CN201833202U - Flexible clamping tooling system - Google Patents
Flexible clamping tooling system Download PDFInfo
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- CN201833202U CN201833202U CN2010202767833U CN201020276783U CN201833202U CN 201833202 U CN201833202 U CN 201833202U CN 2010202767833 U CN2010202767833 U CN 2010202767833U CN 201020276783 U CN201020276783 U CN 201020276783U CN 201833202 U CN201833202 U CN 201833202U
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Abstract
The utility model provides a flexible clamping tooling system, which comprises a bed unit, at least one case unit, at least two telescopic upright post units and at least two flexible clamps. Each flexible clamp is fixed to the top end of one movable upright post, and the bed unit, optional one of the case units and optional one of the telescopic upright post units can move in the vertical direction in a plane consisting of the other case unit and the other telescopic upright post unit. The flexible clamping tooling system can adapt to curve-surface thin plate components with various profiles and sizes, and is simple in the integral clamping and fixing process and easy in operation.
Description
Technical field
The utility model relates to a kind of flexible clamping fixture system.
Background technology
, at first to the curved sheets member be gripped during in processing by clamping tooling such as curved sheets members such as sheet metal component, wallboard, hatch doors, then to the curved sheets member cut edge, processing such as milling.Present used clamping tooling is and fixed moulds such as the corresponding loft model-master body of curved sheets member profile, grips the curved sheets member by the polylith fixed mould.There is following defective in this mode of gripping: the first, grip the process complexity, and the required time that grips is long, causes production efficiency on the low side; The second, the low precision that grips influences the machining accuracy of product, usually causes product can not satisfy instructions for use; The 3rd, the bad adaptability of fixed mould, the curved sheets member of different profiles needs corresponding with it fixed mould; The 4th, for the large-scale curved thin-plate element of those complex profiles, required fixed mould quantity is more, and the volume of fixed mould, weight are all bigger, and above-mentioned the 3rd, the 4th makes the big quantity space that need deposit fixed mould.
Summary of the invention
Technical problem to be solved in the utility model is exactly at the above-mentioned defective that exists in the prior art, a kind of flexible clamping fixture system is provided, the process that grips of this fixture system is simple, and can the curved sheets member of various profiles, size be gripped.
The technical scheme that solution the utility model technical problem is taked provides a kind of flexible clamping fixture system, described fixture system comprises lathe bed unit, at least one box unit, at least two telescopic column unit and at least two flexible clip gripping members, each described flexible clip gripping member is separately fixed at the top of a described mobile column, and the vertical direction on the plane that any one unit can be formed in two other unit in described lathe bed unit, described box unit and the described telescopic column unit is subjected to displacement.
Wherein, described lathe bed unit comprises that lathe bed pedestal, described box unit comprise box base, be provided with first slide mechanism between described lathe bed pedestal and the described box base, described box base is fixed on described first slide mechanism, and can slide with respect to described lathe bed pedestal by described first slide mechanism; Be provided with second slide mechanism between described telescopic column unit and the described box base, described telescopic column unit is fixed on described second slide mechanism, and can slide with respect to described box base by means of described second slide mechanism; Described telescopic column unit comprises cylinder barrel, mobile column and is arranged on the 3rd slide mechanism on the described cylinder barrel, by described the 3rd slide mechanism described mobile column slided with respect to described cylinder barrel.
Wherein, described first slide mechanism comprises first sliding unit and first driver element, described first sliding unit comprises bed ways and the casing slide block that matches with described bed ways, described bed ways are fixed on the described lathe bed pedestal, and described casing slide block is fixed on the bottom of described box base; Described first driver element comprises lathe bed tooth bar, gear and first motor, described lathe bed tooth bar is arranged on the described lathe bed pedestal, and be arranged in parallel with described bed ways, described first motor is fixed on the bottom of described box base, described gear is fixed in the rotating shaft of described first motor, and described gear is meshed with described lathe bed tooth bar.
Wherein, described first sliding unit and first driver element are two, are separately positioned on two relative side positions of described lathe bed pedestal.
Wherein, described second slide mechanism comprises second sliding unit, second driver element and gripper shoe, described second sliding unit is connected by gripper shoe with described second driver element, wherein, described second sliding unit comprises casing guide rail and the telescopic column unit slide block that matches with described casing guide rail, the casing guide rail is fixed on the described box base, and described telescopic column unit slide block is fixed on the described gripper shoe; Described second driver element comprises ball-screw screw rod, nut, bearing, gripper shoe, transmission device and second motor, described ball-screw screw rod is fixed on the described box base, described nut sleeve is contained on the described ball-screw screw rod, and be connected with described bearing fixing, described bearing and described second motor all are fixed on the described gripper shoe, and described second motor is connected with described nut by described transmission device.
Wherein, described transmission device comprises small belt pulley, big belt pulley and the belt that connects described small belt pulley and described big belt pulley, and described small belt pulley is fixed in the rotating shaft of described second motor, and described big belt pulley is fixedlyed connected with described nut.
Wherein, described nut, described bearing and described big belt pulley are fixed together by branch sleeve, described branch sleeve is three stage rank axles of hollow, the external diameter in described step axle centre position is greater than the external diameter at its two ends, and described nut, described big belt pulley and described bearing are socketed on the described branch sleeve successively.
Wherein, described fixture system also comprises at least two locators, and described locator is separately fixed at the top of a described mobile column.
Wherein, also be provided with limit switch and crashproof block between two adjacent described box bases and between two adjacent described telescopic column unit.
Wherein, described fixture system also comprises control system, described control system comprises multiaxis manager and host computer, described host computer is connected by ethernet line with described multiaxis manager, and described multiaxis manager is connected by the CANOpen fieldbus with described first slide mechanism, second slide mechanism and the 3rd slide mechanism.
The flexible clamping fixture system of the utility model has the following advantages:
The flexible clamping fixture system that the utility model provides fixes workpiece by a plurality of flexible clip gripping members, promptly replace traditional fixed mould by a plurality of discrete points, simultaneously by the lathe bed pedestal, moving mutually between box base and the telescopic column unit, make each flexible clip gripping member independently to move at three dimensions, so that make a plurality of discrete points can adapt to the curved sheets member of different profiles, thereby make flexible clamping fixture system can adapt to various profiles, the curved sheets member of size, and the whole process that grips is simple, easy operating.
Description of drawings
Fig. 1 is the structure chart of the flexible clamping fixture system of the utility model;
Fig. 2 is the structure chart after part lathe bed unit and the box unit combination;
Fig. 3 is the structure chart after part box unit and the telescopic column unit combination;
Fig. 4 is the structure chart of second drive unit;
Fig. 5 is the front view of telescopic column unit;
Fig. 6 is the cutaway view along A-A line among Fig. 4;
Fig. 7 is the cutaway view along B-B line among Fig. 5;
Fig. 8 is the outline drawing of locator;
Fig. 9 is the exploded view of locator;
The work schematic diagram that Figure 10 locator is connected with covering class part;
Among the figure: 1-lathe bed unit, 11-lathe bed pedestal, 12-lathe bed tooth bar, 13-bed ways 2-box unit, 21-box base, 22-casing guide rail, 23-ball-screw screw rod, 24-casing motor, 25-telescopic column unit slide block, the 26-gear, 27-fixture, 28-screw, the 29-gripper shoe, 210-leading screw support member, 211-casing slide block, 212-telescopic column unit slide block, 213-nut, 215-second motor, the 216-small belt pulley, 217-big belt pulley, 218-belt, 3-telescopic column unit, 31-the 3rd motor, 32-main pulley, 33-second belt, the 34-case lid, 35-is from belt pulley, 36-side through hole, 37-adjusts axle sleeve, 38-bearing, the 39-bearing cap, 310-back-up ring, 311-feed screw nut, the 312-magnet ring, 313-anti-collision ring, 314-mobile column, the 315-leading screw, 316-cylinder barrel, 317-travel switch, 318-harmomegathus cover, 319-sealing ring, 320-cylinder barrel lid, the 321-ball seat, 322-ball lower cover, 323-ball loam cake, the 324-sucker pad, 325-sucker, 326-pressure pad, 327-customizes screw, the 328-head of a nail, 329-plug, 330-locatees axle sleeve, 331-pin, 332-protuberance, the 333-groove, 334-SS, 335-through hole, 336-side through hole, 337-aspirating hole, 4-locator, the 411-base, 412-C pivot angle stator, 431-C pivot angle rotor, 421-A pivot angle rotor, 434,435-A pivot angle support, 433-A pivot angle guide rail, the 432-friction plate, the 436-clamping screw, 437-locking nut, 423-alignment pin, 424-locatees lid, the 422-key seat, the fastening top wire hole of 4221-, 5-flexible clip gripping member
The specific embodiment
For making those skilled in the art understand the technical solution of the utility model better, the flexible clamping fixture system that the utility model provides is described in detail below in conjunction with accompanying drawing.
See also Fig. 1, be the structural representation of flexible clamping fixture system.Flexible clamping fixture system mainly comprises lathe bed unit 1, box unit 2, telescopic column unit 3, locator 4, flexible clip gripping member 5, wherein, be provided with first slide mechanism between lathe bed unit 1 and the box unit 2, and can slide relatively by this first slide mechanism, lathe bed unit 1 is defined as directions X with the relative glide direction of box unit 2.Be provided with second slide mechanism between box unit 2 and the telescopic column unit 3, box unit 2 can be slided by this second slide mechanism relatively with telescopic column unit 3, and box unit 2 is defined as the Y direction with the relative glide direction of telescopic column unit 3.Telescopic column unit 3 comprises cylinder barrel 316 and mobile column 314, between cylinder barrel 316 and mobile column 314, the 3rd slide mechanism is set, cylinder barrel 316 can slide by the 3rd slide mechanism relatively with mobile column 314, and cylinder barrel 316 is defined as the Z direction with the relative glide direction of mobile column 314.
In the present embodiment, lathe bed unit 1 is provided with 6 box unit 2, and each is provided with 5 telescopic column unit 3, thereby forms 6 * 5 square formation.Top at the mobile column 314 of telescopic column unit 3 is provided with locator 4 or flexible clip gripping member 5.Like this, locator 4 and flexible clip gripping member 5 just can move in X, Y, three directions of Z by first slide mechanism, second slide mechanism and the 3rd slide mechanism, thereby arrive the optional position in a certain space.
See also Fig. 2, be the structural representation of lathe bed unit.Lathe bed unit 1 comprises lathe bed pedestal 11, lathe bed tooth bar 12 and bed ways 13.Lathe bed pedestal 11 two opposite edges edge positions respectively are provided with bed ways 13, and at the arranged outside lathe bed tooth bar 12 of bed ways 13, lathe bed tooth bar 12 is parallel to bed ways 13 and is provided with.
See also Fig. 3 again, be the structural representation of box unit.Box unit 2 comprises box base 21, casing guide rail 22, ball-screw screw rod 23 and casing motor 24.The bottom of box base 21 is fixed with casing slide block 211, and casing slide block 211 matches with bed ways 13, and can slide on bed ways 13, and like this, casing slide block 211 and bed ways 13 have promptly constituted first sliding unit.
First driver element comprises lathe bed tooth bar 12, gear 26 and first motor 24.Casing motor 24 is fixed on the bottom of box base 21, and the outside of box base 21 is stretched out in the rotating shaft of casing motor 24 downwards, and gear 26 is fixed in the rotating shaft of casing motor 24, and gear 26 is meshed with lathe bed tooth bar 12.Under the driving of casing motor 24, gear 26 and 12 engagements of lathe bed tooth bar, and promotion box base 21 slides on bed ways 13.Therefore, cooperatively interacting of lathe bed tooth bar, gear and first motor promptly constitutes first driver element.Because the span (length) of box base 21 is bigger, preferred two covers, first driver element that adopts in the present embodiment, two casing motors 24 are separately positioned on the two ends of box base 21 length directions.In use, two casing motors 24 rotate simultaneously, move at directions X with drive case unit 2.Use two casing motors 24, promptly two first driver elements come drive case unit 2 can avoid box unit 2 to depart from running, thereby improve the location of box unit 2 on directions X.
At the length direction of the box base 21 two casing guide rails 22 that be arranged in parallel, casing guide rail 22 is fixed on the box base 21 by screw 28.Casing guide rail 22 is provided with telescopic column with matching unit slide block 25, and casing guide rail 22 and telescopic column unit slide block 212 have constituted second sliding unit.Telescopic column unit slide block 25 is fixed on the gripper shoe 29, and telescopic column unit 3 is fixed on the gripper shoe 29 by fixture 27, and is positioned at the another side relative with telescopic column unit slide block 25.
Please in conjunction with consulting Fig. 4, second driver element comprises ball-screw screw rod 23, nut 213, bearing (not shown), gripper shoe 29, transmission device and second motor 215.Wherein, ball-screw screw rod 23 is arranged between two casing guide rails 22, and ball-screw screw rod 23 is fixed on the box base 21 by leading screw support member 210.Nut 213 is sleeved on the ball-screw screw rod 23, and can move on ball-screw screw rod 23.Transmission device comprises small belt pulley 216, big belt pulley 217 and belt 218.Small belt pulley 216 is fixed in the rotating shaft of second motor 215, and big belt pulley 217, nut 213 and bearing are fixed together by the branch sleeve (not shown).Branch sleeve is three stage rank axles, the external diameter maximum in step axle centre position, and the external diameter of end positions is little, and nut 213, big belt pulley 217 and bearing are socketed on the branch sleeve successively.The shaft core position of branch sleeve is provided with through hole, and the slightly larger in diameter of through hole is in the external diameter of ball-screw screw rod 23, and ball-screw screw rod 23 passes from the through hole of branch sleeve.Small belt pulley 216 is connected by belt 218 with big belt pulley 217.By transmission device the driving force of second motor 215 is passed to nut 213, pass to gripper shoe 29 by nut 213 again, drive telescopic column unit 3 by gripper shoe 29 and move in the Y direction.
Need to prove that two second adjacent driver elements also can realize that 215 selections of second motor drive telescopic column unit 3, reduce the quantity of second motor 215 with this, thereby save the manufacturing cost of fixture system by clutch.
Also it should be noted that, also be provided with crashproof block (not shown) and limit switch (not shown) between two adjacent box bases 21 and between two adjacent telescopic column unit 3, when adjacent box base 21 or telescopic column unit 3 bump, limit switch sends collision alarm to control system, makes the box base 21 or the telescopic column unit 3 that bump out of service by control system again.When limit switch breaks down, can also come guard box susceptor body 21 and/or telescopic column unit 3 by crashproof block.
See also Fig. 5-7, the telescopic column unit comprises cylinder barrel 316 and clamping device, having in the cylinder barrel 316 can be along self axially movable mobile column 314 and the hold-fast body that can lock mobile column 316, stretch out from cylinder barrel 316 upper end of mobile column 314, clamping device is fixed on the end of mobile column 314 upper ends, clamping device adopts vacuum draw mechanism, thereby by described vacuum draw mechanism suction air workpiece is clamped.
Wherein, mobile column 314 can move along its axis by the drive of motion.In the present embodiment, motion comprises the 3rd motor 31, be fixed on main pulley 32 on the motor output shaft, be fixed on leading screw 315 from the belt pulley center, be enclosed within the feed screw nut 311 on the leading screw 315 and make the feed screw nut 311 only can be along mobile column 314 axially movable guiding mechanisms from belt pulley 35, an end by what the 3rd belt 33 connected with main pulley 32.Mobile column 314 adopts the tube-in-tube structure of middle part hollows, and the other end of screw mandrel 315 stretches into vacancy in the middle part of mobile column 314, and mobile column 314 is sleeved on the feed screw nut 311 and is fixedly connected with it.Leading screw 315, feed screw nut 311, mobile column 314 and guiding mechanism are formed the 3rd slide mechanism of present embodiment.
As shown in Figure 6, guiding mechanism be included in the axial setting of cylinder barrel 316 inner surface upper edge mobile columns protuberance 332, be fixed on the location axle sleeve 330 on the mobile column 314, the groove 333 that locating shaft puts.Protuberance 332 is located in the groove 333 and is matched with it.The end, lower end of mobile column 314 has groove, and location axle sleeve 330 is installed in this groove, and is fixed on the mobile column 314 by pin.
In the present embodiment, the protuberance 332 on the cylinder barrel adopts two that are oppositely arranged, and correspondingly, the groove 333 that locating shaft puts also is two that are oppositely arranged.As shown in Figure 7, location axle sleeve 330 is formed by symmetrically arranged two semi-rings, and two relative breach have promptly constituted two grooves 333 that are oppositely arranged between two semi-rings.
In the present embodiment, the 3rd motor 31 adopts servomotor, move by the driven by servomotor mobile column, pulse signal by the 3rd motor 31, again by the speed reducing ratio of belt pulley and the helical pitch of leading screw, can calculate the distance of mobile column 314 motions, thereby calculate the accurate position of the vacuum draw mechanism that is fixed on the mobile column, to reach pinpoint purpose.
Hold-fast body comprises the harmomegathus cover of being located between cylinder barrel 316 and the mobile column 314 318, and wherein, harmomegathus cover 318 cooperates with the inwall of cylinder barrel 316.Harmomegathus cover 318 adopts the material that can shrink when bleeding, can expand when inflating to make, and in the present embodiment, harmomegathus cover 318 adopts polyurethane material to make.The concave structure that is shaped as two ends protrusion, stage casing depression of harmomegathus cover 318 is in order to increase air capacity.Overlap in harmomegathus and respectively be shaped on a little groove on the protuberance at 318 two ends to place sealing ring.
As shown in Figure 5, have on the cylinder barrel 316 and can overlap 318 SSs of bleeding or blowing 334 to harmomegathus, SS 334 communicates with the recess in harmomegathus cover stage casing.
When mobile column 314 drive clamping devices moved to the curved surface part surface, 318 inflations of harmomegathus cover were also held mobile column 314 tightly, thereby played fixing firm part.
The bottom of mobile column 314 is provided with magnet ring 312, the effect of magnet ring 312 is to form magnetic field, when mobile column 314 drive magnet rings 312 moved to travel switch 317 pairing positions, travel switch 317 can be sensed the magnetic field that its magnet ring 312 is produced.The outside of magnet ring 312 also is provided with anti-collision ring 313, and the effect of anti-collision ring 313 is protection magnet rings 312, with prevent when whole device break down or Electric Machine Control when malfunctioning magnet ring 312 crashed.
Two ends of cylinder barrel 316 respectively are provided with an opening, are respectively equipped with the travel switch 317 that can sense the magnetic field of magnet ring 312 in the opening at described both ends, and travel switch 317 is fixed on the cylinder barrel 316.Travel switch 317 plays the restriction extreme position in the utility model device course of work.Two travel switches can limit upper and lower two extreme positions of mobile column in cylinder barrel 316 respectively.The magnetic induction signal that described travel switch can receive it sends to the external control unit that can control 31 motions of the 3rd motor.In the course of the work, when any extreme position in the mobile column 314 drive magnet rings 312 arrival cylinder barrels 316, sensing chip in the travel switch 317 is sensed the magnetic field of magnet ring 312, travel switch 317 highlighted demonstrations, and the signal of sensing sent to the external control unit, by external control unit controls the 3rd motor 31, it is stopped operating.
Vacuum draw mechanism mainly comprises ball seat 321, ball loam cake 323, ball lower cover 322, sucker 325.The bottom of ball seat 321 is the flange dish type, and its top is a spherical.Ball seat 321 bottoms are fixed on the inside of mobile column 314 upper ends, and mobile column is stretched out at its top.Mobile column 314 has groove in order to place sealing ring with the link position place of ball seat 321, and described sealing ring role is to prevent gas leakage.
The bottom of ball seat 321 has through hole 335 to the top, have the side through hole 336 that intersects with through hole 335 on ball seat 321 sides, and the purpose of opening hole 335 and side through hole 336 all is for this vacuum draw mechanism can better be ventilated.Be provided with plug 329 on the ball seat bottom, plug 329 is blocked the bottom of through hole 335.Position at side through hole 336 on the ball seat 321 also has annular recess, can guarantee to keep between the top gas circuit of external air source and sucker 325 unimpeded by annular groove.On mobile column 314, have aspirating hole 337 with side through hole 336 corresponding positions.
On ball loam cake 323 end faces, be provided with sucker 325, also be with the sucker pad 324 on band bowl limit on the ball loam cake 323.The main material of making sucker 325 is a butyronitrile rubber, and sucker 325 also can adopt General Purpose Rubber to make, but effect is not good especially.The platform shape is made in the termination, top of ball seat 321, can freely rotate 45 ° and maintenance ventilation to guarantee sucker 325.
In the present embodiment, sucker 325 adopts wedge structure, be the wedge-shaped impression the inside of vacuum cup 325 fastenings of wedge structure at ball loam cake 323, and by the customization screw 327 compress sucker pressure pad 326, make it to be fixed on the ball loam cake 323 thereby compress sucker 325, by the head of a nail 328 fastenings customization screw 327.The head of a nail 328 contacts with curved surface class part, is beneficial to normal direction location, and 325 in sucker plays to bleed and holds, inflates the effect of unclamping workpiece tightly.
In addition, the effect of plug 329 except guarantee air tight, under possible situation,,, forming vacuum, thereby also can make sucker 325 suck part at the inside of mobile column 314 extracting air by pulling out the bottom of the through hole that plug 329 blocked.
In the present embodiment, ball seat 321, ball lower cover 322, ball loam cake 323, customization screw 327, the head of a nail 328, plate mat 324, sucker 325, pressure pad 326, customization screw 327, the head of a nail 328, plug 329, side through hole 336 and aspirating hole 337 have constituted flexible clip gripping member 5.
The course of work of telescopic column unit is as follows: the 3rd motor 31 rotates, drive main pulley 32, the 3rd belt 33 and rotate from belt pulley 34, driving leading screw 315 from belt pulley 34 rotates, because feed screw nut 311 is fixing with mobile column 314, location axle sleeve 330 is fixed on the mobile column 314, and the groove 333 that locating shaft puts matches with protuberance 332 on the cylinder barrel, thereby feed screw nut 311 drives mobile columns 314 and axially does rectilinear motion along it.When mobile column 314 motions put the back in place (when being vacuum cup 325 arrival piece surface positions, by the reading on the motor coding instrument, can read the distance of mobile column motion), inflate by 334 pairs of harmomegathus covers 318 of SS by the external air source processing components, harmomegathus cover 318 is expanded hold mobile column 314 tightly.This moment, vacuum cup 325 contacted with curved surface part, was bled by aspirating hole 337 control vacuum draw mechanisms by the external air source processing components, made vacuum cup 325 suck part.Wherein, the source of the gas processing components is connected on the ball seat 321 by the aspirating hole on the mobile column 314 337, and the structure of ball seat 321 makes circulation of air arrive among the vacuum cup 325, clamps curved surface part thereby form vacuum.
By cooperatively interacting of lathe bed unit 1, box unit 2, telescopic column unit 3, locator 4 and flexible clip gripping member 5 can be moved in X, Y, three directions of Z,
See also Fig. 8-9, locator 4 comprises positioning end, double pendulum angle mechanism and the stiff end that connects successively from top to bottom, and stiff end comprises the base 411 and the C pivot angle stator 412 that is arranged on the described base 411 that is used to connect miscellaneous equipment.
Double pendulum angle mechanism comprises C pivot angle rotor 431 and A pivot angle stator.C pivot angle rotor 431 matches with C pivot angle stator 412 and merges and can rotate around the C axle; A pivot angle stator is arranged on C pivot angle rotor 431 tops regularly, and it is used to install the A pivot angle rotor 421 on the positioning end, and particularly, A pivot angle stator comprises A pivot angle guide rail 433 and A pivot angle support 434,435.A pivot angle guide rail 433 is one-body molded with C pivot angle rotor 431, and A pivot angle support 434,435 is screwed the both sides at A pivot angle guide rail 433.
Between positioning end and stiff end and double pendulum angle mechanism, be provided with the retaining mechanism that makes positioning end and stiff end and double pendulum angle mechanism lock mutually or unclamp respectively, particularly, between positioning end and double pendulum angle mechanism, A pivot angle retaining mechanism is set, between stiff end and double pendulum angle mechanism, C pivot angle retaining mechanism is set, A pivot angle retaining mechanism comprises clamping screw 436 and locking nut 437, and C pivot angle retaining mechanism comprises friction plate 432.
C pivot angle stator 412 and C pivot angle rotor 431 are circular configuration, C pivot angle rotor 431 be stacked in C pivot angle stator 412 tops and relatively C pivot angle stator 412 do circumference and rotatablely move, the rotating shaft at the two center is the C axle.In actual applications, can adopt centre bearing to use as above-mentioned C axle.
Positioning end comprises that A pivot angle rotor 421, key seat 422, alignment pin 423 and location cover 424.Wherein, A pivot angle support 434,435 and the A pivot angle guide rail 433 in A pivot angle rotor 421 and the double pendulum angle mechanism is connected; Key seat 422 be fixed on A pivot angle rotor 421 upper surfaces, alignment pin 423 and location cover 424 and key seat 422 be connected.The bottom of A pivot angle rotor 421 has the arc profile that matches with A pivot angle guide rail 433, and the center of circle line of arc profile is the A axle.Here, arc profile has such feature: it is formed by the translation of a circular arc along continuous straight runs, the same translation in the center of circle of circular arc becomes an axis, this axis is above-mentioned center of circle line, it also is so-called A axle, in the present embodiment, the A axis through the center of key seat 422 and with key seat 422 upper surface coplanes.In addition, also be provided with the circular arc through hole 4211 concentric on the A pivot angle rotor 421 with arc profile, clamping screw 436 runs through A pivot angle support 434, circular arc through hole 4221, A pivot angle support 435 successively and cooperatively interacts with locking nut 437 to be tightened, thereby A pivot angle rotor 421 is connected in the mechanism of double pendulum angle.The location is covered 424 and is provided with the jack that is socketed in alignment pin 423 upper ends removably.
In addition, between positioning end and stiff end and double pendulum angle mechanism, be provided with and represent the scale of double pendulum angle mechanism respectively with respect to the positioning end and the stiff end anglec of rotation.Scale comprises A pivot angle scale and C pivot angle scale, described A pivot angle scale comprises the scale that is arranged on the A pivot angle support and is arranged on the epitrochanterian datum line of A pivot angle, and C pivot angle scale comprises and is arranged on C pivot angle stator high scale and is arranged on the epitrochanterian datum line of C pivot angle.Particularly, scale can be an index dial.In actual applications, the rotating range of A pivot angle is 0 °～± 35 °.The rotating range of C pivot angle is 0 °～360 °.
See also Figure 10, the work schematic diagram that the locator that provides for the utility model is connected with covering.When positioning action, at first in the pin-and-hole that alignment pin 423 is inserted on the key seat 422, and tighten fastening jackscrew 4221 alignment pin is fixedlyed connected with key seat 422, then the upper end of alignment pin 423 is passed in the locating hole of skin part, to locate at last and cover 424 upper ends that are sleeved on alignment pin 423, have the elasticity clamping structure in the jack of this location lid 424, can clamp or break away from the upper end of alignment pin 423 apace.As shown in the figure, the positioning end of locator has carried out the motion of A pivot angle and C pivot angle with respect to stiff end, can obtain the anglec of rotation of A, C two pivot angles, the just space angle of the vector at the alignment pin place of locator in flexible clamping fixture system coordinate system respectively by the reading of scale.Add X, Y, the Z coordinate of locator itself, then all obtain with the space coordinates of the tie point of locator on the covering, that is to say that the alignment pin on the locator can be realized moving of five degree of freedom, thereby can reflect the normal vector of arbitrfary point on the multi-curvature covering class part strictly according to the facts.
Flexible clamping fixture system also comprises control system and vacuum system, control system comprises multiaxis manager and host computer, host computer is connected by ethernet line (TCP/IP netting twine) with the multiaxis manager, and the motor on first slide mechanism, second slide mechanism and the 3rd slide mechanism is connected with the multiaxis manager by the CANOpen fieldbus.Here the multiaxis manager of indication is the manager that is used for managing X, Y, three axles of Z.First motor of being mentioned in the present embodiment, second motor and the 3rd motor all adopt intelligent servomotor, can calculate the distance that moves to corresponding slide mechanism with this motor by the number of times that calculates the motor rotation.Vacuum system is used for providing to the flexible clip gripping member chucking power of clamping workpiece.
Be example with the processing aircraft skin below, introduce the use of the flexible clamping fixture system of present embodiment.Aircraft skin need be provided with two (also may above two) processing clamping part at the edge of aircraft skin in process, treat the aircraft skin completion of processing, and will process clamping part again and remove, thus the required aircraft skin of formation user.Before the processing aircraft skin, at first need to determine the particular location on flexible clamping fixture system of aircraft skin by these two processing clamping parts, utilizing Digit Control Machine Tool that it is processed then.
Demarcate mutual spatial relationship between flexible clamping fixture system and the Digit Control Machine Tool by laser tracker, set up the rapport of the two origin of coordinates, thereby the coordinate system of flexible clamping fixture system is within the range of work of Digit Control Machine Tool coordinate system.
Then, by control system, the coordinate system of Digit Control Machine Tool and flexible clamping fixture system is analyzed, calculated, it is unified that the two coordinate system is further obtained, and its coordinate offset is compensated.
Control first drive unit, second drive unit and the 3rd drive unit by control system again, the processing retaining part that makes locator 4 move to aircraft skin is put, regulate the A pivot angle and the C pivot angle of locator 4, alignment pin 23 is passed be arranged in the pin-and-hole of processing on the clamping part, and tighten fastening jackscrew 4221 alignment pin 423 is fixedlyed connected with key seat 422, then the upper end of alignment pin 423 is passed in the locating hole of skin part, will be located at last and cover 24 upper ends that are sleeved on alignment pin 23.By reading the reading of X, Y, Z, A pivot angle and C pivot angle, can determine accurately that aircraft skin is in flexible clamping fixture system locus, control system with this spatial positional information input Digit Control Machine Tool, Digit Control Machine Tool can be determined the starting point of processing according to spatial positional information, in conjunction with the structural parameters of aircraft skin, Digit Control Machine Tool can obtain the locus that aircraft skin is had a few again.
Move a plurality of flexible clip gripping members 5, make its surface location that roughly is evenly distributed in aircraft skin, start vacuum system then and make flexible clip gripping member 5 clamping aircraft skin securely.Because each flexible clip gripping member 5 can move independently at three dimensions, therefore, whole flexible clamping fixture system can adapt to the aircraft skin of different curvature preferably, and clamping process is simple flexibly.
Need to prove that each motor in the present embodiment promptly can be controlled by control system, also can be by artificial control separately, promptly control the operation of each motor separately or stop by the people, increase the flexibility that flexible clamping fixture system is operated with this.In addition, the position of flexible clip gripping member and locator 4 can exchange, and promptly flexible clip gripping member 5 can be taken off from the top of mobile column 314, is replaced by locator 4.
The flexible clamping fixture system that the utility model provides is not limited in the processing aircraft skin, can also be used for other workpiece with different curvature and grip, and also not getting rid of profile certainly is plane institution movement.
Be understandable that above embodiment only is the illustrative embodiments that adopts for principle of the present utility model is described, yet the utility model is not limited thereto.For those skilled in the art, under the situation that does not break away from spirit of the present utility model and essence, can make various modification and improvement, these modification and improvement also are considered as protection domain of the present utility model.
Claims (10)
1. flexible clamping fixture system, it is characterized in that, described fixture system comprises lathe bed unit (1), at least one box unit (2), at least two telescopic column unit (3) and at least two flexible clip gripping members (4), each described flexible clip gripping member is separately fixed at the top of a described mobile column, and the vertical direction on the plane that any one unit can be formed in two other unit in described lathe bed unit (1), described box unit (2) and the described telescopic column unit (3) is subjected to displacement.
2. flexible clamping fixture system according to claim 1, it is characterized in that, described lathe bed unit (1) comprises that lathe bed pedestal (11), described box unit (2) comprise box base (21), be provided with first slide mechanism between described lathe bed pedestal (11) and the described box base (21), described box base (21) is fixed on described first slide mechanism, and can slide with respect to described lathe bed pedestal (11) by described first slide mechanism;
Be provided with second slide mechanism between described telescopic column unit (3) and the described box base (21), described telescopic column unit (3) is fixed on described second slide mechanism, and can slide with respect to described box base (21) by means of described second slide mechanism;
Described telescopic column unit (3) comprises cylinder barrel (316), mobile column (314) and is arranged on the 3rd slide mechanism on the described cylinder barrel (316), by described the 3rd slide mechanism described mobile column slided with respect to described cylinder barrel.
3. flexible clamping fixture system according to claim 2 is characterized in that described first slide mechanism comprises first sliding unit and first driver element, wherein
Described first sliding unit comprises bed ways (13) and the casing slide block (211) that matches with described bed ways (13), described bed ways (13) are fixed on the described lathe bed pedestal (11), and described casing slide block (211) is fixed on the bottom of described box base (21);
Described first driver element comprises lathe bed tooth bar (12), gear (26) and first motor (24), described lathe bed tooth bar (12) is arranged on the described lathe bed pedestal (11), and be arranged in parallel with described bed ways (13), described first motor (24) is fixed on the bottom of described box base (21), described gear (26) is fixed in the rotating shaft of described first motor (24), and described gear (26) is meshed with described lathe bed tooth bar (12).
4. flexible clamping fixture system according to claim 3 is characterized in that described first sliding unit and first driver element are two, is separately positioned on two relative side positions of described lathe bed pedestal (11).
5. flexible clamping fixture system according to claim 2, it is characterized in that, described second slide mechanism comprises second sliding unit, second driver element and gripper shoe (29), and described second sliding unit is connected by gripper shoe (29) with described second driver element, wherein
Described second sliding unit comprises casing guide rail (22) and the telescopic column unit slide block (212) that matches with described casing guide rail (22), casing guide rail (22) is fixed on the described box base (21), and described telescopic column unit slide block (212) is fixed on the described gripper shoe (29);
Described second driver element comprises ball-screw screw rod (23), nut (213), bearing (214), gripper shoe (29), transmission device and second motor (215), described ball-screw screw rod (23) is fixed on the described box base (21), described nut (213) is sleeved on the described ball-screw screw rod (23), and fixedly connected with described bearing (214), described bearing (214) all is fixed on the described gripper shoe (29) with described second motor (215), and described second motor (215) is connected with described nut (213) by described transmission device.
6. flexible clamping fixture system according to claim 5, it is characterized in that, described transmission device comprises small belt pulley (216), big belt pulley (217) and connects described small belt pulley (216) and the belt (218) of described big belt pulley (217), described small belt pulley (216) is fixed in the rotating shaft of described second motor (215), and described big belt pulley (217) is fixedlyed connected with described nut (213).
7. flexible clamping fixture system according to claim 6, it is characterized in that, described nut (213), described bearing (214) and described big belt pulley (217) are fixed together by branch sleeve, described branch sleeve is three stage rank axles of hollow, the external diameter in described step axle centre position is greater than the external diameter at its two ends, and described nut (213), described big belt pulley (217) and described bearing (214) are socketed on the described branch sleeve successively.
8. flexible clamping fixture system according to claim 2 is characterized in that described fixture system also comprises at least two locators, and described locator is separately fixed at the top of a described mobile column.
9. flexible clamping fixture system according to claim 2 is characterized in that, also is being provided with limit switch and crashproof block between two adjacent described box bases (21) and between two adjacent described telescopic column unit (3).
10. according to any described flexible clamping fixture system of claim 1-9, it is characterized in that, described fixture system also comprises control system, described control system comprises multiaxis manager and host computer, described host computer is connected by ethernet line with described multiaxis manager, and described multiaxis manager is connected by the CANOpen fieldbus with described first slide mechanism, second slide mechanism and the 3rd slide mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202767833U CN201833202U (en) | 2010-07-30 | 2010-07-30 | Flexible clamping tooling system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202767833U CN201833202U (en) | 2010-07-30 | 2010-07-30 | Flexible clamping tooling system |
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| Publication Number | Publication Date |
|---|---|
| CN201833202U true CN201833202U (en) | 2011-05-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010202767833U Expired - Fee Related CN201833202U (en) | 2010-07-30 | 2010-07-30 | Flexible clamping tooling system |
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| CN (1) | CN201833202U (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN102490133A (en) * | 2011-12-01 | 2012-06-13 | 河海大学常州校区 | Modularizing multipoint flexible fixture |
| CN102589492A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Large curved surface flexibility detection device |
| CN103273447A (en) * | 2013-06-19 | 2013-09-04 | 吉林大学 | Universal precision numerical control support vertical column |
| CN104097091A (en) * | 2013-04-12 | 2014-10-15 | 哈尔滨飞机工业集团有限责任公司 | Support device for use in part machining process |
| CN104842247A (en) * | 2015-04-17 | 2015-08-19 | 洪宗禹 | Full-automatic two-station horizontal type slicing machine |
| CN105215720A (en) * | 2015-10-29 | 2016-01-06 | 成都瑞雪精密机械有限公司 | Flexible fixture |
| CN105522420A (en) * | 2016-01-21 | 2016-04-27 | 南京理工大学 | Flexible clamp suitable for positioning and clamping complex curved surfaces of parts |
| CN105899327A (en) * | 2014-01-20 | 2016-08-24 | 株式会社小林制作所 | Jig apparatus |
| CN106113051A (en) * | 2016-06-15 | 2016-11-16 | 中车唐山机车车辆有限公司 | A kind of flexible positioning system |
| CN106181812A (en) * | 2016-07-21 | 2016-12-07 | 苏州优德通力科技有限公司 | A kind of method and system controlling fixture |
| CN106738002A (en) * | 2017-01-05 | 2017-05-31 | 浙江爱易特智能技术有限公司 | A kind of small-sized film silk cutting machine special fixture |
| CN107138986A (en) * | 2017-06-22 | 2017-09-08 | 秦皇岛齐二数控机床有限公司 | New hard and soft interchanged type clamping device |
| CN107398759A (en) * | 2017-09-08 | 2017-11-28 | 成都瑞雪精密机械有限公司 | Self-centering flexible chuck |
| CN110901675A (en) * | 2018-09-14 | 2020-03-24 | 中车唐山机车车辆有限公司 | Train underframe supporting equipment |
| CN111203735A (en) * | 2018-11-22 | 2020-05-29 | 成都飞机工业（集团）有限责任公司 | Quick positioning, clamping and face milling tool |
| CN112340055A (en) * | 2020-09-30 | 2021-02-09 | 成都飞机工业（集团）有限责任公司 | Column cardboard location assembly type frame |
| CN115401645A (en) * | 2022-09-30 | 2022-11-29 | 南京航空航天大学 | Multi-lattice POGO column flexible tool system and operation method thereof |
| CN115846886A (en) * | 2023-02-02 | 2023-03-28 | 中航西安飞机工业集团股份有限公司 | Chemical milling accurate carving method for aircraft skin |
| CN116060785A (en) * | 2023-01-20 | 2023-05-05 | 中航西安飞机工业集团股份有限公司 | Aircraft skin chemical milling accurate engraving device |
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| CN102490133A (en) * | 2011-12-01 | 2012-06-13 | 河海大学常州校区 | Modularizing multipoint flexible fixture |
| CN102589492A (en) * | 2012-01-16 | 2012-07-18 | 华南理工大学 | Large curved surface flexibility detection device |
| CN102589492B (en) * | 2012-01-16 | 2015-10-28 | 华南理工大学 | A kind of large-scale curved flexible detection device |
| CN104097091A (en) * | 2013-04-12 | 2014-10-15 | 哈尔滨飞机工业集团有限责任公司 | Support device for use in part machining process |
| CN103273447A (en) * | 2013-06-19 | 2013-09-04 | 吉林大学 | Universal precision numerical control support vertical column |
| CN103273447B (en) * | 2013-06-19 | 2015-07-01 | 吉林大学 | Universal precision numerical control support vertical column |
| CN105899327A (en) * | 2014-01-20 | 2016-08-24 | 株式会社小林制作所 | Jig apparatus |
| CN105899327B (en) * | 2014-01-20 | 2018-04-03 | 株式会社小林制作所 | Grip device |
| CN104842247B (en) * | 2015-04-17 | 2017-04-12 | 安庆市荣禹机械制造有限责任公司 | Full-automatic two-station horizontal type slicing machine |
| CN104842247A (en) * | 2015-04-17 | 2015-08-19 | 洪宗禹 | Full-automatic two-station horizontal type slicing machine |
| CN105215720A (en) * | 2015-10-29 | 2016-01-06 | 成都瑞雪精密机械有限公司 | Flexible fixture |
| CN105522420A (en) * | 2016-01-21 | 2016-04-27 | 南京理工大学 | Flexible clamp suitable for positioning and clamping complex curved surfaces of parts |
| CN106113051A (en) * | 2016-06-15 | 2016-11-16 | 中车唐山机车车辆有限公司 | A kind of flexible positioning system |
| CN106113051B (en) * | 2016-06-15 | 2019-01-11 | 中车唐山机车车辆有限公司 | A kind of flexible positioning system |
| CN106181812A (en) * | 2016-07-21 | 2016-12-07 | 苏州优德通力科技有限公司 | A kind of method and system controlling fixture |
| CN106738002B (en) * | 2017-01-05 | 2018-06-01 | 浙江爱易特智能技术有限公司 | A kind of small-sized film wire cutting machine special fixture |
| CN106738002A (en) * | 2017-01-05 | 2017-05-31 | 浙江爱易特智能技术有限公司 | A kind of small-sized film silk cutting machine special fixture |
| CN107138986A (en) * | 2017-06-22 | 2017-09-08 | 秦皇岛齐二数控机床有限公司 | New hard and soft interchanged type clamping device |
| CN107138986B (en) * | 2017-06-22 | 2023-09-29 | 秦皇岛齐二数控机床有限公司 | Novel rigid-flexible interchangeable clamping device |
| CN107398759A (en) * | 2017-09-08 | 2017-11-28 | 成都瑞雪精密机械有限公司 | Self-centering flexible chuck |
| CN110901675A (en) * | 2018-09-14 | 2020-03-24 | 中车唐山机车车辆有限公司 | Train underframe supporting equipment |
| CN110901675B (en) * | 2018-09-14 | 2021-07-20 | 中车唐山机车车辆有限公司 | Train underframe supporting equipment |
| CN111203735A (en) * | 2018-11-22 | 2020-05-29 | 成都飞机工业（集团）有限责任公司 | Quick positioning, clamping and face milling tool |
| CN112340055A (en) * | 2020-09-30 | 2021-02-09 | 成都飞机工业（集团）有限责任公司 | Column cardboard location assembly type frame |
| CN115401645A (en) * | 2022-09-30 | 2022-11-29 | 南京航空航天大学 | Multi-lattice POGO column flexible tool system and operation method thereof |
| CN116060785A (en) * | 2023-01-20 | 2023-05-05 | 中航西安飞机工业集团股份有限公司 | Aircraft skin chemical milling accurate engraving device |
| CN115846886A (en) * | 2023-02-02 | 2023-03-28 | 中航西安飞机工业集团股份有限公司 | Chemical milling accurate carving method for aircraft skin |
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