CN108466097A - A kind of robot and the general high-precision quick-changing positioning device of lathe - Google Patents
A kind of robot and the general high-precision quick-changing positioning device of lathe Download PDFInfo
- Publication number
- CN108466097A CN108466097A CN201810702663.6A CN201810702663A CN108466097A CN 108466097 A CN108466097 A CN 108466097A CN 201810702663 A CN201810702663 A CN 201810702663A CN 108466097 A CN108466097 A CN 108466097A
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- positioning seat
- pedestal
- wedge surface
- groove
- positioning
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 50
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 19
- 239000010959 steel Substances 0.000 claims abstract description 19
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 230000005489 elastic deformation Effects 0.000 claims abstract description 5
- 230000003252 repetitive effect Effects 0.000 claims abstract description 5
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 239000007937 lozenge Substances 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 238000003780 insertion Methods 0.000 claims description 2
- 230000037431 insertion Effects 0.000 claims description 2
- 238000005086 pumping Methods 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 4
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 238000010923 batch production Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
- B23Q7/043—Construction of the grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jigs For Machine Tools (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot and the general high-precision quick-changing positioning devices of lathe, belong to technical field of automation in industry.The pedestal is fixedly connected by bolt with positioning seat, and it is provided with the first sealing ring in pedestal and positioning seat contact face, wedge surface piston is provided between the pedestal and positioning seat, and do back and forth movement in the annular groove that is formed after pedestal is connected with positioning seat of wedge surface piston, use wedge surface piston, the locking connection type of steel ball and blind rivet, compact-sized reliability is high, the quick despatch of industrial robot end clamping apparatus and machined parts may be implemented, using special elastic deformation structure when flexibly positioned module design, high accuracy positioning cooperation is carried out by the stress deformation of itself and the square groove of positioning seat, and flexibly positioned module is replaceable part, so that the repetitive positioning accuracy retentivity of fixture is ensured.
Description
Technical field
The present invention relates to a kind of robot and the general high-precision quick-changing positioning devices of lathe, belong to industrial automation technology neck
Domain.
Background technology
With the popularization that industrial robot is applied, the requirement that automation issues are solved to industrial robot is higher and higher.
In practical application, there must be various forms of " paws " as long as using industrial robot, otherwise cannot achieve grasping movement.
In the past, the side being fixedly connected is mostly used between industrial robot end joint and " paw " i.e. various grabbing devices
Formula, the part category that nowadays the industrial robot needs on automatic production line capture is more and more, required " hand
Pawl " type is also more and more, and by way of traditional artificial replacement " paw ", the entire operating process for dismounting " paw " is often
It is too cumbersome, and the overlong time of debugging " paw " is repositioned, these all directly affect the work effect with industrial robot
Rate.
Similarly, it also works mostly in a manner of artificial clamping workpiece in the batch production of machine tooling industry, when processing essence
When spending more demanding, artificial clamping workpiece needs to take a substantial amount of time clamping and the positioning for workpiece, and staff is long-term
It is engaged in the physical and mental health that this kind of work is unfavorable for personnel.
In view of above-mentioned defect, to create a kind of robot and the general high-precision quick-changing positioning device of lathe, make it have
Preferably actual use performance.
Invention content
It is of the existing technology it is an object of the invention to solve the problems, such as, a kind of robot and the general high-precision of lathe are provided
Quick-changing positioning device, the present invention have many advantages, such as quick-replaceable, high repetitive positioning accuracy, high rigidity, high stability.
The general high-precision quick-changing positioning device of robot and lathe of the present invention, it includes pedestal, and the pedestal passes through spiral shell
Bolt is fixedly connected with positioning seat, and the first sealing ring, the pedestal and positioning seat are provided in pedestal and positioning seat contact face
Between be provided with wedge surface piston, and do back and forth movement in the annular groove that is formed after pedestal is connected with positioning seat of wedge surface piston, it is described
Several second sealing rings, the wedge surface piston and positioning seat are provided between the Internal and external cycle and pedestal and positioning seat inner wall of wedge surface piston
Between be provided with several springs, and multiple steel balls are placed in the groove of positioning seat bottom, the positioning seat top is provided with friendship
It changes positioning plate, and is fixedly mounted between exchanging orientation plate and positioning seat there are four flexibly positioned module, in the exchanging orientation plate
Portion is provided with blind rivet, and clamp spring is provided in the annular groove on blind rivet surface, the blind rivet by clamp spring and elastic washer with exchange it is fixed
Position plate is fixedly connected, and exchanging orientation plate forms fixed company with positioning seat by the positioning of the compression and flexibly positioned module of blind rivet
It connects.
Preferably, the base side is provided with air admission hole and aspirating hole, air admission hole is close to pedestal inside bottom surface.
Preferably, lozenges is provided on the inside of the wedge surface piston, and the setting of positioning seat bottom is fluted, groove is ladder
Shape slot.
Preferably, the spring is circumferentially evenly distributed in the circular hole of positioning seat side.
Preferably, using special elastic deformation structure, the square groove ratio of positioning seat when the flexibly positioned module design
Flexibly positioned module width is smaller, and flexibly positioned module is realized high-precision with the progress of the square groove of positioning seat by the stress deformation of itself
Location fit is spent, and two flexibly positioned modules on every straight line are by the way of being symmetrically installed so that generated when deformation
Torque is balanced, and flexibly positioned module is the replaceable locating piece of modular, original by replacing the locating piece holding jig
Repetitive positioning accuracy.
Beneficial effects of the present invention：Its structure is simple, reasonable design, uses the locking of wedge surface piston, steel ball and blind rivet
Connection type, compact-sized reliability is high, and the fast quick-mounting of industrial robot end clamping apparatus and machined parts may be implemented
It unloads, using special elastic deformation structure when flexibly positioned module design, passes through the square groove of itself stress deformation and positioning seat
High accuracy positioning cooperation is carried out, and flexibly positioned module is replaceable part so that the repetitive positioning accuracy retentivity of fixture obtains
Guarantee is arrived.Industrial robot end clamping apparatus can be achieved in the present invention and the high-precision of machined parts quickly positions, and improves
The working efficiency of industrial robot and machine tooling, and overall structure is extremely compact, under same outer diameter and similar-type products phases
It is smaller than axial dimension, it is very suitable for and industrial robot and the relevant automation scheme of lathe.
Description of the drawings
The present invention is described in detail by following specific implementations and attached drawing for ease of explanation,.
Fig. 1 is the configuration schematic diagram of the present invention；
Fig. 2 is the overall structure sectional view of the present invention；
Fig. 3 is the schematic diagram of base structure of the present invention；
Fig. 4 is the internal related air hole structure sectional view of the present invention；
Fig. 5 is the flexibly positioned modular structure schematic diagram of the present invention；
Fig. 6 is the flexibly positioned module installation structure schematic diagram of the present invention.
Reference numeral：1- pedestals；1-1- air admission holes；1-2- aspirating holes；2- positioning seats；2-1- grooves；The first sealing rings of 3-；
The second sealing rings of 3-1-；4- wedge surface pistons；5- springs；6- steel balls；7- exchanging orientation plates；The flexibly positioned modules of 8-；9- blind rivets；
10- clamp springs；11- elastic washers.
Specific implementation mode
As shown in figs 1 to 6, present embodiment uses following technical scheme：It includes pedestal 1, and the pedestal 1 is logical
It crosses bolt to be fixedly connected with positioning seat 2, and the first sealing ring 3, the pedestal 1 is provided in 2 contact face of pedestal 1 and positioning seat
It is provided with wedge surface piston 4 between positioning seat 2, and is done in the annular groove that is formed after pedestal 1 and positioning seat 2 connect of wedge surface piston 4
Back and forth movement is provided with several second sealing ring 3-1 between the Internal and external cycle and pedestal 1 and 2 inner wall of positioning seat of the wedge surface piston 4,
It is provided with several springs 5 between the wedge surface piston 4 and positioning seat 2, and multiple steel balls are placed in the groove of 2 bottom of positioning seat
6,2 top of the positioning seat is provided with exchanging orientation plate 7, and there are four bullets for fixed installation between exchanging orientation plate 7 and positioning seat 2
Property locating module 8, the middle part of the exchanging orientation plate 7 is provided with blind rivet 9, and is provided with clamp spring 10 in the annular groove on 9 surface of blind rivet, institute
It states blind rivet 9 to be fixedly connected with exchanging orientation plate 7 by clamp spring 10 and elastic washer 11, and exchanging orientation plate 7 passes through with positioning seat 2
The positioning of the compression and flexibly positioned module 8 of blind rivet 9 forms a fixed connection.
1 side of the pedestal is provided with air admission hole 1-1 and aspirating hole 1-2, and air admission hole 1-1 is used close to 1 inside bottom surface of pedestal
In pushing wedge surface piston 4, inside forms negative pressure when aspirating hole 1-2 is evacuated, and can be used for detecting between exchanging orientation plate 3 and positioning seat 2
Joint surface contact situation.
4 inside of the wedge surface piston is provided with lozenges, and fluted 2-1 is arranged in 2 bottom of positioning seat, and wedge surface piston 4 is done
Groove 2-1 of the steel ball 6 along 2 bottom of positioning seat can be pushed to radially move by lozenges during back and forth movement, groove 2-1 is
Dovetail groove will not slide when steel ball 6 moves inward from groove 2-1, when being moved in groove 2-1 steel ball 6 with it is oblique on blind rivet 9
The displacement that face contacts and blind rivet 9 is pushed to carry out vertical direction.
The spring 5 is circumferentially evenly distributed in the circular hole of 2 side of positioning seat so that 4 stress of wedge surface piston is evenly.
Using special elastic deformation structure when the flexibly positioned module 8 designs, the square groove of positioning seat 2 is than flexibly positioned
8 width of module is smaller, and flexibly positioned module 8 is realized high-precision fixed with the progress of the square groove of positioning seat 2 by the stress deformation of itself
Position cooperation, and two flexibly positioned modules 8 on every straight line are by the way of being symmetrically installed so that the torque generated when deformation
It is balanced, flexibly positioned module 8 is the replaceable locating piece of modular, by replacing the original repetition of locating piece holding jig
Positioning accuracy.
Operation principle：When normal use, the air inlet 1-1 of 1 side of pedestal has gas to enter and pushes wedge surface piston 4 upward
Movement, the spring 5 contacted with wedge surface piston 4 are compacted, and the wedge surface of wedge surface piston 4 pushes steel ball 6 along the groove of 2 bottom of positioning seat
2-1 is moved inwardly, is finally entered in the groove of 4 inside of wedge surface piston as wedge surface piston 4 moves to top steel ball 6；This
When 7 side of exchanging orientation plate be fixedly mounted there are four flexibly positioned module 8, be provided with clamp spring 10 in the annular groove on 9 surface of blind rivet,
Blind rivet 9 is fixedly connected by clamp spring 10 and elastic washer 11 with exchanging orientation plate 7, next by 4 partial insertion pedestal 1 of blind rivet
In the locking hole at center, four flexibly positioned modules 8 are also inserted into four square grooves of positioning seat 2, and air inlet 1-1 stops air inlet,
Wedge surface piston 4 returns to 1 bottom of pedestal under the action of 5 elastic force of spring, in 4 groove of movement wedge surface piston of wedge surface piston 4
Steel ball 6 removed out of groove and the groove 2-1 along 2 bottom of positioning seat is moved outward, steel ball 6 when being moved in groove 2-1
With the contact of incline plane on blind rivet 9 and blind rivet 9 is pushed to move downward, four flexibly positioned modules 8 are held during blind rivet moves
It is continuous generate deformation and finally with four complete location fits of square groove of positioning seat 2, at this time 1 one side end face of pedestal and positioning seat 2
One side end face contacts, and the aspirating hole 1-2 of 1 side of pedestal starts pumping and forms negative pressure in inside, at this time by detecting vacuum magnitude
Whether judgement pedestal 1 and 2 contact face of positioning seat are in close contact.
When needing replacing clamping, the air inlet 1-1 of 1 side of pedestal has gas to enter and repeat the above process again makes compression
The steel ball 6 of blind rivet 9 returns in the groove of wedge surface piston 4, the exchanging orientation that both can be taken off blind rivet 9 at this time and be fixedly connected with it
Plate 7.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the above embodiments and description only describe this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and improvements may be made to the invention, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appended claims and its
Equivalent thereof.
Claims (3)
1. a kind of robot and the general high-precision quick-changing positioning device of lathe, it is characterised in that：It includes pedestal (1), the bottom
Seat (1) side is provided with air admission hole (1-1) and aspirating hole (1-2), and air admission hole (1-1) is close to pedestal (1) inside bottom surface, the bottom
Seat (1) is fixedly connected by bolt with positioning seat (2), and is provided with the first sealing in pedestal (1) and positioning seat (2) contact face
It encloses (3), wedge surface piston (4) is provided between the pedestal (1) and positioning seat (2), and wedge surface piston (4) in pedestal (1) and is determined
Back and forth movement, Internal and external cycle and pedestal (1) and the positioning seat of the wedge surface piston (4) are done in the annular groove that position seat (2) is formed after connecting
(2) it is provided with several second sealing rings (3-1) between inner wall, several bullets are provided between the wedge surface piston (4) and positioning seat (2)
Spring (5), and multiple steel balls (6) are placed in the groove of positioning seat (2) bottom, the spring (5) is circumferentially evenly distributed on fixed
In the circular hole of position seat (2) side, positioning seat (2) top is provided with exchanging orientation plate (7), and exchanging orientation plate (7) with it is fixed
It being fixedly mounted between position seat (2) there are four flexibly positioned module (8), exchanging orientation plate (7) middle part is provided with blind rivet (9),
And clamp spring (10) is provided in the annular groove on blind rivet (9) surface, the blind rivet (9) passes through clamp spring (10) and elastic washer (11) and friendship
It changes positioning plate (7) to be fixedly connected, and exchanging orientation plate (7) and compression and flexibly positioned module of the positioning seat (2) by blind rivet (9)
(8) positioning forms a fixed connection, and is provided with lozenges on the inside of the wedge surface piston (4), and positioning seat (2) bottom be provided with it is recessed
Slot (2-1), groove (2-1) are dovetail groove.
2. a kind of robot according to claim 1 and the general high-precision quick-changing positioning device of lathe, it is characterised in that：Institute
Using special elastic deformation structure when stating flexibly positioned module (8) design, the square groove of positioning seat (2) is than flexibly positioned module
(8) width is smaller, and flexibly positioned module (8) is realized by the stress deformation of itself carries out high-precision with the square groove of positioning seat (2)
Location fit, and two flexibly positioned modules (8) on every straight line are by the way of being symmetrically installed so that it is generated when deformation
Torque is balanced, and flexibly positioned module (8) is the replaceable locating piece of modular, original by replacing the locating piece holding jig
Repetitive positioning accuracy.
3. a kind of robot according to claim 1 and the general high-precision quick-changing positioning device of lathe, it is characterised in that：It
Operation principle be：When normal use, the air inlet (1-1) of pedestal (1) side there is gas to enter and push wedge surface piston (4) to
Upper movement, the spring (5) contacted with wedge surface piston (4) are compacted, and the wedge surface of wedge surface piston (4) pushes steel ball (6) along positioning seat
(2) groove (2-1) of bottom moves inwardly, finally lives into wedge surface as wedge surface piston (4) moves to top steel ball (6)
It fills in the groove on the inside of (4)；Exchanging orientation plate (7) side has been fixedly mounted there are four flexibly positioned module (8) at this time, blind rivet
(9) clamp spring (10) is provided in the annular groove on surface, blind rivet (9) passes through clamp spring (10) and elastic washer (11) and exchanging orientation plate
(7) it is fixedly connected, next by the locking hole at blind rivet (4) partial insertion pedestal (1) center, four flexibly positioned modules (8)
It is also inserted into four square grooves of positioning seat (2), air inlet (1-1) stops air inlet, work of the wedge surface piston (4) in spring (5) elastic force
With pedestal (1) bottom is arrived next time, as the steel ball (6) in movement wedge surface piston (4) groove of wedge surface piston (4) is moved out of groove
Go out and the groove (2-1) along positioning seat (2) bottom moves outward, steel ball (6) and blind rivet (9) when being moved in groove (2-1)
On contact of incline plane and push blind rivet (9) to move downward, four flexibly positioned modules (8) are persistently produced during blind rivet moves
Raw deformation and finally with four complete location fits of square groove of positioning seat (2), at this time (1) one side end face of pedestal and positioning seat (2)
Side end face contact, the aspirating hole (1-2) of pedestal (1) side starts pumping and forms negative pressure in inside, negative by detecting at this time
Whether pressure size judgement pedestal (1) and positioning seat (2) contact face is in close contact；
When needing replacing clamping, the air inlet (1-1) of pedestal (1) side has gas to enter and repeat the above process again makes compression
The steel ball (6) of blind rivet (9) returns in the groove of wedge surface piston (4), both can be taken off blind rivet (9) at this time and had been fixedly connected with it
Exchanging orientation plate (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810702663.6A CN108466097B (en) | 2018-06-25 | 2018-06-25 | General high-precision quick-change positioning device for robot and machine tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810702663.6A CN108466097B (en) | 2018-06-25 | 2018-06-25 | General high-precision quick-change positioning device for robot and machine tool |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108466097A true CN108466097A (en) | 2018-08-31 |
| CN108466097B CN108466097B (en) | 2024-04-05 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810702663.6A Active CN108466097B (en) | 2018-06-25 | 2018-06-25 | General high-precision quick-change positioning device for robot and machine tool |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551512A (en) * | 2019-01-24 | 2019-04-02 | 电子科技大学中山学院 | It is a kind of can convenient dismounting joint arrangement |
| CN110421395A (en) * | 2019-09-01 | 2019-11-08 | 苏州速易德工业装备系统有限公司 | A kind of high-precision flexibility Zero-point positioning system |
| CN114043265A (en) * | 2021-11-23 | 2022-02-15 | 上海鑫隆烟草机械厂 | Quick replacement's flexible adaptation positioner at zero point |
| CN114131377A (en) * | 2021-12-22 | 2022-03-04 | 大连光洋自动化液压系统有限公司 | Automatic zero positioning system and workpiece mother board |
| CN114368002A (en) * | 2022-03-22 | 2022-04-19 | 宜宾职业技术学院 | Structure is got to industrial robot regulation formula clamp convenient to dismantle |
| CN114700272A (en) * | 2022-04-06 | 2022-07-05 | 王晓静 | Commodity circulation goods letter sorting equipment |
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| CN107671575A (en) * | 2017-09-19 | 2018-02-09 | 深圳市东方碳素实业有限公司 | A kind of Automatic-clamping positioner |
| CN208342351U (en) * | 2018-06-25 | 2019-01-08 | 王心成 | A kind of robot and the general high-precision quick-changing positioning device of lathe |
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| CN1280897A (en) * | 1999-07-14 | 2001-01-24 | 厄罗瓦公司 | Device for clamping workpiece |
| CN101925439A (en) * | 2008-01-28 | 2010-12-22 | 帕斯卡工程株式会社 | Work pallet positioning and fixing device |
| WO2015120747A1 (en) * | 2014-02-14 | 2015-08-20 | 哈尔滨工业大学 | Pneumatic-type precision annular workpiece inner positioning surface clamping device |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109551512A (en) * | 2019-01-24 | 2019-04-02 | 电子科技大学中山学院 | It is a kind of can convenient dismounting joint arrangement |
| CN110421395A (en) * | 2019-09-01 | 2019-11-08 | 苏州速易德工业装备系统有限公司 | A kind of high-precision flexibility Zero-point positioning system |
| CN110421395B (en) * | 2019-09-01 | 2024-05-24 | 苏州速易德工业装备系统有限公司 | High-precision flexible zero point positioning system |
| CN114043265A (en) * | 2021-11-23 | 2022-02-15 | 上海鑫隆烟草机械厂 | Quick replacement's flexible adaptation positioner at zero point |
| CN114131377A (en) * | 2021-12-22 | 2022-03-04 | 大连光洋自动化液压系统有限公司 | Automatic zero positioning system and workpiece mother board |
| CN114131377B (en) * | 2021-12-22 | 2024-05-17 | 大连光洋自动化系统有限公司 | Automatic zero point positioning system and workpiece mother board |
| CN114368002A (en) * | 2022-03-22 | 2022-04-19 | 宜宾职业技术学院 | Structure is got to industrial robot regulation formula clamp convenient to dismantle |
| CN114700272A (en) * | 2022-04-06 | 2022-07-05 | 王晓静 | Commodity circulation goods letter sorting equipment |
| CN114700272B (en) * | 2022-04-06 | 2024-03-19 | 王晓静 | Logistics cargo sorting equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108466097B (en) | 2024-04-05 |
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