CN216179625U - Manipulator clamping jaw for polishing and grinding outer surface of part - Google Patents

Abstract

The utility model discloses a manipulator clamping jaw for polishing and grinding the outer surface of a part, which comprises a six-axis manipulator, a clamping mechanism and a workpiece, wherein the clamping mechanism is arranged at the front end of the six-axis manipulator and comprises a clamping jaw assembly, a positioning device and a chassis, the bottom surface of the chassis is connected with the six-axis manipulator, the clamping jaw assembly and the positioning device are arranged on the chassis, an inner groove is formed in the side surface of the workpiece, a positioning ring is fixedly arranged in the inner groove, the positioning device can extend into the positioning ring to position the workpiece, the clamping jaw assembly can extend into the inner groove to tension the side wall of the inner groove, the workpiece is supported and clamped to move, and the clamping jaw assembly is not contacted with the outer surface of the workpiece; by adopting the workpiece clamping device, the outer surface of the workpiece can be exposed to the maximum extent, and the workpiece polishing efficiency and quality are improved.

Description

Manipulator clamping jaw for polishing and grinding outer surface of part

Technical Field

The utility model belongs to the technical field of product grinding equipment, and particularly relates to a manipulator clamping jaw for polishing and grinding the outer surface of a part.

Background

Polishing and grinding are an indispensable basic process in the manufacturing industry, and the robot has extremely wide application in the manufacturing process. In the industries such as the hardware industry, the IT industry, automobile parts, industrial parts and the like, the busy figure of the robot can be seen in all working procedures, namely grinding, polishing and deburring. The front end of the robot generally needs to be installed and clamped to perform material taking and placing operations, the clamping device matched with the existing robot generally adopts a mode of taking materials from an external clamping device, the clamping jaw needs to contact with the outer surface of a workpiece to clamp the workpiece, when the clamping jaw clamps the workpiece and moves to a polishing station according to a set track to polish the outer surface of the workpiece, as the clamping jaw and the workpiece have contact parts, all parts of the outer surface of the workpiece can not be polished in place at one time, and as the clamping jaw needs to be avoided in the operation process, the polishing uniformity and the integrity are both deficient.

Disclosure of Invention

In order to solve the problems and the technical requirements, the utility model provides the manipulator clamping jaw for polishing and grinding the outer surface of the part, which can expose the outer surface of the workpiece to the maximum extent and improve the efficiency and the quality of workpiece grinding.

The technical scheme of the utility model is as follows: a manipulator clamping jaw for part surface polishing is polished, including six manipulators, fixture and work piece, fixture installs at six manipulator front ends, and fixture includes clamping jaw subassembly, positioner and chassis, and the bottom surface and the six manipulators on chassis are connected, and clamping jaw subassembly and positioner set up on the chassis, and the work piece side is equipped with the inside groove, fixes being equipped with the holding ring in the inside groove, positioner can stretch into the holding ring in the work piece of location, and clamping jaw subassembly can stretch into tensioning inside groove lateral wall in the inside groove, props and presss from both sides the work piece and removes, and the clamping jaw subassembly does not contact with the work piece surface. The clamping position of the workpiece can be determined by the positioning device in the scheme, the clamping jaw assembly can clamp the workpiece from the inside, the tensioning force of the clamping jaw assembly can be stably applied to the workpiece accurately in positioning, and stable clamping is kept.

Further, the clamping jaw assembly comprises an air cylinder, a first sliding block and a second sliding block, the air cylinder is fixedly arranged on the base plate, the first sliding block and the second sliding block are arranged on the upper surface of the air cylinder in a relative mode, a first clamping jaw is arranged at the top of the first sliding block, a second clamping jaw is arranged at the top of the second sliding block, and the first clamping jaw can move relative to the second clamping jaw to adjust the width of the support. The relative movement of the first sliding block and the second sliding block can adjust the relative distance between the first clamping jaw and the second clamping jaw at the top of the first sliding block and the second sliding block, and the width of the two clamping jaws is smaller than that of the inner groove of the workpiece when the two clamping jaws are closed, so that the two clamping jaws can extend into the inner groove together and then move reversely to gradually tension the side wall of the inner groove to form a supporting clamp for the workpiece.

Furthermore, a hollow groove is formed in the middle of the second sliding block, a stop block for blocking the hollow groove is arranged on the other side edge of the second sliding block relative to the first sliding block, the stop block is arranged at the root of the second sliding block, and the first sliding block can slide into the hollow groove. The stop block can limit the first slide block from moving excessively, and simultaneously two separated clamping jaw parts in the second slide block are connected, so that the rigidity of the second slide block is enhanced, and the second slide block is kept stable.

Furthermore, the first sliding block and the second sliding block are equal in width, and a space avoiding position is arranged between the first sliding block and the empty groove. The clearance can prevent the two sliding blocks from generating friction due to relative movement, and the sliding blocks are prevented from being abraded.

Furthermore, the side face of the second sliding block on the same side with the stop block is provided with anti-skid concave-convex grains, and the side face of the first sliding block on the opposite side of the stop block is provided with the same anti-skid concave-convex grains. The anti-skidding concave-convex grains are arranged on the side surface supporting the inner groove of the workpiece, so that friction can be increased, the adhesive force and the gripping force of the supporting and clamping surface are larger, and the workpiece is not easy to drop.

Furthermore, positioner includes mount, reference column and locating pin, and the mount is connected on the chassis, and the reference column setting is equipped with the locating pin at the mount top on the reference column.

Furthermore, the top of the positioning pin is conical, and the top of the positioning pin is higher than the top surfaces of the first sliding block and the second sliding block. After the positioning pin is used for positioning the workpiece, the first sliding block and the second sliding block tension the workpiece, so that the positioning pin protrudes out of the surfaces of the two sliding blocks to ensure a better positioning effect.

Furthermore, two groups of clamping jaw assemblies are arranged on the chassis side by side, and the positioning device is arranged between the two groups of clamping jaw assemblies. Adopt two sets of clamping jaw subassemblies to prop simultaneously and press from both sides a work piece, can promote the steadiness in the clamping process greatly.

Furthermore, the clamping mechanism is connected to a six-axis manipulator through a flange plate, and the six-axis manipulator can drive the clamping mechanism to move freely on an X axis, a Y axis and a Z axis.

Compared with the prior art, the utility model has the beneficial effects that: the six-axis manipulator is adopted for carrying and transferring the workpieces, compared with the traditional equipment, the six-axis manipulator is simpler in structure, does not occupy space, and greatly improves the layout optimization and the overall flexibility of a workshop; the clamping mode of the clamping jaw assembly is a mode of clamping the inner groove of the workpiece by means of supporting, and compared with the traditional outer clamping mode, the clamping jaw assembly can expose the outer surface of a product to the maximum extent, can polish each region of the outer surface of the product more conveniently, has no polishing dead angle, and greatly improves the polishing integrity of the product. In addition, adopt two sets of clamping jaw assemblies to set up side by side to in the while to a work piece centre gripping, can effectual improvement clamping stability, prevent that the work piece atress from rocking, make the efficiency of polishing and the quality of work piece better.

Drawings

FIG. 1 is a perspective view of a robot clamping jaw for polishing and grinding the outer surface of a part according to the present invention;

FIG. 2 is a view of the jaw assembly of the present invention gripping a workpiece;

FIG. 3 is a perspective view of the jaw assembly of the present invention;

figure 4 is a perspective view of another aspect of the jaw assembly of the present invention;

FIG. 5 is a perspective view of a work piece according to the present invention;

labeled as: the six-axis manipulator comprises a six-axis manipulator 1, a clamping mechanism 2, a clamping jaw assembly 3, a cylinder 31, a first sliding block 32, a first clamping jaw 321, a second sliding block 33, a second clamping jaw 331, a hollow groove 331-1, a stop block 331-2, an anti-skid concave-convex pattern 34, a positioning device 4, a fixing frame 41, a positioning column 42, a positioning pin 43, a base plate 5, a flange 6, a workpiece 7, an inner groove 71 and a positioning ring 72.

Detailed Description

The utility model is further described below with reference to the figures and examples.

As shown in fig. 1-5, the manipulator clamping jaw for polishing and grinding the outer surface of a part of the utility model comprises a six-axis manipulator 1, a clamping mechanism 2 and a workpiece 7, wherein the clamping mechanism 2 is installed at the front end of the six-axis manipulator 1, the clamping mechanism 2 is connected to the six-axis manipulator 1 through a flange 6, and the six-axis manipulator 1 can drive the clamping mechanism 2 to move freely on an X axis, a Y axis and a Z axis.

The clamping mechanism 2 comprises a clamping jaw assembly 3, a positioning device 4 and a chassis 5, the bottom surface of the chassis 5 is connected with the six-axis manipulator 1, and the clamping jaw assembly 3 and the positioning device 4 are arranged on the chassis 5. The clamping jaw assembly 3 comprises an air cylinder 31, a first sliding block 32 and a second sliding block 33, the air cylinder 31 is fixedly arranged on the chassis 5, the first sliding block 32 and the second sliding block 33 are arranged on the upper surface of the air cylinder 31 in a relative mode, a first clamping jaw 321 is arranged at the top of the first sliding block 32, a second clamping jaw 331 is arranged at the top of the second sliding block 33, the first clamping jaw 321 and the second clamping jaw 331 can move relatively to adjust the spreading width, specifically, a hollow groove 331-1 is arranged in the middle of the second sliding block 33, a stop 331-2 for stopping the hollow groove 331-1 is arranged on the other side edge of the second sliding block 33 relative to the first sliding block 32, the stop 331-2 is arranged at the root of the second sliding block 33, and the first sliding block 32 can slide into the hollow groove 331-1. In order to prevent the two sliding blocks from generating friction due to relative movement and avoid sliding block abrasion, the first sliding block 32 and the second sliding block 33 are equal in width, and an idle avoiding position is arranged between the first sliding block 32 and the empty groove 331-1. In order to increase the adhesive force and the gripping force of the clamping surface and prevent the workpiece from falling off easily, the side surface of the second sliding block 33 on the same side with the stop block 331-2 is provided with anti-skid concave-convex grains 34, and the side surface of the first sliding block 32 on the opposite side with the stop block 331-2 is provided with the same anti-skid concave-convex grains 34.

An inner groove 71 is formed in the side face of the workpiece 7, a positioning ring 72 is fixedly arranged in the inner groove 71, the positioning device 4 can extend into the positioning ring 72 to position the workpiece, the clamping jaw assembly 3 can extend into the inner groove 71 to tension the side wall of the inner groove 71 to support and clamp the workpiece 7 to move, and the clamping jaw assembly 3 is not in contact with the outer surface of the workpiece 7.

The positioning device 4 comprises a fixed frame 41, a positioning column 42 and a positioning pin 43, the fixed frame 41 is connected to the chassis 5, the positioning column 42 is arranged at the top of the fixed frame 41, the positioning pin 43 is arranged on the positioning column 42, the top of the positioning pin 43 is conical, and the top of the positioning pin 43 is higher than the top surfaces of the first sliding block 32 and the second sliding block 33.

Two sets of clamping jaw assemblies 3 are installed side by side on the chassis 5, and positioner 4 sets up between two sets of clamping jaw assemblies 3, adopts two sets of clamping jaw assemblies 3 to prop simultaneously and presss from both sides a work piece 7, can promote the steadiness among the clamping process greatly.

The operation process of the utility model is as follows: the six-axis manipulator 1 moves the clamping mechanism 2 to the position of the workpiece 7, the first clamping jaw 321 slides into the empty slot 331-1 to be tightened with the second clamping jaw 331, so that the ends of the first clamping jaw 321 and the second clamping jaw 331 can simultaneously extend into the workpiece inner groove 71, enter the rear positioning pin 43, align with the insertion ring of the positioning ring 72 and position the workpiece 7, then the cylinder 31 is started to make the first sliding block 32 and the second sliding block 33 move in opposite directions, the side surfaces of the first clamping jaw 321 and the second clamping jaw 331 with the anti-skid concave-convex grains 34 respectively support opposite side walls of the workpiece inner groove 71, the clamping mechanism 2 supports and clamps one workpiece 7, the six-axis manipulator 1 starts to polish the workpiece according to a set track, after polishing is finished, the six-axis manipulator 1 moves the clamping mechanism 2 to a fixed position, the first sliding block 32 and the second sliding block 33 are closed towards each other, the workpiece 7 is loosened, and the workpiece 7 which finishes the polishing process is released to the fixed position.

The above description is only for the preferred embodiments of the present invention, but the scope of the present invention is not limited thereto, and any changes and substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (9)

1. A manipulator clamping jaw for part surface polishing is polished, its characterized in that: the clamping mechanism is installed at the front end of the six-axis manipulator and comprises a clamping jaw assembly, a positioning device and a chassis, the bottom surface of the chassis is connected with the six-axis manipulator, the clamping jaw assembly and the positioning device are arranged on the chassis, an inner groove is formed in the side surface of the workpiece, a positioning ring is fixedly arranged in the inner groove, the positioning device can stretch into the positioning ring to position the workpiece, the clamping jaw assembly can stretch into the inner groove to tension the side wall of the inner groove, the workpiece is propped and clamped to move, and the clamping jaw assembly is not in contact with the outer surface of the workpiece.

2. The robot gripper for polishing and grinding the outer surface of a part according to claim 1, wherein: the clamping jaw assembly comprises an air cylinder, a first sliding block and a second sliding block, the air cylinder is fixedly arranged on the base plate, the first sliding block and the second sliding block are arranged on the upper surface of the air cylinder in a relative mode, a first clamping jaw is arranged at the top of the first sliding block, a second clamping jaw is arranged at the top of the second sliding block, and the first clamping jaw can move relative to the second clamping jaw to adjust the width of the opening.

3. The robot gripper for polishing and grinding the outer surface of a part according to claim 2, wherein: the middle of the second sliding block is provided with a hollow groove, the other side of the second sliding block, which is opposite to the first sliding block, is provided with a stop block for blocking the hollow groove, the stop block is arranged at the root of the second sliding block, and the first sliding block can slide into the hollow groove.

4. The robot gripper for polishing and grinding the outer surface of a part according to claim 3, wherein: the first sliding block and the second sliding block are equal in width, and a space avoiding position is arranged between the first sliding block and the empty groove.

5. The robot gripper for polishing and grinding the outer surface of a part according to claim 3, wherein: the side face of the second sliding block, which is on the same side as the stop block, is provided with anti-skid concave-convex grains, and the side face of the first sliding block, which is on the opposite side of the stop block, is provided with the same anti-skid concave-convex grains.

6. The robot gripper for polishing and grinding the outer surface of a part according to claim 1, wherein: the positioning device comprises a fixing frame, a positioning column and a positioning pin, the fixing frame is connected to the base plate, the positioning column is arranged at the top of the fixing frame, and the positioning pin is arranged on the positioning column.

7. The robot gripper for polishing and grinding the outer surface of a part according to claim 6, wherein: the top of the positioning pin is conical, and the top of the positioning pin is higher than the top surfaces of the first sliding block and the second sliding block.

8. The robot gripper for polishing and grinding the outer surface of a part according to claim 6, wherein: two groups of clamping jaw assemblies are arranged on the chassis side by side, and the positioning device is arranged between the two groups of clamping jaw assemblies.

9. The robot gripper for polishing and grinding the outer surface of a part according to claim 1, wherein: the clamping mechanism is connected to the six-axis mechanical arm through the flange plate, and the six-axis mechanical arm can drive the clamping mechanism to move freely on an X axis, a Y axis and a Z axis.

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