CN219380359U - A sealing clamping device and grinding equipment - Google Patents

Abstract

The utility model provides a sealing clamping device and polishing equipment, which comprises a manipulator and a carrier, wherein the manipulator comprises a base frame, at least two clamping mechanisms are arranged on the periphery of the base frame, and an adsorption mechanism I and an adsorption mechanism II are arranged at the bottom of the base frame; the carrier comprises a cavity plate, a discharging platform is convexly arranged at the bottom of the cavity plate, and a sealing ring is sleeved on the periphery of the discharging platform. According to the utility model, the X-shaped sealing ring is adopted, and the special groove structure is matched with the elasticity, so that the interference fit is realized, the matching position of the carrier and the base forms a full sealing effect, and the problem of blocking the vacuum air pipe due to water leakage is solved. The multidirectional clamping mechanism is used for circumferentially clamping the disc-shaped carrier, the clamping surface is attached, and the clamping surface is matched with a plurality of independent material sucking structures, so that the grabbing stability is effectively improved, the deviation or stripping in the material moving process is avoided, the single material taking quantity is increased, and the operation efficiency is improved. The visual guiding mechanism is adopted to realize intelligent judgment and guide the moving path of the manipulator.

Description

A sealing clamping device and grinding equipment

technical field

The utility model belongs to the technical field of machinery, and relates to an automatic clamping and feeding structure, in particular to a sealing clamping device and grinding equipment.

Background technique

As we all know, the metal back cover of the mobile phone is gradually replaced by ceramics and glass, but ceramics and glass are difficult to process, their hardness is very high, and they are very brittle. After rough processing, the back cover needs to be put into a standard grinder for grinding to achieve the desired effect. At present, the back cover is manually placed on the base of the standard mill, and there will be a vacuum in the base to suck the carrier, but the sealing effect of the carrier is poor, and water often blocks the vacuum suction pipe, causing a vacuum alarm, thereby reducing efficiency.

In order to solve the above problems, for example, Chinese patent literature has disclosed an intelligent high-precision visual alignment full-fitting equipment [Chinese Patent No.: 201610205692.2]. The present invention relates to an intelligent high-precision visual alignment full-fitting equipment. There is a feeding mechanism on the frame, which is connected with a four-axis laminating manipulator. A camera is also installed on the frame. The first X-axis handling manipulator and the second X-axis handling manipulator are installed between the laminating chamber and the laminating chamber is fixed on the chamber support frame. The frame is also equipped with a pre-calibration mechanism and a pallet assembly. A four-axis robot for unloading is installed between the pre-calibration mechanism and the pallet assembly. The advantages are: the production efficiency is improved, the process flow is simple and smooth, and all robot automation operations are used to completely replace human beings, making the production process smooth and stable, with a high degree of automation and a reasonable overall design.

In the above technical solution, although the handling manipulator is used to clamp and unload the product, it lacks a matching structure between the manipulator and the carrier, so that only a single product can be picked and placed, resulting in low efficiency, poor stability, and easy material removal. In addition, due to the lack of product carriers, the coordination between the product and the processing station is poor, and the sealing effect is also lacking, resulting in poor processing quality and affecting the quality of the finished product.

Utility model content

The purpose of this utility model is to solve the above-mentioned problems in the existing technology, and propose a kind of additional product carrier and related assembly parts to increase the number of materials to be taken and unloaded, and to optimize the sealing of the assembled sealing clamping device and grinding equipment.

The purpose of the utility model can be achieved through the following technical solutions: a sealing clamping device, including a manipulator and a carrier, the manipulator includes a base frame, at least two clamping mechanisms are arranged on the periphery of the base frame, an adsorption mechanism one and an adsorption mechanism two are arranged at the bottom of the base frame; the carrier includes a cavity plate, and a discharge platform is protruded from the bottom of the cavity plate, and a sealing ring is sleeved on the periphery of the discharge platform.

In the above-mentioned sealing clamping device, an annular collar protrudes from the surrounding wall of the discharging platform, the annular collar has an arc outer wall, the sealing ring has an X-shaped cross-section, and the concave arc of the inner ring of the X-shaped cross-section is socketed on the arc outer wall of the annular collar.

In the above-mentioned airtight clamping device, the base frame includes a connection seat, and the connection seat includes a vertically fixed horizontal plate and a vertical plate, a triangular plate is fixed between the horizontal plate and the vertical plate, a connecting plate is vertically fixed on the bottom surface of the horizontal plate, and a disc is fixed at the bottom of the connecting plate.

In the above-mentioned airtight clamping device, a vision guiding mechanism is installed on the outer wall of the riser, the vision guiding mechanism includes a camera and a light source arranged up and down, the top surface of the light source opens a shooting port, and the lens of the camera faces downward and is located directly above the shooting port.

In the above-mentioned airtight clamping device, the clamping mechanism includes a telescopic cylinder fixedly mounted on the disc, the telescopic rod of the telescopic cylinder extends along the radial direction of the disc, the telescopic rod is fixedly connected with clamping claws, the bottom end of the clamping jaws protrudes towards the center of the disc, and the claw hook has a step portion, and the side of the step portion is a concave arc surface.

In the above-mentioned airtight clamping device, the first adsorption mechanism includes a plurality of vacuum adsorption blocks I fixed on the bottom surface of the disc, and the bottom of the first vacuum adsorption block is provided with a suction cup I; the second adsorption mechanism includes a plurality of vacuum adsorption blocks two fixed on the bottom surface of the disk, and the bottom of the second vacuum adsorption block is provided with a suction cup two.

In the above airtight clamping device, several insert windows are provided on the top surface of the cavity plate, and the plurality of vacuum adsorption blocks correspond to the plurality of insert windows one by one.

In the above-mentioned sealing clamping device, several relief gaps are recessed on the periphery of the cavity plate, and the relief gaps are circular arc notches.

A grinding device includes a base and the above-mentioned sealing clamping device.

In the above-mentioned grinding equipment, the base has a material-carrying ring, the inner wall of the material-carrying ring is protrudingly provided with an arc ring body, and the sealing ring is placed on the inner periphery of the material-carrying ring, so that the concave arc of the outer ring of the X-shaped cross-section fits with the arc ring body.

Compared with the prior art, the sealing clamping device and grinding equipment have the following beneficial effects:

1. By using the X-shaped sealing ring, using its special groove structure and elastic fit, the interference fit is realized so that the joint between the carrier and the base forms a full sealing effect, thereby solving the problem of water leakage and blockage of the vacuum air pipe.

2. The multi-directional clamping mechanism is used to clamp the disc-shaped carrier in the circumferential direction, and the shape of the clamping surface fits closely, and then cooperate with multiple separate suction structures, so as to effectively improve the stability of grasping, avoid deviation or stripping during the material transfer process, and increase the number of single-feeding materials to improve operating efficiency.

3. The visual guidance mechanism is used to realize intelligent judgment and guide the moving path of the manipulator, so as to improve the accuracy of the manipulator for picking and unloading materials, shorten the time for moving materials, and improve work efficiency.

Description of drawings

Fig. 1 is an overall structural view of the sealing clamping device.

Fig. 2 is a top side structural view of the manipulator in the sealing clamping device.

Fig. 3 is a structural diagram of the bottom side of the manipulator in the sealing clamping device.

Fig. 4 is a top-side structural diagram of the carrier in the sealing clamping device.

Fig. 5 is a structural view of the bottom side of the carrier in the sealing clamping device.

In the figure, 1, base frame; 1a, connecting seat; 1b, disc; 2, camera; 3, light source; 4, telescopic cylinder; 5, gripper; 6, vacuum adsorption block 1; 7, vacuum adsorption block 2; 8, carrier;

Detailed ways

The following are specific embodiments of the utility model and in conjunction with the accompanying drawings, the technical solution of the utility model is further described, but the utility model is not limited to these embodiments.

Embodiment one

As shown in Figures 1 to 5, the airtight clamping device includes a manipulator and a carrier 8. The manipulator includes a base frame 1, at least two clamping mechanisms are arranged on the side of the base frame 1, and an adsorption mechanism 1 and an adsorption mechanism 2 are arranged at the bottom of the base frame 1;

The peripheral wall of the discharge platform is convexly provided with an annular collar, the annular collar has an arc outer wall, and the sealing ring 9 has an X-shaped section, and the concave arc of the inner circle of the X-shaped section is socketed on the arc outer wall of the annular collar. Sealing ring 9 adopts BR (70HA rubber) material to make. The sealing ring 9 with X-shaped cross-section has a superior sealing effect during reciprocating motion, and is not prone to distortion and damage.

The base frame 1 includes a connecting seat 1a, and the connecting seat 1a includes a horizontal plate and a vertical plate fixed vertically, a triangular plate is fixed between the horizontal plate and the vertical plate, a connecting plate is vertically fixed on the bottom surface of the horizontal plate, and the bottom of the connecting plate is fixed to the disc 1b. The installation and fixing surfaces in two directions are realized through the horizontal plate and the vertical plate in the base frame 1, and the supporting strength between the horizontal plate and the vertical plate is improved through the triangular plate. A circumferential mounting and fixing surface is provided by the disc 1b to facilitate circumferential clamping.

A visual guidance mechanism is installed on the outer wall of the riser. The visual guidance mechanism includes a camera 2 and a light source 3 arranged up and down. Camera 2 is used to shoot the site situation to determine the position of the manipulator, so as to guide the manipulator to descend to a certain position for precise material clamping.

The clamping mechanism includes a telescopic cylinder 4 fixedly mounted on the disk 1b. The telescopic rod of the telescopic cylinder 4 extends along the radial direction of the disk 1b. The telescopic rod is fixedly connected with the gripper 5, and the bottom end of the gripper 5 protrudes toward the center of the disk 1b. The claw hook has a step portion, and the side of the step portion is a concave arc surface.

There are three telescopic cylinders 4, and the three telescopic cylinders 4 are arranged in circles around the center of the disk 1b. The three telescopic cylinders 4 retract the jaws 5 at the same time, thereby clamping the carrier 8 in the circumferential direction, so that the claw hook steps engage with the periphery of the carrier 8, and make the concave arc surface fit the edge of the carrier 8, thereby improving the clamping stability.

Adsorption mechanism one includes some vacuum adsorption blocks one 6 fixed on the bottom surface of disc 1b, and suction cup one is arranged at the bottom of vacuum adsorption block one 6; Adsorption mechanism two includes some vacuum adsorption blocks two 7 fixedly arranged on the bottom surface of disc 1b, and suction cup two is arranged at the bottom of vacuum adsorption block two 7.

A number of insert windows are provided on the top surface of the cavity plate, and a plurality of vacuum adsorption blocks-6 correspond to the plurality of insert windows one by one. Through a number of vacuum adsorption blocks 6 one-to-one corresponding adsorption products, to prevent the product from shifting during transportation, resulting in defective products in subsequent processing; through a number of vacuum adsorption blocks 2 7 to absorb the cavity plate, the entire carrier 8 can be absorbed.

The periphery of the cavity plate is recessed with a number of relief gaps, and the relief gaps are circular arc notches. The pick-and-place operation of the integral carrier 8 and the base 10 is facilitated by the gap.

Compared with the prior art, the sealing clamping device has the following beneficial effects:

1. By using the X-shaped sealing ring, using its special groove structure and elastic fit, the interference fit is realized so that the joint between the carrier and the base forms a full sealing effect, thereby solving the problem of water leakage and blockage of the vacuum air pipe.

2. The multi-directional clamping mechanism is used to clamp the disc-shaped carrier in the circumferential direction, and the shape of the clamping surface fits closely, and then cooperate with multiple separate suction structures, so as to effectively improve the stability of grasping, avoid deviation or stripping during the material transfer process, and increase the number of single-feeding materials to improve operating efficiency.

3. The visual guidance mechanism is used to realize intelligent judgment and guide the moving path of the manipulator, so as to improve the accuracy of the manipulator for picking and unloading materials, shorten the time for moving materials, and improve work efficiency.

Embodiment two

Based on Embodiment 1, the differences of this embodiment are:

As shown in FIG. 1 , a grinding device includes a base 10 and the above-mentioned sealing clamping device.

The base 10 has a material-carrying ring, the inner wall of the material-carrying ring is protrudingly provided with an arc ring, and the sealing ring 9 is placed on the inner periphery of the material-carrying ring, so that the concave arc of the outer ring of the X-shaped cross-section fits with the arc ring.

The function process of this grinding equipment is:

1. Intelligently judge and guide the moving path of the manipulator through the visual guidance mechanism, so that the manipulator can accurately reach the top of the carrier 8, and the three telescopic cylinders 4 of the manipulator retract the gripper 5 at the same time, clamp the carrier 8 in the circumferential direction, and make the claw hook The step part is clamped to the periphery of the carrier 8, and at the same time, through a number of vacuum adsorption blocks one by one corresponding to the adsorption products, through a number of vacuum adsorption blocks two and seven adsorption chamber plates, the clamping stability is improved.

2. Guide the manipulator to move to the top of the base 10 through the visual guidance mechanism. The manipulator lowers the carrier 8 so that the discharge platform of the carrier 8 enters the material-carrying ring of the base 10. The sealing ring 9 wraps the circular arc outer wall of the ring collar through the X-shaped inner ring concave arc. The sealing ring 9 cooperates with the base 10 through the X-shaped outer ring concave arc.

Compared with the prior art, the grinding equipment has the following beneficial effects:

1. By using the X-shaped sealing ring, using its special groove structure and elastic fit, the interference fit is realized so that the joint between the carrier and the base forms a full sealing effect, thereby solving the problem of water leakage and blockage of the vacuum air pipe.

2. The multi-directional clamping mechanism is used to clamp the disc-shaped carrier in the circumferential direction, and the shape of the clamping surface fits closely, and then cooperate with multiple separate suction structures, so as to effectively improve the stability of grasping, avoid deviation or stripping during the material transfer process, and increase the number of single-feeding materials to improve operating efficiency.

3. The visual guidance mechanism is used to realize intelligent judgment and guide the moving path of the manipulator, so as to improve the accuracy of the manipulator for picking and unloading materials, shorten the time for moving materials, and improve work efficiency.

The specific embodiments described herein are only examples to illustrate the spirit of the present invention. Those skilled in the technical field to which the utility model belongs can make various modifications or supplements to the described specific embodiments or replace them in similar ways, but they will not deviate from the spirit of the utility model or go beyond the scope defined in the appended claims.

Although the base frame 1; connecting base 1a; disc 1b; camera 2; light source 3; telescopic cylinder 4; jaw 5; vacuum adsorption block one 6; vacuum adsorption block two 7; carrier 8; chamber plate; discharge platform; sealing ring 9; These terms are only used to describe and explain the essence of the utility model more conveniently; interpreting them as any kind of additional limitation is contrary to the spirit of the utility model.

In the description of the present utility model, it should be noted that unless otherwise specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediary, or it can be the internal communication of two components. Those of ordinary skill in the art can understand the specific meanings of the above terms in the present utility model in specific situations.

Claims (10)

1. The sealing clamping device comprises a manipulator and a carrier, and is characterized in that the manipulator comprises a base frame, at least two clamping mechanisms are arranged on the periphery of the base frame, and a first adsorption mechanism and a second adsorption mechanism are arranged at the bottom of the base frame; the carrier comprises a cavity plate, a discharging platform is convexly arranged at the bottom of the cavity plate, and a sealing ring is sleeved on the periphery of the discharging platform.

2. The sealing and clamping device according to claim 1, wherein the Zhou Bitu of the discharging platform is provided with a ring-shaped clamping ring, the ring-shaped clamping ring is provided with an arc outer wall, the sealing ring is provided with an X-shaped section, and an inner ring concave arc of the X-shaped section is sleeved on the arc outer wall of the ring-shaped clamping ring.

3. The sealing clamping device according to claim 1, wherein the base frame comprises a connecting seat, the connecting seat comprises a transverse plate and a vertical plate which are vertically and fixedly connected, a triangular plate is fixedly connected between the transverse plate and the vertical plate, a connecting plate is vertically and fixedly arranged on the bottom surface of the transverse plate, and a disc is fixedly connected at the bottom of the connecting plate.

4. The sealing clamping device according to claim 3, wherein a visual guide mechanism is arranged on the outer wall surface of the vertical plate, the visual guide mechanism comprises a camera and a light source which are arranged up and down, a shooting opening is formed in the top surface of the light source, and a lens of the camera faces downwards and is located right above the shooting opening.

5. The sealing clamping device according to claim 3, wherein the clamping mechanism comprises a telescopic cylinder fixedly arranged on the disc, a telescopic rod of the telescopic cylinder extends along the radius direction of the disc, clamping jaws are fixedly connected to the telescopic rod, the bottom ends of the clamping jaws face towards the center of the disc in a protruding mode, the clamping jaws are provided with stepped portions, and the side faces of the stepped portions are concave arc faces.

6. The sealing clamping device as claimed in claim 3, wherein the first adsorption mechanism comprises a plurality of first vacuum adsorption blocks fixedly arranged on the bottom surface of the disc, and a first sucker is arranged at the bottom of each first vacuum adsorption block; the second adsorption mechanism comprises a plurality of second vacuum adsorption blocks fixedly arranged on the bottom surface of the disc, and the bottom of each second vacuum adsorption block is provided with a second sucker.

7. The sealing clamping device according to claim 6, wherein a plurality of insert windows are formed in the top surface of the cavity plate, and the first vacuum adsorption blocks are in one-to-one correspondence with the insert windows.

8. The sealing and clamping device according to claim 6, wherein a plurality of relief notches are concavely arranged on the periphery of the cavity plate, and the relief notches are arc notches.

9. A sanding apparatus comprising a base, and including a sealing clamping device as claimed in any one of claims 2 to 8.

10. A polishing apparatus according to claim 9 wherein said base has a carrier ring, an inner wall of said carrier ring being provided with a convex circular arc ring, and said seal ring is disposed on an inner periphery of said carrier ring such that a concave arc of an outer ring of said X-shaped cross section is fitted with said circular arc ring.