CN105382687A - Multi-way truss joint grinding vector clamping device and method - Google Patents

Abstract

Translated fromChinese

本发明公开了一种多通桁架接头抛磨矢量装夹装置及装夹方法，该装置包括底座、位于底座上方的圆形的水平码盘和位于水平码盘上方的立柱，所述水平码盘通过第一旋转装置安装在底座上，第一旋转装置上安装有第一锁紧装置，底座上安装有水平码尺条，水平码盘上对称的安装有两个立柱，立柱通过水平移动装置安装在水平码盘上，立柱的顶端安装有夹持工件的夹具头，夹具头通过第二旋转装置安装在立柱上，第二旋转装置上安装有第二锁紧装置。本发明的多通桁架接头抛磨矢量装夹装置，将其应用于数控微细磨床系统中，即可以方便接头抛磨前后的装夹，降低工人劳动强度，显著提高加工效率，又可以提高了多通桁架接头头部的装夹精度。

The invention discloses a multi-way truss joint polishing vector clamping device and a clamping method. The device comprises a base, a circular horizontal code disc located above the base, and a column located above the horizontal code disc. The horizontal code disc Installed on the base through the first rotating device, the first locking device is installed on the first rotating device, the horizontal code bar is installed on the base, and two uprights are symmetrically installed on the horizontal code disc, and the uprights are installed through the horizontal moving device On the horizontal code disc, a fixture head for clamping the workpiece is installed on the top of the column, and the fixture head is installed on the column through a second rotating device, and a second locking device is installed on the second rotating device. The multi-way truss joint polishing vector clamping device of the present invention is applied to the numerical control micro-grinding machine system, which can facilitate the clamping of the joint before and after polishing, reduce the labor intensity of workers, significantly improve the processing efficiency, and can improve many The clamping accuracy of the head of the truss joint.

Description

Translated fromChinese

一种多通桁架接头抛磨矢量装夹装置及装夹方法A multi-pass truss joint polishing vector clamping device and clamping method

技术领域technical field

本发明涉及一种夹具，具体涉及一种多通桁架接头抛磨矢量装夹装置及装夹方法。The invention relates to a fixture, in particular to a multi-way truss joint polishing vector clamping device and a clamping method.

背景技术Background technique

碳纤维复合材料具有比强度高、比模量高、各向同性等优点，广泛应用于当今航空航天产品当中。卫星就是这当中发展最为迅速的产品之一。伴随卫星技术的发展，大量采用先进复合材料研制的桁架式结构运用到了卫星结构中，有效地减轻结构整体质量并提高卫星的承载能力。复合材料桁架式卫星结构主要是由方(圆)管形连杆和多通桁架接头组成的，连杆与接头之间主要采用胶结或胶接+铆接的连接方式，克服了原有金属螺纹连接缺点；杆件和接头的配合间隙介于0.1～0.3mm，以达到较高的胶接强度，提高桁架结构的稳定性和安全性。为了提高胶结质量，就必须对多通桁架接头与连杆装配的结合面进行抛磨，能够去除毛刺，达到较高的表面精度。利用高速主轴(速度达60000r/min以上)带动直径小于10mm的CBN微磨头，对多通桁架接头头部进行高速微细研磨，可使接头平面度达到0.16mm以下。Carbon fiber composite materials have the advantages of high specific strength, high specific modulus, and isotropy, and are widely used in today's aerospace products. Satellites are among the fastest growing products. With the development of satellite technology, a large number of truss structures developed with advanced composite materials have been applied to satellite structures, which can effectively reduce the overall quality of the structure and improve the carrying capacity of satellites. The composite truss satellite structure is mainly composed of square (round) tubular connecting rods and multi-pass truss joints. The connecting rods and joints are mainly connected by cementation or glued + riveting, which overcomes the original metal threaded connection. Disadvantages: The fit gap between rods and joints is between 0.1 and 0.3mm to achieve higher bonding strength and improve the stability and safety of the truss structure. In order to improve the bonding quality, it is necessary to polish the joint surface of the multi-way truss joint and the connecting rod assembly, which can remove burrs and achieve high surface accuracy. Use the high-speed spindle (speed up to 60000r/min or more) to drive the CBN micro-grinding head with a diameter of less than 10mm to perform high-speed micro-grinding on the head of the multi-way truss joint, so that the flatness of the joint can reach below 0.16mm.

一般说来多通桁架接头形状比较复杂，以接头中心点出发，伸出部分有的是沿正交平面伸展，有的则是向空间沿某一特定角度伸展；且为了配合连杆，伸出部分又可分为不同直径的圆管型结构或不同长宽比的方管型结构。因此，各种多通碳纤维桁架接头的装夹定位成为自动化抛磨首要解决的问题。对现有技术文献检索，至今未发现面向多通接头抛磨工艺装夹的公开报道。Generally speaking, the shape of multi-way truss joints is relatively complex. Starting from the center point of the joint, some of the protruding parts extend along the orthogonal plane, and some extend to the space along a specific angle; and in order to match the connecting rod, the protruding part is It can be divided into round tube structures with different diameters or square tube structures with different aspect ratios. Therefore, the clamping and positioning of various multi-pass carbon fiber truss joints has become the primary problem to be solved by automatic polishing. Searching the prior art literature, so far no public reports on the clamping of the multi-way joint polishing process have been found.

当前，对多通碳纤维桁架接头的头部接合处进行抛磨基本上都是人工手持砂纸靠经验来完成的。随之带来的问题有：(1)不可避免地出现人为因素，难免保证桁架接头头部表面质量和精度；(2)繁重作业任务一定程度上增加了工人的劳动强度，进而影响加工效率和整体研制周期。At present, the polishing and grinding of the head joints of the multi-pass carbon fiber truss joints is basically done by manual hand-held sandpaper and experience. The resulting problems are as follows: (1) Human factors inevitably appear, and it is inevitable to ensure the surface quality and accuracy of the truss joint head; (2) Heavy work tasks increase the labor intensity of workers to a certain extent, which in turn affects processing efficiency and The overall development cycle.

发明内容Contents of the invention

发明目的：为了克服现有技术中存在的不足，本发明提供一种多通桁架接头抛磨矢量装夹装置及装夹方法，将其应用于数控微细磨床系统中，即可以方便接头抛磨前后的装夹，降低工人劳动强度，显著提高加工效率，又可以提高了多通桁架接头头部的装夹精度。Purpose of the invention: In order to overcome the deficiencies in the prior art, the present invention provides a multi-way truss joint polishing vector clamping device and clamping method, which is applied to the numerical control micro-grinding machine system, which can facilitate joint polishing before and after The clamping can reduce the labor intensity of workers, significantly improve the processing efficiency, and can also improve the clamping accuracy of the head of the multi-way truss joint.

技术方案：为实现上述目的，本发明的多通桁架接头抛磨矢量装夹装置，包括底座、位于底座上方的圆形的水平码盘和位于水平码盘上方的立柱，所述水平码盘通过第一旋转装置安装在底座上，第一旋转装置上安装有第一锁紧装置，底座上安装有水平码尺条，水平码盘上对称的安装有两个立柱，立柱通过水平移动装置安装在水平码盘上，立柱的顶端安装有夹持工件的夹具头，夹具头通过第二旋转装置安装在立柱上，第二旋转装置上安装有第二锁紧装置；通过两个立柱上的夹具头夹持工件，通过转动水平码盘调整工件水平角度，通过转动夹具头调整工件竖直角度。Technical solution: In order to achieve the above object, the multi-pass truss joint polishing vector clamping device of the present invention includes a base, a circular horizontal code disc located above the base and a column above the horizontal code disc, and the horizontal code disc passes through The first rotating device is installed on the base, the first locking device is installed on the first rotating device, the horizontal code bar is installed on the base, and two uprights are symmetrically installed on the horizontal code disc, and the uprights are installed on the On the horizontal code disc, the top of the column is equipped with a fixture head for clamping the workpiece, the fixture head is installed on the column through the second rotating device, and the second locking device is installed on the second rotating device; through the fixture head on the two columns Clamp the workpiece, adjust the horizontal angle of the workpiece by rotating the horizontal code disc, and adjust the vertical angle of the workpiece by rotating the fixture head.

作为优选，所述第一旋转装置包含中心支柱，中心支柱为阶梯轴，中心支柱固定安装在底座上，在中心支柱上套有第一轴承，第一轴承的内圈与中心支柱过盈配合，轴承的外圈位于水平码盘的凹槽内，轴承的外圈与水平码盘过盈配合。Preferably, the first rotating device includes a central pillar, the central pillar is a stepped shaft, the central pillar is fixedly mounted on the base, the central pillar is covered with a first bearing, and the inner ring of the first bearing is in interference fit with the central pillar. The outer ring of the bearing is located in the groove of the horizontal code disc, and the outer ring of the bearing is in interference fit with the horizontal code disc.

作为优选，所述第一锁紧装置包含锁紧扳手、胀套内环和胀套外环，所述锁紧扳手通过螺纹套在中心支柱上，锁紧扳手的下方依次设有压紧盖、胀套内环、胀套外环和轴承盖，所述胀套内环和胀套外环为楔形面配合，轴承盖位于轴承上，轴承盖固定安装在水平码盘上，通过调节锁紧扳手，使压紧盖下移，挤压胀套内环，带动胀套外环外径增大，从而撑紧轴承盖，达到锁紧的目的。Preferably, the first locking device includes a locking wrench, an inner ring of an expansion sleeve and an outer ring of an expansion sleeve, the locking wrench is threaded on the central pillar, and a compression cover, The inner ring of the expansion sleeve, the outer ring of the expansion sleeve and the bearing cover. The inner ring of the expansion sleeve and the outer ring of the expansion sleeve are fitted with wedge-shaped surfaces. The bearing cover is located on the bearing. The bearing cover is fixedly installed on the horizontal code disc. , so that the compression cover moves down, squeezes the inner ring of the expansion sleeve, and drives the outer diameter of the outer ring of the expansion sleeve to increase, thereby tightening the bearing cap and achieving the purpose of locking.

作为优选，所述水平移动装置包含上托板、下托板和T型螺杆，所述下托板固定安装在水平码盘上，下托板设有空心槽，T型螺杆穿过空心槽，T型螺杆通过第二轴承安装在下托板上，螺杆一端安装有手轮，在空心槽内安装有T型螺母，T型螺母安装在T型螺杆上，T型螺母固定安装在上托板上，立柱安装在上托板上，通过转动手轮带动T型螺杆转动，T型螺杆转动带动T型螺母沿T型螺杆移动，从而实现上托板相对下托板移动的目的。Preferably, the horizontal moving device includes an upper pallet, a lower pallet and a T-shaped screw, the lower pallet is fixedly mounted on a horizontal code disc, the lower pallet is provided with a hollow groove, and the T-shaped screw passes through the hollow groove. The T-shaped screw is installed on the lower supporting plate through the second bearing, and a handwheel is installed at one end of the screw, and a T-shaped nut is installed in the hollow groove. The T-shaped nut is installed on the T-shaped screw, and the T-shaped nut is fixedly installed on the upper supporting plate. , the column is installed on the upper pallet, and the T-shaped screw is driven to rotate by turning the hand wheel, and the T-shaped screw is rotated to drive the T-shaped nut to move along the T-shaped screw, thereby realizing the purpose of moving the upper pallet relative to the lower pallet.

作为优选，所述第二旋转装置包含第三轴承、夹具头壳体和夹具头端盖，所述夹具头一端延伸有具有阶梯状的凸台，第三轴承的内圈通过过盈配合套在凸台上，凸台的顶部安装有竖直码盘，第三轴承的外圈位于立柱凹槽内，第三轴承的外圈与立柱凹槽为过盈配合，在第三轴承的外圈上安装有夹具头壳体，夹具头壳体固定安装在立柱上，夹具头壳体上安装有夹具头端盖，夹具头端盖上安装有外码环。Preferably, the second rotating device includes a third bearing, a clamp head housing and a clamp head end cover, a stepped boss is extended from one end of the clamp head, and the inner ring of the third bearing is sleeved on the clamp head through an interference fit. On the boss, a vertical code disc is installed on the top of the boss, the outer ring of the third bearing is located in the groove of the column, the outer ring of the third bearing and the groove of the column are interference fit, and the outer ring of the third bearing A fixture head shell is installed, the fixture head shell is fixedly installed on the column, a fixture head end cover is installed on the fixture head shell, and an outer code ring is installed on the fixture head end cover.

作为优选，所述第二锁紧装置包含锁紧螺钉、摩擦体和内螺纹套，所述内螺纹套通过焊接固定在夹具头壳体上，内螺纹套通过螺纹与螺旋端盖连接，螺旋端盖通过螺纹与锁紧螺钉连接，锁紧螺钉的头部可顶住摩擦体，通过锁紧螺钉的旋入，锁紧螺钉的一端顶住摩擦体，摩擦体顶住凸台达到锁紧凸台的目的。As a preference, the second locking device includes a locking screw, a friction body and an internal thread sleeve, the internal thread sleeve is fixed on the clamp head shell by welding, the internal thread sleeve is connected to the screw end cap through threads, and the screw end The cover is connected with the locking screw through threads, and the head of the locking screw can withstand the friction body, and when the locking screw is screwed in, one end of the locking screw will withstand the friction body, and the friction body will withstand the boss to reach the locking boss the goal of.

作为优选，所述摩擦体包含圆弧块和圆筒，圆筒固定在圆弧块上，圆弧块的内径与所对应凸台处的直径相同。Preferably, the friction body includes an arc block and a cylinder, the cylinder is fixed on the arc block, and the inner diameter of the arc block is the same as the diameter of the corresponding boss.

一种上述的多通桁架接头抛磨矢量装夹装置的装夹方法，包括以下步骤：A clamping method of the above-mentioned multi-pass truss joint polishing vector clamping device, comprising the following steps:

(1)计算多通桁架接头各分支接头管轴空间分解矢量和以多通桁架接头各分支管理论交汇点作为原点O，方形支管作为X,Y,Z轴矢量方向，按右手螺旋规则建立笛卡尔直角坐标系，在该坐标系下，对要抛磨的桁架接头管轴矢量进行XOY平面和ζOZ平面投影分解成矢量和ζOZ平面为通过桁架接头管轴并与XOY平面垂直的定义平面，即$\stackrel{\→}{C}=\stackrel{\→}{A}+\stackrel{\→}{B},$其中$\stackrel{\→}{A}=(a_0,a_1,0),\stackrel{\→}{B}=(0,0,b_0);$(1) Calculate the spatial decomposition vector of the pipe axis of each branch joint of the multi-way truss joint and Take the intersection point of each branch management theory of the multi-way truss joint as the origin O, and the square branch pipe as the X, Y, and Z axis vector directions, and establish a Cartesian rectangular coordinate system according to the right-hand spiral rule. In this coordinate system, the truss to be polished Joint Pipe Axis Vector XOY plane and ζOZ plane projection are decomposed into vectors and The ζOZ plane is the defined plane passing through the pipe axis of the truss joint and perpendicular to the XOY plane, namely$\stackrel{\&Right\; Arrow;}{C}=\stackrel{\&Right\; Arrow;}{A}+\stackrel{\&Right\; Arrow;}{B},$ in$\stackrel{\&Right\; Arrow;}{A}=(a_0,a_1,0),\stackrel{\&Right\; Arrow;}{B}=(0,0,b_0);$

(2)完成多通桁架接头在矢量装夹装置上的局部冗余自由度轴固定；(2) Complete the local redundant degree of freedom axis fixation of the multi-way truss joint on the vector clamping device;

(3)调节装夹装置水平转动角度θ_A并进行锁定；(3) Adjust the horizontal rotation angle θ_A of the clamping device and lock it;

(4)调节装夹装置竖直转动角度θ_B并进行锁定；(4) Adjust the vertical rotation angle θ_B of the clamping device and lock it;

(5)完成定位装夹。(5) Complete positioning and clamping.

作为优选，所述步骤(2)包括以下步骤：As preferably, described step (2) comprises the following steps:

(a)旋转工件一侧的手轮，通过手轮调节立柱至一初始合适位置l₀；手持多通桁架接头，选定一端接口，套嵌定位在夹具头外侧；(a) Rotate the hand wheel on one side of the workpiece, and adjust the column to an initial suitable position₁₀ through the hand wheel; hold the multi-way truss joint, select one end interface, and nest and position it on the outside of the fixture head;

(b)旋转工件另一侧的手轮，使得立柱前移，使夹具头塞嵌到多连通桁架接头另一端内腔；(b) Rotate the hand wheel on the other side of the workpiece, so that the column moves forward, so that the fixture head is plugged into the inner cavity at the other end of the multi-connected truss joint;

(c)微动调节手轮，直至夹具头顶住多通桁架接头止面，记录此时位置l₁；得到两夹具头之间管接头贯通长度l＝|l₂-l₀|+l₁，其中l₂为滑动平台的有效距离，完成对多通接头沿丝杆方向的冗余自由度轴固定，确保夹具头与多通桁架接头固连在一起。(c) Finely adjust the handwheel until the fixture head bears against the stop surface of the multi-way truss joint, record the position l₁ at this time; get the penetration length of the pipe joint between the two fixture heads l=|l₂ -l₀ |+l₁ , Among them, l₂ is the effective distance of the sliding platform, which completes the redundant degree of freedom axis fixation of the multi-way joint along the direction of the screw rod, and ensures that the fixture head and the multi-way truss joint are fixed together.

作为优选，所述步骤(3)包括以下步骤：As preferably, described step (3) comprises the following steps:

(a)松开锁紧扳手，旋转第一旋转装置中的水平码盘；(a) Loosen the locking wrench and rotate the horizontal code disc in the first rotating device;

(b)观察水平码条尺中“0”刻度线指向水平矢量角度θ＝90-θ_A，其中θ_A＝arctan(a₁/a₀)；(b) Observe that the "0" scale line in the horizontal code bar points to the horizontal vector angle θ=90-θ_A , where θ_A =arctan(a₁ /a₀ );

(c)反向旋紧锁紧扳手，固定水平码盘。(c) Reversely tighten the locking wrench to fix the horizontal code disc.

作为优选，所述步骤(4)包括以下步骤：As preferably, described step (4) comprises the following steps:

(a)松开锁紧螺钉，旋转第二旋转装置中的竖直码盘；(a) Loosen the locking screw and rotate the vertical code disc in the second rotating device;

(b)观察竖直码盘中“0”刻度线指向竖直矢量角度θ＝90-θ_B，其中${\mathrm{\θ}}_B=arctan(b_0/\sqrt{\left(a_0^2+a_1^2\right)});$(b) Observe the vertical vector angle θ=90-θ_B where the "0" scale line in the vertical code disk points to, where${\mathrm{\θ}}_B=arcta\mathrm{no}(b_0/\sqrt{\left(a_0^2+a_1^2\right)});$

(c)反向扭紧锁紧螺钉，固定夹具头组件与多连通桁架接头的联合体。(c) Reversely tighten the locking screws to fix the combination of the fixture head assembly and the multi-connected truss joint.

有益效果：本发明的多通桁架接头抛磨矢量装夹装置及装夹方法，具有以下优点：Beneficial effects: The multi-way truss joint polishing vector clamping device and clamping method of the present invention have the following advantages:

(1)相比较人工手持加工，采用此装夹装置，提高了多通桁架接头装夹时的定位精度和稳定性；(1) Compared with manual hand-held processing, the use of this clamping device improves the positioning accuracy and stability of the multi-pass truss joint clamping;

(2)通过调节水平矢量角度和竖直矢量角度，适应多种连通接头任意空间方向管接头部分的装夹定位，因此，扩大了多通桁架接头的加工范围。(2) By adjusting the horizontal vector angle and the vertical vector angle, it is suitable for clamping and positioning of pipe joints in any spatial direction of various connecting joints, thus expanding the processing range of multi-way truss joints.

附图说明Description of drawings

图1为本发明多通接头装夹示意图；Fig. 1 is a schematic diagram of multi-way joint clamping of the present invention;

图2为桁架接头角度矢量分解图；Figure 2 is a vector exploded view of the truss joint angle;

图3为本发明结构右视图；Fig. 3 is a right view of the structure of the present invention;

图4为本发明结构俯视图；Fig. 4 is a top view of the structure of the present invention;

图5为图4的局部视图；Fig. 5 is a partial view of Fig. 4;

图6为图4在A-A方向上(拆除水平码盘以上部件)剖视图顺时针旋转90°；Fig. 6 is a sectional view of Fig. 4 rotated 90° clockwise in the direction of A-A (the parts above the horizontal code disc are removed);

图7为图4在B-B方向上局部剖视图；Fig. 7 is a partial sectional view in the B-B direction of Fig. 4;

图8为本发明右夹持头组件剖视图；Fig. 8 is a sectional view of the right clamping head assembly of the present invention;

图9为本发明右夹持头组件侧视图；Fig. 9 is a side view of the right clamping head assembly of the present invention;

图10为图9的局部视图；Figure 10 is a partial view of Figure 9;

图11为图9在C-C方向上剖视图；Figure 11 is a cross-sectional view in the C-C direction of Figure 9;

图12为图11的局部视图D；Fig. 12 is a partial view D of Fig. 11;

图13为图11的局部视图E；Fig. 13 is a partial view E of Fig. 11;

图14为左夹持头结构示意图；Figure 14 is a schematic diagram of the structure of the left clamping head;

图15为摩擦体结构示意图；Fig. 15 is a schematic diagram of the structure of the friction body;

具体实施方式detailed description

下面结合附图对本发明作更进一步的说明。The present invention will be further described below in conjunction with the accompanying drawings.

如图1至图15所示，本发明的多通桁架接头抛磨矢量装夹装置，包括底座1、位于底座1上方的圆形的水平码盘5和位于水平码盘5上方的立柱2，底座1通过地脚螺母13、双头螺柱15、地脚楔块14固定到工作台上，所述水平码盘5通过第一旋转装置安装在底座1上，第一旋转装置上安装有第一锁紧装置，水平码尺条11通过一字槽螺钉12固定在底座1上，水平码盘5上对称的安装有两个立柱2，分别为左立柱和右立柱，左立柱和右立柱通过水平移动装置安装在水平码盘5上，水平移动装置也包括左水平移动装置和右水平移动装置，立柱2的顶端安装有夹持工件9的夹具头3，分别为左夹具体3b和右夹具体3a，夹具头3通过第二旋转装置安装在立柱2上，第二旋转装置上安装有第二锁紧装置；通过两个立柱2上的夹具头3夹持工件9，通过转动水平码盘5调整工件9水平角度，通过转动夹具头3调整工件9竖直角度。As shown in Figures 1 to 15, the multi-pass truss joint polishing vector clamping device of the present invention includes a base 1, a circular horizontal code disc 5 above the base 1 and a column 2 above the horizontal code disc 5, Base 1 is fixed on the workbench by anchor nut 13, double-ended stud 15, anchor wedge 14, and described horizontal code disc 5 is installed on the base 1 by the first rotation device, and the first rotation device is installed with the first A locking device, the horizontal yardstick bar 11 is fixed on the base 1 by a slotted screw 12, and two uprights 2 are symmetrically installed on the horizontal code disc 5, which are the left upright and the right upright respectively, and the left upright and the right upright pass through The horizontal moving device is installed on the horizontal code disc 5. The horizontal moving device also includes a left horizontal moving device and a right horizontal moving device. The top of the column 2 is equipped with a fixture head 3 for clamping the workpiece 9, which are respectively the left clamp body 3b and the right clamp Specifically 3a, the fixture head 3 is installed on the column 2 through the second rotating device, and the second locking device is installed on the second rotating device; the workpiece 9 is clamped by the fixture head 3 on the two columns 2, and the horizontal code disc is rotated 5 Adjust the horizontal angle of the workpiece 9, and adjust the vertical angle of the workpiece 9 by rotating the fixture head 3.

在本发明中，所述第一旋转装置包含中心支柱57，中心支柱57为阶梯轴，中心支柱57通过螺纹固定安装在底座1上，在中心支柱57上套有第一轴承51，第一轴承51的内圈与中心支柱57过盈配合，轴承的外圈位于水平码盘5的凹槽内，轴承的外圈与水平码盘5过盈配合。所述第一锁紧装置包含锁紧扳手56、胀套内环54和胀套外环55，所述锁紧扳手56通过螺纹套在中心支柱57上，锁紧扳手56的下方依次设有压紧盖58、胀套内环54、胀套外环55和轴承盖52，所述胀套内环54和胀套外环55为楔形面配合，轴承盖52位于轴承上，轴承盖52固定安装在水平码盘5上，通过调节锁紧扳手56，使压紧盖58下移，挤压胀套内环54，带动胀套外环55外径增大，从而撑紧轴承盖52，达到锁紧的目的。In the present invention, the first rotating device includes a central pillar 57, the central pillar 57 is a stepped shaft, the central pillar 57 is fixedly mounted on the base 1 through threads, and the first bearing 51 is sleeved on the central pillar 57, the first bearing The inner ring of 51 is interference fit with the central pillar 57, the outer ring of the bearing is located in the groove of the horizontal code disc 5, and the outer ring of the bearing is interference fit with the horizontal code disc 5. The first locking device includes a locking wrench 56, an inner ring 54 of an expansion sleeve and an outer ring 55 of an expansion sleeve. The locking wrench 56 is threaded on the central pillar 57, and the bottom of the locking wrench 56 is sequentially provided with pressure Tight cover 58, expansion sleeve inner ring 54, expansion sleeve outer ring 55 and bearing cover 52, the expansion sleeve inner ring 54 and expansion sleeve outer ring 55 are wedge-shaped fit, bearing cover 52 is located on the bearing, and bearing cover 52 is fixedly installed On the horizontal code disc 5, by adjusting the locking wrench 56, the compression cover 58 is moved down, the inner ring 54 of the expansion sleeve is squeezed, and the outer diameter of the outer ring 55 of the expansion sleeve is driven to increase, thereby tightening the bearing cover 52 to achieve the lock. tight purpose.

在本发明中，所述水平移动装置包含上托板4、下托板6和，T型螺杆43，所述下托板6固定安装在水平码盘5上，下托板6设有空心槽，T型螺杆43穿过空心槽，T型螺杆通过第二轴承44、46安装在下托板6上，T型螺杆43一端安装有手轮49，在空心槽内安装有T型螺母42，T型螺母安装在T型螺杆上，T型螺母42固定安装在上托板4上，立柱2安装在上托板4上，通过转动手轮49带动T型螺杆43转动，T型螺杆转动带动T型螺母沿T型螺杆移动，从而实现上托板4相对下托板6移动的目的。左水平移动装置所对应的手轮为左手轮，右水平移动装置所对应的手轮为右手轮。左立柱上安装的夹具体为左夹具体，右立柱上安装的夹具体为右夹具体。In the present invention, the horizontal moving device includes an upper pallet 4, a lower pallet 6 and a T-shaped screw 43, the lower pallet 6 is fixedly mounted on the horizontal code disc 5, and the lower pallet 6 is provided with a hollow groove , the T-shaped screw 43 passes through the hollow groove, the T-shaped screw is installed on the lower supporting plate 6 through the second bearings 44, 46, a handwheel 49 is installed at one end of the T-shaped screw 43, and a T-shaped nut 42 is installed in the hollow groove, T The type nut is installed on the T-shaped screw rod, the T-shaped nut 42 is fixedly installed on the upper supporting plate 4, the column 2 is installed on the upper supporting plate 4, and the T-shaped screw rod 43 is driven to rotate by turning the hand wheel 49, and the rotation of the T-shaped screw rod drives the T-shaped screw rod. The type nut moves along the T-shaped screw rod, thereby realizing the purpose that the upper supporting plate 4 moves relative to the lower supporting plate 6 . The hand wheel corresponding to the left horizontal movement device is the left hand wheel, and the hand wheel corresponding to the right horizontal movement device is the right hand wheel. The clamp body installed on the left column is the left clamp body, and the clamp body installed on the right column is the right clamp body.

在本发明中，所述第二旋转装置包含第三轴承31、夹具头壳体21和夹具头端盖22，所述夹具头3一端延伸有具有阶梯状的凸台，第三轴承31的内圈通过过盈配合套在凸台上，在两个夹具头3其中一个凸台的顶部安装有竖直码盘34，第三轴承31的外圈位于立柱2凹槽内，第三轴承31的外圈与立柱凹槽为过盈配合，在第三轴承31的外圈上安装有夹具头壳体21，夹具头壳体21固定安装在立柱2上，夹具头壳体21上安装有夹具头端盖22，在其中一个夹具头端盖22上安装有与竖直码盘34对应的外码环33。所述第二锁紧装置包含锁紧螺钉24、摩擦体27和内螺纹套26，所述内螺纹套26通过焊接固定在夹具头壳体21上，内螺纹套26通过螺纹与螺旋端盖25连接，螺旋端盖25通过螺纹与锁紧螺钉24连接，锁紧螺钉24的头部可顶住摩擦体27，摩檫体27采用无石棉硅酸钙材料，所述摩擦体27包含圆弧块和圆筒，圆筒固定在圆弧块上，圆弧块的内径与所对应凸台处的直径相同，通过锁紧螺钉24的旋入，锁紧螺钉24的一端顶住摩擦体27，摩擦体27顶住凸台达到锁紧凸台的目的。外码环33通过外码环固定螺钉37固定到夹具头端盖22上；所述夹具头端盖22通过紧固螺钉固定到夹具头壳体21上；所述竖直码盘34通过固定螺钉固定到夹具头3上；所述左夹具体尾部开有销孔，用于竖直码盘34的初始定位。In the present invention, the second rotating device includes a third bearing 31, a jig head housing 21 and a jig head end cover 22. One end of the jig head 3 is extended with a stepped boss, and the inner part of the third bearing 31 The ring is sleeved on the boss through interference fit, and a vertical code disc 34 is installed on the top of one of the bosses of the two fixture heads 3. The outer ring of the third bearing 31 is located in the groove of the column 2, and the outer ring of the third bearing 31 The outer ring and the column groove are interference fit, and the clamp head housing 21 is installed on the outer ring of the third bearing 31, the clamp head housing 21 is fixedly installed on the column 2, and the clamp head housing 21 is installed with the clamp head The end caps 22, an outer code ring 33 corresponding to the vertical code disc 34 is installed on one of the clamp head end caps 22. The second locking device includes a locking screw 24, a friction body 27 and an internal thread sleeve 26, the internal thread sleeve 26 is fixed on the clamp head housing 21 by welding, and the internal thread sleeve 26 is threaded and screwed to the end cap 25 Connection, the screw end cap 25 is connected with the locking screw 24 through threads, the head of the locking screw 24 can withstand the friction body 27, the friction body 27 is made of asbestos-free calcium silicate material, and the friction body 27 contains arc blocks And the cylinder, the cylinder is fixed on the arc block, the inner diameter of the arc block is the same as the diameter of the corresponding boss, through the screwing of the locking screw 24, one end of the locking screw 24 withstands the friction body 27, friction Body 27 withstands the boss to achieve the purpose of locking the boss. The outer code ring 33 is fixed on the clamp head end cover 22 by the outer code ring fixing screw 37; the clamp head end cover 22 is fixed on the clamp head housing 21 by fastening screws; the vertical code disc 34 is fixed by the fixing screw It is fixed on the clamp head 3; the tail of the left clamp body has a pin hole for the initial positioning of the vertical code disc 34.

上托板4与下托板6成燕尾楔形配合，并通过固定螺钉41连接T型螺母42；所述下托板6通过圆头沉孔螺钉7连接到水平码盘5上；所述T型螺母42与T型螺杆43构成螺旋副，且具有一定的自锁性；所述T型螺杆43两端分别装有角接触球轴承44、46，并且轴承外圈微量过盈装配到下托板6内孔中；所述左密封端体50与右密封端体48分别通过拖板端盖紧固螺钉8固定到下托板6外侧；通过前隔套45与后隔套47分别固定角接触球轴承44、46外圈；右托板组件结构与此类似，不再叙述。受限于所要加工多连通桁架街头两口止面的垂直距离非唯一性，通过调节左右托板组件的位置，进行参差位移，调整待加工接头的空间位置，减少主轴磨头空行程时间，提高加工效率。The upper supporting plate 4 and the lower supporting plate 6 form a dovetail wedge fit, and are connected to T-shaped nuts 42 through fixing screws 41; the lower supporting plate 6 is connected to the horizontal code disc 5 through round head countersunk screws 7; The nut 42 and the T-shaped screw 43 form a screw pair, and have a certain self-locking property; the two ends of the T-shaped screw 43 are respectively equipped with angular contact ball bearings 44, 46, and the outer ring of the bearing is slightly interference-fitted to the lower supporting plate 6 in the inner hole; the left sealing end body 50 and the right sealing end body 48 are respectively fixed to the outside of the lower pallet 6 through the fastening screws 8 of the carriage end cover; Ball bearing 44,46 outer rings; The right backing plate assembly structure is similar to this, no longer narrates. Due to the non-uniqueness of the vertical distance between the two ends of the multi-connected truss street to be processed, by adjusting the position of the left and right supporting plate components, the uneven displacement is performed, the spatial position of the joint to be processed is adjusted, the idle travel time of the spindle grinding head is reduced, and the processing is improved. efficiency.

参见图5和图10所示，所述水平码尺条11与水平码盘5刻度关系(水平矢量角度定义)如下：水平码尺条11被刻线分为60个小格，以“0”刻线分开，左边30个小格正好对应于水平码盘5上29个小格(水平码盘5上1小格代表)，也即是说水平码盘5与水平码尺条11一格差值为Referring to Fig. 5 and shown in Fig. 10, described horizontal yardstick bar 11 and horizontal code disc 5 scale relations (horizontal vector angle definition) are as follows: horizontal yardstick bar 11 is divided into 60 small grids by engraved lines, with "0" The engraved lines are separated, and the 30 small cells on the left just correspond to the 29 small cells on the horizontal code disc 5 (1 small cell on the horizontal code disc 5 represents), that is to say, the difference between the horizontal code disc 5 and the horizontal code bar 11 by one grid for

$\mathrm{<span><span>1</span>1</span>}<span><span>-</span>-</span>\frac{\mathrm{<span><span>29</span>29</span>}}{\mathrm{<span><span>30</span>30</span>}}<span><span>=</span>=</span>\frac{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>30</span>30</span>}}<span><span>=</span>=</span>{\mathrm{<span><span>2</span>2</span>}}^{<span><span>\&prime;</span>\&prime;</span>}$

即水平码盘5整体角度定位精度为2'。与此类似，竖直码盘34角度定位精度也为2'。俯视水平码盘5，水平码盘5逆时针方向为正向，即水平码盘的零刻度右侧为正角度，零刻度左侧为负角度。面向竖直码盘34看，竖直码盘34零刻度右侧为正角度，零刻度左侧为负角度。That is, the overall angular positioning accuracy of the horizontal code wheel 5 is 2'. Similar to this, the angular positioning accuracy of the vertical code disc 34 is also 2'. Looking down on the horizontal code wheel 5, the counterclockwise direction of the horizontal code wheel 5 is positive, that is, the right side of the zero scale of the horizontal code wheel is a positive angle, and the left side of the zero scale is a negative angle. Looking towards the vertical code disc 34, the right side of the zero scale of the vertical code disc 34 is a positive angle, and the left side of the zero scale is a negative angle.

在本发明中，摩檫体27采用无石棉硅酸钙材料，夹具头3采用SS1650碳素结构钢材料，螺杆采用Cr12材料，精度达到C3等级，底座1与水平码盘5均采用SUS301高碳钢材料；对两者接触面进行刮削，表面粗糙度达到0.8um。In the present invention, the friction body 27 is made of asbestos-free calcium silicate material, the fixture head 3 is made of SS1650 carbon structural steel material, the screw rod is made of Cr12 material, and the precision reaches C3 level, and the base 1 and the horizontal code disc 5 are made of SUS301 high carbon Steel material; the contact surface between the two is scraped, and the surface roughness reaches 0.8um.

下面以图3所示的3圆4方-7通多通桁架接头左圆支管头部装夹定位为例来详细说明矢量装夹工艺过程：The following takes the clamping and positioning of the head of the left circular branch pipe of the 3-circle, 4-square-7-pass multi-pass truss joint shown in Figure 3 as an example to describe the vector clamping process in detail:

(1)首先计算左圆支管轴矢量的空间分解矢量和如图2所示，以多通接头支管交汇点为坐标系原点，方管轴向为坐标轴方向，结合多通接头的结构参数，确定矢量$\stackrel{\&RightArrow;}{A}=(\sqrt{2}/2,\sqrt{2}/2,0),\stackrel{\&RightArrow;}{B}=(0,0,0.7773);$(1) First calculate the spatial decomposition vector of the left circular branch axis vector and As shown in Figure 2, the origin of the coordinate system is taken as the intersection point of the branch pipes of the multi-way joint, and the axis of the square pipe is the direction of the coordinate axis. Combined with the structural parameters of the multi-way joint, the vector$\stackrel{\&Right\; Arrow;}{A}=(\sqrt{2}/2,\sqrt{2}/2,0),\stackrel{\&Right\; Arrow;}{B}=(0,0,0.7773);$

(2)旋转右手轮，调节右立柱至一初始位置；手持多通桁架接头一端套嵌定位在右夹具体3a凸体外侧；旋转左手轮，调节左立柱前移，使左夹具体3b凸体塞嵌到多通桁架接头另一端内腔；继续转动左手轮，直至左夹具体3b顶住多通桁架接头止面；完成定位夹具体3与多通桁架接头9的紧连；(2) Rotate the right hand wheel to adjust the right column to an initial position; one end of the hand-held multi-way truss joint is nested and positioned outside the convex body of the right clamp body 3a; rotate the left hand wheel to adjust the left column to move forward so that the left clamp body 3b is convex Plug into the inner cavity of the other end of the multi-way truss joint; continue to turn the left hand wheel until the left clamp body 3b withstands the stop surface of the multi-way truss joint; complete the tight connection between the positioning clamp body 3 and the multi-way truss joint 9;

(3)松开锁紧扳手56，旋转第一旋转装置中的水平码盘5；观察水平码条尺11中“0”刻度线指向水平矢量角度45°，其中θ_A＝arctan(a₁/a₀)＝45°；反向旋紧锁紧扳手56，固定水平码盘组件。(3) Loosen the locking wrench 56, rotate the horizontal code disc 5 in the first rotating device; observe the "0" scale line in the horizontal code bar ruler 11 and point to the horizontal vector angle of 45°, where θ_A =arctan(a₁ / a₀ )=45°; reversely tighten the locking wrench 56 to fix the horizontal code disc assembly.

(4)松开锁紧螺钉24，旋转装夹装置中的竖直码盘34；观察竖直码盘34中“0”刻度线指向竖直矢量角度θ＝90-θ_B＝52.14°，其中(4) Unclamp the locking screw 24, rotate the vertical code disc 34 in the clamping device; observe the vertical vector angle θ=90-θ_B =52.14 ° in the vertical code disc 34 where "0" scale line points

反向扭紧锁紧螺钉34，固定夹具头与多连通桁架接头的联合体。Reversely tighten the locking screw 34 to fix the combination of the clamp head and the multi-connected truss joint.

(5)完成定位装夹。(5) Complete positioning and clamping.

本发明多通桁架接头抛磨矢量装夹装置可以在最多2次装夹基础上完成对多通接头的抛磨任务；调整角度码盘，将空间三维矢量角度转化为两个二维平面角度的矢量叠成，有效地克服了原有人工手持带来的定位精度不高、夹持易松动等缺点。The multi-way truss joint polishing vector clamping device of the present invention can complete the polishing task of the multi-way joint on the basis of at most 2 times of clamping; adjust the angle code disc to convert the spatial three-dimensional vector angle into two two-dimensional plane angles Vector superimposition effectively overcomes the disadvantages of low positioning accuracy and easy loose clamping caused by the original manual handholding.

以上所述仅是本发明的优选实施方式，应当指出：对于本技术领域的普通技术人员来说，在不脱离本发明原理的前提下，还可以做出若干改进和润饰，这些改进和润饰也应视为本发明的保护范围。The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also possible. It should be regarded as the protection scope of the present invention.

Claims (10)

1. logical Truss joint rubbing down vector clamping device more than a kind, it is characterized in that: comprise base, the horizontal code-disc being positioned at the circle above base and the column be positioned at above horizontal code-disc, described horizontal code-disc is arranged on base by the first whirligig, first whirligig is provided with the first locking device, base is provided with horizontal yardstick bar, on horizontal code-disc, symmetry is provided with two columns, column is arranged on horizontal code-disc by horizontally moving device, the top of column is provided with the clamp head of holding workpiece, clamp head is arranged on column by the second whirligig, second whirligig is provided with the second locking device, by the clamp head holding workpiece on two columns, by rotating horizontal code-disc adjustment workpiece level angle, by rotary clamp head adjustment workplace vertical angle.

2. many logical Truss joint rubbing down vector clamping devices according to claim 1, it is characterized in that: described first whirligig comprises centre strut, centre strut is multidiameter, centre strut is fixedly mounted on base, on centre strut, cover has clutch shaft bearing, the inner ring of clutch shaft bearing and centre strut interference fit, and the outer ring of bearing is positioned at the groove of horizontal code-disc, the outer ring of bearing and horizontal code-disc interference fit, horizontal code-disc is by the first locking device locking.

3. many logical Truss joint rubbing down vector clamping devices according to claim 2, it is characterized in that: described first locking device comprises locking wrench, expansion set inner ring and expansion set outer shroud, described locking wrench by thread bush on centre strut, the below of locking wrench is provided with friction top successively, expansion set inner ring, expansion set outer shroud and bearing cap, described expansion set inner ring and expansion set outer shroud are that lozenges coordinates, bearing cap is positioned on bearing, bearing cap is fixedly mounted on horizontal code-disc, by regulating locking wrench, friction top is moved down, extruding expansion set inner ring, expansion set outer shroud external diameter is driven to increase, thus stretching bearing cap, reach the object of locking.

4. many logical Truss joint rubbing down vector clamping devices according to claim 3, it is characterized in that: described horizontally moving device comprises mounting plate, bottom plate and T-shaped screw rod, described bottom plate is fixedly mounted on horizontal code-disc, bottom plate is provided with groove, T-shaped screw rod is through groove, T-shaped screw rod is arranged on bottom plate by the second bearing, screw rod one end is provided with handwheel, in groove, T-nut is installed, T-nut is arranged on T-shaped screw rod, T-nut is fixedly mounted on mounting plate, column is arranged on mounting plate, T-shaped bolt rotary is driven by rotating handwheel, T-shaped bolt rotary drives T-nut to move along T-shaped screw rod, thus realize the object of mounting plate relative to bottom plate movement.

5. many logical Truss joint rubbing down vector clamping devices according to claim 4, it is characterized in that: described second whirligig comprises the 3rd bearing, clamp head housing and clamp head end cap, described clamp head one end is extended with has stair-stepping boss, the inner ring of the 3rd bearing is enclosed within boss by interference fit, the top of boss is provided with vertical code-disc, the outer ring of the 3rd bearing is positioned at stake pocket, the outer ring of the 3rd bearing and stake pocket are interference fit, the outer ring of the 3rd bearing is provided with clamp head housing, clamp head housing is fixedly mounted on column, clamp head housing is provided with clamp head end cap, clamp head end cap is provided with outer code ring, boss is by the second locking device locking.

6. many logical Truss joint rubbing down vector clamping devices according to claim 5, it is characterized in that: described second locking device comprises lock-screw, friction piece and inner screw sheath, described inner screw sheath is fixed by welding on clamp head housing, inner screw sheath is connected with spiral end cap by screw thread, spiral end cap is connected with lock-screw by screw thread, the head of lock-screw can withstand friction piece, by the screw-in of lock-screw, friction piece is withstood in one end of lock-screw, and friction piece withstands the object that boss reaches locking boss; Described friction piece comprises circular arc block and cylinder, and cylinder is fixed on circular arc block, and the internal diameter of circular arc block is identical with the diameter at corresponding boss place.

7. a clamping method for many logical Truss joint rubbing down vector clamping devices as claimed in claim 6, is characterized in that, comprise the following steps:

(1) many logical Truss joint each branch joint tubular axis spatial decomposition vectors are calculatedwithso that how logical Truss joint each branch management opinion joint is as initial point O, square arm is as X, Y, and Z axis direction vector, sets up Descartes's rectangular coordinate system by right-handed helix rule, under this coordinate system, to the Truss joint tubular axis vector wanting rubbing downcarry out XOY plane and vector is resolved in ζ OZ plane projectionwithζ OZ plane is definition plane by Truss joint tubular axis and vertical with XOY plane, namely$\stackrel{\&RightArrow;}{C}=\stackrel{\&RightArrow;}{A}+\stackrel{\&RightArrow;}{B},$Wherein$\stackrel{\&RightArrow;}{A}=(a_0,a_1,0),$$\stackrel{\&RightArrow;}{B}=(0,0,b_0);$

(2) complete the many logical local redundancy axis-of-freedom of Truss joint on vector clamping device to fix;

(3) clamping device is regulated to horizontally rotate angle θ_aand lock;

(4) the vertical rotational angle θ of clamping device is regulated_band lock;

(5) positioning and clamping is completed.

8. the clamping method of many logical Truss joint rubbing down vector clamping devices according to claim 7, is characterized in that: described step (2) comprises the following steps:

A the handwheel of () rotational workpieces side, by the initial correct position l of handwheel adjusting post to₀; Hand-held many logical Truss joints, a selected end interface, is nested and is positioned at outside clamp head;

B the handwheel of () rotational workpieces opposite side, makes column move forward, make fixture screw plug be embedded into many connection Truss joint other end inner chambers;

C () micro-positioning regulators handwheel, until clamp head withstands many logical Truss joints stop face, records now position l₁; Obtain the through length l=|l of pipe joint between two clamp head₂-l₀|+l₁, wherein l₂for the coverage of sliding platform, complete and the redundant degree of freedom axle of multiple-pass joint along screw mandrel direction is fixed, guarantee that clamp head is fixed together with many logical Truss joints.

9. the clamping method of many logical Truss joint rubbing down vector clamping devices according to claim 8, is characterized in that: described step (3) comprises the following steps:

A () unclamps locking wrench, rotate the horizontal code-disc in the first whirligig;

B in () eye-level code-bar chi, " 0 " graduation mark points to horizontal vector angle θ=90-θ_a, wherein θ_a=arctan (a₁/ a₀);

C () oppositely screws locking wrench, fixing horizontal code-disc.

10. the clamping method of many logical Truss joint rubbing down vector clamping devices according to claim 9, is characterized in that: described step (4) comprises the following steps:

A () unclamps lock-screw, rotate the vertical code-disc in the second whirligig;

B () is observed " 0 " graduation mark in vertical code-disc and is pointed to vertical vector angle θ=90-θ_b, wherein${\mathrm{\&theta;}}_B=arctan(b_0/\sqrt{\left(a_0^2+a_1^2\right)});$

C () oppositely tightens lock-screw, stationary fixture head group part and the association being communicated with Truss joint more.