Industrial robot automatic shaft machining line vertical machining key groove milling clamping device

Abstract

The utility model discloses an industrial robot automatic shaft machining line vertical machining key groove clamping device which comprises a bearing frame arranged in the middle of a device base and an X-axis positioning mechanism comprising a block abutting structure and a pushing structure. The pushing structure is arranged on the device base, and the moving end of the pushing structure makes contact with and pushes the workpiece to move in the axial direction and abut against the abutting block structure. The clamping and positioning mechanism is provided with two clamping blocks moving in a mirror image mode in the Y-axis direction, and the two clamping blocks clamp and fix a workpiece. According to the industrial robot automatic shaft machining line vertical machining key groove milling clamping device, a workpiece is automatically placed on the bearing frame through the mechanical arm, the workpiece is pushed to abut against the abutting block structure through the pushing structure, and therefore the workpiece is positioned in the X-axis direction, the Y-axis direction and the Z-axis direction, and accurate positioning is effectively achieved; the thrust adjusting device can prevent the first pushing oil cylinder from directly acting on the workpiece, so that the pushing force is controllable, and the workpiece is prevented from being damaged.

Description

TECHNICAL FIELD

[0001] The utility model relates to tool fixture technical field, concretely relates to a kind of industrial robot automation shaft class processing line vertical milling keyway clamping device. BACKGROUND

[0002] Shaft parts are common parts in mechanical manufacturing, widely used in various mechanical equipment. In the machining process of shaft parts, the milling of keyway is a very important process, as it directly affects the quality and performance of subsequent assembly. With the development of industrial automation technology, using industrial robots with specially designed tooling for keyway milling of shaft parts has become a highly efficient and accurate method.

[0003] Numerical control vertical machining center is a highly automated machine tool, suitable for cutting metal materials. It has a high rigidity structure design, which can provide good stability and machining accuracy. In the application of shaft part keyway milling, by combining with industrial robots, the integrated machining process from raw materials to finished products is realized.

[0004] The existing shaft part milling keyway clamping tool only uses the method of clamping and positioning the two ends of the shaft part. It usually uses manual placement of shaft workpieces to ensure machining accuracy, and then clamps and fixes the workpiece. Although it can meet the requirements of keyway machining to some extent, it is necessary to ensure the accuracy of workpiece loading into the tooling during automatic machining of shaft parts, to avoid large keyway position machining errors during batch production.

[0005] In view of the above, it is necessary to propose an industrial robot automation shaft class processing line vertical milling keyway clamping device to solve the above problems. UTILITY MODEL CONTENTS

[0006] The utility model aims at overcoming the defects in the prior art, and provides an industrial robot automation shaft class processing line vertical milling keyway clamping device.

[0007] To achieve the above purpose, the technical scheme of the utility model is as follows:

[0008] An industrial robot automation shaft class processing line vertical milling keyway clamping device, comprising a device base, the length direction of the device base is X axis direction, the width direction of the device base is Y axis direction,

[0009] A supporting frame is provided in the middle of the device base, and the workpiece is placed on the supporting frame for positioning the workpiece position, so that the workpiece is placed in the middle of the device base along the X axis direction, and the supporting frame is used for positioning the position of the workpiece in the Y axis direction;

[0010] The X-axis positioning mechanism comprises a stop block structure and a pushing structure. The stop block structure is fixedly arranged on the device base to form a limiting block for clamping one end of the workpiece. The pushing structure is arranged on the device base and its moving end contacts and pushes the workpiece to move along the axial direction and abuts against the stop block structure.

[0011] The clamping positioning mechanism is provided with at least two groups, which respectively clamp and fix the positions of two ends of the workpiece. The clamping positioning mechanism has two clamping blocks which mirror move along the Y-axis direction, clamp the workpiece and fix it.

[0012] Further, the supporting frame comprises a frame base block and a frame plate. The frame base block is arranged on the device base, and the frame base block is provided with a frame plate on each side in the X-axis direction. The upper end of the frame plate is provided with a first V-shaped notch. The workpiece is placed in the first V-shaped notches of the two frame plates to limit the workpiece to be placed horizontally along the X-axis at the clamping height position.

[0013] Further, the stop block structure is an L-shaped rod, which comprises a horizontal rod and a vertical rod. The horizontal rod is connected to the device base along the X-axis. The end of the horizontal rod is perpendicularly connected to the vertical rod. The upper end of the vertical rod gradually decreases in the width direction to form a trapezoidal-shaped boss. The end of the workpiece abuts against the trapezoidal-shaped boss, and when the workpiece is tightly fixed, the end of the trapezoidal-shaped boss does not exceed the contour edge of the workpiece.

[0014] Further, the pushing structure comprises a first pushing oil cylinder and a thrust adjusting device. The free end of the first pushing oil cylinder is provided with the thrust adjusting device. The first pushing oil cylinder drives the thrust adjusting device to move along the X-axis direction. The thrust adjusting device is provided with a push rod, which is coaxially arranged with the workpiece. The pushing structure pushes the workpiece to abut against the stop block structure through the push rod, and the size of the abutting force can be adjusted by the thrust adjusting device.

[0015] Further, the thrust adjusting device comprises a cylinder body. The push rod is arranged on the cylinder body along the axial direction, which comprises a pushing rod, a spring and an adjusting rod. One end of the pushing rod is slidingly connected to the cylinder body. The other end of the cylinder body is screw-connected to the adjusting rod. The spring is arranged in the cylinder body, one end of which is connected to the pushing rod, and the other end of which is connected to the adjusting rod.

[0016] Further, the clamping positioning mechanism comprises a slide rail seat arranged along the Y-axis direction. The slide rail seat is provided with mirror-image moving clamping blocks. The middle part of the slide rail seat is provided with a second pushing oil cylinder. The free end of the second pushing oil cylinder moves along the Z-axis. The slide rail seat is mirror-image provided with two L-shaped rocker arms. The bending parts of the rocker arms are hinged to the slide rail seat. The first ends of the two rocker arms are connected to the free end of the second pushing oil cylinder. The second ends of the rocker arms are connected to the clamping blocks.

[0017] Further, the opposite ends of the two clamping blocks are provided with second V-shaped notches.

[0018] The industrial robot automatic shaft machining line vertical milling keyway clamping device has the advantages and beneficial effects that the workpiece is automatically placed on the bearing bracket by the mechanical hand, the workpiece is pushed against the abutting block structure by the pushing structure, positioning of the workpiece in X, Y and Z axial directions is realized, and accurate positioning is effectively realized; the pushing force adjusting device can avoid that the first pushing oil cylinder directly acts the pushing force on the workpiece, and the controllability of the pushing force is realized by the pushing force adjusting device, the workpiece is prevented from being damaged, the workpiece is effectively clamped and fixed by the clamping positioning mechanism, and the V-shaped notch can also realize good centering effect. BRIEF DESCRIPTION OF DRAWINGS

[0019] Figure 1 is a perspective view of the industrial robot automatic shaft machining line vertical milling keyway clamping device of the utility model;

[0020] Figure 2 is a side view of the industrial robot automatic shaft machining line vertical milling keyway clamping device of the utility model;

[0021] Figure 3 is a top view of the industrial robot automatic shaft machining line vertical milling keyway clamping device of the utility model;

[0022] Figure 4 The utility model Figure 2 is a structure schematic view of A-A section;

[0023] Figure 5 The utility model Figure 3 is a structure schematic view of A-A section;

[0024] In the drawing: 1, device base; 2, bearing bracket; 3, abutting block structure; 4, pushing structure; 5, workpiece; 6, clamping positioning mechanism; 7, bracket base block; 8, bracket plate; 9, first V-shaped notch; 10, L-shaped rod; 11, cross bar; 12, vertical rod; 13, trapezoidal boss; 14, first pushing oil cylinder; 15, pushing force adjusting device; 16, push rod; 17, cylinder body; 18, push rod; 19, spring; 20, adjusting rod; 21, slide rail seat; 22, clamping block; 23, second pushing oil cylinder; 24, rocker arm; 25, first end; 26, second end; 27, second V-shaped notch; 28, connecting disc; 29, first recess; 30, second recess. DETAILED DESCRIPTION

[0025] The specific embodiments of the utility model are further described below in combination with the drawings and examples. The following examples are only used to more clearly illustrate the technical scheme of the utility model, and cannot limit the protection scope of the utility model.

[0026] A clamping device for vertical milling of keyways on an automated shaft machining line for industrial robots, such as... Figures 1-5 As shown, the device includes a base 1, with the length direction of the base 1 being the X-axis and the width direction of the base 1 being the Y-axis.

[0027] A support frame 2 is provided in the middle of the device base 1. The workpiece 5 is placed on the support frame 2 to position the workpiece 5, so that the workpiece 5 is placed in the middle of the device base 1 along the X-axis. The support frame 2 is used to position the workpiece 5 in the Y-axis direction. In actual use, the long axis of the workpiece 5 is fixed on the device along the X-axis direction. In actual use, the workpiece 5 can be loaded onto the device by a robot. Since the support frame 2 is provided, the placement accuracy requirement of the robot is not very high. Specifically, the support frame 2 includes a bracket base block 7 and a bracket plate 8. The bracket base block 7 is set on the device base 1. The bracket base block 7 is provided with bracket plates 8 on both sides in the X-axis direction. The upper end of the bracket plate 8 is provided with a first V-shaped groove 9. The workpiece 5 is placed in the first V-shaped groove 9 of the two bracket plates 8, which restricts the workpiece 5 to be placed horizontally along the X-axis at the clamping height position. Based on the principle that two points determine a straight line, this structure uses two spaced bracket plates 8 to support two parts of the workpiece 5, effectively positioning two points on the axis of the workpiece 5. Furthermore, the bracket plates 8 have first V-grooves, so when the robot loads the workpiece 5, it can roughly place the workpiece 5 within the openings of the two first V-grooves. The workpiece 5 can then automatically slide to the bottom of the groove, achieving centering and fixation. This eliminates the need for high loading precision from the robot, thereby reducing the robot's procurement cost. It is understood that this support bracket 2 can be adjusted according to different specifications and dimensions of the workpiece 5 to improve the loading precision. It is also understood that bracket plates 8 of different heights can be replaced to accommodate different specifications of shaft-type workpieces. It should be noted that the height position of the axis of the workpiece 5 positioned by the bracket plate 8 on the Z-axis should match the height position of the clamping and positioning mechanism 6 described below.

[0028] The X-axis positioning mechanism includes a stop block structure 3 and a pushing structure 4. The stop block structure 3 is fixedly arranged on the device base 1 to form a limiting block that is clamped at one end of the workpiece 5. The pushing structure 4 is arranged on the device base 1, and the moving end of the pushing structure 4 contacts and pushes the workpiece 5 to move along the axial direction and abuts against the stop block structure 3. It can be understood that when the workpiece 5 is placed in the first V-shaped notch 9, the workpiece 5 automatically slides to the bottom of the groove, and the position of the workpiece 5 in the Y-axis direction can be positioned. However, the position of the workpiece 5 in the X-axis direction needs to be further fixed. Specifically, the stop block structure 3 is an L-shaped rod 10, which includes a horizontal rod 11 and a vertical rod 12. The horizontal rod 11 is connected to the device base 1 along the X-axis. The end of the horizontal rod 11 is perpendicularly connected to the vertical rod 12. The upper end of the vertical rod 12 gradually decreases in the width direction to form a trapezoidal-shaped boss 13. The end of the workpiece 5 abuts against the trapezoidal-shaped boss 13. When the workpiece 5 is fixedly abutted, the end of the trapezoidal-shaped boss 13 does not exceed the contour edge of the workpiece 5, and the upper end is lower than the lowest point of the key groove of the workpiece 5. In use, after the workpiece 5 falls on the support frame 2, the pushing structure 4 is used to push the workpiece 5 to move along the axial direction, so that the end of the workpiece 5 abuts against the stop block structure 3 and is kept, thereby limiting the position of the workpiece 5 in the X-axis direction.

[0029] Specifically, the pushing structure 4 includes a first pushing oil cylinder 14 and a thrust adjusting device 15. The free end of the first pushing oil cylinder 14 is provided with the thrust adjusting device 15. The first pushing oil cylinder 14 drives the thrust adjusting device 15 to move along the X-axis direction. The thrust adjusting device 15 is provided with a push rod 16. The push rod 16 is coaxially arranged with the workpiece 5. The pushing structure 4 pushes the workpiece 5 to abut against the stop block structure 3 through the push rod 16, and the size of the abutting force can be adjusted through the thrust adjusting device 15. In use, after the workpiece 5 is placed, the thrust adjusting device 15 is pushed out by the first pushing oil cylinder 14. The push rod 16 of the thrust adjusting device 15 pushes the end of the workpiece 5 and pushes the workpiece 5 to move along the X-axis until it abuts against the trapezoidal-shaped boss 13, thereby fixing the position of the workpiece 5 in the X-axis direction. It can be understood that the position of the line connecting the clamping end on the boss 13 and the pushing end of the push rod 16 is fixed, that is, it coincides with the axis of the positioned shaft workpiece, and the line passes through the center position of the clamped workpiece in the two groups of clamping positioning mechanisms 6 below. Since the radius specifications of the clamped and positioned shaft workpieces are different, but the axial positions are the same after positioning on the device, the above-mentioned replacement of the support frame plate 8 of different heights is used to support the shaft workpiece of different radii, and the position is positioned to adapt to the line connecting the clamping end on the boss 13 and the pushing end of the push rod 16.

[0030] Further, if the first pushing oil cylinder 14 is directly used to push the workpiece 5 to move and fix, although the fixing effect can be achieved, when the oil cylinder directly pushes, the free end of the oil cylinder is in hard contact with the end of the workpiece 5 and is extruded, which is easy to affect the surface of the workpiece 5. The embodiment is improved, and specifically, the pushing force adjusting device 15 comprises a cylinder body 17, the pushing rod 16 is arranged on the cylinder body 17 in the axial direction, and the pushing rod 16 comprises a pushing rod 18, a spring 19 and an adjusting rod 20. The pushing rod 18 is slidably connected to one end of the cylinder body 17 and extends out, the adjusting rod 20 is screw-connected to the other end of the cylinder body 17, the spring 19 is arranged in the cylinder body 17, one end of the spring 19 is connected to the pushing rod 18, and the other end of the spring 19 is connected to the adjusting rod 20. After the improvement, the spring 19 in the pushing force adjusting device 15 can achieve the buffering effect when contacting the workpiece 5, and can achieve the fixing with a certain pressure when abutting and fixing, so as to avoid the abrasion to the surface of the workpiece 5. It can be understood that the adjusting rod 20 is screw-connected to the cylinder body 17, when the adjusting rod 20 is screwed into the cylinder body 17 more, the spring 19 is compressed shorter, and the pushing force of the pushing rod 18 at the other end is greater, and vice versa. During use, the adjusting can be made according to the needs.

[0031] The clamping positioning mechanism 6 is provided with at least two groups, and at least clamps and fixes the positions of two ends of the workpiece 5. In the embodiment, two groups of clamping positioning mechanisms 6 are specifically provided and are used for clamping positions close to the two ends of the workpiece 5. The clamping positioning mechanism 6 has two clamping blocks 22 which are mirror images and move along the Y-axis direction, and the two clamping blocks 22 clamp and fix the workpiece 5.

[0032] Specifically, the clamping positioning mechanism 6 comprises a slide rail seat 21 arranged along the Y-axis direction, the slide rail seat 21 is provided with the clamping blocks 22 which are mirror images and move, the middle part of the slide rail seat 21 is provided with a second pushing oil cylinder 23, the free end of the second pushing oil cylinder 23 moves along the Z-axis, the slide rail seat 21 is mirror image provided with two L-shaped rocker arms 24, the bending parts of the rocker arms 24 are hinged to the slide rail seat 21, the first ends 25 of the two rocker arms 24 are connected to the free end of the second pushing oil cylinder 23, and the second ends 26 of the rocker arms 24 are connected to the clamping blocks 22. As shown in the figure, the free end of the second pushing oil cylinder 23 moves downward along the Z-axis, the free end is provided with a connecting disc 28, the two sides of the connecting disc 28 are symmetrically provided with first grooves 29, the first grooves 29 are matched with the first ends 25 of the rocker arms 24, the inner bottom of the clamping block 22 is provided with second grooves 30, the second grooves 30 are matched with the second ends 26 of the rocker arms 24, when the connecting disc 28 is driven to move up and down by the second pushing oil cylinder 23, the two sides of the rocker arms 24 are simultaneously driven to swing by the first grooves 29, and the second ends 26 of the rocker arms 24 can drive the clamping blocks 22 to move on the slide rail seat 21, so as to form the clamping of the workpiece 5.

[0033] Further, the opposite end of the two clamping blocks 22 is provided with a second V-shaped notch 27, which can form a centering clamping and fixing to the workpiece 5, and a non-slip gasket can be arranged on the inner surface of the second V-shaped notch 27.

[0034] The above is only the preferred embodiment of the present application, it should be pointed out that, for those skilled in the technical field, without departing from the technical principles of the present application, can make a number of improvements and refinements, these improvements and refinements should also be considered as the protection scope of the present application.

Claims

1. An industrial robot automation shaft type machining line vertical milling keyway clamping device, characterized in that, Including device base (1), in the length direction of device base (1) is X axis direction, the width direction of device base (1) is Y axis direction, In the middle part of device base (1) is provided with support frame (2), workpiece (5) is placed on support frame (2) for positioning workpiece (5) position, make workpiece (5) along X axis direction is placed in the middle part of device base (1), support frame (2) is used for positioning workpiece (5) in Y axis direction Position; X axis direction positioning mechanism, it includes the block structure (3), push structure (4), the block structure (3) is fixedly arranged on device base (1) and forms the limit block in one end of workpiece (5), push structure (4) is arranged on device base (1), and its moving end contacts and pushes workpiece (5) and moves along the axial direction and is tightly closed on block structure (3); Clamping positioning mechanism (6) is provided with at least two groups, at least respectively for the clamping fixation of both ends position of workpiece (5), the clamping positioning mechanism (6) has two clamping blocks (22) along Y axis direction mirror image movement, two clamping blocks (22) clamp workpiece (5) and fixed.

2. An industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 1, characterized in that, The support frame (2) includes bracket base block (7), bracket plate (8), the bracket base block (7) is arranged on device base (1), and bracket base block (7) is provided with bracket plate (8) on both sides in X axis direction, the upper end of bracket plate (8) is provided with first V-shaped notch (9), workpiece (5) is placed in the first V-shaped notch (9) of two bracket plates (8) and limits workpiece (5) along X axis horizontal placement in clamping height position.

3. An industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 1, characterized in that, The block structure (3) is L-shaped rod (10), it includes cross bar (11), vertical rod (12), cross bar (11) is connected on device base (1) along X axis, and the end of cross bar (11) is vertically connected and arranged vertical rod (12), and the upper end of vertical rod (12) gradually decreases in width direction and forms trapezoidal boss (13), and the end of workpiece (5) is tightly closed on trapezoidal boss (13), and when workpiece (5) is tightly closed and fixed, the end of trapezoidal boss (13) does not exceed the contour edge of workpiece (5).

4. The industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 1, characterized in that, The push structure (4) includes first push oil cylinder (14), push adjusting device (15), the free end of first push oil cylinder (14) is provided with push adjusting device (15), first push oil cylinder (14) drives push adjusting device (15) to move along X axis direction, push adjusting device (15) is provided with push rod (16), the push rod (16) is coaxially arranged with workpiece (5), and push structure (4) pushes workpiece (5) through push rod (16) and tightly closes on block structure (3), and the size of the tightly closing force can be adjusted by push adjusting device (15).

5. An industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 4, characterized in that, The thrust adjusting device (15) comprises a cylinder (17), the push rod (16) is arranged on the cylinder (17) in the axial direction, and the push rod (16) comprises a pushing rod (18), a spring (19) and an adjusting rod (20), one end of the pushing rod (18) is slidably connected to the cylinder (17), the adjusting rod (20) is screw-connected to the other end of the cylinder (17), the spring (19) is arranged in the cylinder (17), one end of the spring (19) is connected to the pushing rod (18), and the other end of the spring (19) is connected to the adjusting rod (20).

6. An industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 1, characterized in that, The clamping positioning mechanism (6) comprises a slide rail seat (21) arranged along the Y-axis direction, the slide rail seat (21) is provided with clamping blocks (22) moving in mirror image, the middle part of the slide rail seat (21) is provided with a second push oil cylinder (23), the free end of the second push oil cylinder (23) moves along the Z-axis, the slide rail seat (21) is provided with two L-shaped rocker arms (24) in mirror image, the bending parts of the rocker arms (24) are hinged to the slide rail seat (21), the first ends (25) of the two rocker arms (24) are connected to the free end of the second push oil cylinder (23), and the second ends (26) of the rocker arms (24) are connected to the clamping blocks (22).

7. An industrial robotic automation shaft type machining line vertical milling keyway clamping device according to claim 1, characterized in that, The opposite ends of the two clamping blocks (22) are provided with second V-shaped notches (27).

Images