CN116652916B - Reconstruction method of flexible tool - Google Patents
Reconstruction method of flexible tool Download PDFInfo
- Publication number
- CN116652916B CN116652916B CN202310937532.7A CN202310937532A CN116652916B CN 116652916 B CN116652916 B CN 116652916B CN 202310937532 A CN202310937532 A CN 202310937532A CN 116652916 B CN116652916 B CN 116652916B
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- flexible
- adjusting
- height
- mechanical claw
- clamping mechanical
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- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 92
- 210000000078 claw Anatomy 0.000 claims abstract description 52
- 238000001179 sorption measurement Methods 0.000 claims abstract description 22
- 210000001503 joint Anatomy 0.000 claims description 9
- 230000009471 action Effects 0.000 abstract description 8
- 238000004519 manufacturing process Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 4
- 239000000203 mixture Substances 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Units (AREA)
- Perforating, Stamping-Out Or Severing By Means Other Than Cutting (AREA)
- Jigs For Machine Tools (AREA)
Abstract
The invention discloses a flexible tool reconstruction method, which comprises the steps of moving a plurality of flexible tools to preset positions by utilizing control and action precision of a flexible clamping mechanical claw, fixing the flexible tools through a positioning adsorption device, then, carrying out pairing connection with a height unlocking mechanism through the flexible clamping mechanical claw, operating the height unlocking mechanism to unlock a height adjusting mechanism, then, adjusting the height of the height adjusting mechanism through the flexible clamping mechanical claw, and then, locking the height adjusting mechanism again through the height unlocking mechanism to realize height fixing; according to the flexible fixture, the flexible fixture is positioned and height-adjusted through the control and action precision of the flexible clamping mechanical claw, so that the precision and efficiency of batch adjustment and reconstruction of the flexible fixture are guaranteed.
Description
Technical Field
The invention belongs to the technical field of flexible tool adjustment, and relates to a flexible tool reconstruction method.
Background
Along with the continuous improvement of the social and economic level, the personalized demands of people on industrial products are increasing, the manufacturing industry rapidly develops towards the small batch direction of multiple varieties, and the demand on the flexibility of the manufacturing process is brought along. The tooling adopted by the traditional manufacturing industry cannot meet the requirements of flexibility, low cost and rapid manufacturing, and the tooling is gradually developed towards the direction of flexibility and automation.
However, a great number of applications of the flexible tool bring a series of problems in terms of cost, convenience, reliability and the like. At present, most of flexible tools adopted are modular, and manual arrangement and reconstruction are carried out according to requirements. In some occasions with high requirements on the reconstruction precision of the tooling, the method for manually arranging and adjusting the tooling has hindered the mass application of the flexible tooling and the comprehensive yield of equipment. Especially in the flexible clamping manufacturing of a large number of large-scale frame beam parts in the field of aviation manufacturing, the problem is more remarkable. The deformation problem and the precision of large-scale frame beam class part are very high to the flatness requirement of spare part clamping, and manual regulation frock often needs spending a large amount of time, can't satisfy the demand of aviation structure high-efficient high-quality processing.
The invention discloses a flexible tool reconstruction method aiming at the defects of insufficient precision and low efficiency in the existing manual adjustment flexible tool arrangement reconstruction process.
Disclosure of Invention
The invention aims to provide a flexible tool reconstruction method, which utilizes the control and action precision of a flexible clamping mechanical claw to position and highly regulate a plurality of flexible tools, thereby ensuring the precision and efficiency of batch regulation reconstruction of the flexible tools.
The invention is realized by the following technical scheme:
the flexible tool comprises a flexible tool base, wherein a positioning adsorption device is arranged at the positioning end of the flexible tool base, a height adjusting mechanism is arranged at the connecting end of the flexible tool base, a flexible chuck is arranged at the top of the height adjusting mechanism, and a height unlocking mechanism for locking or unlocking the height adjusting mechanism is arranged at one side of the height adjusting mechanism; one side of the height adjusting mechanism is provided with a flexible clamping mechanical claw for operating the height unlocking mechanism to unlock the height adjusting mechanism.
The flexible fixture base is directly forked through the flexible clamping mechanical claw to drive the flexible fixture base to move to a preset position, and the movement of the flexible clamping mechanical claw is precisely controlled through the numerical control system with high precision, so that the movement and positioning precision of the flexible fixture base are guaranteed. Then adsorb flexible frock base through location adsorption equipment and fix on table surface, realize fixing flexible frock base, then continue to carry out high-efficient accurate altitude mixture control to the altitude mixture control of high-efficient accurate altitude mixture control to flexible frock base top through flexible clamping mechanical claw, and then realize the high-efficient location of batch high accuracy to flexible frock and adjust the reconfiguration operation. Until the reconstruction of all flexible tooling modules required for a part is completed. Because the flexible fixture is reconfigured, the action of the flexible clamping mechanical claw is relatively fixed, and the NC program is used for high-efficiency and accurate control, so that the process of the flexible clamping mechanical claw can be compiled into standard circulation, and the standard circulation can be directly called in a numerical control system when the action is needed, so that a large number of repeated programming work is omitted, and the reconfiguration efficiency of the flexible fixture is effectively improved.
In order to better realize the invention, further, a fork mechanism is arranged on the side surface of the flexible tool base corresponding to the flexible clamping mechanical claw, and the flexible clamping mechanical claw is matched and butted with the fork mechanism to grab and move the flexible tool base.
In order to better realize the invention, the forking mechanism further comprises a forking frame, an adjusting rack and an adjusting gear, wherein the forking frame is vertically arranged on the side face of the flexible tool base in a sliding manner, the adjusting rack is arranged on one side of the bottom of the forking frame, the adjusting gear meshed with the adjusting rack is rotatably arranged on the side face of the flexible tool base, and the adjusting gear is unlocked through rotating and controlling the positioning adsorption device.
In order to better realize the invention, the positioning and adsorbing device further comprises a controllable magnetic attraction device, a lifting rack and a driven gear, wherein the controllable magnetic attraction device is arranged on the inner side of the bottom of the flexible tool base in a sliding manner, the lifting rack is arranged on one side of the controllable magnetic attraction device, the driven gear and the adjusting gear are coaxially arranged, and the driven gear rotates synchronously along with the adjusting gear, and the driven gear is in meshed connection with the lifting rack.
In order to better realize the invention, further, the bottom of the flexible tool base is provided with an installation cavity, the inner wall of the installation cavity is provided with a guide chute, and the side surface of the controllable magnetic attraction device is connected with the guide chute in a sliding fit manner.
In order to better realize the invention, the height adjusting mechanism further comprises a guide post and an adjusting base, wherein the bottom of the guide post is connected with the top end of the flexible tool base, an adjusting sleeve is arranged in the adjusting base and is sleeved outside the guide post in a sliding manner, and a clamp is arranged at the top of the adjusting base; the left side and the right side of the adjusting base are provided with height unlocking mechanisms, and the locking ends of the height unlocking mechanisms sequentially penetrate through the side wall of the adjusting base, the side wall of the adjusting sleeve and elastically jack the outer column surface of the guide column.
In order to better realize the invention, the height unlocking mechanism further comprises a locking rod, a connecting flange, an adjusting collar and a spring, wherein the connecting flange is arranged on the side wall of the adjusting base, the locking rod is inserted into an inner hole of the connecting flange in a sliding manner, one end of the locking rod penetrates through the connecting flange and is in abutting connection with the outer column surface of the guide column, the other end of the locking rod extends to the outer side of the connecting flange and is provided with the adjusting collar, and the spring is arranged between the outer side of the locking rod and the connecting flange and is used for providing elasticity for the locking rod to enable the locking rod to tightly prop against the outer wall of the guide column.
The flexible tool reconstruction method based on the upper flexible tool implementation comprises the following steps:
step 1, a flexible clamping mechanical claw is matched and butted with a forking mechanism, the forking mechanism is operated by the flexible clamping mechanical claw to move a flexible tool base to a preset position, and meanwhile, a positioning adsorption device is unlocked by the forking mechanism;
step 2, after the flexible tool base moves in place, the flexible tool base is adsorbed and positioned on the workbench surface through the positioning adsorption device;
step 3, the flexible clamping mechanical claw is in butt joint with the forking mechanism in a matched manner, then the flexible clamping mechanical claw is in butt joint with the height unlocking mechanism in a matched manner, and the adjusting lantern ring is pulled by the flexible clamping mechanical claw, so that the end part of the locking rod is driven to be separated from the outer wall of the supporting shaft after the spring at the outer side of the locking rod is compressed, and the height adjusting mechanism is unlocked;
step 4, after the flexible clamping mechanical claw drives the mounting seat and the adjusting shaft to move vertically to the set height, the flexible clamping mechanical claw is separated from the adjusting collar, so that a spring on the outer side of the locking rod rebounds to drive the end part of the locking rod to abut against the outer wall of the supporting shaft so as to lock the height adjusting mechanism;
and 5, repeating the steps until a plurality of flexible tools are installed, positioned and adjusted to a set height, and then completing batch reconstruction of the flexible tools.
Compared with the prior art, the invention has the following advantages:
according to the invention, a plurality of flexible tools are moved to a preset position by utilizing the control and action precision of the flexible clamping mechanical claws, the flexible tools are fixed through the positioning adsorption device, then the flexible clamping mechanical claws are connected with the height unlocking mechanism in a pairing way, the height unlocking mechanism is operated to unlock the height adjusting mechanism, then the height of the height adjusting mechanism can be adjusted through the flexible clamping mechanical claws, and then the height adjusting mechanism is locked again through the height unlocking mechanism to realize the height fixation; according to the flexible fixture, the flexible fixture is positioned and height-adjusted through the control and action precision of the flexible clamping mechanical claw, so that the precision and efficiency of batch adjustment and reconstruction of the flexible fixture are guaranteed.
Drawings
FIG. 1 is a schematic structural diagram of a flexible tooling;
FIG. 2 is a schematic diagram of the cooperation of the height unlocking mechanism and the height adjustment mechanism;
FIG. 3 is a schematic flow chart of a reconstruction method.
Wherein: 1-a flexible tool base; 2-a flexible chuck; 3-flexible gripping grippers; 11-positioning an adsorption device; 12-a fork mechanism; 13-a height unlocking mechanism; 14-height adjustment mechanism.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the invention. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present invention. As used herein, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the invention clearly indicates otherwise, and it is to be understood that the terms "comprises" and/or "comprising" when used in this specification are taken to specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof.
For convenience of description, the words "upper", "lower", "left" and "right" in the present invention, if they mean only that the directions are consistent with the upper, lower, left, and right directions of the drawings per se, and do not limit the structure, only for convenience of description and simplification of the description, but do not indicate or imply that the apparatus or element to be referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.
The terms "mounted," "connected," "secured," and the like are to be construed broadly and refer to either a fixed connection, a removable connection, or an integral body, for example; the terms are used herein as specific meanings as understood by those of ordinary skill in the art, and are not limited to the following terms.
Example 1:
the flexible tool of the embodiment, as shown in fig. 1 and 2, comprises a flexible tool base 1, wherein a positioning adsorption device 11 is arranged at the positioning end of the flexible tool base 1, a height adjusting mechanism 14 is arranged at the connecting end of the flexible tool base 1, a flexible chuck 2 is arranged at the top of the height adjusting mechanism 14, and a height unlocking mechanism 13 for locking or unlocking the height adjusting mechanism 14 is arranged at one side of the height adjusting mechanism 14; one side of the height adjustment mechanism 14 is provided with a flexible clamping gripper 3 for operating the height unlocking mechanism 13 to unlock the height adjustment mechanism 14. The side of the flexible tool base 1 is provided with a forking mechanism 12 corresponding to the flexible clamping mechanical claw 3, and the flexible clamping mechanical claw 3 is matched and butted with the forking mechanism 12 to grab and move the flexible tool base 1.
The forking mechanism 12 is provided with a forking port near one end of the flexible clamping mechanical claw 3, and after the flexible clamping mechanical claw 3 is in butt joint with the forking port, the flexible tool base 1 can be driven to accurately move through the forking mechanism 12. After the flexible tool base 1 moves in place, the flexible tool base 1 can be adsorbed to a preset position on a working table surface through the positioning adsorption device 11, and the flexible tool base 1 is effectively prevented from moving in the part machining process. Then the flexible clamping mechanical claw 3 is in butt joint with the forking mechanism 12, the flexible clamping mechanical claw 3 is in butt joint with the height unlocking mechanism 13 in a matched manner, the height unlocking mechanism 13 is unlocked, the locking of the height unlocking mechanism 13 to the height adjusting mechanism 14 is canceled, and then the flexible clamping mechanical claw 3 can drive the height adjusting mechanism 14 to vertically lift so as to adjust the height of the height adjusting mechanism 14.
Example 2:
the flexible tool of this embodiment, the fork is got mechanism 12 and is got frame, adjusting rack, adjusting gear including the fork, the fork is got the vertical sliding setting of frame and is on the side of flexible tool base 1, the fork is got bottom one side of frame and is provided with adjusting rack, rotate on the side of flexible tool base 1 and be provided with the adjusting gear with adjusting rack intermeshing, adjusting gear is through the unblock of rotation control location adsorption equipment 11.
The positioning adsorption device 11 comprises a controllable magnetic attraction device, a lifting rack and a driven gear, wherein the controllable magnetic attraction device is arranged on the inner side of the bottom of the flexible tool base 1 in a sliding mode, the lifting rack is arranged on one side of the controllable magnetic attraction device, the driven gear and the adjusting gear are coaxially arranged, and the driven gear rotates synchronously along with the adjusting gear, and the driven gear is meshed with the lifting rack.
The flexible clamping mechanical claw 3 is connected with a fork taking port on the fork taking frame in an opposite mode, and then the fork taking frame is driven to vertically slide, and then the adjusting gear is driven to rotate through a meshing structure of the adjusting rack and the adjusting gear. The adjusting gear and the driven gear are sleeved on the same rotating shaft, the driven gear is driven to rotate, the lifting rack is driven to vertically lift through the rotation of the driven gear, the controllable magnetic attraction device stretches out of the cavity at the bottom of the flexible tool base 1 and is in contact with the working table surface, and the controllable magnetic attraction device is adsorbed and fixed on the working table surface.
Further, the bottom of the flexible tool base 1 is provided with an installation cavity, the inner wall of the installation cavity is provided with a guide chute, and the side face of the controllable magnetic attraction device is connected with the guide chute in a sliding fit manner.
Other portions of this embodiment are the same as those of embodiment 1, and thus will not be described in detail.
Example 3:
in the flexible tooling of the embodiment, as shown in fig. 2, the height adjusting mechanism 14 comprises a guide post and an adjusting base, the bottom of the guide post is connected with the top end of the flexible tooling base 1, an adjusting sleeve is arranged in the adjusting base, the adjusting sleeve is sleeved outside the guide post in a sliding manner, and a clamp is arranged at the top of the adjusting base; the left side and the right side of the adjusting base are provided with height unlocking mechanisms 13, and the locking ends of the height unlocking mechanisms 13 sequentially penetrate through the side wall of the adjusting base, the side wall of the adjusting sleeve and elastically jack the outer column surface of the guide column.
The high release mechanism 13 includes locking lever, flange, regulation lantern ring, spring, flange sets up on adjusting the lateral wall of base, slip cartridge has the locking lever in flange's the hole, and the one end of locking lever passes flange and contradicts with the outer column face of guide post and be connected, the other end of locking lever extends to flange's outside and is provided with the regulation lantern ring, be provided with the spring between the outside of locking lever and the flange, the spring is used for providing elasticity to the locking lever and makes the outer wall of locking lever jack-up guide post.
When the flexible clamping mechanical claw 3 is not inserted into the adjusting collar, the end part of the locking rod tightly pushes the outer column surface of the guide column under the action of the elastic force of the spring, and then the adjusting sleeve and the guide column cannot move axially relatively. When the flexible clamping mechanical claw 3 is inserted into the adjusting collar, the adjusting collar is pulled to drive the locking rod to move away from the guide post, at the moment, the end part of the locking rod is separated from the outer column surface of the guide post by spring compression, and then unlocking is achieved, and at the moment, the flexible clamping mechanical claw 3 can drive the adjusting sleeve and the adjusting base to lift and move relative to the guide post so as to adjust the height.
Other portions of this embodiment are the same as those of embodiment 1 or 2, and thus will not be described in detail.
Example 4:
the flexible tool reconstruction method is realized based on the flexible tool, as shown in fig. 3, and comprises the following steps:
step 1, the flexible clamping mechanical claw 3 is matched and butted with the forking mechanism 12, the forking mechanism 12 is operated by the flexible clamping mechanical claw 3 to move the flexible tool base 1 to a preset position, and the positioning adsorption device 11 is unlocked by the forking mechanism 12;
step 2, after the flexible tool base 1 moves in place, the flexible tool base 1 is adsorbed and positioned on a workbench surface through a positioning adsorption device 11;
step 3, the flexible clamping mechanical claw 3 is in butt joint with the forking mechanism 12, then the flexible clamping mechanical claw 3 is in butt joint with the height unlocking mechanism 13, and the flexible clamping mechanical claw 3 pulls the adjusting lantern ring, so that the spring outside the locking rod is compressed and then drives the end part of the locking rod to be separated from the outer wall of the supporting shaft, and the height adjusting mechanism 14 is unlocked;
step 4, after the flexible clamping mechanical claw 3 drives the mounting seat and the adjusting shaft to vertically move to the set height, the flexible clamping mechanical claw 3 is separated from the adjusting collar, so that a spring at the outer side of the locking rod rebounds to drive the end part of the locking rod to be in contact with the outer wall of the supporting shaft so as to lock the height adjusting mechanism 14;
and 5, repeating the steps 1-4 until a plurality of flexible tools are installed, positioned and adjusted to a set height, and then completing the batch reconstruction of the flexible tools.
The above is only a preferred embodiment of the present invention, and the present invention is not limited in any way, and any simple modification and equivalent changes of the above embodiments according to the technical substance of the present invention fall within the protection scope of the present invention.
Claims (1)
1. The flexible tool reconstruction method is realized based on a flexible tool, the flexible tool comprises a flexible tool base (1), a positioning adsorption device (11) is arranged at the positioning end of the flexible tool base (1), a height adjusting mechanism (14) is arranged at the connecting end of the flexible tool base (1), a flexible chuck (2) is arranged at the top of the height adjusting mechanism (14), and a height unlocking mechanism (13) for locking or unlocking the height adjusting mechanism (14) is arranged at one side of the height adjusting mechanism (14); one side of the height adjusting mechanism (14) is provided with a flexible clamping mechanical claw (3) for operating the height unlocking mechanism (13) to unlock the height adjusting mechanism (14); a forking mechanism (12) is arranged on the side surface of the flexible tool base (1) corresponding to the flexible clamping mechanical claw (3), and the flexible clamping mechanical claw (3) is matched and butted with the forking mechanism (12) to grab and move the flexible tool base (1); the forking mechanism (12) comprises a forking frame, an adjusting rack and an adjusting gear, the forking frame is vertically arranged on the side face of the flexible tool base (1) in a sliding mode, the adjusting rack is arranged on one side of the bottom of the forking frame, the adjusting gear meshed with the adjusting rack is rotatably arranged on the side face of the flexible tool base (1), and the adjusting gear is unlocked through the rotation control positioning adsorption device (11); the positioning adsorption device (11) comprises a controllable magnetic adsorption device, a lifting rack and a driven gear, wherein the controllable magnetic adsorption device is arranged on the inner side of the bottom of the flexible tool base (1) in a sliding manner, the lifting rack is arranged on one side of the controllable magnetic adsorption device, the driven gear and the adjusting gear are coaxially arranged, and synchronously rotate along with the adjusting gear, and the driven gear is meshed with the lifting rack; the bottom of the flexible tool base (1) is provided with a mounting cavity, the inner wall of the mounting cavity is provided with a guide chute, and the side surface of the controllable magnetic attraction device is connected with the guide chute in a sliding fit manner; the height adjusting mechanism (14) comprises a guide column and an adjusting base, the bottom of the guide column is connected with the top end of the flexible tool base (1), an adjusting sleeve is arranged in the adjusting base, the adjusting sleeve is sleeved outside the guide column in a sliding manner, and a clamp is arranged at the top of the adjusting base; the left side and the right side of the adjusting base are provided with height unlocking mechanisms (13), and the locking ends of the height unlocking mechanisms (13) sequentially penetrate through the side wall of the adjusting base and the side wall of the adjusting sleeve and elastically jack the outer column surface of the guide column; the height unlocking mechanism (13) comprises a locking rod, a connecting flange, an adjusting collar and a spring, wherein the connecting flange is arranged on the side wall of the adjusting base, the locking rod is inserted into an inner hole of the connecting flange in a sliding manner, one end of the locking rod penetrates through the connecting flange and is in abutting connection with the outer column surface of the guide column, the other end of the locking rod extends to the outer side of the connecting flange and is provided with the adjusting collar, the spring is arranged between the outer side of the locking rod and the connecting flange, and the spring is used for providing elasticity for the locking rod to enable the locking rod to tightly prop against the outer wall of the guide column;
the method is characterized by comprising the following steps of:
step 1, a flexible clamping mechanical claw (3) is matched and butted with a forking mechanism (12), the forking mechanism (12) is operated by the flexible clamping mechanical claw (3) to move a flexible tool base (1) to a preset position, and meanwhile, a positioning adsorption device (11) is unlocked by the forking mechanism (12);
step 2, after the flexible tool base (1) moves in place, the flexible tool base (1) is adsorbed and positioned on a workbench surface through a positioning adsorption device (11);
step 3, the flexible clamping mechanical claw (3) is in butt joint with the forking mechanism (12) in a matched mode, then the flexible clamping mechanical claw (3) is in butt joint with the height unlocking mechanism (13), the adjusting lantern ring is pulled through the flexible clamping mechanical claw (3), and after the springs on the outer side of the locking rod are compressed, the end portion of the locking rod is driven to be separated from the outer wall of the supporting shaft, so that unlocking of the height adjusting mechanism (14) is achieved;
step 4, after the flexible clamping mechanical claw (3) drives the mounting seat and the adjusting shaft to vertically move to the set height, the flexible clamping mechanical claw (3) is separated from the adjusting sleeve ring, so that a spring at the outer side of the locking rod rebounds to drive the end part of the locking rod to be abutted against the outer wall of the supporting shaft so as to lock the height adjusting mechanism (14);
and 5, repeating the steps 1-4 until a plurality of flexible tools are installed, positioned and adjusted to a set height, and then completing the batch reconstruction of the flexible tools.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937532.7A CN116652916B (en) | 2023-07-28 | 2023-07-28 | Reconstruction method of flexible tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310937532.7A CN116652916B (en) | 2023-07-28 | 2023-07-28 | Reconstruction method of flexible tool |
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| Publication Number | Publication Date |
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| CN116652916A CN116652916A (en) | 2023-08-29 |
| CN116652916B true CN116652916B (en) | 2023-11-10 |
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| CN202310937532.7A Active CN116652916B (en) | 2023-07-28 | 2023-07-28 | Reconstruction method of flexible tool |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN116900768B (en) * | 2023-09-11 | 2024-01-12 | 成都飞机工业（集团）有限责任公司 | Modular flexible tool and application method thereof |
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