CN105479465B - Manual imitation grinding machine handss - Google Patents
Manual imitation grinding machine handss Download PDFInfo
- Publication number
- CN105479465B CN105479465B CN201610060397.2A CN201610060397A CN105479465B CN 105479465 B CN105479465 B CN 105479465B CN 201610060397 A CN201610060397 A CN 201610060397A CN 105479465 B CN105479465 B CN 105479465B
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- CN
- China
- Prior art keywords
- connecting rod
- driven gear
- follow
- supporting roller
- rod
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to automatic mechanical hand technical field, specifically a kind of manual imitation grinding machine handss, including flexible finger and reciprocating motion hand, moving back and forth hand includes reciprocable rod, driving gear；Driving gear is engaged with driven gear I；Driven gear I is coaxial with driven gear II, and driven gear II is driven by follow-up connecting rod b with supporting roller II；Supporting roller II is coaxial with supporting roller I；Follower link two ends are connected with reciprocable rod, driven gear I respectively；Follow-up connecting rod c two ends are connected with reciprocable rod, supporting roller I respectively；Connected by follow-up connecting rod a between driven gear I and supporting roller I；Drive connecting rod two ends are connected with reciprocable rod and driving gear respectively, and drive connecting rod and follower link are symmetrical fork.The manual imitation grinding machine handss that the present invention is provided, simple structure are easy to operate, wiper angle adjust automatically, are capable of achieving manual polishing action, can carry out polishing operation to profile complex part, with good polishing effect.
Description
Technical field
The present invention relates to automatic mechanical hand technical field, particularly manual imitation grinding machine handss.
Background technology
With attention of the people to product appearance moulding, either the articles for daily use or the profile of industrial products are more and more multiple
Miscellaneous, the polishing workload of workpiece or mould is increasing in production, is substituted using grinding machine handss and manually realizes workpiece
Automatically grinding is that trend is sent out in current polishing processing right.Chinese patent CN103009244A discloses a kind of disconnected for clinker
The mechanical hand of face polishing, substantially increases the quality and efficiency of clinker polishing.Chinese patent CN103639867A is disclosed
A kind of Robot polisher, the invention improve the automatization level of sanding operation, reduce cost, but are difficult to realize profile
The polishing of complex part.Existing mechanical hand polishing has two kinds of polishing modes：One kind is that workpiece is fixed, the rotary mill of mechanical hand-held
Tool is polished to surface of the work, it is adaptable to extreme large and heavy workpiece；Another kind is that grinding tool is fixed, and mechanical hand-held workpiece is beaten on grinding tool
Mill, it is adaptable to miniature workpiece.Both operating types mostly fed back through control polishing normal pressure, appropriate table using force transducer
The larger rigid workpiece of surface hardness.Also applicable automatically grinding is not mechanical for the complex surface workpiece little for surface of the work hardness
Handss.
The workpiece configurations such as resin die, sanitary ceramic body are complicated, case hardness is low, and traditional utilizes mechanical " grinding " formula
Polishing can not meet its requirement, its polishing operation is most of still to adopt manual polishing mode.But, with the increasing of recruitment cost
Plus and product demand increase, manual polishing operation has become for raising labour productivity big obstacle, be badly in need of it is a kind of automatically
Change production equipment to solve this difficult problem.
The content of the invention
Present invention aim at providing one kind is different from tradition using rotation " grinding " polishing action, artificial " reciprocal " is imitated
The grinding machine handss of motion polishing action.The mechanical hand is arranged on multivariant mechanical arm tail end, by being hinged finger
Angle change feed back curve surface of workpiece change, control polishing pressure, be particularly suited for soft, large complicated surface piece from
Dynamic polishing processing.
For achieving the above object, the present invention employs the following technical solutions realization：
Manual imitation grinding machine handss, including flexible finger and reciprocating motion hand, move back and forth hand and joint robotic arm
End wrist is connected；Described reciprocating motion hand includes reciprocable rod, driving gear；Driving gear and motor coaxle, and
Engage with driven gear I；Driven gear I is coaxial with driven gear II, and driven gear II and supporting roller II is by servo-actuated company
Bar b is driven；Supporting roller II is coaxial with supporting roller I；Follower link two ends are connected with reciprocable rod, driven gear I respectively；With
Dynamic connecting rod c two ends are connected with reciprocable rod, supporting roller I respectively；Pass through follow-up connecting rod a between driven gear I and supporting roller I
Connection；Described follower link, reciprocable rod, follow-up connecting rod c, follow-up connecting rod a form parallel-crank mechanism；Drive connecting rod
Two ends are connected with reciprocable rod and driving gear respectively, and drive connecting rod, the follower link junction point on reciprocable rod is same point,
And drive connecting rod and follower link are symmetrical fork.
Specifically, driving gear, driven gear I, supporting roller I are arranged on base plate the same side and pivot center is parallel, main
Moving gear is engaged with driven gear I；
Motor, driven gear II and supporting roller II are arranged on the opposite side of base plate；Motor output shaft is same with driving gear
Axle is fixedly connected；Driven gear II is fixedly and coaxially connected with driven gear I, and supporting roller II and supporting roller I is coaxially fixed to be connected
Connect；
Drive connecting rod, follower link and follow-up connecting rod c are same length link；Drive connecting rod one end is passed through with driving gear
Secondary connection is rotated, follower link one end is connected by rotating pair with driven gear I；The other end of drive connecting rod, follower link
The other end is secondary coaxially connected by rotating with the intermediate shaft hole of reciprocable rod respectively；
Follow-up connecting rod a and follow-up connecting rod b are same length link, and length is equal to driven gear I and supporting roller I between centers
Away from；Follow-up connecting rod a two ends are connected by rotating pair with driven gear I and supporting roller I respectively；Distinguish at follow-up connecting rod b two ends
It is connected by rotating pair with driven gear II and supporting roller II；Follow-up connecting rod b is parallel with follow-up connecting rod a；Follow-up connecting rod c
One end is connected in the rotation pair of follow-up connecting rod a and supporting roller I, and the other end is connected by rotating pair with reciprocable rod end；
Flexible finger is arranged on reciprocable rod the other end.
The rotation being connected with connecting rod on driving gear, driven gear I, driven gear II and supporting roller I, supporting roller II
It is secondary equal with the eccentric throw of each train centrage.
Flexible finger includes three pairs of fingers being hinged, and the finger butt per a pair of finger is connected by rotating secondary and finger bracket
Connect, and a coaxially connected angular transducer；There is rotating spring to connect between two fingers of each pair finger, wiper is flexible multi-layered
Laminated structure, installed in the end of finger.
The manual imitation grinding machine handss that the present invention is provided, simple structure are easy to operate, and wiper angle adjust automatically can be real
Existing manual polishing action, can carry out polishing operation to profile complex part, with good polishing effect.
Description of the drawings
Fig. 1 is the main structure diagram of the present invention；
Fig. 2 is the overlooking the structure diagram of the present invention；
Fig. 3 is the schematic diagram of mechanism of the present invention；
Fig. 4 is the flexible finger structural representation of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings and embodiment is being described further to the present invention.
As depicted in figs. 1 and 2, manual imitation grinding machine handss, including flexible finger 1 and reciprocating motion hand, flexible finger 1
It is fixed on reciprocating motion hand, moves back and forth hand and be connected with joint robotic arm end wrist.
Specifically, flexible finger 1 is arranged on reciprocable rod 21.
Driving gear 23, driven gear I 24, supporting roller I26 are arranged on 27 the same side of base plate, by rotating secondary and base plate
27 connections, driving gear 23, driven gear I 24, supporting roller I26 pivot center it is parallel, driving gear 23 and driven gear I
24 intermeshings.
Motor 211, driven gear II 212 and supporting roller II 213 are arranged on the opposite side of base plate 27.Motor 211 is fixed
On base plate 27,211 output shaft of motor is fixedly and coaxially connected with driving gear 23.Driven gear II 212 and driven gear
I 24 is fixedly and coaxially connected, and supporting roller II 213 is fixedly and coaxially connected with supporting roller I 26.
There is the axis hole of diameter parallel at drive connecting rod 22, follower link 210 and 29 two ends of follow-up connecting rod c, between three bar axis holes
Away from equal.22 one end axis hole of drive connecting rod and driving gear 23 be connecteds by rotating pair, turns auxiliary shaft line and 23 axle of driving gear
Line is parallel；210 one end axis hole of follower link and driven gear I 24 be connecteds by rotating pair, turns auxiliary shaft line and driven gear I
24 diameter parallels.The jackshaft of the other end axis hole of drive connecting rod 22, the other end axis hole of follower link 210 and reciprocable rod 21
Hole is secondary coaxially connected by rotating.
There is the axis hole of diameter parallel at follow-up connecting rod a 25 and 28 two ends of follow-up connecting rod b, and two bar axis hole spacing are equal and wait
In driven gear I 24 and 26 distance between axles of supporting roller I.25 two ends axis holes of follow-up connecting rod a respectively with driven gear I 24 and servo-actuated
Wheel I 26 by rotating secondary connection, turns auxiliary shaft line with 24 diameter parallels of driven gear I.28 two ends axis holes of follow-up connecting rod b
Respectively with driven gear II 212 and supporting roller II 213 by rotate pair be connected, turns auxiliary shaft line with 24 axles of driven gear I
Line is parallel.Follow-up connecting rod b 28 is parallel with follow-up connecting rod a 25, and two ends turns auxiliary shaft line is misaligned.29 one end of follow-up connecting rod c
Axis hole is connected in the rotation pair of follow-up connecting rod a 25 and supporting roller I 26, and other end axis hole is led to 21 end axis hole of reciprocable rod
Cross the secondary connection of rotation.
As shown in figure 3, distance,WithIt is equal, distance、WithIt is equal, distanceWithIt is equal, directly
Line,WithIt is parallel.
As shown in figure 4, flexible finger 1 includes three pairs of fingers 15 being hinged, rotating spring 11, bearings 12, angular transducer
13rd, support 14 and wiper 16.Every finger 15 is rod-like structure, refers to that butt is connected with finger bracket 14 by rotating pair,
And a coaxially connected angular transducer 13, for testing 15 pendulum angle of finger.Two fingers of each pair finger 15 are located substantially
It is distributed in " eight " word in same plane, between two fingers, has rotating spring 11 to connect, spring force direction is by finger to " eight " word
Intrinsic pressure, 15 inside structure of finger limits two fingers, 15 minimum angles.The rotation pair that all fingers 15 are connected with finger bracket 14
Rotating shaft is parallel to each other, and runs on one plane or be symmetrically distributed in a plane both sides.Three pairs of 15 place planes of finger are put down
Go and spacing is identical.Wiper 16 is flexible multi-layered laminated structure, is connected with 15 end of every finger.
The manual imitation grinding machine handss of the present invention are arranged on multivariant mechanical arm tail end, realize with mechanical arm linkage multiple
Miscellaneous surface piece polishing operation.Polishing operation action is realized as follows：
Move back and forth hand and 23 continuous rotation of driving gear, driving gear 23 and driven gear I are driven by motor 211
24 engaged transmissions.Two gears rotarily drive drive connecting rod 22 and follower link 210 is moved, and realize Fig. 3 midpoints along linear reciprocation
Motion.Driven gear I 24 is passed through follow-up connecting rod a 25 and follow-up connecting rod b 28 and drives supporting roller I 26 to be rotated with same rotational speed.
As follow-up connecting rod a 25 and follow-up connecting rod b 28 are misaligned, therefore driven gear I 24 is avoided and supporting roller I 26 was rotated
Singular point in journey.Driven gear I 24 and supporting roller I 26 keeps same rotational speed rotation, follow-up connecting rod a 25 and reciprocable rod
21 remain parallel, i.e. Fig. 3 tetragonsParallelogram is always, so as to ensure that reciprocable rod 21 and its rod end
In 1 motor process of flexible finger of connection, attitude is constant.The reciprocating motion hand realizes fast in 1 certain distance of flexible finger
Fast straight reciprocating motion polishing.
1 end of flexible finger under the drive of joint robotic arm with absorption surface, each pair finger 15 two finger between angle with
Which refers to that root is reduced with workpiece distance and increased.Due to the effect of rotating spring 11 between 15 liang of fingers of each pair finger, between two fingers, angle is determined
Determined the pressure size that finger is pressed in surface of the work, polishing pressure has been realized by detecting and adjusting the corner dimension of middle a pair of finger
Power is controlled.Between the finger of two fingers of both sides, the whether equal degree of agreement for reflecting wiper and surface of the work of angle, passes through
Adjustment gripper pose keeps both sides to be consistent angle between Fingers, to ensure the comprehensive engagement with workpiece.
Claims (1)
1. a kind of manual imitation grinding machine handss, it is characterised in that：Including flexible finger（1）With reciprocating motion hand, move back and forth
Hand is connected with joint robotic arm end wrist；Described reciprocating motion hand includes reciprocable rod（21）, driving gear（23）；
Driving gear（23）With motor（211）Coaxially, and with driven gear I（24）Engagement；Driven gear I（24）With driven gear
II（212）Coaxially, driven gear II（212）With supporting roller II（213）By follow-up connecting rod b（28）Transmission；Supporting roller II
（213）With supporting roller I（26）Coaxially；Follower link（210）Two ends respectively with reciprocable rod（21）, driven gear I（24）Even
Connect；Follow-up connecting rod c（29）Two ends respectively with reciprocable rod（21）, supporting roller I（26）Connection；Driven gear I（24）With it is servo-actuated
Wheel I（26）Between pass through follow-up connecting rod a（25）Connection；Described follower link（210）, reciprocable rod（21）, follow-up connecting rod c
（29）, follow-up connecting rod a（25）Form parallel-crank mechanism；Drive connecting rod（22）Two ends respectively with reciprocable rod（21）And master
Moving gear（23）Connection, drive connecting rod（22）, follower link（210）In reciprocable rod（21）Upper junction point is same point, and
Drive connecting rod（22）And follower link（210）For symmetrical fork；
Driving gear（23）, driven gear I（24）, supporting roller I（26）Installed in base plate（27）The same side and pivot center are flat
OK, driving gear（23）With driven gear I（24）Engagement；
Motor（211）, driven gear II（212）With supporting roller II（213）Installed in base plate（27）Opposite side；Motor（211）
Output shaft and driving gear（23）It is fixedly and coaxially connected；Driven gear II（212）With driven gear I（24）It is fixedly and coaxially connected,
Supporting roller II（213）With supporting roller I（26）It is fixedly and coaxially connected；
Drive connecting rod（22）, follower link（210）With follow-up connecting rod c（29）It is same length link；Drive connecting rod（22）One end with
Driving gear（23）By rotating secondary connection, follower link（210）One end and driven gear I（24）By rotating secondary connection；It is main
Dynamic connecting rod（22）The other end, follower link（210）The other end respectively with reciprocable rod（21）Intermediate shaft hole by rotate
It is secondary coaxially connected；
Follow-up connecting rod a（25）With follow-up connecting rod b（28）It is same length link, and length is equal to driven gear I（24）With supporting roller I
（26）Distance between axles；Follow-up connecting rod a（25）Two ends respectively with driven gear I（24）With supporting roller I（26）By rotating secondary connection；With
Dynamic connecting rod b（28）Two ends respectively with driven gear II（212）With supporting roller II（213）By rotating secondary connection；Follow-up connecting rod b
（28）With follow-up connecting rod a（25）It is parallel；Follow-up connecting rod c（29）One end is connected to follow-up connecting rod a（25）With supporting roller I（26）Turn
In dynamic pair, the other end and reciprocable rod（21）End is by rotating secondary connection；
Flexible finger（1）Installed in reciprocable rod（21）The other end, described flexible finger（1）Including three pairs of fingers being hinged
（15）, per a pair of finger（15）Finger butt by rotating secondary and finger bracket（14）Connection, and coaxially connected angle biography
Sensor（13）；Each pair finger（15）Two fingers between have rotating spring（11）Connection, wiper（16）Tie for flexible multi-layered lamellar
Structure, installed in finger（15）End.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060397.2A CN105479465B (en) | 2016-01-28 | 2016-01-28 | Manual imitation grinding machine handss |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610060397.2A CN105479465B (en) | 2016-01-28 | 2016-01-28 | Manual imitation grinding machine handss |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105479465A CN105479465A (en) | 2016-04-13 |
| CN105479465B true CN105479465B (en) | 2017-03-29 |
Family
ID=55666917
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610060397.2A Expired - Fee Related CN105479465B (en) | 2016-01-28 | 2016-01-28 | Manual imitation grinding machine handss |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105479465B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106553116B (en) * | 2016-11-29 | 2018-12-04 | 姚美蓉 | A kind of efficient burnishing device of pilotless automobile component surface |
| CN113340891B (en) * | 2021-08-05 | 2021-10-26 | 海安县石油科研仪器有限公司 | High-temperature and high-pressure water rock reaction test cavity convenient to observe |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009244A (en) * | 2012-12-28 | 2013-04-03 | 广西鱼峰水泥股份有限公司 | Mechanical hand for grinding cement clinker end face |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN204010507U (en) * | 2014-08-07 | 2014-12-10 | 南昌工程学院 | Mechanical principle Mechanism Combination teaching demonstration model |
| CN204800397U (en) * | 2015-07-07 | 2015-11-25 | 乌海职业技术学院 | Automatic hand of polishing |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60141473A (en) * | 1983-12-28 | 1985-07-26 | Aida Eng Ltd | Table system for polishing robot |
-
2016
- 2016-01-28 CN CN201610060397.2A patent/CN105479465B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103009244A (en) * | 2012-12-28 | 2013-04-03 | 广西鱼峰水泥股份有限公司 | Mechanical hand for grinding cement clinker end face |
| CN103639867A (en) * | 2013-12-06 | 2014-03-19 | 苏州逸美德自动化科技有限公司 | Robot polisher |
| CN204010507U (en) * | 2014-08-07 | 2014-12-10 | 南昌工程学院 | Mechanical principle Mechanism Combination teaching demonstration model |
| CN204800397U (en) * | 2015-07-07 | 2015-11-25 | 乌海职业技术学院 | Automatic hand of polishing |
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| Publication number | Publication date |
|---|---|
| CN105479465A (en) | 2016-04-13 |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170329 Termination date: 20210128 |