WO2020015266A1 - 涡旋盘柔性生产线用动盘机械手抓取工装 - Google Patents

涡旋盘柔性生产线用动盘机械手抓取工装 Download PDF

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Publication number
WO2020015266A1
WO2020015266A1 PCT/CN2018/117369 CN2018117369W WO2020015266A1 WO 2020015266 A1 WO2020015266 A1 WO 2020015266A1 CN 2018117369 W CN2018117369 W CN 2018117369W WO 2020015266 A1 WO2020015266 A1 WO 2020015266A1
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Prior art keywords
block
chuck
clamping
production line
flexible production
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PCT/CN2018/117369
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English (en)
French (fr)
Inventor
江涛
吴志川
叶寒
任萌
李莉
刘华
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江西佳时特数控技术有限公司
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Publication of WO2020015266A1 publication Critical patent/WO2020015266A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
    • B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
    • B23Q7/04—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of grippers
    • B23Q7/043—Construction of the grippers
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/08—Gripping heads and other end effectors having finger members
    • B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members

Definitions

  • the invention belongs to the technical field of scroll disk processing tooling, and particularly relates to a moving disk manipulator grasping tooling for a flexible production line of a scroll disk.
  • the scroll compressor uses the relative movement of the dynamic and static scrolls to form a continuous change in the closed container to achieve gas compression. There is no impact friction during the relative movement of the dynamic and static scrolls, so the scroll has low vibration, low noise, light weight, and energy consumption. Small, long life, continuous and stable gas transmission, reliable operation, clean air source and other advantages, widely used in new energy vehicle air conditioning and other fields.
  • the purpose of the present invention is to provide a moving disk manipulator gripping tool for a flexible production line of a scroll to solve the problems mentioned in the background art described above.
  • a flexible disc gripping tool for a flexible production line of a scroll disc includes a base and a chuck disposed on the base, and the bottom surface of the base is connected to the robot, and the chuck It is used to clamp the moving disk, and also includes an elastic support device and a rotation limit device;
  • the elastic supporting device is fixedly arranged on the chuck, and the elastic supporting device includes a support block that can be moved up and down.
  • the support block is provided with an annular positioning groove, and the annular positioning groove and an annular boss on the bottom surface of the movable plate.
  • the rotation limiting device includes a limiting pin, the limiting pin is fixedly arranged on the support block, and the limiting pin is used to cooperate with a slot on the bottom surface of the moving disk.
  • the elastic supporting device further includes a connecting block, the connecting block is fixedly arranged on the chuck and is located below the supporting block, and the connecting block is movably connected to the supporting block through a plurality of bolts.
  • a support spring is sleeved, and the support spring is located between the connection block and the support block.
  • the center portion of the support block is annular, and the annular positioning groove and the limiting pin are both located thereon; three side projections are uniformly arranged in the circumferential direction of the side wall of the support block, and the three projections are all Connect with connection block.
  • the chuck includes a chuck body and three claws provided on the chuck body.
  • Each of the claws is fixedly connected with a clamping block, and the clamping side of the clamping block has an arc.
  • the top of the clamping side of the clamping block is stepped at the same time, and the top of the clamping side of the clamping block and the side wall of the moving disc cooperate with each other.
  • connection block is fixedly arranged on the chuck body, the connection block has a three-forked shape, and the three top ends of the connection block are spaced 120 degrees apart from each other and are respectively connected to three bumps.
  • the three tops are arranged staggered from the three clamping blocks.
  • the chuck is a pneumatic chuck.
  • the supporting block, the connecting block, the limit pin and the clamping block are made of alloy steel.
  • the chuck body is connected to the base by bolts, and the connection block is connected to the chuck body by bolts.
  • the scroll disk flexible production line of the present invention uses a moving disk manipulator to grasp the tooling, which has a simple structure, is convenient and practical, and is suitable for automated production.
  • the positioning and clamping of the moving disk is achieved through three clamping blocks, and the manipulator places the moving disk in a vertical position.
  • the elastic support device presses the bottom surface of the moving disk, and at the same time, the limit pin is inserted into the slot on the bottom surface of the moving disk, and the elastic support device and the limit pin are rotated by the manipulator until the vortex of the vortex surface of the moving disk.
  • the tail of the line is blocked by the stopper of the processing tool to complete the circumferential positioning of the moving disk, so that the positioning of the moving disk is accurate and firmly clamped, which facilitates the processing tool to process the bottom surface of the moving disk and improves production efficiency and quality.
  • FIG. 1 is a schematic diagram of the overall structure of the present invention.
  • FIG. 2 is a schematic plan view of the structure of the present invention.
  • FIG. 3 is a schematic diagram of a use state of the present invention (including a moving disk).
  • FIG. 4 is a schematic structural diagram of a bottom surface of a moving disk in the present invention.
  • the flexible production line of the scroll disk uses a moving disk manipulator to grasp the tooling, including a base 1 and a chuck 2 provided on the base 1.
  • the bottom surface of the base 1 is connected to the robot, and the chuck 2 is used to clamp the moving disk 5, and further includes an elastic support device 3 and a rotation limit device 4;
  • the elastic supporting device 3 is fixed on the chuck 2.
  • the elastic supporting device 3 includes a support block 31 that can move up and down.
  • the support block 31 is provided with an annular positioning groove 311.
  • the annular positioning groove 311 and The annular boss 51 on the bottom surface of the moving plate 5 cooperates;
  • the rotation limiting device 4 includes a limiting pin, which is fixedly disposed on the support block 31.
  • the limiting pin is used to cooperate with the notch 52 on the bottom surface of the moving plate 5.
  • the elastic supporting device 3 further includes a connecting block 32.
  • the connecting block 32 is fixed on the chuck 2 and is located below the supporting block 31.
  • the connecting block 32 is movably connected to the supporting block 31 through a plurality of bolts 33.
  • a support spring 34 is sleeved on each of the bolts 33, and the support spring 34 is located between the connection block 32 and the support block 31.
  • the center portion of the support block 31 is ring-shaped, and the annular positioning groove 311 and the limit pin are both located thereon; on the side wall of the support block 31, three protrusions 312 are uniformly arranged in the circumferential direction, and the three protrusions
  • the blocks 312 are each connected to the connection block 32.
  • the chuck 2 includes a chuck body 21 and three claws provided on the chuck body 21. Each of the claws is fixedly connected with a clamping block 22, and the clamping side of the clamping block 22 is The shape of the arc is circular, and the top of the clamping side of the clamping block 22 is stepped at the same time. The top of the clamping side of the clamping block 22 and the side wall of the moving disc 5 cooperate with each other.
  • the connecting block 32 is fixedly arranged on the chuck body 21, the connecting block 32 has a three-forked shape, and the three top ends of the connecting block 32 are spaced 120 degrees apart from each other and are respectively connected to the three convex blocks 312. The three top ends of the block 32 are respectively staggered and distributed from the three clamping blocks 22.
  • the chuck 2 is a pneumatic chuck.
  • the supporting block 31, the connecting block 32, the limit pin and the clamping block 22 are made of alloy steel.
  • the chuck body 21 is connected to the base 1 by bolts, and the connection block 32 is connected to the chuck body 21 by bolts.
  • the moving disk 5 includes a bottom surface, a scroll surface, and a side wall.
  • An annular boss 51 is provided at the center of the bottom surface, and a notch 52 is also provided on the bottom surface.
  • the stepped support at the top of the clamping block 22 holds the edge of the moving disc 5 and the clamping block 22 clamps.
  • the top of the side clamps the side wall of the moving disk 5 so as to realize the positioning and clamping of the moving disk 5. Then the manipulator moves, and the moving disk 5 is placed on the processing tool of the vertical machining center with the scroll side facing downward.
  • the chuck 2 releases the clamping block 22, and the manipulator presses down to make the supporting block 31 of the elastic supporting device 3
  • the bottom surface of the moving disk 5 is pressed down, so that the annular boss 51 on the bottom surface of the moving disk 5 is inserted into the annular positioning groove 311, and the limit pin is inserted into the notch 52 on the bottom surface of the moving disk 5.
  • the manipulator rotates, so that the stop pin drives the driving disc 5 to rotate.
  • the moving disc 5 completes the circumferential positioning. The manipulator no longer rotates and drives Chuck 2 is removed.
  • the scroll disk flexible production line of the present invention uses a moving disk manipulator to grasp the tooling.
  • the structure is simple, convenient and practical, and suitable for automated production.
  • the positioning and clamping of the moving disk 5 is achieved through three clamping blocks 22, and the robot hand places the moving disk 5
  • the elastic supporting device 3 presses the bottom surface of the moving plate 5 while the limit pin is inserted into the slot 52 on the bottom surface of the moving plate 5, and the elastic support device 3 and the limiting pin are rotated by the robot hand until The tail of the vortex line of the scroll surface of the moving plate 5 is blocked by the stopper of the processing tool, and the circumferential positioning of the moving plate 5 is completed, so that the positioning of the moving plate 5 is accurate and firmly clamped, which is convenient for the processing tool to perform the bottom surface of the moving plate 5 Processing, improving production efficiency and quality.
  • the scroll flexible production line of the present invention uses a moving disk manipulator to grasp the tooling.
  • the structure of the support block 31 and the connection block 32 and the connection method are reasonably designed, the space occupation is small, and the pressing force on the bottom surface of the moving disk 5 is balanced.
  • the materials of the support block 31, the connection block 32, the limit pin and the clamping block 22 are alloy steel, which is strong and durable.

Abstract

一种涡旋盘柔性生产线用动盘机械手抓取工装，包括底座（1）和设置在底座（1）上的卡盘（2），底座（1）的底面与机械手连接，还包括弹性支撑装置（3）和旋转限位装置（4）；弹性支撑装置（3）固定设置在卡盘（2）上，弹性支撑装置（3）包括可上下移动的支撑块（31），支撑块（31）上设置有环形定位槽（311），环形定位槽（311）与动盘（5）底面的环形凸台（51）配合；旋转限位装置（4）包括一限位销，限位销固定设置在支撑块（31）上，限位销与动盘（5）底面的槽口（52）配合。

Description

涡旋盘柔性生产线用动盘机械手抓取工装 技术领域
本发明属于涡旋盘加工工装技术领域，具体涉及涡旋盘柔性生产线用动盘机械手抓取工装。
背景技术
涡旋压缩机利用动静涡旋盘相对运动形成封闭容器的连续变化来实现气体的压缩，动静涡旋盘相对运动过程中无冲击摩擦，因此涡旋具有振动小、噪音低、重量轻、能耗小、寿命长、输气连续平稳、运行可靠、气源清洁等优点，广泛运用于新能源汽车空调等领域。
由于动静涡旋盘要求精度高、产量大，因此对动静涡旋盘的加工提出了更高生产率和良品率的要求。传统动静涡旋盘加工常用单机生产，人工装夹零件的生产方式，生产效率较低，生产零件质量不稳定，无法达到汽车空调涡旋压缩机的生产要求。目前市面上无专门用于配合柔性生产线机械手抓取动盘专用工装。
发明内容
本发明的目的在于提供涡旋盘柔性生产线用动盘机械手抓取工装，以解决上述背景技术中提出的问题。
为实现上述目的，本发明提供如下技术方案：涡旋盘柔性生产线用动盘机械手抓取工装，包括有底座和设置在底座上的卡盘，所述底座的底面与机械手连接，所述卡盘用于夹紧动盘，还包括有弹性支撑装置和旋转限位装置；
所述弹性支撑装置固定设置在卡盘上，所述弹性支撑装置包括有可上下移动的支撑块，所述支撑块上设置有环形定位槽，所述环形定位槽与动盘底面的环形凸台配合；
所述旋转限位装置包括有一限位销，所述限位销固定设置在支撑块上，所述限位销用于与动盘底面的槽口配合。
优选的，所述弹性支撑装置还包括有连接块，所述连接块固定设置在卡盘上并位于支撑块的下方，所述连接块通过若干个螺栓与支撑块活动连接，所述螺栓上均套设有支撑弹簧，所述支撑弹簧位于连接块和支撑块之间。
优选的，所述支撑块的中心部位呈环形，所述环形定位槽和限位销均位于其上；所述支撑块的侧壁周向均匀设置有三个凸块，三个所述凸块均与连接块连接。
优选的，所述卡盘包括有卡盘体和设置在卡盘体上的三个卡爪，所述卡爪上均固定连接有夹紧块，所述夹紧块的夹紧侧呈圆弧状，且所述夹紧块夹紧侧的顶部同时呈阶梯状，所述夹紧块夹紧侧的顶部与动盘侧壁相互配合。
优选的，所述连接块固定设置在卡盘体上，所述连接块呈三叉形，所述连接块的三个顶端相互间隔120度且分别对应与三个凸块连接，所述连接块的三个顶端分别与三个夹紧块错开分布设置。
优选的，所述卡盘为气动卡盘。
优选的，所述支撑块、连接块、限位销和夹紧块的材料均为合金钢。
优选的，所述卡盘体通过螺栓连接底座，所述连接块通过螺栓连接卡盘体。
有益效果：
本发明的涡旋盘柔性生产线用动盘机械手抓取工装，结构简单，方便实用，适于自动化生产；通过三个夹紧块实现对动盘的定位夹紧，机械手将动盘放置于立式加工中心的加工工装上时，弹性支撑装置压紧动盘底面，同时限位销插入动盘底面的槽口，通过机械手带动弹性支撑装置和限位销旋转，直至动盘涡旋面的涡旋线尾部被加工工装的挡块挡住，完成动盘的周向定位，从而对动盘的定位准确且夹紧牢固，方便加工工装对动盘底面进行加工，提高了生产效率和质量。
附图说明
图1为本发明整体结构示意图。
图2为本发明俯视结构示意图。
图3为本发明使用状态示意图(含动盘)。
图4为本发明中动盘底面结构示意图
图中：1-底座，2-卡盘，21-卡盘体，22-夹紧块，3-弹性支撑装置，31-支撑块，311-环形定位槽，312-凸块，32-连接块，33-螺栓，34-支撑弹簧，4-旋转限位装置，5-动盘，51-环形凸台，52-槽口。
具体实施方式
下面结合附图进一步说明本发明的实施例。
如图1-4所示，涡旋盘柔性生产线用动盘机械手抓取工装，包括有底座1和设置在底座1上的卡盘2，所述底座1的底面与机械手连接，所述卡盘2用于夹紧动盘5，还包括有弹性支撑装置3和旋转限位装置4；
所述弹性支撑装置3固定设置在卡盘2上，所述弹性支撑装置3包括有可上下移动的支撑块31，所述支撑块31上设置有环形定位槽311，所述环形定位槽311与动盘5底面的环形凸台51配合；
所述旋转限位装置4包括有一限位销，所述限位销固定设置在支撑块31上，所述限位销用于与动盘5底面的槽口52配合。
所述弹性支撑装置3还包括有连接块32，所述连接块32固定设置在卡盘2上并位于支撑块31的下方，所述连接块32通过若干个螺栓33与支撑块31活动连接，所述螺栓33上均套设有支撑弹簧34，所述支撑弹簧34位于连接块32和支撑块31之间。
所述支撑块31的中心部位呈环形，所述环形定位槽311和限位销均位于其上；所述支撑块31的侧壁上周向均匀设置有三个凸块312，三个所述凸块312均与连接块32连接。
所述卡盘2包括有卡盘体21和设置在卡盘体21上的三个卡爪，所述卡爪上均固定连接有夹紧块22，所述夹紧块22的夹紧侧呈圆弧状，且所述夹紧块22夹紧侧的顶部同时呈阶梯状，所述夹紧块22夹紧侧的顶部与动盘5侧壁相互配合。
所述连接块32固定设置在卡盘体21上，所述连接块32呈三叉形，所述连接块32的三个顶端相互间隔120度且分别对应与三个凸块312连接，所述连接块32的三个顶端分别与三个夹紧块22错开分布设置。
所述卡盘2为气动卡盘。
所述支撑块31、连接块32、限位销和夹紧块22的材料均为合金钢。
所述卡盘体21通过螺栓连接底座1，所述连接块32通过螺栓连接卡盘体21。
本实施例的工作原理：动盘5包括有底面、涡旋面和侧壁，底面上中心部位设置有环形凸台51，底面上还设置有槽口52。抓取时，动盘5涡旋面朝上，通过卡盘2的作用使三个夹紧块22相互抱合，夹紧块22顶部的阶梯托举住动盘5边缘，夹紧块22夹紧侧的顶部夹紧动盘5侧壁，从而实现对动盘5的定位夹紧。然后机械手移动，将动盘5涡旋面朝下放置于立式加工中心的加工工装上后，卡 盘2使夹紧块22松开，机械手向下压，使得弹性支撑装置3的支撑块31向下压紧动盘5底面，让动盘5底面的环形凸台51插入环形定位槽311内，限位销嵌入动盘5底面的槽口52内。然后机械手旋转，从而限位销带动动盘5旋转，当动盘5涡旋面上涡旋线尾部被加工工装的挡块挡住时，动盘5完成周向定位，机械手不再旋转，并带动卡盘2移开。
本发明的涡旋盘柔性生产线用动盘机械手抓取工装，结构简单，方便实用，适于自动化生产；通过三个夹紧块22实现对动盘5的定位夹紧，机械手将动盘5放置于立式加工中心的加工工装上时，弹性支撑装置3压紧动盘5底面，同时限位销插入动盘5底面的槽口52，通过机械手带动弹性支撑装置3和限位销旋转，直至动盘5涡旋面的涡旋线尾部被加工工装的挡块挡住，完成动盘5的周向定位，从而对动盘5的定位准确且夹紧牢固，方便加工工装对动盘5底面进行加工，提高了生产效率和质量。
本发明的涡旋盘柔性生产线用动盘机械手抓取工装，支撑块31和连接块32的结构及其连接方式设计合理，空间占用小，对动盘5底面的压紧力平衡。支撑块31、连接块32、限位销和夹紧块22的材料均为合金钢，坚固耐用。
以上对本发明的具体实施例进行了详细描述，但其只是作为范例，本发明并不限制于以上描述具体实施例。对于本领域技术人员而言，任何对本发明进行的等同修改和替代也都在本发明的范畴之中。因此，在不脱离本发明的精神和范围下所作的均等变换和修改，都涵盖在本发明范围内。

Claims (8)

  1. 涡旋盘柔性生产线用动盘机械手抓取工装，包括有底座(1)和设置在底座(1)上的卡盘(2)，所述底座(1)的底面与机械手连接，所述卡盘(2)用于夹紧动盘(5)，其特征在于：
    还包括有弹性支撑装置(3)和旋转限位装置(4)；
    所述弹性支撑装置(3)固定设置在卡盘(2)上，所述弹性支撑装置(3)包括有可上下移动的支撑块(31)，所述支撑块(31)上设置有环形定位槽(311)，所述环形定位槽(311)与动盘(5)底面的环形凸台(51)配合；
    所述旋转限位装置(4)包括有一限位销，所述限位销固定设置在支撑块(31)上，所述限位销用于与动盘(5)底面的槽口(52)配合。
  2. 根据权利要求1所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述弹性支撑装置(3)还包括有连接块(32)，所述连接块(32)固定设置在卡盘(2)上并位于支撑块(31)的下方，所述连接块(32)通过若干个螺栓(33)与支撑块(31)活动连接，所述螺栓(33)上均套设有支撑弹簧(34)，所述支撑弹簧(34)位于连接块(32)和支撑块(31)之间。
  3. 根据权利要求2所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述支撑块(31)的中心部位呈环形，所述环形定位槽(311)和限位销均位于其上；所述支撑块(31)的侧壁上周向均匀设置有三个凸块(312)，三个所述凸块(312)均与连接块(32)连接。
  4. 根据权利要求3所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述卡盘(2)包括有卡盘体(21)和设置在卡盘体(21)上的三个卡爪，所述卡爪上均固定连接有夹紧块(22)，所述夹紧块(22)的夹紧侧呈圆弧状，且所述夹紧块(22)夹紧侧的顶部同时呈阶梯状，所述夹紧块(22)夹紧侧的顶部与动盘(5)侧壁相互配合。
  5. 根据权利要求4所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述连接块(32)固定设置在卡盘体(21)上，所述连接块(32)呈三叉形，所述连接块(32)的三个顶端相互间隔120度且分别对应与三个凸块(312)连接，所述连接块(32)的三个顶端分别与三个夹紧块(22)错开分布设置。
  6. 根据权利要求4所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述卡盘(2)为气动卡盘。
  7. 根据权利要求4所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特 征在于：所述支撑块(31)、连接块(32)、限位销和夹紧块(22)的材料均为合金钢。
  8. 根据权利要求4所述的涡旋盘柔性生产线用动盘机械手抓取工装，其特征在于：所述卡盘体(21)通过螺栓连接底座(1)，所述连接块(32)通过螺栓连接卡盘体(21)。
PCT/CN2018/117369 2018-07-17 2018-11-26 涡旋盘柔性生产线用动盘机械手抓取工装 WO2020015266A1 (zh)

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