An electromechanical grinding and clamping mechanical arm

Abstract

The present invention discloses an electromechanical grinding and clamping robot arm, comprising a column, a base plate being arranged at the lower end of the column, and bolts being arranged between the base plate and the ground; a frame plate being welded at the outer wall of the column, and a vertically penetrating through groove being arranged at the top of the frame plate away from the column; the device can be used as a passive clamp, that is, a driving unit is kept closed, and a sheet is ground in the form of a handheld grinder, and this form of grinding is mainly used to grind non-circular sheets; the device can also be used as an active clamp, that is, the driving unit is turned on, the locking sleeve is removed, and the shaft rod can be driven to rotate actively through the driving unit in combination with a transmission belt, and then an operator can grind with handheld grinding sandpaper, and this grinding method can grind circular sheets; therefore, the device can select different clamping methods for different workpieces, and is more flexible to use.

Description

Technical Field

[0001] The invention relates to an electromechanical grinding and clamping mechanical arm. Background Art

[0002] Sheet material is a common material form. Sheets are obtained through punching or other processing methods. Some sheets need to be manually polished and deburred before subsequent production. The traditional operation method is to clamp them with a bench vise or other types of clamps and then polish them. This type of clamp can only clamp passively, so after clamping, it is more troublesome to adjust the angle. When one side of the sheet is polished, the clamp needs to be loosened and then the other side is clamped. The amount of sheet material operation is usually large, so the operation efficiency of this type of clamp is relatively low.

[0003] To this end, we designed an electromechanical grinding and clamping robot arm that can clamp sheets and achieve rapid angle switching. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide an electromechanical grinding and clamping robot arm which can clamp sheets and realize rapid angle switching.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] The top of the support frame is provided with a toothed plate, and the toothed plate is provided with a toothed plate, and the toothed plate is provided with a toothed plate on the upper surface of the support frame. The cam is an axially movable member formed between a pair of camshafts and a plurality of camshafts, the cam being abutted against the engagement of the camshaft and the engagement of the plurality of camshafts.

[0007] Preferably, a plurality of through holes are arranged in an annular shape on the surfaces of the bottom plate and the top plate, and anti-skid pads made of rubber are arranged on the top of the bottom plate and the bottom of the top plate, and a plurality of T-shaped connecting columns are arranged in an annular shape on the surface of the anti-skid pads, and the connecting columns pass through the through holes after being deformed, and form limit positions after passing through the through holes; the above structure is mainly for processing brittle workpieces, such as "ceramic crafts, glass crafts", and can play a technical effect of flexible protection and increasing the friction between the workpieces.

[0008] Preferably, the locking mechanism includes a locking sleeve, a stepped hole is provided at the top of the sleeve, and a plurality of slots are provided in an annular manner on the hole wall of the stepped hole; an inserting portion is provided at the lower end of the locking sleeve, the inserting portion is inserted into the stepped hole, and an inserting piece is provided at the outer wall of the inserting portion, and the inserting piece is inserted into the slot, at which time the position of the locking sleeve is fixed; a plurality of first slots are provided in an annular manner on the inner wall of the locking sleeve; a first inserting piece is provided on the outer wall of the first shaft rod, and the first inserting piece cooperates with the first slot; when the locking sleeve and the sleeve cooperate, the first shaft rod is locked; when the locking sleeve is removed upward, the lock of the first shaft rod is released When the shaft rotates, the first shaft rotates accordingly; a buffer protection device is provided through the stepped hole; the buffer protection device and the locking sleeve are used selectively; the locking sleeve is used to lock the first shaft, and after the bottom plate and the top plate cooperate, the workpiece to be grinded is clamped; then the operator holds the grinder in hand for grinding; when one side is finished grinding, the locking sleeve is removed upward, and then the first shaft is rotated a certain angle, and the ungrinded side is facing the staff, and then the locking sleeve is inserted to lock the first shaft, and then the grinding is continued; since the workpiece to be processed is clamped by the bottom plate and the top plate, the first shaft and the shaft remain synchronized; it is only necessary to lock the first shaft.

[0009] Preferably, the buffer protection device comprises an inner sleeve, and a second insert matching the slot is arranged on the outer wall of the inner sleeve; the inner sleeve has an inner hole; the inner hole and the first insert are clearance-matched; a plurality of T-shaped slots are arranged on the inner wall of the inner hole; a rubber buffer sheet is arranged on the inner wall of the T-shaped slot; the rubber buffer sheet is arranged in a ring shape with a plurality of sheets, and the first insert is limited between two adjacent rubber buffer sheets; when the grinding torque is large, the first shaft is subjected to a large rotational force, and the first insert breaks through the rubber buffer sheet and enters between the next two rubber buffer sheets. The function of the buffer protection device is to perform elastic limit protection; when performing grinding operations, some workpieces cannot be subjected to excessive grinding pressure, such as fragile workpieces such as ceramics and glass, and the hard clamping in traditional technology does not have the function of buffer protection; when the applied grinding pressure is too large, the workpiece will be broken. After adopting the above technical solution, when the applied grinding pressure is too large, the torque between the grinding equipment and the workpiece increases, causing the first insert to break through the rubber buffer sheet; at this time, the workpiece will rotate a certain angle, prompting the staff that the grinding pressure is too large and needs to be reasonably controlled.

[0010] Preferably, a guide groove is provided on the outer wall of the column, the guide groove passes through the column upward, and a guide strip fitting the guide groove is provided on the inner wall of the sleeve; the above structure is to ensure that the sleeve can only move along the axial direction of the column but cannot rotate coaxially.

[0011] Preferably, an annular groove is provided at the bottom of the stepped hole, and a magnetic ring is embedded in the annular groove. When the plug is inserted, it is fixed by magnetic attraction by the magnetic ring. During the grinding operation, vibration will be generated. Therefore, we designed the above-mentioned technical structure, and the plug can be magnetically adsorbed by the magnetic ring, making the operation of the device more stable.

[0012] Preferably, the driving unit is a motor; the motor is easy to draw electricity from, does not produce harmful gases, and is more environmentally friendly.

[0013] The beneficial effects of the present invention are:

[0014] 1) This device can be used as a passive fixture, that is, the drive unit remains closed, and the sheet is polished by a handheld grinder. This form of polishing is mainly used to polish non-circular sheets; this device can also be used as an active fixture, that is, the drive unit is turned on, the locking sleeve is removed, and the drive unit and the transmission belt can drive the shaft to rotate actively, and then the operator can polish with handheld sandpaper. This grinding method can be used to polish circular sheets; therefore, this device can choose different clamping methods for different workpieces, and is more flexible to use;

[0015] 2) In this device, the sleeve can slide vertically along the column, and the base can also be adjusted vertically, which enables the device to achieve a large clamping stroke adjustment;

[0016] 3) This device can adjust the position of the base by rotating the screw, thereby adjusting the size of the clamp, and the adjustment method is simple;

[0017] 4) The structure of this device is relatively simple and the cost is relatively low, making it suitable for popularization and use. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0019] Figure 1 It is a front view of the present invention;

[0020] Figure 2 is a schematic diagram of the matching between the shaft sleeve and the first shaft rod;

[0021] Figure 3 is the front view of the locking sleeve;

[0022] Figure 4 is a top view of the locking sleeve;

[0023] Figure 5 is a top view of the sleeve;

[0024] Figure 6 It is the front view of the buffer protection device;

[0025] Figure 7 It is a top view of the buffer protection device. DETAILED DESCRIPTION

[0026] All features disclosed in this specification, or steps in all methods or processes disclosed, except mutually exclusive features and / or steps, can be combined in any manner.

[0027] Any feature disclosed in this specification (including any additional claims, abstract and drawings), unless otherwise stated, may be replaced by other equivalent or alternative features with similar purposes. That is, unless otherwise stated, each feature is only an example of a series of equivalent or similar features.

[0028] In the description of the present invention, it is necessary to understand that the terms "one end", "the other end", "outside", "upper", "inside", "horizontal", "coaxial", "center", "end", "length", "outer end" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0029] In addition, in the description of the present invention, “plurality” means at least two, for example, two, three, etc., unless otherwise clearly and specifically defined.

[0030] In the present invention, unless otherwise clearly specified and limited, the terms "disposed", "socketed", "connected", "through", "plugged" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0031] See also Figures 1 to 7 shown.

[0032] Example 1

[0033] A mechanical and electrical grinding clamping robot arm comprises a column 1, a base plate 2 is provided at the lower end of the column, and a bolt 201 is provided between the base plate 2 and the ground; a frame plate 3 is welded on the outer wall of the column 1, a vertical through groove is provided at the top of the frame plate 3 away from the column 1, a vertical through threaded hole is provided at the top of the frame plate 3 close to the through groove, a screw 4 for height adjustment is provided through the threaded hole, a support rod 5 is inserted in the through groove, a base 6 is provided at the top position of the side of the support rod 5, and the upper end of the screw 4 is against the base 6; a shaft rod 7 is inserted at the axis of the base 6, a bearing is provided between the shaft rod 7 and the base 6, and a bottom plate 8 is provided at the upper end of the shaft rod 7; a driven pulley 701 is provided on the outside of the shaft rod 7; a first A frame plate 9, on the surface of which a driving unit 10 is mounted, a driving pulley 11 is mounted at the output end of the driving unit 10, a transmission belt 12 is provided between the driving pulley 11 and the driven pulley 701; an axially slidable sleeve 13 is provided on the outside of the column 1, a connecting rod 14 is provided at the outer wall of the sleeve 13, a sleeve 15 is provided at the end of the connecting rod 14 away from the sleeve 13, a first shaft rod 16 is inserted at the axis of the sleeve 15, a first bearing 17 is provided between the sleeve 15 and the first shaft rod 16; a locking mechanism is provided between the first shaft rod 16 and the sleeve 15; a top plate 18 is provided at the lower end of the first shaft rod 16, a clamp 19 for clamping a workpiece is formed between the bottom plate 8 and the top plate 18; a locking screw 20 is provided between the sleeve 13 and the column 1.

[0034] Example 2

[0035] A plurality of through holes are arranged in a ring shape on the surface of the bottom plate 8 and the top plate 18, and a rubber anti-skid pad 21 is arranged on the top of the bottom plate 8 and the bottom of the top plate 18. A plurality of T-shaped connecting columns 22 are arranged in a ring shape on the surface of the anti-skid pad 21. The connecting columns 22 pass through the through holes after deformation and form a limit after passing through the through holes. The above structure is mainly for brittle workpieces, such as "ceramic crafts, glass crafts", when processing, which can play a technical effect of flexible protection and increasing the friction between the workpieces.

[0036] Example 3

[0037] The locking mechanism includes a locking sleeve 23, a stepped hole 151 is provided at the top of the sleeve 15, and a plurality of slots 161 are provided in an annular manner on the hole wall of the stepped hole 151; an inserting portion 24 is provided at the lower end of the locking sleeve 23, and the inserting portion 24 is inserted into the stepped hole 151, and an inserting piece 25 is provided at the outer wall of the inserting portion 24, and the inserting piece 25 is inserted into the slot 161, at which time the position of the locking sleeve 23 is fixed; a plurality of first slots 26 are provided in an annular manner on the inner wall of the locking sleeve 23; a first inserting piece 27 is provided on the outer wall of the first shaft rod 16, and the first inserting piece 27 cooperates with the first slot 26; when the locking sleeve 23 and the sleeve 15 cooperate, the first shaft rod 16 is locked; when the locking sleeve 23 is removed upward, the first shaft rod 16 is unlocked, and when the shaft 7 rotates, the first shaft 16 rotates accordingly; a buffer protection device 28 is provided through the stepped hole 151; the buffer protection device 28 and the locking sleeve 23 are used selectively; the locking sleeve 23 is used to lock the first shaft 16, and after the bottom plate 8 and the top plate 18 cooperate, the workpiece to be grinded is clamped; then the operator holds the grinder in hand for grinding; when one side is finished grinding, the locking sleeve 23 is removed upwards, and then the first shaft 16 is rotated a certain angle, with the ungrinded side facing the staff, and then the locking sleeve 23 is inserted to lock the first shaft 16, and then the grinding is continued; since the workpiece to be processed is clamped by the bottom plate 8 and the top plate 18, the first shaft 16 and the shaft 7 remain synchronized; it is only necessary to lock the first shaft 16.

[0038] Example 4

[0039] The buffer protection device 28 includes an inner sleeve 281, and a second plug 282 that matches the slot 161 is arranged on the outer wall of the inner sleeve 281; the inner sleeve 281 has an inner hole 283; the inner hole 283 and the first plug 27 are clearance-matched; a plurality of T-shaped slots 284 are arranged on the inner wall of the inner hole 283; a rubber buffer sheet 285 is arranged on the inner wall of the T-shaped slot 284; the rubber buffer sheet 285 is arranged in a ring shape with a plurality of sheets, and the first plug 27 is limited to be located between two adjacent rubber buffer sheets 285; when the grinding torque is large, the first shaft 16 is subjected to a large rotational force, and at this time the first plug 27 breaks through the rubber buffer sheet 285 and enters between the next two rubber buffer sheets 285. The function of the buffer protection device 28 is to provide elastic limit protection. When performing grinding operations, some workpieces cannot be subjected to excessive grinding pressure, such as fragile workpieces such as ceramics and glass, and the hard clamping in traditional technology does not have the function of buffer protection. When the applied grinding pressure is too large, the workpiece will be broken. After adopting the above technical solution, when the applied grinding pressure is too large, the torque between the grinding equipment and the workpiece increases, causing the first insert 27 to break through the rubber buffer sheet 285. At this time, the workpiece will rotate a certain angle, prompting the staff that the grinding pressure is too large and needs to be reasonably controlled.

[0040] Example 5

[0041] A guide groove 121 is provided on the outer wall of the column 1, and the guide groove 121 penetrates the column 1 upward, and a guide strip fitting the guide groove 121 is provided on the inner wall of the sleeve 15; the above structure is to keep the sleeve 15 only moving along the axial direction of the column, and not rotating coaxially.

[0042] Example 6

[0043] An annular groove 152 is provided at the bottom of the stepped hole 151, and a magnetic ring 153 is embedded in the annular groove 152. When the inserting part 24 is inserted, it is fixed by magnetic attraction by the magnetic ring 153. During the grinding operation, vibration will be generated. Therefore, we have designed the above technical structure, and the inserting part 24 can be magnetically adsorbed by the magnetic ring 163, so that the operation of the device is more stable.

[0044] Example 7

[0045] The driving unit 10 is a motor; the motor is easy to draw electricity from, does not generate harmful gases, and is more environmentally friendly.

[0046] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An electromechanical grinding and clamping robot arm, comprising a column (1), a base plate (2) being arranged at the lower end of the column, and bolts (201) being engaged between the base plate (2) and the ground; characterized in that: A frame plate (3) is welded to the outer wall of the column (1); a vertically penetrating through groove is provided at a position of the top of the frame plate (3) away from the column (1); a vertically penetrating threaded hole is provided at a position of the top of the frame plate (3) close to the through groove; a screw (4) for height adjustment is provided through the threaded hole; a support rod (5) is inserted into the through groove; a base (6) is provided at the top position of the side of the support rod (5); the upper end of the screw (4) abuts against the base (6); a shaft rod (7) is inserted at the axis of the base (6); a bearing is provided between the shaft rod (7) and the base (6); a bottom plate (8) is provided at the upper end of the shaft rod (7); a driven pulley (701) is provided on the outside of the shaft rod (7); a first frame plate (9) is provided on the outside of the support rod (5); a driving unit (10) is installed on the plate surface of the first frame plate (9); The output end of the drive unit (10) is provided with a driving pulley (11), and a transmission belt (12) is provided between the driving pulley (11) and the driven pulley (701); the outer portion of the column (1) is provided with an axially slidable sleeve (13), the outer wall of the sleeve (13) is provided with a connecting rod (14), the end of the connecting rod (14) away from the sleeve (13) is provided with a shaft sleeve (15), and a first connecting rod (15) is inserted at the axis of the sleeve (15). a shaft rod (16), a first bearing (17) being provided between the shaft sleeve (15) and the first shaft rod (16); a locking mechanism being provided between the first shaft rod (16) and the shaft sleeve (15); a top plate (18) being provided at the lower end of the first shaft rod (16), a clamping opening (19) for clamping a workpiece being formed between the bottom plate (8) and the top plate (18); and a locking screw (20) being provided between the sleeve (13) and the column (1); The locking mechanism comprises a locking sleeve (23), a stepped hole (151) is arranged at the top of the shaft sleeve (15), and a plurality of slots (161) are arranged in an annular manner on the hole wall of the stepped hole (151); an inserting portion (24) is arranged at the lower end of the locking sleeve (23), the inserting portion (24) is inserted into the stepped hole (151), an inserting piece (25) is arranged on the outer wall of the inserting portion (24), the inserting piece (25) is inserted into the slot (161), and the position of the locking sleeve (23) is fixed; a plurality of first inserting pieces are arranged in an annular manner on the inner wall of the locking sleeve (23); a first inserting piece (27) is arranged on the outer wall of the first shaft rod (16), and the first inserting piece (27) cooperates with the first inserting piece (26); when the locking sleeve (23) and the shaft sleeve (15) cooperate, the first shaft rod (16) is locked; when the locking sleeve (23) is removed upward, the lock of the first shaft rod (16) is released, and when the shaft rod (7) rotates, the first shaft rod (16) rotates accordingly; a buffer protection device (28) is cooperated through the stepped hole (151); either the buffer protection device (28) or the locking sleeve (23) is used; The buffer protection device (28) comprises an inner sleeve (281), and a second insert (282) matching the slot (161) is arranged on the outer wall of the inner sleeve (281); the inner sleeve (281) has an inner hole (283); the inner hole (283) and the first insert (27) are clearance-matched; a plurality of T-shaped slots (284) are arranged on the inner wall of the inner hole (283); a rubber buffer sheet (285) is arranged on the inner wall of the T-shaped slot (284); a plurality of rubber buffer sheets (285) are arranged in an annular shape, and the first insert (27) is limited between two adjacent rubber buffer sheets (285); when the grinding torque is large, the first shaft (16) is subjected to a large rotational force, and at this time the first insert (27) breaks through the rubber buffer sheet (285) and enters between the next two rubber buffer sheets (285); An annular groove (152) is provided at the bottom of the stepped hole (151), a magnetic ring (153) is embedded in the annular groove (152), and when the insertion portion (24) is inserted, it is magnetically fixed by the magnetic ring (153).

2. The electromechanical grinding and clamping robot arm according to claim 1, characterized in that: A plurality of through holes are arranged in an annular shape on the surfaces of the bottom plate (8) and the top plate (18); a rubber anti-skid pad (21) is arranged on the top of the bottom plate (8) and the bottom of the top plate (18); a plurality of T-shaped connecting columns (22) are arranged in an annular shape on the surface of the anti-skid pad (21); the connecting columns (22) pass through the through holes after being deformed, and form a limit position after passing through the through holes.

3. The electromechanical grinding and clamping robot arm according to claim 1, characterized in that: A guide groove (121) is provided on the outer wall of the column (1), the guide groove (121) penetrating the column (1) upwards, and a guide strip fitting the guide groove (121) is provided on the inner wall of the shaft sleeve (15).

4. The electromechanical grinding and clamping robot arm according to claim 1, characterized in that: The driving unit (10) is a motor.

Images