CN221792272U - Clamp for industrial robot polishing - Google Patents

Abstract

The utility model discloses a hand grip for polishing an industrial robot, which comprises a hand grip base, wherein a servo motor is arranged in the hand grip base, a first bevel gear is arranged on an output shaft of the servo motor, a second bevel gear is vertically meshed below the first bevel gear, a first connecting shaft is arranged at the bottom end of the second bevel gear, a first worm is arranged at the bottom end of the first connecting shaft, a first worm wheel is meshed on the first worm, and a first screw rod is arranged at one end of the first worm wheel.

Description

Industrial robot grinding gripper

Technical Field

The utility model relates to the technical field of industrial robots, in particular to a grinding gripper for an industrial robot.

Background Art

The utility model with the publication number CN209157928U discloses a gripper for industrial robot grinding, which relates to the technical field of mechanical equipment. It comprises a gripper base plate, a connecting plate, a connecting rod, a rotating shaft, a clamping rod, a clamping plate, a clamping cylinder, a driving cylinder, a rotating mechanism, and a gripper. The lower end surface of the gripper base plate is provided with a connecting plate, and both ends of the connecting plate are rotatably connected with one end of the connecting rod, and the other end of the connecting rod is connected with one end of the clamping rod through a rotating shaft, and the rotating shaft is connected to a driving motor, and the other end of the clamping rod is connected with the clamping plate. The clamping cylinder is arranged on the upper end surface of the gripper base plate, and the cylinder rod of the clamping cylinder is fixedly connected with the connecting rod through a pin shaft, and the driving cylinder is arranged at the center position of the upper end surface of the gripper base plate, and the cylinder rod of the driving cylinder vertically passes through the connecting plate downward and is fixedly connected with the rotating mechanism, and a gripper is connected below the rotating mechanism. It has a simple structure and a reasonable design. Through the coordinated use of the clamping plate and the gripper, various processing surfaces of shaft castings can be polished, and it is flexible and convenient to use, and the production efficiency is effectively improved.

In the prior art, the shaft castings are ground in all directions by clamping the shaft castings on both axial sides and the outer wall of the middle part. However, since the clamp has a large number of driving devices, the cost is increased and the operation is complicated. Therefore, an industrial robot grinding clamp is needed to meet the demand.

Utility Model Content

The utility model aims to provide an industrial robot grinding gripper to solve the problem that the prior art proposed in the above background technology has a large number of drive devices, which increases the cost and makes the operation more complicated.

To achieve the above-mentioned purpose, the utility model provides the following technical solutions: an industrial robot grinding gripper, comprising a gripper base, a servo motor is arranged in the gripper base, a first bevel gear is arranged on the output shaft of the servo motor, a second bevel gear is vertically meshed below the first bevel gear, a first connecting shaft is arranged on the bottom end of the second bevel gear, a first worm is arranged on the bottom end of the first connecting shaft, a first worm gear is meshed on the first worm gear, a first screw is arranged on one end of the first worm gear, a first clamping block is threadedly connected to the first screw, and a A second screw rod, the upper thread of the second screw rod is connected with a second clamping block, a third bevel gear is vertically meshed with the upper part of the first bevel gear, a second connecting shaft is provided on the top of the third bevel gear, a second worm is provided on the top of the second connecting shaft, a second worm gear is meshed with the second worm gear, a third screw is provided on one end of the second worm gear, the third screw rod is threadedly connected with the first sliding rod, a first clamping plate is provided on the bottom end of the first sliding rod, a fourth screw rod is provided on the other end of the second worm gear, the fourth screw rod is threadedly connected with the second sliding rod, and a second clamping plate is provided on the bottom end of the second sliding rod.

Preferably, the second bevel gear, the first connecting shaft, the first worm, the third bevel gear, the second connecting shaft and the second worm are all in concentric positions, and the first worm gear and the second worm gear are in a mutually perpendicular state.

Preferably, the first screw and the second screw have the same thread specifications and opposite thread directions, and the first clamping block and the second clamping block are respectively provided with threaded holes that are compatible with the first screw and the second screw.

Preferably, a guide groove is provided on the bottom end of the grip base, and the first clamping block and the second clamping block are both slidably fitted in the guide groove.

Preferably, a V-shaped groove is formed on the side of the first clamping block and the second clamping block that are close to each other.

Preferably, the third screw and the fourth screw have the same thread specifications and opposite thread directions, and the first slide rod and the second slide rod are respectively provided with threaded holes that match the third screw and the fourth screw.

Preferably, sliding holes are provided on both sides of the gripping base, and the first sliding rod and the second sliding rod are slidably adapted into the corresponding sliding holes respectively.

The beneficial effects of the utility model are:

The cam is connected to the first and second worm gears via the second connecting shaft, and the cam is connected to the first and second worm gears via the second connecting shaft, so that the cam and the second worm gears are connected to each other via the second connecting shaft, and the cam and the second worm gears are connected to each other via the second connecting shaft, so that the cam and the second worm gears are connected to each other via the second connecting shaft, and the cam and the second worm gears are connected to each other via the second connecting shaft, so that the cam and the second worm gears are connected to each other via the second connecting shaft, and the cam and the second worm gears are connected to each other via the second connecting shaft, and the cam and the second worm gears are connected to each other via the second connecting shaft, and the cam and the second worm gears are connected to each other via the third connecting shaft, and the cam and the second worm gears are connected to each other via the third connecting shaft, and the cam and the second worm gears are connected to each other via the third connecting shaft, and the cam and the second worm gears are connected to each other via the fourth ...

The utility model drives the first bevel gear to rotate in the opposite direction by a servo motor, so that the first slide bar and the second slide bar are close to each other, so that the first clamping plate and the second clamping plate clamp and fix the two ends of the shaft workpiece. At this time, the first clamping block and the second clamping block are far away from each other, so that the outer wall of the shaft workpiece is exposed, thereby achieving the purpose of grinding the outer wall of the shaft workpiece. Compared with the prior art, the number of driving devices is effectively reduced, the cost is reduced, and the operation is simple and convenient.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic structural diagram of an industrial robot grinding gripper proposed by the present invention;

FIG2 is a schematic side view of the cross-sectional structure of a first bevel gear of an industrial robot grinding gripper provided by the present invention;

FIG3 is a schematic side view of the cross-sectional structure of a first worm gear of an industrial robot grinding gripper provided by the present invention;

FIG4 is a schematic diagram of a side cross-sectional structure of a guide groove of a gripper for grinding an industrial robot proposed in the present invention;

FIG5 is a schematic diagram of a top view cross-sectional structure of a sliding hole of an industrial robot grinding gripper proposed by the present invention.

In the figure: 1, gripper base; 2, servo motor; 3, first bevel gear; 4, second bevel gear; 5, first connecting shaft; 6, first worm; 7, first worm wheel; 8, first screw; 9, first clamping block; 10, second screw; 11, second clamping block; 12, third bevel gear; 13, second connecting shaft; 14, second worm; 15, second worm wheel; 16, third screw; 17, first slide bar; 18, first clamping plate; 19, fourth screw; 20, second slide bar; 21, second clamping plate; 22, guide groove; 23, V-shaped groove; 24, sliding hole.

DETAILED DESCRIPTION

The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments.

Referring to Figures 1-5, an industrial robot grinding gripper includes a gripper base 1, a servo motor 2 is arranged in the gripper base 1, a first bevel gear 3 is arranged on the output shaft of the servo motor 2, a second bevel gear 4 is vertically meshed below the first bevel gear 3, a first connecting shaft 5 is arranged on the bottom end of the second bevel gear 4, a first worm 6 is arranged on the bottom end of the first connecting shaft 5, a first worm gear 7 is meshed on the first worm 6, a first screw 8 is arranged on one end of the first worm gear 7, a first clamping block 9 is threadedly connected to the first screw 8, a second screw 10 is arranged on the other end of the first worm gear 7, and the upper thread of the second screw 10 is connected to the first clamping block 9. Two clamping blocks 11, a third bevel gear 12 is vertically meshed above the first bevel gear 3, a second connecting shaft 13 is arranged on the top of the third bevel gear 12, a second worm 14 is arranged on the top of the second connecting shaft 13, a second worm gear 15 is meshed on the second worm gear 14, a third screw 16 is arranged on one end of the second worm gear 15, a first slide bar 17 is threadedly connected to the third screw 16, a first clamping plate 18 is arranged on the bottom end of the first slide bar 17, a fourth screw 19 is arranged on the other end of the second worm gear 15, a second slide bar 20 is threadedly connected to the fourth screw 19, and a second clamping plate 21 is arranged on the bottom end of the second slide bar 20.

The servo motor 2 is driven, and the output shaft of the servo motor 2 drives the first bevel gear 3 to rotate, and drives the second bevel gear 4 to mesh and rotate. The first worm 6 is rotated through the connection with the first connecting shaft 5, and drives the first worm wheel 7 to mesh and rotate. At this time, the first screw 8 drives the first clamping block 9 to move in the direction of the first worm wheel 7, and the second screw 10 drives the second clamping block 11 to move in the direction of the first worm wheel 7, so as to clamp and fix the outer wall of the middle part of the shaft workpiece. At the same time, the first bevel gear 3 drives the third bevel gear 12 to mesh and rotate, and the rotation direction is opposite to the rotation direction of the second bevel gear 4. Through the connection of the second connecting shaft 13, the second worm 14 drives the second worm wheel 15 to rotate in the opposite direction. At this time, the third screw 16 drives the first slide bar 17 to move away from the second worm wheel 15, and the fourth screw 19 drives the second slide bar 20 to move away from the second worm wheel 15, so that the first clamping plate 18 and the second clamping plate 21 are moved away from each other, so that the middle outer wall of the shaft workpiece is clamped and fixed, and the two ends are exposed, thereby facilitating the grinding of the two ends of the shaft workpiece;

The servo motor 2 is driven, and the output shaft of the servo motor 2 drives the first bevel gear 3 to reverse, and drives the second bevel gear 4 to mesh and rotate in the opposite direction. Through the connection of the first connecting shaft 5, the first worm 6 drives the first worm wheel 7 to rotate in the opposite direction. At this time, the first screw 8 drives the first clamping block 9 to move away from the first worm wheel 7, and the second screw 10 drives the second clamping block 11 to move away from the first worm wheel 7, exposing the outer wall of the middle part of the shaft workpiece. At the same time, the first bevel gear 3 drives the third bevel gear 12 to mesh and rotate, and through the connection of the second connecting shaft 13, the second worm 14 drives the second worm wheel 15 to rotate forward. At this time, the third screw 16 drives the first slide bar 17 to move in the direction of the second worm wheel 15, and the fourth screw 19 drives the second slide bar 20 to move in the direction of the second worm wheel 15, so that the first clamping plate 18 and the second clamping plate 21 are close to each other, and the two ends of the shaft workpiece are clamped and fixed, so that the outer wall of the middle part of the shaft workpiece is exposed and the two ends are clamped and fixed, thereby facilitating the grinding of the outer wall of the shaft workpiece.

Specifically, in the present embodiment, the second bevel gear 4, the first connecting shaft 5, the first worm 6, the third bevel gear 12, the second connecting shaft 13 and the second worm 14 are all in a concentric position, and the first worm gear 7 and the second worm gear 15 are in a mutually perpendicular state, so that the relative movement between the first clamping block 9 and the second clamping block 11 can realize the clamping and loosening movement of the outer wall of the middle part of the shaft workpiece, and the relative movement between the first clamping plate 18 and the second clamping plate 21 can realize the clamping and loosening movement of the two ends of the shaft workpiece.

Specifically, in the present embodiment, the first screw 8 and the second screw 10 have the same thread specifications and opposite thread directions, and the first clamp 9 and the second clamp 11 are respectively provided with threaded holes which are compatible with the first screw 8 and the second screw 10, so that the first worm gear 7 drives the first screw 8 and the second screw 10 to rotate synchronously in the same direction, thereby realizing the synchronous movement of the first clamp 9 and the second clamp 11.

Specifically, in this embodiment, a guide groove 22 is opened on the bottom end of the clamp base 1, and the first clamp block 9 and the second clamp block 11 are both slidably adapted in the guide groove 22. The guide groove 22 provides horizontal guidance for the synchronous movement of the first clamp block 9 and the second clamp block 11, thereby ensuring the stability of the horizontal movement of the first clamp block 9 and the second clamp block 11.

Specifically, in this embodiment, a V-groove 23 is provided on the side where the first clamp 9 and the second clamp 11 are close to each other. The V-groove 23 enables the first clamp 9 and the second clamp 11 to adapt to shaft workpieces with different outer diameters, thereby improving the stability of clamping the shaft workpieces.

Specifically, in the present embodiment, the third screw 16 and the fourth screw 19 have the same thread specifications and opposite thread directions, and the first slide bar 17 and the second slide bar 20 are respectively provided with threaded holes which are mutually compatible with the third screw 16 and the fourth screw 19, so that the second worm gear 15 drives the third screw 16 and the fourth screw 19 to rotate synchronously in the same direction, thereby realizing the synchronous movement of the first slide bar 17 driving the first clamping plate 18 and the second slide bar 20 driving the second clamping plate 21.

Specifically, in this embodiment, sliding holes 24 are opened on both sides of the clamp base 1, and the first sliding rod 17 and the second sliding rod 20 are respectively slidably adapted in the corresponding sliding holes 24. The sliding holes 24 provide movement guides for the first sliding rod 17 and the second sliding rod 20, thereby ensuring the horizontal stability of the clamping of the two ends of the shaft workpiece.

The above are only preferred specific implementation methods of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model, according to the technical scheme and utility model concept of the utility model, shall make equivalent replacements or changes, which shall be covered by the protection scope of the utility model.

Claims (7)

1. An industrial robot grinding gripper, comprising a gripper base (1), characterized in that: a servo motor (2) is arranged in the gripper base (1), a first bevel gear (3) is arranged on the output shaft of the servo motor (2), a second bevel gear (4) is vertically meshed below the first bevel gear (3), a first connecting shaft (5) is arranged on the bottom end of the second bevel gear (4), a first worm (6) is arranged on the bottom end of the first connecting shaft (5), a first worm gear (7) is meshed on the first worm gear (6), a first screw (8) is arranged on one end of the first worm gear (7), a first clamping block (9) is threadedly connected to the first screw (8), a second screw (10) is arranged on the other end of the first worm gear (7), and a second screw (10) is threadedly connected to the upper end of the second screw (10). Two clamping blocks (11), a third bevel gear (12) is vertically meshed above the first bevel gear (3), a second connecting shaft (13) is arranged on the top of the third bevel gear (12), a second worm (14) is arranged on the top of the second connecting shaft (13), a second worm gear (14) is meshed with a second worm wheel (15), a third screw (16) is arranged on one end of the second worm wheel (15), a first slide bar (17) is threadedly connected to the third screw (16), a first clamping plate (18) is arranged on the bottom end of the first slide bar (17), a fourth screw (19) is arranged on the other end of the second worm wheel (15), a second slide bar (20) is threadedly connected to the fourth screw (19), and a second clamping plate (21) is arranged on the bottom end of the second slide bar (20). 2. An industrial robot grinding gripper according to claim 1, characterized in that the second bevel gear (4), the first connecting shaft (5), the first worm (6), the third bevel gear (12), the second connecting shaft (13) and the second worm (14) are all in a concentric position, and the first worm wheel (7) and the second worm wheel (15) are in a mutually perpendicular state. 3. An industrial robot grinding gripper according to claim 1, characterized in that: the first screw (8) and the second screw (10) have the same thread specifications and opposite thread directions, and the first clamping block (9) and the second clamping block (11) are respectively provided with threaded holes that are compatible with the first screw (8) and the second screw (10). 4. An industrial robot grinding gripper according to claim 1, characterized in that a guide groove (22) is provided on the bottom end of the gripper base (1), and the first clamping block (9) and the second clamping block (11) are both slidably fitted in the guide groove (22). 5. An industrial robot grinding gripper according to claim 1, characterized in that: a V-shaped groove (23) is provided on the side where the first clamping block (9) and the second clamping block (11) are close to each other. 6. An industrial robot grinding gripper according to claim 1, characterized in that: the thread specifications of the third screw (16) and the fourth screw (19) are the same, and the thread directions are opposite, and the first slide bar (17) and the second slide bar (20) are respectively provided with threaded holes that are compatible with the third screw (16) and the fourth screw (19). 7. An industrial robot grinding gripper according to claim 1, characterized in that: sliding holes (24) are provided on both sides of the gripper base (1), and the first sliding rod (17) and the second sliding rod (20) are respectively slidably adapted in the corresponding sliding holes (24).