CN113182889B - High-precision positioning system and positioning method for connecting rod machining feeding - Google Patents
High-precision positioning system and positioning method for connecting rod machining feeding Download PDFInfo
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- CN113182889B CN113182889B CN202110488306.6A CN202110488306A CN113182889B CN 113182889 B CN113182889 B CN 113182889B CN 202110488306 A CN202110488306 A CN 202110488306A CN 113182889 B CN113182889 B CN 113182889B
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000003754 machining Methods 0.000 title claims description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 64
- 238000003825 pressing Methods 0.000 claims abstract description 30
- 230000009471 action Effects 0.000 claims description 5
- 238000001514 detection method Methods 0.000 claims description 5
- 238000009434 installation Methods 0.000 claims description 5
- 238000013459 approach Methods 0.000 claims description 3
- 239000000463 material Substances 0.000 claims description 3
- 244000208734 Pisonia aculeata Species 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000005266 casting Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000012840 feeding operation Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
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- 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
-
- 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
- B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
-
- 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
-
- 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
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/04—Work clamping means using fluid means or a vacuum
-
- 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
- B23Q2703/00—Work clamping
- B23Q2703/02—Work clamping means
- B23Q2703/10—Devices for clamping workpieces of a particular form or made from a particular material
Abstract
The invention discloses a high-precision positioning system and a positioning method for connecting rod processing and feeding, wherein the positioning system comprises: fixture, snatch mechanism, positioning mechanism, fixture installs on anchor clamps, it installs at six robot hands to snatch the mechanism. The clamping mechanism comprises a rotary pressing cylinder, an upper seat plate, a lower seat plate and an ejector rod. The grabbing mechanism comprises a tensioning cylinder, a base, a floating cylinder and a connecting seat. The connecting seat is detachably connected with the six-axis robot hand, and the floating cylinder is installed between the connecting seat and the base. The positioning mechanisms are zero point positioning pins, and two male pins of the positioning mechanisms are arranged on the working surface of the fixture and positioned in the central position between the two lower seat plates; the two female pins of the positioning mechanism are arranged on the base of the grabbing mechanism and are positioned in the center between the two positioning tensioning pins. The invention avoids the influence of the traditional positioning method on the boring processing of the big end of the connecting rod, and has higher positioning precision and working efficiency.
Description
Technical Field
The invention belongs to the field of tension plate processing, and particularly relates to a high-precision positioning system and a positioning method for connecting rod processing and feeding.
Background
The connecting rod plays the connection effect, belong to the comparatively important spare part of automobile manufacturing trade, present multi-link suspension, it not only can guarantee to possess certain travelling comfort, and the nature controlled also has very big promotion, multi-link hangs the optimum position that can realize the swizzle caster, the fore-and-aft direction power that comes from the road surface is reduced by a wide margin, thereby ride comfort and travelling comfort when improving acceleration and braking, the stability of straight line travel has also been guaranteed simultaneously, because the wheel lateral offset who leads to by the extension of coil spring or compression is very little, be difficult for causing the non-straight line to travel. When the multi-connecting rod is hung and contracted, the camber angle, the toe-in angle and a certain steering angle of the rear wheel can be automatically adjusted.
The automobile industry has provided the requirement of full automated processing to the connecting rod, and this company has designed a set of connecting rod transportation, beat transport, selective examination, pay-off, positive and negative detection, specification detection, material loading, bore hole processing, the automatic assembly line of unloading. When the boring machining is carried out, the connecting rod needs to be fed to the clamp through the six-axis robot, the clamp is laterally vertical, and boring is carried out through the horizontal machining center.
In the prior art, the outer side of the connecting rod is a casting surface, so that the precision is poor, and the feeding of the connecting rod is mainly positioned by an inner hole of a big head of the connecting rod, as shown in the attached figure 1 of the specification. However, the large-end inner hole positioning method requires a positioning component to be installed in the large-end inner hole of the connecting rod, which causes two problems: for example, the pin shaft positioning big end inner hole is adopted, and the pin shaft positioning big end inner hole needs to be installed below the connecting rod. Firstly, the difficulty is improved through spatial layout, through holes need to be bored in boring, the positioning assembly cannot be in contact with the inner wall of the large head, and abdication needs to be carried out; secondly, the increase of the positioning component at the big end of the connecting rod is easy to cause unsmooth chip removal during boring processing.
If a positioning assembly on the clamp is cancelled, the feeding positioning accuracy of the connecting rod is ensured completely by the aid of the repeated positioning accuracy of the six-axis robot and the gripper, and the feeding positioning accuracy is not feasible. At present, the repeated positioning precision of a connecting rod after feeding is required to reach +/-0.01 mm, and the repeated positioning precision of a six-axis robot is required to be 0.05-0.06 mm, so that the requirement is difficult to achieve.
Disclosure of Invention
Aiming at the defects in the prior art, the technical problem to be solved by the invention is that a positioning component cannot be arranged at the bottom of the big end of the connecting rod during boring the connecting rod, and the feeding and positioning precision of the connecting rod cannot be ensured by means of the repeated positioning precision of a six-axis robot.
The invention adopts the following technical scheme: a high accuracy positioning system for connecting rod processing material loading includes: the device comprises a clamping mechanism, a grabbing mechanism and a positioning mechanism, wherein the clamping mechanism is arranged on a clamp, the grabbing mechanism is arranged on a hand part of a six-axis robot, the positioning mechanism is a zero-point positioning pin, a male pin is arranged on the clamp on the side surface of the clamping mechanism, a female pin is arranged on the grabbing mechanism,
the clamping mechanism comprises a rotary pressing cylinder, an upper seat plate, a lower seat plate and a single-acting cylinder, the upper seat plate and the lower seat plate are vertically installed on the working surface of the clamp, the upper seat plate is used for placing a big head of a connecting rod, and the lower seat plate is used for placing a small head and part of a rod body of the connecting rod; the rotary pressing cylinder can clamp the upper surface of the connecting rod, a plurality of thimbles are arranged, the thimbles press the side surface of the connecting rod,
the grabbing mechanism comprises a tensioning cylinder, a base, a floating cylinder and a connecting seat, the connecting seat is detachably connected with the six-axis robot hand, the floating cylinder is arranged between the connecting seat and the base, the floating cylinder has two states of locking and loosening, and the base can axially float when the floating cylinder is loosened; the base is provided with two positioning tensioning pins which are horizontally and symmetrically arranged, and clamping jaws of the positioning tensioning pins can be reduced in diameter and expanded in diameter and can pull the connecting rod to a seat surface at the front part of the positioning tensioning pins; the top and the bottom of the seat surface are provided with air checking holes which are connected with an air supply pipe and an air pressure sensor,
the two male pins of the positioning mechanism are arranged on the working surface of the clamp and are positioned in the center between the two lower seat plates; the two female pins of the positioning mechanism are arranged on the base of the grabbing mechanism and are positioned in the center between the two positioning tensioning pins.
Furthermore, the fixture is divided into two stations which are turned over by 180 degrees, each station is provided with two groups of clamping mechanisms, and the connecting rod is machined through a horizontal double-spindle machining center.
Further, the upper seat plate is contacted with the big end of the connecting rod through at least 2 bosses which are uniformly distributed, and the bosses avoid the inner hole of the big end of the connecting rod.
Furthermore, the rotary pressing cylinder and the single acting cylinder are driven by hydraulic pressure.
Furthermore, the rotary pressing cylinders are three, two of the rotary pressing cylinders are positioned on the upper seat plate, the pressing rods can rotatably press the upper surface of the large head of the connecting rod, and the other rotary pressing cylinder is arranged on the lower seat plate and presses the small head of the connecting rod and the rod body.
Further, the male pin and the female pin are installed, and installation error compensation is carried out between the female pin and the positioning tensioning pin.
Correspondingly, the positioning method of the high-precision positioning system for the connecting rod machining loading is provided, and comprises the following steps:
the six-axis robot overturns the base to enable the working surface of the base to be horizontal, and the positioning tensioning pin is close to the feeding table;
the clamping jaw of the positioning tensioning pin is contracted and extends into an inner hole of the big end of the connecting rod, and then the clamping jaw is expanded to clamp the connecting rod;
the positioning tensioning pin pulls the connecting rod up to the seat surface, the air pressure value of the air checking hole reaches the designated pressure, the pulling-up is stopped, the next action is carried out,
the six-axis robot overturns the base to ensure that the working surface of the base is vertical and approaches to the clamp, the floating cylinder is locked at the moment,
the rotary pressing cylinder of the clamping mechanism is in an open state, the single acting cylinder is in a retraction state, the connecting rod is close to the upper seat plate and the lower seat plate,
the male pin of the zero point positioning pin is inserted into the female pin joint, the single acting cylinder is tightly attached to the side surface of the connecting rod, the floating cylinder is unlocked and loosened,
the zero point positioning pin and the female pin contract, the female pin drives the base to finely adjust the axial position, the floating cylinder is in floating fit,
the zero point positioning pin is clamped in place, the floating cylinder is locked,
the rotary pressing cylinder drives the pressing rod to press the big end and the small end of the connecting rod,
when the gripping apparatus leaves, firstly, the clamping jaw of the positioning tensioning pin contracts; then, the female pin of the zero point positioning pin loosens the male pin, the base is far away from the clamp, and positioning is completed.
The invention has the beneficial effects that:
1. the invention discloses a high-precision positioning system and a positioning method for connecting rod processing feeding, which are characterized in that a male pin on a clamp and a female pin on a grabbing base are used for tensioning and positioning, and a floating cylinder is used for shaft compensation, so that the influence of the position error of a zero point positioning pin is avoided, and the influence of the traditional positioning method on the boring processing of a large end of a connecting rod is avoided;
2. the main positioning parts of the invention are a positioning tensioning pin and a zero point positioning pin, the repeated positioning precision of the positioning tensioning pin and the zero point positioning pin is +/-0.005 mm, the repeated positioning precision of the feeding of the connecting rod can reach +/-0.01 mm through compensation, and the positioning precision is higher;
3. according to the invention, the six-axis robot is used for feeding 2 connecting rods each time, so that the feeding operation is automatically completed, and the working efficiency is higher.
Drawings
FIG. 1 is a schematic view of a conventional connecting rod installation as described in the background art;
FIG. 2 is a perspective view of a clamping mechanism of the high-precision positioning system for connecting rod machining loading according to the present invention;
FIG. 3 is an enlarged schematic view of portion A of FIG. 2;
FIG. 4 is a schematic perspective view of a six-axis robot and a gripping mechanism of the high-precision positioning system for connecting rod processing and feeding of the present invention;
FIG. 5 is a schematic perspective view of a gripping mechanism of the high precision positioning system for connecting rod processing and feeding of the present invention;
FIG. 6 is a schematic front view of a gripping mechanism of the high-precision positioning system for connecting rod processing and feeding of the invention;
FIG. 7 is an exploded view of the floating cylinder assembly of the present invention;
fig. 8 is a schematic flow chart of the high-precision method for connecting rod machining feeding of the invention.
In the figure: 1. a clamp;
2. a clamping mechanism; 201. rotating the pressing cylinder; 202. an upper seat plate; 203. a lower seat plate; 204. a single acting cylinder;
3. a grabbing mechanism; 301. positioning the tensioning pin; 302. an air detection hole; 303. a base; 304. a floating cylinder; 305. a connecting seat;
401. a male pin; 402. a female pin;
5. a six-axis robot;
6. a connecting rod.
Detailed Description
The details of the present invention are described below in conjunction with the accompanying drawings and specific embodiments.
As shown in fig. 2 and 4, a high-precision positioning system for connecting rod machining feeding comprises: fixture 2, snatch mechanism 3, positioning mechanism, fixture 2 installs on anchor clamps 1, it installs 5 hands at six robots to snatch mechanism 3, positioning mechanism is the locating pin at zero point, and on public round pin 401 installed fixture 2 side's anchor clamps 1, female round pin 402 was installed and is being snatched on mechanism 3.
As shown in fig. 3, the clamping mechanism 2 comprises a rotary pressing cylinder 201, an upper seat plate 202, a lower seat plate 203 and a single-acting cylinder 204, wherein the upper seat plate 202 and the lower seat plate 203 are vertically installed on the working surface of the clamp 1, the upper seat plate 202 is used for placing a large head of the connecting rod 6, and the lower seat plate 203 is used for placing a small head and a part of a rod body of the connecting rod 6; the rotary pressing cylinder 201 can clamp the upper surface of the connecting rod 6, the number of the ejector pins is multiple, and the ejector pins press the side surface of the connecting rod 6.
As shown in fig. 5, 6, and 7, the grasping mechanism 3 includes a tensioning cylinder, a base 303, a floating cylinder 304, and a connecting base 305, the connecting base 305 is detachably connected to the hand of the six-axis robot 5, the floating cylinder 304 is installed between the connecting base 305 and the base 303, the floating cylinder 304 has two states of locking and releasing, and the base 303 can axially float when being released; the base 303 is provided with two positioning tensioning pins 301, the two positioning tensioning pins 301 are horizontally and symmetrically arranged, clamping jaws of the positioning tensioning pins 301 can be reduced in diameter and expanded in diameter, and the connecting rod 6 can be pulled to a seat surface at the front part of the positioning tensioning pins 301; air checking holes 302 are formed in the top and the bottom of the seat face, and the air checking holes 302 are connected with an air supply pipe and an air pressure sensor.
As shown in fig. 3 and 6, two male pins 401 of the positioning mechanism are arranged on the working surface of the clamp 1 and are positioned at the central position between the two lower seat plates 203; the two female pins 402 of the positioning mechanism are arranged on the base 303 of the grabbing mechanism 3 and are positioned at the central position between the two positioning tensioning pins 301.
In one example, the clamp 1 is divided into two stations which are turned over by 180 degrees, each station is provided with two groups of clamping mechanisms 2, and the connecting rod 6 is machined through a horizontal double-spindle machining center.
In one example, the upper seat plate 202 is in contact with the big end of the connecting rod 6 through at least 2 uniformly arranged bosses which avoid the inner hole of the big end of the connecting rod 6.
In one example, the rotary pressing cylinder 201 and the single acting cylinder 204 are hydraulically driven.
In one example, the rotary pressing cylinder 201 has three, two of which are located on the upper seat plate 202, the pressing rod can rotatably press the upper surface of the big head of the connecting rod 6, and the other one is mounted on the lower seat plate 203, and presses the small head and the rod body of the connecting rod 6.
In one example, after the male pin 401 and the female pin 402 are installed, installation error compensation is performed between the female pin 402 and the positioning tensioning pin 301.
As shown in fig. 8, a positioning method of a high-precision positioning system for connecting rod machining loading is disclosed, which comprises the following steps:
s1, a six-axis robot 5 overturns a base 303 to enable the working surface of the base 303 to be horizontal, and a positioning tensioning pin 301 is close to a feeding table;
s2, reducing the clamping jaw of the positioning tensioning pin 301, extending into an inner hole of a large end of the connecting rod 6, expanding the clamping jaw, and clamping the connecting rod 6;
s3, the positioning tensioning pin 301 pulls the connecting rod 6 upwards to the seat surface, the air pressure value of the air detection hole 302 reaches the designated pressure, the pulling-up is stopped, the next action is carried out,
s4, the six-axis robot 5 turns over the base 303 to enable the working surface of the base 303 to be vertical and to approach the clamp 1, at the moment, the floating cylinder 304 is locked,
s5, the rotary pressing cylinder 201 of the clamping mechanism 2 is in an opening state, the single acting cylinder 204 is in a withdrawing state, the connecting rod 6 is close to the upper seat plate 202 and the lower seat plate 203,
s6, inserting a male pin 401 of the zero point positioning pin into an interface of a female pin 402, tightly attaching the single acting cylinder 204 to the side surface of the connecting rod 6, unlocking and loosening the floating cylinder 304,
s7, the zero point positioning pin female pin 402 contracts, the female pin 402 drives the base 303 to finely adjust the axial position, the floating cylinder 304 is in floating fit,
s8, clamping the zero point positioning pin in place, locking the floating cylinder 304,
s9, rotating the pressing cylinder 201 to drive the pressing rod to press the big head and the small head of the connecting rod 6,
s10, when the gripper leaves, firstly, the clamping jaw of the positioning tensioning pin 301 contracts; then, the female pin 402 of the zero point positioning pin releases the male pin 401, and the base 303 is moved away from the jig 1, and the positioning is completed.
The working principle of the invention is as follows:
the invention relates to a high-precision positioning system machine positioning method for connecting rod machining feeding, which aims to solve the problem of repeated positioning in a boring machining feeding stage of a connecting rod 6, and the connecting rod 6 can be used as a positioning reference and is only a large-head inner hole, but if the large-head inner hole is used as a reference, a boring cutter cannot be avoided in subsequent boring machining, and unsmooth chip removal is also caused, so that the positioning system is placed on a clamp 1 by a selected technical path.
The invention adopts a group of two additionally arranged zero point positioning pins, wherein a male pin 401 is arranged in the center of the base plates of the two connecting rods 6, a female pin 402 is arranged in the center of the base 303 of the grabbing mechanism 3, and the zero point positioning pins can adjust the position of the female pin 402 when the male pin 401 is matched with the female pin 402, so that a floating cylinder 304 is arranged on the base 303 where the female pin 402 is arranged as a shaft compensation mechanism, the floating cylinder 304 is locked when being plugged, floats when being plugged and tensioned, and is locked after being positioned.
In order to further improve the repeated positioning precision, the clamping paw during the feeding of the connecting rod 6 abandons the conventional pneumatic paw, but adopts the positioning tensioning pin 301, the positioning tensioning pin 301 realizes strong tensioning force and clamping force through a force multiplying mechanism, and even if the air pressure is reduced to zero, the safety self-locking can be formed through a wedge mechanism and an internal spring. The working state is that firstly, air pressure is supplied to the air supply port for releasing, self-locking of the internal force doubling mechanism is released under the action of the air pressure, the piston rod moves forwards, the clamping jaw shrinks, and the clamping jaw is inserted into the big head of the connecting rod 6; then withdrawing the air pressure of the release supply port and supplying the air pressure to the clamp supply port; under the action of self-locking spring force and air pressure, the internal force multiplying mechanism can pull down the piston rod to expand the diameter of the clamping claw. And finally, after the clamping and tensioning workpiece is gripped, the force acts in the pull-back direction to pull the workpiece to the seat surface. The seat surface is provided with an air check hole 302, and when the air pressure reaches a preset value, the connecting rod 6 is shown to be attached to the seat surface, so that the axial deviation of the inner hole of the big head of the connecting rod 6 is reduced.
After the positioning is finished, the rotary pressing cylinder 201 presses the big head and the small head of the connecting rod 6, and the gripping apparatus is separated. The tensioning pin 301 must first be separated and then the zero point locating pin must be separated. If the zero point positioning pin is loosened, the positioning tensioning pin 301 is not loosened, and the connecting rod is driven to deviate.
In the invention, accumulated errors exist in the installation process of the positioning tensioning pin 301 and the male pin 401 and the female pin 402 of the zero point positioning pin, so that after the installation is finished, the actual position needs to be measured, and the errors need to be compensated.
In conclusion, the tensioning positioning is carried out through the male pin on the clamp and the female pin on the grabbing base, the shaft compensation is carried out through the floating cylinder, the influence of the traditional positioning method on the boring processing of the large end of the connecting rod is avoided, and the positioning precision and the working efficiency are high.
The foregoing shows and describes the general principles, principal features and advantages of the invention. It should be understood by those skilled in the art that the above-mentioned embodiments are only for illustrating the technical idea and features of the present invention, and the purpose is to enable those skilled in the art to understand the content of the present invention and implement it, and not to limit the protection scope of the present invention by this, and all equivalent changes or modifications made according to the spirit of the present invention should be covered in the protection scope of the present invention.
Claims (2)
1. The utility model provides a high accuracy positioning system for connecting rod processing material loading which characterized in that: the method comprises the following steps: the automatic grabbing device comprises a clamping mechanism (2), a grabbing mechanism (3) and a positioning mechanism, wherein the clamping mechanism (2) is installed on a clamp (1), the grabbing mechanism (3) is installed at the hand of a six-axis robot (5), the positioning mechanism is a zero-point positioning pin, a male pin (401) is installed on the clamp (1) on the side face of the clamping mechanism (2), a female pin (402) is installed on the grabbing mechanism (3),
the clamping mechanism (2) comprises a rotary pressing cylinder (201), an upper seat plate (202), a lower seat plate (203) and a single-acting cylinder (204), the upper seat plate (202) and the lower seat plate (203) are vertically installed on the working surface of the clamp (1), the upper seat plate (202) is used for placing the big head of the connecting rod (6), and the lower seat plate (203) is used for placing the small head and part of the rod body of the connecting rod (6); the rotary pressing cylinder (201) can clamp the upper surface of the connecting rod (6), a plurality of thimbles are arranged, the thimbles press the side surface of the connecting rod (6),
the grabbing mechanism (3) comprises a tensioning cylinder, a base (303), a floating cylinder (304) and a connecting seat (305), the connecting seat (305) is detachably connected with the hand part of the six-axis robot (5), the floating cylinder (304) is installed between the connecting seat (305) and the base (303), the floating cylinder (304) has two states of locking and loosening, and the base (303) can axially float when being loosened; the base (303) is provided with two positioning tensioning pins (301), the two positioning tensioning pins (301) are horizontally and symmetrically arranged, clamping jaws of the positioning tensioning pins (301) can be reduced in diameter and expanded in diameter, and the connecting rod (6) can be pulled to a seat surface at the front part of the positioning tensioning pins (301); the top and the bottom of the seat surface are provided with air checking holes (302), the air checking holes (302) are connected with an air supply pipe and an air pressure sensor,
two male pins (401) of the positioning mechanism are arranged on the working surface of the clamp (1) and are positioned in the center between the two lower seat plates (203); two female pins (402) of the positioning mechanism are arranged on a base (303) of the grabbing mechanism (3) and positioned at the central position between the two positioning tensioning pins (301),
the fixture (1) is divided into two stations which are turned over by 180 degrees, each station is provided with two groups of clamping mechanisms (2), the connecting rod (6) is processed by a horizontal double-spindle processing center,
the upper seat plate (202) is contacted with the big end of the connecting rod (6) through at least 2 bosses which are evenly distributed, the bosses avoid the inner hole of the big end of the connecting rod (6),
the rotary pressing cylinder (201) and the single acting cylinder (204) are driven by hydraulic pressure,
three rotary pressing cylinders (201) are provided, two of which are positioned on the upper seat plate (202), the pressing rod can rotate to press the upper surface of the big head of the connecting rod (6), the other one is arranged on the lower seat plate (203), the small head of the pressing connecting rod (6) and the rod body,
and after the male pin (401) and the female pin (402) are installed, the installation error compensation is carried out between the female pin (402) and the positioning tensioning pin (301).
2. A positioning method of a high-precision positioning system for connecting rod machining feeding, which uses the high-precision positioning system for connecting rod machining feeding according to claim 1, characterized in that: the method comprises the following steps:
s1, a six-axis robot (5) overturns a base (303) to enable the working surface of the base (303) to be horizontal, and a positioning tensioning pin (301) is close to a feeding table;
s2, reducing the clamping jaw of the positioning tensioning pin (301), extending into an inner hole of a large end of the connecting rod (6), expanding the clamping jaw, and clamping the connecting rod (6);
s3, the positioning tensioning pin (301) pulls up the connecting rod (6) to the seat surface, the air pressure value of the air detection hole (302) reaches the designated pressure, the pulling-up is stopped, the next action is carried out,
s4, the six-axis robot (5) overturns the base (303) to enable the working surface of the base (303) to be vertical and to approach the clamp (1), the floating cylinder (304) is locked at the moment,
s5, a rotary pressing cylinder (201) of the clamping mechanism (2) is in an opening state, a single acting cylinder (204) is in a withdrawing state, a connecting rod (6) is close to an upper seat plate (202) and a lower seat plate (203),
s6, inserting a male pin (401) of the zero point positioning pin into an interface of a female pin (402), tightly attaching a single-acting cylinder (204) to the side surface of the connecting rod (6), unlocking and loosening a floating cylinder (304),
s7, the zero point positioning pin female pin (402) contracts, the female pin (402) drives the base (303) to finely adjust the axial position, the floating cylinder (304) is in floating fit, the zero point positioning pin can adjust the position of the female pin (402) when the male pin (401) is matched with the female pin (402), therefore, the floating cylinder (304) is installed on the base (303) where the female pin (402) is located as a shaft compensation mechanism,
s8, clamping the zero point positioning pin in place, locking the floating cylinder (304),
s9, rotating the pressing cylinder (201) to drive the pressing rod to press the big end and the small end of the connecting rod (6),
s10, when the gripping apparatus is separated, firstly, a clamping jaw of the positioning tensioning pin (301) contracts; then, the female pin (402) of the zero point positioning pin loosens the male pin (401), the base (303) is far away from the clamp (1), and positioning is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110488306.6A CN113182889B (en) | 2021-05-06 | 2021-05-06 | High-precision positioning system and positioning method for connecting rod machining feeding |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| US6412846B1 (en) * | 2000-08-31 | 2002-07-02 | Demag Cranes & Components Gmbh | Gripper with four gripper jaws which can be moved in radially outward direction |
| TW592882B (en) * | 2001-12-19 | 2004-06-21 | Erowa Ag | Clamping apparatus with a clamping chuck and a work piece carrier releasable connectable thereto |
| CN203092585U (en) * | 2013-05-29 | 2013-07-31 | 丰汉电子(上海)有限公司 | Robot-based automatic positioning correction mechanism for embedding of cylinder sleeves |
| CN105855981B (en) * | 2015-01-18 | 2018-09-25 | 杭州三奥智能科技有限公司 | A kind of manipulator floating graping chaw |
| CN105666086B (en) * | 2016-03-31 | 2018-09-14 | 江苏元泰智能科技股份有限公司 | Axis body assemble mechanism |
| CN106216985A (en) * | 2016-08-27 | 2016-12-14 | 安徽万朗磁塑股份有限公司 | A kind of door seal gum cover locating self-adaption coordinate handgrip |
| CN206475175U (en) * | 2017-02-16 | 2017-09-08 | 戴大棋 | Floating clamp and the robot with it |
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| CN208601062U (en) * | 2018-06-27 | 2019-03-15 | 雄名航空科工（芜湖）股份有限公司 | A kind of elder generation's inner support outer clip fixture again |
| CN110170868B (en) * | 2019-06-25 | 2021-03-02 | 国营第六一六厂 | Positioning device and method for machining bush holes in two ends of connecting rod |
| CN210703060U (en) * | 2019-07-19 | 2020-06-09 | 上海兰盈智能科技有限公司 | Clamping projection welding part feeding structure with finger cylinder and floating head in linkage |
| CN211728413U (en) * | 2019-10-11 | 2020-10-23 | 河北力准机械制造有限公司 | Connecting rod boring machine anchor clamps |
| CN212122256U (en) * | 2020-03-16 | 2020-12-11 | 杭州特翌智科技有限公司 | Automatic butt joint device for assembly of aero-engine components |
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Denomination of invention: A high-precision positioning system and positioning method for connecting rod machining and feeding Granted publication date: 20221018 Pledgee: Bank of China Limited by Share Ltd. Yancheng branch Pledgor: Jiangsu Weima Yueda Intelligent Equipment Co.,Ltd. Registration number: Y2024980007373 |