CN109591053A - A kind of fixture intelligence displacement quick-change system for robot workstation - Google Patents
A kind of fixture intelligence displacement quick-change system for robot workstation Download PDFInfo
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- CN109591053A CN109591053A CN201811634771.0A CN201811634771A CN109591053A CN 109591053 A CN109591053 A CN 109591053A CN 201811634771 A CN201811634771 A CN 201811634771A CN 109591053 A CN109591053 A CN 109591053A
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- pneumoelectric
- docking
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- chuck
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of fixtures for robot workstation intelligently to conjugate quick-change system, including conjugating deceleration thermomechanical components, the displacement bearing block assembly being oppositely arranged with displacement deceleration thermomechanical components and the fixture installation frame for fixture installation, it is separately provided in the displacement deceleration thermomechanical components and displacement bearing block assembly to the positioning of fixture installation frame and the positioning locked and retaining mechanism, the pneumoelectric docking facilities for carrying out energy resource supply are provided between positioning and retaining mechanism and fixture installation frame, pneumoelectric docking facilities include the chuck side pneumoelectric docking section being set on fixture installation frame and are set to the supply side docking section on positioning and retaining mechanism with the docking section grafting of chuck side pneumoelectric, the positioning and retaining mechanism are detachably connected with fixture installation frame, to pass through positioning and retaining mechanism, fixture installation frame and pneumoelectric docking facilities Form fixture quick change construction.Can effectively shorten through the invention the production time, improve production efficiency, reduce manufacturing cost.
Description
Technical field
The invention belongs to robot workstation fields more particularly to a kind of fixture for robot workstation intelligently to conjugate
Quick-change system.
Background technique
Due to the development of society, the individual needs of improvement of living standard, people are increasing, so that the kind of automobile product
Class is more and more abundant.It is small quantities of that the production model of automaker by single variety production in enormous quantities pattern is gradually converted into multi items
The production model of amount, or even develop to the production model of personalized customization.On the other hand, new brand and new energy vehicle emerge in large numbers,
Exacerbate the price competition of many vehicle enterprises.Various factors cause huge pressure to automobile production, now outmoded production
Line is no longer satisfied demand.This allows for robot workstation, especially its intelligentized upgrading of fixture switching system
Become increasingly urgent.However, status is that most robot workstation can only specify production certain or several vehicles at present
The part of type, the flexible perhaps intelligent quick change that replaces that not can be carried out fixture are unable to meet production multi-vehicle-type or carry out personalized
The demand of customization.
Summary of the invention
It is an object of the present invention to provide a kind of fixtures for robot workstation intelligently to conjugate quick-change system, Neng Gouyou
Effect shortens the production time, improves production efficiency, reduces manufacturing cost.
To realize the purpose, a kind of intelligently displacement quick-change system, including change of the fixture for robot workstation is provided
Position deceleration thermomechanical components, the displacement bearing block assembly being oppositely arranged with displacement deceleration thermomechanical components and the fixture for fixture installation are installed
It is separately provided for positioning fixture installation frame and locking on frame, the displacement deceleration thermomechanical components and displacement bearing block assembly
Tight positioning and retaining mechanism is provided with the pneumoelectric for carrying out energy resource supply between the positioning and retaining mechanism and fixture installation frame
Docking facilities, the pneumoelectric docking facilities include the chuck side pneumoelectric docking section being set on fixture installation frame and are set to calmly
Supply side docking section on position and retaining mechanism with the docking section grafting of chuck side pneumoelectric, the positioning and retaining mechanism and fixture are pacified
The frame that frames up is detachably connected, so that it is fast to form fixture by positioning and retaining mechanism, fixture installation frame and pneumoelectric docking facilities
Structure is changed, the displacement deceleration thermomechanical components and the rotation center for conjugating bearing block assembly are coaxial.
Preferably, the positioning and retaining mechanism include the first mounting plate, are set to the first mounting plate side and with the
What one mounting plate vertically connected the second mounting plate, and was set to the other opposite sides of the first mounting plate and connect with the second mounting plate
Two blocks of side plates are set to the zero-point positioning chuck and the first ladder being provided on the first mounting plate for connecting with fixture installation frame
Shape tooth plate, the telescopic pin for being connect with fixture installation frame, first mounting plate, the second mounting plate, side plate and one and
One mounting plate is opposite and the bottom plate that connect with side plate forms installation cavity, and the telescopic pin passes through the second mounting plate and setting and pacifies
Telescopic pin cylinder connection in behaveing affectedly, on the installation cavity with the second mounting plate opposite side and displacement deceleration thermomechanical components or displacement
Bearing block assembly is detachably connected, and the zero-point positioning chuck is installed on the first mounting plate by zero-point positioning chuck mounting base
On, the supply side docking section is set on any side plate.
Preferably, the telescopic pin and telescopic pin cylinder are set as two groups, be provided on second mounting plate for pair
The copper radical self-lubricating bearing that telescopic pin is lubricated and is oriented to.
Preferably, the fixture installation frame include integrated frame for being installed to fixture, two be respectively set
The connection plate of two sides is connect with positioning and retaining mechanism in fixture installation frame, the connection plate is by orthogonal
Two boards form and one of plate is connect with integrated frame, wherein the plate that the connection plate is connect with integrated frame
On be provided with shoulder type self-oiling guide bushing for telescopic pin insertion, be provided on another block of plate of connection plate for fixed with zero point
The positioning blind rivet of position chuck cooperation and the second trapezoidal tooth plate being engaged with the first trapezoidal tooth plate, the chuck side pneumoelectric docking
Portion is set in connection plate.
Preferably, chuck side pneumoelectric docking section includes chuck side pneumoelectric docking block, is set to the docking of chuck side pneumoelectric
Two chuck side circular right angle corner connectors of block side and two for supplying jig gas source chuck side tracheae quick connector, set
It is copper-based in block to be placed in docking with two insertion chuck side pneumoelectrics of supply side docking section opposite side for chuck side pneumoelectric docking block
Self-lubricating bearing set and two insertion chuck side pneumoelectrics docking blocks in copper joints and with spring coaxial probe, the band spring
Coaxial probe is set to chuck side pneumoelectric by chuck side Plug pin patch bay and docks on block, and the chuck side circular right angle corner connector passes through
Upper cover plate is fixed on chuck side pneumoelectric docking block, and chuck side pneumoelectric docking block side is additionally provided with sensing chip, and described two
A chuck side circular right angle corner connector is connect with band spring coaxial probe respectively, and two copper joints are provided with logical for gas source
The stomata crossed and two stomatas are corresponded with two chuck side tracheae quick connectors respectively to be connected to.
Preferably, a floating is passed sequentially through with the opposite end that chuck side pneumoelectric docks inserted terminal on the supply side docking section
Mechanism connecting plate, a relocation mechanism are connect with a pusher cylinder group, and the pusher cylinder group is connect with positioning and retaining mechanism.
Preferably, the supply side docking includes supply side pneumoelectric docking block, is set to the one of supply side pneumoelectric docking block
It is round straight that supply side tracheae quick connector that two of side connect with external air source and two are connected with external power source supply side
Corner connector, be set to supply side tracheae quick connector docked with chuck side pneumoelectric block opposite side for and band spring coaxial probe
The tack probe of docking, the supply side tracheae quick connector docked with chuck side pneumoelectric also set up on block opposite side there are two point
Yong Yu be corresponded with two copper radical self-lubricating bearing holder (housing, cover)s grafting tapered guide pin and two respectively with copper joint one by one
The self-seal type spool of supply side pneumoelectric docking block is docked and is embedded in, the side of the supply side pneumoelectric docking block is additionally provided with
It is opposite with sensing chip close to inductor, the tack probe is fixed on supply side pneumoelectric by supply side Plug pin patch bay and docks block
On, two supply side circular right angle corner connectors are connect with tack probe respectively, in supply side pneumoelectric on two self-seal type spools
Mounting hole in docking block connects one to one with two supply side tracheae quick connectors respectively.
Preferably, the self-seal type spool and the contact surface of copper joint are provided with the first O-ring seal, described from close
The stomata of envelope type spool is opposite with the stomata of copper joint, and the self-seal type spool docks block sliding with supply side pneumoelectric and connects
It connects, air inlet is provided on the side wall of the self-seal type spool, the supply side pneumoelectric docking block and self-seal type spool are sliding
It is provided with to contact with self-seal type spool on the inner sidewall of dynamic connection and self-seal type valve is carried out by air inlet for controlling gas source
Second O-ring seal of the stomata of core, one end that the self-seal type spool insertion supply side pneumoelectric docks in block pass through spiral
Spring is connect with supply side pneumoelectric docking block.
Preferably, the displacement deceleration thermomechanical components include that the speed reducer for being detachably connected with positioning and retaining mechanism turns
Disk, the speed reducer being connect with speed reducer turntable, the servo motor being connect with speed reducer and the speed reducer for being connected to speed reducer
Mounting base, the servo motor are connect by input shaft with speed reducer, and the servo motor passes sequentially through motor mount and subtracts
Fast machine connecting plate is connected with speed reducer mounting base, and the speed reducer connecting plate is set between motor mount and speed reducer and defeated
Enter axis through speed reducer connecting plate, rotating seal ring, the motor installation are provided between the input shaft and speed reducer connecting plate
Seat is connect by third O-ring seal with speed reducer connecting plate, is provided on the speed reducer connecting plate for infusing to speed reducer
Enter the first oil nozzle of lubricant grease, is provided on the speed reducer turntable for the second oil to speed reducer injection lubricant grease
Mouth, the speed reducer mounting base pass sequentially through substrate, guide pin and conductive plate and connect with ground wire, speed reducer connecting plate upper end
It is provided with the pointer observed for the rotation position to speed reducer turntable.
Preferably, the displacement bearing block assembly includes that the bearing block for being detachably connected with positioning and retaining mechanism turns
Disk, the connecting flange being connect with bearing block turntable, the rolling bearing units being connect with connecting flange, the change for being supported to rolling bearing units
Position bearing spider, the opposite side on the connecting flange with bearing block turntable connecting pin are provided with for preventing cable from connection
The deep groove ball bearing to rub when flange passes through and the hole c-type retaining ring for being limited to deep groove ball bearing, the change
It is provided with cable support in the bearing spider of position, the cable clamp that cable is fixed, the change are provided on the cable support
Sealing plate is provided on the bearing spider of position.
Compared with prior art, the present invention the beneficial effect is that:
Pass through setting positioning and retaining mechanism, fixture installation frame, pneumoelectric docking facilities, displacement speed reducer in the present invention
Component and displacement bearing block assembly form fixture intelligently displacement quick-change system, can be realized robot workstation's intelligence quickly more
Change fixture, so as to effectively shorten the production time, improve production efficiency, reduce manufacturing cost.It is able to produce through the invention
The part of more kinds of vehicles, automaker can not have to newly-built whole production line when putting into new model, only need local flow improvement
Or increase fixture can produce, to greatly reduce manufacturing cost.Make the part of more multi-vehicle-type total through the invention
It is produced with a robot workstation, can effectively reduce the occupied area of production line, reduce the area of workshop.Through the invention
Factory automation degree can be further increased.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is positioning and each element mounting structure stereoscopic schematic diagram of retaining mechanism in the present invention；
Fig. 3 is each element mounting structure stereoscopic schematic diagram of fixture installation frame in the present invention；
Fig. 4 is the pneumoelectric docking facilities structural upright schematic diagram in the present invention；
Fig. 5 is the chuck side pneumoelectric docking section present invention looks up structural representation in the present invention
Fig. 6 is the supply side docking section schematic cross-sectional view in the present invention；
Fig. 7 is the displacement speed reducer component side structure schematic view in the present invention；
Fig. 8 is the displacement deceleration thermomechanical components schematic cross-sectional view in the present invention；
Fig. 9 is the displacement bearing block schematic cross-sectional view in the present invention.
Specific embodiment
Technical solution of the present invention is described in further detail with reference to the accompanying drawing, but protection scope of the present invention is not limited to
It is as described below.
As shown in figs. 1-9, the present invention provides a kind of fixtures for robot workstation intelligently to conjugate quick-change system,
It is installed including displacement deceleration thermomechanical components 4, the displacement bearing block assembly 5 being oppositely arranged with displacement deceleration thermomechanical components 4 and for fixture
Fixture installation frame 2, displacement deceleration thermomechanical components 4 and displacement bearing block assembly 5 on be separately provided for fixture installing frame
Positioning and the retaining mechanism 1 of the positioning of frame 2 and locking, are provided with the carry out energy between positioning and retaining mechanism 1 and fixture installation frame 2
The pneumoelectric docking facilities 3 of supply, pneumoelectric docking facilities 3 include the chuck side pneumoelectric docking section being set on fixture installation frame 2
31 and it is set to the supply side docking section 32 on positioning and retaining mechanism 1 with 31 grafting of chuck side pneumoelectric docking section, positioning and lock
Tight mechanism 1 is detachably connected with fixture installation frame 2, to pass through positioning and retaining mechanism 1, fixture installation frame 2 and pneumoelectric
Docking facilities 3 form fixture quick change construction, and displacement deceleration thermomechanical components 4 and the rotation center for conjugating bearing block assembly 5 are coaxial.Pneumoelectric
Docking facilities 3 and displacement deceleration thermomechanical components 4 are connect with a controller signals.
Positioning and retaining mechanism 1 include the first mounting plate 19, are set to 19 side of the first mounting plate and install with first
Plate 19 vertically connects the second mounting plate 110, is set to the other opposite sides of the first mounting plate 19 and connects with the second mounting plate 110
Two blocks of side plates 14 connecing are set to the zero-point positioning card being provided on the first mounting plate 19 for connecting with fixture installation frame 2
Disk 11 and the first trapezoidal tooth plate 13, the telescopic pin 15 for being connect with fixture installation frame 2, the installation of the first mounting plate 19, second
Plate 110, side plate 14 and one is opposite with the first mounting plate 19 and the formation installation cavity of bottom plate 18 that connect with side plate 14, telescopic pin 15
Connect with the telescopic pin cylinder 16 in installation cavity across the second mounting plate 110 with being arranged, on installation cavity with 110 phase of the second mounting plate
Side and displacement deceleration thermomechanical components 4 or displacement bearing block assembly 5 are detachably connected, zero-point positioning chuck 11 passes through zero-point positioning
Chuck mounting base 12 is installed on the first mounting plate 19, and supply side docking section 32 is set on any side plate 14.Telescopic pin 15
With telescopic pin cylinder 16 two groups are set as, are provided on the second mounting plate 110 for telescopic pin 15 to be lubricated and is oriented to
Copper radical self-lubricating bearing 17.By setting gradually on another side plate 14 opposite with the side plate 14 of 32 place side of supply side docking section
First copper electrode mounting plate 111, the first copper electrode 112 and the first copper sleeve 113 are connect with ground wire, which is the ground of electric welding machine
Line.
In the present embodiment, zero-point positioning chuck 11 is provided with universal quick coupling 114, and zero-point positioning chuck 11 passes through strong
Power spring locks system, is opened by air pressure, so that positioning and retaining mechanism have automation to automate.Zero-point positioning chuck peace
Dress seat 12 is provided with the gas circuit hole being connected to pneumoelectric docking facilities 3, for guaranteeing the energy resource supply of zero-point positioning chuck 201.The
The effect of one trapezoidal tooth plate 13 is when fixture assembly rotates and ground is at 90 degree, and the first trapezoidal tooth plate 13 undertakes the weight of fixture
The trapezoidal tooth plate 25 of second installed in power, with fixture installation frame 2 tightly engages.Telescopic pin 15 and the coaxial phase of telescopic pin cylinder 16
Even, telescopic pin cylinder 16 connect with external air source and connect with controller signals.First mounting plate 19 is equipped with screw thread via hole
And dowel hole, while it is each on side plate 204 there are two screw thread via holes, thus directly and displacement deceleration thermomechanical components 4 or displacement bearing
Holder assembly 5 is fixedly linked.
Fixture installation frame 2 includes that integrated frame 21, two for being installed to fixture are respectively arranged at fixture peace
The frame 2 that frames up connect the connection plate 26 of two sides with positioning and retaining mechanism 1, and connection plate 26 is by orthogonal two boards
It forms and one of plate is connect with integrated frame 21, wherein set on the plate that connection plate 26 is connect with integrated frame 21
It is equipped with the shoulder type self-oiling guide bushing 23 being inserted into for telescopic pin 15, is provided on 26 another blocks of plates of connection plate and is used for and zero point
The positioning blind rivet 24 that positioning chuck 11 cooperates and the second trapezoidal tooth plate 25 being engaged with the first trapezoidal tooth plate 13, chuck side gas
Electric docking section 22 is set in connection plate 26.Setting the second mounting plate 27, silica gel are also passed sequentially through in connection plate 26
Plate 28 and the second copper electrode 210 are connect with ground wire, and the second copper electrode 210 is also connect with the second copper sleeve 29, the second copper sleeve 29
It can directly be connect with conducting wire.
In the present embodiment, it is machined with the installation base surface of several precisions on integrated frame 21, is equipped with a large amount of dowel hole
With fixed threaded hole, large complicated fixture can be installed above, a variety of auto parts can be produced.To a machine
People's work station is needed according to the quantity of production vehicle or the various sizes of integrated frame 21 of the quantity customization of part category and fixture
Assembly cooperatively forms rapid changing chucking appliance system, raw for improving production line for improving the working efficiency of robot workstation
Produce the ability of vehicle.Each fixture installation frame 2 is respectively provided with chuck side pneumoelectric docking section 31 and supply side docking section 32 forms public affairs
Mother is cooperatively connected.Silica gel plate 28 has certain compressibility and elasticity, guarantees that the second copper electrode 210 and the first copper electrode 112 exist
It is closely contacted under the action of elastic force, guarantees reliable electric conductivity, and offset 210 He of the second copper electrode in certain degree
The malalignment of first copper electrode, 112 contact surface.
Chuck side pneumoelectric docking section 31 includes chuck side pneumoelectric docking block 302, is set to chuck side pneumoelectric docking block 302 1
Two chuck side circular right angle corner connectors 304 of side and two for supplying jig gas source chuck side tracheae quick connector 301,
Be set to chuck side pneumoelectric docking block 302 docks block with two insertion chuck side pneumoelectrics of 32 opposite side of supply side docking section
Copper radical self-lubricating bearing holder (housing, cover) 316 in 302 and the copper joints 317 in two insertion chuck side pneumoelectrics docking blocks 302 and with bullet
Spring coaxial probe 315, band spring coaxial probe 315 are set to chuck side pneumoelectric by chuck side Plug pin patch bay 314 and dock block 302
On, chuck side circular right angle corner connector 304 is fixed on chuck side pneumoelectric by upper cover plate 303 and docks on block 302, chuck side pneumoelectric
Docking 302 side of block is additionally provided with sensing chip 313, and two chuck side circular right angle corner connectors 304 are coaxially visited with band spring respectively
Needle 315 connects, two copper joints 317 be provided with the stomata passed through for gas source and two stomatas respectively with two fixtures
Side tracheae quick connector 301 corresponds connection.
The opposite end for docking 31 inserted terminals with chuck side pneumoelectric on supply side docking section 32 passes sequentially through relocation mechanism company
Fishplate bar 35, a relocation mechanism 33 are connect with a pusher cylinder group 34, and pusher cylinder group 34 is connect with positioning and retaining mechanism 1.For
Docking 32 to side includes two and the outside that supply side pneumoelectric docks block 324, the side for being set to supply side pneumoelectric docking block 324
Gas source connection supply side tracheae quick connector 308 and two be connected with external power source supply side circular right angle corner connector 307,
Be set to supply side tracheae quick connector 308 docked with chuck side pneumoelectric 302 opposite side of block for and band spring coaxial probe 315
The tack probe 320 of docking, supply side tracheae quick connector 308 is docked with chuck side pneumoelectric to be additionally provided on 302 opposite side of block
Two tapered guide pins 319 for being respectively used to correspond grafting with two copper radical self-lubricating bearing holder (housing, cover)s 316 and two respectively with
Copper joint 317 docks one by one and is embedded in the self-seal type spool 321 of supply side pneumoelectric docking block 324, supply side pneumoelectric pair
The side for connecing block 324 is additionally provided with opposite with sensing chip 313 close to inductor 310, and tack probe 320 passes through supply side contact pin
Seat 305 be fixed on supply side pneumoelectric docking block 324 on, two supply side circular right angle corner connectors 307 respectively with tack probe 320
Connection, mounting hole on two self-seal type spools 321 in supply side pneumoelectric docking block 324 respectively with two supply side tracheaes
Quick connector 308 connects one to one,
Self-seal type spool 321 and the contact surface of copper joint 317 are provided with the first O-ring seal 318, self-seal type valve
The stomata of core 321 is opposite with the stomata of copper joint 317, and self-seal type spool 321 docks the sliding of block 324 with supply side pneumoelectric and connects
It connects, air inlet 325 is provided on the side wall of self-seal type spool 321, supply side pneumoelectric docks block 324 and self-seal type spool
It is provided with to contact with self-seal type spool 321 on 321 inner sidewalls being slidably connected and be carried out for controlling gas source by air inlet 325
Second O-ring seal 323 of the stomata of self-seal type spool 321, self-seal type spool 321 are embedded in supply side pneumoelectric and dock block
Block 324 is docked with supply side pneumoelectric by helical spring 322 and is connect in one end in 324.
In the present embodiment, it is provided with for stationary fixture side pneumoelectric on chuck side pneumoelectric docking block 302 to connected components
Screw 309 is installed.Pusher cylinder group 34 is band guide rod thin cylinder.Relocation mechanism 33 has self-adjusting function, for adjusting
Position deviation and contact surface parallel deviation when supply side docking section 32 and chuck side pneumoelectric docking section 31 cooperate.Chuck side contact pin
Seat 314 and supply side Plug pin patch bay 305 have insulating properties.Chuck side Plug pin patch bay 314 have stronger mechanical performance and it is excellent plus
Work performance guarantees reasonable dimensional accuracy, it is ensured that the installation with spring coaxial probe 315 and and cooperation it is close.Band spring is coaxial
Probe 315 has spring contact-enhancing power, and there is zigzag multiple contact contacts to guarantee biggish current capacity.
In the present embodiment, self-seal type spool 321 is docked in supply side pneumoelectric and can be slided in block 324, pneumoelectric docking
When device separates, self-seal type spool 321 stretches out supply side pneumoelectric docking block 324, pneumoelectric under the active force of helical spring 322
When docking facilities engage, self-seal type spool 321 sinks to supply side pneumoelectric under the promotion of chuck side pneumoelectric docking section 31 completely
It docks in block 324.The one of self-seal type spool 321 stretches a contracting, so that air inlet 325 can be above and below the second O-ring seal 323
Position converts, and when air inlet 325 is in the top position of the second O-ring seal 323, self-seal type spool 321 is close
Envelope state, pneumoelectric docking facilities disconnect, and gas circuit is obstructed.When air inlet 325 is in the lower orientation of the second O-ring seal 323
When setting, self-seal type spool 321 is in an open state, and pneumoelectric docking facilities connection, gas circuit is connected.It is mounted on close to inductor 310
Supply side pneumoelectric docks on block 324, for detecting whether chuck side pneumoelectric docking section 31 and supply side docking section 32 connect in place.
Displacement deceleration thermomechanical components 4 include for positioning and retaining mechanism 1 be detachably connected speed reducer turntable 41, with subtract
Speed reducer 410 that fast machine turntable 41 connects, the servo motor 43 that is connect with speed reducer 410 and for being connected to speed reducer 410
Speed reducer mounting base 416, servo motor 43 are connect by input shaft 49 with speed reducer 410, and servo motor 43 passes sequentially through motor
Mounting base 45 and speed reducer connecting plate 46 are connected with speed reducer mounting base 416, and speed reducer connecting plate 46 is set to motor mount
Between 45 and speed reducer 410 and input shaft 49 runs through speed reducer connecting plate 46, is arranged between input shaft 49 and speed reducer connecting plate 46
There is rotating seal ring 411, motor mount 45 is connect by third O-ring seal 48 with speed reducer connecting plate 46, and speed reducer connects
It is provided with the first oil nozzle 47 for injecting lubricant grease to speed reducer 410 on fishplate bar 46, is arranged on speed reducer turntable 41 useful
In the second oil nozzle 412 for injecting lubricant grease to speed reducer 410, speed reducer mounting base 416 passes sequentially through substrate 415, guide pin
414 and conductive plate 413 connect with ground wire, 46 upper end of speed reducer connecting plate is provided with for the rotation position to speed reducer turntable 41
The pointer 42 observed.
In the present embodiment, motor shield 417 is provided on the outside of servo motor 43, third O-ring seal 48 is for close
Seal 410 internal lubrication grease of speed reducer.It is provided with the 4th O-ring seal 44 between servo motor 43 and motor mount 45, is used for
Prevent external contaminants from entering 43 shaft end of servo motor.
Displacement bearing block assembly 5 includes the bearing block turntable 51 and axis for being detachably connected with positioning and retaining mechanism 1
The connecting flange 52 for holding the connection of a turntable 51, the rolling bearing units 54 connecting with connecting flange 52 are used to support rolling bearing units 54
Displacement bearing spider 57, the opposite side on connecting flange 52 with 51 connecting pin of bearing block turntable is provided with for preventing cable
The deep groove ball bearing 55 to rub when being passed through from connecting flange 52 and the hole c-type for being limited to deep groove ball bearing 55
Retaining ring 56 conjugates in bearing spider 57 and is provided with cable support 58, the line that cable is fixed is provided on cable support 58
Cable clip 59 conjugates and is provided with sealing plate 53 on bearing spider 57.
In the present embodiment, the part produced as needed at work, it is fixed that corresponding fixture installation frame 2 is fixed on
On position and retaining mechanism 1, pneumoelectric docking facilities 3 are then controlled by controller and displacement deceleration thermomechanical components 4 work, carry out machine
Quickly replacement fixture and when processing, conjugate people work station intelligence, realize intelligent quickly production, so as to effectively shorten life
It produces the time, improve production efficiency, reduce manufacturing cost.
The above is only the preferred embodiment of the present invention, it should be understood that the present invention is not limited to shape described herein
Formula should not be regarded as an exclusion of other examples, and can be used for other combinations, modifications, and environments, and can be herein
In contemplated scope, modifications can be made through the above teachings or related fields of technology or knowledge.And what those skilled in the art were carried out changes
Dynamic and variation does not depart from the spirit and scope of the present invention, then all should be within the scope of protection of the appended claims of the present invention.
Claims (10)
1. a kind of fixture for robot workstation intelligently conjugates quick-change system, including displacement deceleration thermomechanical components (4) and displacement
The displacement bearing block assembly (5) that deceleration thermomechanical components (4) are oppositely arranged and the fixture installation frame (2) for fixture installation, it is special
Sign is, is separately provided in the displacement deceleration thermomechanical components (4) and displacement bearing block assembly (5) to fixture installation frame
(2) positioning and the positioning locked and retaining mechanism (1) are arranged between the positioning and retaining mechanism (1) and fixture installation frame (2)
There are the pneumoelectric docking facilities (3) for carrying out energy resource supply, the pneumoelectric docking facilities (3) include being set to fixture installation frame (2)
On chuck side pneumoelectric docking section (31) and be set on positioning and retaining mechanism (1) and chuck side pneumoelectric docking section (31) grafting
Supply side docking section (32), it is described positioning and retaining mechanism (1) be detachably connected with fixture installation frame (2), to pass through
Positioning and retaining mechanism (1), fixture installation frame (2) and pneumoelectric docking facilities (3) form fixture quick change construction, and the displacement subtracts
Fast thermomechanical components (4) and the rotation center for conjugating bearing block assembly (5) are coaxial.
2. a kind of fixture for robot workstation according to claim 1 intelligently conjugates quick-change system, feature exists
In the positioning and retaining mechanism (1) include the first mounting plate (19), are set to the first mounting plate (19) side and with first
Mounting plate (19) vertically connection the second mounting plate (110), be set to the first mounting plate (19) in addition opposite sides and with second
Mounting plate (110) connection two pieces of side plates (14), be set on the first mounting plate (19) be provided with for fixture installation frame
(2) the trapezoidal tooth plate (13) of zero-point positioning chuck (11) and first connected, the telescopic pin for being used to connect with fixture installation frame (2)
(15), first mounting plate (19), the second mounting plate (110), side plate (14) the first mounting plate of He Yiyu (19) it is opposite and
The bottom plate (18) that connect with side plate (14) forms installation cavity, the telescopic pin (15) pass through the second mounting plate (110) and setting with
Telescopic pin cylinder (16) in installation cavity connects, and slows down on the installation cavity with the second mounting plate (110) opposite side and displacement
Thermomechanical components (4) or displacement bearing block assembly (5) are detachably connected, and the zero-point positioning chuck (11) is pacified by zero-point positioning chuck
Dress seat (12) is installed on the first mounting plate (19), and the supply side docking section (32) is set on any side plate (14).
3. a kind of fixture for robot workstation according to claim 2 intelligently conjugates quick-change system, feature exists
In, the telescopic pin (15) and telescopic pin cylinder (16) are set as two groups, be provided on second mounting plate (110) for pair
The copper radical self-lubricating bearing (17) that telescopic pin (15) is lubricated and is oriented to.
4. a kind of fixture for robot workstation according to claim 2 intelligently conjugates quick-change system, feature exists
In, the fixture installation frame (2) include integrated frame (21) for being installed to fixture, two be respectively arranged at fixture
Installation frame (2) connect the connection plate (26) of two sides with positioning and retaining mechanism (1), and the connection plate (26) is by phase
Mutually vertical two boards composition and one of plate is connect with integrated frame (21), wherein the connection plate (26) and
The shoulder type self-oiling guide bushing (23) for telescopic pin (15) insertion, connection plate are provided on the plate of integrated frame (21) connection
(26) be provided on another block of plate positioning blind rivet (24) for cooperating with zero-point positioning chuck (11) and with the first trapezoidal tooth plate
(13) the trapezoidal tooth plate of second be engaged (25), chuck side pneumoelectric docking section (22) are set to connection plate (26)
On.
5. a kind of fixture for robot workstation according to claim 1 intelligently conjugates quick-change system, feature exists
In chuck side pneumoelectric docking section (31) includes chuck side pneumoelectric docking block (302), is set to chuck side pneumoelectric docking block
(302) two chuck side circular right angle corner connectors (304) of side and two chuck side tracheaes for supplying jig gas source are fast
Connection-peg (301), the two insertions folder with supply side docking section (32) opposite side for being set to chuck side pneumoelectric docking block (302)
Have in the copper radical self-lubricating bearing holder (housing, cover) (316) and two insertion chuck side pneumoelectric docking block (302) in side pneumoelectric docking block (302)
Copper joint (317) and with spring coaxial probe (315), the band spring coaxial probe (315) passes through chuck side Plug pin patch bay
(314) it is set in chuck side pneumoelectric docking block (302), the chuck side circular right angle corner connector (304) passes through upper cover plate
(303) it is fixed in chuck side pneumoelectric docking block (302), chuck side pneumoelectric docking block (302) side is additionally provided with induction
Piece (313), described two chuck side circular right angle corner connectors (304) connect with band spring coaxial probe (315) respectively, two copper
Matter connector (317) be provided with the stomata passed through for gas source and two stomatas respectively with two chuck side tracheae quick connectors
(301) connection is corresponded.
6. a kind of fixture for robot workstation according to claim 5 intelligently conjugates quick-change system, feature exists
In the opposite end for docking (31) inserted terminal on the supply side docking section (32) with chuck side pneumoelectric passes sequentially through a relocation mechanism
Connecting plate (35), a relocation mechanism (33) are connect with a pusher cylinder group (34), the pusher cylinder group (34) and positioning and lock
Tight mechanism (1) connection.
7. a kind of fixture for robot workstation according to claim 6 intelligently conjugates quick-change system, feature exists
In the supply side docking (32) includes supply side pneumoelectric docking block (324), is set to supply side pneumoelectric docking block (324)
Supply side tracheae quick connector (308) that two of side connect with external air source and two are connected with external power source supply side
Circular right angle corner connector (307), being set to supply side tracheae quick connector (308), that block (302) is docked with chuck side pneumoelectric is opposite
Side is used for the tack probe (320) that docks with spring coaxial probe (315), the supply side tracheae quick connector (308) and
It is respectively used to and two copper radical self-lubricating bearing holder (housing, cover)s (316) there are two being also set up on chuck side pneumoelectric docking block (302) opposite side
Correspond grafting tapered guide pin (319) and two docked one by one with copper joint (317) respectively and be embedded in supply side
Pneumoelectric docks the self-seal type spool (321) of block (324), the side of supply side pneumoelectric docking block (324) be additionally provided with
Sensing chip (313) is opposite close to inductor (310), and the tack probe (320) is fixed on by supply side Plug pin patch bay (305)
Supply side pneumoelectric docks on block (324), and two supply side circular right angle corner connectors (307) connect with tack probe (320) respectively,
On two self-seal type spools (321) supply side pneumoelectric docking block (324) in mounting hole respectively with two supply side tracheaes
Quick connector (308) connects one to one.
8. a kind of fixture for robot workstation according to claim 7 intelligently conjugates quick-change system, feature exists
In the contact surface of the self-seal type spool (321) and copper joint (317) is provided with the first O-ring seal (318), described
The stomata of self-seal type spool (321) is opposite with the stomata of copper joint (317), the self-seal type spool (321) and supply
Side pneumoelectric docking block (324) is slidably connected, and is provided with air inlet (325) on the side wall of the self-seal type spool (321), described
It is provided with and self-seal type valve on the inner sidewall that supply side pneumoelectric docking block (324) and self-seal type spool (321) is slidably connected
Core (321) contact for control gas source by air inlet (325) carry out self-seal type spool (321) stomata it is second O-shaped close
Seal (323), one end that self-seal type spool (321) the insertion supply side pneumoelectric docks in block (324) pass through helical spring
(322) it is connect with supply side pneumoelectric docking block (324).
9. a kind of fixture for robot workstation according to claim 1 intelligently conjugates quick-change system, feature exists
In displacement deceleration thermomechanical components (4) includes the speed reducer turntable for being detachably connected with positioning and retaining mechanism (1)
(41), it the speed reducer (410) that is connect with speed reducer turntable (41), the servo motor (43) being connect with speed reducer (410) and is used for
To the speed reducer mounting base (416) of speed reducer (410) connection, the servo motor (43) passes through input shaft (49) and speed reducer
(410) it connects, the servo motor (43) passes sequentially through motor mount (45) and speed reducer connecting plate (46) and speed reducer is pacified
It fills seat (416) to be connected, the speed reducer connecting plate (46) is set between motor mount (45) and speed reducer (410) and inputs
Axis (49) runs through speed reducer connecting plate (46), is provided with rotating seal ring between the input shaft (49) and speed reducer connecting plate (46)
(411), the motor mount (45) is connect by third O-ring seal (48) with speed reducer connecting plate (46), the deceleration
It is provided on machine connecting plate (46) for the first oil nozzle (47) to speed reducer (410) injection lubricant grease, the speed reducer turns
It is provided on disk (41) for the second oil nozzle (412) to speed reducer (410) injection lubricant grease, the speed reducer mounting base
(416) it passes sequentially through substrate (415), guide pin (414) and conductive plate (413) to connect with ground wire, the speed reducer connecting plate
(46) upper end is provided with the pointer (42) observed for the rotation position to speed reducer turntable (41).
10. a kind of fixture for robot workstation according to claim 1 intelligently conjugates quick-change system, feature exists
In displacement bearing block assembly (5) includes the bearing block turntable for being detachably connected with positioning and retaining mechanism (1)
(51), the connecting flange (52) that connect with bearing block turntable (51), is used for the rolling bearing units (54) connecting with connecting flange (52)
To the displacement bearing spider (57) of rolling bearing units (54) support, on the connecting flange (52) with bearing block turntable (51) connecting pin
Opposite side be provided with the deep groove ball bearing (55) that rubs and use when for preventing cable from passing through from connecting flange (52)
In the hole limited to deep groove ball bearing (55) with c-type retaining ring (56), cable is provided in the displacement bearing spider (57)
Bracket (58) is provided with the cable clamp (59) that cable is fixed, the displacement bearing spider on the cable support (58)
(57) sealing plate (53) are provided on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634771.0A CN109591053A (en) | 2018-12-29 | 2018-12-29 | A kind of fixture intelligence displacement quick-change system for robot workstation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811634771.0A CN109591053A (en) | 2018-12-29 | 2018-12-29 | A kind of fixture intelligence displacement quick-change system for robot workstation |
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| CN109591053A true CN109591053A (en) | 2019-04-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811634771.0A Pending CN109591053A (en) | 2018-12-29 | 2018-12-29 | A kind of fixture intelligence displacement quick-change system for robot workstation |
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| Country | Link |
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| CN (1) | CN109591053A (en) |
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| CN110217317A (en) * | 2019-04-24 | 2019-09-10 | 安道拓(中国)投资有限公司 | A kind of quick changing device |
| CN110345201A (en) * | 2019-07-15 | 2019-10-18 | 无锡市恒翼通机械有限公司 | Planetary reducer and its processing method |
| CN113245754A (en) * | 2021-05-26 | 2021-08-13 | 德珂斯(江苏)自动化技术有限公司 | Quick change device for connection |
| CN113970442A (en) * | 2021-09-13 | 2022-01-25 | 东风汽车底盘系统有限公司 | Quick-change clamp for transmission shaft static torsion test bed |
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Application publication date: 20190409 |