CN210285906U - Mechanism is deposited to anchor clamps frock - Google Patents
Mechanism is deposited to anchor clamps frock Download PDFInfo
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- CN210285906U CN210285906U CN201921092647.6U CN201921092647U CN210285906U CN 210285906 U CN210285906 U CN 210285906U CN 201921092647 U CN201921092647 U CN 201921092647U CN 210285906 U CN210285906 U CN 210285906U
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Abstract
The utility model relates to a frock clamp field discloses a mechanism is deposited to anchor clamps frock. The fixture tool storage mechanism comprises a supporting structure, a floating structure, a positioning pin and a positioning pin sleeve; the floating structure is fixedly connected with the supporting structure and comprises a positioning pin mounting seat; the positioning pin is fixedly connected with the positioning pin mounting seat; the positioning pin sleeve is arranged on the fixture and can be matched and connected with the positioning pin. The utility model discloses place and pick up the in-process of anchor clamps frock at the arm, utilize the locating pin follow-up of anchor clamps frock deposit mechanism to match the locating pin cover, make the locating pin cover smoothly overlap on the locating pin or deviate from on the locating pin, improve the positioning accuracy of anchor clamps frock, make the arm can accurately snatch and place the anchor clamps frock, reduce the wearing and tearing of anchor clamps frock and arm, simple structure, sexual valence relative altitude.
Description
Technical Field
The utility model relates to a frock clamp field especially relates to a mechanism is deposited to anchor clamps frock.
Background
In an industrial process, in order to enable a robot to perform various tasks, a quick-change disk is generally installed at the end of a robot arm so as to facilitate quick replacement of a fixture tool installed on the quick-change disk.
However, the existing quick-change fixture tool is generally placed and taken on a plane, and in the process of placing and picking up the quick-change fixture tool at the tail end of the mechanical arm, the fixture tool and the plane are abraded or damaged directly due to insufficient positioning accuracy of the fixture tool, so that the service lives of the fixture tool and the mechanical arm are influenced.
SUMMERY OF THE UTILITY MODEL
Based on it, an object of the utility model is to provide a mechanism is deposited to anchor clamps frock to solve the not enough problem of positioning accuracy of current anchor clamps frock, make the arm can accurately snatch and place anchor clamps frock, thereby reduce the wearing and tearing of anchor clamps frock and arm.
In order to achieve the purpose, the utility model adopts the following technical proposal:
a mechanism is deposited to anchor clamps frock, includes: a support structure; the floating structure is fixedly connected with the supporting structure and comprises a positioning pin mounting seat; the positioning pin is fixedly connected with the positioning pin mounting seat; and the positioning pin sleeve is arranged on the fixture tool and can be matched and connected with the positioning pin.
In an embodiment of the present invention, the positioning pin mounting seat includes an upper end portion, a middle portion and a lower end portion, and the widths of the upper end portion and the lower end portion are both greater than the width of the middle portion; the floating structure further comprises a fixed block, a first elastic piece, a second elastic piece, a third elastic piece, a first connecting piece and a second connecting piece; the fixed block is arranged on the outer side of the middle part and positioned between the upper end part and the lower end part, the first elastic piece is arranged between the lower end part and the fixed block, and the second elastic piece is arranged between the upper end part and the fixed block; the fixed block is provided with a first through hole for the first connecting piece to pass through, the first connecting piece is fixedly connected with the lower end part, the first elastic piece, the fixed block, the second elastic piece and the upper end part, and a gap is formed between the first connecting piece and the first through hole; the fixed block is provided with a second through hole for the second connecting piece to pass through, and the second connecting piece is fixedly connected with the floating structure and the supporting structure; and a third through hole for the third elastic piece to pass through is formed in the fixed block, the third elastic piece passes through the third through hole, and one end of the third elastic piece is abutted against the outer side surface of the middle part.
In an embodiment of the present invention, the supporting structure comprises a column, a supporting plate and a third connecting member, the supporting plate is disposed at the upper end of the column, and the third connecting member is fixedly connected to the column and the supporting plate.
In an embodiment of the present invention, the second connecting member includes a rod-shaped threaded connecting member and a shaft sleeve sleeved on the rod-shaped threaded connecting member, the shaft sleeve is disposed between the fixing block and the supporting plate, and a gap is formed between the lower surface of the supporting plate and the upper end surface of the dowel pin mounting seat.
In an embodiment of the present invention, the number of the fixing blocks is two, two fixing blocks are respectively disposed at two sides of the middle portion, and a transverse distance between opposite sides of the two fixing blocks is greater than a transverse width of the middle portion; every all be equipped with on the fixed block third elastic component is located two on the fixed block third elastic component respectively with two lateral surface butts that back on the back mutually in middle part.
In an embodiment of the present invention, the third elastic member is a spring plunger, the spring plunger includes a plunger body and a ball head disposed in the plunger body, and one end of the ball head protrudes from the plunger body and abuts against the outer side surface of the middle portion.
In an embodiment of the present invention, the material of the first elastic member and the second elastic member is an elastic material capable of elastic deformation.
In an embodiment of the present invention, a protrusion protruding from a side surface of the positioning pin mounting seat is disposed on a side surface of the positioning pin mounting seat, and the positioning pin is fixedly connected to the protrusion; the positioning pin sleeve is provided with an avoiding opening which is used for avoiding the protruding part and extends along the axial direction.
In an embodiment of the present invention, a first mounting hole is disposed on the positioning pin, a second mounting hole corresponding to the first mounting hole is disposed on the protruding portion, and the positioning pin and the protruding portion are fixedly connected by a fourth connecting member.
In an embodiment of the present invention, the positioning pin includes a guiding portion, a fixing portion and a positioning portion, which are connected in sequence, the fixing portion is fixedly connected to the positioning pin mounting seat, the guiding portion is a spherical guiding portion, the positioning portion is a conical positioning portion, and the cross-sectional dimension of the positioning portion increases gradually along a direction away from the guiding portion; and the positioning pin sleeve is provided with a conical inner hole section matched with the positioning part in shape.
The utility model has the advantages that:
the utility model provides a mechanism is deposited to anchor clamps frock, a quick change anchor clamps frock for deposit is applied to the arm end, and place and pick up the in-process of anchor clamps frock at the arm, the locating pin can float under the effect of floating structure, thereby make the locating pin follow-up match the locating pin cover on the anchor clamps frock, the realization is adjusted the position of locating pin, make the locating pin cover on the anchor clamps frock smoothly overlap on the locating pin or deviate from on the locating pin, thereby improve the positioning accuracy of anchor clamps frock, make the arm can accurately snatch or place the anchor clamps frock, reduce the anchor clamps frock, mechanism is deposited to the anchor clamps frock, and the wearing and tearing of arm, increase of service life, moreover, the steam generator is simple in structure, the sexual valence relative altitude.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments of the present invention will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the contents of the embodiments of the present invention and the drawings without creative efforts.
Fig. 1 is a perspective view of a fixture tool storage mechanism provided in an embodiment of the present invention;
FIG. 2 is a perspective view of a floating structure and locating pins of the fixture tool storage mechanism of FIG. 1;
FIG. 3 is a cross-sectional view of the structure of FIG. 1 taken in the xz plane;
FIG. 4 is a cross-sectional view of the structure of FIG. 1 taken in the xy plane;
fig. 5 is a cross-sectional view of the structure shown in fig. 1 taken along the yz plane.
In the figure:
1-supporting structure, 11-upright column, 12-supporting plate, 13-third connecting piece;
2-floating structure, 21-fixed block, 211-first through hole, 212-second through hole, 213-third through hole, 22-locating pin installation seat, 221-lower end part, 222-upper end part, 223-middle part, 224-protrusion part, 225-second installation hole, 23-first elastic part, 24-second elastic part, 25-first connecting part, 26-third elastic part, 261-ball head, 27-second connecting part, 271-rod-shaped threaded connecting part and 272-shaft sleeve;
3-positioning pin, 31-guiding part, 32-fixing part, 321-first mounting hole, 33-positioning part;
4-positioning pin sleeve, 41-avoiding opening, and 42-conical inner hole section.
Detailed Description
In order to make the technical problems, technical solutions and technical effects achieved by the present invention more clear, the embodiments of the present invention will be described in further detail with reference to the accompanying drawings, and obviously, the described embodiments are only some embodiments, not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those skilled in the art without creative efforts belong to the protection scope of the present invention.
In the description of the present invention, it should be noted that the terms "upper", "lower", "left", "right", and xyz, etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for convenience of description and simplification of description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention.
In the description of the present invention, it is to be noted that, unless otherwise explicitly specified or limited, the terms "communicate" and "connect" are to be interpreted broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; may be directly connected or indirectly connected through an intermediate. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.
The utility model provides a mechanism is deposited to anchor clamps frock, it is right to combine the embodiment below the utility model provides an anchor clamps frock deposits mechanism and carries out detailed description.
As shown in fig. 1 to 5, the present embodiment provides a mechanism is deposited to fixture frock for deposit be applied to the terminal fixture frock of arm to fix a position fixture frock, this mechanism is deposited to fixture frock includes: support structure 1, floating structure 2, locating pin 3 and locating pin cover 4. As shown in fig. 1, the floating structure 2 is fixedly connected to the supporting structure 1, and the floating structure 2 includes a locating pin mounting seat 22; the positioning pin 3 is fixedly connected with the positioning pin mounting seat 22; the positioning pin sleeve 4 is arranged on the fixture tool and can be matched and connected with the positioning pin 3.
Specifically, after receiving a command of replacing the fixture tool, the mechanical arm carrying the quick-change fixture tool places the fixture tool right above the storage mechanism, and then starts to place the fixture tool downwards, so that the positioning pin sleeve 4 on the fixture tool is in contact with the positioning pin 3 of the fixture tool storage mechanism, and under the condition that the central axis of the positioning pin 3 is not coincident with the central axis of the positioning pin sleeve 4 (only the possibility of theoretical coincidence exists, and the actual situation is not coincident), under the action of the floating structure 2 of the fixture tool storage mechanism, the positioning pin 3 can be matched with the positioning pin sleeve 4 in a following manner, that is, under the action of the floating structure 2, the position of the positioning pin 3 can be adjusted according to the position of the positioning pin sleeve 4, so that the positioning pin sleeve 4 is smoothly sleeved on the positioning pin 3, the fixture tool is positioned, and the positioning precision of the fixture tool is improved, so that the mechanical arm can accurately place, reduce the wearing and tearing that mechanism and arm were deposited to anchor clamps frock, increase of service life.
Further, when the mechanical arm grabs the fixture tool from the fixture tool storage mechanism, the position of the positioning pin 3 can be adjusted in the process that the positioning pin sleeve 4 is separated from the positioning pin 3 under the action of the floating structure 2, so that the central axis of the positioning pin 3 is adjusted to coincide with the movement track of the separation process of the positioning pin sleeve 4 (namely the central axis of the separation process of the positioning pin sleeve 4), the positioning pin sleeve 4 can be smoothly separated from the positioning pin 3, the abrasion of the fixture tool, the fixture tool storage mechanism and the mechanical arm is reduced, and the service life is prolonged.
As shown in fig. 1, the supporting structure 1 includes a vertical column 11, a supporting plate 12 and a third connecting member 13, the supporting plate 12 is disposed at the upper end of the vertical column 11, the third connecting member 13 is fixedly connected to the vertical column 11 and the supporting plate 12, and the supporting plate 12 is fixedly connected to the floating structure 2. The clamp tool is supported by the support plate 12, and the support plate 12 is supported by the upright post 11 at a position with a certain height from the ground or other mounting platforms, so that the floating structure 2 fixedly connected with the support plate 12 is ensured to have a floating space. The third connecting member 13 may be a screw, or may be other fastening members, and the number of the third connecting members 13 may be adjusted as needed. As shown in fig. 1, the number of the third links 13 is 4.
As shown in fig. 2 and 3, the dowel pin mounting seat 22 includes an upper end portion 222, a middle portion 223 and a lower end portion 221, the widths of the upper end portion 222 and the lower end portion 221 are both greater than the width of the middle portion 223, that is, the dowel pin mounting seat 22 is i-shaped as a whole; the floating structure 2 further comprises a fixed block 21, a first elastic member 23, a second elastic member 24, a third elastic member 26, a first connecting member 25 and a second connecting member 27; the fixing block 21 is arranged outside the middle part 223 of the positioning pin mounting seat 22 and between the upper end part 222 and the lower end part 221 of the positioning pin mounting seat 22, the first elastic piece 23 is arranged between the lower end part 221 of the positioning pin mounting seat 22 and the fixing block 21, and the second elastic piece 24 is arranged between the upper end part 222 of the positioning pin mounting seat 22 and the fixing block 21; as shown in fig. 3, the fixed block 21 is provided with a first through hole 211 for the first connecting member 25 to pass through, the first connecting member 25 is fixedly connected to the lower end 221, the first elastic member 23, the fixed block 21, the second elastic member 24 and the upper end 222, and a gap is formed between the first connecting member 25 and the first through hole 211, as shown in fig. 3, a in the drawing indicates a gap between the first connecting member 25 and the first through hole 211; as shown in fig. 2, the fixing block 21 is provided with a second through hole 212 for the second connecting member 27 to pass through, and the second connecting member 27 is fixedly connected to the floating structure 2 and the supporting structure 1; as shown in fig. 4, the fixed block 21 is provided with a third through hole 213 for the third elastic element 26 to pass through, the third elastic element 26 passes through the third through hole 213, and one end of the third elastic element 26 abuts against the outer side surface of the middle portion 223 of the positioning pin mounting seat 22.
In this embodiment, the floating structure 2 is through the effect of first elastic component 23, second elastic component 24 and third elastic component 26, realize the locating pin mount pad 22 of floating structure 2 and match locating pin bush 4 with locating pin 3 of locating pin mount pad 22 fixed connection at the three direction follow-up of xyz, reach locating pin bush 4 and the coincidence of locating pin 3 the central axis, improve the positioning accuracy of fixture frock, make the arm can place fixture frock this fixture frock storage mechanism smoothly or snatch fixture frock smoothly from this fixture frock storage mechanism, reduce fixture frock, the arm, the wearing and tearing of fixture frock storage mechanism, moreover, the steam generator is simple in structure, the sexual valence relative altitude.
In this embodiment, in the process of placing or grabbing the fixture tool by the robot arm, if the positioning pin sleeve 4 on the fixture tool is not vertical, when the positioning pin sleeve 4 is matched with the positioning pin 3, the first elastic part 23 and the second elastic part 24 are compressed, so that the central axis of the positioning pin 3 is adjusted to be in a non-vertical state which is overlapped with the central axis of the positioning pin sleeve 4, and therefore the positioning pin sleeve 4 is conveniently and smoothly sleeved on the positioning pin 3 or separated from the positioning pin 3; if the central axis of the positioning pin sleeve 4 is vertical but deviates from the central axis of the positioning pin 3, when the positioning pin sleeve 4 is matched with the positioning pin 3, the positioning pin 3 can translate in the xyz direction until the central axis of the positioning pin 3 is adjusted to coincide with the central axis of the positioning pin sleeve 4, so that the positioning pin sleeve 4 can be smoothly sleeved on the positioning pin 3 or can be separated from the positioning pin 3; one end of the third elastic member 26 abuts against the outer side surface of the middle part 223 of the positioning pin mounting seat 22, the third elastic member 26 is utilized to ensure that the positioning pin mounting seat 22 and the positioning pin 3 fixedly connected with the positioning pin mounting seat 22 can stably float, and the positioning pin mounting seat 22 and the positioning pin 3 can be well helped to reset after the positioning pin mounting seat 22 and the positioning pin 3 float, so that the positioning accuracy of the clamp tool storage mechanism on a clamp tool is ensured; the third elastic element 26 can also limit the position of the dowel pin mounting seat 22, so as to prevent the dowel pin mounting seat 22 from moving relative to the fixed block 21 at will.
The range in which the dowel pin holder 22 and the dowel pin 3 can float is the width of the gap between the first connector 25 and the first through hole 211. This gap width can be adjusted by oneself according to actual conditions, and under the condition that first elastic component 23 and second elastic component 24 all adopted the rubber pad, the deflection of taking into account rubber, the maximum deflection estimation of rubber pad is 2mm, can design the gap width between first connecting piece 25 and first through-hole 211 according to the maximum deflection of rubber pad.
For the convenience of processing and installation, as shown in fig. 3 and 4, the floating structure 2 includes two independent fixing blocks 21, and the two fixing blocks 21 are respectively disposed at two sides of the middle portion 223 of the positioning and mounting seat 22. Alternatively, the floating structure 2 may also comprise a fixed block 21, for example, the fixed block 21 is designed as a U-shaped member, and two arms of the U-shaped member respectively serve as the two independent fixed blocks, and this solution of making the fixed block 21 as an integral component does not depart from the design concept of the present invention. Alternatively, the floating structure 2 may also comprise a plurality of small fixed blocks, i.e. the two independent fixed blocks 21 described above may be cut small, as long as the connecting task is accomplished separately.
In order to ensure the floating stability of the positioning pin 3, two first connecting pieces 25 are arranged on each fixing block 21, wherein the two first connecting pieces 25 on one fixing block 21 and the two first connecting pieces 25 on the other fixing block 21 are arranged in pairwise symmetry with the longitudinal central axis of the positioning pin mounting seat 22 as a symmetry axis. As shown in fig. 2, four circular hole positions of the upper surface of the dowel pin mounting seat 22 are provided for the four first connecting members 25. Of course, the number of the first connecting members 25 is not limited to the above limitation, and may be adjusted according to actual conditions. Specifically, the first connecting member 25 may be a screw, or may be a fastening member such as a bolt and a nut.
In one embodiment, the first elastic member 23 and the second elastic member 24 are made of elastic materials capable of elastic deformation. For example, the first elastic member 23 and the second elastic member 24 are both rubber pads, and of course, other elastic materials capable of elastic deformation may be used for the first elastic member 23 and the second elastic member 24 according to the requirement. As shown in fig. 2, the number of the first elastic members 23 and the second elastic members 24 is two, the shapes of the first elastic members 23 and the second elastic members 24 are rectangular sheets, a first elastic member 23 is disposed between each fixed block 21 and the lower end 221 of the dowel pin mounting seat 22, and a second elastic member 24 is disposed between each fixed block 21 and the upper end 222 of the dowel pin mounting seat 22. Of course, the number of the first elastic member 23 and the second elastic member 24 may be one, for example, the first elastic member 23 and the second elastic member 24 are both designed to be concave, two protruding portions of the upper portion of the concave first elastic member 23 are respectively disposed between the two fixing blocks 21 and the lower end portion 221 of the dowel pin mounting seat 22, and two protruding portions of the upper portion of the concave second elastic member 24 are respectively disposed between the two fixing blocks 21 and the upper end portion 222 of the dowel pin mounting seat 22. Of course, the number and shape of the first elastic element 23 and the second elastic element 24 may be changed in many ways, and the shape may or may not be adapted to the shape of the fixing block 21, and those skilled in the relevant art may adjust the shape according to the actual situation.
As shown in fig. 1, the fixing block 21 is fixed below the supporting plate 12 by the second connecting member 27, as shown in fig. 2, the second connecting member 27 includes a rod-shaped threaded connecting member 271 and a shaft sleeve 272 sleeved on the rod-shaped threaded connecting member 271, the shaft sleeve 272 is disposed between the fixing block 21 and the supporting plate 12, and a gap is formed between the lower surface of the supporting plate 12 and the upper end surface of the dowel pin mounting seat 22. In the present embodiment, the rod-shaped threaded connector 271 and the shaft sleeve 272 are used to realize the firm connection between the fixing block 21 and the supporting plate 12; the shaft sleeve 272 ensures that a gap is formed between the lower surface of the rear support plate 12 and the upper end surface of the dowel pin mounting seat 22, so that the connection structure of the two does not affect the floating of the dowel pin mounting seat 22 and the dowel pin 3 thereon. One or more of the rod-shaped threaded connectors 271 may be designed as required, and as shown in fig. 2, the number of the rod-shaped threaded connectors 271 is 8. Specifically, the rod-shaped threaded connector 271 may be a screw, or may be other fastening members such as a bolt and a nut.
As shown in fig. 4, the lateral distance between the opposite sides of the two fixing blocks 21 is greater than the lateral width of the middle portion 223 of the dowel pin mounting seat 22; each fixing block 21 is provided with a third elastic element 26, and the third elastic elements 26 on the two fixing blocks 21 are respectively abutted against two back-to-back outer side surfaces of the middle part 223 of the positioning pin mounting seat 22. As shown in fig. 4, b in the drawing indicates the gap width between the side surface of the fixed block 21 and the outer side surface of the middle portion 223 of the dowel pin holder 22. In the present embodiment, by setting this gap width, the dowel pin mount 22 is ensured to be able to float between the two fixed blocks 21. The third elastic part 26 is used for being matched with the first elastic part 23 and the second elastic part 24, so that the positioning pin mounting seat 22 and the positioning pin 3 fixedly connected with the positioning pin mounting seat 22 can be ensured to stably float, the positioning pin 3 is better ensured to be matched with the positioning pin sleeve 4 in a follow-up manner, the positioning pin mounting seat 22 and the positioning pin 3 are driven to reset after the positioning pin mounting seat 22 and the positioning pin 3 float, and the positioning accuracy of the clamp tool storage mechanism on the clamp tool is ensured; the third elastic members 26 on the two sides can also be used for limiting the position of the positioning pin mounting seat 22, so that the positioning pin mounting seat 22 is prevented from moving randomly in a space area formed between the opposite side surfaces of the two fixing blocks 21.
In one embodiment, as shown in fig. 4, the third elastic member 26 is a spring plunger, the spring plunger includes a plunger body and a ball head 261 disposed in the plunger body, one end of the ball head 261 protrudes out of the plunger body to abut against the outer side surface of the middle portion 223 of the dowel pin mounting seat 22. The ball 261 of the spring plunger makes point contact with the outer side surface of the middle part 223 of the dowel pin mounting seat 22, so that the dowel pin mounting seat 22 can float conveniently. In order to further ensure the floating smoothness of the positioning pin mounting seat 22 and the positioning pin 3, two elastic plungers are arranged on each fixing block 21. Of course, the third elastic member 26 is not limited to the spring plunger, and may be an elastic member such as a rubber plunger having elasticity, or an elastic member formed by sleeving a spring on the plunger, so that the object of the present invention can be achieved. The number of the third elastic members 26 can be adjusted according to actual needs.
As shown in fig. 3, the side surface of the dowel pin mounting seat 22 is provided with a protruding part 224 protruding from the side surface thereof, and the dowel pin 3 is fixedly connected with the protruding part 224; the positioning pin boss 4 is provided with an escape opening 41 extending in the axial direction for escaping the protrusion 224. In this embodiment, not only can the positioning pin 3 be fixed on the positioning pin mounting seat 22, but also the positioning pin sleeve 4 can be sleeved on the positioning pin 3 along the axial direction, so as to position the fixture tool. In order to ensure the connection firmness of the positioning pin 3 and the protrusion 224 of the positioning pin mounting seat 22, the side portion of the positioning pin 3 connected with the protrusion 224 may be designed to be a plane structure, so as to increase the connection area and improve the connection firmness.
Further, as shown in fig. 4 and 5, a first mounting hole 321 is formed on the positioning pin 3, a second mounting hole 225 corresponding to the first mounting hole 321 is formed on the protrusion 224, and the positioning pin 3 and the protrusion 224 are fixedly connected by a fourth connecting member (not shown). The second connecting member may be a fastening member such as a screw, and the screw passes through the first mounting hole 321 and is fastened in the second mounting hole 225, so as to fasten the positioning pin 3 and the positioning pin mounting seat 22. The number of the second connecting members is not limited to one, and may be two or more. As shown in fig. 5, the number of the second connecting members is two, and the fixing of the dowel 3 to the dowel seat 22 is achieved by using the two second connecting members.
As shown in fig. 2 and 5, the positioning pin 3 includes a guiding portion 31, a fixing portion 32 and a positioning portion 33 that are connected in sequence, the fixing portion 32 is fixedly connected with the positioning pin mounting seat 22, the guiding portion 31 is a spherical guiding portion 31, the spherical guiding portion 31 is used for guiding the positioning pin sleeve 4 to be sleeved on the positioning pin 3, and meanwhile, the locking phenomenon caused by misalignment of the central axes of the positioning pin sleeve 4 and the positioning pin 3 can be eliminated by the spherical function. The locating part 33 is a conical locating part 33, the sectional dimension of the conical locating part 33 is gradually increased along the direction away from the guiding part 31, an inner hole sleeved with the locating pin 3 is arranged on the locating pin sleeve 4, the inner hole comprises a conical inner hole section 42 matched with the shape of the locating part 33, the conical locating part 33 is used for being matched and located with the conical inner hole section 42 of the locating pin sleeve 4, the locating of the fixture tool is achieved by matching the conical locating part 33 and the conical inner hole section 42, the locating reliability is ensured, and the small end of the conical locating part 33 is conveniently and smoothly inserted into the conical inner hole section 42.
Of course, the guide portion 31 of the positioning pin 3 is not limited to a spherical guide portion, and may be designed to have a guide function in other shapes such as a tapered guide portion; location portion 33 of locating pin 3 is not limited to for toper location portion, also can design into cylindrical location portion, sets up cylindrical inner bore section correspondingly on locating pin cover 4, utilizes cylindrical location portion and cylindrical inner bore section cooperation to realize the location, and the above scheme does not all break away from the utility model discloses a design concept.
Further, as shown in fig. 2 and 5, a first mounting hole 321 is formed on the fixing portion 32 of the positioning pin 3, a second mounting hole 225 corresponding to the first mounting hole 321 is formed on the positioning pin mounting seat 22, and the fixing portion 32 and the positioning pin mounting seat 22 are fastened and connected through a second connecting member (not shown).
In a specific embodiment, as shown in fig. 2 and 5, the positioning pin 3 includes a guiding portion 31, a fixing portion 32 and a positioning portion 33, which are connected in sequence, the guiding portion 31 is a spherical guiding portion 31, the fixing portion 32 is a cylindrical fixing portion 32, the diameter of the fixing portion 32 is smaller than that of the guiding portion 31, the positioning portion 33 is a tapered positioning portion 33, the small end of the tapered positioning portion 33 is connected to the cylindrical fixing portion 32, the large end of the tapered positioning portion 33 is far away from the fixing portion 32, two first mounting holes 321 are opened on the fixing portion 32, two second mounting holes 225 corresponding to the two first mounting holes 321 one to one are opened on the positioning pin mounting seat 22, and the fixing portion 32 and the positioning pin mounting seat 22 are fastened and connected by two second connecting members, such. The inner hole of the positioning pin sleeve 4 matched with the positioning pin 3 comprises an upper cylindrical inner hole section and a lower conical inner hole section 42, and the conical inner hole section 42 is used for being matched and positioned with the conical positioning part 33 of the positioning pin 3.
The following describes the fixture storage mechanism of this embodiment with reference to the process of placing and grasping the fixture by the robot arm.
The process of placing the clamp tool by the mechanical arm is as follows: after receiving a command of replacing the fixture tool, the mechanical arm carrying the quick-change fixture tool places the fixture tool right above the fixture tool storage mechanism, and then starts to place the fixture tool downwards (i.e. the mechanical arm drives the fixture tool to move downwards), wherein the positioning pin sleeve 4 on the fixture tool contacts the spherical surface of the positioning pin 3 on the fixture tool storage mechanism (i.e. the spherical guide part 31 of the positioning pin 3), and then the fixture tool continues to move downwards, under the condition that the central axes (or central positions) of the positioning pin sleeve 4 and the positioning pin 3 are not coincident (only the possibility of theoretical coincidence exists, and the actual coincidence is not coincident), the fixture tool storage mechanism realizes the positioning pin mounting seat 22 and the positioning pin 3 to be matched with the positioning pin sleeve 4 along with each other in three directions of xyz by the actions of the first elastic part 23, the second elastic part 24 and the third elastic part 26 until the central axes of the positioning pin sleeve 4 and the positioning pin 3 coincide, meanwhile, the phenomenon that the positioning pin sleeve 4 and the positioning pin 3 are clamped due to the fact that the positioning pin sleeve 4 is not vertical in the z-axis direction can be eliminated through the spherical surface of the positioning pin sleeve 3, the fixture tool continuously moves downwards until the conical surface of the positioning pin sleeve 4 (namely the conical inner hole section of the positioning pin sleeve 4) contacts with the conical surface of the positioning pin 3 (namely the conical positioning part 33 of the positioning pin 3), the positioning pin sleeve 4 and the positioning pin 3 are located in a matched mode, placement of the fixture tool at the fixture tool storage mechanism is completed, the quick-change fixture tool is loosened through the quick-change disc of the mechanical arm (the quick-change disc tool is configured on the fixture tool), the mechanical arm is withdrawn, and quick-change actions are completed.
The process that the mechanical arm snatchs the fixture tool is as follows: after the mechanical arm receives a command of grabbing the fixture tool, the quick-change disc of the mechanical arm reaches the fixture tool storage mechanism, grabs the fixture tool located at the fixture tool storage mechanism, so that the positioning pin sleeve 4 fixed on the fixture tool starts to be pulled out from the positioning pin 3, and under the condition that the motion track when the positioning pin sleeve 4 is pulled out (namely, the central axis when the positioning pin sleeve 4 is pulled out) does not coincide with the central axis of the positioning pin 3, the fixture tool storage mechanism realizes the follow-up matching of the positioning pin mounting seat 22 and the positioning pin 3 with the positioning pin sleeve 4 in the xyz three directions through the actions of the first elastic part 23, the second elastic part 24 and the third elastic part 26 until the central axis of the positioning pin 3 coincides with the motion track when the positioning pin sleeve 4 is pulled out (namely, the central axis of the positioning pin sleeve 4 is pulled out in the process), so that the positioning pin sleeve 4 is smoothly pulled out from, and (5) evacuating the mechanical arm and finishing the quick-change action.
To sum up, the fixture tool storage mechanism provided by the embodiment utilizes the positioning pin of the fixture tool storage mechanism to follow up and match the positioning pin sleeve in the process of placing and picking up the fixture tool by the mechanical arm, so that the positioning pin sleeve is smoothly sleeved on the positioning pin or separated from the positioning pin, the positioning precision of the fixture tool is improved, the mechanical arm can accurately grab and place the fixture tool, the abrasion of the fixture tool, the fixture tool storage mechanism and the mechanical arm is reduced, the service life is prolonged, and the fixture tool storage mechanism is simple in structure and high in cost performance.
It should be noted that the foregoing is only a preferred embodiment of the present invention and the technical principles applied. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments illustrated herein, but is capable of various obvious modifications, rearrangements and substitutions without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail with reference to the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the scope of the present invention.
Claims (10)
1. The utility model provides a mechanism is deposited to anchor clamps frock which characterized in that includes:
a support structure (1);
the floating structure (2) is fixedly connected with the supporting structure (1), and the floating structure (2) comprises a positioning pin mounting seat (22);
the positioning pin (3) is fixedly connected with the positioning pin mounting seat (22);
and the positioning pin sleeve (4) is arranged on the fixture tool and can be matched and connected with the positioning pin (3).
2. The clamp tool storage mechanism of claim 1,
the locating pin mounting seat (22) comprises an upper end part (222), a middle part (223) and a lower end part (221), and the widths of the upper end part (222) and the lower end part (221) are larger than the width of the middle part (223);
the floating structure (2) further comprises a fixed block (21), a first elastic piece (23), a second elastic piece (24), a third elastic piece (26), a first connecting piece (25) and a second connecting piece (27);
the fixed block (21) is arranged outside the middle part (223) and between the upper end part (222) and the lower end part (221), the first elastic piece (23) is arranged between the lower end part (221) and the fixed block (21), and the second elastic piece (24) is arranged between the upper end part (222) and the fixed block (21);
a first through hole (211) for the first connecting piece (25) to pass through is formed in the fixed block (21), the first connecting piece (25) is fixedly connected with the lower end portion (221), the first elastic piece (23), the fixed block (21), the second elastic piece (24) and the upper end portion (222), and a gap is formed between the first connecting piece (25) and the first through hole (211);
a second through hole (212) for the second connecting piece (27) to pass through is formed in the fixed block (21), and the second connecting piece (27) is fixedly connected with the floating structure (2) and the supporting structure (1);
and a third through hole (213) for the third elastic element (26) to pass through is formed in the fixed block (21), the third elastic element (26) passes through the third through hole (213), and one end of the third elastic element (26) is abutted against the outer side surface of the middle part (223).
3. The clamp tool storage mechanism of claim 2,
the supporting structure (1) comprises a stand column (11), a supporting plate (12) and a third connecting piece (13), wherein the supporting plate (12) is arranged at the upper end of the stand column (11), and the third connecting piece (13) is fixedly connected with the stand column (11) and the supporting plate (12).
4. The clamp tool storage mechanism of claim 3,
the second connecting piece (27) comprises a rod-shaped threaded connecting piece (271) and a shaft sleeve (272) sleeved on the rod-shaped threaded connecting piece (271), the shaft sleeve (272) is arranged between the fixed block (21) and the supporting plate (12), and a gap is formed between the lower surface of the supporting plate (12) and the upper end surface of the positioning pin mounting seat (22).
5. The clamp tool storage mechanism of claim 2,
the number of the fixed blocks (21) is two, the two fixed blocks (21) are respectively arranged on two sides of the middle part (223), and the transverse distance between the opposite side surfaces of the two fixed blocks (21) is greater than the transverse width of the middle part (223);
each fixing block (21) is provided with a third elastic part (26), and the third elastic parts (26) on the two fixing blocks (21) are respectively abutted against the two back-to-back outer side faces of the middle part (223).
6. The clamp tool storage mechanism of claim 5,
the third elastic piece (26) is a spring plunger, the spring plunger comprises a plunger body and a ball head (261) arranged in the plunger body, and one end of the ball head (261) protrudes out of the plunger body and is abutted against the outer side face of the middle part (223).
7. The clamp tool storage mechanism of claim 2,
the first elastic piece (23) and the second elastic piece (24) are both made of elastic materials capable of generating elastic deformation.
8. The clamp tool storage mechanism of any one of claims 1 to 7,
the side surface of the positioning pin mounting seat (22) is provided with a protruding part (224) protruding out of the surface of the side surface of the positioning pin mounting seat, and the positioning pin (3) is fixedly connected with the protruding part (224);
an avoidance opening (41) which is used for avoiding the protruding part (224) and extends along the axial direction is arranged on the positioning pin sleeve (4).
9. The clamp tool storage mechanism of claim 8,
the positioning pin (3) is provided with a first mounting hole (321), the protruding portion (224) is provided with a second mounting hole (225) corresponding to the first mounting hole (321), and the positioning pin (3) and the protruding portion (224) are fixedly connected through a fourth connecting piece.
10. The clamp tool storage mechanism of any one of claims 1-7, 9,
the positioning pin (3) comprises a guide part (31), a fixing part (32) and a positioning part (33) which are sequentially connected, the fixing part (32) is fixedly connected with the positioning pin mounting seat (22), the guide part (31) is a spherical guide part, the positioning part (33) is a conical positioning part, and the cross section of the positioning part (33) is gradually increased along the direction far away from the guide part (31);
and a conical inner hole section (42) matched with the positioning part (33) in shape is arranged on the positioning pin sleeve (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921092647.6U CN210285906U (en) | 2019-07-12 | 2019-07-12 | Mechanism is deposited to anchor clamps frock |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921092647.6U CN210285906U (en) | 2019-07-12 | 2019-07-12 | Mechanism is deposited to anchor clamps frock |
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| Publication Number | Publication Date |
|---|---|
| CN210285906U true CN210285906U (en) | 2020-04-10 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201921092647.6U Active CN210285906U (en) | 2019-07-12 | 2019-07-12 | Mechanism is deposited to anchor clamps frock |
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| Country | Link |
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| CN (1) | CN210285906U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255172A (en) * | 2019-07-12 | 2019-09-20 | 南京极智嘉机器人有限公司 | A kind of clamp fixture holding structure |
-
2019
- 2019-07-12 CN CN201921092647.6U patent/CN210285906U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110255172A (en) * | 2019-07-12 | 2019-09-20 | 南京极智嘉机器人有限公司 | A kind of clamp fixture holding structure |
| CN110255172B (en) * | 2019-07-12 | 2024-06-28 | 南京极智嘉机器人有限公司 | Clamp tool storage mechanism |
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