A mechanical gripper for a cutting tool

Abstract

The present invention discloses a mechanical gripper for a tool, which comprises a substrate, a left movable plate and a right movable plate hinged to the upper surface of the substrate, and a pushing mechanism for pushing the left movable plate and the right movable plate to rotate relative to the substrate. The left movable plate and the right movable plate can rotate relative to the substrate to a relative state and a non-opposite open state under the push of the pushing mechanism, and suction tool devices are respectively arranged on the opposite sides of the left movable plate and the right movable plate. The present invention can realize the interchangeable suction of the two tool surfaces on both sides of the tool directly on the mechanical gripper without placing the tool on the tool holder, and can quickly send it to a grinding machine for two-tool surface grinding processing, thereby improving the working efficiency.

Description

Technical Field

[0001] The present invention belongs to the field of manipulators, and particularly relates to a tool mechanical gripper. Background Art

[0002] In order to achieve automatic control in the existing tool grinding process, a manipulator is generally used for loading and unloading tools. The operation of the existing manipulator is that the suction cup of the manipulator sucks one side cutting surface of the tool and sends the tool to a grinding machine for grinding the one side cutting surface of the tool. When the grinding of this cutting surface is completed, the suction cup of the manipulator sucks the same side cutting surface of the tool again to remove the tool from the grinding machine and move it away from the grinding machine. Then, by driving the pushing mechanism, the left movable plate and the right movable plate rotate to a relative state, and at the same time, the left movable plate also drives the tool to rotate to a position opposite to the right movable plate. Then, the suction device of the left movable plate releases the current cutting surface of the tool, and at the same time, the suction device of the right movable plate sucks the other side cutting surface of the tool. After that, the pushing mechanism drives the left movable plate and the right movable plate to rotate to a non-opposite open state again. At this time, the suction device of the right movable plate sucks the other side cutting surface of the tool and sends it to the grinding machine for grinding the other side cutting surface of the tool. In this way, it is possible to realize the grinding of both sides of the tool without removing the tool and placing it on the tool holder after the grinding of one side cutting surface is completed, improving the work efficiency. Summary of the Invention

[0003] Aiming at at least one of the above deficiencies in the prior art, the purpose of the present invention is to provide a tool mechanical gripper that can improve efficiency.

[0004] In order to achieve the above purpose, the technical solution adopted by the present invention is: a tool mechanical gripper, including a substrate, a left movable plate and a right movable plate hinged on the upper surface of the substrate, and a pushing mechanism for pushing the left movable plate and the right movable plate to rotate relative to the substrate. The left movable plate and the right movable plate can rotate relative to the substrate to a relative state and a non-opposite open state under the push of the pushing mechanism, and suction devices for holding tools are respectively provided on the sides of the left movable plate and the right movable plate that can face each other.

[0005] In the above solution, the suction device on the left movable plate sucks one side cutting surface of the tool and sends it to the grinding machine for grinding the one side cutting surface of the tool. When the grinding of this cutting surface is completed, the suction device on the left movable plate sucks the same side cutting surface of the tool again to remove it from the grinding machine and move it away from the grinding machine. Then, by driving the pushing mechanism, the left movable plate and the right movable plate rotate to a relative state, and at the same time, the left movable plate also drives the tool to rotate to a position opposite to the right movable plate. Then, the suction device of the left movable plate releases the current cutting surface of the tool, and at the same time, the suction device of the right movable plate sucks the other side cutting surface of the tool. After that, the pushing mechanism drives the left movable plate and the right movable plate to rotate to a non-opposite open state again. At this time, the suction device of the right movable plate sucks the other side cutting surface of the tool and sends it to the grinding machine for grinding the other side cutting surface of the tool. In this way, it can be realized that after the grinding of one side cutting surface is completed, the grinding of both sides of the tool can be realized without removing the tool and placing it on the tool holder, improving the work efficiency.

[0006] Furthermore, the knife suction device is an electromagnet suction cup respectively arranged on the opposite side of the left movable plate and the right movable plate, which is convenient for controlling the suction and release of the knife. Of course, the knife suction device can also be a vacuum suction cup respectively arranged on the opposite side of the left movable plate and the right movable plate.

[0007] Furthermore, the left movable plate and the right movable plate can be provided with floating plates on one side facing each other, the floating plate on the left movable plate is slidably connected to the left movable plate through a guide column, and a spring is provided between the left movable plate and the floating plate on the left movable plate, the floating plate on the right movable plate is also slidably connected to the right movable plate through a guide column, and a spring is provided between the right movable plate and the floating plate on the right movable plate, and the knife suction device is provided on the outer side of the floating plate. Since the floating plate can drive the knife suction device to move elastically relative to the movable plate, a compressible space is provided between the left movable plate and the right movable plate, which avoids the possibility that the pushing mechanism may excessively push the left movable plate and the right movable plate to close relative to each other and cause equipment damage, and can also ensure the reliability of the knife when it is clamped between the knife suction devices of the left movable plate and the right movable plate.

[0008] Furthermore, a first telescopic spring column is provided on the outer side of the floating plate, and the height of the first telescopic spring column in the natural state is greater than the height of the knife suction device, and the height of the first telescopic spring column in the compressed state is less than or equal to the height of the knife suction device. When the knife suction device sucks the knife, the first telescopic spring column can buffer the knife, thereby avoiding a loud impact sound caused by the knife suction device sucking the knife at an excessively fast speed.

[0009] Furthermore, the first telescopic springs are respectively located on the outer side of the floating plate at two opposite sides corresponding to the knife suction device, so that the knife can be stably sucked onto the knife suction device.

[0010] Furthermore, second telescopic spring columns are provided on the above-mentioned base plate at the ends corresponding to the positions of the left movable plate and the right movable plate. When the left movable plate and the right movable plate are in a non-opposing state, they can be pressed against the ends of the second telescopic spring columns. The second telescopic spring columns can have a buffering effect when the left movable plate and the right movable plate are rotated to a non-opposing open state.

[0011] Furthermore, the pushing mechanism includes a cylinder body and a push rod sliding relative to the cylinder body, the cylinder body is hinged under the base plate, the base plate is provided with a clearance hole capable of providing a swinging space for the push rod, the front end of the push rod of the pushing mechanism for pushing the left movable plate passes through the clearance hole and is hinged to the left movable plate, and the front end of the push rod of the pushing mechanism for pushing the right movable plate passes through the clearance hole and is hinged to the right movable plate. The push rod is driven to extend and retract by the air pressure or oil pressure cylinder body, so that the left movable plate and the right movable plate can rotate relative to the base plate, and the structure is simple.

[0012] Furthermore, cylinder support plates are respectively arranged on both sides of the cylinder body corresponding to the lower surface of the substrate. The cylinder body is hinged to the two cylinder support plates, which facilitates the installation of the cylinder body. When the push rod drives the movable plate to rotate, the cylinder body will also automatically rotate to adapt to the pushing direction of the push rod.

[0013] Furthermore, a connection seat for connecting with a robotic arm is arranged at the position between the left movable plate and the right movable plate corresponding to the lower surface of the substrate.

[0014] The present invention can realize the interchangeable suction of the two tool surfaces on the robotic gripper directly without placing the tool on the tool rest, and can quickly send it to the grinding machine for two-tool surface grinding, improving the working efficiency. Moreover, it also has the advantages of simple structure, convenient maintenance, and low noise during operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of the tool suction state of the tool robotic gripper of the embodiment of the present invention in the tool suction device of the left movable plate.

[0016] Figure 2 It is a schematic structural diagram of the tool robotic gripper of the embodiment of the present invention when the left movable plate and the right movable plate are in a relative state.

[0017] Figure 3 It is a schematic structural diagram of the tool suction state of the tool robotic gripper of the embodiment of the present invention in the tool suction device of the right movable plate.

[0018] Figure 4 It is a schematic structural diagram of the components on the movable plate of the tool robotic gripper of the embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0019] The present invention will be further described below with reference to the drawings. The drawings are only for illustrative purposes and should not be construed as a limitation of this patent.

[0020] In order to more concisely describe this embodiment, some components that are well-known to those skilled in the art but not relevant to the main content of this creation will be omitted in the drawings or the description. Additionally, for the convenience of expression, some components in the drawings will be omitted, enlarged, or reduced, but this does not represent the actual size or the entire structure of the product.

[0021] Embodiment

[0022] As Figures 1 to 4As shown in the figure, this embodiment provides a mechanical gripper for a cutting tool, which includes a substrate 1. There are two pairs of oppositely aligned movable plate hinge seats 10 on the substrate 1. A left movable plate 21 and a right movable plate 22 are respectively hinged on the two pairs of hinge seats 10. The left movable plate 21 and the right movable plate 22 are also respectively connected with a pushing mechanism 3 for pushing them to rotate relative to the hinge seats 10, so that the left movable plate 21 and the right movable plate 22 can rotate within a range perpendicular and parallel to the substrate 1. When the left movable plate 21 and the right movable plate 22 are perpendicular to the substrate 1, the left movable plate 21 and the right movable plate 22 are in a relative facing state, as Figure 2 shown; when the left movable plate 21 and the right movable plate 22 are parallel to the substrate 1, the left movable plate 21 and the right movable plate 22 are in an open state of non-facing, as Figure 1 , 3 shown. And, suction tool devices 23 are respectively provided on the sides of the left movable plate 21 and the right movable plate 22 that can face each other. The suction tool device 23 in this embodiment is an electromagnet suction cup. Of course, the suction tool device 23 can also be a vacuum suction cup.

[0023] In the above solution, during use, the left movable plate 21 and the right movable plate 22 are in an open state of non-facing. The suction tool device 23 on the left movable plate 21 sucks one side cutting surface of the cutting tool 7 and sends it to a grinding machine to grind one side cutting surface of the cutting tool 7. When the grinding of this cutting surface is completed, the suction tool device 23 on the left movable plate 21 sucks the same side cutting surface of the cutting tool 7 again, takes it off from the grinding machine and moves away from the grinding machine. Then, by driving the pushing mechanism 3, the left movable plate 21 and the right movable plate 22 are rotated to a position perpendicular to the substrate 1. At this time, the left movable plate 21 and the right movable plate 22 are in a relative facing state. At the same time, the left movable plate 21 also drives the cutting tool 7 to rotate to a position facing the right movable plate 22. Then, the suction tool device 23 of the left movable plate 21 releases the current cutting surface of the cutting tool 7, and at the same time, the suction tool device 23 of the right movable plate 22 sucks the other side cutting surface of the cutting tool 7. After that, the pushing mechanism 3 drives the left movable plate 21 and the right movable plate 22 to rotate to an open state of non-facing again. At this time, the suction tool device 23 of the right movable plate 22 sucks the other side cutting surface of the cutting tool 7 and sends it to the grinding machine to grind the other side cutting surface of the cutting tool 7, realizing that after grinding one side cutting surface, it is not necessary to take the cutting tool 7 off and place it on the tool holder to grind both sides of the cutting tool, improving work efficiency.

[0024] As an improved solution of this embodiment, floating plates 4 are respectively further provided on one side of the above-mentioned left movable plate 21 and right movable plate 22 in opposite directions. The floating plate 4 located on the left movable plate 21 is slidably connected to the guide holes at the four corners of the left movable plate 21 through guide posts 5, and a spring 6 is provided between the left movable plate 21 and the floating plate 4 located on the left movable plate 21. The floating plate 4 located on the right movable plate 22 is also slidably connected to the guide holes at the four corners of the right movable plate 22 through guide posts 5, and a spring 6 is provided between the right movable plate 22 and the floating plate 4 located on the right movable plate 22. The knife suction device 23 is arranged on the outer side surface of the floating plate 4. Since the spring 6 is arranged between the floating plate 4 and the movable plate, the floating plate 4 can drive the knife suction device 23 to slide and compress towards the direction close to the movable plate, and reset under the action of the spring 6, avoiding the possible over-pushing of the pushing mechanism 3 when the left movable plate 21 and the right movable plate 22 are pushed towards each other and closed, which may cause equipment damage, and also improving the reliability when the tool is clamped between the knife suction devices 23 of the left movable plate 21 and the right movable plate 22. Even if the knife suction devices 23 of the left movable plate 21 and the right movable plate 22 are powered off and demagnetized at the same time, the tool will not fall off.

[0025] In order to avoid a large impact sound caused by the too fast moving speed of the tool 7 when the knife suction device 23 sucks the tool 7, first telescopic spring columns 24 are respectively provided on the outer side surface of the above-mentioned floating plate 4 at positions corresponding to the relative two sides of the knife suction device 23. The height of the first telescopic spring column 24 in the natural state is greater than the height of the knife suction device 23, and the height of the first telescopic spring column 24 in the compressed state is less than or equal to the height of the knife suction device 23. In this way, during the process of the knife suction device 23 sucking the tool 7, the first telescopic spring column 7 can play a buffering role on the tool, so that the tool can contact the knife suction device 23 at a relatively slow speed, thereby reducing the impact sound of the tool 7 hitting the knife suction device 23.

[0026] Furthermore, second telescopic spring columns 25 are respectively further provided at both ends of the above-mentioned substrate 1. When the left movable plate 21 and the right movable plate 22 are in the open state of not facing each other, the left movable plate 21 and the right movable plate 22 respectively abut against the ends of the corresponding second telescopic spring columns 25. The second telescopic spring columns 25 can also play a buffering role on the left movable plate 21 and the right movable plate 22 during the opening process.

[0027] The above-mentioned driving mechanism 3 includes a pneumatic or hydraulic cylinder block 31 and a push rod 32 that slides relative to the cylinder block 31. At both ends of the lower surface of the base plate 1, there are provided two cylinder support plates 13 that are parallel to each other and spaced apart by a certain distance. The cylinder block 31 is disposed between the two cylinder support plates 13 and is hinged to the two cylinder support plates 13 on both sides. The base plate 1 is provided with a relief hole 12 that can give each push rod 32 a swinging space. The front end of the push rod 32 of the driving mechanism 3 for pushing the left movable plate 21 passes through the corresponding relief hole 12 on the corresponding side and is hinged to the left movable plate 21. The front end of the push rod 32 of the driving mechanism 3 for pushing the right movable plate 22 passes through the corresponding relief hole 12 on the corresponding side and is hinged to the right movable plate 22. The cylinder block 31 actuated by pneumatic or hydraulic pressure directly drives the push rod 32 to expand and contract and slide, so that the left movable plate 21 and the right movable plate 22 rotate, and the structure is simple.

[0028] In order to facilitate the connection with the robotic arm of the robot, a connecting seat 11 is provided at the position corresponding to the left movable plate 21 and the right movable plate 22 on the lower surface of the above-mentioned base plate 1. The connecting seat 11 is directly connected to the robotic arm of the robot, and the robotic arm of the robot drives the movement of this tool mechanical gripper.

[0029] Adopting the tool mechanical gripper of this embodiment not only improves the work efficiency, but also has the advantages of simple structure, convenient maintenance, and low noise during operation.

[0030] The above is only a specific embodiment of the present invention, but the design concept of the present invention is not limited thereto. Any non-substantial modifications made to the present invention using the design concept of the present invention fall within the protection scope of the present invention.

Claims

1. A mechanical gripper for a cutting tool, characterized in that: The invention comprises a base plate (1), a left movable plate (21) and a right movable plate (22) hinged on the base plate (1), and a driving mechanism (3) for driving the left movable plate (21) and the right movable plate (22) to rotate relative to the base plate (1), and the left movable plate (21) and the right movable plate (22) can be driven by the driving mechanism (3) to rotate relative to the base plate (1) to a relative state and a non-relative open state, and a knife suction device (23) is respectively provided on the opposite side of the left movable plate (21) and the right movable plate (22); the opposite side of the left movable plate (21) and the right movable plate (22) are respectively provided with a floating plate (4), the floating plate (4) on the left movable plate (21) is slidably connected to the left movable plate (21) through a guide column (5), and a spring (6) is provided between the left movable plate (21) and the floating plate (4) on the left movable plate (21), The floating plate (4) on the right movable plate (22) is also slidably connected to the right movable plate (22) through a guide column (5), and a spring (6) is provided between the right movable plate (22) and the floating plate (4) on the right movable plate (22), and the knife suction device (23) is provided on the outer side of the floating plate (4); the pushing mechanism (3) comprises a cylinder body (31) and a push rod (32) sliding relative to the cylinder body (31), the cylinder body (31) is hinged under the base plate (1), the base plate (1) is provided with a clearance hole (12) capable of providing a swinging space for the push rod (32), the front end portion of the push rod (32) of the pushing mechanism (3) for pushing the left movable plate (21) passes through the clearance hole (12) and is hinged to the left movable plate (21), and the front end portion of the push rod (32) of the pushing mechanism (3) for pushing the right movable plate (22) passes through the clearance hole (12) and is hinged to the right movable plate (22).

2. The tool mechanical gripper according to claim 1, characterized in that: The knife suction device (23) is an electromagnet suction cup which is respectively arranged on one side of the left movable plate (21) and the right movable plate (22) and can face each other.

3. The tool mechanical gripper according to claim 1, wherein: The knife suction device (23) is a vacuum suction cup respectively arranged on one side of the left movable plate (21) and the right movable plate (22) that can face each other.

4. The tool mechanical gripper according to claim 1, wherein: The outer side surface of the floating plate (4) is also provided with a first telescopic elastic column (24), the height of the first telescopic elastic column (24) in a natural state is greater than the height of the knife suction device (23), and the height of the first telescopic elastic column (24) in a compressed state is less than or equal to the height of the knife suction device (23).

5. The tool mechanical gripper according to claim 4, characterized in that: The first telescopic elastic columns (24) are respectively located on the outer side of the floating plate (4) at positions on opposite sides of the knife suction device (23).

6. The tool mechanical gripper according to claim 1, characterized in that: The base plate (1) is provided with second telescopic spring columns (25) at the ends corresponding to the positions of the left movable plate (21) and the right movable plate (22). When the left movable plate (21) and the right movable plate (22) are in a non-opposite open state, they can press against the ends of the second telescopic spring columns (25).

7. The tool mechanical gripper according to claim 1, characterized in that: Cylinder support plates (13) are respectively provided on both sides of the bottom of the base plate (1) corresponding to the cylinder (31), and the cylinder (31) is hinged to the two cylinder support plates (13).

8. The mechanical gripper for a cutting tool according to claim 1, characterized in that: A connecting seat (11) for connecting with a robotic arm is provided at a position corresponding to the position between the left movable plate (21) and the right movable plate (22) below the substrate (1).

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