CN113369923B - Robot joint clamping tool, machining equipment and machining method - Google Patents
Robot joint clamping tool, machining equipment and machining method Download PDFInfo
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- CN113369923B CN113369923B CN202110768680.1A CN202110768680A CN113369923B CN 113369923 B CN113369923 B CN 113369923B CN 202110768680 A CN202110768680 A CN 202110768680A CN 113369923 B CN113369923 B CN 113369923B
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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
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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
- 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
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Abstract
The invention provides a robot joint clamping tool, machining equipment and a machining method, wherein the robot joint clamping tool comprises a left bearing seat, a right bearing seat, a main driving mechanism, a mounting plate, a left clamping assembly and a right clamping assembly; the left bearing seat and the right bearing seat are respectively and rotatably connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are respectively connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are used for clamping a workpiece, the left clamping assembly is used for clamping the outer side wall of the workpiece, and the right clamping assembly is used for connecting the bottom of the workpiece; the workpiece comprises a blank or a semi-finished product, the blank can be made into the semi-finished product after being subjected to numerical milling, and the semi-finished product can be made into a robot joint after being subjected to numerical milling. The invention has the advantage that the same numerical control machine can be used for processing the inner side wall and the outer side wall of the workpiece.
Description
Technical Field
The invention belongs to the field of four-axis numerical milling, and particularly relates to a robot joint clamping tool, machining equipment and a machining method.
Background
In order to improve the efficiency of four-axis machining, a plurality of clamping stations are arranged on a four-axis machining tool in the prior art, for example, chinese patent with publication number CN209698531U discloses a four-axis rotary machining tool for a telescope shell blank, which comprises a rotary driving device arranged on a machine tool guide rail, a rotary frame arranged on the rotary driving device, and at least one workpiece clamping mechanism arranged along the direction of a rotation axis, wherein the rotation axis of the rotary frame is parallel to the machine tool guide rail, and the rotary frame circumferentially rotates along the rotation axis through the rotary driving device; the workpiece clamping mechanism comprises a workpiece supporting plate, a positioning structure and a pressing mechanism, the workpiece supporting plate is arranged on the rotating frame, the positioning structure is arranged on the workpiece supporting plate, the positioning structure positions the machined workpiece, the pressing mechanisms are respectively arranged on the rotating frames on the two sides of the workpiece supporting plate, and the machined workpiece is pressed on the workpiece supporting plate through the pressing mechanisms.
The prior art has the problem that the workpiece clamping mechanism is abutted against the outer surface of the workpiece, and the clamped surface of the workpiece cannot be machined, so that only the surface of the upper part of the workpiece can be machined.
Therefore, the prior art is in need of improvement.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: only the upper surface of the workpiece can be machined.
In order to achieve the purpose, the specific technical scheme of the invention is as follows:
a robot joint clamping tool comprises a left bearing seat, a right bearing seat, a main driving mechanism, a mounting plate, a left clamping assembly and a right clamping assembly; the left bearing seat and the right bearing seat are respectively and rotatably connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are respectively connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are used for clamping a workpiece, the left clamping assembly is used for clamping the outer side wall of the workpiece, and the right clamping assembly is used for connecting the bottom of the workpiece; the workpiece comprises a blank or a semi-finished product, the blank can be made into the semi-finished product after being subjected to numerical milling, and the semi-finished product can be made into a robot joint after being subjected to numerical milling.
As a further improvement of the above technical scheme, the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping claw and a rear clamping claw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding towards the right is arranged on the right side wall of the positioning table, the first positioning boss is used for connecting the workpiece, and the driving mechanism is connected with the front clamping claw and the rear clamping claw and drives the front clamping claw and the rear clamping claw to be close to or far away from each other.
As a further improvement of the above technical scheme, the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a round-angle polygon, the second positioning boss is used for being connected with the workpiece, the base and the mounting plate are respectively provided with an avoidance through hole, a stud of the screw penetrates through the avoidance through hole, and the stud of the screw is connected with the workpiece.
A robot joint machining device comprises the robot joint clamping tool, and further comprises a controller, a left machining manipulator, a right machining manipulator and a transfer manipulator, wherein the controller is electrically connected with the left machining manipulator, the right machining manipulator and the transfer manipulator, a plurality of milling tools are connected to the left machining manipulator and the right machining manipulator, and the left machining manipulator and the right machining manipulator are respectively used for machining workpieces on a left clamping assembly and a right clamping assembly; the transfer manipulator is used for clamping a workpiece to the left clamping assembly or the right clamping assembly, or the transfer manipulator is used for taking the workpiece down from the left clamping assembly or the right clamping assembly.
As a further improvement of the above technical scheme, the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping jaw and a rear clamping jaw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding rightwards is arranged on the right side wall of the positioning table, the first positioning boss is used for connecting the workpiece, and the driving mechanism is connected with the front clamping jaw and the rear clamping jaw and drives the front clamping jaw and the rear clamping jaw to approach or separate from each other; the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a rounded polygon, the second positioning boss is used for connecting the workpiece, avoidance through holes are formed in the base and the mounting plate, a stud of the screw penetrates through the avoidance through holes, and the stud of the screw is connected with the workpiece; still include lathe, vice actuating mechanism and screwdriver, vice actuating mechanism, left bearing frame with right side bearing frame all with the lathe is connected, vice actuating mechanism with the screwdriver transmission is connected, the screwdriver is located dodge the below of through-hole, the controller with main actuating mechanism with vice actuating mechanism electricity is all connected.
A robot joint machining method based on any one of the above robot joint machining apparatuses, comprising the steps of: s2, under the condition that the left clamping component and the right clamping component are both provided with workpieces, the left manipulator and the right manipulator are used for processing the two workpieces into a semi-finished product and a robot joint finished product respectively; then, step S3 or S4 is performed; s3, taking down the finished robot joint product; taking the semi-finished product down from the left clamping assembly and installing the semi-finished product on the right clamping assembly, or taking the semi-finished product down from the right clamping assembly and installing the semi-finished product on the left clamping assembly; installing a blank on the left clamping component or the right clamping component which does not clamp the workpiece; processing the two workpieces into a semi-finished product and a robot joint finished product by using a left manipulator and a right manipulator respectively; then, step S4 is performed; s4, taking down the finished robot joint product, and installing a blank on the left clamping component or the right clamping component which does not clamp the workpiece; return is made to step S2.
As a further improvement of the above technical solution, the method further includes step S1; s1, taking a metal blank, respectively machining a side step hole and a bottom step hole on one side and the bottom of the metal blank, and drilling a connecting hole at the bottom of the metal blank, wherein the connecting hole is used for connecting the screw; then, step S2 is performed.
As a further improvement of the above technical scheme, the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping jaw and a rear clamping jaw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding rightwards is arranged on the right side wall of the positioning table, the first positioning boss is used for connecting the workpiece, and the driving mechanism is connected with the front clamping jaw and the rear clamping jaw and drives the front clamping jaw and the rear clamping jaw to approach or separate from each other; the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a rounded polygon, the second positioning boss is used for connecting the workpiece, avoidance through holes are formed in the base and the mounting plate, a stud of the screw penetrates through the avoidance through holes, and the stud of the screw is connected with the workpiece; the automatic screw driving device comprises a main driving mechanism, a left bearing seat, a right bearing seat, a driver, a controller, a screw driver and a clamping device, and is characterized by further comprising a machine tool, an auxiliary driving mechanism and the driver, wherein the auxiliary driving mechanism, the left bearing seat and the right bearing seat are all connected with the machine tool; the method for taking the semi-finished product down from the left clamping assembly or the right clamping assembly specifically comprises the following steps: the driving mechanism drives the front clamping jaw and the rear clamping jaw to move away from each other; or the auxiliary driving mechanism drives a screwdriver to unscrew the screw from the workpiece, and the screw is separated from the avoiding through hole and then is connected with the screwdriver; taking down the semi-finished product or the finished product of the robot joint on the left clamping assembly or the right clamping assembly by using a transfer manipulator; the method for clamping the workpiece on the left clamping assembly or the right clamping assembly specifically comprises the following steps: connecting the workpiece with the first positioning boss or the second positioning boss by using a transfer manipulator; the driving mechanism drives the front clamping jaw and the rear clamping jaw to approach each other to clamp the workpiece; or the auxiliary driving mechanism drives the screwdriver to connect the screw with the connecting hole on the workpiece, and the auxiliary driving mechanism drives the screwdriver to move downwards for resetting.
The invention has the beneficial effects that: machining blanks on the left clamping assembly or the right clamping assembly through a plurality of externally arranged milling cutters, wherein the blanks are machined into semi-finished products, and the inner side wall or the outer side wall of each semi-finished product is subjected to a plurality of milling forming; and taking the semi-finished product down from the left clamping assembly and clamping the semi-finished product on the right clamping assembly, or taking the semi-finished product down from the right clamping assembly and clamping the semi-finished product on the left clamping assembly, processing the semi-finished product into a finished product, and processing and forming the inner side wall and the outer side wall of the finished product. The inner side wall and the outer side wall of the workpiece can be machined by the same numerical control machine.
In addition, the workpieces on the left clamping assembly and the right clamping assembly are machined by the two sets of milling cutters which work independently, the workpieces can be machined normally no matter whether the clamped workpieces are blanks or semi-finished products, and the condition that the workpieces are mistakenly assembled and the cutter collision occurs can be avoided.
Drawings
FIG. 1 is one of the schematic views of a robot joint;
FIG. 2 is a second schematic view of a robot joint;
FIG. 3 is a front view of the robotic joint gripping tool of the present invention;
FIG. 4 is a top view of the robotic joint gripping tool of the present invention;
FIG. 5 is a sectional view A-A of FIG. 4;
FIG. 6 is an exploded view of the robot joint gripping tool of the present invention;
fig. 7 is a schematic view of the robotic joint machining apparatus of the present invention.
In the figure: 1-robot joint, 11-side stepped hole, 12-bottom stepped hole, 13-connecting hole, 2-robot joint clamping tool, 21-left bearing seat, 22-right bearing seat, 23-main driving mechanism, 24-mounting plate, 25-left clamping assembly, 251-positioning table, 252-first positioning boss, 253-driving mechanism, 254-front clamping claw, 255-rear clamping claw, 26-right clamping assembly, 261-base, 262-second positioning boss, 263-avoiding through hole, 27-screw, 3-left processing manipulator, 4-right processing manipulator, 5-transfer manipulator, 6-machine tool, 7-auxiliary driving mechanism and 8-screwdriver.
Detailed Description
The invention is described in detail below with reference to specific embodiments.
As shown in fig. 3 to 6, the robot joint clamping tool of the present invention specifically includes:
a robot joint clamping tool 2 comprises a left bearing seat 21, a right bearing seat 22, a main driving mechanism 23, a mounting plate 24, a left clamping assembly 25 and a right clamping assembly 26; the left bearing seat 21 and the right bearing seat 22 are respectively and rotatably connected with the left part and the right part of the mounting plate 24, the left clamping assembly 25 and the right clamping assembly 26 are respectively connected with the left part and the right part of the mounting plate 24, the left clamping assembly 25 and the right clamping assembly 26 are used for clamping a workpiece, the left clamping assembly 25 is used for clamping the outer side wall of the workpiece, and the right clamping assembly 26 is used for connecting the bottom of the workpiece; the workpiece comprises a blank or a semi-finished product, the blank can be made into the semi-finished product after being subjected to numerical milling, and the semi-finished product can be made into the robot joint 1 after being subjected to numerical milling.
As shown in fig. 1-2, which are schematic diagrams of a robot joint 1 of the present invention, the robot joint 1 is in a housing shape, a side stepped hole 11 and a bottom stepped hole 12 are respectively formed at the bottom and the side of the robot joint 1, and both the outer surface and the inner surface of the robot joint 1 need to be milled.
When the blank or the semi-finished product is clamped on the left clamping assembly 25, the external milling tools can penetrate through the inner side wall of the step hole machining robot joint 1; when the blank or semi-finished product is clamped on the right clamping assembly 26, the external milling tools can machine the outer side wall of the robot joint 1.
By adopting the robot joint clamping tool 2, the blanks on the left clamping assembly 25 or the right clamping assembly 26 are processed through a plurality of milling cutters arranged outside, the blanks are processed into semi-finished products, and the inner side wall or the outer side wall of each semi-finished product is subjected to a plurality of milling forming; and taking the semi-finished product off the left clamping assembly 25 and clamping the semi-finished product on the right clamping assembly 26, or taking the semi-finished product off the right clamping assembly 26 and clamping the semi-finished product on the left clamping assembly 25, processing the semi-finished product into a finished product, and processing and molding the inner side wall and the outer side wall of the finished product.
The invention has the advantage that the same numerical control machine 6 can be used for processing the inner side wall and the outer side wall of the workpiece. In addition, the workpieces on the left clamping assembly 25 and the right clamping assembly 26 are machined by two groups of milling cutters which work independently, the workpieces can be machined normally no matter whether the clamped workpieces are blanks or semi-finished products, and the condition that the workpieces are mistakenly assembled to cause cutter collision can be avoided.
In some embodiments, the left clamping assembly 25 includes a positioning table 251, a driving mechanism 253, a front clamping jaw 254 and a rear clamping jaw 255, the driving mechanism 253 is connected to the top of the positioning table 251, the bottom of the positioning table 251 is connected to the top of the mounting plate 24, a first positioning boss 252 is provided on the right side wall of the positioning table 251, the first positioning boss 252 is used for connecting a workpiece, and the driving mechanism 253 is connected to the front clamping jaw 254 and the rear clamping jaw 255 and drives the front clamping jaw 254 and the rear clamping jaw 255 to approach to or move away from each other. In the embodiment of the left clamping assembly 25, the first positioning boss 252 is used for connecting the workpiece side stepped hole 11, and the front clamping claw 254 and the rear clamping claw 255 are used for clamping the surface of the workpiece, so that the workpiece bottom stepped hole 12 can be placed upwards, an external manipulator can extend into the workpiece from above to process the inner side wall of the workpiece, the inner side wall of the blank is processed to form a semi-finished product, and the semi-finished product of which the outer side wall is processed can be processed to form a finished product of the robot joint 1. The first locating boss 252 functions to locate the workpiece relative to one another and the front and rear clamping jaws 254, 255 function to secure the workpiece.
In some embodiments, the right clamping assembly 26 includes a base 261 and a screw 27, a second positioning boss 262 protruding upward is provided on the base 261, a top projection of the second positioning boss 262 is a rounded polygon, the second positioning boss 262 is used for connecting a workpiece, an avoiding through hole 263 is provided on both the base 261 and the mounting plate 24, a stud of the screw 27 passes through the avoiding through hole 263, and a stud of the screw 27 is connected to the workpiece. The second positioning boss 262 plays a role of positioning with the workpiece, the second positioning boss 262 is used for connecting a stepped hole at the bottom of the workpiece, and the screw 27 plays a role of fixing the workpiece. The right clamping assembly 26 of the present embodiment is only connected to the bottom of the workpiece, facilitating the machining of the outer sidewall of the workpiece.
Fig. 7 shows an embodiment of the robotic joint machining device according to the invention, in particular:
the robot joint clamping tool comprises the robot joint clamping tool 2, and further comprises a controller, a left machining manipulator 3, a right machining manipulator 4 and a transfer manipulator 5, wherein the controller is electrically connected with the left machining manipulator 3, the right machining manipulator 4 and the transfer manipulator 5, a plurality of milling tools are connected to the left machining manipulator 3 and the right machining manipulator 4, and the left machining manipulator 3 and the right machining manipulator 4 are respectively used for machining workpieces on a left clamping assembly 25 and a right clamping assembly 26; the transfer robot 5 is used to clamp the workpiece to the left clamping assembly 25 or the right clamping assembly 26, or the transfer robot 5 is used to remove the workpiece from the left clamping assembly 25 or the right clamping assembly 26. In the robot joint machining equipment, the left machining manipulator 3 and the right machining manipulator 4 are respectively used for machining the inner side wall and the outer side wall of the robot joint 1, and the transfer manipulator 5 is used for carrying workpieces or finished products of the robot joint 1, so that automatic feeding, blanking and digital milling are realized.
In a preferred embodiment, the left clamping assembly 25 comprises a positioning table 251, a driving mechanism 253, a front clamping jaw 254 and a rear clamping jaw 255, the driving mechanism 253 is connected with the top of the positioning table 251, the bottom of the positioning table 251 is connected with the top of the mounting plate 24, a first positioning boss 252 protruding rightwards is arranged on the right side wall of the positioning table 251, the first positioning boss 252 is used for connecting a workpiece, and the driving mechanism 253 is connected with the front clamping jaw 254 and the rear clamping jaw 255 and drives the front clamping jaw 254 and the rear clamping jaw 255 to approach to or move away from each other; the right clamping assembly 26 comprises a base 261 and a screw 27, wherein a second positioning boss 262 protruding upwards is arranged on the base 261, the overlooking projection of the second positioning boss 262 is a rounded polygon, the second positioning boss 262 is used for connecting a workpiece, an avoiding through hole 263 is arranged on the base 261 and the mounting plate 24, a stud of the screw 27 penetrates through the avoiding through hole 263, and the stud of the screw 27 is connected with the workpiece; the automatic control device is characterized by further comprising a machine tool 6, an auxiliary driving mechanism 7 and a screwdriver 8, wherein the auxiliary driving mechanism 7, a left bearing seat 21 and a right bearing seat 22 are all connected with the machine tool 6, the auxiliary driving mechanism 7 is in transmission connection with the screwdriver 8, the screwdriver 8 is arranged below the avoidance through hole 263, and the controller is electrically connected with the main driving mechanism 23 and the auxiliary driving mechanism 7. The main driving mechanism 23 can be a servo motor and a rotary cylinder; the auxiliary driving mechanism 7 can be a combination of a servo motor and a linear motor or an air cylinder, and the auxiliary driving mechanism 7 can also be a combination of a rotary air cylinder and a linear motor or an air cylinder. The advantage of this embodiment is, can control main actuating mechanism 23 and the output power of vice actuating mechanism 7 through the controller, reaches the effect of self-holding and unclamping the work piece automatically, and the transfer manipulator 5 that deuterogamies, the robot joint machining equipment of this embodiment can be automatically with the work piece centre gripping on robot joint centre gripping frock 2 or take off work piece or robot joint from robot joint centre gripping frock 2 automatically.
The invention also provides a robot joint 1 machining method, and the robot joint machining equipment based on any one of the robot joints comprises the following steps: s2, under the condition that the left clamping component 25 and the right clamping component 26 are both provided with workpieces, the left processing manipulator 3 and the right processing manipulator 4 are used for processing the two workpieces into a semi-finished product and a finished product of the robot joint 1 respectively; then, step S3 or S4 is performed; s3, taking down the finished product of the robot joint 1; taking the semi-finished product off the left clamping assembly 25 and installing the semi-finished product on the right clamping assembly 26, or taking the semi-finished product off the right clamping assembly 26 and installing the semi-finished product on the left clamping assembly 25; installing a blank on the left clamping component 25 or the right clamping component 26 which does not clamp the workpiece; processing the two workpieces into a semi-finished product and a finished product of the robot joint 1 by using a left manipulator and a right manipulator respectively; then, step S4 is performed; s4, taking down the finished product of the robot joint 1, and installing a blank on the left clamping component 25 or the right clamping component 26 which does not clamp the workpiece; return is made to step S2. The actions of mounting the workpiece and removing the workpiece or the finished robot joint 1 can be performed by means of the transfer robot 5 or manually.
Further, the method comprises the steps of S1, S1, taking a metal blank, respectively machining a side step hole 11 and a bottom step hole 12 on one side and the bottom of the metal blank, drilling a connecting hole 13 in the bottom of the metal blank, wherein the connecting hole 13 is used for connecting a screw 27; then, step S2 is performed. The side stepped hole 11 and the bottom stepped hole 12 are used to connect the first positioning boss 252 and the second positioning boss 262, respectively.
In an alternative embodiment, the left clamping assembly 25 comprises a positioning table 251, a driving mechanism 253, a front clamping jaw 254 and a rear clamping jaw 255, the driving mechanism 253 is connected with the top of the positioning table 251, the bottom of the positioning table 251 is connected with the top of the mounting plate 24, a first positioning boss 252 protruding rightwards is arranged on the right side wall of the positioning table 251, the first positioning boss 252 is used for connecting a workpiece, and the driving mechanism 253 is connected with the front clamping jaw 254 and the rear clamping jaw 255 and drives the front clamping jaw 254 and the rear clamping jaw 255 to approach to or move away from each other; the right clamping assembly 26 comprises a base 261 and a screw 27, a second positioning boss 262 protruding upwards is arranged on the base 261, the overlooking projection of the second positioning boss 262 is a rounded polygon, the second positioning boss 262 is used for connecting a workpiece, an avoiding through hole 263 is arranged on the base 261 and the mounting plate 24, a stud of the screw 27 penetrates through the avoiding through hole 263, and the stud of the screw 27 is connected with the workpiece; the automatic screw tightening device comprises a machine tool 6, an auxiliary driving mechanism 7 and a screwdriver 8, wherein the auxiliary driving mechanism 7, a left bearing seat 21 and a right bearing seat 22 are all connected with the machine tool 6, the auxiliary driving mechanism 7 is in transmission connection with the screwdriver 8, the screwdriver 8 is arranged below an avoidance through hole 263, and a controller is electrically connected with a main driving mechanism 23 and the auxiliary driving mechanism 7 and is used for automatically clamping and screwing screws; the method for taking off the semi-finished product from the left clamping assembly 25 or the right clamping assembly 26 comprises the following specific steps: the drive mechanism 253 drives the front gripper jaw 254 and the rear gripper jaw 255 away from each other; or the auxiliary driving mechanism 7 drives the screwdriver 8 to unscrew the screw from the workpiece, and the screw is separated from the avoiding through hole 263 and then is connected with the screwdriver 8; taking off the semi-finished product or the finished product of the robot joint on the left clamping assembly 25 or the right clamping assembly 26 by using the transfer manipulator 5; the method for clamping the workpiece on the left clamping assembly 25 or the right clamping assembly 26 specifically comprises the following steps: connecting the workpiece to the first positioning boss 252 or the second positioning boss 262 by the transfer robot 5; the driving mechanism 253 drives the front clamping jaw 254 and the rear clamping jaw 255 to approach each other to clamp the workpiece; or the auxiliary driving mechanism 7 drives the screwdriver 8 to connect the screw with the connecting hole 13 on the workpiece, and the auxiliary driving mechanism 7 drives the screwdriver 8 to move downwards for resetting.
The features of the embodiments and embodiments described above may be combined with each other without conflict.
In the description of the present invention, it is to be understood that the terms "length," "upper," "lower," "top," "bottom," "inner," "outer," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the present invention and simplicity in description, but do not indicate or imply that the device or element so indicated must have a particular orientation, be constructed in a particular orientation, and be constructed in a particular manner of operation, and thus are not to be construed as limiting the present invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Finally, it should be noted that the above embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the protection scope of the present invention, although the present invention is described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that the technical solutions of the present invention can be modified or substituted equivalently without departing from the spirit and scope of the technical solutions of the present invention.
Claims (6)
1. The utility model provides a robot joint centre gripping frock which characterized in that: the device comprises a left bearing seat, a right bearing seat, a main driving mechanism, a mounting plate, a left clamping assembly and a right clamping assembly; the left bearing seat and the right bearing seat are respectively and rotatably connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are respectively connected with the left part and the right part of the mounting plate, the left clamping assembly and the right clamping assembly are used for clamping a workpiece, the left clamping assembly is used for clamping the outer side wall of the workpiece, and the right clamping assembly is used for connecting the bottom of the workpiece; the workpiece comprises a blank or a semi-finished product, the blank can be made into the semi-finished product after being subjected to numerical milling, and the semi-finished product can be made into a robot joint after being subjected to numerical milling;
the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping claw and a rear clamping claw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding rightwards is arranged on the right side wall of the positioning table and used for connecting the workpiece, and the driving mechanism is connected with the front clamping claw and the rear clamping claw and drives the front clamping claw and the rear clamping claw to approach or separate from each other;
the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a round-corner polygon, the second positioning boss is used for being connected with the workpiece, the base and the mounting plate are both provided with avoidance through holes, a stud of the screw penetrates through the avoidance through holes, and the stud of the screw is connected with the workpiece.
2. A robotic joint machining apparatus, characterized by: the robot joint clamping tool comprises the robot joint clamping tool according to claim 1, and further comprises a controller, a left machining manipulator, a right machining manipulator and a transfer manipulator, wherein the controller is electrically connected with the left machining manipulator, the right machining manipulator and the transfer manipulator, a plurality of milling tools are connected to the left machining manipulator and the right machining manipulator, and the left machining manipulator and the right machining manipulator are respectively used for machining workpieces on the left clamping assembly and the right clamping assembly; the transfer manipulator is used for clamping a workpiece to the left clamping assembly or the right clamping assembly, or the transfer manipulator is used for taking the workpiece down from the left clamping assembly or the right clamping assembly.
3. The robotic articulation machining device of claim 2, wherein: the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping claw and a rear clamping claw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding rightwards is arranged on the right side wall of the positioning table and used for connecting the workpiece, and the driving mechanism is connected with the front clamping claw and the rear clamping claw and drives the front clamping claw and the rear clamping claw to approach or separate from each other;
the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a rounded polygon, the second positioning boss is used for connecting the workpiece, avoidance through holes are formed in the base and the mounting plate, a stud of the screw penetrates through the avoidance through holes, and the stud of the screw is connected with the workpiece;
still include lathe, vice actuating mechanism and screwdriver, vice actuating mechanism, left bearing frame and right side bearing frame all with the lathe is connected, vice actuating mechanism with the screwdriver transmission is connected, the screwdriver is located dodge the below of through-hole, the controller with main actuating mechanism with vice actuating mechanism all electricity is connected.
4. A robot joint machining method based on the robot joint machining apparatus according to claim 3, comprising the steps of:
s2, under the condition that the left clamping component and the right clamping component are both provided with workpieces, the left manipulator and the right manipulator are used for processing the two workpieces into a semi-finished product and a robot joint finished product respectively; then, step S3 or S4 is performed;
s3, taking down the finished robot joint product; taking the semi-finished product down from the left clamping assembly and installing the semi-finished product on the right clamping assembly, or taking the semi-finished product down from the right clamping assembly and installing the semi-finished product on the left clamping assembly; installing a blank on the left clamping assembly or the right clamping assembly which does not clamp the workpiece; processing the two workpieces into a semi-finished product and a robot joint finished product by using a left manipulator and a right manipulator respectively; then, step S4 is performed;
s4, taking down the finished robot joint product, and installing a blank on the left clamping component or the right clamping component which does not clamp the workpiece; return is made to step S2.
5. The robot joint machining method according to claim 4, characterized in that: further comprising step S1; s1, taking a metal blank, respectively machining a side step hole and a bottom step hole on one side and the bottom of the metal blank, and drilling a connecting hole at the bottom of the metal blank, wherein the connecting hole is used for connecting the screw; then, step S2 is performed.
6. The robot joint machining method according to claim 4, characterized in that: the left clamping assembly comprises a positioning table, a driving mechanism, a front clamping jaw and a rear clamping jaw, the driving mechanism is connected with the top of the positioning table, the bottom of the positioning table is connected with the top of the mounting plate, a first positioning boss protruding towards the right is arranged on the right side wall of the positioning table and used for connecting the workpiece, and the driving mechanism is connected with the front clamping jaw and the rear clamping jaw and drives the front clamping jaw and the rear clamping jaw to approach to or separate from each other;
the right clamping assembly comprises a base and a screw, a second positioning boss protruding upwards is arranged on the base, the overlooking projection of the second positioning boss is a rounded polygon, the second positioning boss is used for connecting the workpiece, avoidance through holes are formed in the base and the mounting plate, a stud of the screw penetrates through the avoidance through holes, and the stud of the screw is connected with the workpiece;
the automatic screw driving device comprises a main driving mechanism, a left bearing seat, a right bearing seat, a driver, a controller, a screw driver and a clamping device, and is characterized by further comprising a machine tool, an auxiliary driving mechanism and the driver, wherein the auxiliary driving mechanism, the left bearing seat and the right bearing seat are all connected with the machine tool;
the method for taking the semi-finished product down from the left clamping assembly or the right clamping assembly specifically comprises the following steps: the driving mechanism drives the front clamping claw and the rear clamping claw to be away from each other; or the auxiliary driving mechanism drives a screwdriver to unscrew the screw from the workpiece, and the screw is separated from the avoiding through hole and then is connected with the screwdriver; taking down the semi-finished product or the finished product of the robot joint on the left clamping assembly or the right clamping assembly by using a transfer manipulator;
the method for clamping the workpiece on the left clamping assembly or the right clamping assembly specifically comprises the following steps: connecting the workpiece with the first positioning boss or the second positioning boss by using a transfer manipulator; the driving mechanism drives the front clamping jaw and the rear clamping jaw to approach each other to clamp the workpiece; or the auxiliary driving mechanism drives the screwdriver to connect the screw with the connecting hole on the workpiece, and the auxiliary driving mechanism drives the screwdriver to move downwards for resetting.
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| CN213351541U (en) * | 2020-10-21 | 2021-06-04 | 四川融至精密机械有限公司 | Rotary table fixture |
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| DE102006059227A1 (en) * | 2006-12-13 | 2008-06-19 | Hamuel Maschinenbau Gmbh & Co. Kg | Method for processing blanks and processing machine for carrying out the method |
| FR2937574A1 (en) * | 2008-10-29 | 2010-04-30 | Guy Monnoyeur | DEVICE AND METHOD FOR MACHINING AND / OR POLISHING LENS |
| CN201455697U (en) * | 2009-08-13 | 2010-05-12 | 重庆市江津区禾丰机械有限公司 | Fast positioning fixture for gear grinding |
| CN105751011A (en) * | 2016-04-18 | 2016-07-13 | 佛山市德赛格精工机械有限公司 | Double-spindle machining numerical control machine tool for double-end machining of workpiece |
| CN207788406U (en) * | 2018-02-06 | 2018-08-31 | 四川鑫驰科技有限公司 | A kind of multistation pipe fitting numerical control processing apparatus |
| CN209919362U (en) * | 2019-04-17 | 2020-01-10 | 江苏国协机械科技有限公司 | Multistation milling process frock |
| CN110355400A (en) * | 2019-07-26 | 2019-10-22 | 苏州网宏自动化设备有限公司 | A kind of integrated machine of multistation spot-facing of valve |
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