CN211804900U - Multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system - Google Patents
Multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system Download PDFInfo
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- CN211804900U CN211804900U CN201922247267.1U CN201922247267U CN211804900U CN 211804900 U CN211804900 U CN 211804900U CN 201922247267 U CN201922247267 U CN 201922247267U CN 211804900 U CN211804900 U CN 211804900U
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Abstract
The utility model discloses a multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system, which comprises a linear motion device, a workpiece self-overturning device and a self-positioning floating clamping device; the bottom of the workpiece self-overturning device is connected with the linear motion device, and the linear motion device drives the workpiece self-overturning device to horizontally move; the self-positioning floating clamping device clamps a workpiece, the workpiece self-overturning device is arranged opposite to the self-positioning floating clamping device, and the workpiece self-overturning device can clamp the workpiece and drive the workpiece to overturn; the workpiece self-overturning device comprises a rotary cylinder, the rotary cylinder is connected with a hydraulic cylinder, a piston rod of the hydraulic cylinder is connected with the mechanical claw opening and closing finger through a hinge mechanism, and the hydraulic cylinder reciprocates to drive the mechanical claw opening and closing finger to open and close so as to clamp or loosen a workpiece.
Description
Technical Field
The utility model belongs to the technical field of technological equipment, especially relate to the self-align frock clamp that uses when processing lathe tool plane, concretely relates to multistation is from locating floating clamping and work piece from upset intelligence frock clamp system.
Background
A turning tool is a tool for turning machining having a cutting portion. The turning tool is one of the most widely used tools in cutting and machining, and is also the basis for learning and analyzing various tools. The turning tool is used for various lathes to machine excircle, inner hole, end face, thread, lathing groove and the like. The working part of the turning tool is a part for generating and processing chips, and comprises a cutting edge, a structure for breaking or rolling up the chips, a space for discharging or storing the chips, a channel of cutting fluid and other structural elements. The cutting part of the turning tool consists of a main cutting edge, an auxiliary cutting edge, a front tool face, a main rear tool face, an auxiliary rear tool face and a tool sharp corner. The cutting portion and the shank portion (i.e., the clamping portion) of the turning tool are coupled in a manner that is mainly integrated, welded, mechanically clamped, and welded-mechanically clamped. The mechanically clamped turning tool can avoid the stress and the crack of the hard alloy blade during high-temperature welding, and the tool holder can be used for multiple times. The mechanically clamped lathe tool is one with indexable insert and has insert clamped by screws and pressing board. The blade can be used continuously by transposition after being blunt, and the tool changing time is short when the machine is stopped, thereby achieving rapid development.
The turning tool machining process has multiple stations and processes, and different tool fixtures are arranged for positioning and clamping workpieces aiming at different stations.
The machine is also called a fixture, which is used to fix the object to be processed to make it occupy the correct position for receiving construction or detection. In a broad sense, any device used to quickly, conveniently and safely mount a workpiece at any stage in a process may be referred to as a jig. Such as welding jigs, inspection jigs, assembly jigs, machine tool jigs, and the like. Among them, the machine tool clamp is the most common, and is often referred to as a clamp for short. When a workpiece is machined on a machine tool, the workpiece needs to be assembled (positioned) and firmly clamped (clamped) before machining in order to enable the surface of the workpiece to meet the technical requirements of the size, the geometric shape, the mutual position precision with other surfaces and the like specified in the drawing. The fixture generally comprises a positioning element (for determining the correct position of a workpiece in the fixture), a clamping device, a tool setting guide element (for determining the relative position of the tool and the workpiece or guiding the direction of the tool), an indexing device (for enabling the workpiece to complete the processing of a plurality of stations in one-time installation, including a rotary indexing device and a linear movement indexing device), a connecting element, a fixture body (a fixture base), and the like. The clamp types can be classified into universal clamps according to the use characteristics. Such as a vice, a chuck, a sucker, an index head, a rotary table and the like for machine tools, has great universality, can better adapt to the change of machining processes and machining objects, has a shaped structure and serialized sizes and specifications, and most of the parts become standard accessories of the machine tools. The special fixture is specially designed and manufactured for the clamping requirement of a certain product part on a certain procedure, has a specific service object and strong pertinence, and is generally designed by a product manufacturer. Lathe jigs, milling machine jigs, drill jigs (machine tool jigs for guiding a tool to drill or ream a workpiece), boring jigs (machine tool jigs for guiding a boring bar to bore a workpiece), and pallet jigs (movable jigs for use on an automatic line of a combined machine tool) are commonly used. An adjustable clamp. The special fixture of the element can be replaced or adjusted. The modular fixture, which consists of standardized elements of different shapes, specifications and uses, is suitable for single-piece, small-lot production and temporary tasks of trial production of new products and frequent replacement of products.
The common clamping mechanism in the clamp comprises a wedge clamping mechanism, a spiral clamping mechanism, an eccentric clamping mechanism, a hinge clamping mechanism, a lever clamping mechanism and the like, wherein the wedge clamping mechanism is mainly used for clamping a workpiece by utilizing the pressure generated when an inclined plane of the wedge clamping mechanism moves. The wedge clamping mechanism has the working principle that: loading a workpiece, knocking the big end of the wedge, and clamping the workpiece; and knocking the small end of the wedge after the machining is finished, so that the workpiece is loosened. The wedge clamping mechanism is rarely used alone in production. However, the clamping mechanism formed by combining the wedge and other mechanisms is widely applied to production
In addition, because of the position error existing among the clamping points on the workpiece, in order to reliably clamp the workpiece or realize multi-point clamping, a clamping mechanism or a supporting part is generally required to have a floating self-positioning function, the floating clamping link can enable the clamping points to obtain uniform clamping force, when a rigid clamping mechanism is adopted, the workpiece is stressed unevenly due to the manufacturing error of the workpiece, and if the floating clamping mechanism is adopted, the workpiece is uniformly clamped.
The invention discloses a Gong wave, Schonflow and Schelivergood side positioning fixture of Shenzhen Jerpert photoelectric Yongkow, which comprises a bearing mechanism, a direction adjusting mechanism arranged on the bearing mechanism, a limiting cover plate arranged on the direction adjusting mechanism, a clamping mechanism arranged on the direction adjusting mechanism and a plurality of pressure plate components; the limiting cover plate and the clamping mechanism are provided with the pressing plate assembly; the bearing mechanism comprises a base and a main bearing piece arranged in the base; the direction adjusting mechanism comprises a rotating frame, a driving assembly, a transmission adjusting piece arranged on the rotating frame and a first elastic piece connected with the rotating frame; the rotating frame is connected with the base through the main bearing piece; the other end of the first elastic piece is connected with the base. According to the edge positioning clamp, after the substrate is pressed between the pressing plate assemblies, the direction of the limiting cover plate is finely adjusted by the direction adjusting mechanism, so that the direction of the substrate can be accurately adjusted by the edge positioning mechanism after the edge positioning clamp is used for a long time to meet the processing requirement, but the clamp only has one station, is low in processing efficiency, is complex in structure and is not high enough in workpiece positioning precision;
the invention discloses a universal positioning fixture, which comprises a fixture seat and a connecting rod positioning mechanism pivoted with the fixture seat, wherein the connecting rod positioning mechanism comprises two first parallelogram link mechanisms symmetrically arranged on two sides of a Y axis of the fixture seat, two second parallelogram link mechanisms symmetrically arranged on two sides of an X axis of the fixture seat and a plurality of positioning connecting rods transversely arranged between the two first parallelogram link mechanisms and longitudinally arranged between the two second parallelogram link mechanisms and used for forming a workpiece positioning frame; when the first parallelogram linkage mechanism and the second parallelogram linkage mechanism rotate around the pivot shaft in opposite directions, the workpiece is clamped by the workpiece positioning frame; when the first parallelogram linkage mechanism and the second parallelogram linkage mechanism rotate around the pivot shaft in the positive direction, the workpiece is separated from the workpiece positioning frame. With this structural design, the work piece location is accurate, convenient operation, and the commonality is strong. The positioning precision is improved, the clamping is stable, and the deformation of the workpiece is reduced.
The Qiu's life and old wave of the Bluesi intelligent robot (Changsha) Limited company invents a positioning fixture, which comprises a positioning platform for supporting a workpiece; the positioning flange is arranged on the positioning platform and used for laterally limiting the workpiece; the movable positioning block is arranged opposite to the positioning flange to clamp the workpiece, and can be far away from the positioning flange under the action of external force and can press the workpiece when the external force is removed. When the positioning device is used, a workpiece is placed between the positioning flange and the movable positioning block, and the movable positioning block can press against the workpiece, so that the workpiece is accurately positioned; meanwhile, the movable positioning block is matched with the positioning flange to clamp the workpiece, so that the workpiece is always kept at the correct position. When the workpiece needs to be taken and placed, the movable positioning block can be far away from the positioning flange by applying external force to the movable positioning block, so that the distance between the movable positioning block and the positioning flange is increased, and the workpiece is convenient to take and place. Compared with the prior art that the workpiece is positioned in an auxiliary manner in a manual mode, the positioning fixture can accurately position the workpiece and ensure the correct position of the workpiece, but the fixture is low in clamping efficiency and not stable enough in clamping;
the clamp and the positioning mechanism thereof comprise a base, a first cylinder, a second cylinder, an air inlet pipe and an air outlet pipe, wherein the positioning mechanism comprises a positioning body, a first spring, a first positioning column and a second positioning column, a positioning groove is formed in the positioning body, the first spring is sleeved on the first positioning column, when a workpiece is arranged on a positioning plate of the clamp, the positioning hole of the workpiece penetrates through the other end of the second positioning column, and the diameter of the other end of the second positioning column is gradually reduced along the direction far away from the first positioning column, so that the clamp can adapt to positioning holes with different sizes, the adaptability of the positioning mechanism is improved, and the matching degree of the positioning mechanism and the positioning holes is improved. The side wall of the positioning hole of the workpiece is abutted against the outer peripheral edge of the second positioning column, when the pressing plate applies pressure to the workpiece, the workpiece applies pressure to the second positioning column, and then the first spring is pressed to compress the first spring, so that the distance between the workpiece and the positioning surface of the positioning plate is reduced. The clamp adopts a plurality of cylinders for clamping, the reaction is rapid, the clamping efficiency is high, but the six lever cylinders clamp the workpiece, the situation that the clamping force is inconsistent can exist, and in addition, the spring is adopted for adjusting and supporting, so the clamping is not reliable;
the Shanghai Xizhuo automation equipment company has the characteristics of literary, Zhumeiliang and Chaojunhua, and the self-centering positioning fixture comprises an upper plate and a lower plate, wherein the upper plate is positioned on the lower plate, the upper end of the upper plate is provided with a workpiece positioning structure, a steel ball customizing plate is arranged between the upper plate and the lower plate, the steel ball customizing plate is provided with a plurality of ball steel balls, floating ball centering devices are arranged in the upper plate and the lower plate, the workpiece is accurately positioned through the workpiece positioning structure at the upper end of the upper plate, so that the workpiece is easily placed and fixed at the upper end of the upper plate, floating ball centering devices are arranged in the upper plate and the lower plate, the floating ball centering adjustment of the floating steel balls on the workpiece is realized through the floating ball centering devices, the workpiece is positioned at the center of the fixture, the occurrence of the conditions of incorrect assembly position and workpiece press-mounting damage is avoided, and the assembly accuracy and the assembly efficiency, the device has the advantages of simple structure, strong practicability and easy use and popularization, but the situation of inaccurate positioning can exist when the self-positioning is carried out through the floating ball and the spring;
the invention discloses a self-detection type two-pin positioning clamp which is invented by Liu Yong and Quke of Tianchang cylinder cover Limited company and comprises a clamp body, a first positioning pin, a second positioning pin, a first sensor, a second sensor, a third sensor, a fourth sensor, a first electromagnetic valve, a second electromagnetic valve, a compressed air providing unit, a first warning device and a second warning device; a first pin position hole and a second pin position hole are formed in the clamp body, and a first vent hole and a second vent hole are respectively formed in the first pin position hole and the second pin position hole; the first vent hole and the second vent hole are respectively connected with the compressed air supply unit through a first electromagnetic valve and a second electromagnetic valve; the first sensor and the third sensor are respectively used for detecting the assembling condition of the workpiece and the first positioning pin and the second positioning pin; the first warning device and the second warning device are respectively used for warning; the second sensor and the fourth sensor are respectively used for detecting the outer surface cleaning conditions of the first positioning pin and the second positioning pin. The invention has accurate positioning and good reliability. But the clamp is too complex and has no self-positioning clamping function on the workpiece;
the technical scheme has the advantages of improving the positioning precision, stably clamping and reducing the deformation of the workpiece. However, the above technical scheme has the defects of complex structure, only single station, low production efficiency, poor practicability, difficult popularization and use and the like.
SUMMERY OF THE UTILITY MODEL
The purpose of the present disclosure is to overcome the above disadvantages of the prior art, and to provide a multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system; the system has the functions of self-positioning clamping and automatic workpiece overturning, and can realize self-positioning clamping of the cutter in the machining process through the self-positioning floating clamping assembly, so that the phenomenon that the workpiece is clamped loosely or leaves the positioning position due to the fact that moment is generated due to surface errors of forgings and size errors among different forgings is avoided. In addition, the fixture system is provided with a plurality of stations, so that a plurality of workpieces can be processed simultaneously, and the production efficiency is improved; after one process is finished, the state of the workpiece can be intelligently identified through the machine vision identification system, and then the computer sends an instruction to enable the workpiece to automatically turn over the workpiece from the turning system so as to facilitate the processing of the next process.
The utility model aims at providing a multistation is from locating floating clamping and work piece from upset intelligence frock clamp system, for realizing above-mentioned purpose, this disclosure adopts following technical scheme:
the intelligent multi-station self-positioning floating clamping and workpiece self-overturning tool clamp system comprises a linear motion device, a workpiece self-overturning device and a self-positioning floating clamping device;
the bottom of the workpiece self-overturning device is connected with the linear motion device, and the linear motion device drives the workpiece self-overturning device to horizontally move;
the self-positioning floating clamping device clamps a workpiece, the workpiece self-overturning device is arranged opposite to the self-positioning floating clamping device, and the workpiece self-overturning device can clamp the workpiece and drive the workpiece to overturn;
the workpiece self-overturning device comprises a rotary cylinder, the rotary cylinder is connected with a hydraulic cylinder, a piston rod of the hydraulic cylinder is connected with the mechanical claw opening and closing finger through a hinge mechanism, and the hydraulic cylinder reciprocates to drive the mechanical claw opening and closing finger to open and close so as to clamp or loosen a workpiece.
As a further technical scheme, the two mechanical claw opening and closing fingers are arranged oppositely, the hinge mechanism is connected to the middle part of the mechanical claw opening and closing fingers, the end parts of the mechanical claw opening and closing fingers are hinged to the hinge fixing plate, and the hinge fixing plate is fixed on the hydraulic cylinder; the hinge mechanism comprises a hollow hinge buckle fixed on the piston rod, two ends of the hollow hinge buckle are hinged with the hinge buckle, and the end part of the hinge buckle is hinged with the middle part of the mechanical claw opening and closing finger.
As a further technical scheme, the mechanical claw opening and closing finger is of a rod-shaped structure with a break angle, the clamping end of the mechanical claw opening and closing finger is a wedge-shaped surface, and a cushion pad is fixedly arranged at the clamping end of the mechanical claw opening and closing finger.
According to a further technical scheme, the self-positioning floating clamping device comprises a clamp bottom plate, a plurality of supporting plates are fixed on the clamp bottom plate, the tops of the supporting plates are fixedly connected with a clamp main plate, the clamp main plate is provided with a plurality of clamping stations, each two clamping stations are provided with a floating clamping assembly, and the floating clamping assemblies clamp or loosen a workpiece.
According to a further technical scheme, the floating clamping assembly comprises a vertically arranged pull rod, the bottom of the pull rod is connected with a hydraulic cylinder, the top of the pull rod is hinged to a connecting plate, two ends of the connecting plate are hinged to vertical connecting rods, the top of each connecting rod is fixedly connected with a floating clamping base, the two floating clamping bases are arranged oppositely, floating clamping blocks are arranged on the opposite sides of the two floating clamping bases, the floating clamping blocks can rotate around the joints of the floating clamping bases, and workpieces are clamped by the two floating clamping blocks.
As a further technical scheme, the floating clamping block is transversely arranged, and semicircular bosses are arranged at two ends of the floating clamping block; the outer side surface of the floating clamping base is a wedge surface, the clamp main board is provided with a plurality of convex blocks, and the side surface of each convex block is a wedge surface which is in contact fit with the wedge surface of the floating clamping base.
According to a further technical scheme, the self-positioning floating clamping device comprises a bottom plate, a positioning supporting assembly is fixedly arranged at one end of the bottom plate, a floating pressing assembly is arranged at the other end of the bottom plate, a plurality of positioning and floating clamping assemblies are arranged between the positioning supporting assembly and the floating pressing assembly, adjacent positioning and floating clamping assemblies clamp a workpiece, the floating pressing assembly is connected with a hydraulic cylinder, a linear guide rail is arranged on the bottom plate, and the positioning and floating clamping assemblies and the floating pressing assembly can horizontally move along the linear guide rail.
As a further technical scheme, the positioning and floating clamping assembly comprises a linear bearing seat matched with the linear guide rail, a positioning plate is fixedly arranged at the top of the linear bearing seat, the side part of the positioning plate is connected with the floating clamping block, and the floating clamping block can rotate around the joint of the positioning plate and the positioning plate.
As a further technical scheme, the linear motion device comprises a lower bottom plate, wherein the lower bottom plate is provided with a linear guide rail and a ball screw which are arranged side by side, the bottoms of a plurality of parallel linear motion assemblies are connected with the linear guide rail and the ball screw, and the ball screw is connected with a servo motor; each linear motion component is connected with the workpiece self-overturning device.
As a further technical scheme, the automatic positioning floating clamping device further comprises a machine vision system, wherein the machine vision system comprises an industrial camera arranged above the self-positioning floating clamping device, the industrial camera is connected with an image acquisition card, the image acquisition card is connected with an industrial computer, the industrial camera acquires image information of a workpiece and transmits the image information to the image acquisition card, the image acquisition card transmits the image information to the industrial computer, and the industrial computer analyzes and processes the image information, judges the state of the workpiece, and controls the linear motion device, the workpiece self-overturning device and the self-positioning floating clamping device to operate.
The beneficial effect of this disclosure does:
according to the self-positioning floating clamping assembly, a wedge clamping mechanism is adopted firstly, a clamping block has a certain range of stroke, and a floating clamping block and a floating clamping base can be replaced freely;
according to the workpiece self-overturning device, after one machining process is completed, the computer can automatically overturn the workpiece to another machining process by analyzing the image collected by the industrial camera, so that the participation of workers in the machining process is reduced, the safety of the workers is greatly guaranteed, and the production efficiency of the workpiece is improved.
The fixture system integrates a machine vision system, an industrial camera arranged on the upper portion of the fixture body transmits acquired image information to a computer, the computer system can judge the pose and the state of a workpiece on the fixture body through image processing, and then sends instructions to the self-positioning floating clamping device, the workpiece self-overturning device and the linear motion device to perform clamping, loosening and overturning work of the workpiece.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the application and, together with the description, serve to explain the application and are not intended to limit the application.
FIG. 1 is an isometric view of a clamp system;
FIG. 2 is an isometric view of the linear motion device;
FIG. 3 is an exploded view of the linear motion device;
FIG. 4 is an isometric view of the linear motion assembly;
FIG. 5 is an exploded view of the linear motion assembly;
FIG. 6(a) is a top view of the linear motion assembly;
FIG. 6(b) is a cross-sectional view taken along line A-A of FIG. 6 (a);
FIG. 6(c) is an enlarged view of a portion of i in FIG. 6 (b);
FIG. 7(a) is a top view of the connection assembly;
FIG. 7(B) is a cross-sectional view of B-B of FIG. 7 (a);
FIG. 8(a) is a front view of the ball screw;
FIG. 8(b) is an enlarged view of a portion of FIG. 8(a) ii;
FIG. 9(a) is an isometric view of a linear guide rail;
FIG. 9(b) is a cross-sectional view of the linear guide;
FIG. 10(a) is an isometric view of a linear bearing mount;
FIG. 10(b) is a partial cross-sectional view of a linear bearing mount;
FIG. 11 is an isometric view of a workpiece self-inverting apparatus;
FIG. 12 is an exploded view of the workpiece self-inverting apparatus;
FIG. 13 is an exploded view of the inverted work clamping assembly;
FIG. 14(a) is an isometric view of the open and close fingers of the gripper;
FIG. 14(b) is a side view of the open/close fingers of the gripper;
FIG. 14(C) is a cross-sectional view of C-C of FIG. 14 (b);
FIG. 15(a) is an isometric view of a hinge securing plate;
FIG. 15(b) is a top view of the hinge securing plate;
FIG. 15(c) is a cross-sectional view taken along line D-D of FIG. 15 (b);
FIG. 16(a) is an isometric view of a hollow hinge clasp;
FIG. 16(b) is a top view of the hollow hinge clasp;
FIG. 16(c) is a cross-sectional view of E-E of FIG. 16 (b);
FIG. 17(a) is an isometric view of a hinge catch;
FIG. 17(b) is a top view of the hinge buckle;
FIG. 17(c) is a cross-sectional view of F-F of FIG. 17 (b);
FIG. 18 is an isometric view of the self-positioning floating clamp of the first embodiment;
FIG. 19 is an exploded view of the self-positioning floating clamp assembly of the first embodiment;
FIG. 20(a) is an isometric view of the main plate of the clip according to the first embodiment;
FIG. 20(b) is a top view of the main plate of the clamping apparatus according to the first embodiment;
FIG. 20(c) is a sectional view of G-G of FIG. 20 (b);
FIG. 20(d) is a partially enlarged view of iii in FIG. 20 (c);
FIG. 21 is an isometric view of the self-positioning floating clamp assembly of the first embodiment;
FIG. 22 is an exploded view of the self-positioning floating clamp assembly of the first embodiment;
FIG. 23(a) is a top view of the self-positioning floating clamp assembly of the first embodiment;
FIG. 23(b) is a sectional view taken along line H-H in FIG. 23 (a);
FIG. 23(c) is a half sectional view of the self-positioning floating clamp assembly of the first embodiment;
FIG. 24 is an isometric view of a connection plate according to the first embodiment;
FIG. 24(a) is a top view of a connecting plate according to the first embodiment;
FIG. 24(b) is a cross-sectional view taken along line I-I of FIG. 24 (a);
FIG. 25 is an isometric view of a floating clamp block according to the first embodiment;
FIG. 25(a) is a top view of the floating clamp block of the first embodiment;
FIG. 25(b) is a sectional view of J-J of FIG. 25 (a);
FIG. 26 is an isometric view of a support plate according to the first embodiment;
FIG. 26(a) is a partial sectional view of a support plate according to the first embodiment;
FIG. 26(b) is a partially enlarged view of iv in FIG. 26 (a);
FIG. 27(a) is a right side view of the self-positioning floating clamp device of the first embodiment;
FIG. 27(b) is a partial enlarged view taken at v in FIG. 27 (a);
FIG. 28 is an isometric view of a self-positioning floating clamp of the second embodiment;
FIG. 29 is an isometric view of a registration support assembly of the second embodiment;
FIG. 30(a) is an isometric view of a locating and floating clamp assembly of the second embodiment;
FIG. 30(b) is an exploded view of the positioning and floating clamp assembly of the second embodiment;
FIG. 31 is an isometric view of the floating compression assembly of embodiment two;
FIG. 32 is a circuit diagram of a self-positioning floating clamp hydraulic system;
FIG. 33 is a diagram illustrating a force analysis of the workpiece according to the first embodiment;
FIG. 34 is a machine vision system working diagram;
in the figure, I is a linear motion device, II is a workpiece self-overturning device, III is a workpiece, IV is a self-positioning floating clamping device, and V is an industrial camera;
the device comprises an I-01 linear motion system lower bottom plate, an I-02 linear guide rail, an I-03 left baffle, an I-04 inner hexagonal socket head screw, an I-05 standard spring washer, an I-06 ball screw, an I-07 linear motion assembly, an I-08 coupler, an I-09 servo motor, an I-10 right baffle, an I-11 support frame and an I-12 linear motion system lower bottom plate;
i-0201 linear guide rail cylinder, I-0202 linear guide rail countersunk hole;
the device comprises an I-0701 linear bearing base, an I-0702 hexagon socket head cap screw, an I-0703 hexagon socket head cap screw, an I-0704 vertical plate, an I-0705 reinforcing plate, an I-0706 hexagon socket head cap screw, an I-0707 hexagon socket head cap screw, an I-0708 standard spring washer, an I-0709 transverse plate, an I-0710 ball circulation return device and an I-0711 supporting block;
II-01 rotary cylinder, II-02 inner hexagonal cylindrical head screw, II-03 inner hexagonal cylindrical head screw, II-04 thin hydraulic cylinder bottom plate, II-05 mechanical claw connecting plate, II-06 locking nut, II-07 piston, II-08 cylinder body sealing ring, II-09 mechanical claw opening and closing finger, II-10 pin shaft, II-11 hinge fixing plate, II-12 buffer cushion, II-13 inner hexagonal cylindrical head screw, II-14 hexagonal nut, II-15 inner hexagonal cylindrical head screw, II-16 hollow hinge buckle, II-17 hinge buckle, II-18 split pin, II-19 piston rod, II-20 piston rod sealing ring, II-21 cylinder bottom sealing ring, II-22 cylinder body, II-23 rotary connecting plate and II-24 standard spring washer;
II-0901 front pin hole, II-0902 rear pin hole;
II-1101 shaft holes, II-1102 counter bores and II-1103 pin holes;
II-1601 a left pin hole, II-1602 a threaded hole and II-1603 a right pin hole;
II-1701 upper pin hole and II-1702 lower pin hole;
IV-01 clamp bottom plate, IV-02 standard spring washer, IV-03 hexagon socket head cap screw, IV-04 support plate, IV-05 hexagon socket head cap screw, IV-06 back plate, IV-07 standard spring washer, IV-08A type support nail, IV-09 floating clamping component, IV-10C type support nail, IV-11 hexagon socket head cap screw, IV-12 standard spring washer, IV-13 clamp main plate, IV-14 hexagon socket head cap screw, IV-15 feeler block, IV-16 locating pin, IV-17 hexagon socket head cap screw, IV-18 thin hydraulic cylinder, IV-19 standard spring washer;
IV-0401 supporting plate countersunk hole, IV-0402 supporting plate threaded hole;
IV-0901 pin shaft, IV-0902 connecting rod, IV-0903 standard spring washer, IV-0904 floating clamping block, IV-0905 hexagon socket head cap screw, IV-0906 floating clamping base, IV-0907 cotter pin, IV-0908 connecting plate and IV-0909 pull rod;
IV-1301 through holes, IV-1302 connecting holes, IV-1303 connecting holes and IV-1304 threaded holes;
VI-01 bottom plate, VI-02 positioning support assembly, VI-03 positioning and floating clamping assembly, VI-04 floating pressing assembly, VI-05T-shaped bolt, VI-06 hydraulic cylinder and VI-07 linear guide rail;
VI-0201 connecting block, VI-0202 positioning plate, VI-0203 baffle plate, VI-0204C type supporting nail, VI-0205 inner hexagonal cylindrical head screw, VI-0206A type supporting nail and VI-0207 cover plate;
VI-0301 cover plate, VI-0302 cylindrical pull rod, VI-0303 inner hexagonal socket head screw, VI-0304 floating clamping base, VI-0305 floating clamping block, VI-0306 cotter pin, VI-0307 pin shaft, VI-0308 baffle, VI-0309 supporting nail, VI-0310 inner hexagonal socket head screw, VI-0311 positioning plate, VI-0312 inner hexagonal socket head screw and VI-0313 linear bearing seat;
VI-0401 linear bearing seat, VI-0402 cylindrical pull rod, VI-0403 reinforcing plate, VI-0404 floating clamping block, VI-0405 floating clamping base, VI-0406 backup plate, VI-0407 cover plate, VI-0408 cross countersunk head screw, VI-0409 hinge buckle I, VI-0410 pin shaft and VI-0411 hinge buckle II.
Detailed Description
It should be noted that the following detailed description is exemplary and is intended to provide further explanation of the disclosure. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs.
It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments according to the present application. As used herein, the singular forms "a", "an", and/or "the" are intended to include the plural forms as well, and it should be understood that when the terms "comprises" and/or "comprising" are used in this specification, they specify the presence of stated features, steps, operations, devices, components, and/or combinations thereof;
for convenience of description, the words "up", "down", "left" and "right" in this disclosure, if any, merely indicate correspondence with up, down, left and right directions of the drawings themselves, and do not limit the structure, but merely facilitate description of the disclosure and simplify description, rather than indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be construed as limiting the disclosure.
Just as the introduction of background art, the inventor discovers that the clamping effect of the special fixture in the existing turning tool manufacturing process is not ideal, and the defects of unreliable clamping, inaccurate positioning, few stations, uneven clamping force, low production efficiency and the like generally exist.
Example 1
The clamping system disclosed in the present embodiment will be further described with reference to fig. 1 to 26 (b);
referring to the attached drawing 1, the multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system is composed of four parts, namely a linear motion device I, a workpiece self-overturning device II, a self-positioning floating clamping device IV and an industrial camera V, wherein the linear motion device I is arranged below the workpiece self-overturning device II and drives the workpiece self-overturning device to move horizontally by the linear motion device, the workpiece III is placed on each station of the self-positioning floating clamping device IV, and the self-positioning floating clamping device IV, the linear motion device I and the workpiece self-overturning device II are placed in parallel relatively. The linear motion device I and the self-positioning floating clamping device IV are fixed on a milling machine working platform through T-shaped bolts. The rotary cylinder II-01 is connected with the vertical plate I-0704 through an inner hexagonal cylindrical head screw, the rotary cylinder II-01 is fixed on the vertical plate I-0704 to achieve connection of the linear motion device I and the workpiece self-overturning device II, and the industrial camera V is fixed above a machine tool.
The embodiment discloses a linear motion device, as shown in fig. 2 and 3, a lower bottom plate I-01 of a linear motion system is connected to a milling machine workbench through a T-shaped bolt and a hexagon nut, the head of the T-shaped bolt penetrates through a T-shaped groove of the milling machine workbench, and a thread part penetrates through four U-shaped grooves of the lower bottom plate I-01 of the linear motion system and then is fixed by the hexagon nut; the linear motion system lower base plate I-12 is fixed on the linear motion system lower base plate I-01, and a threaded hole on the linear motion system lower base plate I-12 is fixedly connected with 12 linear guide rail countersunk holes I-0202 which are symmetrically arranged on a linear guide rail I-02 through inner hexagonal cylindrical head screws I-04 and a standard spring washer I-05; the left baffle I-03 is connected with the linear guide rail I-02 through an inner hexagonal cylindrical head screw; the ball screw I-06 penetrates through the left baffle I-03 and the hole of the support frame I-11 to play a role in keeping; the ball screw I-06 and the shaft coupling I-08, and the servo motor I-09 and the shaft coupling I-08 are connected through flat keys, the servo motor I-09 is fixed on the right baffle I-10, and the servo motor I-09 transmits power to the ball screw I-06 through the shaft coupling I-08 to drive the ball screw I-06 to rotate;
as shown in fig. 4 and 5, the linear motion assembly I-07 is sleeved on the linear guide rail cylinder I-0201 through a linear bearing base I-0701, so that the linear motion assembly I-07 is installed in the linear motion device I; two threaded holes are formed below the transverse plate I-0709, two counter bores are formed in positions corresponding to the vertical plates I-0704, and the vertical plates I-0704 are connected with the transverse plate I-0709 through hexagon socket head cap screws I-0702; after the vertical plate I-0704 is connected with the transverse plate I-0709, the structure is unstable, a reinforcing plate I-0705 is needed to play a certain reinforcing and supporting role, the reinforcing plate I-0705 is provided with two threaded holes on the left side and the lower side respectively, countersunk holes are formed in the corresponding positions of the vertical plate I-0704 and the transverse plate I-0709, and the corresponding vertical plate I-0704 and the transverse plate I-0709 are connected with an inner hexagonal socket head screw I-0702 through the inner hexagonal socket head screw I-0703; the ball circulation return device I-0710, the supporting block I-0711 and the transverse plate I-0709 are connected with a standard spring washer I-0707 through four pairs of inner hexagonal socket head screws I-0706; the ball screw I-06 penetrates through the ball circulation return device I-0710, and the ball screw I-06 rotates to generate thrust on the ball circulation return device I-0710 to push the ball circulation return device I-0710 to generate displacement and drive the linear motion assembly I-07 to move; therefore, the linear motion assembly I-07 can realize horizontal movement in the linear motion device I as a unit, and the translation of the workpiece self-overturning device between two adjacent stations is realized through the rotary drive of the ball screw.
As shown in fig. 6(a), 6(b) and 6(c), the threaded hole of the linear bearing base I-0701 is a through hole, the transverse plate I-0709 and the linear bearing base I-0701 are connected with the standard spring washer I-0708 through the inner hexagonal socket head cap screw I-0707, and the standard spring washer I-0708 can prevent the inner hexagonal socket head cap screw I-0707 from loosening caused by vibration; the threaded holes in the supporting block I-0711 are through holes, the transverse plate I-0709 is provided with a counter bore, the threaded holes in the ball circulation return device I-0710 are blind holes, the inner hexagonal socket head cap screw I-0706 is sequentially connected with the transverse plate I-0709, the supporting block I-0711 and the ball circulation return device I-0710, and the standard spring washer I-0708 is additionally arranged between the inner hexagonal socket head cap screw I-0706 and the transverse plate I-0709 to play a role in preventing the inner hexagonal socket head cap screw I-0706 from loosening.
As shown in fig. 7(a) and 7(b), counter bores are arranged on the vertical plate I-0704 and the standard spring washer I-0708, threaded holes which are arranged at 90 degrees are arranged on the reinforcing plate I-0705, and the threaded holes are blind holes; the vertical plate I-0704 is connected with the reinforcing plate I-0705 through an inner hexagonal socket head cap screw I-0703, and the reinforcing plate I-0705 is connected with the transverse plate I-0709 through an inner hexagonal socket head cap screw I-0702.
As shown in fig. 8(a) and 8(b), the ball screw I-06 is an actuator for converting a rotational motion into a linear motion or converting a linear motion into a rotational motion, and has the advantages of high transmission efficiency, accurate positioning, small friction force, and the like; the left end of the ball screw I-06 is provided with a key groove, and the ball screw I-06 is connected with the coupling I-08 through the key groove and a flat key for transmitting torque; the ball screw I-06 has high precision, and attention needs to be paid to the protection of the ball screw I-06 in the using process.
As shown in fig. 9(a) and 9(b), a linear guide rail cylinder I-0201 above the linear guide rail I-02 is of a cylindrical structure, and a linear guide rail countersunk hole I-0202 is arranged below the linear guide rail cylinder I-0201, wherein the linear bearing base I-0701 is nested on the linear guide rail cylinder I-0201, so that the linear bearing base I-0701 can be ensured to freely slide on the linear guide rail I-02; the linear guide rail I-02 has high precision, and in order to keep the precision of the linear guide rail I-02, the rust prevention and the strong punching are required to be carried out when in use.
As shown in fig. 10, 10(a), 10(b), the linear bearing base I-0701 is a linear motion system produced at low cost for use with a cylindrical shaft with infinite stroke. The bearing ball is in point contact with the shaft, so that the use load is small. The steel ball rotates with a very small frictional resistance, so that a stable motion with high precision can be obtained. Four threaded through holes are uniformly distributed at four corners of the linear bearing base I-0701 and are connected with the transverse plate I-0709 through threads.
The embodiment discloses a workpiece self-overturning device, which is used for pneumatically controlling the rotation of a workpiece self-overturning device II so as to realize the posture change of a workpiece from one process to the next process; two countersunk holes are formed in the rotary cylinder II-01, the rotary cylinder II-01 is connected with the vertical plate I-0704 through the inner hexagonal socket head screw II-02, and a standard spring washer II-24 is arranged between the inner hexagonal socket head screw and the countersunk hole to prevent the screw from loosening caused by vibration; the rotary connecting plate II-23 is a part for connecting the rotary air cylinder II-01 and the thin hydraulic cylinder bottom plate II-04, and 4 counter bores and four threaded holes are formed in the rotary connecting plate II-23; four threaded holes are formed in positions, corresponding to counter bores on the rotary connecting plate II-23, on the thin hydraulic cylinder bottom plate II-04 and the cylinder body II-22, wherein through holes are formed in the thin hydraulic cylinder bottom plate II-04, blind holes are formed in the cylinder body II-22, inner hexagonal socket head cap screws II-13 are sequentially connected according to the sequence of the rotary connecting plate II-23, the thin hydraulic cylinder bottom plate II-04 and the cylinder body II-22, and the rotary cylinder drives the thin hydraulic cylinder and the mechanical claw to open and close to turn through pneumatic action; the rotary cylinder II-01 is also provided with a threaded hole at the position corresponding to the threaded hole on the rotary connecting plate II-23, and the thin hydraulic cylinder bottom plate II-04 is connected with the rotary connecting plate II-23 by an inner hexagonal socket head cap screw II-03; two sealing grooves are formed in a boss of the thin hydraulic cylinder base plate II-04, and a cylinder bottom sealing ring II-21 is nested on the two sealing grooves of the thin hydraulic cylinder base plate II-04 to seal the bottom of the thin hydraulic cylinder; the inner wall of the cylinder body II-22 is smooth, and threaded holes are formed in the inner wall to be used as an oil inlet and an oil outlet so as to facilitate installation of sealing parts; an opening is formed above the cylinder body II-22, so that the piston rod II-19 can move up and down, two sealing grooves are formed in the opening, and cylinder body sealing rings II-08 are respectively nested in the two sealing grooves; two sealing grooves are formed in the piston II-07, a piston rod sealing ring II-20 is nested in the two sealing grooves and used for separating an oil inlet cavity and an oil return cavity, and a transmission medium such as hydraulic oil and the like pushes the piston II-07 to drive the piston rod II-19 to move under the action of pressure; the piston II-07 is sleeved on the piston rod II-19, one end of the piston II-07 is positioned by a shaft shoulder on the piston rod II-19, the other end of the piston II-19 is positioned by a locking nut II-06, the bottom of the piston rod II-19 is provided with a thread, the locking nut II-06 is connected with the piston rod II-19 through the thread, and the piston II-07 is fixed on the piston rod II-19; the mechanical claw opening and closing finger II-09 and the hinge fixing plate II-11 are connected through a pin shaft II-10, the pin shaft II-10 sequentially penetrates through a front pin hole II-0901 on the mechanical claw opening and closing finger II-09 and a pin hole II-1103 on the hinge fixing plate II-11 to form a hinge mechanism, and the cotter pin II-18 penetrates through a pin hole at the end part of the pin shaft II-10 to play a fixing role; the mechanical claw opening and closing finger II-09, the hinge buckle II-17 and the hollow hinge buckle II-16 are connected through a pin shaft II-10, the pin shaft II-10 sequentially penetrates through a mechanical claw opening and closing finger rear pin hole II-0902 on the mechanical claw opening and closing finger II-09, an upper pin hole II-1701 on the hinge buckle II-17 and a pin hole II-1103 on the hinge fixing plate II-11 to form a hinge mechanism, and an opening pin II-18 penetrates through a pin hole at the end part of the pin shaft II-10 to play a fixing role; the piston rod II-19 penetrates through a shaft hole II-1101 in the hinge fixing plate II-11, one end of the piston rod II-19 is provided with a thread, the piston rod II-19 is in threaded connection and matching with the hollow hinge buckle II-16 through a threaded hole II-1602, and then the hollow hinge buckle II-16 is fixed on the piston rod II-19 through a hexagonal nut II-14; the piston rod II-19, the gripper opening and closing finger II-09, the hinge buckle II-17 and the hollow hinge buckle II-16 form a four-bar mechanism, and the swing of the gripper opening and closing finger II-09 can be realized through the axial movement of the piston rod II-19, so that the end part of the gripper opening and closing finger II-09 realizes the opening and closing function; the cushion pad II-12 is made of rubber and other materials with certain elastic deformation, and is fixed at the end part of the mechanical claw opening and closing finger II-09 through an inner hexagonal socket head cap screw so as to prevent a workpiece from being clamped and damaged in the turning process; the specific implementation mode is that the thin hydraulic cylinder is fed with oil, a certain oil pressure is formed in an oil inlet cavity due to the sealing action of a bottom plate II-04 of the thin hydraulic cylinder, a cylinder bottom sealing ring II-21, a piston II-07 and a piston rod sealing ring II-20, so that the piston II-07 is pushed to move, the piston II-07 drives the piston rod II-19 to axially move due to the fact that the position of the piston II-07 is limited by a shaft shoulder on the piston rod II-19, a hollow hinge buckle II-16 is connected and fixed between a hexagon nut II-14 and the piston rod II-19, the hollow hinge buckle II-16 moves to drive the posture of the hinge buckle II-17 to change, a front pin hole II-0901 on a mechanical claw opening and closing finger II-09 is hinged with a pin hole II-1103 on a hinge fixing plate II-11, and the hinge fixing plate II-11 is fixed on a mechanical claw through an inner And the plate II-05 and the cylinder body II-22 are arranged on the hinge buckle II-17, so that the movement of the hinge buckle II-17 drives the mechanical claw opening and closing finger II-09 to rotate relative to the axis where the front pin hole II-0901 is located, the two mechanical claw opening and closing fingers II-09 rotate simultaneously to close the mechanical claws and clamp a workpiece, after the mechanical claws clamp the workpiece, the rotary cylinder II-01 acts to drive the thin hydraulic cylinder and the mechanical claws clamping the workpiece to turn over during turning, and the next working procedure is convenient to process.
As shown in fig. 14(a), 14(b) and 14(c), the gripper opening and closing finger II-09 is a rod which is deflected at a certain angle, the gripper opening and closing finger II-09 is provided with two front pin holes II-0901 and two rear pin holes II-0902 which are respectively connected to the pin holes II-1103 and the upper pin holes II-1701 through the pin shaft II-10, so that the gripper opening and closing finger II-09 is respectively connected to the hinge buckle II-17 and the hinge fixing plate II-11, and the gripper opening and closing finger II-09 is made into a hollow shape on the premise of ensuring the strength in order to reduce the weight of the whole clamp system.
As shown in fig. 15(a), 15(b) and 15(c), two bosses are arranged on a hinge fixing plate II-11, pin holes II-1103 are arranged on the bosses, the pin holes II-1103 are hinged to front pin holes II-0901 on a gripper opening and closing finger II-09 through pin shafts II-10, four uniformly distributed counter bores II-1102 are arranged on the hinge fixing plate II-11, the counter bores II-1102 are connected to a gripper connecting plate II-05 through hexagon socket head cap screws II-15, a shaft hole II-1101 through which a piston rod II-19 passes is formed in the hinge fixing plate II-11, and the diameter of the shaft hole II-1101 is larger than that of the piston rod II-19.
As shown in fig. 16(a), 16(b) and 16(c), two sides of the hollow hinge buckle II-16 are provided with a left pin hole II-1601 and a right pin hole II-1603, and the left pin hole II-1601 and the right pin hole II-1603 are hinged through a pin shaft II-10 and a lower pin hole II-1702 of the hinge buckle II-17 respectively; the middle of the hinge fixing plate II-11 is provided with a threaded hole II-1602, and the hollow hinge buckle II-16 is in threaded connection with the piston rod II-19 through the threaded hole II-1602 to fix the hollow hinge buckle II-16.
As shown in FIG. 17(a), FIG. 17(b) and FIG. 17(c), the upper and lower ends of the hinge buckle II-17 are provided with an upper pin hole II-1701 and a lower pin hole II-1702, which are hinged to the right pin hole II-1603 and the rear pin hole II-0902 respectively via a pin II-10.
The embodiment discloses a self-positioning floating clamping device, as shown in fig. 18 and 19, the left end and the right end of a clamp bottom plate IV-01 are respectively provided with two symmetrical grooves, bosses with the diameters of 2-3mm are additionally arranged on the grooves and are subjected to finish machining, the clamp bottom plate IV-01 is fixed on a milling machine workbench through T-shaped screws, the T-shaped screws are connected with the milling machine workbench and the clamp bottom plate IV-01 through hexagon nuts, and the nuts are placed on the upper surfaces of the grooves and the bosses subjected to finish machining; the left boss and the right boss of the support plate IV-04 are respectively provided with two support plate countersunk holes IV-0401, the corresponding position on the clamp bottom plate IV-01 is provided with a threaded hole, the support plate IV-04 and the clamp bottom plate IV-01 are connected through an inner hexagonal socket head cap screw IV-03, and a standard spring washer IV-02 is added between the inner hexagonal socket head cap screw IV-03 and the support plate IV-04 to prevent the inner hexagonal socket head cap screw IV-03 from loosening to cause the unstable condition of the whole clamp system; the fixture main board IV-13 is provided with a plurality of stations, three connecting holes IV-1303 are formed below each station of the fixture main board IV-13 and used for placing an A-shaped supporting nail IV-08 and positioning the lower surface of a workpiece, two connecting holes IV-1302 are formed in the side surface of each station and used for placing a C-shaped supporting nail IV-10 and providing side surface positioning for the workpiece, and the A-shaped supporting nail and the C-shaped supporting nail provide six-point positioning for the workpiece; a pair of threaded holes IV-1304 are formed in the clamp main board IV-13 at certain intervals, threaded holes are formed in the upper portion of the supporting plate IV-04, an inner hexagonal socket head cap screw IV-05 penetrates through the threaded holes IV-1304 to enable the clamp main board IV-13 to be in threaded connection with the supporting plate IV-04, and a standard spring washer IV-07 is added between the inner hexagonal socket head cap screw IV-05 and the clamp main board IV-13 to prevent the inner hexagonal socket head cap screw IV-05 from loosening due to vibration; the rear plate IV-06 is provided with a counter bore, the rear part of the clamp main plate IV-13 is provided with a threaded hole, the rear plate IV-06 is connected with the clamp main plate IV-13 through an inner hexagonal socket head cap screw IV-11, a standard spring gasket IV-12 is added between the rear plate IV-06 and the inner hexagonal socket head cap screw IV-11 to prevent the standard spring gasket IV-12 from loosening, and the rear plate IV-06 is provided with a blind pin hole for placing a C-shaped supporting nail IV-10 to provide the bottom surface support of a workpiece; each two stations are provided with a floating clamping assembly IV-09 as an execution part, and the floating clamping assembly IV-09 is connected with the thin hydraulic cylinder IV-18 through threads; the tool setting block IV-15 is provided with a counter bore and a pin hole, the corresponding clamp bottom plate IV-01 is provided with a threaded hole and a pin hole, the tool setting block IV-15 is positioned by a positioning pin IV-16 and is connected to the clamp bottom plate IV-01 by an inner hexagonal socket head cap screw IV-14 through threads; the thin hydraulic cylinder IV-18 is fixed on the clamp bottom plate IV-01 through an inner hexagonal socket head cap screw IV-17, and a standard spring washer IV-19 is arranged on the inner hexagonal socket head cap screw IV-17; the self-positioning floating clamping device IV is powered by the thin hydraulic cylinder IV-18, oil is fed into an oil inlet cavity of the thin hydraulic cylinder IV-18, and a piston rod of the thin hydraulic cylinder IV-18 moves downwards, so that the whole floating clamping assembly IV-09 is pulled to move downwards.
As shown in fig. 20(a), 20(b) and 20(C), a through hole IV-1301 is formed at each station position on the clamp main plate IV-13, a connecting rod IV-0902 passes through the through hole and can swing within a certain range to balance the clamping force between the two stations, the plane where the connecting hole IV-1302 and the connecting hole IV-1303 are located is 90 degrees, and a C-shaped support nail IV-10 and an a-shaped support nail IV-08 are respectively installed to position the lower surface and the side surface of the workpiece; the clamp main plate IV-13 has a wedge surface at each station position, and the wedge surface of the floating clamping base IV-0906 is contacted with the wedge surface.
As shown in fig. 21, 22, 23(a), 23(b) and 23(c), pin holes are formed in the two ends and the middle of a connecting plate IV-0908 of the floating clamp assembly IV-09, a cylindrical surface is machined into a plane below a connecting rod IV-0902 and is provided with a pin hole, a pin shaft IV-0901 sequentially passes through the pin holes of the connecting plate IV-0908 and the connecting rod IV-0902 to form a hinge connection, and a split pin IV-0907 is inserted into a hole in the bottom of the pin shaft IV-0901 to limit the axial movement of the pin shaft IV-0901; one end of the pull rod IV-0909 is provided with a groove and a pin hole, the pull rod IV-0909 is connected with the connecting plate IV-0908 through a pin shaft IV-0901, the pin shaft IV-0901 sequentially passes through the pin hole at the end part of the pull rod IV-0909 and the pin hole in the middle of the connecting plate IV-0908 to form hinge connection, and is fixed by a cotter pin IV-0907; a threaded hole is formed above the connecting rod IV-0902, a through hole is formed in the floating clamping base IV-0906, a counter bore is formed in the floating clamping block IV-0904, the three are connected through an inner hexagonal socket head cap screw IV-0905, it is noted that after the connection, the inner hexagonal socket head cap screw IV-0905 can rotate relative to the floating clamping base IV-0906, and therefore the self-positioning clamping function is achieved, and a standard spring washer IV-0903 is arranged on the inner hexagonal socket head cap screw IV-0905; the floating clamping assembly IV-09 is connected in a state that the relative rotation center between each part and the adjacent connecting part can rotate within a certain range; when the thin hydraulic cylinder IV-18 provides a downward pulling force, the pull rod IV-0909 is pulled to move downwards, because the pull rod IV-0909 is hinged with the connecting plate IV-0908 and accordingly drives the connecting plate IV-0908 to move downwards, the two ends of the connecting plate IV-0908 are simultaneously hinged with the two connecting rods IV-0902 and accordingly pulls the connecting rod IV-0902 to move downwards, during the downward movement of the connecting rod IV-0902, because the floating clamping block IV-0904, the floating clamping base IV-0906 and the connecting rod IV-0902 are connected through the socket head cap screw IV-0905, when the floating clamping base IV-0906 moves downwards, a wedge mechanism is formed due to the contact between the wedge surface of the side surface of the floating clamping base IV-0906 and the wedge surface of the clamp main plate IV-13, when the connecting rod IV-0902 applies a downward force to the floating clamping base IV-0906, due to the wedge mechanism, the wedge surface generates a reaction force to the floating clamping base IV-0906, the floating clamping base is contacted with the clamp main board through the wedge surface to generate a reaction force, and the force is transmitted to the floating clamping block, so that the clamping force of the workpiece is provided.
As shown in fig. 24, fig. 24(a) and fig. 24(b), the middle and both ends of the connecting plate IV-0908 are provided with pin holes, the middle and both ends are also provided with grooves, and both ends are respectively hinged with the connecting rod IV-0902 through a pin shaft IV-0901; the middle part is also hinged with a pull rod IV-0909 through a pin shaft IV-0901.
As shown in the figures 25, 25(a) and 25(b), the floating clamping block IV-0904 clamps the workpiece through two semicircular bosses, a countersunk hole is formed in the middle of the floating clamping block IV-0904, the floating clamping block IV-0906 and the connecting rod IV-0902 are connected through an inner hexagonal socket head cap screw IV-0905, and the acting force of the wedge facing the floating clamping block IV-0906 is transmitted to the floating clamping block IV-0904 through the inner hexagonal socket head cap screw IV-0905 to clamp the workpiece.
As shown in fig. 26, 26(a) and 26(b), the bottom of the support plate IV-04 is provided with two symmetrical counter bores at the left and right, and is connected to the clamp bottom plate IV-01 through the hexagon socket head cap screws IV-03, two threaded holes IV-0402 are arranged above the support plate IV-04 and are connected to the clamp main plate IV-13 through the hexagon socket head cap screws IV-05.
As shown in FIGS. 27(a) and 27(b), an aligning block IV-15 is mounted on the self-positioning floating clamping device IV, is positioned by a positioning pin IV-16 and is fixed on a clamp bottom plate IV-01 through an inner hexagonal socket head cap screw IV-14. The clamp tool setting method generally comprises a workpiece trial cutting method and a tool setting device for tool setting, and the tool setting method by the tool setting device does not need trial cutting of the workpiece every time the clamp is installed and used, so that the method is more convenient. The tool setting device adopted by the present disclosure is a tool setting block IV-15, and the tool is enabled to be in a correct position relative to the clamp positioning element by the tool setting block IV-15.
Example 2:
the embodiment discloses a second self-positioning clamping mode, which can realize the same function as the self-positioning floating clamping device IV, as shown in FIG. 28, a bottom plate VI-01 is fixedly connected with a hexagon nut through four T-shaped bolts VI-05, a positioning support assembly VI-02 is arranged at the left end of the self-positioning floating clamping device, the positioning support assembly VI-02 is fixed on the bottom plate VI-01 through an inner hexagon socket head cap screw, two linear guide rails VI-07 are fixed on the bottom plate VI-01 through an inner hexagon head cap screw, the positioning and floating clamping assembly VI-03 and the floating clamping assembly VI-04 can slide left and right on the linear guide rail VI-07, a hydraulic cylinder VI-06 hydraulically pushes the floating clamping assembly VI-04 to move left to press a workpiece III, the workpiece III transmits the pushing force to the positioning and floating clamping assembly VI-03, the positioning and floating clamping component VI-03 transmits the force to the next positioning and floating clamping component VI-03, and the like, until the last positioning and floating clamping component VI-03 applies the force to the positioning support component VI-02, and the positioning support component VI-02 is fixed on the bottom plate VI-01, so that the floating pressing component VI-04, the positioning and floating clamping component VI-03 and the positioning support component VI-02 are pressed against each other, and the workpiece III in the positioning and floating clamping component VI-03 is also pressed.
As shown in FIG. 29, the connecting block VI-0201 is fixed on the bottom plate VI-01 through an inner hexagonal socket head screw, the cover plate VI-0207 is connected on the connecting block VI-0201 through an inner hexagonal socket head screw VI-0205, the positioning plate VI-0202, the C-shaped supporting nail VI-0204 and the cover plate VI-0207 are connected through an inner hexagonal socket head screw, and the A-shaped supporting nail VI-0206 and the C-shaped supporting nail VI-0204 are arranged on the positioning plate VI-0202 and the baffle plate VI-0203 and used for positioning a workpiece III.
As shown in FIG. 30(a) and FIG. 30(b), the cover plate VI-0301 is connected to the linear bearing seat VI-0313 by the hexagon socket head cap screw VI-0312, the linear bearing seat VI-0313 can slide on the bottom plate VI-01, the cover plate VI-0301 has two slots for the cylindrical pull rod VI-0302 to slide in to limit the sliding distance, the floating clamp base VI-0304 is connected to the positioning plate VI-0311 by the hexagon socket head cap screw VI-0303, the floating clamp block VI-0305 is connected to the floating clamp base VI-0304 by the pin VI-0307, so that the split pin VI-0306 can rotate freely, the baffle VI-0308 is connected to the positioning plate VI-0311 by the hexagon socket head cap screw VI-0310, the support pins VI-0309 are installed on the baffle VI-0308 and the positioning plate-0311, and positioning the workpiece III is realized.
As shown in FIG. 31, the floating pressing assembly VI-04 is connected in a similar manner to the positioning and floating clamping assembly VI-03, except that the floating pressing assembly VI-04 has no positioning element and is not clamped but only has the function of floating pressing, a reinforcing plate VI-0403 is arranged on the back plate VI-0406 and is connected with the back plate VI-0408 through a cross countersunk head screw VI-0408 for improving the strength and clamping stability of the back plate VI-0406, a linear bearing seat VI-0401 is fixedly arranged at the bottom of the cover plate VI-0407 and is matched with a linear guide rail VI-07, two grooves are arranged on the cover plate VI-0407 for a cylindrical pull rod VI-0402 to slide in, a floating clamping base VI-0405 is fixedly arranged on the back plate VI-0406, the floating clamping base VI-0405 is connected with a floating clamping block VI-0404, and a hinge buckle II VI-0411 is also arranged on the cover plate VI-0407 and is in threaded connection with the cover plate VI-0407, one end of the hinge buckle II VI-0409 is connected with the hinge buckle II VI-0411 through a pin shaft VI-0410, the other end of the hinge buckle II-0411 is in threaded connection with the hydraulic cylinder VI-06, and the force provided by the hydraulic cylinder VI-06 is transmitted to the floating compaction component VI-04 through the hinge buckle II VI-0409.
As shown in fig. 32, the hydraulic system employs a pressure maintaining circuit using an energy accumulator, when the main directional control valve is in operation, the hydraulic cylinder moves forward and compresses the workpiece, the pressure in the oil inlet path rises to a set value, the pressure relay sends a signal to energize the two-way valve, the pump unloads, the one-way valve automatically closes, and the hydraulic cylinder is maintained by the energy accumulator; when the cylinder pressure is insufficient, the pressure relay resets to enable the pump to work again; the pulling force provided by the hydraulic cylinder is transferred to the pull rod IV-0909 through the piston rod, so that the power is provided for the whole self-positioning floating clamping device IV;
as shown in FIG. 33, Q is the pulling force provided by the thin hydraulic cylinder IV-18, W' is the acting force of the workpiece III on the floating clamping base IV-0906, W is the clamping counter force, and the friction force is Fμ2Reaction force is N and friction force is Fμ1(ii) a According to the static equilibrium equation:
substituting formula (5) for formula (1):
the cutting force index formula is an empirical formula for calculating the cutting force by performing a large number of experiments and processing the obtained data by a mathematical method after the cutting force is measured by a dynamometer.
Empirical formula based on milling force calculation: f is the milling force, CpAs a milling cutter type factor, apFor milling depth, fzD is the diameter of the milling cutter, B is the milling width, z is the number of teeth of the milling cutter, KpIs a correction factor;
so that the clamping force required by the workpiece
I.e. the pulling force Q that the hydraulic cylinder in the self-positioning floating clamping system needs to provide.
As shown in fig. 34, the working principle of the machine vision system is that the illumination system provides light source illumination to the workpiece, the industrial camera V collects images of the workpiece III, the industrial camera uses a CCD industrial camera as an input device, collects image information during the processing process and transmits the image information to the image collection card, the image collection card processes the information and transmits the information to the industrial computer, and the industrial computer analyzes the processed information, determines the state of the workpiece, and sends different commands to the execution mechanisms such as the workpiece turning device and the self-positioning clamping device according to the state of the workpiece.
The working principle of the multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system is as follows:
the lathe tool forge piece to be processed realizes six-point positioning of a workpiece through an A-shaped supporting nail and a C-shaped supporting nail on a clamp main board, so that the lathe tool forge piece to be processed determines a processing position in a multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system. The floating clamping assembly is powered by a thin hydraulic cylinder fixed on the bottom plate of the clamp, the thin cylinder drives a pull rod, and the pull rod drives two connecting rods connected with the connecting plate. The side of the floating clamping base on the connecting rod is an inclined plane which is contacted with the inclined plane on the clamp main board to form a tapered wedge clamping mechanism, and the floating clamping block is hinged with the floating clamping base, so that the floating clamping block can rotate freely, and the self-positioning clamping function is realized.
When one surface is milled, namely one process is finished, an industrial camera of a machine vision detection system collects image information in the processing process, image signals are transmitted to a computer, the computer analyzes that one process of a workpiece is finished after image processing, sends instructions to a hydraulic pump and an air pump, the instructions to a rotary cylinder are delay instructions, oil is fed from an oil inlet of a thin hydraulic cylinder to drive a mechanical claw to close and clamp the workpiece, then the rotary cylinder acts to drive the mechanical claw clamping the workpiece and the thin hydraulic cylinder to rotate for ninety degrees to enable the workpiece to reach a positioning position required in the next process, when the industrial camera detects that the position of the workpiece is changed, image data is transmitted to the computer, the computer processes the mechanical claw and sends a continuous instruction to the hydraulic pump, the thin hydraulic cylinder acts immediately to drive the mechanical claw to loosen, and the workpiece is put down; after the mechanical gripper puts down the work piece, the industrial camera transmits the image signal to the computer, the computer processes the image, the work piece is positioned, the servo motor sends out an instruction, the servo motor in the linear motion device works, the ball screw is driven to rotate through the coupler, the work piece connected on the linear motion device moves to an adjacent station from the turnover device, the work piece turnover action described above is repeated, when all the work pieces are positioned, the self-positioning floating clamping device applies clamping force, and the working principle and the working flow of each station are the same as the above.
A stroke slot is formed at the bottom of each station of the clamp main board, and one floating clamping assembly occupies the positions of two workpieces at the same time, so that the two workpieces can be clamped at one time. Connecting rod among the clamping component that floats passes the stroke slotted hole, the connecting rod can swing in the stroke slotted hole, floating clamping base and floating clamping piece are connected on connecting rod upper portion, the connecting plate is connected to the bottom, both ends respectively pass through a connecting rod of hinged joint about the connecting plate, the connecting rod can rotate at certain limit, can make the clamp force of two stations keep balance, it leaves the space to float between clamping piece and the floating clamping base, make things convenient for floating clamping piece to float clamping base relatively and rotate, realize from the locate function, the multiple spot is pressed from both sides tightly, guarantee that the clamp force on every clamping point and every work piece equals.
Although the present disclosure has been described with reference to specific embodiments, it should be understood that the scope of the present disclosure is not limited thereto, and those skilled in the art will appreciate that various modifications and changes can be made without departing from the spirit and scope of the present disclosure.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (10)
1. The intelligent multi-station self-positioning floating clamping and workpiece self-overturning tooling fixture system is characterized by comprising a linear motion device, a workpiece self-overturning device and a self-positioning floating clamping device;
the bottom of the workpiece self-overturning device is connected with the linear motion device, and the linear motion device drives the workpiece self-overturning device to horizontally move;
the self-positioning floating clamping device clamps a workpiece, the workpiece self-overturning device is arranged opposite to the self-positioning floating clamping device, and the workpiece self-overturning device can clamp the workpiece and drive the workpiece to overturn;
the workpiece self-overturning device comprises a rotary cylinder, the rotary cylinder is connected with a hydraulic cylinder, a piston rod of the hydraulic cylinder is connected with the mechanical claw opening and closing finger through a hinge mechanism, and the hydraulic cylinder reciprocates to drive the mechanical claw opening and closing finger to open and close so as to clamp or loosen a workpiece.
2. The multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system according to claim 1, wherein two gripper opening and closing fingers are arranged, the two gripper opening and closing fingers are arranged oppositely, the hinge mechanism is connected to the middle parts of the gripper opening and closing fingers, the end parts of the gripper opening and closing fingers are hinged to a hinge fixing plate, and the hinge fixing plate is fixed to a hydraulic cylinder; the hinge mechanism comprises a hollow hinge buckle fixed on the piston rod, two ends of the hollow hinge buckle are hinged with the hinge buckle, and the end part of the hinge buckle is hinged with the middle part of the mechanical claw opening and closing finger.
3. The multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system according to claim 1, wherein the gripper opening and closing fingers are of rod-shaped structures with break angles, the clamping ends of the gripper opening and closing fingers are wedge-shaped surfaces, and buffer pads are fixedly arranged at the clamping ends of the gripper opening and closing fingers.
4. The intelligent multi-station self-positioning floating clamping and workpiece self-overturning tooling clamp system according to claim 1, wherein the self-positioning floating clamping device comprises a clamp bottom plate, a plurality of supporting plates are fixed on the clamp bottom plate, the tops of the supporting plates are fixedly connected with a clamp main plate, the clamp main plate is provided with a plurality of clamping stations, each two clamping stations are provided with a floating clamping assembly, and the floating clamping assemblies clamp or loosen workpieces.
5. The multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system according to claim 4, wherein the floating clamping assembly comprises a vertically arranged pull rod, the bottom of the pull rod is connected with a hydraulic cylinder, the top of the pull rod is hinged with a connecting plate, two ends of the connecting plate are hinged with vertical connecting rods, the top of each connecting rod is fixedly connected with a floating clamping base, the two floating clamping bases are oppositely arranged, floating clamping blocks are arranged on the opposite sides of the floating clamping bases, the floating clamping blocks can rotate around the joints with the floating clamping bases, and the workpieces are clamped by the two floating clamping blocks.
6. The multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system according to claim 5, wherein the floating clamping block is transversely arranged, and semicircular bosses are arranged at two ends of the floating clamping block; the outer side surface of the floating clamping base is a wedge surface, the clamp main board is provided with a plurality of convex blocks, and the side surface of each convex block is a wedge surface which is in contact fit with the wedge surface of the floating clamping base.
7. The intelligent multi-station self-positioning floating clamping and workpiece self-overturning tooling fixture system according to claim 1, wherein the self-positioning floating clamping device comprises a bottom plate, a positioning support assembly is fixedly arranged at one end of the bottom plate, a floating pressing assembly is arranged at the other end of the bottom plate, a plurality of positioning and floating clamping assemblies are arranged between the positioning support assembly and the floating pressing assembly, the workpieces are clamped by the adjacent positioning and floating clamping assemblies, the floating pressing assembly is connected with a hydraulic cylinder, a linear guide rail is arranged on the bottom plate, and the positioning and floating clamping assemblies and the floating pressing assembly can horizontally move along the linear guide rail.
8. The multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system according to claim 7, wherein the positioning and floating clamping assembly comprises a linear bearing seat matched with a linear guide rail, a positioning plate is fixedly arranged at the top of the linear bearing seat, the side part of the positioning plate is connected with the floating clamping block, and the floating clamping block can rotate around the connection part with the positioning plate.
9. The intelligent multi-station self-positioning floating clamping and workpiece self-overturning tooling fixture system according to claim 1, wherein the linear motion device comprises a lower base plate, a linear guide rail and a ball screw are arranged on the lower base plate side by side, the bottoms of a plurality of parallel linear motion assemblies are connected with the linear guide rail and the ball screw, and the ball screw is connected with a servo motor; each linear motion component is connected with the workpiece self-overturning device.
10. The intelligent multi-station self-positioning floating clamping and workpiece self-overturning tooling fixture system according to claim 1, further comprising a machine vision system, wherein the machine vision system comprises an industrial camera arranged above the self-positioning floating clamping device, the industrial camera is connected with an image acquisition card, the image acquisition card is connected with an industrial computer, the industrial camera acquires image information of the workpiece and transmits the image information to the image acquisition card, the image acquisition card transmits the image information to the industrial computer, and the industrial computer analyzes and processes the image information, judges the state of the workpiece, and controls the linear motion device, the workpiece self-overturning device and the self-positioning floating clamping device to operate.
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| CN201922247267.1U CN211804900U (en) | 2019-12-13 | 2019-12-13 | Multi-station self-positioning floating clamping and workpiece self-overturning intelligent tool clamp system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894616A (en) * | 2020-12-04 | 2021-06-04 | 苏州洲洋精密机械科技有限公司 | Automatic clamping and positioning device for take-up crank |
| CN112959120A (en) * | 2021-03-31 | 2021-06-15 | 深圳市太美亚电子科技有限公司 | Rapid centering device for processing cylinder center hole by utilizing handheld electric tool |
| CN114246796A (en) * | 2021-12-21 | 2022-03-29 | 中国科学院自动化研究所 | Novel liquid distribution robot system |
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2019
- 2019-12-13 CN CN201922247267.1U patent/CN211804900U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112894616A (en) * | 2020-12-04 | 2021-06-04 | 苏州洲洋精密机械科技有限公司 | Automatic clamping and positioning device for take-up crank |
| CN112959120A (en) * | 2021-03-31 | 2021-06-15 | 深圳市太美亚电子科技有限公司 | Rapid centering device for processing cylinder center hole by utilizing handheld electric tool |
| CN112959120B (en) * | 2021-03-31 | 2022-03-29 | 深圳市太美亚电子科技有限公司 | Rapid centering device for processing cylinder center hole by utilizing handheld electric tool |
| CN114246796A (en) * | 2021-12-21 | 2022-03-29 | 中国科学院自动化研究所 | Novel liquid distribution robot system |
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