into the spline grooves.

5. A wound wrist according to claim 4, characterized in that the movable friction plate (408) is externally provided with a sleeve rotatably connected with the movable friction plate (408), a fixed rod (424) is arranged at one side of the fixed block (405), an expansion link (427) is arranged between the fixed rod (424) and the sleeve outside the movable friction plate (408), a combination block (425) is arranged at one side of the expansion link (427) close to the fixed rod (424), and a second air cylinder (426) is arranged between the upper end and the lower end of the combination block (425) and the fixed rod (424).

6. A wrapped wrist according to claim 3, characterized in that elastic members (423) are provided between the movable friction plate (408) and the upper (409) and lower (410) friction plates.

7. A wrapped wrist according to claim 1, characterized in that the lower end of the lower friction plate (410) is fixedly connected with a drive bevel gear (411), the side of the side where the fixing rod (424) is arranged is provided with a support platform for rotatably supporting the lower friction plate (410), and a telescopic rod (427) is arranged between the support platform and the fixing rod (424).

8. The control method for winding wrist according to claim 7, wherein a power source W1 and three directional acting joints D1, D2 and D3 are provided, comprising the steps of:

s1: the power source W1 is connected with the one-direction action connection point D1, the actions in two directions are kept still, and the power source W1 drives the direction corresponding to the D1 to act;

s2: the power source W1 is disconnected from the directional movement connecting point D1, the directional movement is kept still, the power source W1 is connected to the other directional movement connecting point D2, the movement in both directions is kept still, and the power source W1 drives the direction corresponding to D2 to move.

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