阅读说明：本技术 自动定位的回转装置和实现回转平台自动定位的方法 (Automatic positioning rotary device and method for realizing automatic positioning of rotary platform ) 是由 章阳坤 李兵 于 2021-07-26 设计创作，主要内容包括：本发明提供了一种基于公母锥配合进行自动定位的回转装置和基于公母锥配合实现回转平台自动定位的方法,自动定位的回转装置包括机架、回转平台和M个推子,其中M≥3,回转平台转动设置于机架上,在回转平台的某一圆周上均匀分布有N个母锥槽,其中N≥M,在推子的前端形成有公锥台,公锥台能够伸入母锥槽内并与母锥槽的槽壁挤压配合,其中M个推子按照角相位差(360°/(N*M))进行排列,M个推子按顺序依次交替向前推出和向后退回,使得在同一时间有且仅有一个公锥台向前推出挤压母锥槽并带动回转平台进行旋转,其他公锥台向后退回。本发明能够在无传感开环控制条件下进行高可靠性的旋转定位。(The invention provides a rotating device for automatically positioning based on the cooperation of a male cone and a female cone and a method for automatically positioning a rotating platform based on the cooperation of the male cone and the female cone, wherein the automatically positioning rotating device comprises a rack, a rotating platform and M pushers, wherein M is more than or equal to 3, the rotating platform is rotationally arranged on the rack, N female cone grooves are uniformly distributed on a certain circumference of the rotating platform, N is more than or equal to M, a male cone table is formed at the front end of the pushers and can extend into the female cone grooves and be in extrusion fit with the groove walls of the female cone grooves, the M pushers are arranged according to an angular phase difference (360 degrees (N x M)), the M pushers are sequentially and alternately pushed forwards and retreated forwards, so that only one male cone table is pushed forwards to extrude the female cone grooves and drive the rotating platform to rotate at the same time, and other male cone tables retreat backwards. The invention can carry out high-reliability rotary positioning under the condition of no sensing open-loop control.)

1. A rotary device for automatic positioning based on male-female cone matching is characterized by comprising a rack, a rotary platform and M pushers, wherein M is larger than or equal to 3, the rotary platform is rotatably arranged on the rack, N female cone grooves are uniformly distributed on a certain circumference of the rotary platform, N is larger than or equal to M, a male cone table is formed at the front end of each pusher, the male cone table can extend into the female cone grooves and is in extrusion fit with the groove walls of the female cone grooves, the M pushers are arranged according to an angular phase difference (360 degrees/M), the M pushers are sequentially and alternately pushed forwards and retreated backwards, so that only one male cone table is pushed forwards to extrude the female cone grooves at the same time and drive the rotary platform to rotate, and the other male cone tables retreat backwards.

2. The automatic positioning rotary device based on the male-female cone fit as claimed in claim 1, wherein the male cone frustum pushed forward completely forms a limit fit with the female cone groove, and at this time, the female cone groove abuts against the male cone frustum, so that the rotary platform cannot rotate.

3. The rotary device for automatic positioning based on the matching of the male and female cones as claimed in claim 1, wherein the female cone groove is a cone groove formed in the axial direction of the rotary platform, and the pusher is configured to be capable of being pushed forward in the direction of the center line of rotation of the rotary platform to be press-fitted into the female cone groove and retreated backward from the female cone groove.

4. The rotating device for automatic positioning based on the matching of the male and female cones as claimed in claim 3, wherein the male frustum is a cone-shaped profile, and the male frustum and the female cone groove which are mutually pressed and matched can limit the rotating platform to generate the rotating motion and simultaneously limit the rotating platform to generate the axial motion.

5. The rotary device for automatic positioning based on the fit of the male and female cones as claimed in claim 1, wherein said female cone groove is a U-shaped groove formed in a radial direction of said rotary platform in a flared shape, and said male cone table is configured to be pushed forward in a radial direction of said rotary platform to said female cone groove press-fit and to be withdrawn backward from said female cone groove.

6. The automatic positioning rotary device based on the cooperation of the male and female cones as claimed in claim 5, wherein the male frustum is a cambered profile, and the male frustum and the female cone groove which are mutually pressed and matched can limit the rotary platform to rotate.

7. The rotary device for automatic positioning based on the cooperation of a male cone and a female cone as claimed in claim 1, wherein the pusher is driven to push forwards and retract backwards by a linear motor.

8. A method for realizing automatic positioning of a rotary platform based on male-female cone matching is characterized in that a rotary platform with N female cone grooves and M pushers are provided, wherein M is more than or equal to 3, N is more than or equal to M, the N female cone grooves are distributed on a certain circumference of the rotary platform, the pitch angle between the adjacent female cone grooves is (360 degrees/N), and a male cone table matched with the female cone grooves is formed at the front end of each pusher; wherein the M clippers perform the following operations:

1) arranging M pushers on the circumference of the female cone groove according to the angular phase difference (360 degrees/(N × M));

2) when one of the pushers is pushed forwards, the other pushers retreat backwards, the male cone table on the pushers pushed forwards can be in contact with the groove wall of the female cone groove to form extrusion and drive the rotary platform to rotate, and at the moment, the other pushers retreating backwards are not in contact with the female cone groove;

3) and sequentially and continuously pushing the M pushers forwards to continuously rotate the rotary platform.

Technical Field

The invention belongs to the technical field of automation, and particularly relates to a slewing device for automatic positioning based on the cooperation of a male cone and a female cone, in particular to a slewing device capable of realizing high-reliability rotary positioning under the condition of no sensing open-loop control; the invention also provides a method for realizing automatic positioning of the rotary platform based on the cooperation of the male cone and the female cone.

Background

The rotary positioning platform is a common basic component in industrial automation equipment, and plays an important role in indexing positioning operation, manipulator rotation operation and rotary feeding devices.

At present, a rotary platform usually needs to be additionally provided with a limiting actuating mechanism, and the positioning function is realized by being matched with the rotary actuating mechanism, or a position sensor is additionally arranged, and the positioning function is realized by combining a closed-loop control algorithm.

For example, chinese patent 201720420719.X discloses a bidirectional positioning device and an automation apparatus, and belongs to the technical field of automation apparatuses, the bidirectional positioning device includes a base, a driving device, a mounting plate and a connecting rod; the driving device is arranged on the base and connected with the mounting plate; the four connecting rods are uniformly distributed on the mounting plate, one end of each connecting rod is hinged with the mounting plate, and the other end of each connecting rod is connected with the cam bearing. In this scheme, when drive arrangement drive mounting panel anticlockwise rotates, the station is opened to the cam bearing on four connecting rods on the station platform, connects the material, and when drive arrangement drive mounting panel anticlockwise rotates, under the transmission of connecting rod, cam bearing synchronous motion is drawn close to the centre, realizes the location, has guaranteed the synchronism of location.

For another example, chinese patent 201410383366.1 discloses a non-contact measuring device and method for the rotation position of a crane, including a first gear sensor, a second gear sensor, and a positioning sensor mounted on a rotation platform of the crane; and a fixedly mounted reflector block. The first gear sensor, the second gear sensor and the positioning sensor are all connected with a signal acquisition/processing module, the signal acquisition/processing module is connected with a single chip microcomputer processing module, and the single chip microcomputer processing module is connected with the torque limiter through an RS-485 communication bus. The first gear sensor and the second gear sensor are inductive proximity sensors. The positioning sensor is a reflection-type photoelectric switch. The invention utilizes the signal phase difference generated by the two sensors to identify the rotation direction and realizes the measurement of the rotation angle of the crane through the processing of the single chip microcomputer.

In the prior art, the cost is increased by additionally arranging the limiting actuating mechanism, and the complexity of positioning control is improved because the limiting mechanism and the rotary actuating mechanism need to be matched with each other, so that the reliability in practical application is reduced; the additional position sensor not only increases the cost, but also the complex closed-loop control system reduces the reliability in practical use.

Based on the technical scheme, the rotary device capable of achieving the high-reliability rotary positioning function based on the matching of the male cone and the female cone and the method for achieving the automatic positioning of the rotary platform based on the matching of the male cone and the female cone are particularly provided.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a rotating device for automatically positioning based on the cooperation of a male cone and a female cone and a method for automatically positioning a rotating platform based on the cooperation of the male cone and the female cone, which can perform high-reliability rotary positioning under the condition of no sensing open-loop control.

In order to achieve the above object, in one aspect, the present invention provides a rotating device for automatic positioning based on the cooperation of a male cone and a female cone, comprising a frame, a rotating platform and M pushers, wherein M is greater than or equal to 3, the rotating platform is rotatably disposed on the frame, N female cone grooves are uniformly distributed on a certain circumference of the rotating platform, N is greater than or equal to M, a male cone is formed at the front end of the pushers, the male cone can extend into the female cone grooves and is in press fit with the groove walls of the female cone grooves, wherein the M pushers are arranged according to an angular phase difference (360 °/(N × M)), the M pushers are sequentially and alternately pushed forward and retracted backward, so that only one male cone is pushed forward to press the female cone grooves and drive the rotating platform to rotate at the same time, and the other male cones are retracted backward.

As another specific embodiment of the present invention, a limit fit is formed between the male cone and the female cone which are pushed forward completely, at this time, the female cone and the male cone are abutted to prevent the rotation of the rotating platform, thereby realizing the hovering of the rotating platform, and the hovering position is controllable, that is, the hovering position of the rotating platform is controlled by controlling the position of the pusher.

As another specific embodiment of the present invention, the female taper groove is a taper groove formed in an axial direction of the rotary platform, and the pusher is configured to be capable of being pushed forward in a direction of a center line of rotation of the rotary platform to be press-fitted into the female taper groove and retreated backward from the female taper groove.

As another specific embodiment of the present invention, the male frustum is a conical profile, and the male frustum and the female conical groove which are mutually press-fitted limit the revolving platform to generate revolving motion and simultaneously limit the revolving platform to generate axial motion.

As another specific embodiment of the present invention, the female taper groove is a U-shaped groove formed in a radial direction of the rotary platform in a flared shape, and the male frustum is provided to be capable of being pushed forward in the radial direction of the rotary platform to the female taper groove press-fit and retreated backward from the female taper groove.

As another specific embodiment of the invention, the male frustum is in an arc-shaped profile, and the male frustum and the female cone groove which are mutually matched in a pressing manner can limit the rotation of the rotary platform.

As another specific embodiment of the invention, the linear motor is adopted to drive the pusher to push forwards and retract backwards.

On the other hand, the invention also provides a method for realizing automatic positioning of a rotary platform based on the matching of a male cone and a female cone, which provides the rotary platform with N female cone grooves and M pushers, wherein M is more than or equal to 3, N is more than or equal to M, the N female cone grooves are distributed on a certain circumference of the rotary platform, the pitch angle between the adjacent female cone grooves is (360 degrees/N), and a male cone table matched with the female cone grooves is formed at the front end of each pusher; wherein the M clippers perform the following operations:

1) arranging M pushers on the circumference of the female cone groove according to the angular phase difference (360 degrees/(N × M));

2) when one of the pushers is pushed forwards, the other pushers retreat backwards, the male cone table on the pushers pushed forwards can be in contact with the groove wall of the female cone groove to form extrusion and drive the rotary platform to rotate, and at the moment, the other pushers retreating backwards are not in contact with the female cone groove;

3) and sequentially and continuously pushing the M pushers forwards to continuously rotate the rotary platform.

The invention has the following beneficial effects:

according to the invention, alternate linear motion of a plurality of clippers is converted into stepping rotary motion of the rotary platform, when the clippers are continuously pushed for a certain number of times and stop, the male cone table and the female cone groove for transmission are matched to form limiting, and at the moment, the rotary angle of the rotary platform is certain, and complete positioning can be realized without additionally arranging other limiting mechanisms or sensors, so that high-reliability rotary positioning can be realized under the condition of no sensing.

In the invention, extrusion driving is formed when the moving male cone table and the moving female cone groove are matched so as to rotate the rotary platform, mechanical limit can be automatically formed between the stopped male cone table and the stopped female cone groove, the constraint limitation on the rotary platform is realized, and self-positioning is realized.

The present invention will be described in further detail with reference to the accompanying drawings.

Drawings

FIG. 1 is a schematic view of a rotating apparatus according to embodiment 1 of the present invention;

FIG. 2 is an exploded view of a swing apparatus according to embodiment 1 of the present invention;

fig. 3 is a schematic view of a positional relationship between a male frustum and a female taper groove in the turning device according to embodiment 1 of the present invention;

FIG. 4 is a top view of FIG. 3;

FIG. 5 is a schematic diagram of clockwise rotation positioning of the swiveling device according to embodiment 1 of the present invention;

FIG. 6 is a schematic diagram of the counterclockwise rotational positioning of the swiveling device according to embodiment 1 of the present invention;

fig. 7 is a schematic view of a positional relationship between a male frustum and a female taper groove in a turning device according to embodiment 2 of the present invention;

fig. 8 is a top view of fig. 7.

Detailed Description

In order that the above objects, features and advantages of the present invention can be more clearly understood, a more particular description of the invention will be rendered by reference to the appended drawings. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.

In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, however, the present invention may be practiced in other ways than those specifically described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.

Example 1

The embodiment provides a turning device for performing automatic positioning based on the cooperation of a male cone and a female cone, as shown in fig. 1 to 6, the turning device includes a frame 101, a turning platform 102 and M pushers 103, where M is greater than or equal to 3, the turning platform 102 is rotatably disposed on the frame 101, for example, by a bearing 104, N female cone grooves 105 are uniformly distributed on a circumference of the turning platform 102, and in the embodiment, the following is described in detail by taking M-3 and N-24 as examples:

as shown in fig. 2, a male cone 106 is formed at the front end of the pusher 103, the male cone 106 can extend into the female cone 105 and press-fit with the groove wall of the female cone 105, wherein three pushers 103 (the pusher 103-1, the pusher 103-2, and the pusher 103-3) are arranged according to an angular phase difference (360 °/(N × M) ═ 5 °), the three pushers 103 are sequentially and alternately pushed forward and retracted backward, so that at the same time, only one male cone 106 is pushed forward to press the female cone 105 and drive the rotary platform 102 to rotate, and the other male cones 106 are retracted backward.

The male frustum 106 and the female frustum 105 which are pushed out completely forward form a limiting fit, the female frustum 105 and the male frustum 106 are abutted to enable the rotary platform 102 to be incapable of rotating at the moment, and therefore hovering of the rotary platform 102 is achieved, and the hovering position is controllable, namely the hovering position of the rotary platform 102 is controlled by controlling the position of the pusher 103.

Specifically, the female cone groove 105 in this embodiment is a cone groove formed in the axial direction of the rotary platform 102, the pusher 103 is configured to be able to push forward along the direction of the rotation center line of the rotary platform 102 to press fit with the female cone groove 105 and to retract backward from the female cone groove 105, the male cone table 106 is a cone-shaped profile, and the male cone table 106 and the female cone groove 105 press fit with each other can limit the rotary platform 102 from generating a rotary motion and simultaneously limit the rotary platform 102 from generating an axial motion.

More specifically, the linear motor 107 is used to drive the pusher 103 to push forward and retract backward, the three linear motors 107 are respectively fixed on the frame 101, and the pusher 103 is fixed on the output end of the linear motor 107 by means of bolts, for example, so as to provide reciprocating motion force of forward pushing and backward retracting for the pusher 103 through the linear motor 107.

As shown in fig. 5, in this embodiment, when the three clippers 103-1, 103-2, 103-3 are sequentially pressed along the axial direction in a clockwise direction, the alternating fit of the male cone table 106 and the female cone groove 105 converts the alternating linear motion of the clippers 103-1, 103-2, 103-3 into a clockwise rotation motion of the rotary platform 102, and the continuous clockwise rotation of the rotary platform 102 can be realized through a plurality of continuous motion cycles;

similarly, as shown in fig. 6, when the three clippers 103-3, 103-2 and 103-1 are sequentially pressed along the axial direction in a counterclockwise direction, the alternating fit of the male cone table 106 and the female cone groove 105 converts the alternating linear motion of the clippers 103-3, 103-2 and 103-1 into the counterclockwise rotation motion of the rotary platform 102, and the continuous counterclockwise rotation of the rotary platform 102 can be realized through a plurality of continuous motion cycles.

In this embodiment, when the pusher 103 is pushed out to a certain distance (pushed forward to the farthest end), the matching structure of the male cone 106 and the female cone 105 can automatically form a position limitation without an additional position limitation device, so as to realize hovering positioning.

Each time each clipper 103 pushes once, the rotating angle of the rotor is 5 degrees, and no accumulated error is generated in each time of pushing by the clippers 103, so that the required rotating positioning angle can be obtained by designing the number of the female cone grooves 105, the number of the clippers 103 and the pushing times of the clippers 103, for example, in the embodiment, the rotating platform 102 needs to rotate 30 degrees, and only the clippers 103 need to push 6 times, that is, each clipper 103 pushes 3 times;

in other examples, for example, the rotary platform 102 needs to rotate 30 °, the number of the female taper slots 105 can be set to 12, and the number of the clippers 103 can be set to 3, so that the clippers 103 need to be pushed 3 times, that is, each clipper 103 needs to be pushed 1 time; or the number of the female taper grooves 105 can be 24, and the number of the clippers 103 can be 6, so that the clippers 103 need to be pushed 12 times, that is, each clipper 103 needs to be pushed 4 times.

In other examples, for example, the rotary platform 102 needs to rotate by 1 °, the number of the female taper slots 105 can be set to 24, the number of the pushers 103 can be increased to 15, and the pushers 103 only need to be pushed 1 time.

Therefore, the number of the female taper grooves 105 and the number of the pushers 103 can be set differently according to actual needs, and the required rotational positioning angle can be obtained by changing the pushing times of the pushers 103.

Example 2

The present embodiment provides a swiveling device for automatic positioning based on the cooperation of a male cone and a female cone, as shown in fig. 7-8, the main difference between the present embodiment and embodiment 1 is that: the male frustum 206 and the female taper groove 205 are fitted differently.

The female taper groove 205 in this embodiment is a U-shaped groove formed in the radial direction of the revolving platform 202 in a flared shape, and the male frustum 206 is provided to be able to be pushed forward in the radial direction of the revolving platform 202 to the female taper groove 205 press-fit and retracted backward from the female taper groove 205.

Specifically, the male tapered platform 206 is an arc profile adapted to the female tapered slot 205, as shown in fig. 8, the male tapered platform 206 and the female tapered slot 205, which are press-fitted to each other, can limit the rotation of the rotating platform 202.

In the revolving apparatus provided in this embodiment, when the revolving platform 202 suspends, the matching structure formed by the male frustum 206 and the female cone groove 205 on one of the clippers 203 automatically forms a limit without an additional limiting device, where the limit is formed only to limit the revolving platform 202 from being able to perform a revolving motion, and does not limit the revolving platform 202 from generating an axial motion, and is suitable for a device in which the revolving platform 202 needs to perform an axial motion, such as sliding motion.

Example 3

The embodiment provides a method for realizing automatic positioning of a rotary platform based on the cooperation of male and female cones, which comprises the following steps:

providing a rotary platform with N female conical grooves and M pushers, wherein M is more than or equal to 3, N is more than or equal to M, the N female conical grooves are distributed on a certain circumference of the rotary platform, the pitch angle between adjacent female conical grooves is (360 degrees/N), and a male frustum matched with the female conical grooves is formed at the front end of each pusher;

wherein the M pushers perform the following operations to fulfill the requirement of, for example, setting the revolving platform to rotate 90 °:

1) setting M to be 3 and N to be 24, and arranging three propellers on the circumference of the female taper groove according to an angular phase difference (360 degrees/(N M) to be 5 degrees);

2) when one of the pushers is pushed forwards, the other pushers retreat backwards, the male cone table on the pushers pushed forwards can be in contact with the groove wall of the female cone groove to form extrusion and drive the rotary platform to rotate, and at the moment, the other pushers retreating backwards are not in contact with the female cone groove;

3) the pushers are pushed out continuously 18 times in sequence, namely each pusher pushes 6 times, and the rotary platform rotates for 90 degrees continuously.

In the embodiment, the number of different female taper grooves and the number of different pushers can be set according to actual needs, and then the required rotational positioning angle can be obtained by changing the pushing times of the pushers.

Although the present invention has been described with reference to the preferred embodiments, it is not intended to limit the scope of the invention. It will be appreciated by those skilled in the art that changes may be made without departing from the scope of the invention, and it is intended that all matter contained in the above description or shown in the accompanying drawings shall be interpreted as illustrative and not in a limiting sense.