CN105856123A - Follow-up location unit capable of being used for robot shape-adjusting - Google Patents
Follow-up location unit capable of being used for robot shape-adjusting Download PDFInfo
- Publication number
- CN105856123A CN105856123A CN201510029275.2A CN201510029275A CN105856123A CN 105856123 A CN105856123 A CN 105856123A CN 201510029275 A CN201510029275 A CN 201510029275A CN 105856123 A CN105856123 A CN 105856123A
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- China
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- mandrel
- brake
- cylinder body
- brake arm
- location unit
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Abstract
The invention discloses a follow-up location unit capable of being used for robot shape-adjusting. The follow-up location unit is characterized by comprising a cylinder body, a mandrel and a clamping sleeve conical surface type locking device body. The cylinder body is internally provided with a cavity. The mandrel penetrates through the cylinder body and can rotate freely. A suction cup is connected to the mandrel. The clamping sleeve conical surface type locking device body is arranged on the mandrel in a sleeving mode and located inside the cavity of the cylinder body and comprises a brake arm, a conical brake piston, a compression spring, a brake shoe base and a brake shoe, wherein the brake arm and the conical brake piston are both arranged on the mandrel in a sleeving mode and matched with each other, the compression spring is arranged on the mandrel in a sleeving mode and capable of squeezing the conical brake piston in the brake arm direction, the brake shoe base is arranged on the brake arm, and the brake shoe is arranged between the brake shoe base and the mandrel. The brake arm is provided with a rotating shaft. The cylinder body is provided with a pore which right faces the brake arm. The follow-up location unit capable of being used for robot shape-adjusting is not only simple in structure but also low in cost, meets shape quick reconstruction requirements during location of different products and is suitable for application and popularization.
Description
Technical field
The present invention relates to a kind of positioner, particularly relate to a kind of servo-actuated location dress that can be used for robot tune type
Put.
Background technology
At present, the assembling of aircraft components product is affected by conventional frame formula frock, also cannot be to the bigger wing
Face component or wallboard series products carry out flexible location, it is impossible to adapt to the requirement of automatic processing technology.Therefore,
Develop the scope of application the most flexible location technology, become the essential condition of future aircraft assembling.At present
During aircraft assembling, profile location mode has following two: profile clamp location and fixed sucker position.
Present location mode suffers from the drawback that specificity is strong, it is impossible to for other product；Due to clamp profile
Cannot change, determine it and may be only available for a certain part of a kind of type, and fixed sucker is also along band
The clamp having profile is installed, and does not the most have flexible positioning function, and therefore, this mode cannot meet new machine and grind
System and the production of small lot multi-model aircraft.
Summary of the invention
The weak point existed for prior art, it is an object of the invention to provide one and can be used for robot
The follower location unit of tune type, solves existing location mode specificity with expectation strong, does not have flexible location
Function, the problem that therefore cannot meet the production of new machine development and small lot multi-model aircraft.
The purpose of invention is achieved through the following technical solutions:
A kind of follower location unit that can be used for robot tune type, it includes cylinder body, mandrel and the cutting ferrule conical surface
Formula locking device, described cylinder interior has cavity, and described mandrel runs through cylinder body and energy is freely rotatable, described
Connect on mandrel and have sucker；Described cutting ferrule conical surface type locking device is enclosed within mandrel, and this cutting ferrule conical surface type lock
Tight device is positioned at the cavity inside of cylinder body；Described cutting ferrule conical surface type locking device includes all being enclosed within mandrel and phase
The brake arm and the taper brake piston that coordinate mutually, it is enclosed within mandrel and can be to brake arm direction extruding taper system
The dynamic compression spring of piston, the brake scotch seat being arranged on brake arm and be arranged on brake scotch seat and mandrel it
Between brake scotch, described brake arm is provided with rotating shaft, and described cylinder body is provided with just pore to brake arm.
Further technical scheme is that described cylinder interior is provided with the spring base matched with taper brake piston,
Described compression spring is positioned at inside this spring base.
Further technical scheme is to be provided with pinch roller between described brake arm and taper brake piston.
Further technical scheme is that described cylinder body is provided with and all matches with brake arm and taper brake piston
The fixed block closed, described pinch roller is between fixed block and brake arm and taper brake piston；Described fixing
Block is provided with the through hole being connected with pore.
Further technical scheme is to be provided with sliding sleeve between described cylinder body and mandrel.
Further technical scheme is that cylinder ends is provided with the end cap being enclosed within mandrel.
The present invention compared with the prior art, has the following advantages and beneficial effect:
The present invention is not only simple in structure, and with low cost, and mandrel is inhaled after stretching by external force or rotate in place
Dish absorption workpiece, wherein, the operation principle of locking mandrel is: compression spring promotes brake piston to the left,
Owing to the conical surface effect on brake piston gets final product jacking brake arm, brake arm rotates around the shaft, makes brake scotch pressure
Tight mandrel, thrust is amplified due to lever principle, and this active force amplified locks piston rod；Pine
The operation principle opening mandrel is: supplying compressed air by the pore on cylinder body, compression spring is compressed, and makes
Taper brake piston moves to right, thus eliminates the pressure that brake arm is applied on mandrel, mandrel retractable or
Rotate.The present invention solves the profile location fixing of multiple product, meets profile when positioning different product
Quick reconfiguration, is characterized in relying on external traction force push-and-pull mandrel to specifying position, then relies on and self lock
Mechanism's locking mandrel.The present invention is applicable to the fixing to product design, can use follower location unit (FLU
Follow-up Location Unit), pull positioning sucker disk composition product design with robot, reach fast
The purpose of speed reconstruct profile.Meanwhile, the present invention has modularity, standardized feature, and extended capability is strong,
It is suitable for different profile, the Product Assembly of size.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of the present invention.
Wherein, entitled corresponding to the reference in accompanying drawing:
1 brake scotch, 2 brake scotch seats, 3 rotating shafts, 4 brake arms, 5 pinch rollers, 6 taper brakings
Piston, 7 compression springs, 8 cylinder bodies, 9 sliding sleeves, 10 end caps, 11 mandrels, 12 suckers, 13
Fixed block, 14 spring bases.
Detailed description of the invention
Below in conjunction with embodiment, the present invention is described in further detail:
Embodiment
As it is shown in figure 1, a kind of follower location unit that can be used for robot tune type of the present invention, it includes cylinder
Body 8, described cylinder interior has cavity.Described cylinder body 8 is provided with mandrel 11, and mandrel 11 runs through cylinder body 8,
Being matched in clearance between mandrel 11 and cylinder body 8, mandrel 11 is free to rotate and can move left and right along cylinder body 8.
Connect on described mandrel 11 and have sucker 12, mandrel 11 to move left and right sucker 12 can be driven to move, sucker
12 motions put in place and can adsorb workpiece.
Cylinder body 8 is internal is provided with cutting ferrule conical surface type locking device, and described cutting ferrule conical surface type locking device includes braking
Arm 4 and taper brake piston 6, described brake arm 4 is all enclosed within mandrel 11 with taper brake piston 6, and
This brake arm 4 cooperates with taper brake piston 6 and is connected, described taper brake piston 6 and brake arm 4
Coordinating contact one end is taper, as shown in Figure 1.Compression spring 7, described cone also it is cased with on described mandrel 11
Shape brake piston 6 is between brake arm 4 and compression spring 7, and compression spring 7 can be to taper brake piston
6 apply elastic force, can extrude taper brake piston 6 to the direction of brake arm 4.Described cylinder body 8 is internal to be provided with
Spring base 14, as it is shown in figure 1, this spring base 14 matches with taper brake piston 6, described compression bullet
It is internal that spring 7 is then positioned at this spring base 14.
Described brake arm 4 is provided with rotating shaft 3, and this brake arm 4 then may be used by the extruding of taper brake piston 6
3 rotate around the shaft, make brake arm 4 be pressed on mandrel 11, can locking mandrel 11.Described brake arm 4
On be additionally provided with brake scotch seat 2, between brake scotch seat 2 and mandrel 11, be additionally provided with brake scotch 1, by braking
Watt 1 can increase frictional force and abrasive resistance, and can reliable locking mandrel 11.Described cylinder body 8 is internal to be provided with admittedly
Determining block 13, this fixed block 13 matches with brake arm 4 and taper brake piston 6 respectively, described solid
Determine to be formed between block 13 and brake arm 4 and taper brake piston 6 cavity, be provided with pressure in the cavity
Wheel 5, described pinch roller 5 is between brake arm 4 and taper brake piston 6, and this pinch roller 5 is positioned at taper
On the taper surface of brake piston 6, this pinch roller 5 can reduce the friction of the taper surface extruding of taper brake piston 6
Power.
Described cylinder body 8 is provided with pore, by compressing to cutting ferrule conical surface type locking device supply in the present embodiment
The mode of air applies external force, and the pore on this cylinder body 8 is air supply opening A ', as shown in Figure 1.Meanwhile,
Described fixed block 13 is provided with the through hole being connected with pore.Use compressed air is external force, the most described braking
Arm 4 need to be in closing cavity, and cylinder body 8 left end in the present embodiment is closed, as it is shown in figure 1, can be by
Brake arm 4 is enclosed in the cavity of cylinder body 8.The right-hand member of described cylinder body 8 is provided with sliding sleeve 9, this sliding sleeve 9
Between cylinder body 8 and mandrel 11.Be additionally provided with end cap 10 in the right part of cylinder body 8, end cap 10 is socketed in core
On axle 11.Be completed the follower location unit of the present invention, described mandrel 11 free to rotate and can left and right
Flexible.
In the present embodiment, the operation principle of locking mandrel 11 is: air supply opening A ' non-compressed air supply, pressure
Contracting spring 7 promotes taper brake piston 6 to the left, due to the conical surface effect jacking on taper brake piston 6
Brake arm 4, brake arm 43 rotation around the shaft, make brake scotch 1 compress mandrel 11, thrust is due to lever
Principle is amplified, and this active force amplified locks mandrel 11.The operation principle unclamping mandrel 11 is:
Supplying compressed air to air supply opening A ', compression spring 7 is compressed, and makes taper brake piston 6 move to right, from
And eliminating the pressure that brake arm 4 is applied on mandrel 11, mandrel 11 is free to stretch or rotate.
The present invention is applicable to the fixing to product design, intends using follower location unit (FLU Follow-up
Location Unit), pull positioning sucker disk composition product design with robot, can reach quick reconfiguration profile
Purpose.The present invention can use multiple FLU array to arrange according to different product size and shape, for each
The aerofoil profile supporting of type aircraft, absorption fixing or location.The present invention has modularity, standardized feature,
Extended capability is strong, can form the standard component of modularity, seriation, can simplify Fixture Design, shortens and develops
Cycle.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all the present invention's
Any amendment, equivalent and the improvement etc. made within spirit and principle, should be included in the guarantor of the present invention
Within the scope of protecting.
Claims (6)
1. the follower location unit that can be used for robot tune type, it is characterised in that it include cylinder body (8),
Mandrel (11) and cutting ferrule conical surface type locking device, described cylinder body (7) is internal has cavity, described mandrel
(11) running through cylinder body (7) and energy is freely rotatable, the upper connection of described mandrel (11) has sucker (12)；Institute
State cutting ferrule conical surface type locking device to be enclosed within mandrel (11), and this cutting ferrule conical surface type locking device is positioned at cylinder body
(8) cavity inside；Described cutting ferrule conical surface type locking device includes all being enclosed within the upper also phase interworking of mandrel (11)
The brake arm (4) and the taper brake piston (6) that close, to be enclosed within mandrel (11) upper and can be to brake arm (4)
The compression spring (7) in direction extruding taper brake piston (6), the brake scotch that is arranged on brake arm (4)
Seat (2) and the brake scotch (1) being arranged between brake scotch seat (2) and mandrel (11), described braking
Arm (4) is provided with rotating shaft (3), and described cylinder body (8) is provided with just pore to brake arm (4).
2. according to a kind of follower location unit that can be used for robot tune type described in claim 1, its feature
It is that described cylinder body (8) is internal and is provided with the spring base (14) matched with taper brake piston (6), institute
State compression spring (7) and be positioned at this spring base (14) inside.
3. according to a kind of follower location unit that can be used for robot tune type described in claim 1 or 2, its
It is characterised by between described brake arm (4) and taper brake piston (6) being provided with pinch roller (5).
4. according to a kind of follower location unit that can be used for robot tune type described in claim 3, its feature
Be described cylinder body (8) be provided with all with consolidating that brake arm (4) and taper brake piston (6) match
Determining block (13), described pinch roller (5) is positioned at fixed block (13) and lives with brake arm (4) and taper braking
Between plug (6)；Described fixed block (13) is provided with the through hole being connected with pore.
5. according to a kind of follower location unit that can be used for robot tune type described in claim 4, its feature
It is between described cylinder body (8) and mandrel (11) to be provided with sliding sleeve (9).
6. according to a kind of follower location unit that can be used for robot tune type described in claim 4 or 5, its
It is characterised by that cylinder body (8) end is provided with the end cap (10) being enclosed within mandrel (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510029275.2A CN105856123A (en) | 2015-01-21 | 2015-01-21 | Follow-up location unit capable of being used for robot shape-adjusting |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510029275.2A CN105856123A (en) | 2015-01-21 | 2015-01-21 | Follow-up location unit capable of being used for robot shape-adjusting |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105856123A true CN105856123A (en) | 2016-08-17 |
Family
ID=56623270
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510029275.2A Pending CN105856123A (en) | 2015-01-21 | 2015-01-21 | Follow-up location unit capable of being used for robot shape-adjusting |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105856123A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696187A (en) * | 2021-10-22 | 2021-11-26 | 成都飞机工业（集团）有限责任公司 | Anti-collision method suitable for double-robot system |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB829221A (en) * | 1956-11-21 | 1960-03-02 | Goodyear Tire & Rubber | Automatic adjustment mechanism for disc brakes |
| CN101112758A (en) * | 2007-08-30 | 2008-01-30 | 于复生 | Gas sucking disc type mechanical hand |
| CN101844691A (en) * | 2009-12-23 | 2010-09-29 | 浙江双友物流器械股份有限公司 | Adsorption device for metal plate |
| CN202811639U (en) * | 2012-09-14 | 2013-03-20 | 泸州市巨力液压有限公司 | Random displacement locking cylinder |
| CN103567919A (en) * | 2013-10-11 | 2014-02-12 | 中航飞机股份有限公司西安飞机分公司 | Vacuum adsorbing clamp for thin-walled workpiece |
| CN203570753U (en) * | 2013-07-23 | 2014-04-30 | 云南兴长江实业有限公司 | Safe locking device applicable for hydraulic oil cylinder |
| CN204450330U (en) * | 2015-01-21 | 2015-07-08 | 成都飞机工业（集团）有限责任公司 | A kind of follower location unit that can be used for robot tune type |
-
2015
- 2015-01-21 CN CN201510029275.2A patent/CN105856123A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB829221A (en) * | 1956-11-21 | 1960-03-02 | Goodyear Tire & Rubber | Automatic adjustment mechanism for disc brakes |
| CN101112758A (en) * | 2007-08-30 | 2008-01-30 | 于复生 | Gas sucking disc type mechanical hand |
| CN101844691A (en) * | 2009-12-23 | 2010-09-29 | 浙江双友物流器械股份有限公司 | Adsorption device for metal plate |
| CN202811639U (en) * | 2012-09-14 | 2013-03-20 | 泸州市巨力液压有限公司 | Random displacement locking cylinder |
| CN203570753U (en) * | 2013-07-23 | 2014-04-30 | 云南兴长江实业有限公司 | Safe locking device applicable for hydraulic oil cylinder |
| CN103567919A (en) * | 2013-10-11 | 2014-02-12 | 中航飞机股份有限公司西安飞机分公司 | Vacuum adsorbing clamp for thin-walled workpiece |
| CN204450330U (en) * | 2015-01-21 | 2015-07-08 | 成都飞机工业（集团）有限责任公司 | A kind of follower location unit that can be used for robot tune type |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696187A (en) * | 2021-10-22 | 2021-11-26 | 成都飞机工业（集团）有限责任公司 | Anti-collision method suitable for double-robot system |
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