阅读说明：本技术 一种球形表面打孔定位设备 (Spherical surface punching positioning equipment ) 是由 任乐涛 龚雁 董思民 于 2021-08-31 设计创作，主要内容包括：本发明属于球面打孔领域,尤其涉及一种球形表面打孔定位设备,它包括机械臂、环套A、电驱模块A、电驱模块B、万向节机构、夹具机构、消振机构、L杆,其中圆柱型机械臂末端内安装有电驱模块B,电驱模块B的输出轴末端通过万向节机构安装有用来夹紧麻花钻头的夹具机构；本发明中的智能电驱模块A在麻花钻头沿与球面非垂直的方向对球面进行打孔时会驱动消振机构绕麻花钻头旋转并对麻花钻头受到球面的侧向力进行有效抵消,避免麻花钻头在其沿与球面非垂直的方向对球面进行打孔时不会因受到球面侧向力而发生折断,对麻花钻头形成有效保护,延长麻花钻头的使用寿命。(The invention belongs to the field of spherical surface punching, and particularly relates to spherical surface punching positioning equipment which comprises a mechanical arm, a ring sleeve A, an electric drive module B, a universal joint mechanism, a clamp mechanism, a vibration absorption mechanism and an L rod, wherein the electric drive module B is installed in the tail end of a cylindrical mechanical arm, and the clamp mechanism for clamping a twist drill bit is installed at the tail end of an output shaft of the electric drive module B through the universal joint mechanism; when the twist drill drills the spherical surface in the direction non-perpendicular to the spherical surface, the intelligent electric drive module A drives the vibration absorption mechanism to rotate around the twist drill and effectively offset the lateral force of the spherical surface on the twist drill, so that the twist drill is prevented from being broken due to the lateral force of the spherical surface when the twist drill drills the spherical surface in the direction non-perpendicular to the spherical surface, the twist drill is effectively protected, and the service life of the twist drill is prolonged.)

1. The utility model provides a spherical surface positioning device that punches which characterized in that: the drilling machine comprises a mechanical arm, a ring sleeve A, an electric drive module B, a universal joint mechanism, a clamp mechanism, a vibration absorption mechanism and an L rod, wherein the electric drive module B is installed in the tail end of a cylindrical mechanical arm, and the clamp mechanism used for clamping a twist drill bit is installed at the tail end of an output shaft of the electric drive module B through the universal joint mechanism; the universal joint mechanism is provided with a structure for limiting the universal function of the twist drill when the twist drill is not subjected to the violent impact of a spherical surface; the outer side of the mechanical arm is rotatably matched with a ring sleeve A which is intelligently driven by an electric driving module A; the ring sleeve A is provided with a vibration damping mechanism matched with the twist drill bit through an L rod;

the clamp mechanism comprises a slide bar, an inner ring A, a spring D, a clamping block, a middle ring A, a round pin B, a round pin C, an outer ring A, a plate spring, a pressing column C, a ring sleeve B, a clamping sleeve, a pressing column D, a drill bit spring clamp and an internal thread sleeve, wherein the slide bar connected with the output shaft of the electric drive module B through a universal joint mechanism is nested with the inner ring A in axial sliding fit, and the tail end of the slide bar is provided with the clamping block for preventing the inner ring A from axially separating; the outer side of the inner ring A is hinged with a middle ring A through two round pins B, and the outer side of the middle ring A is hinged with an outer ring A through two round pins C; the central axes of the round pin B and the round pin C are vertically intersected with the central axis of the inner ring A, and the central axes of the round pin B and the round pin C are positioned on the same plane; the outer ring A is fixedly connected with the sliding rod through three plate springs which are uniformly distributed in the circumferential direction; one end of the outer ring A is provided with a ring sleeve B with the same central axis, and the central axis of the ring sleeve B is in sliding fit with

The vibration eliminating mechanism comprises a shell, an electric driving module C, a sliding block B, a sliding U rod, an outer ring B, a middle ring B, a round pin D, a round pin E, an inner ring B, a ring sleeve C and a ring sleeve D, wherein the sliding block B intelligently driven by the electric driving module C slides in the shell arranged at the tail end of the L rod along the direction vertical to the twist drill bit; a U rod is arranged in the two sliding grooves D on the sliding block B in a sliding fit mode along the direction parallel to the twist drill bit, and the lower end of the U rod is provided with an outer ring B with a vertical central axis through a connecting rod; the inner side of the outer ring B is hinged with a middle ring B through two round pins D, and the inner side of the middle ring B is hinged with an inner ring B through two round pins E; the central axes of the round pin D and the round pin E are vertically intersected with the central axis of the outer ring B, and the central axes of the round pin D and the round pin E are positioned on the same plane; a ring sleeve C is rotationally matched in the inner ring B, and a ring sleeve D matched with the twist drill bit is axially matched in the ring sleeve C in a sliding manner; the inner ring B and the middle ring B are provided with filling materials for limiting the relative movement of the inner ring B and the middle ring B, and the middle ring B and the outer ring B are provided with filling materials for limiting the relative movement of the middle ring B and the outer ring B.

2. A spherical surface perforating positioning apparatus as claimed in claim 1, wherein: the inner wall of a circular groove on one yoke of the universal joint mechanism, which is rotationally matched with the two round pins A of the cross shaft, is provided with a sliding chute A, and a limiting block A slides in each sliding chute A along the radial direction of the corresponding round pin A; one end of the limiting block A is symmetrically provided with two inclined planes A matched with the limiting grooves on the cylindrical surfaces of the corresponding round pins A; a spring A for resetting the corresponding limiting block A is arranged in each sliding groove A; sliding chutes B are respectively formed in two inner walls of the other joint fork of the universal joint mechanism, a sliding block A is matched in each sliding chute B in a sliding mode along the axial direction of the joint fork, and a spring B for resetting the corresponding sliding block A is arranged in each sliding chute B; the two sliding blocks A are respectively in rotating fit with the other two round pins A of the cross shaft in the universal joint mechanism; a sliding groove C is formed in the inner wall of the circular groove, rotatably matched with the corresponding circular pin A, of each sliding block A; a limiting block B slides in each sliding groove C along the corresponding round pin A in the radial direction; one end of the limiting block B is symmetrically provided with two inclined planes B matched with the limiting grooves on the cylindrical surfaces of the corresponding round pins A; a spring C for resetting the corresponding limiting block B is arranged in each sliding groove C; and a pressing column A arranged in the middle of a cross shaft in the universal joint mechanism is matched with a pressing column B arranged in the middle of the interior of a joint fork where a sliding block A is arranged.

3. A spherical surface perforating positioning apparatus as claimed in claim 2, wherein: the spring A is a compression spring; one end of the spring A is connected with the inner wall of the corresponding chute A, and the other end of the spring A is connected with the end face of the corresponding limiting block A; the spring B is a compression spring; one end of the spring B is connected with the inner wall of the corresponding sliding chute B, and the other end of the spring B is connected with the end face of the corresponding sliding block A; the round head at the tail end of the abutting column A is matched with the concave spherical surface A at the tail end of the abutting column B; the spring C is a compression spring; one end of the spring C is connected with the inner wall of the corresponding chute C, and the other end of the spring C is connected with the end face of the corresponding limiting block B.

4. A spherical surface perforating positioning apparatus as claimed in claim 1, wherein: the tail end of the twist drill bit is of a structure with an end plane and a middle positioning conical tip.

5. A spherical surface perforating positioning apparatus as claimed in claim 1, wherein: the inner wall of the inner ring A is symmetrically provided with two guide blocks A which respectively slide in two guide grooves A on the cylindrical surface of the sliding rod; the spring D is an extension spring; one end of the spring D is connected with the end face of the inner ring A, and the other end of the spring D is connected with a pressure spring ring arranged on the sliding rod; the inner wall of the ring sleeve B is provided with a ring protrusion for limiting the sliding amplitude of the clamping sleeve; the round end of the abutting column C is matched with the concave spherical surface B at the tail end of the abutting column D.

6. A spherical surface perforating positioning apparatus as claimed in claim 1, wherein: the electric drive module C is arranged in the shell, and a screw rod screwed in a threaded hole in the sliding block B is in transmission connection with an output shaft of the electric drive module C; two movable grooves which are convenient for the U-shaped rod to move are arranged on the shell; the inner wall of the inner ring B is provided with a trapezoidal guide ring B, and the trapezoidal guide ring B rotates in a trapezoidal guide groove B on the outer side of the ring sleeve C; two guide blocks B are symmetrically arranged on the inner side of the ring sleeve C and slide in two guide grooves B on the outer side wall of the ring sleeve D respectively.

7. A spherical surface perforating positioning apparatus as claimed in claim 1, wherein: the electric drive module A is arranged on the outer side of the mechanical arm; a gear arranged on an output shaft of the electric drive module A is meshed with a gear ring arranged on the outer side of the ring sleeve A; a trapezoidal guide ring A is installed on the inner wall of the ring sleeve A and rotates in a trapezoidal guide groove A on the outer side of the mechanical arm.

Technical Field

The invention belongs to the field of spherical surface punching, and particularly relates to spherical surface punching positioning equipment.

Background

The spherical part is often required to be provided with a round hole which is not perpendicular to the hole opening point of the spherical surface on the surface, so that in order to avoid the fracture of the drill bit caused by the lateral stress due to the fact that the drill bit directly punches on the surface of the spherical part, a hole opening boss is reserved on the spherical surface in the manufacturing process of the spherical part, the end face of the boss is ensured to be perpendicular to the axis of the punched round hole, and thus, the punching on the convex end face is simpler and easier than the punching on the spherical surface directly. After the spherical surface is punched, the boss needs to be machined, and the reservation and machining of the boss increase the part machining period and the production cost of the spherical part.

The invention designs a spherical surface punching positioning device which can stably punch holes on the surface of a spherical part.

Disclosure of Invention

In order to solve the defects in the prior art, the invention discloses spherical surface punching and positioning equipment which is realized by adopting the following technical scheme.

In the description of the present invention, it should be noted that the terms "inside", "outside", "upper", "lower", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that the products of the present invention conventionally use, which are merely for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, or be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.

A spherical surface punching positioning device comprises a mechanical arm, a ring sleeve A, an electric driving module B, a universal joint mechanism, a clamp mechanism, a vibration absorption mechanism and an L rod, wherein the electric driving module B is installed in the tail end of a cylindrical mechanical arm, and the clamp mechanism used for clamping a twist drill bit is installed at the tail end of an output shaft of the electric driving module B through the universal joint mechanism; the universal joint mechanism is provided with a structure for limiting the universal function of the twist drill when the twist drill is not subjected to the violent impact of a spherical surface; the outer side of the mechanical arm is rotatably matched with a ring sleeve A which is intelligently driven by an electric driving module A; and the ring sleeve A is provided with a vibration damping mechanism matched with the twist drill bit through an L rod.

The clamp mechanism comprises a slide bar, an inner ring A, a spring D, a clamping block, a middle ring A, a round pin B, a round pin C, an outer ring A, a plate spring, a pressing column C, a ring sleeve B, a clamping sleeve, a pressing column D, a drill bit spring clamp and an internal thread sleeve, wherein the slide bar connected with the output shaft of the electric drive module B through a universal joint mechanism is nested with the inner ring A in axial sliding fit, and the tail end of the slide bar is provided with the clamping block for preventing the inner ring A from axially separating; the outer side of the inner ring A is hinged with a middle ring A through two round pins B, and the outer side of the middle ring A is hinged with an outer ring A through two round pins C; the central axes of the round pin B and the round pin C are vertically intersected with the central axis of the inner ring A, and the central axes of the round pin B and the round pin C are positioned on the same plane; the outer ring A is fixedly connected with the sliding rod through three plate springs which are uniformly distributed in the circumferential direction; a ring sleeve B with the same central axis is arranged at one end of the outer ring A, a cutting sleeve with a conical inner wall is matched with the central axis of the ring sleeve B in a sliding manner, and a pressing column C arranged in the middle of the clamping block is matched with a pressing column D arranged in the middle of the end face of the cutting sleeve; a drill bit spring clamp is matched in the clamping sleeve, and an internal thread sleeve matched with the drill bit spring clamp is screwed on the outer side of the ring sleeve B; the sliding rod is nested with a spring D which tightly presses the pressing block C against the end face of the pressing block D.

The vibration eliminating mechanism comprises a shell, an electric driving module C, a sliding block B, a sliding U rod, an outer ring B, a middle ring B, a round pin D, a round pin E, an inner ring B, a ring sleeve C and a ring sleeve D, wherein the sliding block B intelligently driven by the electric driving module C slides in the shell arranged at the tail end of the L rod along the direction vertical to the twist drill bit; a U rod is arranged in the two sliding grooves D on the sliding block B in a sliding fit mode along the direction parallel to the twist drill bit, and the lower end of the U rod is provided with an outer ring B with a vertical central axis through a connecting rod; the inner side of the outer ring B is hinged with a middle ring B through two round pins D, and the inner side of the middle ring B is hinged with an inner ring B through two round pins E; the central axes of the round pin D and the round pin E are vertically intersected with the central axis of the outer ring B, and the central axes of the round pin D and the round pin E are positioned on the same plane; a ring sleeve C is rotationally matched in the inner ring B, and a ring sleeve D matched with the twist drill bit is axially matched in the ring sleeve C in a sliding manner; the inner ring B and the middle ring B are provided with filling materials for limiting the relative movement of the inner ring B and the middle ring B, and the middle ring B and the outer ring B are provided with filling materials for limiting the relative movement of the middle ring B and the outer ring B.

As a further improvement of the technology, the inner walls of circular grooves which are rotatably matched with the two circular pins A of the cross shaft on one joint fork of the universal joint mechanism are provided with sliding grooves A, and a limiting block A radially slides in each sliding groove A along the corresponding circular pin A; one end of the limiting block A is symmetrically provided with two inclined planes A matched with the limiting grooves on the cylindrical surfaces of the corresponding round pins A; a spring A for resetting the corresponding limiting block A is arranged in each sliding groove A; sliding chutes B are respectively formed in two inner walls of the other joint fork of the universal joint mechanism, a sliding block A is matched in each sliding chute B in a sliding mode along the axial direction of the joint fork, and a spring B for resetting the corresponding sliding block A is arranged in each sliding chute B; the two sliding blocks A are respectively in rotating fit with the other two round pins A of the cross shaft in the universal joint mechanism; a sliding groove C is formed in the inner wall of the circular groove, rotatably matched with the corresponding circular pin A, of each sliding block A; a limiting block B slides in each sliding groove C along the corresponding round pin A in the radial direction; one end of the limiting block B is symmetrically provided with two inclined planes B matched with the limiting grooves on the cylindrical surfaces of the corresponding round pins A; and a spring C for resetting the corresponding limiting block B is arranged in each sliding groove C. The abutting column A arranged in the middle of the cross shaft in the universal joint mechanism is matched with the abutting column B arranged in the middle of the joint fork where the sliding block A is arranged so as to transmit axial thrust and reduce the stress of the round pin A on the cross shaft in the universal joint mechanism.

As a further improvement of the present technology, the spring a is a compression spring; one end of the spring A is connected with the inner wall of the corresponding chute A, and the other end of the spring A is connected with the end face of the corresponding limiting block A; the spring B is a compression spring; one end of the spring B is connected with the inner wall of the corresponding sliding groove B, and the other end of the spring B is connected with the end face of the corresponding sliding block A. The round head at the tail end of the abutting column A is matched with the concave spherical surface A at the tail end of the abutting column B, so that the contact surface between the abutting column A and the abutting column B is uniformly abraded, and the axial thrust is transmitted more effectively. The spring C is a compression spring; one end of the spring C is connected with the inner wall of the corresponding chute C, and the other end of the spring C is connected with the end face of the corresponding limiting block B.

As the further improvement of this technique, the end of above-mentioned twist drill is the structure of end plane with middle part location awl point, guarantees twist drill and can form effective drilling to the sphere in the initial stage with spherical surface interact, after twist drill drills out the drilling rudiment on the sphere, is located the axial drilling formation location of its end plane location awl point to twist drill.

As a further improvement of the technology, the inner wall of the inner ring A is symmetrically provided with two guide blocks A, and the two guide blocks A respectively slide in two guide grooves A on the cylindrical surface of the slide bar. The matching of the guide block A and the guide groove A plays a role in positioning and guiding the axial sliding of the inner ring A on the sliding rod. The spring D is an extension spring; one end of the spring D is connected with the end face of the inner ring A, and the other end of the spring D is connected with a pressure spring ring arranged on the sliding rod; the inner wall of the ring sleeve B is provided with a ring protrusion for limiting the sliding range of the cutting sleeve. The round end of the abutting column C is matched with the concave spherical surface B at the tail end of the abutting column D, so that the contact surface between the abutting column C and the abutting column D is uniformly abraded, and the axial thrust is transmitted more effectively.

As a further improvement of the technology, the electric drive module C is mounted in the housing, and a screw rod screwed in a threaded hole on the slider B is in transmission connection with an output shaft of the electric drive module C; two movable grooves which are convenient for the U-shaped rod to move are arranged on the shell; the inner wall of the inner ring B is provided with a trapezoidal guide ring B, and the trapezoidal guide ring B rotates in a trapezoidal guide groove B on the outer side of the ring sleeve C. The matching of the trapezoid guide groove B and the trapezoid guide ring B ensures that only relative rotation is generated between the ring sleeve C and the inner ring B. Two guide blocks B are symmetrically arranged on the inner side of the ring sleeve C and slide in two guide grooves B on the outer side wall of the ring sleeve D respectively. The matching of the guide block B and the guide groove B plays a role in positioning and guiding the axial sliding of the ring sleeve C on the ring sleeve D.

As a further improvement of the technology, the electric drive module a is mounted outside the mechanical arm; a gear arranged on an output shaft of the electric drive module A is meshed with a gear ring arranged on the outer side of the ring sleeve A; a trapezoidal guide ring A is installed on the inner wall of the ring sleeve A and rotates in a trapezoidal guide groove A on the outer side of the mechanical arm. The cooperation of the trapezoidal guide ring A and the trapezoidal guide groove A ensures that only relative rotation is generated between the ring sleeve A and the mechanical arm.

Compared with the traditional drilling equipment, the intelligent electric drive module A can drive the vibration absorption mechanism to rotate around the twist drill and effectively offset the lateral force of the twist drill on the spherical surface when the twist drill punches the spherical surface in the direction non-vertical to the spherical surface, so that the twist drill is prevented from being broken due to the lateral force of the spherical surface when the twist drill punches the spherical surface in the direction non-vertical to the spherical surface, the twist drill is effectively protected, and the service life of the twist drill is prolonged.

According to the vibration eliminating mechanism, the intelligent electric drive module C drives the ring sleeve D to finely adjust the twist drill when the twist drill vibrates due to the fact that the twist drill punches the spherical surface in the direction which is not perpendicular to the spherical surface, so that vibration of the twist drill due to the structure of the twist drill and the effect of the spherical surface is counteracted, stable punching of the spherical surface by the twist drill in the direction which is not perpendicular to the spherical surface is guaranteed, and the accuracy of punching of the spherical surface by the twist drill is improved.

The clamp mechanism releases the clamping of the twist drill bit when the twist drill bit is violently impacted with the spherical surface due to over-violent stress and drives the twist drill bit to overcome the defect that the limiting block A and the limiting block B in the universal joint mechanism are matched with the limiting groove on the cross shaft round pin A to deflect, so that the violent impact of the twist drill bit and the spherical surface is effectively buffered, the twist drill bit is prevented from being broken due to violent impact with the spherical surface, and the service life of the twist drill bit is prolonged. The invention has simple structure and better use effect.

Drawings

FIG. 1 is a schematic cross-sectional view of the present invention in cooperation with a twist drill and its entirety.

Fig. 2 is a schematic cross-sectional view of the mechanical arm, the electric drive module A, the gear ring and the ring sleeve A in cooperation.

Fig. 3 is a schematic cross-sectional view of the engagement of the clamping mechanism with the twist drill.

FIG. 4 is a schematic cross-sectional view of the vibration canceling mechanism in cooperation with a twist drill.

Figure 5 is a cross-sectional view of the robot arm and collar a.

FIG. 6 is a cross-sectional schematic view of the gimbal mechanism and its two views.

FIG. 7 is a schematic cross-sectional view of the limiting block A and the cross shaft and the limiting block B and the cross shaft.

FIG. 8 is a cross-sectional schematic view of two yokes of the gimbal mechanism.

FIG. 9 is a schematic view of stopper A and stopper B.

FIG. 10 is a schematic view of a cross from two views.

FIG. 11 is a cross-sectional view of a slider A and a pressing post B.

Fig. 12 is a partial schematic view of a twist drill.

Fig. 13 is a schematic view of a clamping mechanism.

Fig. 14 is a schematic view of the clamping mechanism from two perspectives.

Fig. 15 is a cross-sectional view of the collar B and the pressing post D.

Fig. 16 is a schematic cross-sectional view of the vibration canceling mechanism from two perspectives.

Fig. 17 is a partial cross-sectional view of the vibration canceling mechanism from two perspectives.

FIG. 18 is a cross-sectional view of the ring C, ring D and slider B.

Number designation in the figures: 1. a mechanical arm; 2. a trapezoidal guide groove A; 3. a ring sleeve A; 4. a trapezoidal guide ring A; 5. a ring gear; 6. a gear; 7. an electric drive module A; 8. an electric drive module B; 9. a gimbal mechanism; 10. a joint fork; 11. a chute A; 12. a limiting block A; 13. an inclined plane A; 14. a spring A; 15. a cross shaft; 16. a round pin A; 17. a limiting groove; 19. a chute B; 20. a slide block A; 21. a chute C; 22. a spring B; 23. a limiting block B; 24. a bevel B; 25. a spring C; 26. a pressing column A; 27. a pressing column B; 28. a spherical surface A; 29. a clamp mechanism; 30. a slide bar; 31. a guide groove A; 32. an inner ring A; 33. a guide block A; 34. a spring D; 35. a clamping block; 36. a compression spring ring; 37. a middle ring A; 38. a round pin B; 39. a round pin C; 40. an outer ring A; 41. a plate spring; 42. a pressing column C; 43. a ring sleeve B; 44. the ring is convex; 45. a card sleeve; 46. a pressing column D; 47. a spherical surface B; 48. a bit spring clamp; 49. an internal thread sleeve; 50. a vibration-damping mechanism; 51. a housing; 52. a movable groove; 53. an electric drive module C; 54. a screw; 55. a slide block B; 56. a threaded hole; 57. a chute D; 58. a U-bar; 59. a connecting rod; 60. an outer ring B; 61. a middle ring B; 62. a round pin D; 63. a round pin E; 64. an inner ring B; 65. a trapezoidal guide ring B; 66. c, sleeving a ring sleeve; 67. a trapezoidal guide groove B; 68. a guide block B; 69. a ring sleeve D; 70. a guide groove B; 71. a filler material; 72. a twist drill; 73. an end plane; 74. positioning a cone tip; 75. and an L-shaped rod.

Detailed Description

The drawings are schematic illustrations of the implementation of the present invention to facilitate understanding of the principles of structural operation. The specific product structure and the proportional size are determined according to the use environment and the conventional technology.

As shown in fig. 1, it includes a mechanical arm 1, a ring sleeve A3, an electric drive module a7, an electric drive module B8, a universal joint mechanism 9, a clamp mechanism 29, a vibration absorbing mechanism 50, and an L-shaped rod 75, wherein as shown in fig. 1, 2, and 3, the electric drive module B8 is installed in the end of the cylindrical mechanical arm 1, and the clamp mechanism 29 for clamping the twist drill 72 is installed at the end of the output shaft of the electric drive module B8 through the universal joint mechanism 9; as shown in fig. 6 and 7, the gimbal mechanism 9 has a structure for restricting the gimbal function when the twist drill 72 is not strongly impacted by the spherical surface; as shown in fig. 1 and 2, a ring sleeve A3 intelligently driven by an electric drive module a7 is rotatably matched on the outer side of the mechanical arm 1; as shown in fig. 1 and 4, the ring housing a3 has a vibration canceling mechanism 50 mounted thereon via an L-bar 75 for engagement with the twist drill 72.

As shown in fig. 13 and 14, the clamp mechanism 29 includes a slide rod 30, an inner ring a32, a spring D34, a latch 35, an intermediate ring a37, a round pin B38, a round pin C39, an outer ring a40, a leaf spring 41, a pressing column C42, a ring sleeve B43, a clamping sleeve 45, a pressing column D46, a drill spring clamp 48, and an inner threaded sleeve 49, wherein as shown in fig. 1, 13 and 14, the slide rod 30 connected with the output shaft of the electric drive module B8 through the universal joint mechanism 9 is nested with the inner ring a32 in axial sliding fit, and the end of the slide rod 30 is provided with the latch 35 for preventing the inner ring a32 from axially disengaging; the outer side of the inner ring A32 is hinged with a middle ring A37 through two round pins B38, and the outer side of the middle ring A37 is hinged with an outer ring A40 through two round pins C39; the central axes of the round pin B38 and the round pin C39 are vertically intersected with the central axis of the inner ring A32, and the central axes of the round pin B38 and the round pin C39 are positioned on the same plane; the outer ring A40 is fixedly connected with the sliding rod 30 through three plate springs 41 which are uniformly distributed in the circumferential direction; a ring sleeve B43 with the same central axis is arranged at one end of the outer ring A40, a cutting sleeve 45 with a conical inner wall is slidably matched with the central axis of the ring sleeve B43, and a pressing column C42 arranged in the middle of the clamping block 35 is matched with a pressing column D46 arranged in the middle of the end face of the cutting sleeve 45; as shown in fig. 3 and 14, a drill spring clip 48 is matched in the cutting sleeve 45, and an internal thread sleeve 49 matched with the drill spring clip 48 is screwed outside the ring sleeve B43; the slide bar 30 is nested with a spring D34 which tightly presses the pressing block C against the end face of the pressing block D.

As shown in fig. 16 and 17, the vibration canceling mechanism 50 includes a housing 51, an electric drive module C53, a slider B55, a sliding U-bar 58, an outer ring B60, a middle ring B61, a round pin D62, a round pin E63, an inner ring B64, a ring sleeve C66, and a ring sleeve D69, wherein as shown in fig. 1 and 16, a slider B55 intelligently driven by the electric drive module C53 slides in the housing 51 mounted at the end of the L-bar 75 in a direction perpendicular to the twist drill 72; as shown in fig. 16, 17 and 18, a U-bar 58 is slidably fitted in the two slide grooves D57 of the slide block B55 in a direction parallel to the twist drill 72, and an outer ring B60 with a vertical central axis is mounted at the lower end of the U-bar 58 through a connecting rod 59; the inner side of the outer ring B60 is hinged with a middle ring B61 through two round pins D62, and the inner side of the middle ring B61 is hinged with an inner ring B64 through two round pins E63; the central axes of the round pin D62 and the round pin E63 are vertically intersected with the central axis of the outer ring B60, and the central axes of the round pin D62 and the round pin E63 are positioned on the same plane; as shown in fig. 4 and 17, the inner ring B64 has a ring C66 rotationally fitted therein, and a ring D69 axially slidably fitted therein in the ring C66 for engagement with the twist drill 72; the inner ring B64 and the middle ring B61 are provided with filling materials 71 which limit the relative movement of the two, and the middle ring B61 and the outer ring B60 are provided with filling materials 71 which limit the relative movement of the two.

As shown in fig. 7 and 8, the inner wall of the circular groove of one yoke 10 of the universal joint mechanism 9, which is rotatably engaged with the two circular pins a16 of the cross shaft 15, is provided with a sliding groove a11, and each sliding groove a11 is provided with a stopper a12 which slides in the radial direction along the corresponding circular pin a 16; as shown in fig. 7, 9 and 10, one end of the limiting block a12 is symmetrically provided with two inclined planes a13 which are matched with the limiting groove 17 on the cylindrical surface of the corresponding round pin a 16; each sliding groove A11 is internally provided with a spring A14 for resetting the corresponding limit block A12; as shown in fig. 7 and 8, two inner walls of the other yoke 10 of the universal joint mechanism 9 are respectively provided with a sliding groove B19, each sliding groove B19 is axially matched with a sliding block a20 in a sliding manner along the yoke 10, and a spring B22 for restoring the corresponding sliding block a20 is installed in each sliding groove B19; as shown in fig. 6 and 7, two sliding blocks a20 are respectively rotatably fitted with two round pins a16 of the cross shaft 15 in the universal joint mechanism 9; as shown in fig. 7 and 11, a sliding groove C21 is formed on the inner wall of the circular groove of each sliding block a20, which is rotatably matched with the corresponding circular pin a 16; a limiting block B23 slides in each sliding groove C21 along the corresponding round pin A16 in the radial direction; as shown in fig. 7, 9 and 10, one end of the limiting block B23 is symmetrically provided with two inclined planes B24 which are matched with the limiting grooves 17 on the cylindrical surface of the corresponding round pin a 16; each sliding groove C21 is provided with a spring C25 for restoring the corresponding limit block B23. The pressing column A26 arranged in the middle of the cross shaft 15 in the universal joint mechanism 9 is matched with the pressing column B27 arranged in the middle of the inner part of the joint fork 10 where the sliding block A20 is arranged so as to transmit axial thrust and reduce the stress of the round pin A16 on the cross shaft 15 in the universal joint mechanism 9.

As shown in fig. 7, the spring a14 is a compression spring; one end of the spring A14 is connected with the inner wall of the corresponding chute A11, and the other end is connected with the end face of the corresponding limit block A12; the spring B22 is a compression spring; one end of the spring B22 is connected with the inner wall of the corresponding sliding groove B19, and the other end is connected with the end face of the corresponding sliding block A20. As shown in fig. 7 and 11, the round head at the end of the pressing column a26 is matched with the concave spherical surface a28 at the end of the pressing column B27, so that the contact surface between the pressing column a26 and the pressing column B27 is uniformly worn, and the axial thrust is transmitted more effectively. The spring C25 is a compression spring; one end of the spring C25 is connected with the inner wall of the corresponding chute C21, and the other end is connected with the end face of the corresponding limit block B23.

As shown in fig. 4 and 12, the tail end of the twist drill 72 is a structure of an end plane 73 and a middle positioning taper point 74, so that the twist drill 72 can effectively drill the spherical surface at the initial stage of interaction with the spherical surface, and after the twist drill 72 drills a drilling prototype on the spherical surface, the positioning taper point 74 on the end plane 73 positions the axial drilling of the twist drill 72.

As shown in fig. 14, two guide blocks a33 are symmetrically installed on the inner wall of the inner ring a32, and the two guide blocks a33 slide in two guide grooves a31 on the cylindrical surface of the slide bar 30, respectively. The cooperation of guide block a33 with guide slot a31 provides a positioning guide for the axial sliding of inner ring a32 on slide bar 30. The spring D34 is an extension spring; one end of a spring D34 is connected with the end face of the inner ring A32, and the other end is connected with a compression spring ring 36 arranged on the slide bar 30; as shown in fig. 14 and 15, the inner wall of the ring sleeve B43 is provided with a ring protrusion 44 for limiting the sliding amplitude of the cutting sleeve 45. The round end of the abutting column C42 is matched with the concave spherical surface B47 at the tail end of the abutting column D46, so that the contact surface between the abutting column C42 and the abutting column D46 is uniformly worn, and axial thrust is transmitted more effectively.

As shown in fig. 16, the electric drive module C53 is installed in the housing 51, and the screw 54 screwed into the threaded hole 56 of the slider B55 is in transmission connection with the output shaft of the electric drive module C53; the shell 51 is provided with two movable grooves 52 which are convenient for the U-shaped rod 58 to move; as shown in fig. 17 and 18, a trapezoidal guide ring B65 is mounted on the inner wall of the inner ring B64, and the trapezoidal guide ring B65 rotates in the trapezoidal guide groove B67 outside the ring sleeve C66. The engagement of the trapezoidal guide grooves B67 with the trapezoidal guide ring B65 ensures that only relative rotation occurs between the annular ring C66 and the inner ring B64. Two guide blocks B68 are symmetrically arranged on the inner side of the ring sleeve C66, and the two guide blocks B68 are respectively slid in two guide grooves B70 on the outer side wall of the ring sleeve D69. The engagement of guide block B68 with guide slot B70 provides a positioning guide for the axial sliding movement of ring C66 on ring D69.

As shown in fig. 2 and 5, the electric drive module a7 is mounted on the outer side of the mechanical arm 1; a gear 6 arranged on an output shaft of the electric drive module A7 is meshed with a gear ring 5 arranged outside the ring sleeve A3; a trapezoidal guide ring A4 is installed on the inner wall of the ring sleeve A3, and the trapezoidal guide ring A4 rotates in a trapezoidal guide groove A2 on the outer side of the mechanical arm 1. The cooperation of the trapezoidal guide ring a4 and the trapezoidal guide groove a2 ensures that only relative rotation occurs between the ring housing A3 and the robot arm 1.

In the invention, the electric drive module A7 is internally provided with a sensing chip for sensing the direction of the spherical lateral force applied to the twist drill 72, the electric drive module C53 is internally provided with a sensing chip for sensing the vibration of the twist drill 72, and the electric drive module C53 and the electric drive module A7 can automatically operate only when sensing the lateral force and the vibration of the spherical twist drill 72. The electric drive module A7, the electric drive module B8 and the electric drive module C53 all adopt technologies and mainly comprise a motor, a control unit and a speed reducer.

The working process of the invention is as follows: in an initial state, the pointed ends of the inclined surfaces a13 of the two limit blocks a12 in the universal joint mechanism 9 are respectively inserted into the limit grooves 17 on the corresponding round pins a16, the pointed ends of the inclined surfaces B24 of the two limit blocks B23 in the universal joint mechanism 9 are respectively inserted into the limit grooves 17 on the corresponding round pins a16, the two yokes 10 in the universal joint mechanism 9 are in a state of being coaxial, and the universal joint mechanism 9 is in a state of being limited in universal function. The round end of the pressing column A26 in the gimbal mechanism 9 abuts against the middle of the spherical surface A28 on the pressing column B27.

In the initial state, both the spring a14 and the spring C25 in the gimbal mechanism 9 are in a compressed state, and both the spring B22 in the gimbal mechanism 9 are in a stretched state. The twist drill 72 is not mounted in the clamp mechanism 29.

In the initial state, the cross gimbal mechanism 9 in the clamp mechanism 29, which is composed of the outer ring a40, the two round pins C39, the middle ring a37, the two round pins B38, and the inner ring a32, is in the gimbal function locking state by the three plate springs 41. Spring D34 is in tension. The round end of the abutting column C42 abuts against the middle of the spherical surface B47 of the abutting column D46. The slide rod 30 is concentric with the bit spring clip 48.

In the initial state, the central axis of the ring sleeve D69 in the vibration damping mechanism 50 is parallel to the output shaft of the electric drive module B8, and the output shaft of the electric drive module B8 is coaxial with the slide bar 30 and the drill spring clip 48 in the clamp mechanism 29.

In the initial state, the gimbal function of the cross gimbal structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63, and the inner ring B64 is limited by having the filler material 71 therein, which can be broken by a large external force.

Before the drilling device is used for drilling a spherical surface along a direction which is not perpendicular to the spherical surface, the internal thread sleeve 49 on the clamp mechanism 29 is unscrewed, the pressing of the internal thread sleeve 49 on the drill bit spring clamp 48 in the clamping sleeve 45 is released, then the mounting end of the twist drill bit 72 is inserted into the drill bit spring clamp 48, then the internal thread sleeve 49 is screwed, the internal thread sleeve 49 axially extrudes the drill bit spring clamp 48 towards the clamping sleeve 45 with the conical inner wall to effectively clamp the twist drill bit 72, and the pressing column D46 on the shell sleeve is tightly pressed against the pressing column C42.

After the twist drill 72 is tightly mounted on the fixture mechanism 29, the electric drive module C53 in the vibration damping mechanism 50 is started, the electric drive module C53 drives the sliding block B55 to horizontally slide in the housing 51 through the screw 54 in transmission connection with the output shaft thereof, the sliding block B55 drives the cross-shaped universal joint structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 to integrally and synchronously move horizontally through the U-rod 58 and the connecting rod 59, and the cross-shaped universal joint structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 drives the ring sleeve D69 to perform overlapping translation towards the central axis of the twist drill 72 through the ring sleeve C66. After the central axis of the twist drill 72 coincides with the central axis of the ring sleeve D69, the electric drive module C53 stops running, the U rod 58 is manually driven to axially move towards the twist drill 72 relative to the shell 51, the U rod 58 drives a cross universal joint structure consisting of an outer ring B60, two round pins D62, a middle ring B61, two round pins E63 and an inner ring B64 to synchronously move through a connecting rod 59, and the cross universal joint structure consisting of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 drives the ring sleeve D69 to be nested on the twist drill 72 through the ring sleeve C66.

After the ring sleeve D69 in the vibration damping mechanism 50 is nested on the twist drill 72, the tail end of the twist drill 72 is pressed to the position of the spherical surface where drilling is needed, and the outer ring B60 of the vibration damping mechanism 50 is self-adaptively pressed against the spherical surface under the action of self weight.

Then, the electric drive module B8 is activated, and the output shaft of the electric drive module B8 drives the twist drill 72 to rotate rapidly and start drilling the spherical surface through the gimbal mechanism 9 and the clamp mechanism 29. Because the axial pressure generated by the twist drill 72 on the spherical surface during drilling is not perpendicular to the drilling position of the spherical surface, the twist drill 72 receives a lateral force from the spherical surface to break away the twist drill 72. Twist drill 72 oppresses L pole 75 through damping mechanism 50 because of receiving the lateral force of sphere in the twinkling of an eye, it can start in the twinkling of an eye to electrically drive module A7 when sensing L pole 75 atress, electrically drive module A7 through gear 6, ring gear 5, ring cover A3 and L pole 75 drive damping mechanism 50 wholly around twist drill 72 rotatory, make L pole 75 rotate around twist drill 72 to the plane the same with the lateral force that twist drill 72 received, make L pole 75 drive damping mechanism 50 offset the lateral force that receives on twist drill 72 and form effective location to twist drill 72, avoid twist drill 72 to take place the fracture because of receiving sphere lateral force, guarantee twist drill 72 and continue to drill to the sphere effectively along the direction that is out of plumb with the sphere, avoid twist drill 72 to lead to the precision reduction of punching because of receiving the lateral force bending. When the L-shaped rod 75 drives the vibration absorbing mechanism 50 to counteract the lateral force applied to the twist drill 72, the operation of the electric driving module a7 is stopped, and the self-locking motor in the electric driving module a7 keeps the vibration absorbing mechanism 50 to continuously and effectively counteract the lateral force applied to the twist drill 72.

When the twist drill 72 drills on the spherical surface along the direction not perpendicular to the spherical surface, the twist drill 72 will generate high-frequency vibration along the direction perpendicular to the central axis of the twist drill 72 under the action of the spherical surface due to the structural characteristics of the twist drill 72, at this time, the electric driving module C53 in the vibration absorbing mechanism 50 senses the vibration of the twist drill 72 and instantly starts, the electric driving module C53 drives the sliding block B55 to move a small distance in the housing 51 to be close to the twist drill 72 through the screw 54, the sliding block B55 drives the ring sleeve D69 to adjust the twist drill 72 along the direction perpendicular to the central axis of the twist drill 72 through the U-shaped rod 58, the connecting rod 59, the cross-shaped universal joint structure consisting of the outer ring, the two round pins D62, the middle ring, the two round pins C39 and the inner ring, and the ring sleeve C66, so as to offset the amplitude of the vibration generated by the twist drill 72, and ensure that the twist drill 72 always keeps drilling on the spherical surface axially under the bending-free state, further improving the accuracy of the twist drill 72 in drilling the spherical surface.

After the vibration on the twist drill 72 is eliminated, the electric driving module C53 stops running, and the screw 54 and the slider B55 are in threaded fit to lock the positioning state of the vibration eliminating mechanism 50 on the twist drill 72, so as to ensure that the twist drill 72 continuously and effectively performs drilling operation with high accuracy on a spherical surface.

When the present invention is manually operated to drive the twist drill 72 to rapidly and violently press the drill hole to the spherical surface in a direction not perpendicular to the spherical surface, the twist drill 72 instantaneously swings around the gimbal mechanism 9 due to the violent impact of the spherical surface. Two limiting blocks A12 in the universal joint mechanism 9 can overcome corresponding springs A14 respectively to break away from the limiting grooves 17 on the corresponding round pins A16, and two limiting blocks B23 in the universal joint mechanism 9 can overcome corresponding springs C25 respectively to break away from the limiting grooves 17 on the corresponding round pins A16, so that the universal function of the universal joint mechanism 9 is recovered, and the joint forks 10 in the universal joint mechanism 9 can swing relatively.

Meanwhile, the swinging of the twist drill 72 drives the cross universal joint mechanism 9 consisting of the outer ring A40, the two round pins C39, the middle ring A37, the two round pins D62 and the inner ring A32 to overcome the acting force of the three plate springs 41 to recover the universal function through the drill spring clip 48, the cutting sleeve 45 and the ring sleeve B43, so that the pressing column C42 and the pressing column D46 are staggered due to mutual swinging, the restriction on the cutting sleeve 45 disappears, the drill spring clip 48 drives the cutting sleeve 45 to axially slide in the ring sleeve B43 under the action of the self elasticity, so that the bit spring clip 48 is pressed by the internal thread sleeve 49 to disappear, the bit spring clip 48 which loses the pressing effect instantly releases the clamping state of the twist bit 72, thereby break the drive connection between twist drill 72 and the electric drive module B8, twist drill 72 will not rotate, thereby stopping the drilling of the spherical surface by twist drill 72, and having higher safety.

Meanwhile, the swinging of the twist drill 72 around the gimbal mechanism 9 can drive the cross gimbal structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 to be strongly twisted through the ring sleeve D69 and the ring sleeve C66, so that the cross gimbal structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 recovers the gimbal function because the filling material 71 in the cross gimbal structure is damaged.

The universal function of the cross universal joint structure composed of the outer ring B60, the two round pins D62, the middle ring B61, the two round pins E63 and the inner ring B64 in the universal joint mechanism 9 and the vibration absorption mechanism 50 is recovered, so that the twist drill 72 can generate self-adaptive swing when being severely impacted by a spherical surface, and the twist drill 72 is prevented from being broken due to violent impact with the spherical surface.

After the present invention completes the drilling of the spherical surface, the twist drill 72 is removed by unscrewing the internal thread sleeve 49 of the fixture mechanism 29.

In conclusion, the beneficial effects of the invention are as follows: when the twist drill 72 punches a spherical surface in a direction non-perpendicular to the spherical surface, the intelligent electric drive module A7 in the invention can drive the vibration absorption mechanism 50 to rotate around the twist drill 72 and effectively offset the lateral force of the spherical surface on the twist drill 72, so that the twist drill 72 is prevented from being broken due to the lateral force of the spherical surface when the twist drill 72 punches the spherical surface in the direction non-perpendicular to the spherical surface, the twist drill 72 is effectively protected, and the service life of the twist drill 72 is prolonged.

The intelligent electric drive module C53 in the vibration canceling mechanism 50 of the present invention drives the ring sleeve D69 to finely adjust the twist drill 72 when the twist drill 72 vibrates due to its drilling of a spherical surface in a direction non-perpendicular to the spherical surface, so as to cancel the vibration of the twist drill 72 due to the structure of the twist drill 72 itself and the effect of the spherical surface, thereby ensuring that the twist drill 72 stably drills a spherical surface in a direction non-perpendicular to the spherical surface, and improving the accuracy of the twist drill 72 in drilling a spherical surface.

The clamp mechanism 29 in the invention releases the clamping of the twist drill 72 and drives the twist drill 72 to overcome the matching of the limiting block A12 and the limiting block B23 in the universal joint mechanism 9 and the limiting groove 17 on the round pin A16 of the cross shaft 15 to deflect when the twist drill 72 is subjected to violent impact with the spherical surface due to over-violent stress, so that the violent impact of the twist drill 72 and the spherical surface is effectively buffered, the twist drill 72 is prevented from being broken due to the violent impact with the spherical surface, and the service life of the twist drill 72 is prolonged.