CN214323409U - Double-station quick-change flexible tool - Google Patents
Double-station quick-change flexible tool Download PDFInfo
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- CN214323409U CN214323409U CN202023258643.6U CN202023258643U CN214323409U CN 214323409 U CN214323409 U CN 214323409U CN 202023258643 U CN202023258643 U CN 202023258643U CN 214323409 U CN214323409 U CN 214323409U
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Abstract
The utility model belongs to the technical field of robot assembly, and discloses a double-station quick-change flexible tool, which comprises a rotary table base and a quick-change mechanism, wherein a rotary positioning table is arranged on the rotary table base through a rotary mechanism, and the quick-change mechanism comprises two clamping quick-change connectors and a station quick-change connector connected to the tail end of a robot; the clamping quick-change connectors are respectively arranged at the left end and the right end of the rotary positioning table, and clamping mechanisms are arranged on the clamping quick-change connectors; fixture includes the base, the upper end of base is connected with pneumatic claw through connecting piece detachably, the bottom periphery of pneumatic claw still is provided with a plurality of profile modeling locating piece. The double stations in the utility model can realize efficiency maximization, the flexible tool clamp can eliminate unstable clamping caused by workpiece errors, and the flexible tool clamp is suitable for workpieces of more types and improves the processing quality; the quick change mechanism that cooperates the end can intelligent clamp be got, great improvement work efficiency.
Description
Technical Field
The utility model belongs to the technical field of the robot is adorned, a flexible frock of duplex position quick change is related to.
Background
The clamp fixing device is a part which is very commonly used on a plurality of robots at present, a plurality of clamp fixing devices and various clamp fixing devices exist on the market, however, the devices are mainly used by conventional robots and cannot meet the use requirements of special robots. This is because the special robot has a great variety of workpieces, and the size of each workpiece is different, which results in inconvenient fixing and low processing efficiency, thereby leading to far more cost in the early stage. Therefore, a tool which can meet the clamping requirement of the different special-shaped workpiece, is convenient to assemble and disassemble and can improve the processing efficiency is urgently needed.
Disclosure of Invention
The utility model provides a flexible frock of duplex position quick change to solve special purpose robot above to the work piece kind numerous, and the size of every work piece is differentiated and is leaded to its fixed not convenient, problem that machining efficiency is low.
The utility model discloses a realize through following technical scheme:
a double-station quick-change flexible tool comprises a turntable base and a quick-change mechanism, wherein a rotary positioning table is arranged on the turntable base through a rotary mechanism, and the quick-change mechanism comprises two clamping quick-change connectors and a station quick-change connector connected to the tail end of a robot; the clamping quick-change connectors are respectively arranged at the left end and the right end of the rotary positioning table, and clamping mechanisms are arranged on the clamping quick-change connectors; fixture includes the base, the upper end of base is connected with pneumatic claw through connecting piece detachably, the bottom periphery of pneumatic claw still is provided with a plurality of profile modeling locating piece.
The pneumatic claw is connected with the connecting piece through a connecting plate; the connecting plate is also evenly provided with a plurality of positioning holes, and the profiling positioning blocks are clamped on the positioning holes.
The clamping quick-change connector comprises a mounting plate and a T-side quick-change module which are connected from top to bottom, a tensioning ring is further sleeved on the periphery of the T-side quick-change module, and the mounting plate is connected with a base of the clamping mechanism; the station quick-change connector comprises a tensioning cylinder, an R-side quick-change module is arranged in the tensioning cylinder, and a gas circuit butt-joint module and a circuit butt-joint module which are matched are arranged in the T-side quick-change module and the R-side quick-change module; and after the tensioning cylinder is in contact positioning with the tensioning ring, the R-side quick-change module is ejected out and is in butt joint with the T-side quick-change module, so that an air path and a circuit between the robot and the clamping mechanism are connected.
And a positioning conical surface is formed on the outer side of the top end of the tensioning cylinder, and a positioning groove matched with the positioning conical surface is formed on the lower end surface of the tensioning ring.
A clamping sensor is arranged on the inner side of the pneumatic claw, and a tensioning sensor is arranged at the top of the tensioning cylinder; and the clamping sensor and the tensioning sensor respectively send in-place signals to an industrial personal computer.
The turntable base is also provided with a jacking mechanism, the tail end of a connecting rod extending out of the jacking mechanism is provided with a butt joint concave part, and the edges of the left end and the right end of the rotary positioning table are provided with butt joint convex parts; the abutting mechanism positions and applies force to the rotary positioning table by connecting the abutting concave part to the abutting convex part.
The turntable base is further provided with a pair of calibration blocks, and the calibration blocks are distributed on two sides of the rotating shaft of the rotating mechanism.
The rotary positioning table is characterized in that a motor is further arranged in the rotary table base and drives the rotary mechanism to rotate through a speed reducer, so that the rotary positioning table is driven to rotate.
The rotary positioning table is characterized in that clamping grooves are formed in the left end and the right end of the rotary positioning table from the edge, conical grooves are formed in the peripheries of the clamping grooves, matched positioning conical sleeves are arranged on the lower end face of the base, and the positioning conical sleeves are arranged in the conical grooves.
Compared with the prior art, the beneficial effects of the utility model are that:
the utility model provides a pair of flexible frock of duplex position quick change includes the revolving stage base, connects mechanism and fixture soon, be provided with the rotational positioning platform through rotary mechanism on the revolving stage base, connect the mechanism soon and include two centre gripping quick change connectors and a station quick change connector. A group of clamping quick-change connectors and a clamping mechanism are respectively arranged at the left end and the right end of the rotary positioning table, and the station quick-change connectors are arranged at the tail end of the robot, so that one end is machined, and the other end is loaded.
The method specifically comprises the following steps: a workpiece to be processed is placed on the feeding end feeding clamping mechanism, and then the rotary positioning table is driven by the rotary mechanism to rotate so as to carry out station conversion; and then the workpiece enters an operation end, the robot carries the clamping quick-change connector at the end, close to the workpiece, of the station quick-change connector, the robot contacts and completes butt joint, and the workpiece is processed. Meanwhile, the other end is loaded. Therefore, after the previous workpiece is machined, the next workpiece can be machined after the station is switched, and the previous workpiece is taken out of the clamping mechanism and is placed into other workpieces to be machined, so that the machining waiting time is fully utilized. The clamping mechanism comprises a pneumatic claw, a profiling positioning block and a connecting piece, the pneumatic claw is good in compatibility and large in grabbing range, and the flexible clamping requirements of workpieces of different sizes can be met; the profiling positioning block can position and support the workpiece at the bottom, so that the workpiece loading positions are consistent while more types of workpieces are met; when the appearance of the next workpiece to be processed is changed greatly, the pneumatic claw and the profiling positioning block can be directly and quickly detached from the connecting piece, and then the adaptive positioning tool is replaced. The quick-change mechanism can conveniently and quickly realize the connection or disconnection of the air circuit and the circuit between the robot and the clamping mechanism without other tools, thereby saving time and reducing the labor intensity of operators.
The double stations in the utility model can maximize the efficiency, and the flexible tool clamp can eliminate unstable clamping caused by workpiece errors, thereby being suitable for workpieces of more types and improving the processing quality; the quick change mechanism that cooperates the end can intelligent clamp be got, great improvement work efficiency.
Drawings
Fig. 1 is a perspective view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a partial enlarged view of the clamping mechanism of the present invention;
fig. 4 is a partial enlarged view of the middle quick-change mechanism (including the clamping quick-change connector and the station quick-change connector) according to the present invention;
in the figure, 1-a turntable base, 2-a rotating mechanism, 3-a rotating positioning table, 31-a clamping groove, 32-a butt joint convex part, 4-a clamping quick-change connector, 41-a mounting plate, 42-T side quick-change modules, 43-a tensioning ring, 5-a clamping mechanism, 51-a base, 52-a connecting piece, 53-a pneumatic claw, 54-a profiling positioning block, 55-a positioning taper sleeve, 6-station quick-change connectors, 61-a tensioning cylinder, 62-R side quick-change modules, 63-a positioning conical surface, 7-a jacking mechanism, 8-a motor, 9-a speed reducer and 10-a calibration block.
Detailed Description
The present invention will be described in detail with reference to the accompanying drawings.
In the description of the present invention, it is to be understood that the terms "center", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are merely for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore, are not to be construed as limiting the present invention.
The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art.
The utility model provides a double-station quick-change flexible tool, which comprises a rotary table base 1 and a quick-change mechanism, wherein a rotary positioning table 3 is arranged on the rotary table base 1 through a rotary mechanism 2, and the quick-change mechanism comprises two clamping quick-change connectors 4 and a station quick-change connector 6 connected to the tail end of a robot; the clamping quick-change connectors 4 are respectively arranged at the left end and the right end of the rotary positioning table 3, and clamping mechanisms 5 are arranged on the clamping quick-change connectors 4; the clamping mechanism 5 comprises a base 51, the upper end of the base 51 is detachably connected with a pneumatic claw 53 through a connecting piece 52, and the periphery of the bottom of the pneumatic claw 53 is further provided with a plurality of profiling positioning blocks 54.
The utility model provides a pair of flexible frock of duplex position quick change includes revolving stage base 1, connects mechanism and fixture 5 soon, be provided with rotational positioning platform 3 through rotary mechanism 2 on the revolving stage base 1, connect the mechanism soon and include two centre gripping quick change connectors 4 and a station quick change connector 6. A group of clamping quick-change connectors 4 and a clamping mechanism 5 are arranged at the left end and the right end of the rotary positioning table 3 respectively, and a station quick-change connector 6 is arranged at the tail end of the robot, so that one end machining and the other end feeding are realized.
The method specifically comprises the following steps: a workpiece to be processed is placed on the feeding end clamping mechanism 5, and then the rotary positioning table 3 is driven by the rotary mechanism 2 to rotate so as to carry out station conversion; and then the workpiece enters an operation end, the robot carries the station quick-change connector 6 to be close to the clamping quick-change connector 4 at one end of the workpiece, the butt joint is completed through contact, and the workpiece is processed. Meanwhile, the other end is loaded. Therefore, after the previous workpiece is processed, the next workpiece can be processed after the station is switched, and the previous workpiece is taken out from the clamping mechanism 5 and put in other workpieces to be processed, so as to fully utilize the processing waiting time. The clamping mechanism 5 comprises a pneumatic claw 53, a profiling positioning block 54 and a connecting piece 52, the pneumatic claw 53 is good in compatibility and large in grabbing range, and the flexible clamping requirements of workpieces of different sizes can be met; the profiling positioning block 54 can position and support the workpiece at the bottom, so that the workpiece loading positions are consistent while more types of workpieces are met; when the appearance of the next workpiece to be processed is changed greatly, the pneumatic claw 53 and the profiling positioning block 54 can be directly and quickly detached from the connecting piece 52, and then the corresponding positioning tool is replaced. The quick-change mechanism can conveniently and quickly realize the connection or disconnection of the air circuit and the circuit between the robot and the clamping mechanism 5 without other tools, thereby saving time and reducing the labor intensity of operators.
The double stations in the utility model can maximize the efficiency, and the flexible tool clamp can eliminate unstable clamping caused by workpiece errors, thereby being suitable for workpieces of more types and improving the processing quality; the quick change mechanism that cooperates the end can intelligent clamp be got, great improvement work efficiency.
Preferably, the pneumatic claw 53 is connected to the connecting member 52 through a connecting plate; a plurality of positioning holes are uniformly formed in the connecting plate, the profile modeling positioning blocks 54 are clamped on the positioning holes, and the number of the profile modeling positioning blocks 54 is generally 3-5. More preferably, the degree of tightness between the profiling positioning blocks 54 can be adjusted through a gasket. Because the connecting piece 52 can be separated from the connecting plate, when the appearance of a workpiece to be machined is changed greatly, the whole set of the pneumatic claw 53, the profiling positioning block 54 and the connecting plate can be detached quickly, and then another suitable positioning tool is replaced, so that the quick replacement production is ensured. Moreover, the adaptive profiling positioning block 54 can be processed in advance according to the shapes and sizes of different workpieces, and the adaptive profiling positioning block 54 can be adjusted or replaced in time when in use.
The quick-change mechanism comprises a clamping quick-change connector 4 and a station quick-change connector 6 which can be in butt joint, and corresponding air circuits and circuits are arranged in the clamping quick-change connector 4 and the station quick-change connector 6. The clamping quick-change connector 4 is connected with the clamping mechanism 5, and the station quick-change connector 6 is connected at the tail end of the robot. As shown in fig. 4, the clamping quick-change coupler 4 includes a mounting plate 41 and a T-side quick-change module 42 connected from top to bottom, a tensioning ring 43 is further sleeved on the periphery of the T-side quick-change module 42, and the mounting plate 41 is connected with a base 51 of the clamping mechanism 5; the station quick-change connector 6 comprises a tensioning cylinder 61, an R-side quick-change module 62 is arranged in the tensioning cylinder 61, and a gas circuit butt-joint module and a circuit butt-joint module which are matched are arranged in the T-side quick-change module 42 and the R-side quick-change module 62; after the tensioning cylinder 61 is in contact with the tensioning ring 43 and positioned, the R-side quick-change module 62 is ejected out and is in butt joint with the T-side quick-change module 42, so as to connect an air path and an electric circuit between the robot and the clamping mechanism 5.
In addition, a positioning conical surface 63 is formed on the outer side of the top end of the tensioning cylinder 61, and a positioning groove matched with the positioning conical surface 63 is formed on the lower end surface of the tensioning ring 43, so that the butting precision of the clamping quick-change connector 4 and the station quick-change connector 6 is ensured.
In order to ensure the processing safety and avoid misoperation, a clamping sensor is arranged on the inner side of the pneumatic claw 53, and a tensioning sensor is arranged on the top of the tensioning cylinder 61; and the clamping sensor and the tensioning sensor respectively send in-place signals to an industrial personal computer.
Still be provided with motor 8 in the revolving stage base 1, motor 8 passes through speed reducer 9 and drives rotary mechanism 2 is rotatory to it is rotatory to drive rotational positioning platform 3. In order to improve the accuracy of the rotary positioning table 3 in the horizontal direction, as shown in fig. 2, a jacking mechanism 7 is further arranged on the turntable base 1, a butt concave portion is arranged at the tail end of a connecting rod extending out of the jacking mechanism 7, and butt convex portions 32 are arranged on the edges of the left end and the right end of the rotary positioning table 3; the urging mechanism 7 positions and urges the rotary positioning table 3 by connecting the abutting concave portion to the abutting convex portion 32. In one embodiment, the tightening mechanism 7 is controlled by a cylinder.
In actual use, due to transportation or collision and different use conditions, abnormal offset of the rotating mechanism 2 may be caused, so that a pair of calibration blocks 10 are further provided on the turntable base 1, and the calibration blocks 10 are distributed on two sides of the rotating shaft of the rotating mechanism 2 to ensure the aligning precision after the rotating positioning table 3 rotates.
Referring to fig. 1, the left and right ends of the rotary positioning table 3 are respectively provided with a clamping groove 31 from the edge, a tapered groove is formed on the periphery of the clamping groove 31, a positioning tapered sleeve 55 matched with the lower end surface of the base 51 is arranged on the lower end surface of the base 51, and the positioning tapered sleeve 55 is arranged in the tapered groove to ensure that the clamping mechanism 5 can be stably arranged on the clamping groove 31.
The specific process of loading and unloading is as follows: first, a workpiece to be processed is placed in the center of the pneumatic claw 53 on the chucking mechanism 5. Wherein, the bottom of pneumatic claw 53 is provided with the connecting plate, and profile modeling locating piece 54 has evenly been arranged around the periphery of pneumatic claw 53 on the connecting plate, and the work piece relies on the location of profile modeling locating piece 54, ensures that the material loading position is unanimous. The connecting piece 52 is of a fixed design and can be separated from the parts of the upper end surface, namely the pneumatic claw 53 on the connecting plate, the profiling positioning block 54 and the workpiece, so as to ensure the quick part replacement production. And the positioning taper sleeve 55 on the base 51 can realize the positioning with the card slot 31 in the rotary positioning table 3.
Then the mounting plate 41 holding the quick-change joint 4 and the base 51 of the holding mechanism 5 are mounted together, and the station quick-change joint 6 is mounted at the end of the robot. The robot drives the station quick-change connector 6 to move to the position below the clamping quick-change connector 4, the station quick-change connector 6 is gradually close to the position until the contact is in place, and the tensioning cylinder 61 ejects the station quick-change connector 6 out to be in butt joint with the clamping quick-change connector 4, so that the air circuit and the circuit between the robot and the clamping mechanism 5 are connected. At this time, the pneumatic claw 53 is driven by the cylinder to clamp, and when the clamping sensor on the pneumatic claw 53 and the tensioning sensor on the tensioning cylinder 61 are in place, the positioning and clamping of the end feeding of the robot are completed.
After the workpiece is machined, the clamping quick-change connector 4 and the station quick-change connector 6 are disconnected, the machined workpiece is taken down or the upper part of the connecting piece is removed, the positions of the machined workpiece and the workpiece to be machined are switched by rotating the rotary positioning table 3, and then the operations are carried out. It can be seen that the utility model discloses can realize one side material loading, one side processing makes the work efficiency maximize from this.
The content of the present invention is not limited to the examples, and any equivalent transformation adopted by the technical solution of the present invention is covered by the claims of the present invention by those skilled in the art through reading the present invention.
Claims (9)
1. The double-station quick-change flexible tool is characterized by comprising a turntable base (1) and a quick-change mechanism, wherein a rotary positioning table (3) is arranged on the turntable base (1) through a rotary mechanism (2), and the quick-change mechanism comprises two clamping quick-change connectors (4) and a station quick-change connector (6) connected to the tail end of a robot;
the clamping quick-change connectors (4) are respectively arranged at the left end and the right end of the rotary positioning table (3), and clamping mechanisms (5) are arranged on the clamping quick-change connectors (4);
the clamping mechanism (5) comprises a base (51), the upper end of the base (51) is detachably connected with a pneumatic claw (53) through a connecting piece (52), and the periphery of the bottom of the pneumatic claw (53) is further provided with a plurality of profiling positioning blocks (54).
2. The double-station quick-change flexible tool according to claim 1, characterized in that the pneumatic claw (53) is connected with the connecting piece (52) through a connecting plate; a plurality of positioning holes are uniformly formed in the connecting plate, and the profiling positioning blocks (54) are clamped in the positioning holes.
3. The double-station quick-change flexible tool according to claim 1, wherein the clamping quick-change connector (4) comprises a mounting plate (41) and a T-side quick-change module (42) which are connected from top to bottom, a tensioning ring (43) is further sleeved on the periphery of the T-side quick-change module (42), and the mounting plate (41) is connected with a base (51) of the clamping mechanism (5);
the station quick-change connector (6) comprises a tensioning cylinder (61), an R-side quick-change module (62) is arranged in the tensioning cylinder (61), and a gas circuit butt-joint module and a circuit butt-joint module which are matched are arranged in the T-side quick-change module (42) and the R-side quick-change module (62); and after the tensioning cylinder (61) is in contact with the tensioning ring (43) for positioning, the R-side quick-change module (62) is ejected out and is in butt joint with the T-side quick-change module (42), so that an air circuit and an electric circuit between the robot and the clamping mechanism (5) are connected.
4. The double-station quick-change flexible tool according to claim 3, wherein a positioning conical surface (63) is further formed on the outer side of the top end of the tensioning cylinder (61), and a positioning groove matched with the positioning conical surface (63) is formed on the lower end face of the tensioning ring (43).
5. The double-station quick-change flexible tool according to claim 3 or 4, wherein a clamping sensor is arranged on the inner side of the pneumatic claw (53), and a tensioning sensor is arranged at the top of the tensioning cylinder (61); and the clamping sensor and the tensioning sensor respectively send in-place signals to an industrial personal computer.
6. The double-station quick-change flexible tool according to claim 1, wherein a jacking mechanism (7) is further arranged on the turntable base (1), a butt joint concave part is arranged at the tail end of a connecting rod extending out of the jacking mechanism (7), and butt joint convex parts (32) are arranged on the edges of the left end and the right end of the rotary positioning table (3); the tightening mechanism (7) positions and applies force to the rotary positioning table (3) by connecting the abutting concave part to the abutting convex part (32).
7. The double-station quick-change flexible tool according to claim 1, wherein a pair of calibration blocks (10) is further arranged on the turntable base (1), and the calibration blocks (10) are distributed on two sides of a rotating shaft of the rotating mechanism (2).
8. The double-station quick-change flexible tool according to claim 1, wherein a motor (8) is further arranged in the turntable base (1), and the motor (8) drives the rotating mechanism (2) to rotate through a speed reducer (9), so that the rotating positioning table is driven to rotate.
9. The double-station quick-change flexible tool according to claim 1, wherein clamping grooves (31) are respectively formed in the left end and the right end of the rotary positioning table (3) from the edge, tapered grooves are formed in the peripheries of the clamping grooves (31), a positioning tapered sleeve (55) matched with the clamping grooves is arranged on the lower end face of the base (51), and the positioning tapered sleeve (55) is arranged in the tapered grooves.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023258643.6U CN214323409U (en) | 2020-12-30 | 2020-12-30 | Double-station quick-change flexible tool |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023258643.6U CN214323409U (en) | 2020-12-30 | 2020-12-30 | Double-station quick-change flexible tool |
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| Publication Number | Publication Date |
|---|---|
| CN214323409U true CN214323409U (en) | 2021-10-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023258643.6U Active CN214323409U (en) | 2020-12-30 | 2020-12-30 | Double-station quick-change flexible tool |
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| Country | Link |
|---|---|
| CN (1) | CN214323409U (en) |
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2020
- 2020-12-30 CN CN202023258643.6U patent/CN214323409U/en active Active
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