CN108466097B - General high-precision quick-change positioning device for robot and machine tool - Google Patents
General high-precision quick-change positioning device for robot and machine tool Download PDFInfo
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- CN108466097B CN108466097B CN201810702663.6A CN201810702663A CN108466097B CN 108466097 B CN108466097 B CN 108466097B CN 201810702663 A CN201810702663 A CN 201810702663A CN 108466097 B CN108466097 B CN 108466097B
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- elastic
- groove
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- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 238000007789 sealing Methods 0.000 claims abstract description 9
- 230000005489 elastic deformation Effects 0.000 claims abstract description 5
- 230000009471 action Effects 0.000 claims description 4
- 230000006835 compression Effects 0.000 claims description 4
- 238000007906 compression Methods 0.000 claims description 4
- 238000000034 method Methods 0.000 claims description 4
- 230000008569 process Effects 0.000 claims description 4
- 210000000078 claw Anatomy 0.000 description 5
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004630 mental health Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005086 pumping Methods 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
Abstract
The invention discloses a universal high-precision quick-change positioning device for robots and machine tools, and belongs to the technical field of industrial automation. The base passes through bolt and positioning seat fixed connection, and is provided with first sealing washer on base and the positioning seat contact terminal surface, be provided with the wedge face piston between base and the positioning seat, and the wedge face piston is round trip movement in the annular that forms after base and positioning seat are connected, use the locking connected mode of wedge face piston, steel ball and blind rivet, compact structure reliability is high, can realize the quick assembly and disassembly of industrial robot terminal clamping device and lathe machined part, special elastic deformation structure is adopted in the elastic positioning module design, carry out high accuracy location cooperation through the atress deformation of self and the square groove of positioning seat, and the elastic positioning module is removable part for the repeated positioning accuracy maintainability of anchor clamps has been ensured.
Description
Technical Field
The invention relates to a universal high-precision quick-change positioning device for robots and machine tools, and belongs to the technical field of industrial automation.
Background
Along with popularization of industrial robot application, requirements for solving automation problems of the industrial robot are higher and higher. In practical applications, various forms of "claws" are necessarily required as long as the industrial robot is used, otherwise, the grabbing action cannot be realized.
In the past, the terminal joints of industrial robots and the 'claws', namely various grabbing devices, are mostly fixedly connected, so that the types of parts to be grabbed by the industrial robots on the automatic production line are more and more, the types of the 'claws' to be used are more and more, the operation process of the whole disassembly and assembly of the 'claws' is often too complicated by the traditional manual replacement mode, and the time for repositioning and debugging the 'claws' is too long, so that the working efficiency of the industrial robots is directly influenced.
Similarly, in the machine tool processing industry, mass production is mostly operated in a mode of manually clamping workpieces, when the processing precision requirement is high, a great deal of time is consumed for manually clamping the workpieces for clamping and positioning the workpieces, and the long-term working of workers is unfavorable for the physical and mental health of the workers.
In view of the above-mentioned defects, a general high-precision quick-change positioning device for robots and machine tools is expected to be created, so that the device has better practical use performance.
Disclosure of Invention
The invention aims to solve the problems in the prior art and provides a universal high-precision quick-change positioning device for robots and machine tools.
The invention discloses a universal high-precision quick-change positioning device for robots and machine tools, which comprises a base, wherein the base is fixedly connected with a positioning seat through bolts, a first sealing ring is arranged on the contact end surface of the base and the positioning seat, a wedge surface piston is arranged between the base and the positioning seat, the wedge surface piston moves back and forth in a ring groove formed after the base and the positioning seat are connected, a plurality of second sealing rings are arranged between the inner ring and the outer ring of the wedge surface piston and the inner wall of the base and the inner wall of the positioning seat, a plurality of springs are arranged between the wedge surface piston and the positioning seat, a plurality of steel balls are arranged in grooves at the bottom of the positioning seat, an exchange positioning plate is arranged at the upper part of the positioning seat, four elastic positioning modules are fixedly arranged between the exchange positioning plate and the positioning seat, a pull pin is arranged in the middle part of the exchange positioning plate, a snap spring is arranged in the ring groove formed on the surface of the pull pin, the pull pin is fixedly connected with the exchange positioning plate through the snap spring and the elastic gasket, and the exchange positioning plate is fixedly connected with the positioning seat through the compression of the pull pin and the positioning of the elastic positioning modules.
Preferably, the side surface of the base is provided with an air inlet hole and an air suction hole, and the air inlet hole is close to the bottom surface of the inner side of the base.
Preferably, a wedge surface is arranged on the inner side of the wedge surface piston, a groove is formed in the bottom of the positioning seat, and the groove is a trapezoid groove.
Preferably, the springs are uniformly distributed in the round holes on one side of the positioning seat along the circumference.
As the preference, adopt special elastic deformation structure when the elastic positioning module design, the square groove of positioning seat is slightly less than elastic positioning module width, and elastic positioning module realizes carrying out high accuracy location cooperation with the square groove of positioning seat through self atress deformation, and two elastic positioning module on every straight line adopt the mode of symmetry installation for moment that produces when warping obtains equilibrium, and elastic positioning module is the changeable setting element of module formula, keeps the original repeated positioning accuracy of anchor clamps through changing this setting element.
The invention has the beneficial effects that: the device has the advantages that the device is simple in structure and reasonable in design, the wedge surface piston, the steel ball and the blind rivet are used for locking the connection mode, the device is compact in structure and high in reliability, the industrial robot tail end clamping device and a machine tool workpiece can be rapidly assembled and disassembled, a special elastic deformation structure is adopted when the elastic positioning module is designed, high-precision positioning matching is carried out through stress deformation of the elastic positioning module and a square groove of the positioning seat, the elastic positioning module is a replaceable part, and the repeated positioning precision maintainability of the clamp is ensured. The invention can realize the high-precision and rapid positioning of the tail end clamping device of the industrial robot and the machined part of the machine tool, improves the working efficiency of the industrial robot and the machine tool, has very compact integral structure, has small axial dimension compared with the same type of products under the same outer diameter, and is very suitable for an automation scheme related to the industrial robot and the machine tool.
Drawings
For ease of illustration, the invention is described in detail by the following detailed description and the accompanying drawings.
FIG. 1 is a schematic diagram of an explosive structure of the present invention;
FIG. 2 is a cross-sectional view of the overall structure of the present invention;
FIG. 3 is a schematic view of a base structure of the present invention;
FIG. 4 is a cross-sectional view of an internal relevant air vent structure of the present invention;
FIG. 5 is a schematic view of the structure of the elastic positioning module according to the present invention;
fig. 6 is a schematic view of an installation structure of an elastic positioning module according to the present invention.
Reference numerals: 1-a base; 1-1-an air inlet hole; 1-2-pumping holes; 2-positioning seats; 2-1-grooves; 3-a first sealing ring; 3-1-a second sealing ring; 4-wedge face piston; 5-a spring; 6-steel ball; 7-exchanging the locating plate; 8-an elastic positioning module; 9-blind rivet; 10-clamping springs; 11-elastic washers.
Detailed Description
As shown in fig. 1 to 6, the present embodiment adopts the following technical scheme: the novel steel ball positioning device comprises a base 1, the base 1 is fixedly connected with a positioning seat 2 through bolts, a first sealing ring 3 is arranged on the contact end face of the base 1 and the positioning seat 2, a wedge surface piston 4 is arranged between the base 1 and the positioning seat 2, the wedge surface piston 4 moves back and forth in an annular groove formed after the base 1 and the positioning seat 2 are connected, a plurality of second sealing rings 3-1 are arranged between the inner ring and the outer ring of the wedge surface piston 4 and the inner wall of the base 1 and the inner wall of the positioning seat 2, a plurality of springs 5 are arranged between the wedge surface piston 4 and the positioning seat 2, a plurality of steel balls 6 are arranged in grooves at the bottom of the positioning seat 2, an exchange positioning plate 7 is arranged on the upper portion of the positioning seat 2, four elastic positioning modules 8 are fixedly arranged between the exchange positioning plate 7 and the positioning seat 2, snap springs 10 are arranged in annular grooves formed in the middle of the exchange positioning plate 7, the snap springs 9 are fixedly connected with the exchange positioning plate 7 through the snap springs 10 and the elastic gaskets 11, and the positioning seat 2 are tightly pressed by the snap springs 9, and the positioning modules 8 are fixedly connected.
The side of the base 1 is provided with an air inlet hole 1-1 and an air exhaust hole 1-2, the air inlet hole 1-1 is close to the bottom surface of the inner side of the base 1 and is used for pushing the wedge surface piston 4, negative pressure is formed in the air exhaust hole 1-2 during air exhaust, and the air exhaust device can be used for detecting the contact condition of the joint surface between the exchange positioning plate 3 and the positioning seat 2.
The inner side of the wedge surface piston 4 is provided with a wedge surface, the bottom of the positioning seat 2 is provided with a groove 2-1, the wedge surface can push the steel ball 6 to move radially along the groove 2-1 at the bottom of the positioning seat 2 in the reciprocating process of the wedge surface piston 4, the groove 2-1 is a trapezoid groove, the steel ball 6 cannot slide off the groove 2-1 when moving inwards, and the steel ball 6 contacts with an inclined surface on the blind rivet 9 and pushes the blind rivet 9 to move vertically when moving in the groove 2-1.
The springs 5 are uniformly distributed in the round holes on one side of the positioning seat 2 along the circumference, so that the wedge surface piston 4 is more uniformly stressed.
The elastic positioning module 8 adopts a special elastic deformation structure in design, the square groove of the positioning seat 2 is slightly smaller than the width of the elastic positioning module 8, the elastic positioning module 8 realizes high-precision positioning matching with the square groove of the positioning seat 2 through stress deformation of the elastic positioning module 8, and the two elastic positioning modules 8 on each straight line are symmetrically installed, so that the moment generated during deformation is balanced, the elastic positioning module 8 is a modular replaceable positioning piece, and the original repeated positioning precision of the clamp is maintained through replacing the positioning piece.
Working principle: during normal use, gas enters the air inlet 1-1 on the side surface of the base 1 and pushes the wedge surface piston 4 to move upwards, the spring 5 contacted with the wedge surface piston 4 is compressed, the wedge surface of the wedge surface piston 4 pushes the steel ball 6 to move inwards along the groove 2-1 at the bottom of the positioning seat 2, and finally the steel ball 6 enters the groove at the inner side of the wedge surface piston 4 along with the movement of the wedge surface piston 4 to the topmost end; at this time, four elastic positioning modules 8 are fixedly installed on one side of the exchange positioning plate 7, a clamping spring 10 is arranged in a ring groove on the surface of the blind rivet 9, the blind rivet 9 is fixedly connected with the exchange positioning plate 7 through the clamping spring 10 and an elastic gasket 11, then the blind rivet 4 is partially inserted into a locking hole in the center of the positioning seat 1, the four elastic positioning modules 8 are also inserted into four square grooves of the positioning seat 2, the air inlet 1-1 stops air inlet, the wedge surface piston 4 returns to the bottom of the base 1 under the action of the elastic force of the spring 5, along with the movement of the wedge surface piston 4, the steel ball 6 in the groove of the wedge surface piston 4 moves out of the groove and moves outwards along the groove 2-1 at the bottom of the positioning seat 2, the steel ball 6 contacts with an inclined surface on the blind rivet 9 and pushes the blind rivet 9 to move downwards when moving in the groove 2-1, the four elastic positioning modules 8 continuously deform and finally match with the four square grooves in the center of the positioning seat 2 in a positioning way, at this time, the end face on one side of the base 1 contacts with the end face on one side of the positioning seat 2, the air suction hole 1-2 on the side of the base 1 starts air suction to form negative pressure, and whether the negative pressure is formed inside the base is tightly contacted with the positioning seat 2 or not is judged by detecting whether the negative pressure is tightly contacted with the end face 1 or not.
When the clamping needs to be replaced, the air inlet 1-1 on the side surface of the base 1 is filled with air again, and the process is repeated to enable the steel ball 6 of the compression rivet 9 to return to the groove of the wedge surface piston 4, so that the rivet 9 and the exchange positioning plate 7 fixedly connected with the rivet 9 can be taken out.
The foregoing has shown and described the basic principles and main features of the present invention and the advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which is defined in the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a general high accuracy quick change positioner of robot and lathe which characterized in that: the novel air conditioner comprises a base (1), an air inlet hole (1-1) and an air exhaust hole (1-2) are formed in the side face of the base (1), the air inlet hole (1-1) is close to the inner bottom face of the base (1), the base (1) is fixedly connected with a positioning seat (2) through bolts, a first sealing ring (3) is arranged on the contact end face of the base (1) and the positioning seat (2), a wedge surface piston (4) is arranged between the base (1) and the positioning seat (2), the wedge surface piston (4) makes reciprocating motion in a ring groove formed after the base (1) and the positioning seat (2) are connected, a plurality of second sealing rings (3-1) are arranged between the inner ring and the outer ring of the wedge surface piston (4) and the inner wall of the positioning seat (1), a plurality of springs (5) are arranged between the wedge surface piston (4) and the positioning seat (2), a plurality of steel balls (6) are arranged in grooves in the bottoms of the positioning seat (2), the springs (5) are uniformly distributed in the round holes in one side of the positioning seat (2), a positioning plate (7) and a positioning plate (7) is arranged in the middle of the positioning plate (7), a positioning plate (7) is arranged between the positioning plate (7) and the positioning plate (2), and snap springs (10) are arranged in annular grooves on the surface of the blind rivet (9), the blind rivet (9) is fixedly connected with the exchange positioning plate (7) through the snap springs (10) and the elastic washers (11), the exchange positioning plate (7) and the positioning seat (2) form fixed connection through the compression of the blind rivet (9) and the positioning of the elastic positioning module (8), wedge faces are arranged on the inner sides of the wedge face pistons (4), grooves (2-1) are formed in the bottoms of the positioning seat (2), and the grooves (2-1) are trapezoid grooves.
2. The universal high-precision quick-change positioning device for robots and machine tools according to claim 1, wherein the universal high-precision quick-change positioning device is characterized in that: the elastic positioning module (8) adopts a special elastic deformation structure, the square groove of the positioning seat (2) is slightly smaller than the width of the elastic positioning module (8), the elastic positioning module (8) is in high-precision positioning fit with the square groove of the positioning seat (2) through stress deformation of the elastic positioning module (8), and the two elastic positioning modules (8) on each straight line are symmetrically installed, so that the moment generated during deformation is balanced, the elastic positioning module (8) is a modular replaceable positioning piece, and the original repeated positioning precision of the clamp is maintained through replacement of the positioning piece.
3. The universal high-precision quick-change positioning device for robots and machine tools according to claim 1, wherein the universal high-precision quick-change positioning device is characterized in that: the working principle of the device is as follows: during normal use, air enters an air inlet hole (1-1) on the side surface of the base (1) and pushes the wedge surface piston (4) to move upwards, a spring (5) in contact with the wedge surface piston (4) is compressed, the wedge surface of the wedge surface piston (4) pushes the steel ball (6) to move inwards along a groove (2-1) at the bottom of the positioning seat (2), and finally the steel ball (6) enters a groove at the inner side of the wedge surface piston (4) along with the movement of the wedge surface piston (4) to the topmost end; at this time, four elastic positioning modules (8) are fixedly arranged on one side of the exchange positioning plate (7), a snap spring (10) is arranged in a ring groove on the surface of the blind rivet (9), the blind rivet (9) is fixedly connected with the exchange positioning plate (7) through the snap spring (10) and an elastic gasket (11), then the blind rivet (9) is partially inserted into a locking hole in the center of the base (1), the four elastic positioning modules (8) are also inserted into four square grooves of the positioning seat (2), the air inlet hole (1-1) stops air inlet, the wedge surface piston (4) returns to the bottom of the base (1) under the action of the elastic force of the spring (5), a steel ball (6) in a groove of the wedge surface piston (4) moves out of the groove and moves outwards along a groove (2-1) on the bottom of the positioning seat (2), the steel ball (6) contacts with an inclined surface on the blind rivet (9) and pushes the blind rivet (9) to move downwards when the groove (2-1) moves, the four elastic positioning modules (8) finally generate the action of the blind rivet and form a complete negative pressure with the air suction end surface of the positioning seat (2) and the air suction end surface of the base (1) to be completely matched with the air suction end surface of the base (1) at one side of the air suction end surface (1), at the moment, whether the contact end surfaces of the base (1) and the positioning seat (2) are in close contact or not is judged by detecting the magnitude of the negative pressure;
when the clamping needs to be replaced, air enters the air inlet hole (1-1) on the side face of the base (1) again, and the process is repeated to enable the steel ball (6) of the compression pull nail (9) to return to the groove of the wedge face piston (4), and at the moment, the pull nail (9) and the exchange positioning plate (7) fixedly connected with the pull nail (9) can be taken out.
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 |
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| 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 |
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| Publication Number | Publication Date |
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| CN108466097A CN108466097A (en) | 2018-08-31 |
| CN108466097B true CN108466097B (en) | 2024-04-05 |
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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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| 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 |
| CN114368002B (en) * | 2022-03-22 | 2022-06-03 | 宜宾职业技术学院 | Structure is got to industrial robot regulation formula clamp convenient to dismantle |
| CN114700272B (en) * | 2022-04-06 | 2024-03-19 | 王晓静 | Logistics cargo sorting equipment |
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| CN108466097A (en) | 2018-08-31 |
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