CN207223779U - A kind of frock clamp mechanism - Google Patents
A kind of frock clamp mechanism Download PDFInfo
- Publication number
- CN207223779U CN207223779U CN201721030612.0U CN201721030612U CN207223779U CN 207223779 U CN207223779 U CN 207223779U CN 201721030612 U CN201721030612 U CN 201721030612U CN 207223779 U CN207223779 U CN 207223779U
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- frock clamp
- clamp mechanism
- workbench
- bottom plate
- benchmark block
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Abstract
The utility model discloses a kind of frock clamp mechanism, it is related to processing of robots technical field, including workbench and drives the workbench to be provided with frock clamp on the rotation-indexing table of center rotating, workbench；The frock clamp includes bottom plate, benchmark block and adjustable dog, and the benchmark block distribution is fixed on the adjacent both sides of the bottom plate, and adjustable dog distributing installation forms the clamping station of workpiece to be fixed on the corresponding other both sides of the bottom plate.A kind of frock clamp mechanism of the utility model, realize the transformation of materiel machining angle, the commutability of coordinate system after rotating is ensured by the location and installation of frock clamp and the setting of privileged site reference component, solve the problems, such as that some direction processing difficulties or processing effect are bad during processing of robots, improve the precision and efficiency of processing.
Description
Technical field
It the utility model is related to processing of robots technical field, and in particular to a kind of frock folder of high precision machines people processing
Has mechanism.
Background technology
With the in-depth of the lasting propulsion and the industrial revolution of global industry 4.0, Chinese manufacturing transition and upgrade enters one
The new stage.Unmanned, automation and the intelligent important cry for becoming Chinese industrial and changing.Wherein, robot replaces human hand
Become industrial main body.
Under current social form, robot is being greatly to realize industrial production by multiple degrees of freedom mechanical hand in form very much
's.Multiple degrees of freedom mechanical hand because of its wide working range, flexible bearing change and relatively small number of body space and by
In terms of being widely used in various machinings.In industry, six degree of freedom mechanical hand has the characteristics of typical case, but while six from
Hemisphere face any point can be reached by the working space of degree mechanical hand in theory, but be subject to processing volume of material influence
And the influence of some singular solutions occurs in robot coordinate point, mechanical hand is actually unable in carrying out according to the situation in ideal random
Processing and movement, and it is this processing restricted problem in the processing side such as robot engraving, robot welding, robotic cutting
Face especially looms large.Therefore, the fixture of clamping workpiece requires the uniformity with robot coordinate system, it is also necessary to has cooperation
The posture changing effect of processing of robots.But can further cause the reduction of machining accuracy while posture changing again, therefore
Frock also need to ensure conversion posture after error in industrial allowed band.
And in existing technical solution, one stationary fixture of generally use is fixed and then is processed to material, Gu
Clamp tool organisation of working is a kind of device that material fixation is carried out using fixture or section bar.Its feature is simple and reliable, and
And only need robot contraposition once.But the characteristics of due to robot itself, general processing of robots can only be in materials just
Face, the above and left side and the right side are processed, and can be seemed especially difficult for back side processing, many times be produced the feelings such as collision
Condition, and processing effect can not be met the requirements.In addition stationary fixture seems unable to do what one wishes to the flexible variety of volume of material, folder
Has the material size variation narrow range that can adapt to.Therefore the multifarious change of material cannot be met.Furthermore stationary fixture pair
One-piece machine member coordinate lacks accurate benchmark, and section bar is easily deformed, thus Workpiece zero point it is difficult to ensure that, no matter from fixture row
In journey or positioning accuracy, all it is difficult to the requirement for reaching current industrial production.
Utility model content
In view of the problems of the existing technology, the utility model aim is to provide a kind of frock clamp mechanism, its structure
Simply, can effectively improve the precision of processing of robots, can in flexible adaptation a certain range processing materials volume change, it is full at the same time
Biped robot setting accuracy on work and the requirement of machining posture conversion.
The technical scheme adopted by the utility model is that：A kind of frock clamp mechanism, including workbench and the driving work
Platform is provided with frock clamp on the workbench around the rotation-indexing table of center rotating；The frock clamp includes bottom plate, benchmark
Block and adjustable dog, the benchmark block distribution are fixed on the adjacent both sides of the bottom plate, the adjustable dog distribution peace
On the corresponding other both sides of the bottom plate, the clamping station of workpiece to be fixed is formed, passes through the work of rotation-indexing table
With the transformation for the machining angle for realizing clamping workpiece, it is more convenient for processing, and processing quality is more preferably.
Preferably, the benchmark block include the first benchmark block and with the first benchmark block vertically arranged second
Datum hole, the work are provided with the extending line intersection point of benchmark block, the first benchmark block and the second benchmark block
Centre bore is provided centrally with as platform, the datum hole and the centre bore align installation；The bottom plate diagonally offers respectively can
Adjusting screw hole, workbench are provided with some T-slots being parallel to each other, the T-slot at center and its vertical line by centre bore,
The spacing of other T-slots can be adjusted according to being actually needed, and the bottom plate and workbench are consolidated by adjustable screw hole and T-slot
It is fixed.Datum hole and centre bore align installation, and after machining angle transformation, the particularly horizontal rotation of special angle, robot is more
Easily postrotational new angle coordinate is changed, is more convenient the planning again to movement locus, improves work efficiency；Pass through
T-slot and adjustable screw hole fix bottom plate and workbench, it is therefore an objective to both can be adjusted in a small range and installs, realizes installation
On check and correction, ensure installation precision.
It is further preferred that the first benchmark block is arranged parallel to the T-slot, the second benchmark block is vertical
Arranged in the T-slot, be more advantageous to the coordinate conversion between track during processing of robots.
Further as above-mentioned technical proposal is improved, on the bottom plate with the first benchmark block and the second benchmark block phase
To position on be respectively arranged with one piece of adjustable dog, the adjustable dog includes fixed seat, the bolt rocking arm of adjustable positioning
With positioning buffer head, positioning buffer head positions workpiece by the precession of adjusting bolt rocking arm or back-out, can flexible adaptation
The size of different processing materials.
Further as above-mentioned technical proposal is improved, and the positioning buffer head uses sucker structure, includes the iron of outer layer
The rubber ring layer of ring layer and internal layer；Positioning stablity can guarantee that as outer layer using iron ring, and set the rubber ring of internal layer then to have
Effect buffering bolt rocking arm, to the squeeze force of material, avoids producing material larger impression scuffing in position fixing process.
Preferably, the adjustable screw hole is at least provided with four.Bottom plate is traditionally arranged to be quadrilateral structure, adjusts spiral shell
Hole is at least arranged to one, an angle, can just make positioning more accurate, easy to the foresight adjustment and precision installation of frock clamp
Tolerance fit.
Preferably, the adjustable screw hole is U-shaped hole or waist type deep gouge hole.
Further as above-mentioned technical proposal is improved, and the rotation-indexing table is provided with rotating arm, can manual actuation
The rotation of rotation-indexing table.
Further as above-mentioned technical proposal is improved, and the rotation-indexing table is additionally provided with angle dial, can basis
The rotation angle adjustment amount of spin of angle dial.
The beneficial effects of the utility model are：Compared with prior art, a kind of frock clamp provided by the utility model
The flexible adaptation of processing materials size is realized in mechanism, the design of adjustable dog, and clamps firm, safety；Rotation-indexing table is set
Putting realizes the transformation of machining angle, ensures to revolve by the location and installation of frock clamp and the setting of privileged site reference component
The commutability of coordinate system, material continue to process after can rotating after turning, and it is tired to solve some direction processing during processing of robots
The problem of difficult or processing effect is bad, improves the precision and efficiency of processing.
Brief description of the drawings
Fig. 1 is a kind of three-dimensional structure diagram of frock clamp mechanism of the utility model.
Fig. 2 is the structure chart of frock clamp in Fig. 1.
Fig. 3 is the structure chart of workbench and rotation-indexing table in Fig. 1.
Drawing reference numeral explanation：1st, workbench；10th, centre bore；11st, T-slot；2nd, rotation-indexing table；21st, rotating arm；22、
Angle dial；3rd, frock clamp；30th, datum hole；31st, bottom plate；311st, screw hole is adjusted；32nd, benchmark block；321st, the first base
Quasi- block；322nd, the second benchmark block；33rd, adjustable dog；331st, fixed seat；332nd, bolt rocking arm；333rd, buffer head is positioned；
3331st, iron ring；3332nd, rubber ring.
Embodiment
It is the structure chart of preferred embodiment provided by the utility model as shown in Figure 1, with reference to figure 1, Fig. 2 and Fig. 3, this implementation
A kind of frock clamp mechanism of example, including workbench 1 and the workbench 1 is driven around the rotation-indexing table 2 of center rotating, it is described
Frock clamp 3 is provided with workbench 1；The frock clamp 3 includes bottom plate 31, benchmark block 32 and adjustable dog 33, described
The distribution of benchmark block 32 is fixed on the adjacent both sides of the bottom plate 31, and 33 distributing installation of adjustable dog is in the bottom plate 31
On corresponding other both sides, the clamping station of workpiece to be fixed is formed.Realize that clamping adds by the effect of rotation-indexing table 2
The transformation of the machining angle of workpiece, processing of robots of being more convenient for, and processing quality is more preferably.
The benchmark block 32 include the first benchmark block 321 and with the first benchmark block 321 vertically arranged the
Base is provided with the extending line intersection point of two benchmark blocks 322, the first benchmark block 321 and the second benchmark block 322
Quasi- hole 30, the workbench 1 are provided centrally with centre bore 10, and the datum hole 30 and the centre bore 10 align installation, adding
After work angle change, the particularly horizontal rotation of special angle, robot is easier to turn postrotational new angle coordinate
Change, be more convenient the planning again to movement locus, improve work efficiency.The bottom plate 31 diagonally offers adjustable screw hole respectively
311, it is preferred that adjustable screw hole 311 is arranged on four angles at least provided with four, special if desired for more precise positioning etc.
Under it is required that, four adjustable screw holes 311 can be increased, it is even more；Adjustable screw hole 311 is U-shaped hole or waist type deep gouge hole, is facilitated
The foresight adjustment of frock clamp 3 and precision location tolerance coordinate.The workbench 1 be provided with some be parallel to each other it is T-shaped
Groove 11, for a T-slot 11 at center with its vertical line by centre bore 10, the spacing of other T-slots 11 can be according to actual need
Adjust, the bottom plate 31 and workbench 1 are fixed by adjustable screw hole 311 and T-slot 11, allow both in a small range
Adjustment installation, realizes the check and correction installed, and ensures the precision of installation.In the present embodiment, it is preferred that the first benchmark block 321 is flat
Row is in the T-slot 11, and the second benchmark block 322 is perpendicular to the T-slot 11；First benchmark block 321 and the second benchmark gear
One piece of adjustable dog 33 is respectively arranged with the opposite position of block 322.
The structure chart of frock clamp with reference to shown in figure 2, adjustable dog 33 include fixed seat 331, the spiral shell of adjustable positioning
Bolt rocking arm 332 and positioning buffer head 333.Preferably, it is sucker structure to position buffer head 333, includes 3331 He of iron ring of outer layer
The rubber ring 3332 of internal layer.Positioning buffer head 333 positions workpiece by 332 precession of adjusting bolt rocking arm or back-out,
The size of energy flexible adaptation difference processing materials.In the present embodiment, positioning buffer head 333 is to use two layers of sucker structure, outermost
While being the elastic tape 3332 of iron ring 3331 and internal layer, the two is fixed together using nut, and 3331 area of iron ring is small, radius of curvature
Greatly, but 3332 area bigger of elastic tape, radius of curvature is slightly smaller than iron ring 3331, and it is fixed to can guarantee that using iron ring 3331 as outer layer
Position is stablized, and sets the rubber ring 3332 of internal layer then can effectively buffer extruding of the bolt rocking arm 332 to material in position fixing process
Strength, avoids producing material larger impression scuffing.
It is workbench and the structure chart of rotation-indexing table with reference to figure 3, the rotation-indexing table 2 is provided with 21 He of rotating arm
Angle dial 22, can manual actuation rotation-indexing table 2 rotation, and can according to the rotation angle of angle dial 22 adjust turn
Momentum.
The workflow of the frock clamp mechanism of the utility model is as follows：
Path programs：The robot of materiel machining is programmed；
Proofread coordinate system：Unified proofreading is carried out to robot end's coordinate system and workpiece coordinate system；
Place material：Rotating arm 21 screws out bolt, until 3 position of frock clamp can place material, Ran Houxuan enough
Turn rotating arm 21, quick precession positions buffer head 333 untill just being contacted with material, at a slow speed precession positioning buffer head
333, and the pressure between adjusting positioning buffer head 333 and material, the workpiece coordinate of this frock clamp are required according to precompression
It is inner edge point of intersection of the origin in two benchmark blocks 32, therefore as far as possible so that material cutter track origin is sat with workpiece during placement material
Mark system origin overlaps；
Processing materials：Robot according to above, the ready-made cutter track in left and right face and positive four faces is processed；Machine
Manual turn rotating arm 21 afterwards so that rotation-indexing table 2 rotates 180 degree, and material is just on 2 center line of rotation-indexing table at this time
It is symmetrical, before second of back side processing of robot, coordinate transform can be made automatically, and according to one variable coordinate of actual setting
Deviation is used for compensating frock error.
Using a kind of frock clamp mechanism of technical solutions of the utility model, material size is realized in the design of adjustable dog 33
Flexible adaptation, solve the multifarious requirement of material；The setting of rotation-indexing table 2 realizes the rotation of material, and rotates
The rotation angle of index dial 2 can carry out different settings according to demand, when material solves processing of robots after can rotating
The problem of some direction processing difficulties or bad processing effect, the precision of processing is improved, workpiece coordinate system is sat with robot
Mark system can implement mirror image processing, improve the efficiency of processing and the quality of processing；Position the double-deck larger radius of curvature cover plate of buffer head
Design realize protection to surface of material when clamping material.
In addition, three designs have been done with raising installation accuracy in order to facilitate the installation of on workbench 1 and frock clamp 3：Two
The intersection of benchmark block 32 is overlapped with datum hole 30；The centre bore 10 of datum hole 30 and workbench 1 on bottom plate 31 overlaps, rotation
Index dial 2 drives workbench 1 to be rotated around centre bore 10；Workbench 1 and bottom plate 31 are by can T-slot 11 and adjustable screw hole 311
Cooperation come realize micro-locality movement adjusting installation.
Above concrete structure is that the preferred embodiment to the utility model has carried out specific description, but is not thereby limited
The embodiment and protection domain of the utility model, those skilled in the art are without prejudice to before the utility model spirit
A variety of equivalent variations can also be made either these equivalent deformations of replacement or replacement are all contained in the application right by putting
It is required that in limited range.
Claims (9)
- A kind of 1. frock clamp mechanism, it is characterised in that：Including workbench (1) and the driving workbench (1) around center rotating Rotation-indexing table (2), be provided with frock clamp (3) on the workbench (1)；The frock clamp (3) include bottom plate (31), Benchmark block (32) and adjustable dog (33), benchmark block (32) distribution are fixed on the adjacent both sides of the bottom plate (31) On, adjustable dog (33) distributing installation forms workpiece to be fixed on the corresponding other both sides of the bottom plate (31) Clamping station.
- A kind of 2. frock clamp mechanism according to claim 1, it is characterised in that：The benchmark block (32) includes first Benchmark block (321) and with the vertically arranged second benchmark block (322) of the first benchmark block (321), first base Datum hole (30), the workbench are provided with the extending line intersection point of quasi- block (321) and the second benchmark block (322) (1) centre bore (10) is provided centrally with, the datum hole (30) and the centre bore (10) align installation；The bottom plate (31) is right Angle offers adjustable screw hole (311) respectively, and the workbench (1) is provided with some T-slots being parallel to each other (11), described Bottom plate (31) and workbench (1) are fixed by adjustable screw hole (311) and T-slot (11).
- A kind of 3. frock clamp mechanism according to claim 2, it is characterised in that：The first benchmark block (321) is flat Row is in the T-slot (11), and the second benchmark block (322) is perpendicular to the T-slot (11).
- A kind of 4. frock clamp mechanism according to Claims 2 or 3, it is characterised in that：With first on the bottom plate (31) Be respectively arranged with one piece of adjustable dog (33) on benchmark block (321) and the opposite position of the second benchmark block (322), it is described can Gear shift block (33) includes fixed seat (331), the bolt rocking arm (332) and positioning buffer head (333) of adjustable positioning.
- A kind of 5. frock clamp mechanism according to claim 4, it is characterised in that：The positioning buffer head (333) is suction Dish structure, including the rubber ring (3332) of the iron ring (3331) of outer layer and internal layer.
- A kind of 6. frock clamp mechanism according to claim 2, it is characterised in that：The adjustable screw hole (311) is at least It is provided with four.
- A kind of 7. frock clamp mechanism according to claim 2 or 6, it is characterised in that：The adjustable screw hole (311) is U-shaped hole or waist type deep gouge hole.
- A kind of 8. frock clamp mechanism according to claim 1, it is characterised in that：The rotation-indexing table (2) is provided with Rotating arm (21).
- A kind of 9. frock clamp mechanism according to claim 8, it is characterised in that：The rotation-indexing table (2) also sets up Angled dial (22).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030612.0U CN207223779U (en) | 2017-08-16 | 2017-08-16 | A kind of frock clamp mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721030612.0U CN207223779U (en) | 2017-08-16 | 2017-08-16 | A kind of frock clamp mechanism |
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| Publication Number | Publication Date |
|---|---|
| CN207223779U true CN207223779U (en) | 2018-04-13 |
Family
ID=61857209
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721030612.0U Active CN207223779U (en) | 2017-08-16 | 2017-08-16 | A kind of frock clamp mechanism |
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| Country | Link |
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| CN (1) | CN207223779U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747116A (en) * | 2018-06-25 | 2018-11-06 | 广州文冲船厂有限责任公司 | A kind of multipurpose automatic welding workbench |
| CN111391228A (en) * | 2020-03-20 | 2020-07-10 | 东莞市艾尔玛塑件科技有限公司 | Double-color injection molding equipment |
| CN113719700A (en) * | 2021-07-12 | 2021-11-30 | 奥比中光科技集团股份有限公司 | Test holder and calibration method thereof |
| CN113996987A (en) * | 2021-10-25 | 2022-02-01 | 芜湖普威技研有限公司 | Quick positioning mechanism of tool clamp |
-
2017
- 2017-08-16 CN CN201721030612.0U patent/CN207223779U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108747116A (en) * | 2018-06-25 | 2018-11-06 | 广州文冲船厂有限责任公司 | A kind of multipurpose automatic welding workbench |
| CN111391228A (en) * | 2020-03-20 | 2020-07-10 | 东莞市艾尔玛塑件科技有限公司 | Double-color injection molding equipment |
| CN111391228B (en) * | 2020-03-20 | 2022-05-13 | 东莞市艾尔玛塑件科技有限公司 | Double-color injection molding equipment |
| CN113719700A (en) * | 2021-07-12 | 2021-11-30 | 奥比中光科技集团股份有限公司 | Test holder and calibration method thereof |
| CN113719700B (en) * | 2021-07-12 | 2022-12-09 | 奥比中光科技集团股份有限公司 | Test holder and calibration method thereof |
| CN113996987A (en) * | 2021-10-25 | 2022-02-01 | 芜湖普威技研有限公司 | Quick positioning mechanism of tool clamp |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20200921 Address after: No.8, Wufu 1st Street, Pengjiang district, Jiangmen City, Guangdong Province Patentee after: Science and technology center of Pengjiang district, Jiangmen City (Productivity Promotion Center of Pengjiang district, Jiangmen City) Address before: No.1 office building, No.3, Jinyi Road, Pengjiang district, Jiangmen City, Guangdong Province Patentee before: JIANGMEN GOOBOTICS Research Institute |
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| TR01 | Transfer of patent right |