CN107598626A - A kind of clamping device and its clamping method for the processing of robot assisted part - Google Patents
A kind of clamping device and its clamping method for the processing of robot assisted part Download PDFInfo
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- CN107598626A CN107598626A CN201710899646.1A CN201710899646A CN107598626A CN 107598626 A CN107598626 A CN 107598626A CN 201710899646 A CN201710899646 A CN 201710899646A CN 107598626 A CN107598626 A CN 107598626A
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- clamping
- clamp assembly
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Abstract
The present invention relates to a kind of clamping device and its clamping method for the processing of robot assisted part, including pneumatic crawl clamp assembly, it is fixed with can adjust on pneumatic crawl clamp assembly and holds out against component, locating and detecting device, pneumatic crawl clamp assembly includes base housing, fast-assembling bearing, promptly miniature pneumatic chuck, cylinder, claw, adjustable holding device includes leading bolt, movable jacking block, holding out against spring, rubber cushion blocks, and locating and detecting device includes ejection cylinder, position detector.The beneficial effects of the invention are as follows：Pin of the present invention replaces artificial clamping by the way of industrial machine so aids in, realize the automation of clamping, compared to traditional manual clamping pattern, can effectively simulated implementation its all act, clamping uniformity and efficiency, which have, to be obviously improved, clamping position can be accurately positioned, meets the high-precision Set and Positioning requirement of part.
Description
Technical field
The present invention relates to robot clamping apparatus technical field, specifically a kind of robot assisted part that is used for is processed
Clamping device and its clamping method.
Background technology
Clamping precision is to influence a key factor of product mechanical processing quality, although robot assisted machinery adds at present
Work has obtained wide application, still, for the fixture technology shape not yet of the high aviation class part of poor rigidity, required precision
Into the technical experience of maturation, in the machining production process of traditional-handwork clamping, the clamping precision of high-precision aviation part
Realized often through using some special clamping methods, robot assisted aviation part is processed, it is necessary to realize manual clamping
The action simulation of overall process and the reliability for ensureing clamping quality.Field, industrial robot auxiliary are repaired in air weapon
Mechanical manufacturing technology still belongs to the first time application, for aviation part precision is high, installation way is special and does not have ripe experience and can borrow
The characteristics of mirror, a kind of special clamping method and device for the processing of robot assisted part need to be designed so as to meet high-precision boat
The Set and Positioning requirement of empty part.
The content of the invention
In order to avoid proposing a kind of dress for the processing of robot assisted part with solution above-mentioned technical problem, the present invention
Clamp device and its clamping method.
The technical problems to be solved by the invention are realized using following technical scheme：
A kind of clamping device for the processing of robot assisted part, including pneumatic crawl clamp assembly, it is described pneumatically to grab
Take to be fixed with can adjust on clamp assembly and hold out against component, locating and detecting device.
As a further improvement on the present invention, the pneumatic crawl clamp assembly includes base housing, is fixed on base shell
The fast-assembling bearing of body bottom, the miniature pneumatic chuck being fixed at the top of base housing, it is fixed on firmly grasping on miniature pneumatic chuck
Cylinder, it is fixed on claw promptly on cylinder.
As a further improvement on the present invention, the promptly cylinder is three and 120 degree of interval is distributed in miniature pneumatic card
On disk.
As a further improvement on the present invention, the adjustable holding device includes being fixed on pneumatic crawl clamp assembly card
On tight end lead bolt, be slidably mounted on lead on bolt movable jacking block, installed in leading on bolt and positioned at movable top
Holding out against spring, being fixed on movable jacking block away from the rubber blanket held out against on the end face of spring between block and pneumatic crawl clamp assembly
Block.
As a further improvement on the present invention, it is described to lead bolt as three and 120 degree of interval is distributed in pneumatic crawl and pressed from both sides
On tight component, the bolt of leading is between adjacent two promptly cylinder.
As a further improvement on the present invention, the locating and detecting device includes being fixed on pneumatic crawl clamp assembly side
On ejection cylinder, support base, the position detector that is fixed on support base with ejection cylinders.The position detector
It is used cooperatively with the boss mark on machine chuck.
A kind of clamping method of clamping device for the processing of robot assisted part, comprises the following steps：
Step 1：Rubber cushion blocks compressing component drives movable jacking block to move downward, and compression holds out against spring.
Step 2：Claw firmly grasps part, clamping device entirety random device people motion in the presence of promptly cylinder.
Step 3：When robot enters machine tool chuck clamping position, position detector stretches out in the case where ejecting cylinder action.
Step 4：Robot reaches machine tool chuck clamping position, and card is found in the rotation of the axle of position detector random device people the 6th
Boss mark on disk, completes positioning.
Step 5：Claw unclamps part under promptly cylinder action, holds out against spring release and promotes movable jacking block and rubber blanket
Block, hold out against part.
The beneficial effects of the invention are as follows：
Pin of the present invention can realize that the aviation class part high to poor rigidity, required precision carries out Set and Positioning, using industry
The mode that machine so aids in replaces artificial clamping, reduces worker's amount of labour, realizes the automation of clamping, clamping is stable and firm, phase
Than in traditional manual clamping pattern, can effectively simulated implementation its all act, clamping uniformity and efficiency, which have, to be obviously improved,
Compared to traditional robot assisted part processing clamp, clamping position can be accurately positioned, meets that the high-precision clamping of part is determined
Position requires.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the front view of the present invention；
Fig. 2 is the right view of the present invention；
Fig. 3 is the top view of the present invention.
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, below it is right
The present invention is expanded on further.
As shown in Figure 1 to Figure 3, a kind of clamping device for the processing of robot assisted part, including pneumatic crawl clamp
Component, it is fixed with the pneumatic crawl clamp assembly and adjustable holds out against component, locating and detecting device.
The pneumatic crawl clamp assembly includes base housing 1, the fast-assembling bearing 2 for being fixed on the bottom of base housing 1, fixed
Miniature pneumatic chuck 3 at the top of base housing 1, the promptly cylinder 4 being fixed on miniature pneumatic chuck 3, it is fixed on promptly gas
Claw 5 on cylinder 4.In this way, fast-assembling bearing 2 is used to connect handgrip and robot end, and base housing 1 is used to guide
Each trace arrangements, when part is placed on pneumatic crawl clamp assembly, claw 5 is under the promptly driving of cylinder 4 towards small-sized
The central slide of air spider 3, promptly part, when robot reaches specified location, claw 5 is under the promptly driving of cylinder 4
Part is unclamped, completes crawl function.
The promptly cylinder 4 is three and 120 degree of interval is distributed on miniature pneumatic chuck 3.By this design, form
Stable triangular structure, while unnecessary promptly cylinder 4 will not be produced.
The adjustable holding device includes being fixed on leading bolt 6, sliding on pneumatic crawl clamp assembly clamping end
Installed in the movable jacking block 7 led on bolt 6, installed in leading on bolt 6 and positioned at movable jacking block 7 and pneumatic crawl clamping group
Holding out against spring 8, being fixed on movable jacking block 7 away from the rubber cushion blocks 9 held out against on the end face of spring 8 between part.Using this side
Formula, when capturing part, by the compressing component of rubber cushion blocks 9, movable jacking block 7 is in the presence of outside thrust along leading bolt
6 move downward, and compression holds out against spring 8, hold out against and elastic potential energy is stored after spring 8 compresses, while the pneumatic clamp assembly that captures is by zero
Part is firmly grasped, and when claw 5 unclamps, is held out against the elastic potential energy release of the storage of spring 8, is promoted movable jacking block 7 to move upwards, hold out against zero
Part, realize clamping function.
It is described lead bolt 6 for three and interval 120 degree be distributed in pneumatically capture clamp assembly on., it is described to lead bolt 6
Between adjacent two promptly cylinder 4.In this way, characteristics of compact layout, holding out against and clamping for part is facilitated.
The locating and detecting device includes the ejection cylinder 10 and ejection gas being fixed on pneumatic crawl clamp assembly side
The connected support base 11 of cylinder 10, the position detector 12 being fixed on support base 11.In this way, by the work equipped with part
Position searching is carried out when dress is arranged on chuck, boss of the machine chuck provided with 3mm identifies, the inspection of ejection cylinder 10 release location
Device 12 is surveyed, position detector 12 is found boss as the 6th axle of robot rotates and identified, it is ensured that part presses the position of technological requirement
Carry out clamping is put, after searching out boss mark, completes positioning, the quantity of detection means can suitably be increased according to being actually needed
Add.
A kind of clamping method of clamping device for the processing of robot assisted part, clamping method comprise the following steps：
Step 1：The compressing component of rubber cushion blocks 9, movable jacking block 7 is promoted to be transported downwards along the smooth bar part for leading bolt 6
Dynamic, compression holds out against spring 8.
Step 2：Hold out against after spring 8 is compacted, claw 5 in the presence of promptly cylinder 4 will promptly part, clamping device
Overall random device people motion.
Step 3：When robot enters machine tool chuck clamping position, position detector 12 and support base 11 are in ejection gas
The effect of cylinder 10 is lower to stretch out.
Step 4：Robot reaches machine tool chuck clamping position, position detector 12 and the random device people the 6th of support base 11
The boss mark on chuck is found in axle rotation, completes positioning.
Step 5：After completing positioning, claw 5 unclamps part under the effect of promptly cylinder 4, holds out against spring 8 and discharges, and promotes
Movable jacking block 7 and rubber cushion blocks 9 move upwards along the smooth bar part for leading bolt 6, are contacted with clamping part and then hold out against part.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
For personnel it should be appreciated that the present invention is not limited to the above embodiments, that described in above-described embodiment and specification is the present invention
Principle, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these change and
Improvement is both fallen within claimed invention.The claimed scope of the invention is by appended claims and its equivalent circle
It is fixed.
Claims (7)
- A kind of 1. clamping device for the processing of robot assisted part, it is characterised in that：Including pneumatic crawl clamp assembly, institute State to be fixed with can adjust on pneumatic crawl clamp assembly and hold out against component, locating and detecting device.
- A kind of 2. clamping device for the processing of robot assisted part according to claim 1, it is characterised in that：It is described Pneumatic crawl clamp assembly includes base housing (1), is fixed on the fast-assembling bearing (2) of base housing (1) bottom, is fixed on base Miniature pneumatic chuck (3) at the top of housing (1), the promptly cylinder (4) being fixed on miniature pneumatic chuck (3), it is fixed on promptly Claw (5) on cylinder (4).
- A kind of 3. clamping device for the processing of robot assisted part according to claim 2, it is characterised in that：It is described Promptly cylinder (4) is three and 120 degree of interval is distributed on miniature pneumatic chuck (3).
- A kind of 4. clamping device for the processing of robot assisted part according to claim 1, it is characterised in that：It is described Adjustable holding device includes being fixed on leading bolt (6), being slidably mounted on and lead on pneumatic crawl clamp assembly clamping end Movable jacking block (7) on bolt (6), installed in leading on bolt (6) and positioned at movable jacking block (7) and pneumatic crawl clamp assembly Between hold out against spring (8), be fixed on movable jacking block (7) away from holding out against rubber cushion blocks (9) on the end face of spring (8).
- A kind of 5. clamping device for the processing of robot assisted part according to claim 4, it is characterised in that：It is described Bolt (6) is led as three and 120 degree of interval is distributed on pneumatic crawl clamp assembly.
- A kind of 6. clamping device for the processing of robot assisted part according to claim 1, it is characterised in that：It is described Locating and detecting device includes being fixed on the pneumatic ejection cylinder (10) captured on clamp assembly side, is connected with ejection cylinder (10) Support base (11), the position detector (12) that is fixed on support base (11).
- A kind of 7. clamping method of clamping device for the processing of robot assisted part, it is characterised in that：Clamping method includes Following steps：Step 1：Rubber cushion blocks (9) compressing component drives movable jacking block (7) to move downward, and compression holds out against spring (8)；Step 2：Claw (5) firmly grasps part, clamping device entirety random device people motion in the presence of promptly cylinder (4)；Step 3：When robot enters machine tool chuck clamping position, position detector (12) is under ejection cylinder (10) effect Stretch out；Step 4：Robot reaches machine tool chuck clamping position, and card is found in the rotation of the axle of position detector (12) random device people the 6th Boss mark on disk, completes positioning；Step 5：Claw (5) unclamps part under promptly cylinder (4) effect, holds out against spring (8) release and promotes movable jacking block (7) With rubber cushion blocks (9), part is held out against.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710899646.1A CN107598626A (en) | 2017-09-28 | 2017-09-28 | A kind of clamping device and its clamping method for the processing of robot assisted part |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710899646.1A CN107598626A (en) | 2017-09-28 | 2017-09-28 | A kind of clamping device and its clamping method for the processing of robot assisted part |
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| Publication Number | Publication Date |
|---|---|
| CN107598626A true CN107598626A (en) | 2018-01-19 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710899646.1A Pending CN107598626A (en) | 2017-09-28 | 2017-09-28 | A kind of clamping device and its clamping method for the processing of robot assisted part |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2388155A1 (en) * | 2010-05-19 | 2011-11-23 | Schenck RoTec GmbH | Device and method for changing the rotational angle position of a pneumatic tyre on a wheel rim |
| CN203510921U (en) * | 2013-08-22 | 2014-04-02 | 莫竟成 | Tracking and aligning mechanism of walking table screen printing machine |
| CN203679915U (en) * | 2013-12-26 | 2014-07-02 | 无锡贝斯特精机股份有限公司 | Clutching pushing mechanism for automatic line |
| CN205173151U (en) * | 2015-11-30 | 2016-04-20 | 福建兢辉环保科技有限公司 | Evaporation formula air cooler's dust screen fast -assembling structure |
| CN106425713A (en) * | 2016-10-26 | 2017-02-22 | 连云港杰瑞自动化有限公司 | High-precision internal grinding machine self-adaption flexible loading jaw |
-
2017
- 2017-09-28 CN CN201710899646.1A patent/CN107598626A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP2388155A1 (en) * | 2010-05-19 | 2011-11-23 | Schenck RoTec GmbH | Device and method for changing the rotational angle position of a pneumatic tyre on a wheel rim |
| CN203510921U (en) * | 2013-08-22 | 2014-04-02 | 莫竟成 | Tracking and aligning mechanism of walking table screen printing machine |
| CN203679915U (en) * | 2013-12-26 | 2014-07-02 | 无锡贝斯特精机股份有限公司 | Clutching pushing mechanism for automatic line |
| CN205173151U (en) * | 2015-11-30 | 2016-04-20 | 福建兢辉环保科技有限公司 | Evaporation formula air cooler's dust screen fast -assembling structure |
| CN106425713A (en) * | 2016-10-26 | 2017-02-22 | 连云港杰瑞自动化有限公司 | High-precision internal grinding machine self-adaption flexible loading jaw |
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