CN108177082B - Quick-change floating type tool for polishing robot casting - Google Patents

Abstract

The invention discloses a quick-change floating tooling for robot casting grinding, comprising a mounting plate, a tooling plate and a plurality of floating toolings mounted on the tooling plate. The spring pressure plate and the positioning block fixed on it, the spring pressure plate is installed on the tooling plate through a floating mechanism, and the workpiece to be processed is positioned together by the spring pressure plate and the positioning block. The floating mechanism includes a bolt and a spring. Through holes for the bolts to pass through are arranged around the spring pressure plate, and threaded holes corresponding to the through holes are arranged on the tooling plate. and lock the bolt on the tooling plate through the lock nut, and the spring pressure plate can move up and down through the spring. By positioning and clamping the workpiece on the floating tooling, the damage to the gripper and the workpiece caused by the direct contact between the robot gripper and the workpiece can be effectively reduced when picking and placing the workpiece, which can bring huge economic benefits to the enterprise.

Description

A Quick-Change Floating Tooling for Robotic Casting Grinding

technical field

The invention belongs to the field of mechanical workpiece clamping equipment, and relates to a tool, in particular to a quick-change floating tool for robot casting grinding.

Background technique

With the arrival of Made in China 2025, the application of robots is becoming more and more extensive. In the automobile manufacturing industry, auto parts are mostly castings such as automobile hubs, engine blocks, cylinder heads, crankshafts, calipers, brackets, steering knuckles and other parts, which need to be polished for their gates, flashes, and burrs. Grinding can improve processing efficiency, ensure processing accuracy, and reduce grinding costs. In the robot automatic grinding system, the tooling plays a vital role. The workpiece to be processed is positioned on the tooling, and the robot gripper grabs the workpiece from the tooling for grinding. At present, in actual production, the tooling has the following four problems:

1. Because the workpieces to be polished are mostly castings, the consistency of the parts is poor, the workers are difficult to operate when placing the parts, it is difficult to locate or the positioning is inaccurate, and the robot collides with the workpiece due to the failure of accurate positioning when grabbing the workpiece. And the damage caused by the manipulator will also cause the shutdown to affect the production progress and bring losses to the enterprise;

2. The robot gripper, the workpiece and the tooling are rigid bodies. During the contact and clamping process, there is rigid contact between the workpiece and the gripper and between the workpiece and the tooling. The rigid contact will cause wear on the tooling, resulting in inaccurate positioning; at the same time, rigidity Contact will cause wear and damage to the gripper. Usually, the gripper cylinder is equipped with a sensor to judge whether the part is grasped accurately according to the cylinder stroke. When the gripper is worn, it will cause problems such as inaccurate judgment.

3. Grinding workpieces are usually various types of large-scale parts, and different parts require different special tooling for positioning. Due to the high flexibility of the robot grinding system, with the quick-change gripper, one machine can be multi-purpose, and a variety of parts can be polished. In actual production , the operation of replacing the tooling is often complicated and cannot be replaced quickly, resulting in long-term downtime and affecting the production progress. Due to the low positioning accuracy of the tooling, there is an error between the replacement of the tooling and the pre-set grasping position, resulting in danger during grasping or The trajectory is deviated during grinding, which cannot meet the process requirements, resulting in a higher rejection rate and increased processing costs;

4. In the actual production process, there will be collision and friction between the workpiece and the tooling due to placing the workpiece and grabbing the workpiece, and the surface of the tooling will rust when exposed to the air for a long time, resulting in inaccurate positioning and other problems. There are many problems mentioned above, which obviously restrict the improvement of production efficiency. Therefore, there is an urgent need for a tooling that can solve the above problems.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a floating, highly flexible tool that can be quickly replaced in a robot automatic grinding system.

In order to change the existing problems, we can start from the following four aspects: 1. Improve the flexibility of the positioning device, so that it can accurately position the workpiece within the range of the casting consistency error, and the elastic positioning device can be used to achieve accurate positioning. It can also apply a certain pre-tightening force to the workpiece to make the positioning more accurate and reduce the difficulty of the personnel who place the workpiece.

2. Using floating support, the tooling is installed on the tooling plate by floating support. When the robot gripper grabs the workpiece and makes rigid contact, the damping of the floating support mechanism will absorb the energy of the collision, so that the contact between the gripper and the workpiece is not stable. Hard again.

3. The tooling is replaced by a quick-change mechanism and the positioning accuracy is improved, and the positioning is carried out through the pin holes on the mounting plate and the tooling plate with the quick locking pin.

4. Treat the tooling material to increase its surface hardness to improve wear resistance and rust resistance. Therefore, it is inevitable to use a floating tool that can be quickly changed in the robot grinding system.

In order to solve the above-mentioned technical problems, the technical scheme adopted in the present invention is:

A quick-change floating tooling for robot casting grinding, characterized in that it includes a mounting plate, a tooling plate and a plurality of floating toolings mounted on the tooling plate, the detachable tooling plate is mounted on the mounting plate, and the floating tooling plate is installed on the mounting plate. The tooling includes a spring pressure plate and a positioning block fixed on it. The spring pressure plate is installed on the tooling plate through a floating mechanism, and the workpiece to be processed is positioned together by the spring pressure plate and the positioning block.

As an improvement, the floating mechanism includes bolts and springs, the spring press plate is provided with through holes for the bolts to pass through, the tooling plate is provided with threaded holes corresponding to the through holes, the bolts pass through the through holes and then cover the springs, and then tighten On the threaded hole, the bolt is locked on the tooling plate through the lock nut on the threaded hole, and the spring pressure plate can be moved up and down through the spring.

As an improvement, the bolts of the floating mechanism are countersunk bolts, and the upper surface of the spring pressing plate is provided with a conical countersunk hole that matches the countersunk bolt. The pressure plate is automatically centered relative to the countersunk bolt.

As an improvement, the countersunk head bolts are hexagon socket head countersunk head bolts.

As an improvement, the tooling plate and the mounting plate are both square plates, and corresponding through holes are arranged on the diagonal lines of the two, and the tooling plate and the mounting plate are fixed by fast locking pins through the through holes of the two. installed together.

As an improvement, the spring pressing plate is provided with a positioning notch, and the positioning block is provided with a positioning notch, through which the workpiece to be processed is positioned together with the positioning notch and the positioning notch.

As an improvement, the positioning notch and the positioning stop are paired grooves with opposite openings, and elastic plungers are provided on the left and right surfaces of the positioning slot and the surface opposite to the positioning stop. The protruding head is an elastic telescopic head that contacts the workpiece. The workpiece is clamped and positioned left and right by the elastic plungers on the left and right sides, and the elastic plungers on the inner surface of the positioning stop and the opposite positioning slot Back and forth clamping and positioning of the workpiece.

As an improvement, the inner side of the positioning slot is provided with a threaded hole for installing the elastic plunger, the elastic plunger is installed in the threaded hole on the inner side of the positioning slot through a screw connection, and the extension of the elastic plunger can be adjusted by twisting the elastic plunger. length, thereby adjusting the clamping force and positioning point of the workpiece.

As an improvement, one diagonal line of the tooling plate and the mounting plate is connected by a quick locking pin, and the other diagonal line is connected by a fastening bolt.

A surface treatment method for the above-mentioned floating tooling, characterized in that the method steps are as follows:

Step 1, quenching and tempering the floating tooling;

Step 2, surface quenching the quenched and tempered floating tool;

Step 3, blackening the floating tooling after surface quenching.

The beneficial effects of the patent of the present invention are:

1. The rapid positioning and clamping of the workpiece is realized, the operation difficulty of the workers placing the workpiece is reduced, the problem of poor consistency of castings is solved, the fault tolerance rate is high, the risk of robot collision is reduced, and the safety of the system is ensured.

2. The use of floating support structure can eliminate the collision and wear caused by the excessive contact force caused by the rigid contact when the robot gripper grasps the tooling, making the tooling more practical, coordinating with the gripper, and improving the system performance. stability.

3. Speeding up the rhythm of changing tooling, reducing downtime, that is, improving production efficiency. It increases the accuracy after changing the tooling, and ensures the stability of the grasping and the surface quality of the machined parts.

4. The use of quenching and tempering, surface quenching and blackening treatment effectively reduces the wear of the tooling, improves the anti-rust performance of the tooling, prolongs the service life of the tooling, and reduces the risk of inaccurate positioning caused by tooling wear and rust. , reducing the cost problem caused by the replacement of tooling.

Description of drawings

FIG. 1 is an overall schematic diagram of the quick-change floating tooling of the patent of the present invention.

FIG. 2 is a schematic diagram of locking the mounting plate and the tooling plate by the quick locking pin of the patent of the present invention.

FIG. 3 is a schematic diagram of the installation of a single floating tooling according to the patent of the present invention.

FIG. 4 is a schematic diagram of the floating mechanism of the patent of the present invention.

FIG. 5 is a schematic diagram of the positioning block of the patent of the present invention.

FIG. 6 is a schematic diagram of an embodiment of clamping and positioning automobile calipers on a floating tooling.

1- Fastening bolt, 2- Tooling plate, 3- Mounting plate, 4- Quick locking pin, 5- Positioning block, 6- Spring pressure plate, 7- Hexagon socket countersunk head bolt, 8- Spring, 9- Lock Nut, 10, 11, 12, 13 - elastic plunger, 14 - workpiece, 15 - positioning notch, 16 - positioning stop.

Detailed ways

In order to better understand the patent of the present invention, the patent of the present invention is further described below with reference to the accompanying drawings and specific embodiments.

As shown in Figure 1, it is an overall schematic diagram of the quick-change floating tooling, including a mounting plate 3, a tooling plate 2 and nine floating toolings installed on the tooling plate 2. As shown in Figure 2, the quick locking pin 4 will be installed The schematic diagram of the locking of the plate 3 and the tooling plate 2. One diagonal line of the tooling plate 2 is the pin hole and the corresponding mounting plate 3 is also the pin hole, and the other diagonal line is the mounting plate corresponding to the through hole. 3 is a threaded hole, first use the quick locking pin 4 to quickly lock the mounting plate 3 and the tooling plate 2, then tighten the fastening bolt 1 on the other diagonal line, and remove the quick locking pin when changing the tooling. 4 and tighten the bolt 1, which not only realizes the rapid replacement of the tooling but also improves the positioning accuracy. Figure 3 shows a schematic diagram of the installation of a single floating tool, including a positioning block 5, a spring pressure plate 6 and a floating mechanism. The positioning block 5 is installed on the spring pressure plate 6 through bolts, and the spring pressure plate 6 is installed on the tool plate 2 through the floating mechanism. Figure 4 is a schematic diagram of the floating mechanism, including a hexagonal countersunk head bolt 7, a spring 8, and a lock nut 9. The hexagonal socket countersunk head bolt 7 first passes through the conical countersunk head hole on the spring pressure plate 6, and then the The spring 8 is set on the inner hexagonal countersunk head bolt 7, and then tighten the inner hexagonal countersunk head bolt 7 on the threaded hole of the tooling plate 2. By adjusting the screwing depth of the inner hexagonal countersunk head bolt 7, the pre-tightening of the spring 8 can be adjusted force. The inner hexagonal flower-shaped countersunk head bolt 7 is used to connect the spring pressure plate 6 and the tooling plate 2, and the lock nut 9 is used to prevent the loosening between the inner hexagonal flower-shaped countersunk head bolt 7 and the tooling plate 2. When the spring 8 is compressed and reset, the conical The countersunk head hole cooperates with the hexagon socket countersunk head bolt 7 to have the function of automatic centering.

5 is a schematic diagram of the positioning block 5. The spring pressing plate 6 is provided with a positioning stop 16, and the positioning block 5 is provided with a positioning notch 15. The workpiece 14 to be processed through the positioning notch 15 and the positioning stop 16 together position. The positioning notch 15 and the positioning stop 16 are paired grooves that are opposite to each other. The left and right surfaces of the positioning notch 15 and the surface opposite to the positioning stop 16 are provided with elastic plungers. The protruding head of the plunger is an elastic telescopic head which is in contact with the workpiece 14. The left and right X directions of the workpiece 14 are clamped and positioned by the elastic plungers on the left and right sides (ie the elastic plungers 10 and 13). The opening 16 and the elastic plungers (ie, the elastic plungers 11 and 12 ) on the inner surface of the positioning slot 15 opposite to the opening 16 clamp and position the workpiece 14 in the front and rear Y directions.

The inner side of the positioning slot 15 is provided with a threaded hole for installing the elastic plunger, and the elastic plunger is installed in the threaded hole on the inner side of the positioning slot 15 through a threaded connection, and its extension can be adjusted by twisting the elastic plunger length, thereby adjusting the gripping force and anchor point for the workpiece 14. The positioning method is to use the stop surface to cooperate with the reference surface of the part, and use the elastic support to cooperate with the free surface, and calculate the protruding length of the front end of the elastic plunger according to the consistency error of the workpiece 14, and adjust the positioning block 5. It can meet the positioning and clamping of different models and left and right symmetrical parts. The head protruding from the elastic plunger is an elastic telescopic head contacting the workpiece 14, and the elastic telescopic head can be a rubber head. The elastically retractable head can be provided with a spring in the elastic plunger.

As shown in Fig. 6, taking the clamping and positioning of the automobile caliper as an example, the reference surface in front of the automobile caliper is stuck in the positioning stop 16 on the spring pressure plate 6, and the inner end face of the positioning stop 16 is positioned through the inner end face of the positioning stop 16. The corners are clamped in the positioning notch 15 of the positioning block 5, and the left and right corners of the caliper are clamped and positioned in the X direction by the elastic plungers 10 and 13. Clamping and positioning the car calipers in the front and rear Y directions.

It should be pointed out that the positioning stop 16 on the spring pressing plate 6 and the positioning notch 15 on the positioning block 5 are not limited to the cases listed in this embodiment, and can be adapted according to the actual shape of the workpiece 14, or other workpieces 14 are used for clamping. Targeting.

The working principle of the quick-change floating tooling in the robot grinding system is as follows:

First, the operator places the workpiece 14 on the floating tooling, and positions and clamps the workpiece 14 through the positioning block 5 and the elastic plunger. There are 9 floating toolings on a tooling board 2. When all the parts are placed, click on the upper At this time, the tooling plate 2 is driven into the grinding unit by the synchronous belt, and the robot grabs the workpiece 14. When the gripper is in contact with the workpiece 14, the floating mechanism is compressed due to the force, thereby preventing the workpiece 14 and the floating tooling. Rigid collision between the gripper and the workpiece 14 . Replacing the tooling plate 2 is divided into two parts: installation and disassembly. When installing the tooling plate 2, insert the quick locking pin 4 into the pin holes of the mounting plate 3 and the tooling plate 2, and twist the handle head of the quick locking pin 4 clockwise. The ball is quickly extended against the inner chamfer of the mounting plate 3 to achieve locking, and then the inner hexagonal countersunk on the top of the quick locking pin 4 is strongly locked with an Allen wrench. When dismantling the tooling plate 2, firstly twist the handle head of the quick locking pin 4 counterclockwise, the steel ball is quickly retracted and locked to loosen, and then use the Allen wrench to loosen the hex countersunk on the top of the quick locking pin 4, and finally use A rubber hammer can gently knock out the quick locking pin 4. The quick locking pin 4 used in this example is the SWK16-60002 quick locking pin produced by Sanwei Equipment, but it is not limited to this model. Locking pins that lock together can be used.

The spring pressure plate 6 is installed on the tooling plate 2 through a floating mechanism, and four floating mechanisms are installed on the four corners of the spring pressure plate 6. The floating mechanism is composed of a hexagonal flower-shaped countersunk head bolt 7 and a spring 8, and the spring 8 is set in a hexagonal flower-shaped On the countersunk head bolt 7, the top and bottom of the spring 8 stand against the spring pressure plate 6 and the locking nut 9 respectively. The locking nut 9 is used to prevent the bolt from loosening and causing inaccurate positioning. By calculating the contact force when the robot grabs the part, within the range of satisfying a certain safety factor, taking into account the gravity of the floating tool itself, by adjusting the screwing depth of the hexagon socket countersunk head bolt 7, a certain pre-tightening force is applied. When the workpiece 14 is placed on the floating tool, the spring 8 will not be deformed by the gravity of the workpiece 14 . The hexagonal flower-shaped countersunk head bolt 7 is connected to the threaded hole of the tooling plate 2 through the conical countersunk head hole of the spring pressing plate 6. When the spring 8 is compressed and reset, the conical countersunk head hole has the function of automatic centering and guiding.

In order to quickly replace the tooling, two pin holes are machined on the diagonal lines of the tooling plate 2 and the mounting plate 3, and the positioning is carried out by the quick locking pin 4. The transition fit is adopted. The locking pin is equipped with 5 concentric balls. When the thread of the locking pin is loosened, the steel ball will automatically retract into the locking body. At this time, the locking pin can be inserted into or pulled out of the pin hole of the locked mechanism (tooling plate 2 and mounting plate 3). When in use, the locking pin is inserted into the locked body. After the pin holes of the mechanism (tooling plate 2 and mounting plate 3), the head of the locking pin is gradually tightened by hand, and the steel ball gradually protrudes. Automatically align and clamp the tooling plate 2 and the mounting plate 3, and then use a wrench to tighten, and the tightening force should be appropriate. After the locking pin is tightened, the pressing force can reach 50KN and the shearing force can reach 200KN.

The floating tooling is made of 45 steel, which has good cutting performance, so 45 steel is selected as the material for the positioning block 5, the spring pressure plate 6, the tooling plate 2 and the mounting plate 3. The 45 steel is medium carbon steel, with low surface hardness and no Wear-resistant. Therefore, in order to improve the wear resistance, the positioning block 5 and the spring pressing plate 6 are quenched and tempered and surface quenched to increase their surface hardness, thereby improving the wear resistance. In order to prevent rust, the positioning block 5, the spring pressing plate 6, the tooling plate 2 and the mounting plate 3 are blackened to form an oxide film on their surfaces.

Claims (8)

1. a quick-change floating tooling for robot casting grinding, is characterized in that: comprising mounting plate, tooling plate and a plurality of floating toolings installed on the tooling plate, the detachable tooling plate is installed on the mounting plate, all The floating tooling includes a spring pressure plate and a positioning block fixed on it, the spring pressure plate is installed on the tooling plate through a floating mechanism, and the workpiece to be processed is positioned and clamped together by the spring pressure plate and the positioning block; The floating mechanism includes a bolt and a spring. Through holes for the bolts to pass through are arranged around the spring pressure plate, and threaded holes corresponding to the through holes are arranged on the tooling plate. On the threaded hole, the bolt is locked on the tooling plate through the lock nut, and the spring pressure plate can move up and down through the spring; The bolts of the floating mechanism are countersunk bolts, and the upper surface of the spring pressing plate is provided with a conical countersunk head hole matched with the countersunk head bolt. Automatic centering on countersunk head bolts. 2 . The quick-change floating tooling according to claim 1 , wherein the countersunk head bolts are hexagon socket flower-shaped countersunk head bolts. 3 . 3. The quick-change floating tooling according to claim 1, wherein the tooling plate and the mounting plate are both square plates, and corresponding through holes are provided on the diagonal lines of the two, and the quick locking pins Through the two through holes, the tooling plate and the mounting plate are locked and fixed together. 4. The quick-change floating tooling according to claim 1, wherein the spring pressing plate is provided with a positioning stop, and the positioning block is provided with a positioning notch, and the positioning notch and the positioning stop are to be processed together Workpiece positioning. 5. The quick-change floating tooling according to claim 4, wherein the positioning notch and the positioning stop are paired grooves with opposite openings, and the left and right surfaces in the positioning slot and the positioning stop The faces opposite to each other are provided with elastic plungers, and the protruding head of the elastic plunger is an elastic telescopic head that contacts the workpiece. The elastic plunger on the inner surface of the stop and the opposite positioning slot clamps and positions the workpiece back and forth. 6 . The quick-change floating tooling according to claim 5 , wherein the inner side of the positioning slot is provided with a threaded hole for installing the elastic plunger, and the elastic plunger is installed on the inner side of the positioning slot through a threaded connection. 7 . In the threaded hole, the extension length of the elastic plunger can be adjusted by twisting the elastic plunger, so as to adjust the clamping force and positioning point of the workpiece. 7 . The quick-change floating tooling according to claim 4 , wherein one diagonal line of the tooling plate and the mounting plate is connected by a quick locking pin, and the other diagonal line is connected by a fastening bolt. 8 . 8. A method for surface treatment of floating tooling according to claim 1, wherein the method steps are as follows: Step 1, quenching and tempering the floating tooling; Step 2, surface quenching the quenched and tempered floating tool; Step 3, blackening the floating tooling after surface quenching.

Images