CN209177523U - A placement and rotation mechanism based on electromagnet fixation - Google Patents

Abstract

The utility model discloses a placing and rotating mechanism based on electromagnet fixing, which belongs to a workpiece placing and clamping mechanism in the field of three-dimensional processing of small iron workpieces, and aims at providing a mechanism for realizing loading, unloading, fixing and rotating of workpieces , the technical solution is to include a frame, one end of the frame is provided with a motor assembly, the motor assembly is provided with a driving gear, the middle part of the frame is provided with a multi-stage gear mechanism, and the other end of the frame is provided with a The workpiece rotating assembly, the workpiece rotating assembly is provided with a rotating disk with tooth lines, an electromagnet is arranged on the rotating disk, and the driving gear, the multi-stage gear mechanism, and the rotating disk are meshed in sequence. The utility model provides a positioning and rotating mechanism based on electromagnet fixing, which is convenient for placing and taking out processed workpieces, and has the effect of high efficiency.

Description

A placement and rotation mechanism based on electromagnet fixation

technical field

The utility model belongs to the field of three-dimensional processing of small iron workpieces, in particular to a placement and rotation mechanism fixed by electromagnets.

Background technique

Under the trend of gradual automation and intelligence in modern industry, in order to realize 360-degree three-dimensional processing automation of workpieces on the assembly line in the factory, it is necessary to solve the angular accuracy of the rotary placement mechanism and the stability and rapidity of placement. However, in the modern industrial production line, most of the workpieces are automatically processed on the conveyor belt, and the three-dimensional automatic processing of the workpiece cannot be realized. In addition, for the existing rotary clamping mechanism used for workpiece processing, the cost of the rotary mechanism is too high, and the rotation speed is slow due to the limitation of the screw rod. Adjusting the clamping mechanism is easy to cause damage to the surface of the workpiece, and the loading and unloading is complicated. On the assembly line, most of the rotating platforms used are controlled by stepping motors to control worm gears or ball screws to control the rotation and precise positioning of workpieces. However, this mechanism is too expensive, uneconomical, and slow in response, such as the traditional chuck-type fixed structure, which is a mechanical device used to clamp workpieces on machine tools. A machine tool accessory that clamps and positions workpieces by using the radial movement of movable jaws evenly distributed on the chuck body. The chuck is generally composed of three parts: the chuck body, the movable jaw and the jaw driving mechanism. However, its flexibility is low, it is difficult to fix, and secondly, it may damage the workpiece. A kind of fixing mechanism for the processing of small iron workpieces is in urgent need of research and development.

Utility model content

The purpose of this utility model is: in order to solve the iron workpiece processing in the prior art, the clamping work of the iron workpiece by the rotating clamping mechanism exists and is limited by the screw rod so that the rotation speed is slow, and the adjusting clamping mechanism is easy to cause damage to the surface of the workpiece. Destruction, the cost of the rotating mechanism is too high and the loading and unloading is complicated. We provide a positioning and rotating mechanism based on electromagnets. The workpiece is adsorbed and fixed by the electromagnet, which avoids the complexity of manually rotating the screw or the chuck to fix the workpiece. It avoids damage to the surface of the workpiece due to the need to provide pre-tightening force to fix the workpiece, and avoids the interference between the workpiece and the motor through multi-stage gears, and has a good job of loading, unloading, fixing and rotating iron workpieces.

The technical scheme that the utility model adopts is as follows:

A positioning and rotating mechanism based on electromagnet fixation, including a frame, one end of the frame is provided with a motor assembly, the motor assembly is provided with a driving gear, and the middle part of the frame is provided with a multi-stage gear mechanism. The other end of the rack is provided with a workpiece rotating assembly, the workpiece rotating assembly is provided with a rotating disk with tooth patterns, an electromagnet is arranged on the rotating disk, and the driving gear, the multi-stage gear mechanism, and the rotating disk are meshed in sequence. .

Further, the motor assembly includes a motor bracket connected to the frame, a motor fixing seat fixedly connected to the motor bracket, a driving motor is fixedly arranged on the motor fixing seat, and the output shaft of the driving motor is perpendicular to the horizontal plane of the frame , the output shaft of the driving motor is fixedly connected with the driving gear.

Further, the multi-stage gear mechanism includes a plurality of gears, the middle parts of the plurality of gears are hinged with the frame, and the plurality of gears are meshed in sequence.

Further, an adjustment structure is provided in the middle of the rotating disk, and the electromagnet is arranged on the edge of the rotating disk.

Further, the lower end of the rack is provided with parallel guide rails, and the rack can slide along the length direction of the parallel guide rails.

Further, a pneumatic device is fixedly installed in the middle of the parallel guide rails, and the output shaft of the pneumatic device is fixedly connected to the frame.

Further, the drive motor is provided with an encoder, and the motor is also provided with a pid adjustment position loop.

Further, the gears and rotating discs in the multi-stage gear mechanism are all provided with circular holes.

To sum up, due to the adoption of the above-mentioned technical solutions, the beneficial effects of the present utility model are:

1. In the utility model, the motor assembly drives the multi-stage gear mechanism provided in the middle of the frame to rotate through the set driving gear, and transmits the torque to the workpiece rotating assembly. The rotating disk with tooth lines in the workpiece rotating assembly is provided with The electromagnet absorbs and fixes the iron workpiece, thereby realizing the loading, unloading, fixing and rotation of the iron workpiece; the utility model proposes and designs a new fixing method for the iron workpiece , the workpiece is adsorbed and fixed by the electromagnet, which avoids the complexity of manually rotating the screw or the chuck to fix the workpiece, and also avoids the damage to the surface of the workpiece due to the need to provide pre-tightening force to fix the workpiece, ensuring the integrity of the workpiece surface sex and cleanliness. At the same time, the utility model designs a new rotating mechanism, which uses multi-stage gears and DC motors with encoders. The multi-stage gears avoid the interference between the workpiece and the motor, and at the same time, compared with the screw rod, the rotation speed is improved. The high efficiency ensures the response of some special processing mechanisms during processing.

2. In the utility model, the motor assembly includes a motor bracket connected to the frame, a motor fixing seat fixedly connected to the motor bracket, a drive motor is fixedly arranged on the motor bracket, and the output shaft of the drive motor is connected to the The horizontal plane of the frame is vertical, and the output shaft of the driving motor is fixedly connected to the driving gear; through the setting of the motor bracket and the motor fixing frame, the stability of the fixing of the driving motor is strengthened, thereby delivering stable rotation through the transmission of the motor moment.

3. In the present utility model, the multi-stage gear mechanism includes a plurality of gears, and the middle parts of the plurality of gears are hinged with the frame, and the plurality of gears are meshed sequentially, and the arrangement of the multi-stage gear set realizes the The regulation of the rotation speed of the driving motor can make the rotating disk in the workpiece rotating assembly meshed with the multi-stage gear mechanism have an appropriate rotation speed.

4. In the utility model, an adjustment structure is provided in the middle of the rotating disk, and the electromagnet is arranged on the edge of the rotating disk; the adjusting structure adjusts the center position of the iron workpiece placed on the rotating disk, and secondly Then, the iron workpiece is adsorbed and fixed by the electromagnet, which effectively realizes the rapid loading and unloading and stable fixing of the workpiece.

5. In the present utility model, the lower end of the frame is provided with parallel guide rails, and the frame can slide along the length direction of the parallel guide rails; The high-quality workpiece is placed on the workpiece rotating assembly, and the center position of the workpiece is adjusted with the adjustment device, and then the workpiece is fixed by the electromagnet, and the frame is driven to move to the right along the guide rail. The workpiece rotating assembly is close to the processing tool, and the workpiece is processed according to the processing requirements. Rotate to the specified angle for processing, the setting of parallel guide rails provides a working environment for the safe installation of the workpiece on the workpiece rotating assembly, and avoids the situation with the tool when the workpiece is installed.

6. In the utility model, the drive motor is provided with an encoder, and the motor is also provided with a pid adjustment position ring; the PID adjustment position ring ensures that the mechanism can be fixed at a certain fixed angle, improving the positioning accuracy of the mechanism sex.

7. In the present utility model, the gears and rotating discs in the multi-stage gear mechanism are all provided with circular holes, which reduces the quality of the gears and rotating discs in the multi-stage gear mechanism, and reduces Loss of drive motor energy.

Description of drawings

Fig. 1 is a schematic diagram of the overall structure of the placing and rotating mechanism with the electromagnet fixed by the utility model.

Fig. 2 is a structural schematic diagram of the motor assembly of the present invention.

Fig. 3 is a schematic diagram of the position and speed double closed-loop control of the driving gear of the present invention.

Fig. 4 is the utility model PID algorithm program flowchart.

Marks in the figure: 1-frame, 2-motor assembly, 3-driving gear, 4-multi-stage gear mechanism, 5-workpiece rotating assembly, 6-rotating disk, 7-electromagnet, 8-motor bracket, 9-motor Fixed seat, 10-drive motor, 11-adjustment structure, 12-parallel guide rail, 13-pneumatic device.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

A positioning and rotating mechanism based on electromagnet fixation, including a frame 1, a motor assembly 2 is provided at one end of the frame 1, a driving gear 3 is provided on the motor assembly 2, and a multi-stage A gear mechanism 4, the other end of the frame 1 is provided with a workpiece rotating assembly 5, and the workpiece rotating assembly 5 is provided with a rotating disk 6 with tooth lines, and the rotating disk 6 is provided with an electromagnet 7. The driving gear 3, the multi-stage gear mechanism 4, and the rotating disc 6 are meshed in sequence; the motor assembly 2 drives the multi-stage gear mechanism 4 provided in the middle of the frame 1 to rotate through the provided driving gear 3, and transmits the torque to the workpiece rotating assembly 5. An electromagnet 7 is arranged in the rotating disk 6 with tooth lines in the workpiece rotating assembly 5, and the electromagnet 7 absorbs and fixes the iron workpiece, thereby realizing the loading, unloading, fixing and rotation of the iron workpiece; providing a A new fixing method, the electromagnet 7 is used to absorb and fix the workpiece, which avoids the complexity of manually rotating the screw or the chuck to fix the workpiece, and also avoids the damage to the surface of the workpiece due to the need to provide pre-tightening force to fix the workpiece. Ensure the integrity and smoothness of the workpiece surface. Simultaneously, the mode of using the multistage gear mechanism 4 and the DC motor with encoder avoids the interference between the workpiece and the drive motor 10 through the multistage gears. The response of the mechanism during special processing, in which the electromagnet can be replaced by an electromagnet and a pressing structure, which also achieves the effect of fast loading and unloading and stable fixing.

As preferably, the motor assembly 2 includes a motor bracket 8 connected to the frame 1, a motor fixing base 9 fixedly connected to the motor bracket 8, and a driving motor 10 is fixedly arranged on the motor fixing base 9, and the driving motor 10 The output shaft is perpendicular to the horizontal plane of the frame 1, and the output shaft of the driving motor 10 is fixedly connected to the main shaft of the driving gear 3.

Preferably, the multi-stage gear mechanism 4 includes a plurality of gears, the middle parts of the plurality of gears are hinged with the frame, and the plurality of gears are meshed in sequence.

Preferably, an adjustment structure 11 is provided in the middle of the rotating disk 6 , and the electromagnet 7 is arranged on the edge of the rotating disk 6 .

Preferably, the lower end of the frame 1 is provided with parallel guide rails 12 , and the frame 1 can slide along the length direction of the parallel guide rails 12 .

As a preference, a pneumatic device 13 is fixedly arranged in the middle of the parallel guide rails 12, and the output shaft of the pneumatic device 13 is fixedly connected to the frame 1; wherein the pneumatic device can be replaced by a push rod motor, and the push rod motor is fixed on a parallel In the middle of the guide rail 12, the output spindle of the push rod motor is fixedly connected with the frame 1.

As a preference, the drive motor 10 is provided with an encoder, and the drive motor 10 is also provided with a pid adjustment position ring; the PID adjustment position ring ensures that the mechanism can be fixed at a certain fixed angle, improving the positioning accuracy of the mechanism According to the workpiece processing requirements, the target position of the corresponding rotating disk 6 is set, and the target position required by the driving gear 3 is further calculated according to the principle of multi-stage gear transmission, and the target position is input into the PID controller to start the drive motor 10 to drive driving gear 3. Through the transmission of the multi-stage gear mechanism 4, the rotation angle of the driving gear 3 is transmitted to the rotating disk 6, and then the workpiece on it is driven to rotate at a corresponding angle. The encoder provided on the drive motor 10 feeds back the deviation between the actual position of the driving gear 3 and the target position to the PID adjustment position loop in real time. Wherein, the output of the position loop is the input of the speed loop, so according to the size of the obtained position deviation, the PID controller automatically adjusts the rotational speed of the drive motor 10, that is, the acceleration operation is adopted in the start-up stage of the drive motor 10, and when the drive motor 10 is about to reach the target position, it is converted to deceleration operation, so that the actual position of the driving gear 3 tends to the target position gradually.

This system adopts PID algorithm to control the speed and angle of driving motor 10 rotation. After the motor starts to work, the encoder 8 continuously collects the current motion state of the rotating shaft, and compares it with the previous state, so that the actual motion state of the driving gear 3 gradually tends to the target motion state. The PID algorithm controller is composed of the driving gear 3 rotation speed and rotation angle proportional link P, error link I and differential link D. The proportional link P: proportionally adjusts the rotation angle of the driving motor 10, that is, adjusts the driving gear rotation angle. The larger the ratio, the faster the adjustment speed. But can not be too big, too big may cause drive motor 10 to make driving gear movement unstable because of sudden change in working state. Adding integral adjustment can reduce the stability of the system and slow down the dynamic response. The differential link D: The differential action reflects the change rate of the rotation angle of the driving gear, that is, the angular velocity. It is predictable and can predict the trend of deviation changes, so it can produce advanced control effects. Before the deviation is formed, it has been eliminated by the differential adjustment function.

During the position control process of the drive motor, the upper computer sends position instructions to the lower computer through the serial port. The lower computer obtains the encoder speed and position through the timer overtime interrupt, and determines the control output through the PID controller calculation. When the position control command is received, the current position is obtained through the encoder, and the deviation between the actual position and the target position is obtained. If the deviation is less than the steady-state error (deviation ≤ 0.3°), the stepper motor is controlled to self-lock (position control is completed) If the deviation is greater than the steady-state error, enter the position control loop, the PID controller output of the position control loop is converted into speed input to the speed loop, and the control output of the speed loop is used as the pulse frequency of the drive motor 10 operating speeds.

Preferably, the gears in the multi-stage gear mechanism 4 and the rotating disc 6 are all provided with circular holes.

Example 1

A positioning and rotating mechanism based on electromagnet fixation, including a frame 1, a motor assembly 2 is provided at one end of the frame 1, a driving gear 3 is provided on the motor assembly 2, and a multi-stage A gear mechanism 4, the other end of the frame 1 is provided with a workpiece rotating assembly 5, and the workpiece rotating assembly 5 is provided with a rotating disk 6 with tooth lines, and the rotating disk 6 is provided with an electromagnet 7. The driving gear 3, the multi-stage gear mechanism 4, and the rotating disc 6 are meshed in sequence; the motor assembly 2 drives the multi-stage gear mechanism 4 provided in the middle of the frame 1 to rotate through the provided driving gear 3, and transmits the torque to the workpiece rotating assembly 5. An electromagnet 7 is arranged in the rotating disk 6 with tooth lines in the workpiece rotating assembly 5, and the electromagnet 7 absorbs and fixes the iron workpiece, thereby realizing the loading, unloading, fixing and rotation of the iron workpiece; providing a A new fixing method, the electromagnet 7 is used to absorb and fix the workpiece, which avoids the complexity of manually rotating the screw or the chuck to fix the workpiece, and also avoids the damage to the surface of the workpiece due to the need to provide pre-tightening force to fix the workpiece. Ensure the integrity and smoothness of the workpiece surface. Simultaneously, the mode of using the multistage gear mechanism 4 and the DC motor with encoder avoids the interference between the workpiece and the drive motor 10 through the multistage gears. The response of the mechanism during special processing, among which the electromagnet can be replaced by an electromagnet and a pressing structure, which also achieves the effect of fast loading and unloading and stable fixing.

Example 2

On the basis of Embodiment 1, the motor assembly 2 includes a motor bracket 8 connected to the frame 1, a motor fixing base 9 fixedly connected to the motor bracket 8, and a drive motor 10 is fixedly arranged on the motor fixing base 9, The output shaft of the driving motor 10 is perpendicular to the horizontal plane of the frame 1 , and the output shaft of the driving motor 10 is fixedly connected to the main shaft of the driving gear 3 .

Example 3

On the basis of Embodiment 2, the multi-stage gear mechanism 4 includes a plurality of gears, the middle parts of the plurality of gears are hinged with the frame, and the plurality of gears are meshed sequentially.

Example 4

On the basis of Embodiment 3, an adjustment structure 11 is provided in the middle of the rotating disk 6 , and the electromagnet 7 is arranged on the edge of the rotating disk 6 .

Example 5

On the basis of Embodiment 4, the lower end of the frame 1 is provided with parallel guide rails 12 , and the frame 1 can slide along the length direction of the parallel guide rails 12 .

Example 6

On the basis of embodiment 5, the drive motor 10 is provided with an encoder, and the drive motor 10 is also provided with a pid adjustment position ring; the PID adjustment position ring ensures that the mechanism can be fixed at a certain fixed angle, improving For the positioning accuracy of the mechanism, set the target position of the corresponding rotating disk 6 according to the workpiece processing requirements, and further calculate the target position that the driving gear 3 needs to achieve based on the principle of multi-stage gear transmission, and send the target position as an input to the PID control The device starts the driving motor 10 to drive the driving gear 3. Through the transmission of the multi-stage gear mechanism 4, the rotation angle of the driving gear 3 is transmitted to the rotating disk 6, and then the workpiece on it is driven to rotate at a corresponding angle. The encoder provided on the drive motor 10 feeds back the deviation between the actual position of the driving gear 3 and the target position to the PID adjustment position loop in real time. Wherein, the output of the position loop is the input of the speed loop, so according to the size of the obtained position deviation, the PID controller automatically adjusts the rotational speed of the drive motor 10, that is, the acceleration operation is adopted in the start-up stage of the drive motor 10, and when the drive motor 10 is about to reach the target position, it is converted to deceleration operation, so that the actual position of the driving gear 3 tends to the target position gradually.

This system adopts PID algorithm to control the speed and angle of driving motor 10 rotation. After the motor starts to work, the encoder 8 continuously collects the current motion state of the rotating shaft, and compares it with the previous state, so that the actual motion state of the driving gear 3 gradually tends to the target motion state. The PID algorithm controller is composed of the driving gear 3 rotation speed and rotation angle proportional link P, error link I and differential link D. The proportional link P: proportionally adjusts the rotation angle of the driving motor 10, that is, adjusts the driving gear rotation angle. The larger the ratio, the faster the adjustment speed. But can not be too big, too big may cause drive motor 10 to make driving gear movement unstable because of sudden change in working state. Adding integral adjustment can reduce the stability of the system and slow down the dynamic response. The differential link D: The differential action reflects the change rate of the rotation angle of the driving gear, that is, the angular velocity. It is predictable and can predict the trend of deviation changes, so it can produce advanced control effects. Before the deviation is formed, it has been eliminated by the differential adjustment function.

During the position control process of the drive motor, the upper computer sends position instructions to the lower computer through the serial port. The lower computer obtains the encoder speed and position through the timer overtime interrupt, and determines the control output through the PID controller calculation. When the position control command is received, the current position is obtained through the encoder, and the deviation between the actual position and the target position is obtained. If the deviation is less than the steady-state error (deviation ≤ 0.3°), the stepper motor is controlled to self-lock (position control is completed) If the deviation is greater than the steady-state error, enter the position control loop, the PID controller output of the position control loop is converted into speed input to the speed loop, and the control output of the speed loop is used as the pulse frequency of the drive motor 10 operating speeds.

Example 7

On the basis of the above embodiments, the gears in the multi-stage gear mechanism 4 and the rotating disk 6 are all provided with circular holes.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (8)

1. a kind of placement rotating mechanism based on electromagnetism ferropexy, it is characterised in that: including rack (1), the one of the rack (1) End is provided with electric machine assembly (2), and the electric machine assembly (2) is provided with driving gear (3), the other end setting of the rack (1) Have workpiece runner assembly (5), the workpiece runner assembly (5) is provided with the rotating disc (6) with groove, the driving gear (3) it is engaged with the rotating disc (6), is provided with electromagnet (7) on the rotating disc (6).

2. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the motor group Part (2) includes the electric machine support (8) connecting with rack (1), the motor fixing seat (9) being fixedly connected with electric machine support (8), described It is fixedly installed in motor fixing seat (9) driving motor (10), the output shaft and rack (1) working face of the driving motor (10) Vertically, the output shaft of the driving motor (10) is fixedly connected with the main shaft of the driving gear (3).

3. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rack (1) it is additionally provided with multi-stage gear unit (4), the multi-stage gear unit (4) is placed in the electric machine assembly (2), workpiece rotating group Between part (5), the driving gear (3) in the electric machine assembly (2) is engaged with the input terminal of multi-stage gear unit (4), described more The output end of grade gear mechanism (4) is engaged with the rotating disc (6) in the workpiece runner assembly (5).

4. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rotating disc (6) middle part is provided with adjustment structure (11), edge of electromagnet (7) setting in rotating disc (6).

5. a kind of placement rotating mechanism based on electromagnetism ferropexy as described in claim 1, it is characterised in that: the rack (1) lower end is provided with closed slide (12), and the rack (1) can be slided along closed slide (12) length direction.

6. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 5, it is characterised in that: the parallel conductive It is fixedly installed pneumatic device (13) in the middle part of rail (12), the output shaft of the pneumatic device (13) and the rack (1) fixed company It connects.

7. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 2, it is characterised in that: the driving electricity Machine (10) is provided with encoder, and the driving motor (10) is additionally provided with pid adjusting position ring, the encoder, driving motor (10), pid adjusting position ring is electrically connected.

8. a kind of placement rotating mechanism based on electromagnetism ferropexy as claimed in claim 3, it is characterised in that: the multistage tooth Gear, rotating disc (6) in wheel mechanism (4) offer circular hole.