CN207139327U - A kind of loading and unloading type fixture for processing of robots - Google Patents

Abstract

The utility model belongs to the technical field of robots, and provides a loading and unloading fixture for robot processing, including a base used for connecting with a robot processing platform, a support device for placing parts to be processed is provided on the base, and a There is an inner ring fixing device for fixing the parts to be processed. The bottom of the inner ring fixing device is provided with a limit block, and the corresponding position of the supporting device is provided with a coordination block connected with the limit block. The inner ring fixing device and the support device pass through the limit block. It is detachably connected with the coordination block. Since the limit block is connected with the coordination block, the inner ring fixing device is detachably connected to the supporting device, so after the parts to be processed are placed on the supporting device, the inner ring fixing device can be installed very conveniently and quickly To the support device, and fix the parts to be processed, it simplifies the installation process of the fixture, greatly reduces the difficulty of installing and disassembling the fixture, saves the time for installing the fixture, and improves the processing efficiency.

Description

A loading and unloading fixture for robot processing

technical field

The utility model belongs to the technical field of robots, and more specifically relates to a loading and unloading fixture used for robot processing.

Background technique

With the gradual maturity of robot technology, more and more industrial robots are used in the processing of parts to realize the automatic processing of parts. In the process of part processing, it is usually necessary to fix the part to be processed so that it is in the correct position, so as to ensure the smooth progress of part processing, so the fixture is a very important device in the part processing process. After the parts to be processed are placed on the jig, the jig needs to further fix the parts to be processed, so that the position of the parts to be processed is fixed, so that the parts to be processed will not move when the robot is processing the parts to be processed.

However, currently, in the installation process of the fixture, the installation process is usually relatively complicated, and it takes a lot of time to assemble and disassemble the fixture, and the installation and removal of the fixture is relatively difficult.

The above deficiencies need to be improved.

Utility model content

The purpose of the utility model is to provide a loading and unloading fixture for robot processing, so as to solve the technical problems in the prior art that the installation process of the fixture is complicated and the fixture is difficult to assemble and disassemble.

In order to achieve the above object, the technical solution adopted by the utility model is to provide a loading and unloading clamp for robot processing, which is characterized in that it includes a base for connecting with the robot processing platform, and the base is provided with a A supporting device for placing the parts to be processed, the supporting device is provided with an inner ring fixing device for fixing the parts to be processed, the bottom of the inner ring fixing device is connected with a limit block, and the corresponding position of the supporting device is provided with A coordination block connected to the limiting block, the inner ring fixing device and the supporting device are detachably connected to the coordination block through the limiting block.

Further, a positioning block for robot positioning is also included, and the positioning block is arranged above the base and connected with the supporting device.

Further, the support device includes a contoured surface for supporting the part to be processed, a contoured surface support plate for supporting the contoured surface, and a connecting plate set up in sequence from top to bottom, and the connecting plate It is fixedly connected with the base, and the coordination block is arranged on the connecting plate.

Further, the inner ring fixing device includes an inner ring fixing part for fixing the part to be processed and a supporting ring for supporting the inner ring fixing part, and the inner ring fixing part is fixedly installed on the support On the ring, the bottom of the supporting ring is provided with a card slot, the limiting block is connected with the card slot, and the supporting ring is detachably connected with the coordination block through the limiting block .

Further, the supporting ring also includes a loading and unloading handle for loading and unloading the inner ring fixing device, and the loading and unloading handle is arranged above the supporting ring and fixedly connected with the supporting ring.

Further, the inner ring fixing part includes a first connection part for connecting with the supporting ring, a first pressing part for contacting with the part to be processed, a first pressing bolt and a first pressing part for applying The first pressure handle, the first pressing part is connected to the first pressing bolt, the first pressing bolt is hinged to the first handle, and the first pressing bolt and the first pressing bolt The connecting part is hinged, the first handle is hinged with the first connecting part, and the first connecting part is fixedly connected with the supporting ring.

Further, a first pad is provided between the inner ring fixing part and the supporting ring, and the inner ring fixing part is connected to the supporting ring through the first pad.

Further, it is characterized in that it also includes an outer ring fixing device for fixing the part to be processed, the outer ring fixing device is arranged on opposite sides of the support device and the outer ring fixing device is connected to the above the base.

Further, the outer ring fixing device includes a base for connecting with the base, a base pressing block for fixing the base on the base, and an outer ring for fixing the parts to be processed A fixing part, the outer ring fixing part is arranged above the base and fixedly connected with the base, the base pressing block is connected to the base, and a through hole is formed between the base pressing block and the base , the base includes a base connection part and a first protrusion and a second protrusion vertically extending from both ends of the base connection part, the base connection part is arranged in the through hole and can be positioned in the through hole Move in a direction approaching or away from the supporting device.

Further, a second spacer is provided between the outer ring fixing part and the base, and the outer ring fixing part is connected to the base through the second spacer.

The beneficial effect of the loading and unloading fixture for robot processing provided by the utility model lies in that: since the bottom of the inner ring fixing device is connected with a limit block, and the limit block is connected with the coordination block of the support device, thereby fixing the inner ring The device is detachably connected to the supporting device, so after the parts to be processed are placed on the supporting device, the inner ring fixing device can be installed on the supporting device very conveniently and quickly, and the parts to be processed are fixed, which simplifies the fixture installation The process greatly reduces the difficulty of installing and disassembling the fixture, saves the time for installing the fixture, and improves the processing efficiency.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the utility model, the following will briefly introduce the accompanying drawings that are required in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only the practical For some novel embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without any creative work.

Fig. 1 is a schematic structural view of a loading and unloading clamp for robot processing provided by an embodiment of the present invention;

Fig. 2 is a schematic diagram of the exploded structure of the loading and unloading clamp for robot processing provided by the embodiment of the present invention;

Fig. 3 is a schematic diagram of the explosion structure of the support device provided by the embodiment of the present invention;

Fig. 4 is a schematic structural diagram of the limiting block and the coordination block provided by the embodiment of the present invention;

Fig. 5 is a structural schematic diagram of the cooperative connection between the limiting block and the coordination block provided by the embodiment of the present invention;

Fig. 6 is a schematic diagram of the exploded structure of the inner ring fixing device provided by the embodiment of the present invention;

Fig. 7 is a schematic structural view of the inner ring fixing device provided by the embodiment of the present invention;

Fig. 8 is a schematic structural view of the outer ring fixing device provided by the embodiment of the present invention;

Fig. 9 is a flow chart of the method for processing parts provided by the embodiment of the present invention;

Fig. 10 is a flow chart of processing a part to be processed by a robot in the method for processing a part provided by an embodiment of the present invention.

Wherein, each reference sign in the figure:

1-base; 11-first edge; 12-second edge;

13-the third edge; 14-the fourth edge;

2-support device; 21-profiling surface; 211-through hole of profiling surface;

212-location hole; 22-profile surface support plate; 221-support plate through hole;

23-connecting plate; 231-cavity; 232-accommodating groove;

233-coordination block; 2331-coordination block groove; 2332-avoidance space;

3-inner ring fixing device; 31-inner ring fixing component; 311-first connecting part;

312-the first pressing part; 3121-the first screw rod; 3122-the first lock nut;

3123-the first sleeve; 313-the first pressing bolt; 3131-the first sliding groove;

314-the first handle; 32-the first pad; 33-support ring;

331-card slot; 332-limit block; 3321-limit block protrusion;

333-loading handle; 4-positioning block; 5-outer ring fixing device;

51-base; 511-base connecting part; 512-first protrusion;

513-the second protrusion; 52-the second spacer; 53-the outer ring fixing part;

531-the second connecting part; 532-the second pressing part; 5321-the second screw rod;

5322-the second locking nut; 5323-the second sleeve; 533-the second compression bolt;

5331-the second sliding groove; 534-the second handle; 54-the base pressing block.

Detailed ways

In order to make the technical problems, technical solutions and beneficial effects to be solved by the utility model clearer, the utility model will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model, and are not intended to limit the utility model.

It should be noted that when an element is referred to as being “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or indirectly connected to the other element. In addition, the terms "first" and "second" are used for descriptive purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly specifying the quantity of indicated technical features. Thus, a feature defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of the present utility model, "plurality" means two or more, unless otherwise specifically defined.

Please refer to Figures 1 to 4, a loading and unloading fixture for robot processing, including a base 1 for connecting with a robot processing platform, the base 1 is provided with a support device 2 for placing parts 24 to be processed, and supports The device 2 is provided with an inner ring fixing device 3 for fixing the parts 24 to be processed, the bottom of the inner ring fixing device 3 is connected with a limit block 332, and the corresponding position of the support device 2 is provided with a coordination block 233 that is matched with the limit block 332, and the inner The ring fixing device 3 and the support device 2 are detachably connected to the coordination block 233 through the limiting block 332 .

The working principle of the detachable clamp for robot processing provided by this embodiment is as follows: first, the base 1 is connected to the robot processing platform, then the support device 2 is fixedly connected to the base 1, and then the parts 24 to be processed are placed on the on the support device 2, and connect the limit block 332 and the coordination block 233, thereby installing the inner ring fixing device 3 on the support device 2, and fixing the part 24 to be processed through the inner ring fixing device 3; After the machined part 24 is machined, take off the inner ring fixing device 3, then take off the machined part, just obtain the machined part.

The beneficial effect of such setting is: since the limit block 332 is mated with the coordination block 233 of the support device 2, the inner ring fixing device 3 is detachably connected to the support device 2, so when the parts 24 to be processed are placed on After the support device 2 is installed, the inner ring fixing device 3 can be installed on the support device 2 very conveniently and quickly, and fix the parts 24 to be processed, which simplifies the installation process of the fixture, greatly reduces the difficulty of installing and disassembling the fixture, and saves the installation fixture time, improving the processing efficiency.

Referring to Fig. 2 and Fig. 3, further, the supporting device 2 comprises a profiling surface 21 for supporting the parts to be processed 24, a profiling surface support plate 22 for supporting the profiling surface 21 and The connecting plate 23 is fixedly connected to the base 1 , and the coordination block 233 is arranged on the connecting plate 23 .

Please refer to FIGS. 3 to 5. In this embodiment, the connecting plate 23 is provided with a cavity 231 that cooperates with the bottom structure of the inner ring fixing device 3, and on the opposite sides of the cavity 231 there are accommodating The accommodating groove 232 of the block 233 and the coordination block 233 are fixedly connected to the connecting plate 23 . The bottom of the coordination block 233 is provided with a coordination block groove 2331 for accommodating the limit block protrusion 3321 of the limit block 332 , and the height of the coordination block groove 2331 is adapted to the height of the limit block protrusion 3321 . One side of the coordination block groove 2331 is provided with an escape space 2332 penetrating up and down for the limit block protrusion 3321 to slide up and down, and the avoidance space 2332 communicates with the coordination block groove 2331 . In other embodiments, the height of the coordination block groove 2331 is adapted to the height of the limit block protrusion 3321, the width of the coordination block groove 2331 is adapted to the width of the limit block protrusion 3321, and the coordination block The depth of the groove 2331 is also adapted to the protruding length of the limiting block protrusion 3321 .

When the inner ring fixing device 3 is connected with the support member 2, firstly, the limiting block 332 is connected to the slot 331 of the inner ring fixing device 3, and then the inner ring fixing device 3 connected with the limiting block 332 is placed on the connecting plate 23 , the limit block protrusion 3321 slides along the avoidance space 2332 to contact with the surface of the connecting plate 23, and is located on one side of the coordination block groove 2331, and then the limit block 332 rotates together with the inner ring fixing device 3, so that the limit The block protrusion 3321 enters the coordination block groove 2331, thereby limiting the position of the limit block 331; then a rubber pad is set at the avoidance space 2332, so that the position of the limit block 332 cannot be moved arbitrarily, and the inner ring Fixing device 3 is fixed.

Referring to Fig. 2 and Fig. 3, the profiling surface 21 is designed according to the shape of the part 24 to be processed, ensuring that the profiling surface 21 is consistent with the part 24 to be processed, so that the part 24 to be processed can fit the profiling surface 21 completely; The bottom of the part 24 to be processed is supported during the robot processing, so that the part 24 to be processed will not vibrate during the processing, thus ensuring that the processing accuracy of the part 24 to be processed meets the processing requirements.

In this embodiment, two positioning holes 242 are provided on one side of the part 24 to be processed. The positioning holes 242 are specially designed and can be used as a positioning reference for robot positioning. The robot passes through the two positioning holes 242 on the part 24 to be processed. To determine the spatial position of the part 24 to be processed relative to the robot, and plan the processing trajectory. Corresponding positions on the profiling surface 21 are also provided with two identical positioning holes 212 . The edge of the base 1 corresponding to the positioning hole 212 is the first edge 11, the edge of the base 1 opposite to the first edge is the third edge 13, and the edge of the base 1 adjacent to the first edge is the third edge respectively. The second edge 12 and the fourth edge 14 , the positioning hole 212 is located above the first edge 11 of the base 1 .

Further, the detachable fixture for robot processing provided in this embodiment also includes a positioning block 4 for robot positioning. The positioning block 4 is arranged above the base 1 and connected to the support device 2. The robot determines the position of the robot through the positioning block 4. The spatial coordinate position of the fixture relative to the robot. In this embodiment, the positioning block 4 is connected to the profiled surface support plate 22 and is located above the first edge 11 . In one embodiment, as long as the robot can determine the spatial coordinate position of the fixture relative to the robot through the positioning block 4, the positioning block 4 can be arranged at any position above the base 1 as required.

In this embodiment, the middle part of the part 24 to be processed is provided with a part through hole 241, the part through hole 241 is larger than the inner ring fixing device 3, and the corresponding position of the profiling surface 21 is provided with the same profiling surface through hole 211, and the profiling surface The corresponding position of the surface support plate 22 is also provided with the same support part through hole 221, and the inner ring fixing device 3 is placed in the part through hole 241, the profiling surface through hole 211 and the support part through hole 221 and connected with the connecting plate 23 .

Referring to Fig. 6, further, the inner ring fixing device 3 includes an inner ring fixing part 31 for fixing the part 24 to be processed and a supporting ring 33 for supporting the inner ring fixing part 31, and the inner ring fixing part 31 is fixedly installed on On the support ring 33, the bottom of the support ring 33 is provided with a draw-in groove 331, and the limit block 332 is connected with the draw-in groove 331, and the limit block 332 is connected with the coordination block 233 on the support device 2. On the one hand, the inner The ring fixing part 31 can be quickly installed by the cooperation of the limiting block 332 and the coordination block 233 during installation. A rubber pad is placed in the avoidance space 2332, so that the inner ring fixing part 31 cannot move freely, so that the parts 24 to be processed can be better fixed, which in turn helps to improve the processing quality of the parts.

In this embodiment, the supporting ring 33 is connected to the connecting plate 23, and a first pad 32 is also provided between the inner ring fixing part 31 and the supporting ring 33, and the inner ring fixing part 31 is supported by the first pad 32. Ring 33 connects. On the one hand, the first spacer 32 is conducive to better fixing the inner ring fixing part 31, on the other hand, the selection of the first spacer 32 of different heights can adjust the height of the inner ring fixing part 31, so that the parts to be processed can be better fixed twenty four.

In this embodiment, the number of the inner ring fixing parts 31 is six, and the six inner ring fixing parts 31 are installed on the supporting ring 33 at intervals, so that different parts of the workpiece 24 to be processed can be fixed. In one embodiment, the number of inner ring fixing parts 31 can also be set according to needs.

Please refer to FIG. 7 , the inner ring fixing part 31 includes a first connection part 311 for connecting with the supporting ring 33, a first pressing part 312 for contacting with the part 24 to be processed, a first pressing bolt 313 and a For the first handle 314 that applies pressure, the first pressing part 312 is connected with the first pressing bolt 313, the first pressing bolt 313 is hinged with the first handle 314 and the first pressing bolt 314 is hinged with the first connecting part 311 , so that the first compression bolt 313 can rotate relative to the first handle 314 and the first compression bolt 313 can rotate relative to the first connecting part 314, and the first handle 314 is hinged with the first connecting part 311, so that the first The handle 314 can rotate relative to the first connecting portion 311 , and the first connecting portion 311 is fixedly connected to the supporting ring 33 .

In this embodiment, the first connecting part 311 is connected to the supporting ring 33 through the first spacer 32, the first pressing bolt 313 is provided with a first slide groove 3131, and the first pressing part 312 includes a The first screw rod 3121 in the sliding groove 3131, the first screw rod 3121 can slide along the first sliding groove 3131, thereby adjusting the contact position between the first screw rod 3121 and the part 24 to be processed, the first screw rod 3121 is close to the upper and lower sides of the first sliding groove 3131 The first lock nut 3122 is set on the position, and the part of the first screw rod 3121 contacting with the part 24 to be processed is coated with the first sleeve head 3123. The material of the first sleeve head 3123 can be neoprene, which can play a protective role. The function of processing the part 24 and preventing the first sleeve 3123 from scratching the part 24 to be processed when it contacts the part 24 to be processed.

In another embodiment, the first pressing bolt 313 includes a first connecting rod and a first fixing slot for fixing the first pressing part 312, and the first pressing part 312 cannot slide in the first pressing bolt 313 .

The working principle of the inner ring fixing part 31 is as follows: when the part 24 to be processed is fixed by the inner ring fixing part 31, first the first connecting part 311 is connected with the supporting ring 33 through the first spacer 32, so that the inner ring fixing part 31 is fixed , and then loosen the first locking nut 3122, so that the first screw rod 3121 can slide freely along the first slide groove 3131, after adjusting the first screw rod 3121 to a proper position, tighten the first locking nut 3122, so that the first screw rod 3121 and The relative position of the first sliding groove 3131 is fixed, and then the first handle 314 is pressed, so that the first screw rod 3121 and the first sleeve head 3123 press down on the part 24 to be processed, thereby fixing the part 24 to be processed; , loosen the inner ring fixing part 31 , so that the first screw rod 3121 and the first sleeve head 3123 are upwardly separated from the workpiece 24 to be processed.

Further, the supporting ring 33 also includes a loading and unloading handle 333 for loading and unloading the inner ring fixing device 3 , the loading and unloading handle 333 is arranged above the supporting ring 33 and fixedly connected with the supporting ring 33 . In this embodiment, the number of loading and unloading handles 333 is two, and the two loading and unloading handles 333 are relatively set up on the supporting ring 33 , which is convenient for installing and dismounting the inner ring fixing device 3 .

Please refer to Fig. 1, Fig. 2 and Fig. 8, further, the detachable clamp for robot processing provided by this embodiment also includes an outer ring fixing device 5 for fixing the parts 24 to be processed, and the outer ring fixing device 5 is located on The opposite sides of the supporting device 2 and the outer ring fixing device 5 are connected with the base 1 . In this embodiment, the outer ring fixing device 5 is disposed on the second edge 12 and the fourth edge 14 of the base 1 .

The outer ring fixing device 5 includes a base 51 for connecting with the base 1, a base pressing block 54 for fixing the base 51 on the base 1, and an outer ring fixing part 53 for fixing the parts 24 to be processed. The fixing part 53 is arranged on the top of the base 51 and is fixedly connected with the base 51. The base pressing block 54 is connected with the base 1 and a through hole is formed between the base pressing block 54 and the base 1. The base 51 includes a base connecting portion 511 and a self-base connection. The first protrusion 512 and the second protrusion 513 extending vertically at both ends of the part 51, the base connection part 51 is arranged in the above-mentioned through hole and can move in the direction of approaching or away from the supporting device 2 in the above-mentioned through hole, so that The base 51 is driven to move in a direction approaching or away from the support device 2 in the through hole, and then the outer ring fixing part 53 is driven to move in a direction approaching to or away from the support device 2 . In this embodiment, a second spacer 52 is provided between the outer ring fixing part 53 and the base 51 , and the outer ring fixing part 53 is connected to the base 51 through the second spacer 52 . On the one hand, the second spacer 52 is conducive to better fixing the outer ring fixing part 53; on the other hand, the second spacer 52 with different heights can adjust the height of the outer ring fixing part 53, thereby better fixing the parts to be processed twenty four.

In this embodiment, the number of outer ring fixing parts 53 is six, three outer ring fixing parts 53 are arranged at intervals on the second edge 12, and the other three outer ring fixing parts 53 are arranged at intervals on the fourth edge 14, each A second spacer 52 and a base 51 are provided below the outer ring fixing part 53, each base 51 includes a base connecting portion 511, and the end of the base connecting portion 511 away from the supporting device 2 is provided with a first protrusion 512, the base One end of the connecting part 511 close to the support device 2 is provided with a second protrusion 513, the outer ring fixing part 53 is connected with the first protrusion 512 through the second spacer 52, and the second protrusion 513 is arranged on the profiling surface of the support device 2 The bottom of the support plate 22 also supports the profiled surface support plate 22 .

Further, the structure of the outer ring fixing part 53 is similar to that of the inner ring fixing device 31, including a second connection part 531 for connecting with the base 51, a second pressing part 532 for contacting the part 24 to be processed, a second The compression bolt 533 and the second handle 534 for applying pressure, the second compression part 532 is connected with the second compression bolt 533, the second compression bolt 533 is hinged with the second handle 534 and the second compression bolt 533 and The second connection part 531 is hinged so that the second compression bolt 533 can rotate relative to the second handle 534 and the second compression bolt 533 can rotate relative to the second connection part 531. The second handle 534 and the second connection part 531 Hinged so that the second handle 534 can rotate relative to the second connection part 531 , and the second connection part 531 is fixedly connected with the base 51 .

In this embodiment, the second connection part 531 is connected to the first protrusion 512 of the base 51 through the second spacer 52, the second pressing bolt 533 is provided with a second sliding groove 5331, and the second pressing part 532 includes a The second screw 5321 placed in the second sliding groove 5331, the second screw 5321 can slide along the second sliding groove 5331, thereby adjusting the contact position between the second screw 5321 and the part 24 to be processed, the second screw 5321 is sleeved up and down There is a second locking nut 5322, and the part of the second screw rod 5321 lower end in contact with the part 24 to be processed is covered with a second sleeve 5323. The material of the second sleeve 5323 can be neoprene, which can protect the parts 24 to be processed, The function of preventing the second sleeve 5323 from scratching the part 24 to be processed when it contacts the part 24 to be processed.

In another embodiment, the second pressing bolt 533 includes a second connecting rod and a second fixing groove for fixing the second pressing part 532, and the second pressing part 532 cannot slide in the second pressing bolt 533 .

The working principle of the outer ring fixing part 53 is as follows: when the part 24 to be processed is fixed by the outer ring fixing part 53, first the second connecting part 531 is connected with the base 51 through the second pad 52, so that the outer ring fixing part 53 is fixed, and then Loosen the second locking nut 5322, so that the second screw rod 5321 can slide freely along the second slide groove 5331, after adjusting the second screw rod 5321 to a suitable position, tighten the second locking nut 5322, so that the second screw rod 5321 and the second The relative position of the slide groove 5331 is fixed, and then the second handle 534 is pressed, so that the second screw rod 5321 and the second sleeve 5323 press down on the part 24 to be processed, thereby fixing the part 24 to be processed; after the processing of the part is completed, loosen Open the outer ring fixing part 53, so that the second screw rod 5321 and the second sleeve head 5323 are upwardly separated from the workpiece 24 to be processed.

The installation process and working principle of the detachable clamp for robot processing provided by this embodiment are as follows: first, the base 1 is fixedly connected to the robot processing platform; then the connecting plate 23 of the support device 2 is fixedly connected to the base 1, and Place the profiling surface support plate 22, the profiling surface 21 and the parts 24 to be processed in sequence from bottom to top above the connecting plate 23. The side surface of the profiling surface support plate 22 above the first edge 11 of the base 1 is connected with a positioning block 4; then the first connecting part 311 is fixedly connected with the support ring 33 through the first spacer 32, the card slot 331 of the support ring 33 is connected with the limit block 332, and the inner ring fixing device 3 is connected by the loading and unloading handle 333 Put it into the through hole of the supporting device 2 and the part 24 to be processed, and then the limit block 332 rotates together with the inner ring fixing device 3, so that the limit block protrusion 3321 enters the coordination block groove 2331, thereby the limit block 331; then place a rubber pad in the avoidance space 2332, so that the limit block 332 cannot move freely, and then fix the inner ring fixing device 3; then install the base 51 of the outer ring fixing device 5 to the supporting device 2 on both sides of the base 1, that is, the second edge 12 and the fourth edge 14 of the base 1, and the base pressing block 54 is fixedly installed on the base 1, so that the base connecting portion 511 of the base 51 is located between the base pressing block 54 and the base 1 and the base 51 can move toward or away from the supporting device 2 , the second connecting portion 531 is connected to the first protrusion 512 of the base 51 through the second spacer 52 .

When starting to process, first process the outer contour of the part 24 to be processed: loosen the outer ring fixing part 53 of the outer ring fixing device 5, and slide the base 51 to the limit position along the direction away from the support device 2, thereby driving the outer ring The fixing part 53 slides to the limit position along the direction away from the supporting device 2, so as to ensure that the outer ring fixing device 5 will not affect the robot when the robot is processing the part 24 to be processed; press down the inner ring fixing part 31 of the inner ring fixing device 3 , so that the part 24 to be processed is fixed; the robot determines the spatial coordinate position of the fixture relative to the robot according to the positioning block 4, and positions the part 24 to be processed through the positioning hole 241 on the part 24 to be processed, and plans the processing track of the robot; then The robot processes the outer contour of the part 24 to be processed according to the planned processing trajectory.

After the outer contour processing is completed, the inner contour of the part 24 to be processed is processed: first, the outer ring fixing device 5 is slid to a predetermined position in a direction close to the support device 2; Fix the part 24; loosen the inner ring fixing part 31, and remove the inner ring fixing device 3 as a whole; the robot processes the inner contour of the part 24 to be processed according to the planned processing trajectory; after the processing is completed, loosen the outer ring fixing device 5. Remove the finished parts.

It should be understood that the above processing sequence can be adjusted according to actual needs, for example, the inner contour of the part 24 to be processed can be processed first, and then the outer contour can be processed, or the part 24 to be processed can be processed multiple times as required.

The beneficial effects of the detachable clamp for robot processing provided by this embodiment are:

(1) Since the card slot 331 is connected with the stop block 332, and the stop block 332 is connected with the coordination block 233 of the support device 2, so that the inner ring fixing device 3 is detachably connected to the support device 2, therefore After the part 24 to be processed is placed on the support device 2, the inner ring fixing device 3 can be installed on the support device 2 very conveniently and quickly, and the part 24 to be processed is fixed, which simplifies the installation process of the fixture and greatly reduces the clamping force. Difficulty in loading and unloading, which saves the time for installing fixtures and improves processing efficiency;

(2) Since the inner ring fixing device 3 and the outer ring fixing device 5 are provided, the automatic processing of the outer contour and the inner contour of the part 24 to be processed can be realized through different fixing methods;

(3) The profiling surface 21 is designed according to the shape of the part 24 to be processed, so that the part 24 to be processed can be completely attached on the profiling surface 21, and the bottom of the part 24 to be processed has a support during the robot processing, so that Part 24 will not vibrate during processing, thus ensuring that the processing accuracy of the part 24 to be processed meets the processing requirements;

(4) The inner ring fixing device and/or the outer ring fixing device are used to fix the part 24 to be processed, so that the part 24 to be processed will not move during the processing, which helps the robot to process the part 24 to be processed, ensuring the processing The quality of the parts produced is stable.

(5) the setting of positioning block 4 enables robot to accurately locate the spatial coordinate position of the fixture relative to the robot, and the positioning hole 241 on the part to be processed 24 then enables the robot to accurately locate the position of the part to be processed 24, which is conducive to improving the accuracy of the parts. Overall machining accuracy.

Referring to Fig. 9, this embodiment also provides a method for processing parts, including:

Step S101: fixing the base to the robot processing platform;

Step S102: installing the support device on the base;

Step S103: installing the part to be processed on the supporting device;

Step S104: detachably install the inner ring fixing device on the supporting device;

Step S105: Fixing the part to be processed by the inner ring fixing device, specifically: fixing the part to be processed by the inner ring fixing part of the inner ring fixing device.

Step S106: Processing the part to be processed by the robot;

Step S107: After the processing is completed, remove the processed parts.

Further, in step S104, the inner ring fixing part of the inner ring fixing device is first installed on the supporting ring of the inner ring fixing device, and then the inner ring fixing device is placed in the through hole in the supporting device, and the supporting The ring is detachably mounted to the connecting plate of the support device. In one embodiment, the supporting ring can also be detachably installed on the connecting plate of the supporting device first, and then the inner ring fixing part can be installed on the supporting ring.

Further, between step S105 and step S106, it also includes installing the outer ring fixing device on the opposite sides of the support device, specifically: firstly, the base of the outer ring fixing device is placed on the base and the base is positioned on the support device On both sides, the base is fixed by the base pressing block, so that the base can move on the base along the direction approaching or away from the supporting device; then the outer ring fixing part of the outer ring fixing device is fixedly installed on the base.

Please refer to Figure 10, further, step S106 is specifically:

Step S1061: Move the outer ring fixing device to the limit position, specifically: loosen the outer ring fixing part, and slide the outer ring fixing device to the limit position away from the support device, so as to ensure that the outer ring fixing device will not affect the robot;

Step S1062: the robot locates the part to be processed, specifically: the robot positions the part to be processed through the positioning block set on the base, determines the spatial coordinate position of the part to be processed relative to the robot, and plans the processing trajectory;

Step S1063: the robot processes the external contour, specifically: the robot processes the external contour of the part to be processed according to the planned processing trajectory;

Step S1064: The outer ring fixing device fixes the parts to be processed, specifically: after the outer contour is processed, slide the outer ring fixing device to a predetermined position in the direction close to the support device, and treat it with the outer ring fixing part of the outer ring fixing device Processed parts are fixed;

Step S1065: remove the fixing device of the inner ring, specifically: loosen the fixing part of the inner ring, and remove the fixing device of the inner ring as a whole;

Step S1066: the robot processes the internal contour, specifically: the robot processes the internal contour of the part to be processed according to the planned processing trajectory;

Step S1067: After the processing is completed, loosen the outer ring fixing device.

It should be understood that the processing of the inner contour and outer contour of the part by the above-mentioned robot can be adjusted according to actual needs. For example, the part to be processed can be fixed by the outer ring fixing part of the outer ring fixing device first, and the inner contour of the part to be processed can be processed by the robot; then the outer ring fixing device can be loosened, and the inner ring fixing device can be installed in the support device , the part to be processed is fixed by the inner ring fixing part, and the outer contour of the part to be processed is processed by the robot. It is also possible to repeatedly process the inner contour and/or outer contour of the part to be processed according to the processing requirements.

The beneficial effect of the method for processing parts provided by this embodiment is that since the inner ring fixing device is detachably connected to the supporting device during the processing of the parts, the inner ring fixing device can be very convenient after the parts are placed on the supporting device And quickly installed on the support device, and fix the parts to be processed, which simplifies the installation process of the fixture, greatly reduces the difficulty of installing and disassembling the fixture, saves the time for installing the fixture, and improves the processing efficiency; due to the inner ring fixing device and The outer ring fixing device, therefore, can realize the automatic processing of the outer contour and inner contour of the parts to be processed through different fixing methods.

The above descriptions are only preferred embodiments of the present utility model, and are not intended to limit the present utility model. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present utility model shall be included in this utility model. within the scope of protection of utility models.

Claims (10)

1. A loading and unloading clamp for robot processing, characterized in that: it includes a base for connecting with the robot processing platform, the base is provided with a supporting device for placing parts to be processed, and the supporting device is There is an inner ring fixing device for fixing the parts to be processed, the bottom of the inner ring fixing device is connected with a limit block, the corresponding position of the support device is provided with a coordination block connected with the limit block, and the inner The ring fixing device and the supporting device are detachably connected to the coordination block through the limiting block. 2. The detachable fixture for robot processing according to claim 1, characterized in that: it also includes a positioning block for robot positioning, the positioning block is arranged above the base and connected with the support device . 3. The loading and unloading fixture for robot processing as claimed in claim 1, characterized in that: the supporting device includes profiling surfaces for supporting the parts to be processed that are set up sequentially from top to bottom, for supporting The profiled surface supporting plate and the connecting plate of the profiled surface, the connecting plate is fixedly connected with the base, and the coordination block is arranged on the connecting plate. 4. The detachable fixture for robot processing according to claim 1, characterized in that: the inner ring fixing device includes an inner ring fixing part for fixing the part to be processed and a fixing part for supporting the inner ring The supporting ring of the fixing part, the inner ring fixing part is fixedly installed on the supporting ring, the bottom of the supporting ring is provided with a card slot, the limit block is connected with the card slot, and the The supporting ring is detachably connected with the coordination block through the limiting block. 5. The loading and unloading clamp for robot processing as claimed in claim 4, characterized in that: the supporting ring also includes a loading and unloading handle for loading and unloading the inner ring fixing device, and the loading and unloading handle is arranged on above the supporting ring and fixedly connected with the supporting ring. 6. The detachable clamp for robot processing according to claim 4, characterized in that: the inner ring fixing part includes a first connection part for connecting with the support ring, for connecting with the to-be The first pressing part, the first pressing bolt and the first handle for applying pressure are in contact with the processing part, the first pressing part is connected with the first pressing bolt, and the first pressing bolt is connected with the first pressing bolt. The first handle is hinged and the first compression bolt is hinged to the first connecting part, the first handle is hinged to the first connecting part, and the first connecting part is fixed to the supporting ring connect. 7. The detachable fixture for robot processing according to claim 4, characterized in that: a first spacer is also provided between the inner ring fixing part and the supporting ring, and the inner ring fixing part It is connected with the supporting ring through the first spacer. 8. The loading and unloading fixture for robot processing according to any one of claims 1 to 7, characterized in that: it also includes an outer ring fixing device for fixing the parts to be processed, and the outer ring fixing device is set On opposite sides of the supporting device and the outer ring fixing device is connected above the base. 9. The detachable fixture for robot processing according to claim 8, characterized in that: the outer ring fixing device includes a base for connecting with the base, for fixing the base on the The base pressing block on the base and the outer ring fixing part for fixing the parts to be processed, the outer ring fixing part is arranged above the base and fixedly connected with the base, the base pressing block and the The base is connected and a through hole is formed between the base pressing block and the base, the base includes a base connection part and a first protrusion and a second protrusion vertically extending from both ends of the base connection part, The base connecting portion is disposed in the through hole and can move in the through hole along a direction approaching or away from the supporting device. 10. The detachable fixture for robot processing according to claim 9, characterized in that: a second spacer is provided between the outer ring fixing part and the base, and the outer ring fixing part passes through the The second pad is connected to the base.