CN211516926U

CN211516926U - Grinding mechanism that industrial robot used

Info

Publication number: CN211516926U
Application number: CN201922370413.XU
Authority: CN
Inventors: 熊建国; 甘君燕
Original assignee: Chongqing City Vocational College
Current assignee: Chongqing City Vocational College
Priority date: 2019-12-26
Filing date: 2019-12-26
Publication date: 2020-09-18
Anticipated expiration: 2029-12-26

Abstract

The utility model discloses a grinding machanism that industrial robot used, including clamping device, removal grinding device and rotating device, clamping device includes clamping jaw and motor one, motor drive the clamping jaw horizontal slip on the crossbeam, the work piece of waiting to polish is held, it is located between two clamping jaws to remove grinding device, it includes lead screw, cylinder and the head of polishing, the lead screw drives under step motor's drive and removes the head of polishing on making the cylinder and polish to the work piece about the cylinder, rotating device includes left turntable, right turntable and motor two, the centre gripping has the work piece in the middle of left side turntable and the right turntable, the right side turntable rotates the work piece of centre gripping under motor two's drive. The utility model discloses be divided with among the solution prior art grinding device and gripper, occupy great space, the polishing of work piece and the transfer of work piece can not go on simultaneously moreover, and waste time reduces work efficiency's problem.

Description

Grinding mechanism that industrial robot used

Technical Field

The utility model relates to a grinding machanism that industrial robot used.

Background

Along with the progress development of science and technology, industrial robot's use has been very extensive, industrial robot has played the important role of replacing manual work in each field, this process of work piece that a lot of produced all need polish, current industrial robot grinding machanism grinding device and gripper are separated, industrial robot holds the work piece from a department with the gripper earlier and removes contact grinding machanism, shift the work piece to another department again after polishing the completion, because some round axle length is shorter, the time of polishing that needs is just short, can accomplish polishing from the in-process of a department transfer to another department completely, the time has been shortened like this, and the production efficiency is improved, grinding device and gripper integration, saved the space and be favorable to arranging more devices.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a grinding machanism that industrial robot used to solve among the prior art grinding device and gripper and be detached, occupy great space, the polishing of work piece and the transfer of work piece can not go on simultaneously moreover, waste time reduces work efficiency's problem.

Grinding machanism that industrial robot used, including clamping device, removal grinding device and rotating device, clamping device includes clamping jaw and motor one, the drive of motor one the clamping jaw sideslip on the crossbeam, the work piece of waiting to polish is held, it is located between two clamping jaws to remove grinding device, it includes lead screw, cylinder and the head of polishing, the lead screw drives under step motor's drive and removes the head of polishing on making the cylinder and polish the work piece about the cylinder, rotating device includes left side carousel, right side carousel and motor two, the centre gripping has the work piece in the middle of left side carousel and the right side carousel, the right side carousel rotates the work piece of centre gripping under motor two's drive.

The crossbeam passes through-hole on the clamping jaw, the clamping jaw can slide on the crossbeam, the clamping jaw includes left clamping jaw and right clamping jaw, left side clamping jaw and right clamping jaw articulate the one end of left connecting rod and right connecting rod respectively, left side connecting rod with left connecting piece and right connecting piece on the other end of right connecting rod articulates the thread bush respectively, the thread bush screw thread cup joints on the threaded rod, the threaded rod is arranged in the mount and swivelling joint is on the crossbeam, be in the mount with thread bush sliding fit's hollow structure, open respectively the mount left and right sides has the bar groove, two bar inslot difference sliding connection left side connecting piece with right side connecting piece, the output shaft of motor one is connected on the threaded rod top, motor one is fixed in the mount top through bolt one.

The utility model discloses a polishing machine, including crossbeam, movable plate, guide bar, cylinder, telescopic link, walking beam, crossbeam bottom, the both ends of crossbeam bottom are equipped with left fixed block and the right fixed block of being connected with the crossbeam respectively, step motor is installed to left fixed block, step motor's the one end of output shaft lead screw, threaded connection has the movable plate on the lead screw, the other end of lead screw rotates to be connected in right fixed block, the movable plate still is connected with the guide bar parallel with the lead screw, left fixed block of fixed connection and right fixed block are distinguished respectively at the guide bar both ends, the guide bar is followed pass in the movable plate, be fixed with the cylinder.

The right side of the left clamping jaw is provided with a left turntable, the left side of the right clamping jaw is provided with a right turntable, the right turntable is connected with a second motor, the second motor is fixed on the right side of the right clamping jaw through a second bolt, and a workpiece is clamped between the left turntable and the right turntable.

The left clamping jaw with two holes have all been opened on the right clamping jaw, guide bar and lead screw pass two holes respectively, open the crossbeam side has the spout, left side clamping jaw and right clamping jaw pass through the spout and slide about on the crossbeam.

The utility model has the advantages of as follows:

the utility model discloses well gripper is installed on the arm, and gripper centre gripping short and small cylindrical work piece begins to shift, and step motor drives the cylinder on the lead screw and removes this moment, makes the head of polishing on the cylinder can polish on the work piece, and left side carousel and right carousel can make by the work piece rotation of centre gripping, let the head of polishing can all-round surface of polishing the work piece, polish and shift and go on simultaneously, have reduced and have polished and shift the time, have improved work efficiency. The gripper and the grinding device are integrated, the structure is compact, and the occupied space is small.

Drawings

Fig. 1 is a schematic structural view of a polishing mechanism for an industrial robot according to the present invention;

FIG. 2 is a cross-sectional view of area A of FIG. 1;

FIG. 3 is a schematic view of the structure of FIG. 1 from another perspective;

fig. 4 is a schematic structural diagram of the region a in fig. 3.

In the drawings are labeled: 1. the device comprises a left clamping jaw, 11, a left rotating disc, 2, a right clamping jaw, 21, a right rotating disc, 3, a cross beam, 31, a left fixing block, 32, a right fixing block, 4, a fixing frame, 5, a threaded rod, 6, a threaded sleeve, 61, a left connecting piece, 62, a right connecting piece, 7, a motor I, 8, a motor II, 9, a stepping motor, 10, a guide rod, 11, a lead screw, 12, a moving plate, 13, an air cylinder, 131, a telescopic rod, 132, a polishing head, 14, a sliding groove, 15 and a workpiece.

Detailed Description

The following detailed description of the embodiments of the present invention will be provided to help those skilled in the art to more fully, accurately and deeply understand the concept and technical solutions of the present invention, through the description of the embodiments with reference to the accompanying drawings.

As shown in fig. 1-4, the utility model provides a grinding machanism that industrial robot used, including clamping device, removal grinding device and rotating device, clamping device includes clamping jaw and a motor 7, a motor 7 drive the clamping jaw slides from side to side on crossbeam 3, and the centre gripping is waited to polish work piece 15, it is located between two clamping jaws to remove grinding device, it includes lead screw 11, cylinder 13 and polish head 132 to remove grinding device, lead screw 11 moves about cylinder 13 under step motor 9's drive and makes the polish head 132 on the cylinder 13 polish work piece 15, rotating device includes left turn dish 111, right turn dish 21 and two 8 of motor, the centre gripping has work piece 15 in the middle of left turn dish 111 and the right turn dish 21, right turn dish 21 rotates the work piece 15 of centre gripping under the drive of motor two 8.

The cross beam 3 penetrates through the through holes on the clamping jaws, the clamping jaws can slide on the cross beam 3 and comprise a left clamping jaw 1 and a right clamping jaw 2, the left clamping jaw 1 and the right clamping jaw 2 are respectively hinged with one end of a left connecting rod 112 and one end of a right connecting rod 22, the other ends of the left connecting rod 112 and the right connecting rod 22 are respectively hinged with the left connecting piece 61 and the right connecting piece 62 on the threaded sleeve 6, the threaded sleeve 6 is sleeved on the threaded rod 5 in a threaded manner, the threaded rod 5 is positioned in the fixed frame 4 and is rotatably connected on the cross beam 3, the fixing frame 4 is a hollow structure which is in sliding fit with the threaded sleeve 6, the left side and the right side of the fixing frame 4 are respectively provided with a strip-shaped groove, the two strip-shaped grooves are respectively connected with the left connecting piece 61 and the right connecting piece 62 in a sliding way, the top end of the threaded rod 5 is connected with an output shaft of a motor I7, and the motor I7 is fixed to the top end of the fixing frame 4 through a bolt I.

The both ends of 3 bottoms of crossbeam are equipped with left fixed block 31 and the right fixed block 32 of being connected with crossbeam 3 respectively, step motor 9 is installed to left side fixed block 31, the one end of step motor 9's output shaft lead screw 11, threaded connection has movable plate 12 on the lead screw 11, the other end of lead screw 11 rotates and connects in right fixed block 32, movable plate 12 still is connected with the guide bar 10 parallel with lead screw 11, guide bar 10 both ends are fixed connection left side fixed block 31 and right fixed block 32 respectively, guide bar (10) are followed pass in movable plate (12), be fixed with cylinder 13 on the movable plate 12, telescopic link 131 of cylinder 13 is down and install the head of polishing 132.

The right side of left side clamping jaw 1 is equipped with left side carousel 111, the left side of right side clamping jaw 2 is equipped with right side carousel 21, right side carousel 21 is connected with motor two 8, motor two 8 is fixed in through bolt two the right side of right side clamping jaw 2, the centre gripping has the work piece between left side carousel 111 and the right side carousel 21.

The left clamping jaw 1 and the right clamping jaw 2 are provided with two holes, the guide rod 10 and the lead screw 11 penetrate through the two holes respectively, the side face of the cross beam 3 is provided with a sliding groove, and the left clamping jaw 1 and the right clamping jaw 2 slide on the cross beam 3 through the sliding groove 14.

The utility model discloses use this grinding machanism to install on the arm, when using, motor 7 drives threaded rod 5 and rotates, make thread bush 6 along threaded rod 5 upward movement, left connecting rod 112 and right connecting rod 22 drive left clamping jaw 1 and right clamping jaw 2 and slide in opposite directions simultaneously, the cylindrical minor axis work piece 15 of centre gripping treating polishing, the arm begins to rotate to the transfer destination, telescopic link 131 extension in the cylinder 13 on the movable plate 12 makes the polishing head 132 on telescopic link 131 can laminate work piece 15 at this moment, step motor 9 drives lead screw 11 and rotates and makes movable plate 12 move along lead screw 11 and guide bar 10 and left and right, polishing head 132 also follows left and right polishing on work piece 15, when motor two 8 drive right carousel 22 and rotate certain angle, work piece 15 and left carousel 111 also follow and rotate certain angle, when the arm rotates to the transfer destination, polishing has also been accomplished at this moment, the telescopic rod 131 is contracted to the original position, the first motor 7 rotates in the reverse direction to enable the threaded sleeve 6 to move downwards along the threaded rod 5, the left connecting rod 112 and the right connecting rod 22 drive the left clamping jaw 1 and the right clamping jaw 2 to simultaneously slide in the reverse direction, and the mechanical claw loosens the clamped workpiece 15 and places the workpiece to a transfer destination, so that the whole processes of polishing transfer and polishing of the workpiece 15 are completed.

The above description is made for the exemplary purposes with reference to the accompanying drawings, and it is obvious that the present invention is not limited by the above embodiments, and various insubstantial improvements can be made without modification to the present invention.

Claims

1. The utility model provides a grinding machanism that industrial robot used which characterized in that: comprises a clamping device, a movable grinding device and a rotating device, wherein the clamping device comprises a clamping jaw and a first motor (7), the first motor (7) drives the clamping jaw to slide left and right on the cross beam (3) to clamp a workpiece (15) to be polished, the movable grinding device is positioned between the two clamping jaws and comprises a screw rod (11), an air cylinder (13) and a grinding head (132), the screw rod (11) drives the cylinder (13) to move left and right under the driving of the stepping motor (9) so that the polishing head (132) on the cylinder (13) polishes the workpiece (15), the rotating device comprises a left rotating disc (111), a right rotating disc (21) and a second motor (8), a workpiece (15) is clamped between the left turntable (111) and the right turntable (21), the right turntable (21) is driven by the second motor (8) to rotate the clamped workpiece (15).

2. A sharpening mechanism for an industrial robot as recited in claim 1, further comprising: crossbeam (3) pass through-hole on the clamping jaw, the clamping jaw can slide on crossbeam (3), the clamping jaw includes left clamping jaw (1) and right clamping jaw (2), left side clamping jaw (1) and right clamping jaw (2) articulate the one end of left connecting rod (112) and right connecting rod (22) respectively, left side connecting rod (112) with the other end of right connecting rod (22) articulates left connecting piece (61) and right connecting piece (62) on thread bush (6) respectively, thread bush (6) screw thread bush is cup jointed on threaded rod (5), threaded rod (5) are located mount (4) and rotate and connect on crossbeam (3), be in mount (4) with thread bush (6) sliding fit's hollow structure, the bar groove has been opened respectively to mount (4) left and right sides, two bar inslot sliding connection respectively left connecting piece (61) with right connecting piece (62), the top end of the threaded rod (5) is connected with an output shaft of a first motor (7), and the first motor (7) is fixed to the top end of the fixing frame (4) through a first bolt.

3. A sharpening mechanism for an industrial robot as recited in claim 2, further comprising: the utility model discloses a grinding machine, including crossbeam (3), output shaft, screw rod, guide bar (10) both ends difference fixed connection left side fixed block (31) and right fixed block (32), the both ends of crossbeam (3) bottom are equipped with left fixed block (31) and right fixed block (32) be connected with crossbeam (3) respectively, step motor (9) are installed to left side fixed block (31), the one end of output shaft lead screw (11) of step motor (9), threaded connection has movable plate (12) on lead screw (11), the other end of lead screw (11) rotates to be connected in right fixed block (32), movable plate (12) still are connected with guide bar (10) parallel with lead screw (11), guide bar (10) both ends difference fixed connection left side fixed block (31) and right fixed block (32), guide bar (10) are followed pass in movable plate (12.

4. A sharpening mechanism for an industrial robot as recited in claim 3, further comprising: the right side of left side clamping jaw (1) is equipped with left turn table (111), the left side of right side clamping jaw (2) is equipped with right side carousel (21), right side carousel (21) is connected with motor two (8), motor two (8) are fixed in through bolt two the right side of right side clamping jaw (2), the centre gripping has the work piece between left side carousel (111) and right turn table (21).

5. A sharpening mechanism for an industrial robot as recited in claim 4, further comprising: left side clamping jaw (1) with all open two holes on right clamping jaw (2), guide bar (10) and lead screw (11) pass two holes respectively, open crossbeam (3) side has the spout, left side clamping jaw (1) and right clamping jaw (2) are through spout (14) horizontal slip on crossbeam (3).