CN114055209A - Flexible clamp, clamping system, machining equipment and machining method - Google Patents
Flexible clamp, clamping system, machining equipment and machining method Download PDFInfo
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- CN114055209A CN114055209A CN202111417432.9A CN202111417432A CN114055209A CN 114055209 A CN114055209 A CN 114055209A CN 202111417432 A CN202111417432 A CN 202111417432A CN 114055209 A CN114055209 A CN 114055209A
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- 238000003754 machining Methods 0.000 title claims abstract description 30
- 238000000034 method Methods 0.000 title claims abstract description 19
- 238000003825 pressing Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 abstract description 3
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- 230000005540 biological transmission Effects 0.000 description 6
- 230000033001 locomotion Effects 0.000 description 5
- 238000004519 manufacturing process Methods 0.000 description 5
- 238000003672 processing method Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000032258 transport Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 229910045601 alloy Inorganic materials 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
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- 238000012986 modification Methods 0.000 description 1
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- 238000002360 preparation method Methods 0.000 description 1
- 239000010935 stainless steel Substances 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
- 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
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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
- B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
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Abstract
The invention provides a flexible clamp, a clamping system, machining equipment and a machining method. The flexible fixture comprises a mounting seat, and a clamping assembly, a zero point positioning assembly and a quick-change assembly which are arranged on the mounting seat. The clamping assembly is used for clamping a workpiece to be machined. The zero point positioning assembly is used for fixing the flexible clamp to the machining center. The quick-change assembly is used for detachably connecting the flexible clamp to the mechanical arm. Through using the quick change subassembly in flexible clamp, can use outside arm to carry out the centre gripping with flexible clamp to make things convenient for flexible clamp's dismouting operation.
Description
Technical Field
The invention belongs to the technical field of flexible machining, and particularly relates to a flexible clamp, machining equipment and a machining method.
Background
The development of flexible machining technology is changing day by day. At present, however, flexible machining is only used in the case of production of large-scale standard workpieces. The flexible processing technology is not widely applied to various and small-batch nonstandard workpieces. Because the general scale of machining manufacturing enterprise is less, and the nonstandard work piece of processing different varieties need be equipped with different blank, anchor clamps, cutter, wherein still involves frequent unloading and the work piece transportation of going up, and the prior art often needs to adopt the operation mode of independent machine tool processing, and degree of automation is lower, and production cycle is long, and is inefficient, and the operation preparation time that artifical unloading and switching anchor clamps lead to is long, hardly adapts to present large-scale, small batch, the rapid development trend of customization.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a flexible clamp, processing equipment and a processing method, which aim to solve the problem of low efficiency in the production process of workpieces of various types and small batches in the prior art.
One embodiment of the present invention provides a flexible clamp, including:
a mounting seat;
the clamping assembly is arranged on the mounting seat and used for clamping a workpiece to be processed;
the zero point positioning assembly is arranged on the mounting seat and used for fixing the flexible clamp to a machining center; and
and the quick-change assembly is arranged on the mounting seat and is used for detachably connecting the flexible clamp to the mechanical arm.
In one embodiment, the clamping assembly is disposed on a first surface of the mount;
the zero point positioning assembly is arranged on the second surface of the mounting seat;
the quick-change assembly is arranged on the third surface of the mounting seat;
the first surface and the second surface are parallel and arranged in opposite directions, and the third surface is arranged perpendicular to the first surface and the second surface.
In one embodiment, the clamping assembly comprises:
the positioning block is arranged on the first surface and used for positioning a workpiece to be processed; and
and the clamping piece is arranged on the positioning block and used for pressing the workpiece to be processed.
In one embodiment, the quick-change assembly comprises:
the fixing block is arranged on the mounting seat; and
the quick-change connector is arranged on the fixed block;
the zero point positioning assembly comprises a zero point positioning connector, and the central axis of the zero point positioning connector is perpendicular to the central axis of the quick-change connector.
In one embodiment, the fixing block comprises a first bearing surface, a second bearing surface, a first fastener and a second fastener, the first bearing surface is in contact with the first surface of the mounting seat, the first bearing surface is provided with a first threaded hole, and the first surface of the mounting seat is provided with a first through hole; the second bearing surface is in contact with the third surface of the mounting seat, the second bearing surface is provided with a second through hole, and the surface of the mounting seat is provided with a second threaded hole; the first fastener penetrates through the first through hole of the mounting seat and is fixed to the first threaded hole of the fixing block so as to press the first bearing surface to the first surface of the mounting seat; the second fastener penetrates through the second through hole of the fixing block and is fixed to the second threaded hole of the mounting seat so as to press the second bearing surface to the third surface of the mounting seat.
In one embodiment, the fixing block further comprises a third bearing surface, the third bearing surface is opposite to the second bearing surface, and the quick-change connector is arranged on the third bearing surface.
In one embodiment, the fixing block further includes:
the first guide surface is arranged at one end of the third bearing surface; and
the second guide surface is arranged at the other end of the third bearing surface;
the first guide surface and the second guide surface are arranged obliquely to the third bearing surface, and the distance between the first guide surface and the second guide surface is gradually increased along the direction far away from the third bearing surface.
In one embodiment, the first through hole is disposed through the first surface and the second surface, and one end of the first through hole adjacent to the second surface is provided with a first accommodating portion for accommodating a head of the first fastener, wherein the thickness of the head of the first fastener is smaller than the depth of the first accommodating portion;
and/or the second through hole penetrates through the second bearing surface and the third bearing surface, a second accommodating part is arranged at one end, close to the third bearing surface, of the second through hole, the second accommodating part is used for accommodating the head of the second fastener, and the thickness of the head of the second fastener is smaller than the depth of the second accommodating part.
In one embodiment, a first pin is arranged on a first surface of the mounting seat, a first pin hole is arranged on a first bearing surface of the fixing block, and the first pin is accommodated in the first pin hole to realize positioning between the fixing block and the mounting seat;
and/or a second pin is arranged on the first surface of the mounting seat, a second pin hole is formed in the surface, in contact with the first surface, of the clamping assembly, and the second pin is accommodated in the second pin hole so as to realize the positioning between the clamping assembly and the mounting seat.
In one embodiment, the zero point positioning joint comprises a first body and a first connecting part arranged on the first body, the first connecting part is fixed on the second surface of the mounting seat, and a first annular groove is arranged on the first body;
and/or the quick-change connector comprises a second body and a second connecting part arranged on the second body, the second connecting part is arranged on the fixed block, and a second annular groove is arranged on the second body.
One embodiment of the present invention provides a clamping system comprising:
a flexible clamp as described in any one of the above embodiments; and
and the zero point positioning assembly of the flexible clamp is arranged in the zero point positioning clamp.
One embodiment of the present invention provides a processing apparatus, including:
the machine tool comprises a workbench and a cutter assembly, wherein the cutter assembly is used for machining a workpiece to be machined;
the flexible clamp according to any one of the above embodiments, which is used for clamping a workpiece to be machined and is arranged on a workbench of the machine tool.
In one embodiment, the processing apparatus further comprises:
and the zero positioning fixture is arranged on a workbench of the machine tool and is used for clamping the zero positioning assembly of the flexible fixture.
In one embodiment, the processing apparatus further comprises a robotic arm for holding the quick-change assembly of the flexible fixture.
In one embodiment, the processing apparatus further comprises:
and the second machine tool comprises a second workbench and a second cutter assembly, and the second cutter assembly is used for machining the workpiece to be machined.
One embodiment of the invention provides a processing method, which comprises the following steps:
providing a flexible clamp as described in any one of the above embodiments;
clamping the workpiece to be processed by using the flexible clamp;
grabbing the quick-change assembly of the flexible fixture by using a mechanical arm, and placing the zero point positioning assembly of the flexible fixture into a zero point positioning fixture of a machine tool workbench;
processing the workpiece to be processed by using a cutter assembly;
after the machining is completed, a mechanical arm is used for grabbing the quick-change assembly of the flexible clamp so as to take the flexible clamp out of the machine tool workbench.
The flexible clamp, the processing equipment and the processing method provided by the embodiment of the invention have the following beneficial effects:
1. the flexible fixture is fixed to an external machining center by setting a zero point positioning assembly in the flexible fixture. The zero point positioning assembly can realize the rapid positioning and clamping action between the flexible clamp and the machining center, thereby facilitating the operation process of the clamp.
2. The flexible clamp is detachably connected to the mechanical arm by arranging a quick-change assembly in the flexible clamp. In the practical application process, the flexible clamp with the workpiece to be machined can be placed to a machining center for machining by using the mechanical arm. And after the workpiece to be processed is processed, the flexible clamp is taken out from the processing center by using the mechanical arm. The whole machining process does not need to use manpower to install and detach the clamp, so that the machining efficiency of the workpiece to be machined is improved.
3. In one embodiment, the clamping assembly is disposed on a first surface of the mount, the zero point positioning assembly is disposed on a second surface of the mount, and the quick-change assembly is disposed on a third surface of the mount. Because the first surface is parallel to the second surface and arranged in the opposite direction, the installation and the processing of the flexible clamp are respectively carried out on the two opposite surfaces, thereby facilitating the processing of the workpiece to be processed. In addition, since the third surface is perpendicular to the first surface and the second surface, when the flexible fixture is transported by the robot arm, the robot arm is not likely to interfere with the zero point positioning assembly in the movement process.
4. In one embodiment, the quick-change assembly comprises a quick-change connector, the zero point positioning assembly comprises a zero point positioning connector, and a central axis of the zero point positioning connector is perpendicular to the central axis of the quick-change connector. Similarly, because the axis of the zero point positioning connector is perpendicular to the axis of the quick-change connector, when the mechanical arm is used for carrying the flexible fixture, the mechanical arm mainly carries the flexible fixture by grabbing the quick-change connector of the quick-change assembly, so that the mechanical arm is not easy to interfere with the zero point positioning assembly in the motion process.
5. In one embodiment, the quick-change assembly comprises a fixing block and a quick-change connector, and the fixing block comprises a first bearing surface attached to the first surface and a second bearing surface attached to the third surface. Through set up first loading end and second loading end in the fixed block, the quick change subassembly with be connected between the mount pad more firm to be difficult for because the quick change subassembly is not hard up and leads to the arm location inaccurate or can avoid placing the production of phenomenon such as inaccurate when machining center with anchor clamps.
6. In one embodiment, the fixing block further includes a first guide surface and a second guide surface. The first guide surface is arranged at one end of the third bearing surface. The second guide surface is arranged at the other end of the third bearing surface. Because first guide surface with the second guide surface slope in the third bearing surface sets up, just first guide surface with the interval of second guide surface is along keeping away from gradually increase in the direction of third bearing surface, when using the robotic arm to carry out the centre gripping to quick-change connector of quick-change subassembly, first guide surface with the mode of setting up of second guide surface can make the interface of robotic arm dock with quick-change connector of quick-change subassembly more accurately to make things convenient for the installation and the dismantlement process of flexible fixture more.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the structures shown in the drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a flexible clamp according to an embodiment of the present invention;
FIG. 2 is a side schematic view of the flexible fixture of FIG. 1;
FIG. 3 is an exploded view of the flexible clip of FIG. 1;
FIG. 4 is a schematic top view of the flexible fixture of FIG. 1;
FIG. 5 is a schematic cross-sectional view of the flexible fixture of FIG. 4 taken along the line A-A;
FIG. 6 is another side schematic view of the flexible fixture of FIG. 1;
FIG. 7 is a schematic cross-sectional view of the flexible fixture of FIG. 6 taken along the direction B-B;
FIG. 8 is a bottom view of the flexible fixture of FIG. 6;
FIG. 9 is a schematic cross-sectional view of the flexible clamp of FIG. 8 taken along direction D-D;
FIG. 10 is a schematic cross-sectional view of the flexible fixture of FIG. 8 taken along the direction C-C;
fig. 11 is a schematic structural diagram of a zero point positioning fixture according to an embodiment of the present invention;
FIG. 12 is a schematic structural diagram of a processing apparatus according to one embodiment of the present invention;
fig. 13 is a schematic flow chart of a processing method according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that if directional indications (such as up, down, left, right, front, and back … …) are involved in the embodiment of the present invention, the directional indications are only used to explain the relative positional relationship between the components, the movement situation, and the like in a specific posture, and if the specific posture is changed, the directional indications are changed accordingly.
In addition, if there is a description of "first", "second", etc. in an embodiment of the present invention, the description of "first", "second", etc. is for descriptive purposes only and is 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 at least one such feature. In addition, if the meaning of "and/or" and/or "appears throughout, the meaning includes three parallel schemes, for example," A and/or B "includes scheme A, or scheme B, or a scheme satisfying both schemes A and B. In addition, technical solutions between various embodiments may be combined with each other, but must be realized by a person skilled in the art, and when the technical solutions are contradictory or cannot be realized, such a combination should not be considered to exist, and is not within the protection scope of the present invention.
Referring to fig. 1 to 4, an embodiment of the present invention provides a flexible clamp 100. The flexible fixture 100 includes a mount 110, a clamping assembly 120, a zero point positioning assembly 130, and a quick-change assembly 140.
The mounting base 110 is used for carrying the clamping assembly 120, the zero point positioning assembly 130, the quick-change assembly 140 and the like. As the flexible fixture 100 is mainly used for machining metal parts, the mounting seat 110, the clamping assembly 120, the zero point positioning assembly 130 and the quick-change assembly 140 are mainly made of metal or alloy. In this embodiment, the mounting block 110, the clamping assembly 120, the zero point positioning assembly 130, and the quick-change assembly 140 are made of stainless steel.
The clamping assembly 120 is disposed on the mounting base 110, and is used for clamping a workpiece 200 to be processed.
The zero point positioning assembly 130 is disposed on the mounting base 110 for securing the flexible fixture 100 to a machining center.
The quick-change assembly 140 is disposed on the mount 110 for removably coupling the flexible fixture 100 to the robotic arm 310.
In the flexible fixture 100 provided in the above embodiment, the zero point positioning assembly 130 is provided in the flexible fixture 100 to fix the flexible fixture 100 to an external machining center. The zero point positioning assembly 130 can achieve rapid positioning and clamping between the flexible fixture 100 and the machining center, thereby facilitating the operation process of the flexible fixture 100.
Further, the quick-change assembly 140 is provided in the flexible clamp 100 to removably couple the flexible clamp 100 to the robotic arm 310. In practical applications, the robot arm 310 may be used to place the flexible fixture 100 with the workpiece 200 to be machined into a machining center for machining. After the workpiece 200 to be machined is finished, the robot arm 310 is used to take the flexible fixture 100 out of the machining center. The whole machining process does not need to use manpower to install and detach the clamp, so that the machining efficiency of the workpiece 200 to be machined is improved.
Referring also to fig. 5, in one embodiment, the mounting base 110 includes a first surface 111, a second surface 112, and a third surface 113. The first surface 111 is parallel to and opposite to the second surface 112. The third surface 113 is disposed perpendicular to the first surface 111 and the second surface 112. The clamping assembly 120 is disposed on the first surface 111 of the mounting base 110. The zero point locating component 130 is disposed on the second surface 112 of the mounting base 110. The quick-change assembly 140 is disposed on the third surface 113 of the mount 110. Specifically, in the present embodiment, the first surface 111 is a top surface of the mounting base 110; the second surface 112 is a bottom surface of the mounting seat 110; the third surface 113 is a side surface of the mount base 110. Since the first surface 111 and the second surface 112 are parallel and arranged in opposite directions, the installation and machining processes of the flexible fixture 100 are performed on two opposite surfaces, respectively, thereby facilitating the machining process of the workpiece 200 to be machined. In addition, since the third surface 113 is perpendicular to the first surface 111 and the second surface 112, when the flexible fixture 100 is transported by the robot 310, the movement process of the robot 310 is not easily interfered with the zero point positioning assembly 130.
Referring also to fig. 6, in one embodiment, the clamping assembly 120 includes a positioning block 121 and a clamping member 122.
The positioning block 121 is disposed on the first surface 111 of the mounting seat 110, and is used for positioning the workpiece 200 to be processed.
The clamping member 122 is disposed on the positioning block 121 and used for pressing the workpiece 200 to be processed.
In a specific application, the workpiece 200 to be machined can be placed on the first surface 111 of the mounting seat 110, and then the positioning block 121 is used to perform an alignment operation on the position of the workpiece 200 to be machined on the first surface 111. After the position of the workpiece 200 to be machined is determined, the clamping operation of the workpiece 200 to be machined may be performed by tightening the clamping member 122 to clamp the workpiece 200 to be machined between the clamping member 122 and the first surface 111 of the mount 110.
It is understood that the clamping manner of the workpiece 200 to be processed on the clamping assembly 120 is not limited to the manner described in the above embodiments. In another embodiment, a bearing platform for the workpiece 200 to be processed may be disposed on the positioning block 121. When the workpiece 200 to be machined is assembled into the flexible fixture 100, the workpiece 200 to be machined may be placed on the carrying platform of the positioning block 121 for alignment. After the position of the workpiece 200 to be machined is determined, the clamping operation of the workpiece 200 to be machined may be performed by tightening the clamping member 122 to clamp the workpiece 200 to be machined between the clamping member 122 and the positioning block 121.
In one embodiment, the quick-change assembly 140 includes a fixed block 141 and a quick-change coupler 142.
The fixing block 141 is disposed on the mounting base 110.
The quick-change connector 142 is disposed on the fixing block 141.
The zero positioning assembly 130 includes a zero positioning sub 131. The central axis of the zero point positioning connector 131 is perpendicular to the central axis of the quick-change connector 142.
Likewise, since the central axis of the zero point positioning adapter 131 is perpendicular to the central axis of the quick-change adapter 142, when the robot arm 310 is used to transport the flexible fixture 100, the robot arm 310 mainly transports the flexible fixture 100 by grabbing the quick-change adapter 142 of the quick-change assembly 140, so that the movement process of the robot arm 310 is not easily interfered with the zero point positioning assembly 130.
Referring to fig. 5 to 7, in one embodiment, the fixing block 141 includes a first bearing surface 1411, a second bearing surface 1412, a first fastening member 1431 and a second fastening member 1432. The first bearing surface 1411 is in contact with the first surface 111 of the mounting base 110. The first bearing surface 1411 has a first threaded hole 1413. The first surface 111 of the mounting seat 110 has a first through hole 114. The second bearing surface 1412 contacts the third surface 113 of the mounting seat 110, and the second bearing surface 1412 has a second through hole 1414. The third surface 113 of the mounting seat 110 has a second threaded hole 115. The first fastening member 1431 passes through the first through hole 114 of the mounting base 110 and is fixed to the first threaded hole 1413 of the fixing block 141 to press the first bearing surface 1411 to the first surface 111 of the mounting base 110. The second fastening member 1432 passes through the second through hole 1414 of the fixing block 141 and is fixed to the second threaded hole 115 of the mounting block 110 to press the second bearing surface 1412 to the third surface 113 of the mounting block 110.
By arranging the first bearing surface 1411 and the second bearing surface 1412 in the fixing block 141, and making the first bearing surface 1411 fit with the first surface 111 of the mounting seat 110, and making the second bearing surface 1412 fit with the third surface 113 of the mounting seat 110, the connection between the quick-change assembly 140 and the mounting seat 110 is more stable, so that the mechanical arm 310 is not positioned accurately due to the looseness of the quick-change assembly 140, or the phenomenon of inaccurate alignment when the flexible fixture 100 is placed in a machining center can be avoided.
In one embodiment, the fixing block 141 further includes a third bearing surface 1415. The third bearing surface 1415 and the second bearing surface 1412 are disposed in opposite directions. The quick-change coupler 142 is disposed on the third bearing surface 1415. By arranging the third bearing surface 1415 to be disposed in the opposite direction to the second bearing surface 1412, i.e., the second bearing surface 1412 is disposed inwardly, the third bearing surface 1415 is disposed outwardly. When the quick-change connector 142 is disposed on the third bearing surface 1415, the robotic arm 310 can easily grip the quick-change connector 142, thereby achieving an automatic gripping and handling process of the flexible fixture 100.
In one embodiment, the fixing block 141 further includes a first guide surface 1416 and a second guide surface 1417.
The first guide surface 1416 is disposed at one end of the third bearing surface 1415.
The second guide surface 1417 is disposed at the other end of the third bearing surface 1415.
The first guide surface 1416 and the second guide surface 1417 are disposed obliquely to the third bearing surface 1415, and a distance between the first guide surface 1416 and the second guide surface 1417 gradually increases in a direction away from the third bearing surface 1417.
Because the first guide surface 1416 and the second guide surface 1417 are arranged obliquely to the third bearing surface 1415, and the distance between the first guide surface 1416 and the second guide surface 1417 gradually increases along the direction away from the third bearing surface 1415, when the mechanical arm 310 is used to clamp the quick-change connector 142 of the quick-change assembly 140, the first guide surface 1416 and the second guide surface 1417 are arranged in such a way that the interface of the mechanical arm 310 can be more precisely butted with the quick-change connector 142 of the quick-change assembly 140, thereby more facilitating the mounting and dismounting processes of the flexible clamp 100.
In one embodiment, the first through hole 114 is disposed through the first surface 111 and the second surface 112. The first receiving portion 1141 is disposed at an end of the first through hole 114 adjacent to the second surface 112. The first receiving portion 1141 is used for receiving a head portion of the first fastening member 1431. The thickness of the head of the first fastener 1431 is less than the depth of the first receiving portion 1141.
And/or the second through hole 1414 is disposed through the second bearing surface 1412 and the third bearing surface 1415, and a second accommodating portion 1418 is disposed at an end of the second through hole 1414 adjacent to the third bearing surface 1415, and the second accommodating portion 1418 is used for accommodating a head of the second fastening member 1432. The thickness of the head of the second fastener 1432 is less than the depth of the second receptacle 1418.
In this embodiment, by providing the first receiving portion 1141 at an end of the first through hole 114 adjacent to the second surface 112 and making the thickness of the head portion of the first fastening member 1431 smaller than the depth of the first receiving portion 1141, the head portion of the first fastening member 1431 can be completely received in the first receiving portion 1141. When it is required to mount the flexible fixture 100 to a machining center or a machine tool, since the head of the first fastening member 1431 is completely received in the first receiving portion 1141 and is not exposed, it is not easy to affect the mounting process of the flexible fixture 100.
Likewise, by providing a second receiving portion 1418 at an end of the second through hole 1414 adjacent to the third carrying surface 1415, and making the thickness of the head of the second fastening member 1432 smaller than the depth of the second receiving portion 1418, the head of the second fastening member 1432 can be completely received in the second receiving portion 1418. When it is desired to mount the flexible fixture 100 to a machining center or a machine tool, since the head of the second fastening member 1432 is completely received in the second receiving portion 1418 and is not exposed, it is not liable to affect the mounting process of the flexible fixture 100.
Referring to fig. 8 to 10, in one embodiment, the first surface 111 of the mounting base 110 is provided with a first pin 1441, and the first bearing surface 1411 of the fixing block 141 is provided with a first pin hole 1442. The first pin 1441 is received in the first pin hole 1411 to position the fixing block 141 and the mounting base 110.
And/or the first surface 111 of the mounting seat 110 is provided with a second pin 1443, and the surface of the clamping assembly 120 contacting with the first surface 111 is provided with a second pin hole 1444. The second pin 1443 is received in the second pin hole 1444 to achieve positioning between the clamping assembly 120 and the mounting base 110.
In one embodiment, the zero point positioning joint 131 includes a first body 1311 and a first connection portion 1312 disposed on the first body 1311. The first connecting portion 1312 is fixed on the second surface 112 of the mounting base 110. The first body 1311 is provided with a first annular groove 1313.
And/or, the quick-change connector 142 includes a second body 1421 and a second connecting portion 1422 disposed on the second body 1421. The second connecting portion 1422 is disposed on the fixing block 141. The second body 1421 is provided with a second annular groove 1423.
Referring to fig. 11, in practical application, a zero point positioning fixture 400 is disposed in the machining center. The zero point positioning joint 131 is arranged in the zero point positioning fixture 400, so that the quick-change operation of the flexible fixture 100 is realized. In one embodiment, the zero point positioning fixture 400 includes a base plate 410 and a chuck 420 disposed on the base plate 410. The middle region of the chuck 420 is provided with a recess 421 to accommodate the zero point positioning joint 131. Specifically, the chuck 420 is provided with a pull stud 422 inside, and when the zero point positioning joint 131 is accommodated in the recess 421 of the chuck 420, the pull stud 422 can be engaged with the first annular groove 1313 in a pneumatic transmission or hydraulic transmission manner, so as to fix the flexible clamp 400. When the workpiece 200 to be machined needs to be taken out after being machined, the pull stud 422 can be released from the clamped position in a pneumatic transmission or hydraulic transmission mode, so that the mechanical arm 310 can take the flexible clamp 100 out of the zero point positioning clamp 400.
Similarly, in practical applications, the robot arm 310 is also provided with a clamping chuck. The structure of the chucking chuck is similar to that of the chuck 420 on the substrate 410. When the flexible fixture 100 needs to be moved by the mechanical arm 310, the mechanical arm 310 moves to a position corresponding to the quick-change connector 142, the quick-change connector 142 is accommodated in the recess in the center of the clamping chuck, and then the pull stud of the clamping chuck is clamped into the second annular groove 1423 of the quick-change connector 142 by pneumatic transmission or hydraulic transmission. At this time, the robot 310 is moved to drive the flexible fixture 100 to move.
One embodiment of the present invention provides a clamping system comprising:
the flexible clamp 100 of any of the above embodiments; and
a zero point positioning fixture 400, wherein the zero point positioning assembly 130 of the flexible fixture 100 is arranged in the zero point positioning fixture 400.
Referring to fig. 12, one embodiment of the present invention provides a processing apparatus 500, which includes a machine tool 510 and a flexible fixture 100 according to any one of the above embodiments.
The machine tool 510 includes a table 520 and a tool assembly 530. The tool assembly 530 is used to machine the workpiece 200 to be machined.
The flexible clamp 100 is used for clamping a workpiece 200 to be machined and is arranged on a workbench 520 of the machine tool 510.
In one embodiment, the machining apparatus 500 further includes a zero point positioning fixture 400.
The zero point positioning jig 400 is provided on a table 520 of the machine tool 510. The zero point positioning fixture 400 is used for clamping the zero point positioning assembly 130 of the flexible fixture 100.
In one embodiment, the processing tool 500 further comprises a robotic arm 310. The robotic arm 310 is adapted to hold the quick-change assembly 140 of the flexible fixture 100. In the present embodiment, the processing apparatus 500 includes a robot 300, and the robot 300 has a robot arm 310. The mechanical arm 310 of the robot 300 is used for clamping the quick-change assembly 140 of the flexible clamp 100.
Specifically, during the process:
before the workpiece 200 to be processed is processed, the mechanical arm 310 clamps the quick-change assembly 140 of the flexible clamp 100 to place the flexible clamp 100 on the workbench 520 of the machine tool 510;
after the workpiece 200 to be machined is completed, the robotic arm 310 grips the quick-change assembly 140 of the flexible fixture 100 to remove the flexible fixture 100 from the table 520 of the machine tool 510.
In one embodiment, the machining apparatus 500 further comprises a second machine tool 511.
The second machine tool 511 includes a second table 521 and a second tool unit 531. The second tool assembly 531 is used for processing the workpiece 200 to be processed.
In the processing process:
after the workpiece 200 to be machined is machined in the machine tool 510, the robot arm 310 grips the quick-change assembly 140 of the flexible clamp 100 to take the flexible clamp 100 out of the worktable 520 of the machine tool 510, and places the flexible clamp 100 into the second worktable 521 of the second machine tool 511 to machine the workpiece 200 to be machined using the second cutter assembly 531.
Referring to fig. 13, an embodiment of the present invention provides a processing method, including the following steps:
providing a flexible fixture 100 as described in any of the above embodiments;
clamping the workpiece 200 to be processed by using the flexible clamp 100;
grabbing the quick-change assembly 140 of the flexible fixture 100 by using the mechanical arm 310, and placing the zero-point positioning assembly 130 of the flexible fixture 100 into the zero-point positioning fixture 400 of the machine tool workbench 520;
processing the workpiece 200 to be processed by using a cutter assembly 530;
after machining is complete, the robotic arm 310 is used to grasp the quick-change assembly 140 of the flexible fixture 100 to remove the flexible fixture 100 from the machine tool table 520.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all modifications and equivalents of the present invention, which are made by the contents of the present specification and the accompanying drawings, or directly/indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (16)
1. A flexible clamp, comprising:
a mounting seat;
the clamping assembly is arranged on the mounting seat and used for clamping a workpiece to be processed;
the zero point positioning assembly is arranged on the mounting seat and used for fixing the flexible clamp to a machining center; and
and the quick-change assembly is arranged on the mounting seat and is used for detachably connecting the flexible clamp to the mechanical arm.
2. The flexible fixture of claim 1,
the clamping assembly is arranged on the first surface of the mounting seat;
the zero point positioning assembly is arranged on the second surface of the mounting seat;
the quick-change assembly is arranged on the third surface of the mounting seat;
the first surface and the second surface are parallel and arranged in opposite directions, and the third surface is arranged perpendicular to the first surface and the second surface.
3. The flexible fixture of claim 2, wherein the clamping assembly comprises:
the positioning block is arranged on the first surface and used for positioning a workpiece to be processed; and
and the clamping piece is arranged on the positioning block and used for pressing the workpiece to be processed.
4. The flexible fixture of claim 2, wherein the quick-change assembly comprises:
the fixing block is arranged on the mounting seat; and
the quick-change connector is arranged on the fixed block;
the zero point positioning assembly comprises a zero point positioning connector, and the central axis of the zero point positioning connector is perpendicular to the central axis of the quick-change connector.
5. The flexible fixture of claim 4, wherein the mounting block includes a first bearing surface, a second bearing surface, a first fastener, and a second fastener, the first bearing surface contacting the first surface of the mounting block, the first bearing surface having a first threaded hole, the first surface of the mounting block having a first through hole; the second bearing surface is in contact with the third surface of the mounting seat, the second bearing surface is provided with a second through hole, and the surface of the mounting seat is provided with a second threaded hole; the first fastener penetrates through the first through hole of the mounting seat and is fixed to the first threaded hole of the fixing block so as to press the first bearing surface to the first surface of the mounting seat; the second fastener penetrates through the second through hole of the fixing block and is fixed to the second threaded hole of the mounting seat so as to press the second bearing surface to the third surface of the mounting seat.
6. The flexible fixture of claim 5, wherein the anchor block further includes a third bearing surface, the third bearing surface being opposite the second bearing surface, the quick-change coupler being disposed on the third bearing surface.
7. The flexible fixture of claim 6, wherein the fixture block further comprises:
the first guide surface is arranged at one end of the third bearing surface; and
the second guide surface is arranged at the other end of the third bearing surface;
the first guide surface and the second guide surface are arranged obliquely to the third bearing surface, and the distance between the first guide surface and the second guide surface is gradually increased along the direction far away from the third bearing surface.
8. The flexible fixture of claim 6,
the first through hole penetrates through the first surface and the second surface, a first accommodating part is arranged at one end, close to the second surface, of the first through hole, the first accommodating part is used for accommodating the head of the first fastening piece, and the thickness of the head of the first fastening piece is smaller than the depth of the first accommodating part;
and/or the second through hole penetrates through the second bearing surface and the third bearing surface, a second accommodating part is arranged at one end, close to the third bearing surface, of the second through hole, the second accommodating part is used for accommodating the head of the second fastener, and the thickness of the head of the second fastener is smaller than the depth of the second accommodating part.
9. The flexible fixture of claim 5,
a first pin is arranged on the first surface of the mounting seat, a first pin hole is formed in a first bearing surface of the fixing block, and the first pin is accommodated in the first pin hole to realize positioning between the fixing block and the mounting seat;
and/or a second pin is arranged on the first surface of the mounting seat, a second pin hole is formed in the surface, in contact with the first surface, of the clamping assembly, and the second pin is accommodated in the second pin hole so as to realize the positioning between the clamping assembly and the mounting seat.
10. The flexible fixture of any of claims 4-9,
the zero point positioning joint comprises a first body and a first connecting part arranged on the first body, the first connecting part is fixed on the second surface of the mounting seat, and a first annular groove is formed in the first body;
and/or the quick-change connector comprises a second body and a second connecting part arranged on the second body, the second connecting part is arranged on the fixed block, and a second annular groove is arranged on the second body.
11. A clamping system, comprising:
the flexible fixture of any one of claims 1-10; and
and the zero point positioning assembly of the flexible clamp is arranged in the zero point positioning clamp.
12. A processing apparatus, comprising:
the machine tool comprises a workbench and a cutter assembly, wherein the cutter assembly is used for machining a workpiece to be machined;
a flexible clamp according to any one of claims 1 to 10, for clamping a workpiece to be machined and arranged on a table of the machine tool.
13. The processing tool according to claim 12, further comprising:
and the zero positioning fixture is arranged on a workbench of the machine tool and is used for clamping the zero positioning assembly of the flexible fixture.
14. The processing tool according to claim 13, further comprising a robotic arm for gripping the quick-change assembly of the flexible fixture.
15. The processing tool according to claim 14, further comprising:
and the second machine tool comprises a second workbench and a second cutter assembly, and the second cutter assembly is used for machining the workpiece to be machined.
16. A method of processing, comprising the steps of:
providing a flexible fixture as claimed in any one of claims 1-10;
clamping the workpiece to be processed by using the flexible clamp;
grabbing the quick-change assembly of the flexible fixture by using a mechanical arm, and placing the zero point positioning assembly of the flexible fixture into a zero point positioning fixture of a machine tool workbench;
processing the workpiece to be processed by using a cutter assembly;
after the machining is completed, a mechanical arm is used for grabbing the quick-change assembly of the flexible clamp so as to take the flexible clamp out of the machine tool workbench.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111417432.9A CN114055209A (en) | 2021-11-25 | 2021-11-25 | Flexible clamp, clamping system, machining equipment and machining method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111417432.9A CN114055209A (en) | 2021-11-25 | 2021-11-25 | Flexible clamp, clamping system, machining equipment and machining method |
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| CN114055209A true CN114055209A (en) | 2022-02-18 |
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| CN202111417432.9A Pending CN114055209A (en) | 2021-11-25 | 2021-11-25 | Flexible clamp, clamping system, machining equipment and machining method |
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Application publication date: 20220218 |