CN116900187A - Workpiece flanging device and flanging method thereof - Google Patents
Workpiece flanging device and flanging method thereof Download PDFInfo
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- CN116900187A CN116900187A CN202310637351.2A CN202310637351A CN116900187A CN 116900187 A CN116900187 A CN 116900187A CN 202310637351 A CN202310637351 A CN 202310637351A CN 116900187 A CN116900187 A CN 116900187A
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- 238000012545 processing Methods 0.000 claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims description 17
- 238000013459 approach Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000007704 transition Effects 0.000 description 17
- 238000003754 machining Methods 0.000 description 13
- 230000008569 process Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 210000000078 claw Anatomy 0.000 description 1
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Abstract
The invention discloses a workpiece flanging device and a workpiece flanging method thereof. The flanging method comprises the steps that the grabbing and placing component grabs the workpiece from the front end of the workpiece, removes the workpiece from the machine tool, places the workpiece in the clamping component from one side of the clamping component, clamps and fixes the workpiece by the clamping component, grabs the workpiece from the back end of the workpiece at the other side of the clamping component after the grabbing and placing component loosens the workpiece, loosens the workpiece by the clamping component, and moves the workpiece to the machine tool by the grabbing and placing component to place the workpiece on the machine tool. The invention has the advantages of simple and compact structure, small occupied space, low cost, easy manufacture, easy control, improved processing efficiency and the like.
Description
Technical Field
The invention relates to the technical field of machining, in particular to a workpiece flanging device and a workpiece flanging method.
Background
When disc parts such as a motor brake disc are produced in a large scale, a flexible production line is often formed by adopting a plurality of standard general machine tools, when the rapid, efficient and intelligent automatic production is realized, the workpiece surface is clamped by adopting a center Kong Zhang sleeve type clamp, so that the clamp is particularly concise, great convenience is brought to chip removal and workpiece grabbing by a robot claw, and the clamp is particularly suitable for being used on a multi-station automatic connecting line. However, the expansion sleeve type clamp cannot clamp and finish machining the front surface and the back surface of a multi-station workpiece at one time, and the workpiece with the front surface machined is required to be turned up before the back surface of the workpiece is machined.
The traditional device for carrying out machine flanging on the workpiece comprises two transition discs, wherein at least two positioning pins for being inserted into positioning holes in the workpiece are arranged on the transition discs, during flanging, a manipulator is adopted to take down the workpiece from a clamp of a machine tool, the workpiece is placed on a first transition disc, the positioning pins on the first transition disc are inserted into the corresponding positioning holes in the workpiece, the workpiece is positioned on the first transition disc, then a second transition disc is covered on the upper surface of the workpiece, the positioning pins of the second transition disc are inserted into the corresponding positioning holes in the workpiece, the first transition disc, the workpiece and the second transition disc are integrally overturned, the second transition disc is positioned below the workpiece, the first transition disc is positioned above the workpiece, flanging of the workpiece is completed at the moment, the first transition disc is taken down, the manipulator is adopted to grasp the workpiece again, and the workpiece is placed on the clamp of the machine tool. The first transition disc and the second transition disc are assembled, disassembled and overturned, and are driven by complex execution mechanisms, so that the problems of complex structure, large occupied space, large manufacturing difficulty and high cost exist, the flanging process of the workpiece is complex, the processing time is prolonged, and the processing efficiency is reduced. . The positioning pin is inserted into a corresponding positioning hole on the workpiece to position the workpiece, the positioning pin is required to be in clearance fit with the positioning hole, smooth insertion of the positioning pin into the positioning hole or extraction of the positioning pin from the positioning hole can be ensured, the positioning pin and the positioning hole are required to be in clearance fit, however, the plane and the angular position of the workpiece cannot be fixed, namely, the workpiece can deflect in a certain range relative to the positioning plane of the transition disc, the workpiece can deflect in a certain range on the positioning plane of the transition disc, the plane and the angular position of the workpiece are easy to change when the manipulator grabs the workpiece from the second transition disc, the subsequent reverse machining precision of the grooved disc workpiece is influenced, and even the reverse machining of the grooved disc workpiece cannot be finished. If the flanging device is further provided with a mechanism for eliminating plane and angular position errors, the structural complexity, manufacturing difficulty, control difficulty and cost are further improved.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provide a workpiece flanging device which has the advantages of simple and compact structure, small occupied space, low cost, easiness in manufacturing and control and capability of improving the processing precision and the processing efficiency, and correspondingly provide a flanging method of the workpiece flanging device.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a work piece flanging device, includes grabs and puts subassembly, robot actuating arm and is used for the centre gripping subassembly of centre gripping and unclamping work piece, robot actuating arm links to each other with grabs and puts the subassembly and can drive grabs and put the subassembly and grab the both sides of centre gripping subassembly and put the work piece of being held by the centre gripping subassembly.
As a further improvement of the above technical scheme:
the clamping assembly comprises a frame and more than one clamping unit arranged on the frame, the clamping unit comprises two clamping pieces, the two clamping pieces are arranged on the frame in a mode of being capable of mutually approaching to clamp a workpiece and mutually separating from the workpiece to loosen the workpiece, more than one clamping space for accommodating the workpiece is arranged between the two clamping pieces, and the clamping unit further comprises a driving mechanism for driving the two clamping pieces to mutually approach to and mutually separate from each other.
The driving mechanism comprises a first telescopic driving piece and a second telescopic driving piece which are arranged on a frame, one end of each clamping piece is connected with the driving end of the first telescopic driving piece through a first connecting rod, two ends of the first connecting rod are hinged with the clamping pieces and the driving ends of the first telescopic driving piece respectively, the other ends of the clamping pieces are connected with the driving ends of the second telescopic driving piece through second connecting rods, two ends of the second connecting rod are hinged with the driving ends of the clamping pieces and the driving ends of the second telescopic driving piece respectively, and the telescopic movement directions of the driving ends of the first telescopic driving piece and the driving ends of the second telescopic driving piece are opposite.
The clamping assembly is provided with two clamping units, a first connecting rod connected with clamping pieces of the two clamping units is connected with the driving end of the same first telescopic driving piece, and a second connecting rod connected with clamping pieces of the two clamping units is connected with the driving end of the same second telescopic driving piece.
The driving end of the first telescopic driving piece is connected with a first cross rod, two first sliding rods are connected to the first cross rod, the first sliding rods are slidably arranged on the frame, one end of one first sliding rod is hinged with the first cross rod, the other end of the first sliding rod is hinged with a first connecting rod connected with two clamping pieces of one clamping unit, one end of the other first sliding rod is hinged with the first cross rod, and the other end of the other first sliding rod is hinged with a first connecting rod connected with two clamping pieces of the other clamping unit; the drive end of the second telescopic driving piece is connected with a second cross rod, two second slide bars are connected to the second cross rod, the second slide bars are installed on the frame in a sliding mode, one end of one second slide bar is hinged to the second cross rod, the other end of the second slide bar is hinged to a second connecting rod connected with two clamping pieces of one clamping unit, one end of the other second slide bar is hinged to the second cross rod, and the other end of the other second slide bar is hinged to a second connecting rod connected with two clamping pieces of the other clamping unit.
The clamping unit is characterized in that a gap for the grabbing and placing assembly to extend into the grabbing and placing workpiece is formed between the two clamping pieces when the clamping unit clamps the workpiece, and an avoidance gap for the grabbing and placing assembly to extend into the grabbing and placing workpiece is further formed in at least one clamping piece corresponding to each clamping space.
A plurality of elastic components are arranged between each clamping piece and the frame, and the elastic components elastically force the clamping piece to move close to the other clamping piece.
The grabbing and placing assembly comprises a base, clamping and placing units which are consistent in number with the clamping spaces of the clamping assembly and correspond to each other one by one are installed on the base, and the clamping and placing units comprise first automatic clamping jaws.
The clamping unit further comprises a second automatic clamping jaw, the first automatic clamping jaw and the second automatic clamping jaw are symmetrically arranged on two opposite sides of the base, and the center line of the first automatic clamping jaw and the center line of the second automatic clamping jaw are collinear.
The flanging method of the workpiece flanging device comprises the following steps of:
(S1) after the machine tool finishes the front processing of the workpiece, the robot driving arm drives the grabbing and placing assembly to grab the workpiece from the front end of the workpiece and take the workpiece off the machine tool;
(S2) driving the grabbing and placing assembly to move to one side of the clamping assembly by the driving arm of the robot, placing the workpiece in the clamping assembly from one side of the clamping assembly, and clamping and fixing the workpiece by the clamping assembly;
(S3) the grabbing and placing assembly loosens the workpiece, the robot driving arm drives the grabbing and placing assembly to move to the other side of the clamping assembly with the workpiece, and the grabbing and placing assembly grabs the workpiece from the back side end of the workpiece;
(S4) the clamping assembly loosens the workpiece, and the robot driving arm drives the grabbing and placing assembly to move to the machine tool with the workpiece, so that the workpiece is placed on the machine tool.
Compared with the prior art, the invention has the advantages that:
the workpiece flanging device adopts the conventional robot driving arm to drive the grabbing and placing assembly to be matched with the clamping assembly, the clamping assembly is used for clamping the workpiece to carry out transitional positioning, the grabbing and placing assembly is used for placing the workpiece on the clamping assembly from one side of the clamping assembly, the workpiece is clamped and taken down from the other side of the clamping assembly, the workpiece flanging operation can be completed, the plane and the angular position of the workpiece are not changed in the transferring process between the grabbing and placing assembly and the clamping assembly, the machining precision can be ensured, and the condition that reverse machining cannot be carried out is avoided. And moreover, only the conventional robot driving arm, the grabbing and placing assembly and the clamping assembly are adopted, a mechanism for eliminating the plane and the angular position errors of the workpiece is not required, and meanwhile, the device has the advantages of simple and compact structure, small occupied space, low cost, easiness in manufacturing and easiness in control, does not need to perform overturning action of the workpiece, and can save the time required for overturning, so that the processing time is shortened, and the processing efficiency is improved.
The flanging method can improve the machining precision and the machining efficiency.
Drawings
Fig. 1 is a schematic diagram of a side view of a workpiece flanging device when a grabbing and placing assembly is positioned on one side of a clamping assembly.
Fig. 2 is a schematic diagram of a side view of the workpiece flanging device when the grabbing and placing assembly is positioned at the other side of the clamping assembly.
Fig. 3 is a schematic front view of a clamping assembly.
Legend description:
1. a pick-and-place assembly; 11. a base; 12. a first automatic jaw; 13. a second automatic clamping jaw; 2. a robot drive arm; 3. a clamping assembly; 31. a frame; 32. a clamping member; 321. avoiding the notch; 33. a first telescopic driving member; 331. a first cross bar; 332. a first slide bar; 34. a second telescopic driving member; 341. a second cross bar; 342. a second slide bar; 35. a first link; 36. a second link; 37. a guide rail; 38. a slide block; 39. an elastic member.
Detailed Description
The invention is described in further detail below with reference to the drawings and the specific examples.
As shown in fig. 1 to 3, the workpiece flanging device of the present embodiment includes a gripping and releasing assembly 1, a robot driving arm 2, and a gripping assembly 3 for gripping and releasing a workpiece, the robot driving arm 2 being connected to the gripping and releasing assembly 1 and being capable of driving the gripping and releasing assembly 1 to grip and release the workpiece gripped by the gripping assembly 3 at both sides of the gripping assembly 3. The workpiece flanging device adopts the robot driving arm 2 to drive the grabbing and placing assembly 1 to grab and place workpieces clamped by the clamping assembly 3 on two sides of the clamping assembly 3, when the grabbing and placing assembly 1 grabs and places the workpieces on one side of the clamping assembly 3, the grabbing and placing operation can be carried out on the workpieces from the front end of the workpieces, when the grabbing and placing assembly 1 grabs and places the workpieces on the other side of the clamping assembly 3, the grabbing and placing operation can be carried out on the workpieces from the back end of the workpieces, so that the front end of the workpieces which are processed positively on a machine tool can be grabbed, the workpieces are placed on the clamping assembly 3 from one side of the clamping assembly 3 to be clamped and positioned, the back end of the workpieces on the clamping assembly 3 is grabbed from the other side of the clamping assembly 3, and the workpieces are taken down from the clamping assembly 3 and placed on the machine tool to realize flanging of the workpieces. Compared with the prior art, the workpiece flanging device adopts the conventional robot driving arm 2 to drive the grabbing and placing assembly 1 to be matched with the clamping assembly 3, the clamping assembly 3 is utilized to clamp the workpiece for transitional positioning, the grabbing and placing assembly 1 places the workpiece on the clamping assembly 3 from one side of the clamping assembly 3, the workpiece is clamped and taken down from the other side of the clamping assembly 3, the workpiece flanging operation can be completed, the plane and the angular position of the workpiece do not change in the transferring process between the grabbing and placing assembly 1 and the clamping assembly 3, the machining precision can be ensured, and the condition that reverse machining cannot be performed is avoided. In addition, the conventional robot driving arm 2, the grabbing and placing assembly 1 and the clamping assembly 3 are adopted, a mechanism for eliminating the plane and the angular position errors of the workpiece is not required, and meanwhile, the robot driving arm has the advantages of simple and compact structure, small occupied space, low cost, easiness in manufacturing and control, does not need to perform overturning action of the workpiece, and can save the time required for overturning, so that the processing time is shortened, and the processing efficiency is improved.
In this embodiment, the clamping assembly 3 includes a frame 31 and one or more clamping units mounted on the frame 31, the clamping units include two clamping members 32, the two clamping members 32 are mounted on the frame 31 in a manner that they can be moved closer to each other to clamp a workpiece and away from each other to release the workpiece, there is one or more clamping spaces between the two clamping members 32 for accommodating the workpiece, and the clamping units further include a driving mechanism for driving the two clamping members 32 to move closer to each other and away from each other. When the driving mechanism drives the clamping pieces 32 to move away from each other, a workpiece can enter a clamping space between the two clamping pieces 32, and when the driving mechanism drives the clamping pieces 32 to move close to each other, the two clamping pieces 32 can clamp the workpiece. The clamping assembly 3 has the advantages of simple structure, low cost, stable and reliable operation and easy control. The two clamping members 32 of the present embodiment have a plurality of clamping spaces therebetween for accommodating the workpieces so as to simultaneously turn-ups the plurality of workpieces. Preferably, each clamping member 32 is provided with a flexible clamping contact for clamping the workpiece in correspondence with each clamping space, so as to stably and reliably clamp the workpiece.
In this embodiment, the driving mechanism includes a first telescopic driving member 33 and a second telescopic driving member 34 mounted on the frame 31, one end of each clamping member 32 is connected to the driving end of the first telescopic driving member 33 through a first connecting rod 35, two ends of the first connecting rod 35 are respectively hinged to the clamping members 32 and the driving end of the first telescopic driving member 33, the other end of each clamping member 32 is connected to the driving end of the second telescopic driving member 34 through a second connecting rod 36, two ends of the second connecting rod 36 are respectively hinged to the driving ends of the clamping members 32 and the second telescopic driving member 34, and the telescopic movement directions of the driving ends of the first telescopic driving member 33 and the second telescopic driving member 34 are opposite. When the driving end of the first telescopic driving piece 33 and the driving end of the second telescopic driving piece 34 move back, the two clamping pieces 32 can be driven to move close to each other through the first connecting rod 35 and the second connecting rod 36, and when the driving end of the first telescopic driving piece 33 and the driving end of the second telescopic driving piece 34 move back, the two clamping pieces 32 can be driven to move away from each other through the first connecting rod 35 and the second connecting rod 36. The driving mechanism has simple and compact structure and low cost. Preferably, the first telescopic driving piece 33 and the second telescopic driving piece 34 adopt telescopic cylinders or telescopic cylinders.
In this embodiment, the clamping assembly 3 has two clamping units, the first connecting rod 35 connected to the clamping members 32 of the two clamping units is connected to the driving end of the same first telescopic driving member 33, and the second connecting rod 36 connected to the clamping members 32 of the two clamping units is connected to the driving end of the same second telescopic driving member 34. Therefore, the clamping pieces 32 of the two clamping units can be driven to synchronously act by adopting the first telescopic driving piece 33 and the second telescopic driving piece 34, so that the cost can be reduced, the structural compactness can be improved, and the action of clamping a plurality of workpieces is synchronous, and the stability is high.
In this embodiment, the driving end of the first telescopic driving member 33 is connected to a first cross rod 331, two first sliding rods 332 are connected to the first cross rod 331, the first sliding rods 332 are slidably mounted on the frame 31, one end of one first sliding rod 332 is hinged to the first cross rod 331, the other end of the other first sliding rod 332 is hinged to a first connecting rod 35 connected to two clamping members 32 of one clamping unit, one end of the other first sliding rod 332 is hinged to the first cross rod 331, and the other end of the other first sliding rod is hinged to a first connecting rod 35 connected to two clamping members 32 of the other clamping unit; the driving end of the second telescopic driving piece 34 is connected with a second cross rod 341, two second slide rods 342 are connected to the second cross rod 341, the second slide rods 342 are slidably arranged on the frame 31, one end of one second slide rod 342 is hinged to the second cross rod 341, the other end of the second slide rod 342 is hinged to the second connecting rod 36 connected with the two clamping pieces 32 of one clamping unit, one end of the other second slide rod 342 is hinged to the second cross rod 341, and the other end of the other second slide rod 342 is hinged to the second connecting rod 36 connected with the two clamping pieces 32 of the other clamping unit. The structure has the advantages of simple structure, low cost and easy manufacture and maintenance.
In this embodiment, the frame 31 is provided with a plurality of guide rails 37 arranged parallel to each other, and each clamping member 32 is slidably engaged with each guide rail 37 through a slider 38. The clamping members 32 slide along the guide rails 37, so that the clamping members 32 of the clamping unit move close to each other and away from each other, and the mounting structure of the clamping members 32 has the advantages of simple structure, low cost, good working stability and high precision.
In this embodiment, when the clamping unit clamps a workpiece, a gap for the grabbing and placing assembly 1 to extend into the grabbing and placing workpiece is provided between the two clamping members 32, and an avoidance gap 321 for the grabbing and placing assembly 1 to extend into the grabbing and placing workpiece is further provided on at least one clamping member 32 corresponding to each clamping space. The workpiece is convenient to grasp and put by the grasping and putting assembly 1 while ensuring compact structure.
In the present embodiment, a plurality of elastic members 39 are disposed between each clamping member 32 and the frame 31 to elastically force the clamping member 32 to move closer to the other clamping member 32, so as to improve the stability and reliability of clamping the workpiece. Preferably, the elastic member 39 is a telescopic spring.
In this embodiment, the grabbing and placing assembly 1 includes a base 11, and clamping and placing units which are consistent in number and correspond to the clamping spaces of the clamping assembly 3 are installed on the base 11, and each clamping and placing unit includes a first automatic clamping jaw 12 and a second automatic clamping jaw 13, the first automatic clamping jaw 12 and the second automatic clamping jaw 13 are symmetrically installed on two opposite sides of the base 11, and the center line of the first automatic clamping jaw 12 and the center line of the second automatic clamping jaw 13 are collinear. When the grabbing and placing assembly 1 is positioned on one side of the clamping assembly 3, the first automatic clamping jaw 12 can be utilized to loosen and clamp the workpiece, when the grabbing and placing assembly 1 is positioned on the other side of the clamping assembly 3, the second automatic clamping jaw 13 can be utilized to loosen and clamp the workpiece, the robot driving arm 2 only needs to drive the grabbing and placing assembly 1 to move in a translational mode, the driving freedom degree of the robot driving arm 2 can be reduced, the cost is reduced, the control difficulty is reduced, and the precision is improved. In other embodiments, the clamping unit may also be provided with only the first automatic clamping jaw 12.
The first automatic clamping jaw 12 and the second automatic clamping jaw 13 are both of the prior art and are commercially available and mainly comprise a plurality of clamping fingers arranged around a central line and a clamping jaw driving mechanism, wherein the clamping finger driving mechanism drives the clamping fingers to move close to the central line or move away from the central line along the radial direction, so that workpieces are clamped and loosened. The first automatic gripper 12 and the second automatic gripper 13 may be driven by separate gripper driving mechanisms or by the same gripper driving mechanism.
The flanging method of the workpiece flanging device of the embodiment comprises the following steps:
(S1) after the machine tool finishes the front processing of the workpiece, the robot driving arm 2 drives the grabbing and placing assembly 1 to grab the workpiece from the front end of the workpiece and take the workpiece off the machine tool;
(S2) the robot driving arm 2 drives the pick-and-place assembly 1 to move to one side of the clamping assembly 3 with the workpiece, the workpiece is placed in the clamping assembly 3 from one side of the clamping assembly 3, and the workpiece is clamped and fixed by the clamping assembly 3;
(S3) the grabbing and placing assembly 1 loosens the workpiece, the robot driving arm 2 drives the grabbing and placing assembly 1 to move to the other side of the clamping assembly 3 with the workpiece, and the grabbing and placing assembly 1 grabs the workpiece from the back side of the workpiece;
(S4) the clamping assembly 3 releases the workpiece, and the robot driving arm 2 drives the pick-and-place assembly 1 to move to the machine tool with the workpiece, and places the workpiece on the machine tool.
According to the flanging method, the plane and the angular position of the workpiece are not changed in the transferring process between the grabbing and placing assembly 1 and the clamping assembly 3, the machining precision can be guaranteed, the condition that reverse machining cannot be performed is avoided, the required time is short, and the machining efficiency is high.
The workpiece flanging device and the flanging method thereof are particularly suitable for processing disc parts such as brake discs and the like.
The above description is merely a preferred embodiment of the present invention, and the scope of the present invention is not limited to the above examples. Modifications and variations which would be obvious to those skilled in the art without departing from the spirit of the invention are also considered to be within the scope of the invention.
Claims (10)
1. A workpiece flanging device, characterized in that: the clamping device comprises a grabbing and placing assembly (1), a robot driving arm (2) and a clamping assembly (3) for clamping and loosening workpieces, wherein the robot driving arm (2) is connected with the grabbing and placing assembly (1) and can drive the grabbing and placing assembly (1) to grab and place the workpieces clamped by the clamping assembly (3) on two sides of the clamping assembly (3).
2. The workpiece flanging apparatus of claim 1, wherein: the clamping assembly (3) comprises a frame (31) and more than one clamping unit arranged on the frame (31), the clamping unit comprises two clamping pieces (32), the two clamping pieces (32) are arranged on the frame (31) in a mode of being capable of mutually approaching to clamp a workpiece and mutually separating from the workpiece to loosen the workpiece, more than one clamping space for accommodating the workpiece is arranged between the two clamping pieces (32), and the clamping unit further comprises a driving mechanism for driving the two clamping pieces (32) to mutually approach to and mutually separate from each other.
3. The workpiece flanging apparatus of claim 1, wherein: the driving mechanism comprises a first telescopic driving piece (33) and a second telescopic driving piece (34) which are arranged on a frame (31), one end of each clamping piece (32) is connected with the driving end of the first telescopic driving piece (33) through a first connecting rod (35), two ends of the first connecting rod (35) are hinged with the driving ends of the clamping pieces (32) and the first telescopic driving piece (33) respectively, the other end of each clamping piece (32) is connected with the driving end of the second telescopic driving piece (34) through a second connecting rod (36), two ends of the second connecting rod (36) are hinged with the driving ends of the clamping pieces (32) and the second telescopic driving piece (34) respectively, and the telescopic movement directions of the driving ends of the first telescopic driving piece (33) and the driving ends of the second telescopic driving piece (34) are opposite.
4. A workpiece flanging apparatus as claimed in claim 3, wherein: the clamping assembly (3) is provided with two clamping units, a first connecting rod (35) connected with clamping pieces (32) of the two clamping units is connected with the driving end of the same first telescopic driving piece (33), and a second connecting rod (36) connected with the clamping pieces (32) of the two clamping units is connected with the driving end of the same second telescopic driving piece (34).
5. The workpiece flanging apparatus of claim 4, wherein: the driving end of the first telescopic driving piece (33) is connected with a first cross rod (331), two first sliding rods (332) are connected to the first cross rod (331), the first sliding rods (332) are installed on the frame (31) in a sliding mode, one end of one first sliding rod (332) is hinged to the first cross rod (331), the other end of the first sliding rod is hinged to a first connecting rod (35) connected with two clamping pieces (32) of one clamping unit, one end of the other first sliding rod (332) is hinged to the first cross rod (331), and the other end of the other first sliding rod is hinged to the first connecting rod (35) connected with two clamping pieces (32) of the other clamping unit; the driving end of the second telescopic driving piece (34) is connected with a second cross rod (341), two second slide rods (342) are connected to the second cross rod (341), the second slide rods (342) are installed on the frame (31) in a sliding mode, one end of one second slide rod (342) is hinged to the second cross rod (341), the other end of the second slide rod is hinged to a second connecting rod (36) connected with two clamping pieces (32) of one clamping unit, one end of the other second slide rod (342) is hinged to the second cross rod (341), and the other end of the other second slide rod is hinged to a second connecting rod (36) connected with two clamping pieces (32) of the other clamping unit.
6. The workpiece flanging apparatus of claim 2, wherein: when the clamping unit clamps a workpiece, a gap for the grabbing and placing component (1) to extend into the grabbing and placing workpiece is formed between the two clamping pieces (32), and an avoidance gap (321) for the grabbing and placing component (1) to extend into the grabbing and placing workpiece is further formed in at least one clamping piece (32) corresponding to each clamping space.
7. The workpiece flanging apparatus of claim 2, wherein: a plurality of elastic parts (39) which elastically force the clamping piece (32) to move close to the other clamping piece (32) are arranged between each clamping piece (32) and the frame (31).
8. The workpiece flanging apparatus according to any one of claims 2 to 7, wherein: the grabbing and placing assembly (1) comprises a base (11), clamping and placing units which are consistent in number with the clamping spaces of the clamping assembly (3) and correspond to each other one by one are installed on the base (11), and each clamping and placing unit comprises a first automatic clamping jaw (12).
9. The workpiece flanging apparatus of claim 8, wherein: the clamping unit further comprises a second automatic clamping jaw (13), the first automatic clamping jaw (12) and the second automatic clamping jaw (13) are symmetrically arranged on two opposite sides of the base (11), and the center line of the first automatic clamping jaw (12) and the center line of the second automatic clamping jaw (13) are collinear.
10. A flanging method of the workpiece flanging device as defined in any one of claims 1 to 9, characterized in that: the method comprises the following steps:
after the machine tool finishes the front processing of the workpiece, a robot driving arm (2) drives a grabbing and placing assembly (1) to grab the workpiece from the front end of the workpiece and take the workpiece off the machine tool;
(S2) a robot driving arm (2) drives the grabbing and placing assembly (1) to move to one side of the clamping assembly (3) with the workpiece, the workpiece is placed in the clamping assembly (3) from one side of the clamping assembly (3), and the workpiece is clamped and fixed by the clamping assembly (3);
(S3) the grabbing and placing assembly (1) loosens the workpiece, the robot driving arm (2) drives the grabbing and placing assembly (1) to move to the other side of the clamping assembly (3) with the workpiece, and the grabbing and placing assembly (1) grabs the workpiece from the reverse side end of the workpiece;
(S4) the clamping component (3) loosens the workpiece (3), and the robot driving arm (2) drives the grabbing and placing component (1) to move to the machine tool with the workpiece, so that the workpiece is placed on the machine tool.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310637351.2A CN116900187A (en) | 2023-05-31 | 2023-05-31 | Workpiece flanging device and flanging method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310637351.2A CN116900187A (en) | 2023-05-31 | 2023-05-31 | Workpiece flanging device and flanging method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN116900187A true CN116900187A (en) | 2023-10-20 |
Family
ID=88350032
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310637351.2A Pending CN116900187A (en) | 2023-05-31 | 2023-05-31 | Workpiece flanging device and flanging method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN116900187A (en) |
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2023
- 2023-05-31 CN CN202310637351.2A patent/CN116900187A/en active Pending
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Effective date of registration: 20240117 Address after: 410000, Building 101, Changsha Juntian Electromechanical Co., Ltd., No. 2 Xingluo Road, Changsha Economic and Technological Development Zone, Changsha City, Hunan Province Applicant after: Hunan Huayu Hengyuan Intelligent Equipment Co.,Ltd. Address before: 410000 Room 2107, No. 717, Wuyi Avenue, Pozi Street, Tianxin District, Changsha, Hunan Applicant before: Hunan Huayu Hengyuan Enterprise Management Partnership (Limited Partnership) |