CN107253140A - Synthesis devices and methods therefor is clamped applied to the perceptual positioning that hardware clamp type tool is ground - Google Patents
Synthesis devices and methods therefor is clamped applied to the perceptual positioning that hardware clamp type tool is ground Download PDFInfo
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- CN107253140A CN107253140A CN201710457745.4A CN201710457745A CN107253140A CN 107253140 A CN107253140 A CN 107253140A CN 201710457745 A CN201710457745 A CN 201710457745A CN 107253140 A CN107253140 A CN 107253140A
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- clamping
- mounting seat
- clamping jaw
- type tool
- grinding
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/16—Machines or devices using grinding or polishing belts; Accessories therefor for grinding other surfaces of particular shape
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The present invention provides a kind of perceptual positioning clamping synthesis devices and methods therefor being ground applied to hardware clamp type tool.The perceptual positioning clamps comprehensive body device can accurately synchronize clamping and positioning action in hardware clamp type tool grinding process to hardware clamp type tool, and it can perceive and judge whether grinding attachment fits with hardware clamp type tool in grinding process, the laminating grinding attachment for enabling to hardware clamp type tool flexible simultaneously, carries out flexible grinding.
Description
Technical field
The present invention relates to the present invention relates to the processing field of hardware clamp type tool, and in particular to one kind is applied to hardware
The clamping device and its method of clamp type tool grinding.
Background technology
American-European countries is because the reason such as cultural difference, habits and customs and social cost of serving, to all kinds of hardware ＆ tools
The demand of quality and quantity constantly increase；It is national in the emerging high speed development such as gold brick four countries, it is particularly the long-term height of China
Speed development so that the situation grown continuously and fast is presented in the demand of hardware ＆ tools.Hardware clamp type tool is usual from raw material to finished product
Need forging profile, milling cutter mouthful, bore pan, rivet fix, Surface heat-treatent, grinding skin, multiple step ability such as set leather sheath
The hard hardware clamp type tool of appearance gloss is made.
Now demographic dividend depleted today, the processing technology of hardware ＆ tools is still unusual to fall behind, a large amount of dependences
Manually, the mode that the semi-automatic production of processing technology or traditional-handwork and some processes is combined, this mode of production with
Technique, requires high, the training cycle is long, and operating efficiency is relatively low to operating personnel, and processing environment endangers larger to workers ' health, and
The dust produced is ground, under certain condition, the calamitous security incident such as blast is easily produced, especially this and Chinese manufacturing
2025 and industrial 4.0 standard requirement it is far apart.Therefore, design completes a set of with flexible intelligent Multi-position integral five
Golden clamp type tool automation grinding equipment is significant.
Because China's manufacture level is not also especially high, the handle symmetry of the hardware clamp type tool of production is not high so that
Datum mark is found in the development of automation grinding equipment turns into the wide gap for being difficult to break through.
The content of the invention
Goal of the invention：In order to overcome above mentioned problem, the present invention provides a kind of perception being ground applied to hardware clamp type tool
Positioning clamps synthesis devices and methods therefor.The perceptual positioning clamps comprehensive body device can be accurately in hardware clamp type tool
Synchronize clamping and positioning action in grinding process to hardware clamp type tool, and can perceive in grinding process grinding attachment with
Whether hardware clamp type tool fits, while enabling to the flexible laminating grinding attachment of hardware clamp type tool, carries out flexible grinding.
Technical scheme：
It is a kind of to clamp comprehensive body device, including synchronous clamping device, flexibility applied to the perceptual positioning that hardware clamp type tool is ground
Grinding mechanism and grinding sensing mechanisms；Wherein：The synchronous clamping device, can synchronously clamp hardware clamp type tool and be in axle
To symmetrical two ends, including clamping mounting seat, lazy-tongs, fixture and electromagnet；Lazy-tongs, electromagnet are installed in folder
Hold in mounting seat；Hardware clamp type tool is adsorbed in electromagnet by magnetic effect；Fixture includes two pieces of clamping jaws, is respectively a left side
Jaw and right clamping jaw are clamped, is symmetrically set up separately in the axis both sides of hardware clamp type tool；At least one in two pieces of clamping jaws
Block clamps jaw with driving opposite/opposite power-driven mechanism moved of left clamping jaw, right clamping jaw to connect, and left clamping
Jaw is connected by lazy-tongs with right clamping jaw；The flexible grinding mechanism, for the synchronous clamping machine of flexible support
Structure, including mounting seat and the elastic supporting member for supporting optical member of more than three, clamping mounting seat pass through each equally distributed elastic supporting member for supporting optical member
It is connected with mounting seat；Clamping mounting seat does the elastic telescopic relative to mounting seat under the restoring force effect of elastic supporting member for supporting optical member
Motion；The grinding sensing mechanisms, can control the grinding of hardware clamp type tool by perceiving synchronous clamping device displacement
Work, including front and rear contact plate, amplifier swing rod and sensor；Amplifier swing rod location and installation is put in mounting seat
One end of device swing rod is fixed by front and rear contact plate with clamping mounting seat greatly, and then activity is set the other end, and in fixed installation
In the detection head sensing range of sensor in mounting seat；The location and installation site of amplifier swing rod and front and rear contact plate it
Between the spacing being smaller than between the location and installation site of amplifier swing rod and biosensor cartridge.
As a further improvement on the present invention, described left and right clamping jaw is respectively correspondingly solid by jaw fixed plate
It is scheduled on left and right linear bearing shell, left and right linear bearing shell is installed on line slideway, and line slideway is then fixed on folder
Hold in mounting seat；Left and right linear bearing shell is connected by lazy-tongs.
As a further improvement on the present invention, lazy-tongs are the quadric chain of W-shape, including left balanced connecting rod, the right side
Balanced connecting rod and left balancing pole, right balancing pole between left balanced connecting rod, right balanced connecting rod, one end of left balanced connecting rod
It is connected with left linear bearing shell, the one end of the other end then successively with left balancing pole, right balancing pole and right balanced connecting rod is connected, it is right
The other end of balanced connecting rod and right linear bearing shell；Left and right balancing pole is fixed on clamping installing plate by balancing pole bearing pin respectively
On；Left clamping jaw and right clamping jaw do same under the power drive of power-driven mechanism, and in the presence of lazy-tongs
The side-to-side movement of step；And left clamping jaw is opposite with the direction of motion of right clamping jaw.
As a further improvement on the present invention, the elastic supporting member for supporting optical member includes linear bearing, slide bar, the bullet being enclosed on slide bar
Spring and fastening assembly；One end of slide bar is fixed in clamping mounting seat, and the other end passes through fastening assembly after passing through mounting seat
It is fixed；Wherein connected between slide bar and mounting seat by linear bearing；Described spring housing is on slide bar；Supported in grinding mechanism
, can be complete by the hardware clamp type tool of synchronous gripper mechanism grips in the presence of elastic supporting member for supporting optical member during pressure synchronization clamping device
Full laminating grinding mechanism, carries out flexible grinding.
As a further improvement on the present invention, amplifier swing rod by location and installation component location and installation in mounting seat
On, the location and installation component includes amplifier axle, amplifier cartridge housing；Amplifier cartridge housing is mutually fixed with mounting seat, amplification
Device swing rod is connected by amplifier axle with amplifier cartridge housing.
As a further improvement on the present invention, power-driven mechanism is cylinder；Mounting seat is installing plate.
Another technical purpose of the present invention is to provide a kind of perceptual positioning clamping work being ground applied to hardware clamp type tool
The method of part, comprises the following steps：（1）Workpiece is sent to the electromagnet of clamping installing plate from feed mechanism, in the driving of cylinder
Under, the clamping jaw of left and right two of synchronous clamping device is synchronous close to center so that workpiece is in position of center line；（2）Mill
Mechanism is cut progressively close to the workpiece being clamped on fixture, until the spacing between grinding mechanism and workpiece is met when requiring, grinding
Sensing mechanisms provides signal by sensor, and grinding mechanism starts grinding work；（3）In the presence of elastic supporting member for supporting optical member, pass through
The hardware clamp type tool of synchronous gripper mechanism grips can fit grinding mechanism completely, carry out flexible grinding；Until grinding is completed.
Further, step（1）Synchronization of the middle synchronous clamping device to workpiece is clamped, and specific motion process is as follows：Treat work
Part is placed on electromagnet, under the collective effect of cylinder and lazy-tongs, and the clamping jaw of left and right two is close to centre, by
There is pressure differential in cylinder, or cylinder it is pneumatic different when, including following two working conditions：
When driving the cylinder of left clamping jaw first to start, then left clamping jaw is first driven to central motion, while driving left straight line
Cartridge housing is to central motion, while promoting left balanced connecting rod to move, left balancing pole rotation is driven, so as to drive right balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it is ensured that left and right clamping jaw motion
Synchronism；
Similarly, if the cylinder of the right clamping jaw of driving first starts, right clamping jaw is first driven to central motion, while driving right
Linear bearing shell promotes right balanced connecting rod motion to central motion, right balancing pole rotation is driven, so as to drive left balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it also can guarantee that left and right clamping jaw fortune
Dynamic synchronism；
Workpiece is synchronized with the movement under close left and right in left and right clamping jaw, is firmly fixed on center line.
Step（2）The specific work process of middle grinding sensing mechanisms is as follows：When the abrasive band of grinding mechanism is to being fixed on synchronization
Workpiece on clamping device close to when, contact plate is moved towards mounting seat before and after driving, now, and amplifier swing rod will be around fixed
Position is installed by site rotation so that the other end relative with front and rear contact plate produces the displacement of the amplification away from mounting seat, should
The displacement of amplification can be detected by a sensor.
Clamped for described synchronous gripper mechanism grips hardware, specific motion process is as follows：Treat work piece to electromagnet
On, under the power drive of left and right cylinder, the clamping jaw of left and right two is close to centre, because cylinder has pressure differential, or
When cylinder is pneumatic different, illustrate in two kinds of situation below：If the 1, the cylinder on the left side first starts, the clamping on the left side is first driven
Jaw is to central motion, while driving left linear bearing shell to central motion, while promoting balanced connecting rod motion, drives balancing pole
Rotation, so as to drive right balanced connecting rod to move, drives right linear bearing shell motion, drives right clamping jaw to central motion, protect
The synchronism of left and right pincers is demonstrate,proved；2nd, similarly, if the right cylinder first starts, it also can guarantee that the synchronization of left and right clamping jaw motion
Property.Therefore workpiece is synchronized with the movement under close left and right in left and right clamping jaw, is firmly fixed on center line.
For described grinding sensing mechanisms, concrete principle is as follows：In grinding mechanism close to being fixed on synchronous clamping machine
Workpiece on structure, while under the action of the spring, the abrasive band of grinding mechanism is firmly abutted with workpiece, because displacement is very micro-
It is small, using the amplifier of displacement enlargement so that sensor is able to detect that.When grinding mechanism is close, front and rear contact plate is moved back by
It is dynamic, the motion of amplifier swing rod is driven, using lever principle, the displacement of amplified pendulum rod one end so that what sensor was surveyed.
According to above-mentioned technical scheme, in terms of existing technologies, the present invention has following beneficial effect：
Comprehensive combination body device is pressed from both sides in perceptual positioning of the present invention, and piece-holder can not only be showed by gripper clamp cause for gossip, and
It can resynchronize in the presence of mechanism so that workpiece is accurately maintained at center, and grinding can be perceived in grinding process, together
When play a part of flexible grinding, therefore, it can meet workpiece（Hardware clamp type tool）Grinding on station.
The present invention coordinates lazy-tongs to the accurate positioning clamping of hardware clamp type tool using the reciprocating motion of cylinder；It is logical
Amplifier mechanism is crossed, it is accurate to perceive grinding, using spring, meet flexible grinding.Therefore, the present invention greatly improves hardware pincers class work
Have the automaticity of post processing, it is cost-effective, efficiency is improved, reliability is improved.
Brief description of the drawings
Fig. 1 is that the perceptual positioning of hardware clamp type tool clamps synthesis apparatus structure schematic diagram
Fig. 2 is that the perceptual positioning of hardware clamp type tool clamps synthesis apparatus structure schematic diagram
Fig. 3 is the lazy-tongs structural diagrams intention that the perceptual positioning of hardware clamp type tool clamps comprehensive body device
Fig. 4 is the flexible grinding mechanism and grinding sensing mechanisms structure chart that the perceptual positioning of hardware clamp type tool clamps comprehensive body device
Schematic diagram
Label in figure：1st, synchronous clamping device；2nd, flexible grinding mechanism；3rd, it is ground sensing mechanisms；4th, mounting seat is clamped；5th, it is synchronous
Mechanism；6th, fixture；7th, electromagnet；8th, linear bearing；9th, line slideway；10th, jaw fixed plate；11st, balanced connecting rod；12nd, balance
Bar；13rd, balancing pole bearing pin；14th, left clamping jaw；15th, right clamping jaw；16th, installing plate；17th, linear bearing；18th, slide bar；
19th, spring；20th, anticreep nylon6 chips；21st, slide bar connecting rod；22nd, front and rear contact plate；23rd, amplifier swing rod；24th, amplifier axle；
25th, amplifier cartridge housing；26 sensors.
Specific embodiment
A kind of clamped applied to the perceptual positioning that hardware clamp type tool is ground integrates body device, including synchronous clamping device,
Flexible grinding mechanism and grinding sensing mechanisms；Wherein：
The synchronous clamping device, can synchronously clamp hardware clamp type tool and be in axially symmetric two ends, including clamping peace
Fill seat, lazy-tongs, fixture and electromagnet；Lazy-tongs, electromagnet are installed in clamping mounting seat；Hardware clamp type tool
Electromagnet is adsorbed in by magnetic effect；Fixture includes two pieces of clamping jaws, respectively left clamping jaw and right clamping jaw, right
Ground is claimed to set up separately in the axis both sides of hardware clamp type tool；At least one piece clamping jaw is with driving left gripper clamp in two pieces of clamping jaws
Mouthful, right clamping jaw it is opposite/the power-driven mechanism connection moved opposite to each other, and left clamping jaw passes through lazy-tongs and right clamping
Jaw is connected.
Described left and right clamping jaw is respectively correspondingly fixed on left and right linear bearing shell by jaw fixed plate,
Left and right linear bearing shell is installed on line slideway, and line slideway is then fixed in clamping mounting seat；Left and right linear axis
Shell is held to connect by lazy-tongs.
Lazy-tongs be W-shape quadric chain, including left balanced connecting rod, right balanced connecting rod and in it is left balance connect
Left balancing pole, right balancing pole between bar, right balanced connecting rod, one end of left balanced connecting rod is connected with left linear bearing shell, another
One end then successively with left balancing pole, right balancing pole and right balanced connecting rod is held to be connected, the other end of right balanced connecting rod and the right side are straight
Line cartridge housing；Left and right balancing pole is fixed on clamping installing plate by balancing pole bearing pin respectively；Left clamping jaw and right gripper clamp
Mouth is under the power drive of power-driven mechanism, and in the presence of lazy-tongs, does synchronous side-to-side movement；And left gripper clamp
Mouth is opposite with the direction of motion of right clamping jaw.
The flexible grinding mechanism, for the synchronous clamping device of flexible support, including mounting seat and more than three
Elastic supporting member for supporting optical member, clamping mounting seat is connected by each equally distributed elastic supporting member for supporting optical member with mounting seat；Mounting seat is clamped in bullet
Property support member restoring force effect under do relative to mounting seat elastic telescopic motion.
The elastic supporting member for supporting optical member includes linear bearing, slide bar, the spring and fastening assembly being enclosed on slide bar；The one of slide bar
End is fixed in clamping mounting seat, and the other end is fixed after passing through mounting seat by fastening assembly；Wherein slide bar and mounting seat
Between connected by linear bearing；Described spring housing is on slide bar；When grinding mechanism compresses synchronous clamping device, in elasticity
It in the presence of support member, can completely be fitted grinding mechanism, carried out flexible by the hardware clamp type tool of synchronous gripper mechanism grips
Grinding.
The grinding sensing mechanisms, can control the mill of hardware clamp type tool by perceiving synchronous clamping device displacement
Cut work, including front and rear contact plate, amplifier swing rod and sensor；Amplifier swing rod location and installation in mounting seat, and
One end of amplifier swing rod is fixed by front and rear contact plate with clamping mounting seat, and then activity is set the other end, and in fixed peace
In the detection head sensing range of sensor in mounting seat；The location and installation site of amplifier swing rod and front and rear contact plate
Between the spacing being smaller than between the location and installation site of amplifier swing rod and biosensor cartridge.
Amplifier swing rod is by location and installation component location and installation in mounting seat, and the location and installation component includes amplification
Device axle, amplifier cartridge housing；Amplifier cartridge housing is mutually fixed with mounting seat, and amplifier swing rod passes through amplifier axle and amplifier
Cartridge housing is connected.
Power-driven mechanism is cylinder；Mounting seat is installing plate.
A kind of method for clamping workpiece applied to the perceptual positioning that hardware clamp type tool is ground, comprises the following steps：（1）From
Feed mechanism send workpiece to the electromagnet of clamping installing plate, under the driving of cylinder, the folder of left and right two of synchronous clamping device
Hold jaw synchronous close to center so that workpiece is in position of center line；（2）Grinding mechanism is progressively close to be clamped on fixture
Workpiece, until the spacing between grinding mechanism and workpiece is met when requiring, grinding sensing mechanisms provides signal by sensor, grinds
Cut mechanism and start grinding work；（3）In the presence of elastic supporting member for supporting optical member, pass through the hardware clamp type tool of synchronous gripper mechanism grips
Can completely be fitted grinding mechanism, carry out flexible grinding；Until grinding is completed.
Step（1）Synchronization of the middle synchronous clamping device to workpiece is clamped, and specific motion process is as follows：Treat that work piece is arrived
On electromagnet, under the collective effect of cylinder and lazy-tongs, the clamping jaw of left and right two is close to centre, because cylinder is deposited
When pressure differential, or cylinder are pneumatic different, including following two working conditions：
When driving the cylinder of left clamping jaw first to start, then left clamping jaw is first driven to central motion, while driving left straight line
Cartridge housing is to central motion, while promoting left balanced connecting rod to move, left balancing pole rotation is driven, so as to drive right balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it is ensured that left and right clamping jaw motion
Synchronism；
Similarly, if the cylinder of the right clamping jaw of driving first starts, right clamping jaw is first driven to central motion, while driving right
Linear bearing shell promotes right balanced connecting rod motion to central motion, right balancing pole rotation is driven, so as to drive left balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it also can guarantee that left and right clamping jaw fortune
Dynamic synchronism；
Workpiece is synchronized with the movement under close left and right in left and right clamping jaw, is firmly fixed on center line.
Step（2）The specific work process of middle grinding sensing mechanisms is as follows：When the abrasive band of grinding mechanism is to being fixed on synchronization
Workpiece on clamping device close to when, contact plate is moved towards mounting seat before and after driving, now, and amplifier swing rod will be around fixed
Position is installed by site rotation so that the other end relative with front and rear contact plate produces the displacement of the amplification away from mounting seat, should
The displacement of amplification can be detected by a sensor.
The implementation to technical scheme is described in further detail below in conjunction with the accompanying drawings：
It is as shown in Figures 1 to 4, of the present invention to clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground,
Including synchronous clamping device 1, flexible grinding mechanism 2 and grinding sensing mechanisms 3；Wherein：Synchronous clamping device, including clamping are installed
Seat, installed in clamping mounting seat on lazy-tongs, the fixture on lazy-tongs and installed in clamping mounting seat on
Electromagnet；The flexible grinding mechanism, including installing plate, linear bearing, slide bar, the spring being enclosed on litter and fixed cunning
The anticreep nylon6 chips and litter connecting rod of bar；The grinding sensing mechanisms, including front and rear contact plate, amplifier swing rod, amplification
Device axle, amplifier cartridge housing and sensor.
Wherein：The synchronous clamping device, as shown in Figure 1, Figure 3, including clamps mounting seat 4, installed in clamping mounting seat
On lazy-tongs 5, the fixture 6 on lazy-tongs and installed in clamping mounting seat on electromagnet 7；It is wherein described
Lazy-tongs, including the linear bearing 8 of left and right two, line slideway 9, jaw fixed plate 10, balanced connecting rod 11, the and of balancing pole 12
Balancing pole bearing pin 13；The fixture includes two pieces of clamping jaws, respectively left clamping jaw 14 and right clamping jaw 15；Described
The clamping jaw of left and right two is fixed on the two linear bearing shells in left and right by jaw fixed plate respectively, and linear bearing shell is arranged on
On line slideway, line slideway is fixed in clamping mounting seat；The linear bearing shell of left and right two passes through the balanced connecting rod of left and right two
It is connected with balancing pole, balancing pole is fixed on clamping installing plate by balancing pole bearing pin.Left clamping jaw and right clamping jaw exist
Under the power drive of cylinder, and in the presence of lazy-tongs, synchronous side-to-side movement is done；And left clamping jaw and right clamping
The direction of motion of jaw is opposite.
Described flexible grinding mechanism, as shown in Figure 1, Figure 2, Figure 4 shows, including installing plate 16, linear bearing 17, slide bar 18,
It is enclosed on spring 19, the anticreep nylon6 chips 20 of fixed slip bar and slide bar connecting rod 21 on litter；Described flexible grinding mechanism
It is connected with synchronous clamping device by slide bar, one end of slide bar is fixed in clamping mounting seat, and the other end passes through anticreep nylon6 chips
Slide bar connecting rod is fixed, and is wherein connected between slide bar and installing plate by linear bearing；Described spring housing is on slide bar.In mill
When cutting mechanism and compressing synchronous clamping device, due to the effect of spring and slide bar, synchronous clamping device can fit grinding mechanism completely,
Carry out flexible grinding.
Described grinding sensing mechanisms, as shown in figure 4, including front and rear contact plate 22, amplifier swing rod 23, amplifier axle
24th, amplifier cartridge housing 25 and sensor 26.Described front and rear contact plate one end with clamping installing plate fix, the other end with
Amplifier swing rod is connected；Described amplifier swing rod is connected by amplifier axle with amplifier cartridge housing；Amplifier cartridge housing with
Installing plate is mutually fixed.Sensor is arranged on the other end of amplifier swing rod, for perceiving the position of amplifier swing rod.
Clamped for described synchronous gripper mechanism grips hardware, specific motion process is as follows：Treat work piece to electromagnet
On, under the power drive of left and right cylinder, the clamping jaw of left and right two is close to centre, because cylinder has pressure differential, or
When cylinder is pneumatic different, illustrate in two kinds of situation below：If the 1, the cylinder on the left side first starts, the clamping on the left side is first driven
Jaw is to central motion, while driving left linear bearing shell to central motion, while promoting balanced connecting rod motion, drives balancing pole
Rotation, so as to drive right balanced connecting rod to move, drives right linear bearing shell motion, drives right clamping jaw to central motion, protect
The synchronism of left and right pincers is demonstrate,proved；2nd, similarly, if the right cylinder first starts, it also can guarantee that the synchronization of left and right clamping jaw motion
Property.Therefore workpiece is synchronized with the movement under close left and right in left and right clamping jaw, is firmly fixed on center line.
For described grinding sensing mechanisms, concrete principle is as follows：In grinding mechanism close to being fixed on synchronous clamping machine
Workpiece on structure, while under the action of the spring, the abrasive band of grinding mechanism is firmly abutted with workpiece, because displacement is very micro-
It is small, using the amplifier of displacement enlargement so that sensor is able to detect that.When grinding mechanism is close, front and rear contact plate is moved back by
It is dynamic, the motion of amplifier swing rod is driven, using lever principle, the displacement of amplified pendulum rod one end so that what sensor was surveyed.
Therefore, the method for the present invention for clamping workpiece applied to the perceptual positioning that hardware clamp type tool is ground, including
Following steps：（1）Workpiece is sent to the electromagnet of clamping installing plate from feed mechanism, under the driving of cylinder, synchronous clamping machine
The clamping jaw of left and right two of structure is synchronous close to center so that workpiece is in position of center line；（2）Grinding mechanism is close to clamping
The workpiece in synthesis is clamped in perceptual positioning, only grinding mechanism is close to a certain degree, in the presence of sensing mechanisms, sensing
Device obtains signal, and now grinding could be carried out；（3）Under the action of the spring, flexible grinding is carried out.（4）It is to be ground to complete,
Carry out changing face action with the help of clamping device；（5）Repeat step 2-3, until grinding is completed.
Technological means disclosed in the present invention program is not limited only to the technological means disclosed in above-mentioned technological means, in addition to
Constituted technical scheme is combined by above technical characteristic.
Using the above-mentioned desirable embodiment according to the present invention as enlightenment, by above-mentioned description, relevant staff is complete
Various changes and amendments can be carried out without departing from the scope of the technological thought of the present invention' entirely.The technology of this invention
Property scope is not limited to the content on specification, it is necessary to its technical scope is determined according to right.
Claims (9)
1. a kind of clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is characterised in that including synchronization
Clamping device, flexible grinding mechanism and grinding sensing mechanisms；Wherein：
The synchronous clamping device, can synchronously clamp hardware clamp type tool and be in axially symmetric two ends, including clamping peace
Fill seat, lazy-tongs, fixture and electromagnet；Lazy-tongs, electromagnet are installed in clamping mounting seat；Hardware clamp type tool
Electromagnet is adsorbed in by magnetic effect；Fixture includes two pieces of clamping jaws, respectively left clamping jaw and right clamping jaw, right
Ground is claimed to set up separately in the axis both sides of hardware clamp type tool；At least one piece clamping jaw is with driving left gripper clamp in two pieces of clamping jaws
Mouthful, right clamping jaw it is opposite/the power-driven mechanism connection moved opposite to each other, and left clamping jaw passes through lazy-tongs and right clamping
Jaw is connected；
The flexible grinding mechanism, for the synchronous clamping device of flexible support, including mounting seat and the elasticity of more than three
Support member, clamping mounting seat is connected by each equally distributed elastic supporting member for supporting optical member with mounting seat；Mounting seat is clamped to prop up in elasticity
The elastic telescopic motion relative to mounting seat is done under the restoring force effect of support member；
The grinding sensing mechanisms, can control the grinding work of hardware clamp type tool by perceiving synchronous clamping device displacement
Make, including front and rear contact plate, amplifier swing rod and sensor；Amplifier swing rod location and installation is in mounting seat, and amplification
One end of device swing rod is fixed by front and rear contact plate with clamping mounting seat, and then activity is set the other end, and in being fixedly mounted on
In the detection head sensing range of sensor in mounting seat；Between the location and installation site of amplifier swing rod and front and rear contact plate
The spacing being smaller than between the location and installation site of amplifier swing rod and biosensor cartridge.
2. according to claim 1 clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, described left and right clamping jaw is respectively correspondingly fixed on left and right linear bearing shell by jaw fixed plate, left,
Right linear bearing shell is installed on line slideway, and line slideway is then fixed in clamping mounting seat；Left and right linear bearing shell
Connected by lazy-tongs.
3. according to claim 2 clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, lazy-tongs be W-shape quadric chain, including left balanced connecting rod, right balanced connecting rod and in it is left balance connect
Left balancing pole, right balancing pole between bar, right balanced connecting rod, one end of left balanced connecting rod is connected with left linear bearing shell, another
One end then successively with left balancing pole, right balancing pole and right balanced connecting rod is held to be connected, the other end of right balanced connecting rod and the right side are straight
Line cartridge housing；Left and right balancing pole is fixed on clamping installing plate by balancing pole bearing pin respectively；Left clamping jaw and right gripper clamp
Mouth is under the power drive of power-driven mechanism, and in the presence of lazy-tongs, does synchronous side-to-side movement；And left gripper clamp
Mouth is opposite with the direction of motion of right clamping jaw.
4. according to claim 1 clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, the elastic supporting member for supporting optical member includes linear bearing, slide bar, the spring and fastening assembly being enclosed on slide bar；The one of slide bar
End is fixed in clamping mounting seat, and the other end is fixed after passing through mounting seat by fastening assembly；Wherein slide bar and mounting seat
Between connected by linear bearing；Described spring housing is on slide bar；When grinding mechanism compresses synchronous clamping device, in elasticity
It in the presence of support member, can completely be fitted grinding mechanism, carried out flexible by the hardware clamp type tool of synchronous gripper mechanism grips
Grinding.
5. according to claim 1 clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, amplifier swing rod is by location and installation component location and installation in mounting seat, and the location and installation component includes amplification
Device axle, amplifier cartridge housing；Amplifier cartridge housing is mutually fixed with mounting seat, and amplifier swing rod passes through amplifier axle and amplifier
Cartridge housing is connected.
6. according to claim 1 clamp comprehensive body device applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, power-driven mechanism is cylinder；Mounting seat is installing plate.
7. a kind of method for clamping workpiece applied to the perceptual positioning that hardware clamp type tool is ground, it is characterised in that including following
Step：（1）Workpiece is sent to the electromagnet of clamping installing plate from feed mechanism, under the driving of cylinder, synchronous clamping device
The clamping jaw of left and right two is synchronous close to center so that workpiece is in position of center line；（2）Grinding mechanism is progressively close to clamping
Workpiece on fixture, until the spacing between grinding mechanism and workpiece is met when requiring, grinding sensing mechanisms passes through sensor
Signal is provided, grinding mechanism starts grinding work；（3）In the presence of elastic supporting member for supporting optical member, pass through synchronous gripper mechanism grips
Hardware clamp type tool can fit grinding mechanism completely, carry out flexible grinding；Until grinding is completed.
8. the method according to claim 7 for clamping workpiece applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, step（1）Synchronization of the middle synchronous clamping device to workpiece is clamped, and specific motion process is as follows：Treat work piece to electricity
On magnet, under the collective effect of cylinder and lazy-tongs, the clamping jaw of left and right two is close to centre, because cylinder is present
Pressure differential, or cylinder it is pneumatic different when, including following two working conditions：
When driving the cylinder of left clamping jaw first to start, then left clamping jaw is first driven to central motion, while driving left straight line
Cartridge housing is to central motion, while promoting left balanced connecting rod to move, left balancing pole rotation is driven, so as to drive right balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it is ensured that left and right clamping jaw motion
Synchronism；
Similarly, if the cylinder of the right clamping jaw of driving first starts, right clamping jaw is first driven to central motion, while driving right
Linear bearing shell promotes right balanced connecting rod motion to central motion, right balancing pole rotation is driven, so as to drive left balanced connecting rod to transport
It is dynamic, right linear bearing shell motion is driven, and then drive right clamping jaw to central motion, it also can guarantee that left and right clamping jaw fortune
Dynamic synchronism；
Workpiece is synchronized with the movement under close left and right in left and right clamping jaw, is firmly fixed on center line.
9. the method according to claim 7 for clamping workpiece applied to the perceptual positioning that hardware clamp type tool is ground, it is special
Levy and be, step（2）The specific work process of middle grinding sensing mechanisms is as follows：When the abrasive band of grinding mechanism is to being fixed on synchronous folder
Hold workpiece in mechanism close to when, contact plate is moved towards mounting seat before and after driving, and now, amplifier swing rod will be around positioning
Site rotation is installed so that the other end relative with front and rear contact plate produces the displacement of the amplification away from mounting seat, and this is put
Big displacement can be detected by a sensor.
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| WO2021141585A1 (en) | 2020-01-09 | 2021-07-15 | Itt Manufacturing Enterprises Llc | Pneumatic parallel gripper |
| CN113798978A (en) * | 2021-11-03 | 2021-12-17 | 扬州朗玛科技有限公司 | Processing device for polishing two sides of clamp body |
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