CN215393838U - Compatible slot series robot forearm follow fixture - Google Patents
Compatible slot series robot forearm follow fixture Download PDFInfo
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- CN215393838U CN215393838U CN202120665602.4U CN202120665602U CN215393838U CN 215393838 U CN215393838 U CN 215393838U CN 202120665602 U CN202120665602 U CN 202120665602U CN 215393838 U CN215393838 U CN 215393838U
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Abstract
The utility model belongs to the technical field of tool fixtures, and discloses a compatible groove series robot forearm follow-up fixture which comprises a mother board unit and a daughter board unit, wherein the mother board unit and the daughter board unit can be repeatedly positioned and disassembled; and the daughter board unit, the positioning mechanism and the pressing mechanism are all of groove system combined structures. The robot forearm positioning device is high in compatibility and repeated positioning accuracy, is suitable for being used for machining the robot forearm, is used for accurately positioning the robot forearm on a machine tool, and ensures the machining accuracy of the machine tool on the robot forearm.
Description
Technical Field
The utility model belongs to the technical field of tool fixtures, and particularly relates to a compatible groove series robot forearm follow-up fixture.
Background
With the progress of global intelligent manufacturing, industrial robots are more and more widely applied in the manufacturing industry. The starting development of the manufacturing industry in China lags behind that of the western countries, and the industrial robots put into the manufacturing industry at present still mainly depend on foreign imports. The industrial robot is an important means for realizing transformation and upgrading of the manufacturing industry in China, so that the industrial robot has important significance for promoting the development of the industrial robot industry in China. The design and production of the core parts of the industrial robot are the key points for realizing industrial and large-scale development of the industrial robot. However, the following problems generally exist in the conventional follow-up tool for machining the robot forearm component during use:
1. poor compatibility
According to the conventional follow tool used in robot forearm machining, the positions of a positioning mechanism and a clamping mechanism on a daughter board unit cannot be adjusted, so that the follow tool is often only suitable for a certain machining procedure of a certain type of specific robot forearm, cannot meet the replacement requirements of robot forearm with different specifications on a supporting structure, a positioning structure or a clamping structure, and is poor in compatibility.
2. Low repeated positioning precision
The repeated positioning of the robot forearm on the following tool and the repeated positioning of the following tool on the machine tool workbench are realized by mostly depending on the single structure of the positioning groove, and the positioning precision is generally low. The robot forearm is not accurate in location on the machine tool workbench, the required processing shoulder surface of the robot forearm cannot be guaranteed within the range of the stroke of the machine tool, and finally the machine tool is low in processing precision of the robot forearm, and the production quality is poor.
Disclosure of Invention
In order to solve the defects in the prior art, the utility model aims to provide a compatible groove series robot forearm follow-up clamp so as to achieve the purpose of high-compatibility and high-precision production of the robot forearm.
In order to achieve the purpose, the technical scheme adopted by the utility model is as follows: a compatible groove series robot forearm follow-up clamp comprises a mother board unit and a daughter board unit which can be repeatedly positioned and disassembled, wherein a positioning mechanism for positioning a robot forearm and a pressing mechanism for pressing the robot forearm are arranged on a working base surface at the top of the daughter board unit; and the daughter board unit, the positioning mechanism and the pressing mechanism are all of groove system combined structures.
As the limitation of the utility model, the working base surface of the daughter board unit is provided with criss-cross T-shaped grooves; the positioning mechanism comprises a plurality of positioning blocks provided with positioning pins, and each positioning block is installed on the T-shaped groove of the daughter board unit through the matching of the T-shaped sliding block.
As a further limitation of the utility model, the positioning mechanism further comprises an equal-height block and an auxiliary support bottom block for auxiliary support of the robot forearm, and the equal-height block and the auxiliary support bottom block are both arranged on the T-shaped groove of the daughter board unit in a matching manner through a T-shaped sliding block; wherein, the top end face of the auxiliary supporting bottom block is provided with an auxiliary supporting nail.
As a further limitation of the utility model, the locating pins include round pins and diamond pins.
As a further limitation of the utility model, the repeated positioning disassembly and assembly between the motherboard unit and the daughter board unit is realized through a zero positioning mechanism; the zero positioning mechanism comprises a plurality of zero positioning chucks arranged on the motherboard unit and a plurality of positioning pull nails arranged on the installation base surface at the bottom of the daughter board unit.
As a further limitation of the utility model, the motherboard unit is provided with a quick coupler for connecting an external air source, and the quick coupler is communicated with the zero point positioning chuck through an air passage channel inside the motherboard unit.
As another limitation of the present invention, the pressing mechanism includes at least two sets of pressing components oppositely disposed at two sides of the positioning mechanism; each group of pressing components comprises a screw, a supporting rod and a pressing plate;
the screw and the support rod are vertically arranged on a working base plane at the top of the daughter board unit through a groove system combined structure; the pressing plate penetrates through the screw rod, one end of the pressing plate is pressed on the top end face of the supporting rod, and the other end of the pressing plate extends to the position above the positioning mechanism.
As a further limitation of the utility model, the end pressure point of the pressure plate, which extends above the positioning mechanism and can be contacted with the upper end surface of the small arm of the robot, is of a spherical structure.
Due to the adoption of the technical scheme, compared with the prior art, the utility model has the following beneficial effects:
(1) according to the utility model, the daughter board unit, the positioning mechanism and the pressing mechanism are all in a groove system combined structure, the positions of the positioning mechanism and the pressing mechanism on the daughter board unit can be adjusted manually, the replacement requirements of robot small arms with different specifications on the supporting structure, the positioning structure and the clamping structure can be met, the compatibility is high, and the adaptability is wide.
(2) The positioning device realizes the positioning of the small arm of the robot on the daughter board unit by the round pin and the diamond pin, has high repeated positioning precision, and can also ensure that the small arm of the robot is lifted by a certain height relative to the daughter board unit after the accurate positioning, so as to ensure that the shoulder surfaces required to be processed by the small arm of the robot are all within the stroke range of the machine tool, and further ensure the higher processing precision of the subsequent machine tool on the small arm of the robot.
(3) The equal-height block and the auxiliary supporting bottom block on the daughter board unit can assist the positioning pin to support the robot forearm, so that the stability is good, the better flatness of the robot forearm can be ensured after clamping, and the higher processing precision of a subsequent machine tool on the robot forearm can be further ensured.
(4) According to the utility model, the repeated positioning is realized between the mother board unit and the daughter board unit through the zero positioning mechanism, the repeated positioning precision is high, the alignment time of the daughter board unit on the workbench of the machine tool can be greatly shortened, the working continuity is ensured, and the working efficiency is improved.
(5) According to the utility model, the end pressure point of the pressure plate, which can be contacted with the small arm of the robot, is of a spherical structure, the extrusion force is high, the pressure plate and the small arm of the robot can be combined more tightly, and the small arm of the robot can be clamped on the daughter board unit more firmly.
In conclusion, the robot forearm positioning device is high in compatibility and repeated positioning accuracy, is suitable for being used for machining the robot forearm, is used for accurately positioning the robot forearm on a machine tool, and ensures the machining accuracy of the robot forearm by the machine tool.
Drawings
The utility model is described in further detail below with reference to the figures and the embodiments.
FIG. 1 is a schematic overall structure diagram of an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a motherboard unit according to an embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a daughter board unit according to an embodiment of the present invention;
FIG. 4 is a side view of the structural relationship of daughter board units in an embodiment of the present invention;
in the figure: 1. a motherboard unit; 2. a daughter board unit; 3. a zero point positioning chuck; 4. positioning the blind rivet; 5. quick coupler; 6. positioning blocks; 7. equal-height blocks; 8. an auxiliary support bottom block; 9. a circular pin; 10. a diamond pin; 11. auxiliary support nails; 12. a screw; 13. a support bar; 14. pressing a plate; 15. a robot forearm.
Detailed Description
Preferred embodiments of the present invention will be described below with reference to the accompanying drawings. It should be understood that the description of the preferred embodiment is only for purposes of illustration and understanding, and is not intended to limit the utility model.
Embodiment is a compatible slot series robot forearm follow fixture
As shown in fig. 1 to 4, the present embodiment includes a motherboard unit 1 and a daughter board unit 2 that are repeatedly positioned and disassembled by a zero point positioning mechanism, and a positioning mechanism and a pressing mechanism that are disposed on a working base surface on the top of the daughter board unit 2; wherein, the daughter board unit 2, the positioning mechanism and the pressing mechanism are all of a groove system combined structure.
A motherboard unit 1 and a daughter board unit 2
When the robot forearm 15 is processed, the mother board unit 1 and the daughter board unit 2 are repeatedly disassembled, assembled and positioned, and the robot forearm 15 can be repeatedly and accurately positioned on a workbench of a machine tool. The zero positioning mechanism for realizing repeated positioning of the motherboard unit 1 and the daughter board unit 2 comprises a zero positioning chuck 3 and a positioning rivet 4. As shown in fig. 2, a plurality of zero point positioning chucks 3 are detachably arranged on the motherboard unit 1 through bolts, and each zero point positioning chuck 3 is communicated with the quick connector 5 on the side surface of the motherboard unit 1 through an air passage channel inside the motherboard unit 1. As shown in fig. 4, a plurality of positioning studs 4 are screwed to the mounting base surface of the bottom of the daughter board unit 2. During operation, the quick coupler 5 is communicated with an external air source, and after the required air source is provided for the zero positioning chuck 3, the zero positioning chuck 3 can be controlled to clamp or loosen the positioning blind rivet 4, so that repeated positioning of the daughter board unit 2 and the mother board unit 1 is realized.
In this embodiment, the motherboard unit 1 is provided with two zero positioning chucks 3, and the daughter board unit 2 is correspondingly provided with two positioning pull nails 4.
It should be noted that, the factor board unit 2, the positioning mechanism and the pressing mechanism are all in a groove system combined structure, so that a plurality of T-shaped grooves are criss-cross arranged on the working base surface at the top of the daughter board unit 2, and the specific structure is shown in fig. 3.
Second, positioning mechanism
The positioning mechanism is used to ensure the repeated positioning accuracy of the robot arm 15 on the daughter board unit 2. As shown in fig. 3, the positioning mechanism includes a plurality of positioning blocks 6 provided with positioning pins, each positioning block 6 is mounted on a T-shaped groove of the daughter board unit 2 by a T-shaped slider, and the positions of the positioning blocks 6 can be adjusted appropriately according to the requirements of the robot forearm 15 for the positioning structure. In this embodiment, the T-shaped slider is fixed to a predetermined position on the daughter board unit 2 by a screw.
Furthermore, the working base surface at the top of the daughter board unit 2 is also provided with an equal-height block 7 and an auxiliary supporting bottom block 8 so as to ensure good support for the robot forearm 15. Like the positioning block 6, the equal-height block 7 and the auxiliary support bottom block 8 are also installed in a T-shaped groove of the daughter board unit 2 through a T-shaped slider in a matching manner, and the T-shaped slider is fixed at a set position on the daughter board unit 2 through a screw. Wherein, the end face at the top of the auxiliary supporting bottom block 8 is also in threaded connection with an auxiliary supporting nail 11, and the fixing height of the auxiliary supporting nail 11 can be adjusted by rotating the auxiliary supporting nail.
More specifically, the positioning pin comprises a round pin 9 and a diamond pin 10, and the round pin and the diamond pin are both installed on the positioning block 6 through a pin-hole matching mode. As shown in fig. 3, in the present embodiment, two positioning blocks 6 are provided in a diagonal arrangement, wherein a circular pin 9 is installed on one positioning block 6, and a diamond pin 10 is installed on the other positioning block 6.
Third, hold-down mechanism
The hold-down mechanism is used to clamp the robot forearm 15 to the daughter board unit 2. As shown in fig. 3, the pressing mechanism includes at least two sets of pressing components oppositely disposed at two sides of the positioning mechanism, and the structure of the pressing components is illustrated by taking one set as an example:
the pressing assembly includes a screw 12, a support rod 13, and a pressing plate 14. The screw 12 and the support rod 13 are arranged in parallel and are both vertically arranged on the working base surface at the top of the daughter board unit 2 through a groove system combined structure. The middle part of the pressure plate 14 is sleeved on the screw 12, one end of the pressure plate is pressed on the top end surface of the support rod 13, and the other end of the pressure plate extends to the upper part of the daughter board unit 2 and is used for contacting with the upper end surface of the robot forearm 15.
More specifically, the present embodiment is provided with four sets of pressing assemblies, and two sets of pressing assemblies are oppositely arranged on two sides of the positioning mechanism. The screw 12 and the support rod 13 in each group of pressing components are installed in a T-shaped groove of the daughter board unit 2 through the T-shaped sliding block in a matching mode, and the T-shaped sliding block is fixed at a set position on the daughter board unit 2 through screws. And in each group of pressing components, the end pressing points of the pressing plate 14, which can be contacted with the small arm 15 of the robot, are all spherical structures.
The process of machining the robot arm 15 using the present embodiment is as follows:
s1, mounting the motherboard unit 1 on a machine tool workbench by using bolts, and communicating the quick connector 5 with a gas path source;
s2, adjusting the positions of the positioning mechanism and the pressing mechanism on the daughter board unit 2 so as to meet the requirements of the small arm 15 of the robot on a supporting structure, a positioning structure and a clamping structure; (the above steps are only performed when first used)
S3, positioning the small robot arm 15 on the working base surface of the daughter board unit 2 by using the round pin 9 and the diamond pin 10, and adjusting the height of the auxiliary support nail 11 to enable the upper end surface of the auxiliary support nail 11 to be in contact with the lower end surface of the small robot arm 15;
s4, pressing the pressing plate 14 on the upper end face of the small robot arm 15, and screwing the nut on the screw 12 to enable the pressing plate 14 to gradually press the small robot arm 15, so that the small robot arm 15 is fixed on the daughter board unit 2;
s5, gripping the daughter board unit 2 by using a robot gripper, and placing the daughter board unit 2 fixed with the robot forearm 15 onto the mother board unit 1 of the machine tool workbench from a storage bin;
s6, ventilating the zero point positioning chuck 3, and controlling the zero point positioning chuck 3 to clamp the positioning blind rivet 4;
s7, the robot gripper exits from the machine tool, and the robot small arm 15 is machined after the machine tool closes the door;
s8, after the processing is finished, controlling the zero point positioning chuck 3 to loosen the positioning blind rivet 4, and then placing the daughter board unit 2 and the robot small arm 15 into a finished product warehouse by using a robot gripper;
and S9, screwing the nut on the screw 12 to loosen the pressure plate 14, and then taking down the machined robot forearm 15.
And repeating the steps S3-S9 to realize the continuous processing of the robot small arm 15.
Although the present invention has been described in detail with reference to the above embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described above, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (8)
1. The utility model provides a compatible formula groove series robot forearm retinue anchor clamps, includes mother board unit and daughter board unit of repeatedly fixing a position the dismouting, its characterized in that: a positioning mechanism for positioning the robot forearm and a pressing mechanism for pressing the robot forearm are arranged on the working base plane at the top of the daughter board unit; and the daughter board unit, the positioning mechanism and the pressing mechanism are all of groove system combined structures.
2. A compatible slot series robotic forearm follow fixture according to claim 1 wherein: the working base surface of the daughter board unit is provided with T-shaped grooves which are criss-cross; the positioning mechanism comprises a plurality of positioning blocks provided with positioning pins, and each positioning block is installed on the T-shaped groove of the daughter board unit through the matching of the T-shaped sliding block.
3. A compatible slot series robotic forearm follow fixture according to claim 2 wherein: the positioning mechanism also comprises an equal-height block and an auxiliary supporting bottom block which are used for assisting in supporting the small arm of the robot, and the equal-height block and the auxiliary supporting bottom block are both arranged on the T-shaped groove of the daughter board unit in a matched mode through a T-shaped sliding block; wherein, the top end face of the auxiliary supporting bottom block is provided with an auxiliary supporting nail.
4. A compatible slot series robotic forearm follow fixture according to claim 2 or 3 wherein: the positioning pins include round pins and diamond-shaped pins.
5. The compatible slot series robotic forearm pallet of claim 4, wherein: repeated positioning disassembly and assembly are realized between the motherboard unit and the daughter board unit through a zero positioning mechanism; the zero positioning mechanism comprises a plurality of zero positioning chucks arranged on the motherboard unit and a plurality of positioning pull nails arranged on the installation base surface at the bottom of the daughter board unit.
6. The compatible slot series robotic forearm pallet of claim 5, wherein: the motherboard unit is provided with a quick coupler used for connecting an external air source, and the quick coupler is communicated with the zero point positioning chuck through an air passage channel inside the motherboard unit.
7. A compatible slot series robotic arm pallet according to any of claims 1-3, 5-6, wherein: the pressing mechanism comprises at least two groups of pressing components which are oppositely arranged at two sides of the positioning mechanism; each group of pressing components comprises a screw, a supporting rod and a pressing plate;
the screw and the support rod are vertically arranged on a working base plane at the top of the daughter board unit through a groove system combined structure; the pressing plate penetrates through the screw rod, one end of the pressing plate is pressed on the top end face of the supporting rod, and the other end of the pressing plate extends to the position above the positioning mechanism.
8. A compatible slot series robotic forearm follow fixture according to claim 7 wherein: the end pressure points of the pressure plate, which extend to the upper part of the positioning mechanism and can be contacted with the upper end surface of the small arm of the robot, are of spherical structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120665602.4U CN215393838U (en) | 2021-04-01 | 2021-04-01 | Compatible slot series robot forearm follow fixture |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120665602.4U CN215393838U (en) | 2021-04-01 | 2021-04-01 | Compatible slot series robot forearm follow fixture |
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| CN215393838U true CN215393838U (en) | 2022-01-04 |
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| CN202120665602.4U Active CN215393838U (en) | 2021-04-01 | 2021-04-01 | Compatible slot series robot forearm follow fixture |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115647973A (en) * | 2022-12-13 | 2023-01-31 | 江苏大学扬州(江都)新能源汽车产业研究所 | Machining workbench for automobile parts |
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2021
- 2021-04-01 CN CN202120665602.4U patent/CN215393838U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115647973A (en) * | 2022-12-13 | 2023-01-31 | 江苏大学扬州(江都)新能源汽车产业研究所 | Machining workbench for automobile parts |
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