CN110281259A - A kind of Double-station clamp and its control method installed on a robotic arm - Google Patents
A kind of Double-station clamp and its control method installed on a robotic arm Download PDFInfo
- Publication number
- CN110281259A CN110281259A CN201910668553.7A CN201910668553A CN110281259A CN 110281259 A CN110281259 A CN 110281259A CN 201910668553 A CN201910668553 A CN 201910668553A CN 110281259 A CN110281259 A CN 110281259A
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- station clamp
- workpiece
- clamp
- pinch zones
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- 238000000034 method Methods 0.000 title claims abstract description 23
- 238000009434 installation Methods 0.000 claims abstract description 27
- 238000003801 milling Methods 0.000 claims description 37
- 238000005520 cutting process Methods 0.000 claims description 31
- 238000005553 drilling Methods 0.000 claims description 14
- 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 description 14
- 241001074085 Scophthalmus aquosus Species 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 230000000694 effects Effects 0.000 description 3
- 238000006073 displacement reaction Methods 0.000 description 2
- 210000000245 forearm Anatomy 0.000 description 2
- 238000003754 machining Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 238000003672 processing method Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000003319 supportive effect 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
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/08—Work-clamping means other than mechanically-actuated
-
- 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
-
- 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
- B23Q7/048—Multiple gripper units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/0052—Gripping heads and other end effectors multiple gripper units or multiple end effectors
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of Double-station clamp and its control methods installed on a robotic arm, including six axis robot, mounting plate, it is symmetrical arranged the first pinch zones and the second pinch zones on a mounting board, first pinch zones and the second pinch zones include two or more first clamp systems, first clamp system include be vertically situated on mounting plate and the first thin cylinder and the first pillar and the first movable device being arranged on the first thin cylinder, the bottom of the mounting plate is provided with attachment base, the mounting plate is connect by attachment base with six axis robot.The Double-station clamp of the installation on a robotic arm, overcome the problem of multiple manufacturing procedures cannot share a fixture, dismounting is reduced to the labor intensity and spent time come, and Double-station clamp can simultaneously process two workpiece, substantially increase production efficiency.
Description
Technical field
The present invention relates to auto parts and components manufacture field, in particular to a kind of installation Double-station clamp on a robotic arm and
Its control method.
Background technique
In auto parts and components production and processing, auto parts and components are needed by multiple manufacturing procedures, with automation process into
Step, when workpiece needs to carry out cutting processing, workpiece is fixed on fixture, and fixture can be fixed on the table, and fixture is not
Working table movement, the six axis robot that an installation end is provided with cutting machine cutting machine can be driven on auto parts and components relatively
Rim charge is cut off, and when workpiece will also carry out other manufacturing procedures, Milling Process is such as carried out, needs to dismantle workpiece, is carried
It is processed on to milling machine.
As it can be seen that a six axis robot can only carry out cutting processing to the workpiece on fixture one by one, so as to cause production effect
Rate is low, needs in addition to add a upper more six axis robot if carrying out rim charge cutting processing to two workpiece on fixture simultaneously
And cutting machine, occupy place greatly, manufacturing cost is high.In addition, needing after processing method one manufacturing procedure of every completion by work in this way
Part disassembly is ressembled again on another fixture, a fixture can not be shared between manufacturing procedure, being dismounted for multiple times increases work
Time spent by the labor intensity and work pieces process of people, seriously constrain production efficiency.
Summary of the invention
Place in view of above-mentioned deficiencies of the prior art, the purpose of the present invention is to provide the double-station of installation on a robotic arm
Fixture and its control method, it is intended to make that a fixture can be shared between multiple processes, improve processing efficiency.
In order to achieve the above object, this invention takes following technical schemes:
A kind of Double-station clamp installed on a robotic arm including six axis robot, mounting plate, is symmetrical arranged on a mounting board
First pinch zones and the second pinch zones, first pinch zones and the second pinch zones include two or more first folders
Tight mechanism, the first clamp system include be vertically situated on mounting plate and the first thin cylinder and the first pillar and setting
The first movable device on the first thin cylinder, the first movable device include the T shape being fixed on the first thin cylinder
Block and gripping block, T-shaped block are connect by link block with gripping block, and the both ends of link block are hinged with T-shaped block and gripping block respectively, institute
The one end for stating gripping block and the piston rod end of the first thin cylinder are hinged, and the other end is used to workpiece being pressed in the first pillar
Top；The bottom of the mounting plate is provided with attachment base, and the mounting plate is connect by attachment base with six axis robot.
First pillar is integrally made of cylinder and pedestal, and first locating slot, pedestal are offered at the top of cylinder
It is connect with installation plate bolt.
The gripping block is zigzag, and one end that gripping block is connect with the piston rod end of the first thin cylinder is provided with one
U-lag and hinged with U-lag is protruded into a U-lag, the piston rod end of the first thin cylinder.
There are two the first clamp system settings in first pinch zones and the second pinch zones, the first thin cylinder and fixed
Position column and movable device setting are correspondingly provided with two.
It is provided with several support components on the mounting plate, the support component includes guide post and screw rod, described to lead
It is installed on a mounting board to column by fixing seat, the guide post is equipped with a tapped through hole, and the screw rod is screwed into from bottom to top
In tapped through hole, the free end of the screw rod is used to support workpiece.
First pinch zones and the second pinch zones are additionally provided with the second clamp system, and the second clamp system includes second thin
Type cylinder, the cushion block that the second thin cylinder bottom is set, the second pillar and the second work being arranged on the second thin cylinder
Motivation structure.
Second pillar is higher than the first pillar.
The attachment base includes the connector that bottom plate is arranged in bottom plate and two, and two connectors are located at the first clamping
The downside in area and the second pinch zones, the connector include upper flange plate, lower flange and for connecting upper disk and lower circle
The connecting rod of disk, upper flange plate and lower flange are respectively corresponded to be fixedly connected with mounting plate and bottom plate.
The positioning that the bottom surface of the bottom plate is provided with positioning round piece and multiple circumference arrays along positioning round piece are arranged
Hole, the positioning round piece are located at the middle part of bottom plate.
For the Double-station clamp of above-mentioned installation on a robotic arm, the present invention correspondingly provides a kind of control method, the party
Method the following steps are included:
S001, six axis robot drive Double-station clamp to be moved to clamping workpiece area, and staff respectively installs two workpiece
In the first pinch zones and the second pinch zones, then the first clamp system is realized work and is clamped；
S002, six axis robot drive Double-station clamp to be moved to rim charge cutting area, and cutting machine drives saw blade rotation, manipulator band
Start building part according to preset path relative to the mobile cutting for realizing rim charge of saw blade.
S003, six axis robot drive Double-station clamp to be moved to milling area, and six axis robot places Double-station clamp
On the workbench of milling machine, Double-station clamp is as processing pedestal, and then the milling cutter of two milling machines is same according to predetermined milling path
When on Double-station clamp two workpiece carry out milling.
S004, six axis robot drive Double-station clamp to be moved to bore area, and six axis robot places Double-station clamp
On the workbench of drilling machine, Double-station clamp is as processing pedestal, and then the drill bit of two drilling machines simultaneously presss from both sides double-station
Two workpiece on tool drill.
S005, six axis robot drive Double-station clamp to return to clamping workpiece area, and processing is completed in staff's disassembly
Workpiece changes workpiece to be processed.
The utility model has the advantages that
The present invention provides a kind of Double-station clamp and its control methods installed on a robotic arm, compared with prior art, work
Two workpiece are mounted on the first pinch zones and the second pinch zones respectively by personnel, and the first clamp system of two pinch zones realizes work
The clamping of part.Then mechanical hand-motion Double-station clamp is moved to different machining areas and is machined out, this is mounted on machinery
Double-station clamp on hand overcomes the problem of multiple manufacturing procedures cannot share a fixture, reduces dismounting to the labor come
Fatigue resistance and spent time, and Double-station clamp can simultaneously process two workpiece, substantially increase life
Produce efficiency.
Detailed description of the invention
Fig. 1 is the perspective view of the Double-station clamp of installation provided by the invention on a robotic arm.
Fig. 2 is perspective view of the Double-station clamp of installation provided by the invention on a robotic arm in another angle.
Fig. 3 is the partial enlarged view in the region M in Fig. 1.
Fig. 4 is the structural representation of Double-station clamp installation on a robotic arm of installation provided by the invention on a robotic arm
Figure.
Fig. 5 is the Double-station clamp of installation provided by the invention on a robotic arm, schematic diagram in a state of use.
Specific embodiment
The present invention provides Double-station clamp and its control method installed on a robotic arm, to make the purpose of the present invention, skill
Art scheme and effect are clearer, clear, and the present invention is described in more detail as follows in conjunction with drawings and embodiments.It should manage
Solution, described herein specific examples are only used to explain the present invention, is not intended to limit the scope of protection of the present invention.
Fig. 1-Fig. 5 is please referred to, the present invention provides a kind of Double-station clamp installed on a robotic arm, double for the ease of observing
The structure of station clamp only draws 1 workpiece A in Fig. 1.
The installation Double-station clamp on a robotic arm, including six axis robot 1, mounting plate 2, it is symmetricly set on installation
The first pinch zones S1 and the second pinch zones S2 on plate, the first pinch zones S1 and the second pinch zones S2 include two or two
A the first above clamp system 3, the first clamp system 3 include be vertically situated on mounting plate 2 and the first thin cylinder
31 and first pillar 32 and the first movable device 33 for being arranged on the first thin cylinder, the first movable device 33 include fixing
T-shaped block 33a and gripping block 33b on first thin cylinder are set, and T-shaped block 33a is connected by link block 33c and gripping block 33b
It connects, the both ends of link block 33c are hinged with T-shaped block 33a and gripping block 33b respectively, one end of the gripping block 33b and first slim
The piston rod end of cylinder 31 is hinged, and the other end is used to for workpiece being pressed in the top of the first pillar 32；The bottom of the mounting plate 2
Portion is provided with attachment base 4, and the mounting plate 2 is connect by attachment base 4 with six axis robot 1.
In the present embodiment, see that six axis robot 1 described in Fig. 4 includes the first axis joint 1.1, the second axis joint 1.2, large arm
1.7, third axis joint 1.3, forearm 1.8, the 4th axis joint 1.4, the 5th axis joint 1.5 and the 6th axis joint 1.6, six axis
The bottom of manipulator 1 is arranged in a mounting base 1.9, in the first axis joint rotation installation and mounting base 1.9, the second axis
Joint 1.2 is installed in the first axis joint 1.1, one end of large arm 1.7 be rotatably mounted in the second axis joint 1, the other end
It is connect with third axis joint 1.3, the 4th axis joint 1.4 is installed in third axis joint 1.3, one end of forearm 1.8 and the 4th axis
Joint 1.4 is rotatably coupled, and the other end is connect with the 5th axis joint 1.5, and the 6th axis joint 1.6 is installed on the 5th axis joint
On 1.6, the ring flange 45 connecting with the attachment base is provided in the 6th axis joint, ring flange 45 can be along the 6th axis joint
1.6 axis rotation, preferably can be used the six axis robot of the LR6-R1500 model of LINKHOU company offer, six shaft mechanicals
Hand is the prior art, and details are not described herein again for working principle.
Specifically, first pillar 32 is integrally made of cylinder 32a and pedestal 32b, one is offered at the top of cylinder
First locating slot 32c, pedestal 32b are connect with 2 screw of mounting plate.In the present embodiment, first locating slot is circular hole, workpiece A
On circular protrusions be caught in circular hole and realize quickly positioning.
Further, referring to Fig. 3, the gripping block 33b is zigzag, the work of gripping block 33b and the first thin cylinder 31
One end of stopper rod end connection is provided with a U-lag 33d, the piston rod end of the first thin cylinder 31 protrude into U-lag 33d and
It is hinged with U-lag.It is arranged in this way, the first clamp system is compact-sized, and engaged position is small；When work, described first is slim
The piston rod of cylinder 31 stretches out, and driving gripping block is swung, and the free end workpiece pressing of gripping block effectively avoids on the first pillar
There is the case where displacement loosens in carrying or process in workpiece.
It is preferred that described first clamps there are two the first clamp system 3 settings in the area S1 and the second pinch zones S2, the
One thin cylinder and the setting of positioning column and movable device are correspondingly provided with two.By the way that two the first clamp systems are arranged
Positioning and clamping effectively can be carried out to workpiece.
Preferably, Fig. 1 and Fig. 2 are please referred to, several support components 5, the support component are provided on the mounting plate 2
5 include guide post 51 and screw rod 52, and the guide post 51 is mounted on mounting plate 2 by fixing seat 53, and the guide post is equipped with
One tapped through hole 54, the screw rod 52 are threaded into from bottom to top in through-hole 54, and the free end of the screw rod 52 is used to support work
Part.It is capable of the outreach of adjusting screw rod, by turn screw rod so as to adjust going out to be suitble to the support effect of workpiece.As seen from the figure 1,
First clamp system is clamped to the edge portions of workpiece A, and screw rod can play a supportive role to the interior section of workpiece, is subtracted
Few workpiece is because of the deformation quantity that generates after clamping.
Preferably, first pinch zones and the second pinch zones are additionally provided with the second clamp system 6, the second clamp system 6
It is thin second including the second thin cylinder 61, the cushion block 62 that the second thin cylinder bottom is arranged in, the second pillar 63 and setting
The second movable device 64 on type cylinder.It should be noted that the structure of the first movable device 33 and the second gas movable device 64
Identical, part dimension is different, no longer repeats herein the second movable device.As seen from the figure, the second folder of each pinch zones
Tight mechanism 6 is provided with one, and the arrangement position of other two the first clamp system forms a triangle, according to triangle
Stability principle, the stability of piece-holder can be further increased, prevent carrying to Double-station clamp for manipulator
When workpiece occur getting loose displacement.In addition, the clamping force also provides foot in process such as cutting, drilling, millings for work
Enough stability reduces workpiece and vibrates, guarantees machining accuracy.
In the present embodiment, in order to preferably make the second clamp system be suitable for workpiece, second pillar 63 is higher than first
Pillar 32.
Specifically, referring to Fig. 1, the attachment base 4 includes the connector 42 that bottom plate is arranged in bottom plate 41 and two；In order to
Guarantee that the stress balance of Double-station clamp, two connectors 42 are located under the first pinch zones S1 and the second pinch zones S2
Side, the connector 42 include upper flange plate 42a, lower flange 42b and the connecting rod for connecting upper disk and lower disc
42c, upper flange plate 42a and lower flange 42b are respectively corresponded to be fixedly connected with mounting plate 2 and bottom plate 41.It is arranged in this way, just
In the workpiece type processed as needed, the component of the corresponding mounting plate of quick-replaceable and setting on a mounting board is improved and is applicable in
Property.
Preferably, referring to Fig. 2, the bottom surface of the bottom plate 41 is provided with positioning round piece 43 and multiple axis along positioning round piece
The location hole 44 of line circumference array setting, the positioning round piece are located at the middle part of bottom plate.It is set on the installation end of the six axis robot
It is equipped with ring flange 45, ring flange 45 is fastened by positioning round piece 43 and location hole 44 and bed bolt.
In order to mitigate the overall weight of Double-station clamp convenient for Manipulator Transportation, sees in the middle part of mounting plate described in Fig. 4 and open up
There is a groove 9.
For the above-mentioned dual-workpiece fixture for being mounted on manipulator, the present invention also provides a kind of control methods, see Fig. 5, six axis
The surrounding of manipulator is respectively arranged with clamping workpiece area T1, rim charge cutting area T2, milling area T3, bore area T4, rim charge cutting area
In be symmetrically arranged with two for cutting the cutting machine T21 of workpiece rim charge, two are symmetrically arranged in milling area for workpiece
The milling machine T31 of Milling Process is carried out, two drilling machine T41 for drilling to workpiece are symmetrically arranged in bore area；It should
Method the following steps are included:
S001, six axis robot drive Double-station clamp to be moved to clamping workpiece area, and staff respectively installs two workpiece
In the first pinch zones and the second pinch zones, then the first clamp system is realized work and is clamped；
S002, six axis robot drive Double-station clamp to be moved to rim charge cutting area, and cutting machine drives saw blade rotation, manipulator band
Start building part according to preset path relative to the mobile cutting for realizing rim charge of saw blade.
S003, six axis robot drive Double-station clamp to be moved to milling area, and six axis robot places Double-station clamp
On the workbench of milling machine, Double-station clamp is as processing pedestal, and then the milling cutter of two milling machines is same according to predetermined milling path
When on Double-station clamp two workpiece carry out milling.
S004, six axis robot drive Double-station clamp to be moved to bore area, and six axis robot places Double-station clamp
On the workbench of drilling machine, Double-station clamp is as processing pedestal, and then the drill bit of two drilling machines simultaneously presss from both sides double-station
Two workpiece on tool drill.
S005, six axis robot drive Double-station clamp to return to clamping workpiece area, and processing is completed in staff's disassembly
Workpiece changes workpiece to be processed.
When working principle described briefly below, Double-station clamp is moved in clamping workpiece area by six axis robot, staff
Two workpiece are mounted on the first pinch zones S1 and the second pinch zones S2 respectively, workpiece is placed on the first pillar first, the
The locating slot of one pillar is adapted with the protrusion on workpiece, and then cylinder, which is passed through compressed air, stretches the piston rod of thin cylinder
Out, drive gripping block that workpiece is pressed on to the clamping for realizing workpiece on pillar.Then six axis robot is mobile by Double-station clamp
To rim charge cutting area, it is arranged in rim charge cutting area there are two cutting machine, cutting machine drives saw blade rotation, and mechanical hand-motion workpiece is pressed
According to preset path relative to the mobile cutting for realizing rim charge of saw blade, since the first pinch zones and the second pinch zones are symmetrical arranged, from
And workpiece be also it is symmetrically placed, two saw blades are located at the two sides of mounting plate when cutting, not will cause interference.Similarly, work as work
After part completes rim charge cutting, workpiece is moved to milling area by six axis robot, and there are two milling machine, double-station folders for setting in milling area
Tool is placed on the workbench of milling machine, and Double-station clamp can also be as processing pedestal, and then milling cutter is according to predetermined milling path
Milling is carried out to workpiece；After completing Milling Process, Double-station clamp movement is moved bore area again by six axis robot, is set in bore area
It sets there are two drilling machine, Double-station clamp is placed on the workbench of drilling bed, then Double-station clamp is bored as processing pedestal
Head carries out drilling processing to workpiece；After completing drilling processing, Double-station clamp is returned in clamping workpiece area, work staff disassembly
The workpiece of processing is completed, changes workpiece to be processed.As it can be seen that the Double-station clamp of the installation on a robotic arm, overcomes more
A manufacturing procedure cannot share the problem of fixture, reduce dismounting to the labor intensity and spent time come, and
And Double-station clamp can simultaneously process two workpiece, substantially increase production efficiency.
It, can according to the technique and scheme of the present invention and its hair it is understood that for those of ordinary skills
Bright design is subject to equivalent substitution or change, and all these changes or replacement all should belong to protection scope of the present invention.
Claims (10)
1. a kind of installation Double-station clamp on a robotic arm, which is characterized in that including six axis robot, mounting plate, symmetrically set
The first pinch zones and the second pinch zones on a mounting board are set, first pinch zones and the second pinch zones include two or two
A the first above clamp system, the first clamp system include be vertically situated on mounting plate and the first thin cylinder and the
One pillar and the first movable device being arranged on the first thin cylinder, the first movable device are thin including being fixed at first
T-shaped block and gripping block on type cylinder, T-shaped block are connect by link block with gripping block, the both ends of link block respectively with T-shaped block and
Gripping block is hinged, and one end of the gripping block and the piston rod end of the first thin cylinder are hinged, and the other end is used for workpiece pressure
Tightly in the top of the first pillar；The bottom of the mounting plate is provided with attachment base, and the mounting plate passes through attachment base and six axis machines
The connection of tool hand.
2. installation Double-station clamp on a robotic arm according to claim 1, which is characterized in that first pillar by
Cylinder and pedestal integrally form, and first locating slot is offered at the top of cylinder, and pedestal is connect with installation plate bolt.
3. the Double-station clamp of installation according to claim 1 on a robotic arm, which is characterized in that the gripping block is Z
Font, one end that gripping block is connect with the piston rod end of the first thin cylinder are provided with a U-lag, the first thin cylinder
U-lag and hinged with U-lag is protruded into piston rod end.
4. the Double-station clamp of installation according to claim 3 on a robotic arm, which is characterized in that first pinch zones
With there are two the first clamp system settings in the second pinch zones, the first thin cylinder and positioning column and movable device setting are
It is correspondingly provided with two.
5. the Double-station clamp of installation according to claim 1 on a robotic arm, which is characterized in that set on the mounting plate
Several support components are equipped with, the support component includes guide post and screw rod, and the guide post is mounted on peace by fixing seat
In loading board, the guide post is equipped with a tapped through hole, and the screw rod is threaded into through-hole from bottom to top, the freedom of the screw rod
End is used to support workpiece.
6. the Double-station clamp of installation according to claim 1 on a robotic arm, which is characterized in that first pinch zones
It is additionally provided with the second clamp system with the second pinch zones, the second clamp system is slim second including the second thin cylinder, setting
The cushion block of cylinder bottom, the second pillar and the second movable device being arranged on the second thin cylinder.
7. the Double-station clamp of installation according to claim 6 on a robotic arm, which is characterized in that second pillar height
In the first pillar.
8. installation Double-station clamp on a robotic arm according to claim 1, which is characterized in that the attachment base includes
The connector of bottom plate is arranged in bottom plate and two, and two connectors are located at the downside of the first pinch zones and the second pinch zones,
The connector includes upper flange plate, lower flange and the connecting rod for connecting upper disk and lower disc, and upper flange plate is under
Ring flange is respectively corresponded to be fixedly connected with mounting plate and bottom plate.
9. the Double-station clamp of installation according to claim 8 on a robotic arm, which is characterized in that the bottom surface of the bottom plate
It is provided with the location hole of positioning round piece and multiple circumference array settings along positioning round piece, which is located at bottom plate
Middle part.
10. the control method of the Double-station clamp of -9 described in any item installations on a robotic arm according to claim 1, feature
It is, the surrounding of six axis robot is respectively arranged with clamping workpiece area, rim charge cutting area, milling area, bore area, rim charge cutting area
In be symmetrically arranged with two for cutting the cutting machines of workpiece rim charge, two are symmetrically arranged in milling area for carrying out to workpiece
The milling machine of Milling Process is symmetrically arranged with two drilling machines for drilling to workpiece in bore area；This method include with
Lower step:
S001, six axis robot drive Double-station clamp to be moved to clamping workpiece area, and staff respectively installs two workpiece
In the first pinch zones and the second pinch zones, the first clamp system is realized work and is clamped；
S002, six axis robot drive Double-station clamp to be moved to rim charge cutting area, and cutting machine drives saw blade rotation, manipulator band
Start building part according to preset path relative to the mobile cutting for realizing rim charge of saw blade；
S003, six axis robot drive Double-station clamp to be moved to milling area, and Double-station clamp is placed on milling by six axis robot
On the workbench of bed, Double-station clamp is as processing pedestal, and then the milling cutter of two milling machines is right simultaneously according to predetermined milling path
Two workpiece on Double-station clamp carry out milling；
S004, six axis robot drive Double-station clamp to be moved to bore area, and Double-station clamp is placed on brill by six axis robot
On the workbench of hole machine, Double-station clamp is as processing pedestal, and then the drill bit of two drilling machines is simultaneously on Double-station clamp
Two workpiece drill；
S005, six axis robot drive Double-station clamp to return to clamping workpiece area, and staff dismantles the work that processing is completed
Part changes workpiece to be processed.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668553.7A CN110281259A (en) | 2019-07-23 | 2019-07-23 | A kind of Double-station clamp and its control method installed on a robotic arm |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910668553.7A CN110281259A (en) | 2019-07-23 | 2019-07-23 | A kind of Double-station clamp and its control method installed on a robotic arm |
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| CN110281259A true CN110281259A (en) | 2019-09-27 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111300438A (en) * | 2019-12-09 | 2020-06-19 | 河南大学 | A material loading robot for special-shaped automobile parts automatic processing |
| CN112222885A (en) * | 2020-09-29 | 2021-01-15 | 安庆中船动力配套有限公司 | Pump station pump head machining clamp and method for coal mine |
Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
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| DE19652465A1 (en) * | 1996-12-17 | 1998-06-18 | Bayerische Motoren Werke Ag | Process for machining a workpiece in a machining station using an industrial robot |
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| CN210551286U (en) * | 2019-07-23 | 2020-05-19 | 本田金属技术（佛山）有限公司 | Double-station clamp installed on manipulator |
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| WO2003080288A1 (en) * | 2002-03-21 | 2003-10-02 | Abb Oy | Method and arrangement for assembly |
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| CN111300438B (en) * | 2019-12-09 | 2021-10-01 | 河南大学 | A material loading robot for special-shaped automobile parts automatic processing |
| CN112222885A (en) * | 2020-09-29 | 2021-01-15 | 安庆中船动力配套有限公司 | Pump station pump head machining clamp and method for coal mine |
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Application publication date: 20190927 |