CN217668761U - Tool clamp of polishing robot - Google Patents
Tool clamp of polishing robot Download PDFInfo
- Publication number
- CN217668761U CN217668761U CN202221500859.5U CN202221500859U CN217668761U CN 217668761 U CN217668761 U CN 217668761U CN 202221500859 U CN202221500859 U CN 202221500859U CN 217668761 U CN217668761 U CN 217668761U
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- clamping jaw
- clamping
- base
- round pin
- pin axle
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Abstract
The utility model discloses a polishing robot's frock clamp, it includes: base, left clamping jaw, right clamping jaw, drive arrangement and locating part. The left clamping jaw and the right clamping jaw are arranged side by side from left to right, the left clamping jaw is provided with a left clamping part, the left clamping part is provided with a left clamping face facing to the left side, the right clamping jaw is provided with a right clamping part, the right clamping part is provided with a right clamping face facing to the right side, and the left clamping jaw and the right clamping jaw are movably arranged on the base and can be close to or far away from each other. The driving device is arranged on the base and used for driving the left clamping jaw and the right clamping jaw to move so that the left clamping part and the right clamping part can be close to or far away from each other. The locating part sets up in the base, and the lower extreme of locating part is provided with the work piece and supports the top, and the locating part is located the right side of left clamping part and is located the left side of right clamping part. The tool clamp of the polishing robot has a better fixing effect on a long-shell-shaped workpiece.
Description
Technical Field
The utility model relates to a polishing robot's spare part, in particular to polishing robot's frock clamp.
Background
The polishing robot can realize intelligent automatic polishing work aiming at the complex modeling workpiece. The polishing robot mainly grabs a workpiece through a mechanical arm capable of multi-axis motion, simulates polishing motion, and finishes polishing work of a complex surface through a polishing wheel or an abrasive belt. The robot arm is mainly used for fixing a workpiece through a tool clamp arranged at the tail end of the robot arm. For some long-shell-shaped workpieces, the position accuracy of the existing tool clamp for fixing the workpieces is not high, the workpieces are easy to clamp and deform, so that the workpieces are loaded on the tool clamp and then have position deviation, and the polishing quality is influenced.
SUMMERY OF THE UTILITY MODEL
The utility model discloses aim at solving one of the technical problem that exists among the prior art at least. Therefore, the utility model provides a frock clamp of polishing robot can have better fixed effect to the work piece of long shell form.
According to the utility model discloses a frock clamp of polishing robot, it includes: a base; the left clamping jaw and the right clamping jaw are arranged side by side from left to right, the left clamping jaw is provided with a left clamping part, the left clamping part is provided with a left clamping surface facing to the left side, the right clamping jaw is provided with a right clamping part, the right clamping part is provided with a right clamping surface facing to the right side, the left clamping jaw and the right clamping jaw are movably arranged on the base, and the left clamping part and the right clamping part can be close to or far away from each other; the driving device is arranged on the base and used for driving the left clamping jaw and the right clamping jaw to move so as to enable the left clamping part and the right clamping part to approach or depart from each other; the limiting part is arranged on the base, a workpiece abutting part is arranged at the lower end of the limiting part, and the limiting part is located on the right side of the left clamping part and located on the left side of the right clamping part.
According to the utility model discloses polishing robot's frock clamp has following beneficial effect at least: when a long shell-shaped workpiece is clamped, the left clamping face of the left clamping part and the right clamping face of the right clamping part are respectively abutted against the inner side of the workpiece, the workpiece abutting part of the limiting part is abutted against the workpiece, the left clamping jaw and the right clamping jaw are driven to move through the driving device, the left clamping part and the right clamping part can be far away from each other, and the workpiece is clamped and fastened by the left clamping face and the right clamping face in an outward expansion mode. Because the position between the left clamping part and the right clamping part is provided with the limiting part, the limiting part can position the workpiece on one hand, and the position precision of the workpiece is improved; on the other hand, the locating part also can support the work piece, reduces the work piece and is expanded the deformation that produces when the centre gripping outward to promote the centre gripping precision.
According to some embodiments of the utility model, the locating part sets up two sets ofly, and is two sets of the locating part is arranged along left right direction, and is two sets of the locating part respectively with left clamping part with right clamping part one-to-one, each group be provided with two in the locating part, and two the locating part sets up side by side along the fore-and-aft direction.
According to some embodiments of the utility model, left side clamping part set up in the left end of left side clamping jaw, the left end of left side clamping jaw articulate in base and articulated axial set up along the fore-and-aft direction, right side clamping part set up in the right-hand member of right side clamping jaw, the right-hand member of right side clamping jaw articulate in base and articulated axial set up along the fore-and-aft direction, drive arrangement with the right-hand member of left side clamping jaw and with the left end of right side clamping jaw is connected, drive arrangement configures to can drive the right-hand member of left side clamping jaw and the left end of right side clamping jaw is down or up action in step.
According to some embodiments of the utility model, drive arrangement includes upper and lower driver and connecting piece, the left side of connecting piece with one of the right-hand member of left clamping jaw is provided with left hole another and is provided with left round pin axle, left side hole is along left right direction extension setting, left side round pin axle sets up along the fore-and-aft direction, left side round pin axle can insert relatively movably and locate left side hole, the right side of connecting piece with one of the left end of right clamping jaw is provided with right hole another and is provided with right round pin axle, right side hole is along left right direction extension setting, right side round pin axle sets up along the fore-and-aft direction, right side round pin axle can insert relatively movably and locate right side hole, upper and lower driver set up in the base and with the connecting piece is connected, upper and lower driver configuration is in can the drive the connecting piece reciprocates.
According to some embodiments of the utility model, still include the quick change subassembly, the quick change subassembly includes first mounting disc and second mounting disc, first mounting disc for the base is fixed to be set up, the second mounting disc with first mounting disc detachably connects, the quick change subassembly is provided with and is used for controlling first mounting disc with whether the control end of dismantling can be carried out to the second mounting disc.
According to the utility model discloses a some embodiments still include the quick change fixed plate, the quick change fixed plate is relative the base is fixed to be set up, first mounting disc install in the quick change fixed plate.
According to some embodiments of the utility model, a left side clamping face with right side clamping face is provided with anti-skidding structure.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
The above and/or additional aspects and advantages of the present invention will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic perspective view of an embodiment of the present invention;
fig. 2 is an exploded view of an embodiment of the present invention;
fig. 3 is a front view of an embodiment of the present invention;
FIG. 4 is a schematic structural view of the embodiment of the present invention after clamping a workpiece;
fig. 5 isbase:Sub>A sectional view taken along the linebase:Sub>A-base:Sub>A of fig. 4.
Reference numerals:
a workpiece 1;
a base 100;
a left clamping jaw 200, a left clamping part 210, a left clamping surface 211 and a left pin shaft 220;
a right clamping jaw 300, a right clamping part 310, a right clamping surface 311 and a right pin shaft 320;
the driving device 400, the upper and lower drivers 410, the connecting piece 420, the left hole 421 and the right hole 422;
a stop 500, a workpiece abutment 510;
the quick-change component 600, the first mounting plate 610 and the second mounting plate 620;
the fixing plate 700 is quickly replaced.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present invention, and should not be construed as limiting the present invention.
In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless there is an explicit limitation, the words such as setting, installation, connection, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above words in combination with the specific contents of the technical solution.
Referring to fig. 1 to 3, a tool holder of a polishing robot includes: the clamping device comprises a base 100, a left clamping jaw 200, a right clamping jaw 300, a driving device 400 and a limiting piece 500. The left clamping jaw 200 and the right clamping jaw 300 are arranged side by side from left to right, the left clamping jaw 200 is provided with a left clamping part 210, the left clamping part 210 is provided with a left clamping face 211 facing to the left side, the right clamping jaw 300 is provided with a right clamping part 310, the right clamping part 310 is provided with a right clamping face 311 facing to the right side, the left clamping jaw 200 and the right clamping jaw 300 are movably arranged on the base 100, and the left clamping part 210 and the right clamping part 310 can be close to or far away from each other. The driving device 400 is disposed on the base 100, and the driving device 400 is used for driving the left clamping jaw 200 and the right clamping jaw 300 to move so that the left clamping portion 210 and the right clamping portion 310 can move toward or away from each other. The limiting member 500 is disposed on the base 100, a workpiece abutting portion 510 is disposed at a lower end of the limiting member 500, and the limiting member 500 is located at a right side of the left clamping portion 210 and at a left side of the right clamping portion 310.
Referring to fig. 4 and 5, when clamping the workpiece 1 in the shape of a long casing, the left clamping surface 211 of the left clamping portion 210 and the right clamping surface 311 of the right clamping portion 310 are respectively abutted against the inner side of the workpiece 1, the workpiece abutting portion 510 of the limiting member 500 is abutted against the workpiece 1, the left clamping jaw 200 and the right clamping jaw 300 are driven by the driving device 400 to move, so that the left clamping portion 210 and the right clamping portion 310 can be separated from each other, and the workpiece 1 is clamped and fastened by the left clamping surface 211 and the right clamping surface 311 in an outward expansion manner. Since the position limiting member 500 is disposed between the left clamping portion 210 and the right clamping portion 310, the limiting member 500 can position the workpiece 1 on the one hand, and the position accuracy of the workpiece 1 is improved; on the other hand, the limiting member 500 can also abut against the workpiece 1, so that the deformation of the workpiece 1 generated during outward expansion clamping is reduced, and the clamping precision is improved.
In an embodiment, the left clamping surface 211 and the right clamping surface 311 may abut against a column inside the workpiece 1, or abut against a plate inside the workpiece 1, and may be specifically configured according to a specific shape structure of the workpiece 1.
In an embodiment, specifically, two sets of the limiting members 500 are provided, two sets of the limiting members 500 are arranged along the left-right direction, two sets of the limiting members 500 respectively correspond to the left clamping portion 210 and the right clamping portion 310 one by one, two limiting members 500 are provided in each set of the limiting members 500, and the two limiting members 500 are arranged side by side along the front-back direction. By adopting the structure, the number and the distribution of the limiting parts 500 are reasonable, and the workpiece 1 can be better positioned and the deformation can be better limited. It is conceivable that the number and distribution of the position-limiting members 500 are not limited to the above-mentioned embodiments, and those skilled in the art can configure a reasonable number of position-limiting members 500 and a specific distribution pattern according to practical situations. In an embodiment, the position-limiting member 500 is detachably disposed, so that the position-limiting member 500 with a suitable structure can be conveniently selected according to different workpieces 1.
In an embodiment, the left clamping portion 210 is disposed at the left end of the left clamping jaw 200, the left end of the left clamping jaw 200 is hinged to the base 100 and the hinge axis is disposed along the front-back direction, the right clamping portion 310 is disposed at the right end of the right clamping jaw 300, the right end of the right clamping jaw 300 is hinged to the base 100 and the hinge axis is disposed along the front-back direction, the driving device 400 is connected to the right end of the left clamping jaw 200 and the left end of the right clamping jaw 300, and the driving device 400 is configured to drive the right end of the left clamping jaw 200 and the left end of the right clamping jaw 300 to synchronously move downward or upward. When the right end of the left clamping jaw 200 and the left end of the right clamping jaw 300 synchronously move downwards or upwards, the left clamping jaw 200 and the right clamping jaw 300 can be driven to rotate around respective hinge axes, so that the left clamping part 210 and the right clamping part 310 can be close to or far away from each other. The actions of the left clamping jaw 200 and the right clamping jaw 300 are realized by adopting the structure, the structure is simple, and the implementation is easy; in addition, the left clamping jaw 200 and the right clamping jaw 300 form a lever structure equivalently, and the clamping force is large. It is conceivable that the left clamping jaw 200 and the right clamping jaw 300 are not limited to the above structure, for example, the left clamping jaw 200 and the right clamping jaw 300 can be arranged on the base 100 in a sliding manner to move left and right, and the driving device 400 can enable the left clamping jaw 200 and the right clamping jaw 300 to move close to or away from each other through gear transmission or screw transmission, and can also achieve corresponding functions.
In an embodiment, the driving device 400 includes an up-down driver 410 and a connecting member 420, a left hole 421 is disposed on the left side of the connecting member 420, a left pin 220 is disposed on the right end of the left clamping jaw 200, the left hole 421 extends in the left-right direction, the left pin 220 is disposed in the front-back direction, the left pin 220 is relatively movably inserted into the left hole 421, a right hole 422 is disposed on the right side of the connecting member 420, a right pin 320 is disposed on the left end of the right clamping jaw 300, the right hole 422 extends in the left-right direction, the right pin 320 is disposed in the front-back direction, the right pin 320 is relatively movably inserted into the right hole 422, the up-down driver 410 is disposed on the base 100 and connected to the connecting member 420, and the up-down driver 410 is configured to drive the connecting member 420 to move up and down. It is conceivable that, in the above-described embodiment, the positions of the left pin 220 and the left hole 421 may be changed, and the positions of the right pin 320 and the right hole 422 may be changed, that is, the left pin 220 may be disposed on the left side of the connecting member 420, the left hole 421 may be disposed on the right end of the left jaw 200, and the right pin 320 may be disposed on the right side of the connecting member 420, and the right hole 422 may be disposed on the left end of the right jaw 300. It is understood that the left hole 421 and the right hole 422 extend in the left-right direction, which means that the length direction of the bar holes is the left-right direction.
When the connecting member 420 moves up and down, the right end of the left clamping jaw 200 and the left end of the right clamping jaw 300 can be synchronously lifted or pressed down by the abutting action of the pin shaft and the bar hole wall, so that the left clamping jaw 200 and the right clamping jaw 300 are driven to rotate in opposite rotation directions (clockwise or counterclockwise), and the left clamping part 210 and the right clamping part 310 are further close to or far away from each other. In the structure, the pin shaft is matched with the strip hole, and the pin shaft can move along the length direction of the strip hole and rotate in the strip hole, so that the mechanism cannot be locked.
The driving device 400 is simple in structure and easy to implement. It is conceivable that the driving device 400 is not limited to the above-mentioned structure, for example, the driving device 400 may also adopt a cam mechanism, a gear transmission mechanism, or the like to realize the linkage with the left clamping jaw 200 and the right clamping jaw 300, and may be configured according to practical situations. In the embodiment, the up-down driver 410 is specifically a cylinder, but a driver such as a lead screw motor, an electric push rod, or the like may be used.
In an embodiment, the quick-change assembly 600 further includes a quick-change assembly 600, the quick-change assembly 600 includes a first mounting plate 610 and a second mounting plate 620, the first mounting plate 610 is fixedly disposed relative to the base 100, the second mounting plate 620 is detachably connected to the first mounting plate 610, and the quick-change assembly 600 is provided with a control end for controlling whether the first mounting plate 610 and the second mounting plate 620 can be detached. The second mounting plate 620 may be fixed to the end of the robot arm, so that the entire tool clamp may be connected to the robot arm in a quick and detachable manner. Specifically, the first mounting plate 610 is fixedly provided to the cylinder body of the air cylinder (up-down driver 410), and the cylinder body of the air cylinder is fixedly provided to the base 100, so that the first mounting plate 610 can be fixedly provided with respect to the base 100. It is envisioned that first mounting plate 610 may also be secured directly to base 100. In an embodiment, existing quick-change assemblies 600 may be selected, for example, pneumatic quick-change assemblies 600, and the control end is a control air circuit for controlling the quick-change assemblies 600 to be detached.
In an embodiment, the quick-change fixing plate 700 is further included, the quick-change fixing plate 700 is fixedly disposed relative to the base 100, and the first mounting plate 610 is mounted on the quick-change fixing plate 700. Specifically, the first mounting plate 610 is fixed to the cylinder body of the air cylinder (up-down driver 410) by a quick-change fixing plate 700, and is thus fixedly disposed with respect to the base 100. The quick-change fixing plate 700 is convenient to adapt to the quick-change assembly 600.
In an embodiment, the left and right clamping surfaces 211, 311 are provided with anti-slip structures, thereby reducing the probability of slipping. In an embodiment, the left clamping portion 210 and the right clamping portion 310 are detachably disposed, so that the left clamping portion 210 and the right clamping portion 310 can be conveniently selected and used according to different workpieces 1.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (7)
1. The utility model provides a frock clamp of polishing robot which characterized in that includes:
a base (100);
the clamping device comprises a left clamping jaw (200) and a right clamping jaw (300), wherein the left clamping jaw (200) and the right clamping jaw (300) are arranged side by side from left to right, a left clamping part (210) is arranged on the left clamping jaw (200), a left clamping face (211) facing to the left side is arranged on the left clamping part (210), a right clamping part (310) is arranged on the right clamping jaw (300), a right clamping face (311) facing to the right side is arranged on the right clamping part (310), the left clamping jaw (200) and the right clamping jaw (300) are movably arranged on the base (100), and the left clamping part (210) and the right clamping part (310) can be close to or far away from each other;
the driving device (400) is arranged on the base (100), and the driving device (400) is used for driving the left clamping jaw (200) and the right clamping jaw (300) to move so as to enable the left clamping part (210) and the right clamping part (310) to approach or move away from each other;
the limiting part (500) is arranged on the base (100), a workpiece abutting part (510) is arranged at the lower end of the limiting part (500), and the limiting part (500) is located on the right side of the left clamping part (210) and on the left side of the right clamping part (310).
2. The work holder of the polishing robot according to claim 1, wherein: the limiting parts (500) are arranged in two groups, the limiting parts (500) are arranged in the left-right direction, the limiting parts (500) are respectively in one-to-one correspondence with the left clamping portion (210) and the right clamping portion (310), two limiting parts (500) are arranged in each group of the limiting parts (500), and the two limiting parts (500) are arranged side by side in the front-back direction.
3. The work fixture of the polishing robot according to claim 1, characterized in that: left clamping part (210) set up in the left end of left side clamping jaw (200), the left end of left side clamping jaw (200) articulate in base (100) and articulated axial set up along the fore-and-aft direction, right side clamping part (310) set up in the right-hand member of right side clamping jaw (300), the right-hand member of right side clamping jaw (300) articulate in base (100) and articulated axial set up along the fore-and-aft direction, drive arrangement (400) with the right-hand member of left side clamping jaw (200) and with the left end of right side clamping jaw (300) is connected, drive arrangement (400) configuration is as can drive the right-hand member of left side clamping jaw (200) and the left end of right side clamping jaw (300) is down or up action in step.
4. A tool holder of a polishing robot according to claim 3, characterized in that: drive arrangement (400) include upper and lower driver (410) and connecting piece (420), the left side of connecting piece (420) with one of the right-hand member of left clamping jaw (200) is provided with left round pin axle (220) another and is provided with left round pin axle (421), left side round pin axle (220) extend the setting along left right direction, left side round pin axle (220) can insert relatively movably and locate left side round pin axle (421), the right side of connecting piece (420) with one of the left end of right clamping jaw (300) is provided with right round pin axle (422) another and is provided with right round pin axle (320), right side round pin axle (422) extend the setting along left right direction, right round pin axle (320) set up along front and back direction, right round pin axle (320) can insert relatively movably and locate right side round pin axle (422), upper and lower driver (410) set up in base (100) and with connecting piece (420) are connected, upper and lower driver (410) are configured as can drive connecting piece (420) reciprocate.
5. The work fixture of the polishing robot according to claim 1, characterized in that: the quick-change component (600) comprises a first mounting disc (610) and a second mounting disc (620), the first mounting disc (610) is fixedly arranged relative to the base (100), the second mounting disc (620) is detachably connected with the first mounting disc (610), and a control end used for controlling whether the first mounting disc (610) and the second mounting disc (620) can be detached is arranged on the quick-change component (600).
6. The work holder of the polishing robot according to claim 5, wherein: the quick-change fixing plate (700) is arranged on the base (100) in a fixed mode, and the first mounting plate (610) is mounted on the quick-change fixing plate (700).
7. The work holder of the polishing robot according to claim 1, wherein: the left clamping face (211) and the right clamping face (311) are provided with anti-skidding structures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221500859.5U CN217668761U (en) | 2022-06-15 | 2022-06-15 | Tool clamp of polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221500859.5U CN217668761U (en) | 2022-06-15 | 2022-06-15 | Tool clamp of polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN217668761U true CN217668761U (en) | 2022-10-28 |
Family
ID=83709240
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202221500859.5U Active CN217668761U (en) | 2022-06-15 | 2022-06-15 | Tool clamp of polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN217668761U (en) |
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2022
- 2022-06-15 CN CN202221500859.5U patent/CN217668761U/en active Active
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