CN108177082B - Quick-change floating type tool for polishing robot casting - Google Patents
Quick-change floating type tool for polishing robot casting Download PDFInfo
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- CN108177082B CN108177082B CN201711483230.8A CN201711483230A CN108177082B CN 108177082 B CN108177082 B CN 108177082B CN 201711483230 A CN201711483230 A CN 201711483230A CN 108177082 B CN108177082 B CN 108177082B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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Abstract
The invention discloses a quick-change floating type tool for polishing a robot casting, which comprises a mounting plate, a tool plate and a plurality of floating tools arranged on the tool plate, wherein the detachable tool plate is arranged on the mounting plate, each floating tool comprises a spring pressing plate and a positioning block fixed on the spring pressing plate, the spring pressing plate is arranged on the tool plate through a floating mechanism, and a workpiece to be processed is positioned through the spring pressing plate and the positioning block. The floating mechanism comprises a bolt and a spring, through holes for the bolt to pass are formed in the periphery of the spring pressing plate, threaded holes corresponding to the through holes are formed in the tooling plate, the bolt is sleeved with the spring after passing through the through holes and then screwed up on the threaded holes, the bolt is locked on the tooling plate through a locking nut, and the spring pressing plate can move up and down through the spring. Through with work piece location clamping on the floating frock, can effectively reduce the damage to tongs and work piece that robot tongs and work piece direct contact caused when getting the work piece, can bring huge economic benefits for the enterprise.
Description
Technical Field
The invention belongs to the field of mechanical workpiece clamping equipment, relates to a tool, and particularly relates to a quick-change floating type tool for polishing a robot casting.
Background
With the advent of china manufacturing 2025, robots are becoming more widely used. In the automobile manufacturing industry, auto parts are mostly casting parts such as automobile wheel hub, engine cylinder body, cylinder cap, bent axle, calliper, support, spare parts such as knuckle, need polish its runner, overlap, burr, adopt the robot to polish and can improve machining efficiency, guarantee machining precision, reduce the cost of polishing. In the automatic grinding system of the robot, the tool plays a vital role, a workpiece to be machined is positioned on the tool, and the robot gripper grips the workpiece from the tool to grind. In the actual production at present, the following four problems exist in the tool:
1. since workpieces to be polished are mostly cast parts, the consistency of the parts is poor, workers are difficult to operate when placing the parts, and are difficult to position or inaccurate in positioning, and when grabbing the workpieces, the robot collides with the workpieces due to inaccurate positioning, damages are caused to the tool and the manipulator, shutdown is caused, the production progress is influenced, and losses are brought to enterprises;
2. the robot gripper, the workpiece and the tool are rigid bodies, rigid contact exists between the workpiece and the gripper and between the workpiece and the tool in the contact and clamping processes, and the tool is abraded due to the rigid contact, so that the positioning is inaccurate; meanwhile, rigid contact can cause abrasion and damage to the gripper, a sensor is usually arranged on the gripper cylinder to judge whether a part is accurately gripped according to the stroke of the cylinder, and the problem of inaccurate judgment and the like can be caused after the gripper is abraded.
3. The grinding workpiece is generally a plurality of types of large-batch parts, different parts need different special tools for positioning, the robot grinding system is high in flexibility, and can be used for multiple purposes by matching with a quick-change gripper, so that the grinding of the plurality of parts is realized, in actual production, the operation of tool replacement is often complex, the quick replacement cannot be realized, long-time shutdown is caused, the production progress is influenced, in addition, due to the low positioning precision of the tool, errors exist in the preset grabbing positions after and before the tool replacement, dangers are caused during grabbing, or the track is deviated during grinding, the process requirements cannot be met, the rejection rate is increased, and the processing cost is improved;
4. in the actual production process, collision and friction can be caused between the workpiece and the tool when the workpiece is placed and grabbed, and the surface of the tool can rust to cause the problems of inaccurate positioning and the like after the tool is exposed in the air for a long time. The problems are numerous, and the limitation on the improvement of the production efficiency is obvious, so that a tool capable of solving the problems is urgently needed.
Disclosure of Invention
The invention aims to provide a floating type high-flexibility tool which can be quickly replaced when being applied to an automatic robot grinding system.
In order to change the existing problems, the following four aspects can be taken into consideration: 1. the flexibility of the positioning device is improved, the positioning device can accurately position the workpiece within the casting consistency error range, the elastic positioning device can be used for realizing accurate positioning and applying certain pretightening force to the workpiece, the positioning is more accurate, and the difficulty of personnel for placing the workpiece is reduced.
2. The tool is arranged on the tool plate in a floating support mode by adopting a floating support, and when the robot gripper grips a workpiece and is in rigid contact with the workpiece, the damping of the floating support mechanism can absorb the collision energy, so that the gripper is not in hard contact with the workpiece.
3. The tool is replaced by the quick-change mechanism, the positioning precision is improved, and the tool is positioned by the quick locking pins matched with the pin holes in the mounting plate and the tool plate.
4. The tool material is treated to increase the surface hardness and improve the wear resistance and the antirust performance. Therefore, a floating type tool capable of being quickly replaced is inevitably adopted in the robot polishing system.
In order to solve the technical problems, the invention adopts the technical scheme that:
the utility model provides a floating frock of quick change for robot foundry goods is polished which characterized in that: including mounting panel, frock board and install a plurality of frock of floating on the frock board, detachable frock board is installed on the mounting panel, unsteady frock includes spring clamp and fixes the locating piece on it, and spring clamp passes through floating mechanism and installs on the frock board, treats processing work piece location through spring clamp and locating piece together.
As an improvement, the floating mechanism comprises a bolt and a spring, through holes for the bolt to pass through are formed in the periphery of the spring pressing plate, threaded holes corresponding to the through holes are formed in the tooling plate, the bolt is sleeved with the spring after passing through the through holes and then screwed on the threaded holes, the bolt is locked on the tooling plate through a locking nut on the threaded holes, and the spring pressing plate can move up and down through the spring.
As an improvement, the bolt of the floating mechanism is a countersunk head bolt, the upper surface of the spring pressing plate is provided with a conical countersunk head hole matched with the countersunk head bolt, and when the spring bounces, the spring pressing plate can automatically center relative to the countersunk head bolt through the matching of the conical countersunk head hole and the countersunk head bolt.
As an improvement, the countersunk head bolt is an inner hexagonal flower-shaped countersunk head bolt.
As the improvement, frock board and mounting panel are square board, are equipped with corresponding through-hole on both diagonal, pass through both through-holes through quick fitting pin and lock, with frock board and mounting panel fixed mounting together.
As an improvement, the spring pressure plate is provided with a positioning spigot, the positioning block is provided with a positioning notch, and the workpiece to be processed is positioned through the positioning notch and the positioning spigot.
As an improvement, the locating notch and the locating spigot are back-to-back open-ended paired grooves, elastic plungers are arranged on the left surface, the right surface and the back-to-back surface of the locating notch, the extending head of each elastic plunger is an elastic telescopic head in contact with a workpiece, the workpiece is clamped and located in the left and right directions through the elastic plungers on the left surface and the right surface, and the workpiece is clamped and located in the front and back directions through the locating spigot and the elastic plungers on the inner surface of the locating notch back-to-back with the locating spigot.
As an improvement, the inner side surface of the positioning notch is provided with a threaded hole for installing the elastic plunger, the elastic plunger is installed in the threaded hole in the inner side surface of the positioning notch through threaded connection, and the extending length of the elastic plunger can be adjusted by screwing the elastic plunger, so that the clamping force and the positioning point of a workpiece are adjusted.
As an improvement, one diagonal line of the tooling plate and the mounting plate is connected through a quick locking pin, and the other diagonal line of the tooling plate and the mounting plate is connected through a fastening bolt.
A surface treatment method for the floating tool is characterized by comprising the following steps:
step 1, quenching and tempering a floating tool;
and 3, carrying out blackening treatment on the floating tool after surface quenching.
The beneficial effects of the invention are:
1. the rapid positioning and clamping of the workpiece are realized, the operation difficulty of workpiece placing workers is reduced, the problem of poor consistency of cast parts is solved, the fault tolerance rate is high, the risk of collision of a robot is reduced, and the safety of the system is ensured.
2. By adopting the floating supporting structure, the collision and abrasion caused by overlarge contact force generated by rigid contact when the robot gripper grabs the tool can be eliminated, so that the tool is stronger in practicability and is coordinated and matched with the gripper, and the stability of the system is improved.
3. The beat of changing the frock has been accelerated, has reduced the dead time, has improved production efficiency promptly. The precision after the tool is replaced is increased, and the grabbing stability and the surface quality of the machined part are guaranteed.
4. Quenching and tempering, surface quenching and blackening are adopted, so that the abrasion of the tool is effectively reduced, the anti-rust performance of the tool is improved, the service life of the tool is prolonged, the risk of inaccurate positioning caused by tool abrasion and corrosion is reduced, and the cost problem caused by tool replacement is reduced.
Drawings
Fig. 1 is an overall schematic view of a quick-change floating type tool disclosed by the invention.
Fig. 2 is a schematic view of the quick locking pin of the present invention locking the mounting plate and the tooling plate.
FIG. 3 is a schematic view of a single floating tool installation of the present invention.
Fig. 4 is a schematic view of the floating mechanism of the present invention.
FIG. 5 is a schematic view of a positioning block according to the present invention.
FIG. 6 is a schematic view of an embodiment of clamping and positioning the automobile caliper on the floating tool.
1-fastening bolt, 2-tooling plate, 3-mounting plate, 4-quick locking pin, 5-positioning block, 6-spring pressing plate, 7-inner hexagonal flower-shaped countersunk head bolt, 8-spring, 9-locking nut, 10, 11, 12, 13-elastic plunger, 14-workpiece, 15-positioning notch and 16-positioning spigot.
Detailed Description
For a better understanding of the present invention, reference is made to the following detailed description taken in conjunction with the accompanying drawings.
As shown in fig. 1, the overall schematic view of the quick-change floating tool comprises a mounting plate 3, a tooling plate 2 and nine floating tools installed on the tooling plate 2, as shown in fig. 2, a quick locking pin 4 locks the mounting plate 3 and the tooling plate 2, the mounting plate 3 corresponding to a pin hole is also a pin hole on one diagonal line of the tooling plate 2, the mounting plate 3 corresponding to a through hole on the other diagonal line is a threaded hole, the mounting plate 3 and the tooling plate 2 are quickly locked by the quick locking pin 4, then the fastening bolt 1 is screwed on the other diagonal line, and the quick locking pin 4 and the fastening bolt 1 are taken down when the tool is changed, so that the quick change of the tool is realized, and the positioning accuracy is improved. As shown in fig. 3, the installation diagram of a single floating tool includes a positioning block 5, a spring pressing plate 6 and a floating mechanism, the positioning block 5 is installed on the spring pressing plate 6 through a bolt, and the spring pressing plate 6 is installed on the tool plate 2 through the floating mechanism. As shown in fig. 4, the floating mechanism is a schematic diagram and comprises an inner hexagonal flower-shaped countersunk head bolt 7, a spring 8 and a lock nut 9, the inner hexagonal flower-shaped countersunk head bolt 7 firstly penetrates through a conical countersunk head hole in a spring pressure plate 6, then the spring 8 is sleeved on the inner hexagonal flower-shaped countersunk head bolt 7, then the inner hexagonal flower-shaped countersunk head bolt 7 is screwed on a threaded hole of a tooling plate 2, and the pretightening force of the spring 8 can be adjusted by adjusting the screwing depth of the inner hexagonal flower-shaped countersunk head bolt 7. Hexagon socket head cap screw 7 is used for connecting spring clamp 6 and frock board 2, and lock nut 9 is used for preventing to become flexible between hexagon socket head cap screw 7 and the frock board 2, and when spring 8 was compressed and is resetd, toper counter bore cooperation hexagon socket head cap screw 7 had the function of automatic centering.
As shown in fig. 5, which is a schematic view of a positioning block 5, a positioning notch 16 is provided on the spring pressing plate 6, a positioning notch 15 is provided on the positioning block 5, and the workpiece 14 to be processed is positioned through the positioning notch 15 and the positioning notch 16. The positioning notch 15 and the positioning spigot 16 are opposite-opening paired grooves, elastic plungers are arranged on the left surface and the right surface in the positioning notch 15 and the opposite surface of the positioning spigot 16, the extending heads of the elastic plungers are elastic telescopic heads in contact with the workpiece 14, the workpiece 14 is clamped and positioned in the left direction and the right direction through the elastic plungers (namely, elastic plungers 10 and 13) on the left surface and the right surface, and the workpiece 14 is clamped and positioned in the front direction and the back direction through the positioning spigot 16 and the elastic plungers (namely, elastic plungers 11 and 12) on the inner surface of the positioning notch 15 opposite to the positioning spigot 16.
The inner side surface of the positioning notch 15 is provided with a threaded hole for installing the elastic plunger, the elastic plunger is installed in the threaded hole on the inner side surface of the positioning notch 15 through threaded connection, the extending length of the elastic plunger can be adjusted through screwing, and therefore the clamping force and the positioning point of the workpiece 14 are adjusted. The positioning method comprises the steps that a spigot surface is matched with a reference surface of a part, an elastic support is matched with a free surface, the extending length of the front end of an elastic plunger piston is calculated according to the consistency error of a workpiece 14, the positioning block 5 can meet the positioning and clamping requirements of parts with different die sizes and bilateral symmetry through adjustment, the extending head of the elastic plunger piston is an elastic telescopic head which is in contact with the workpiece 14, and the elastic telescopic head can be a head made of rubber or a head which is provided with a spring for elastic expansion in the elastic plunger piston.
As shown in fig. 6, taking clamping and positioning of the automobile caliper as an example, a reference surface in front of the automobile caliper is clamped in a positioning spigot 16 on a spring pressure plate 6, positioning is carried out through the inner side end surface of the positioning spigot 16, two corners in back of the automobile caliper are clamped in a positioning notch 15 of a positioning block 5, clamping and positioning are carried out on two left and right corners of the caliper in the X direction through elastic plungers 10 and 13, and clamping and positioning are carried out on the automobile caliper in the front-back Y direction through the elastic plungers 11 and 12 matching with the inner side end surface of the positioning spigot 16.
It should be noted that the positioning seam allowance 16 on the spring pressing plate 6 and the positioning notch 15 on the positioning block 5 are not limited to those listed in the embodiment, and may be modified adaptively according to the shape of the actual workpiece 14, or other workpiece 14 clamping and positioning manners may be adopted.
The working principle of the quick-change floating type tool in the robot polishing system is as follows:
firstly, an operator places a workpiece 14 on a floating tool, the workpiece 14 is positioned and clamped through a positioning block 5 and an elastic plunger, 9 floating tools are arranged on one tool plate 2, after all parts are placed, a feeding button is clicked, the tool plate 2 enters the polishing unit under the driving of a synchronous belt, a robot grabs the workpiece 14, and when a gripper is in contact with the workpiece 14, a floating mechanism is compressed due to the force, so that the workpiece 14 is prevented from rigidly colliding with the floating tool and the gripper and the workpiece 14. Change frock board 2 and divide into installation and dismantlement two parts, during installation frock board 2, insert quick fitting pin 4 in the pinhole of mounting panel 3 with frock board 2, twist the handle head of quick fitting pin 4 clockwise, the steel ball stretches out fast and withstands 3 internal chamfers of mounting panel and reaches the locking, then sinks mouthful to carry out powerful locking to 4 top internal hexagonal of quick fitting pin with the hexagonal spanner. When the tooling plate 2 is disassembled, firstly, the handle head of the quick locking pin 4 is twisted anticlockwise, the steel ball quickly returns to be locked to be loosened, then an inner hexagonal sinking port at the top of the quick locking pin 4 is loosened by an inner hexagonal wrench, and finally the quick locking pin 4 is slightly knocked out by a rubber hammer, the quick locking pin 4 used in the embodiment is a SWK16-60002 quick locking pin produced by Sanwei equipment, but the type is not limited to, and any locking pin capable of locking two plates together can be adopted.
In order to realize the quick replacement of the tool, two pin holes are processed on the diagonal line of a tool plate 2 and a mounting plate 3, the rapid locking pin 4 is used for positioning, transition fit is adopted, 5 concentric balls are arranged in the locking pin, when the thread of the locking pin is loosened, the steel balls can automatically retract into the locking body, the locking pin can be inserted into or pulled out of the pin hole of a locked mechanism (the tool plate 2 and the mounting plate 3), the head of the locking pin is gradually screwed by hand after the locking pin is inserted into the pin hole of the locked mechanism (the tool plate 2 and the mounting plate 3) in use, meanwhile, the steel balls gradually protrude out, the tapered hole is arranged on the pin hole of the mounting plate 3 and close to the bottom surface of the pin hole to match, the locking pin automatically centers and clamps the tool plate 2 and the mounting plate 3, and then the. After the locking pin is screwed down, the pressing force can reach 50KN, and the shearing force can reach 200 KN.
The floating tool is made of 45 steel, and has good cutting processing performance, so that the 45 steel is selected as the materials of the positioning block 5, the spring pressing plate 6, the tool plate 2 and the mounting plate 3, and the 45 steel is medium carbon steel, has low surface hardness and is not wear-resistant. Therefore, in order to improve the wear resistance, the positioning block 5 and the spring pressing plate 6 are subjected to hardening and tempering and surface quenching to improve the surface hardness thereof, thereby improving the wear resistance. In order to prevent rusting, the positioning block 5, the spring pressing plate 6, the tooling plate 2, and the mounting plate 3 were subjected to blackening treatment to form an oxide film on the surfaces thereof.
Claims (8)
1. The utility model provides a floating frock of quick change for robot foundry goods is polished which characterized in that: the device comprises an installation plate, a tooling plate and a plurality of floating tools arranged on the tooling plate, wherein the detachable tooling plate is arranged on the installation plate, each floating tool comprises a spring pressing plate and a positioning block fixed on the spring pressing plate, the spring pressing plate is arranged on the tooling plate through a floating mechanism, and a workpiece to be processed is positioned and clamped through the spring pressing plate and the positioning block;
the floating mechanism comprises a bolt and a spring, through holes for the bolt to pass through are formed in the periphery of the spring pressing plate, a threaded hole corresponding to the through hole is formed in the tooling plate, the bolt is sleeved with the spring after passing through the through hole and then is screwed on the threaded hole, the bolt is locked on the tooling plate through a locking nut on the threaded hole, and the spring pressing plate can move up and down;
the bolt of the floating mechanism is a countersunk head bolt, the upper surface of the spring pressure plate is provided with a conical countersunk head hole matched with the countersunk head bolt, and when the spring bounces, the spring pressure plate can automatically center relative to the countersunk head bolt through the matching of the conical countersunk head hole and the countersunk head bolt.
2. The quick-change floating tool according to claim 1, wherein: the countersunk head bolt is an inner hexagonal flower-shaped countersunk head bolt.
3. The quick-change floating tool according to claim 1, wherein: the tooling plate and the mounting plate are square plates, corresponding through holes are formed in diagonal lines of the tooling plate and the mounting plate, and the tooling plate and the mounting plate are locked and fixed together by penetrating the through holes through the quick locking pins.
4. The quick-change floating tool according to claim 1, wherein: the spring pressing plate is provided with a positioning spigot, the positioning block is provided with a positioning notch, and the workpiece to be processed is positioned through the positioning notch and the positioning spigot.
5. The quick-change floating tool according to claim 4, wherein: the locating notch and the locating spigot are grooves in pairs with openings in back of the body, elastic plungers are arranged on the left surface, the right surface and the surface with the back of the body of the locating notch, the extending head of each elastic plunger is an elastic telescopic head in contact with a workpiece, the workpiece is clamped and located in the left and right directions through the elastic plungers on the left surface and the right surface, and the workpiece is clamped and located in the front and back directions through the locating spigot and the elastic plungers on the inner surface of the locating notch with the back of the body of the locating notch.
6. The quick-change floating tool according to claim 5, wherein: the inner side surface of the positioning notch is provided with a threaded hole for installing the elastic plunger, the elastic plunger is installed in the threaded hole in the inner side surface of the positioning notch through threaded connection, and the extending length of the elastic plunger can be adjusted by screwing the elastic plunger, so that the clamping force and the positioning point of a workpiece are adjusted.
7. The quick-change floating tool according to claim 4, wherein: one diagonal line of the tooling plate and the mounting plate is connected through a quick locking pin, and the other diagonal line of the tooling plate and the mounting plate is connected through a fastening bolt.
8. The surface treatment method for the floating tool of claim 1 is characterized by comprising the following steps:
step 1, quenching and tempering a floating tool;
step 2, carrying out surface quenching on the hardened and tempered floating tool;
and 3, carrying out blackening treatment on the floating tool after surface quenching.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711483230.8A CN108177082B (en) | 2017-12-29 | 2017-12-29 | Quick-change floating type tool for polishing robot casting |
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| CN201711483230.8A CN108177082B (en) | 2017-12-29 | 2017-12-29 | Quick-change floating type tool for polishing robot casting |
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| CN108177082B true CN108177082B (en) | 2020-03-10 |
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| CN109551524B (en) * | 2019-01-19 | 2024-03-29 | 嘉兴市宏丰机械有限公司 | Quick-change flexible fixture workbench for robot |
| CN110255172A (en) * | 2019-07-12 | 2019-09-20 | 南京极智嘉机器人有限公司 | A kind of clamp fixture holding structure |
| CN113000752B (en) * | 2021-04-08 | 2022-11-08 | 重庆大学 | High-pressure water descaling device and method for forge piece |
| CN113183063B (en) * | 2021-05-11 | 2022-07-15 | 广州松兴电气股份有限公司 | Self-adaptive floating tool mechanism |
| CN115890747B (en) * | 2023-01-05 | 2023-05-05 | 国网瑞嘉(天津)智能机器人有限公司 | Multifunctional floating compensation platform |
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| CN101439560A (en) * | 2008-12-19 | 2009-05-27 | 山东九发生物降解工程有限公司 | Disposal degradable product for mold |
| CN204221437U (en) * | 2014-10-24 | 2015-03-25 | 深圳市立德宝电器有限公司 | Replace the multi-head high-efficiency device of single shaft boring |
| CN105369259A (en) * | 2015-11-18 | 2016-03-02 | 宁波金鹏高强度紧固件有限公司 | Machining method for nut plate |
| CN205629864U (en) * | 2016-05-20 | 2016-10-12 | 上汽依维柯红岩商用车有限公司 | Driver's cabin face guard positioner |
| CN206344174U (en) * | 2016-12-15 | 2017-07-21 | 合海橡塑装备制造有限公司 | A kind of industrial robot floating installation of application rubber spring |
| CN206763844U (en) * | 2017-03-21 | 2017-12-19 | 昆明理工大学 | A kind of self-pierce riveting cross type joint clamping assistant device |
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