Grabbing device and polishing apparatus

Abstract

The present application relates to a kind of grabbing device and polishing equipment, it is related to locomotive repair technical field.The grabbing device of the present application includes robot, clamping assembly, control component and positioning piece;The robot includes mechanical arm with multiple degrees of freedom;The clamping assembly is set on the mechanical arm;The control component is connected with the robot communication, to enable the mechanical arm can drive the clamping assembly movement according to preset path;The positioning piece is used to place the contact finger;Wherein, the positioning piece is provided with the positioning structure matched with the contact finger, so that the clamping assembly clamps the contact finger.The technical scheme disclosed in the present application can be present contact finger in polishing process, the contact finger to be polished is randomly piled on table or ground, not easy to manage uniformly, and manually picked up after moving to polishing device, time-consuming and laborious problem.

Description

Technical Field

[0001] This invention relates to the field of locomotive maintenance technology, and particularly to a gripping device and a grinding equipment. Background Technology

[0002] The locomotive uses a selector switch to switch the main circuit, control the traction motor, and realize the locomotive's traction, braking, and forward / reverse reversing. The selector switch controls the wiring method and current direction of the traction motor's excitation winding through different combinations of a rotating drum and contact fingers. The contact fingers are kept in contact with the rotating drum by spring pressing.

[0003] The contact finger consists of a main body and a contact part. During locomotive operation, the working conditions change frequently, and the friction between the drum and the contact finger is frequent, causing severe wear on the contact surface of the contact part. Therefore, during locomotive maintenance, the worn contact finger needs to be re-electroplated, and the contact surface needs to be polished before installation to ensure the surface roughness and cylindricity of the contact surface.

[0004] However, during the existing finger polishing process, the fingers to be polished are randomly piled on the table or the ground, which is not easy to manage in a unified manner. Moreover, they are manually picked up and transferred to the polishing device, which is labor-intensive, time-consuming and labor-intensive. Summary of the Invention

[0005] This application provides a gripping device and a polishing equipment, which can solve the problem that in the existing process of polishing tentacles, the tentacles to be polished are randomly piled on the table or the ground, which is not easy to manage in a unified manner, and the time-consuming and labor-intensive process of manually picking them up and transferring them to the polishing device.

[0006] In a first aspect, embodiments of this application provide a gripping device for a finger, the finger having a main body and a contacting part, the gripping device comprising:

[0007] Robots, including robotic arms with multiple degrees of freedom;

[0008] A gripping assembly is disposed on the robotic arm;

[0009] A control component, communicatively connected to the robot, enables the robotic arm to move the gripping component according to a preset path; and

[0010] Positioning element, used to hold the finger;

[0011] The positioning element is provided with a positioning structure that cooperates with the finger so that the gripping component can grip the finger.

[0012] In one embodiment, the positioning structure includes:

[0013] The main tank extends along its length.

[0014] A first positioning groove is located on one side of the main groove body. A plurality of first positioning grooves are spaced apart along the length direction, and the first positioning grooves are connected to the main groove body.

[0015] The second positioning groove is located on the side of the main groove body away from the first positioning groove. A plurality of second positioning grooves are spaced apart along the length direction, and the second positioning grooves are connected to the main groove body.

[0016] The first positioning groove and the second positioning groove are staggered along the length direction, and the first positioning groove and the second positioning groove can accommodate part of the main body.

[0017] In one embodiment, the first positioning groove has a first positioning surface, and the second positioning groove has a second positioning surface;

[0018] Wherein, the first positioning surface and the second positioning surface are not parallel, the first positioning surface has a first preset angle with the thickness direction of the positioning component, and the second positioning surface has a second preset angle with the thickness direction of the positioning component.

[0019] In one embodiment, both the first preset angle and the second preset angle are 60°.

[0020] In one embodiment, a first positioning hole is provided on the first positioning surface, and a second positioning hole is provided on the second positioning surface.

[0021] In one embodiment, the main tank includes:

[0022] bottom surface;

[0023] The first mating surface is located on the side of the bottom surface near the second positioning groove, and the first mating surface can abut against the contact surface of the contact part;

[0024] The second mating surface is located on the bottom surface near the first positioning groove, and the second mating surface can abut against the contact surface of the contact part;

[0025] Wherein, the first mating surface is parallel to the second positioning surface, and the second mating surface is parallel to the first positioning surface.

[0026] In one embodiment, the clamping assembly includes a support member, a translation member, a driving member, and a clamping block;

[0027] The support member is disposed on the robotic arm; the translation member is movably disposed on the support member, and the two translation members are disposed opposite to each other; the drive member is disposed on the support member, and the two drive members correspond one-to-one with the two translation members, and the drive member can drive the corresponding translation member to move; the two clamping blocks correspond one-to-one with the two translation members, and the clamping blocks are connected to the corresponding translation members.

[0028] The two translational members move synchronously and in opposite directions, so that the two clamping blocks cooperate to clamp or release the main body.

[0029] In one embodiment, the opposing surfaces of the two clamping blocks have clamping grooves that engage with the main body.

[0030] In one embodiment, the driving element is a cylinder, and the extension rod of the cylinder is connected to the translation element.

[0031] Secondly, embodiments of this application provide a grinding device, including the gripping device as described above.

[0032] Compared with existing technologies, the advantages of this application embodiment are that by setting a positioning structure on the positioning member to place the fingers, it not only facilitates the gripping component to grip the fingers, but also solves the problem of existing fingers being randomly piled on tables or the ground, making them difficult to manage uniformly. By setting up a gripping component and a robot, automatic gripping of the fingers is achieved, eliminating the need for manual picking, resulting in a high degree of automation and saving time and effort. For example, the staggered distribution of the first and second positioning slots allows more fingers to be placed on the positioning member, making full use of the space of the positioning member. The first and second positioning slots accommodate part of the main body, leaving another part outside the main body, reserving a gripping position for the gripping component to facilitate the gripping component to grip the fingers. In addition, the gripping component is used to clamp the touch finger, eliminating the need for manual gripping; the driving component drives the translation component to move, and the two translation components move in opposite directions. The clamping blocks move with the corresponding translation components, so the two clamping blocks move in opposite directions. When the two clamping blocks move towards each other, the distance between the two clamping blocks gradually decreases to clamp the touch finger. When the two clamping blocks move away from each other, the distance between the two clamping blocks gradually increases to release the touch finger. Attached Figure Description

[0033] The invention will now be described in more detail with reference to embodiments and the accompanying drawings.

[0034] Figure 1 This is a schematic diagram of the gripping device provided in an embodiment of the present invention;

[0035] Figure 2 yes Figure 1A schematic diagram of the positioning component provided in the embodiment;

[0036] Figure 3 yes Figure 1 A schematic diagram of the positioning element provided in the Chinese embodiment from another perspective;

[0037] Figure 4 yes Figure 1 A schematic diagram of the gripping assembly provided in the embodiment;

[0038] Figure 5 This is a schematic diagram of the structure of a finger in the prior art.

[0039] Figure label:

[0040] 1. Finger; 2. Main body; 3. Contact part; 4. Reference hole; 5. Contact surface; 10. Robot; 20. Gripping assembly; 210. Support member; 220. Translation member; 230. Gripping block; 2301. Gripping groove; 240. Drive member; 30. Positioning member; 310. Positioning structure; 3101. Main groove body; 3102. First positioning groove; 3103. Second positioning groove; 3104. First positioning surface; 3105. Second positioning surface; 3106. First positioning hole; 3107. Second positioning hole; 3108. Bottom surface; 3109. First mating surface; 3110. Second mating surface. Detailed Implementation

[0041] The invention will now be further described with reference to the accompanying drawings.

[0042] like Figure 5 As shown, the contact finger 1 includes a main body 2 and a contact part 3. The main body 2 has a reference hole 4, and the contact part 3 is arc-shaped. During locomotive operation, the working conditions change frequently, and the friction between the drum and the contact finger is frequent, causing severe wear on the contact surface of the contact part. Therefore, during locomotive maintenance, the worn contact finger needs to be re-electroplated, and before installation, the contact surface needs to be polished to ensure the surface roughness and cylindricity of the contact surface.

[0043] However, during the existing finger polishing process, the fingers to be polished are randomly piled on the table or the ground, which is not easy to manage in a unified manner. Moreover, they are manually picked up and transferred to the polishing device, which is labor-intensive, time-consuming and labor-intensive.

[0044] To address the aforementioned technical problems, at least one embodiment of this application provides a gripping device for a finger 1. The finger 1 has a main body 2 and a contact part 3. The gripping device includes a robot 10, a gripping component 20, a control component, and a positioning component 30. The robot 10 includes a robotic arm with multiple degrees of freedom. The gripping component 20 is disposed on the robotic arm. The control component is communicatively connected to the robot 10 so that the robotic arm can drive the gripping component 20 to move according to a preset path. The positioning component 30 is used to place the finger 1. The positioning component 30 is provided with a positioning structure 310 that cooperates with the finger 1 so that the gripping component 20 can grip the finger 1.

[0045] As can be seen from the above, by setting a positioning structure 310 on the positioning component 30 to place the finger 1, it is not only convenient for the gripping component 20 to grip the finger 1, but also solves the problem that the existing fingers 1 are randomly piled on the table or the ground and are not easy to manage uniformly. By setting up the gripping component 20 and the robot 10, the finger 1 can be automatically grasped without manual picking, which is highly automated and saves time and effort.

[0046] like Figure 1 , Figure 2 As shown, a gripping device is used for a finger 1. The finger 1 has a main body 2 and a contact part 3. The gripping device includes a robot 10, a gripping assembly 20, a control assembly, and a positioning element 30. The robot 10 includes a robotic arm with multiple degrees of freedom. It should be noted that the robot 10 can be a six-axis robot 10, and the brand of the robot 10 includes, but is not limited to, ABB and KUKA. It should also be noted that the robotic arm has a degree of freedom of movement in the X direction, a degree of freedom of movement in the Y direction, a degree of freedom of movement in the Z direction, a degree of freedom of rotation about the X direction, a degree of freedom of rotation about the Y direction, and a degree of freedom of rotation about the Z direction.

[0047] The gripping assembly 20 is mounted on the robotic arm. The gripping assembly 20 can move together with the robotic arm to bring the gripping assembly 20 close to the finger 1, preparing to grip the finger 1.

[0048] The control component is communicatively connected to the robot 10, enabling the robotic arm to move the gripping component 20 according to a preset path. It should be noted that the control component includes, but is not limited to, a PLC controller. Furthermore, the preset path is set according to actual needs, allowing the robotic arm to move the gripping component 20 from the positioning component 30 to the grinding equipment. By configuring the gripping component 20 and the robot 10, automatic grasping of the finger 1 is achieved, eliminating the need for manual picking, resulting in a high degree of automation and saving time and labor.

[0049] The positioning component 30 is used to place the finger 1; wherein, the positioning component 30 is provided with a positioning structure 310 that cooperates with the finger 1 so that the gripping component 20 can grip the finger 1. By setting the positioning structure 310 on the positioning component 30 to place the finger 1, it is not only convenient for the gripping component 20 to grip the finger 1, but also solves the problem that the existing fingers 1 are randomly piled on the table or the ground and are not easy to manage uniformly.

[0050] like Figure 3 As shown, in some embodiments, the positioning structure 310 includes a main groove 3101, a first positioning groove 3102, and a second positioning groove 3103; the main groove 3101 extends along the length direction. It should be noted that the length direction refers to the length direction of the positioning member 30, such as... Figure 3 As shown, the length direction is parallel to the X direction.

[0051] The first positioning groove 3102 is located on one side of the main groove 3101, and multiple first positioning grooves 3102 are spaced apart along the length direction, and the first positioning grooves 3102 are connected to the main groove 3101; the second positioning groove 3103 is located on the side of the main groove 3101 away from the first positioning groove 3102, and multiple second positioning grooves 3103 are spaced apart along the length direction, and the second positioning grooves 3103 are connected to the main groove 3101.

[0052] Among them, multiple first positioning grooves 3102 and multiple second positioning grooves 3103 are staggered in the length direction, and the first positioning grooves 3102 and the second positioning grooves can accommodate part of the main body 2.

[0053] The staggered first positioning groove 3102 and second positioning groove 3103 allow more fingers 1 to be placed on the positioning member 30, thus making full use of the space of the positioning member 30. The first positioning groove 3102 and second positioning groove 3103 accommodate part of the main body 2, while the other part is located outside the main body 2, reserving a clamping position for the clamping assembly 20 to facilitate the clamping assembly 20 to clamp the fingers 1.

[0054] like Figure 3 As shown, in some embodiments, the first positioning groove 3102 has a first positioning surface 3104, and the second positioning groove 3103 has a second positioning surface 3105; wherein, the first positioning surface 3104 and the second positioning surface 3105 are not parallel, the first positioning surface 3104 and the thickness direction of the positioning member 30 have a first preset angle, and the second positioning surface 3105 and the thickness direction of the positioning member 30 have a second preset angle. It should be noted that the thickness direction of the positioning member 30 is parallel to the Z direction.

[0055] By setting the inclined first positioning surface 3104 and the second positioning surface 3105, the main body 2 of the finger 1 can be placed conveniently and quickly. At the same time, it can provide posture compensation for the gripping component 20 to grip the finger 1, making the gripping posture of the gripping component smoother and improving the gripping efficiency.

[0056] In some embodiments, both the first preset angle and the second preset angle are 60°. By setting the angles of the first preset angle and the second preset angle, the first positioning surface 3104 and the second positioning surface 3105 are matched with the structure of the finger 1, thereby improving positioning accuracy and preventing the finger 1 from shaking during the gripping process.

[0057] like Figure 3 As shown, in some embodiments, a first positioning hole 3106 is provided on the first positioning surface 3104, and a second positioning hole 3107 is provided on the second positioning surface 3105. It should be noted that when the finger 1 is placed in the first positioning groove 3102, the reference hole 4 on the main body 2 is aligned with the first positioning hole 3106, and a positioning pin can be inserted into the reference hole 4 and the first positioning hole 3106 to further ensure the stability and reliability of positioning. It should also be noted that when the finger 1 is placed in the second positioning groove 3103, the reference hole 4 on the main body 2 is aligned with the second positioning hole 3107, and a positioning pin can be inserted into the reference hole 4 and the second positioning hole 3107 to further ensure the stability and reliability of positioning.

[0058] like Figure 3 As shown, in some embodiments, the main groove 3101 includes a bottom surface 3108, a first mating surface 3109, and a second mating surface 3110. It should be noted that the bottom surface 3108 forms a 90° angle with the thickness direction of the positioning member 30. It should also be noted that the first mating surface 3109 and the second mating surface 3110 are symmetrical about the bottom surface 3108.

[0059] The first mating surface 3109 is located on the side of the bottom surface 3108 near the second positioning groove 3103, and the first mating surface 3109 can abut against the contact surface 5 of the contact part 3; the second mating surface 3110 is located on the side of the bottom surface 3108 near the first positioning groove 3102, and the second mating surface 3110 can abut against the contact surface 5 of the contact part 3; wherein, the first mating surface 3109 is parallel to the second positioning surface, and the second mating surface 3110 is parallel to the first positioning surface.

[0060] The first positioning surface 3104 engages with the main body 2 of the finger 1, and the first mating surface 3109 abuts against the contact surface of the finger 1 to jointly position the finger 1. The second positioning surface 3105 engages with the main body 2 of the finger 1, and the second mating surface 3110 abuts against the contact surface of the finger 1 to jointly position the finger 1, thereby preventing the finger 1 from moving and placing the finger 1 at an angle to prepare for the gripping by the gripping assembly 20.

[0061] like Figure 4 As shown, in some embodiments, the gripping assembly 20 includes a support 210, a translation member 220, a drive member 240, and a gripping block 230;

[0062] Support member 210 is mounted on the robotic arm; translation member 220 is movably mounted on support member 210, with two translation members 220 positioned opposite each other; drive member 240 is mounted on support member 210, with two drive members 240 corresponding to two translation members 220 one-to-one, and the drive member 240 can drive the corresponding translation member 220 to move; two clamping blocks 230 correspond to two translation members 220 one-to-one, and the clamping blocks 230 are connected to the corresponding translation members 220; wherein, the two translation members 220 move synchronously, and the two translation members 220 move in opposite directions, so that the two clamping blocks 230 cooperate to clamp or release the main body 2.

[0063] The gripping component 20 clamps the finger 1, eliminating the need for manual gripping. The gripping component 20 drives the translation component 220 to move via the drive component 240. The two translation components 220 move in opposite directions, and the clamping blocks 230 move with the corresponding translation components 220. Thus, the two clamping blocks 230 move in opposite directions. When the two clamping blocks 230 move towards each other, the distance between them gradually decreases to clamp the finger 1. When the two clamping blocks 230 move away from each other, the distance between them gradually increases to release the finger 1.

[0064] like Figure 4 As shown, in some embodiments, the opposing surfaces of the two clamping blocks 230 have clamping grooves 2301, which cooperate with the main body 2. It should be noted that the clamping grooves 2301 have a V-shaped cross-section. By setting the clamping grooves 2301 with a V-shaped cross-section, self-centering can be achieved, which can be compatible with the contact fingers 1 with an outer dimension within ±0.3mm, so as to avoid the problem of clamping failure due to inconsistent contact finger 1 dimensions.

[0065] In some embodiments, the drive member 240 is a cylinder, and the extension rod of the cylinder is connected to the translation member 220.

[0066] At least one embodiment of this application also provides a polishing device, including the gripping device described in any embodiment of this application, thereby possessing all the technical effects brought about by the technical solutions of the above embodiments. It should be noted that the polishing device can be a belt sander, which polishes the finger 1 using a sanding belt.

[0067] Although the invention has been described with reference to preferred embodiments, various modifications can be made and components can be replaced with equivalents without departing from the scope of the invention. In particular, the technical features mentioned in the various embodiments can be combined in any manner as long as there is no structural conflict. The invention is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A gripping device for a finger, the finger having a main body and a contacting part, characterized in that, The grasping device includes: Robots, including robotic arms with multiple degrees of freedom; A gripping assembly is disposed on the robotic arm; A control component, communicatively connected to the robot, enables the robotic arm to move the gripping component according to a preset path; and Positioning element, used to hold the finger; The positioning member is provided with a positioning structure that cooperates with the finger, so that the gripping component can grip the finger; The positioning structure includes: The main tank extends along its length. A first positioning groove is located on one side of the main groove body. A plurality of first positioning grooves are spaced apart along the length direction, and the first positioning grooves are connected to the main groove body. The second positioning groove is located on the side of the main groove body away from the first positioning groove. A plurality of second positioning grooves are spaced apart along the length direction, and the second positioning grooves are connected to the main groove body. The plurality of first positioning slots and the plurality of second positioning slots are staggered along the length direction, and the first positioning slots and the second positioning slots can accommodate a portion of the main body. The first positioning groove has a first positioning surface, and the second positioning groove has a second positioning surface; Wherein, the first positioning surface and the second positioning surface are not parallel, the first positioning surface has a first preset angle with the thickness direction of the positioning component, and the second positioning surface has a second preset angle with the thickness direction of the positioning component; The main tank includes: bottom surface; The first mating surface is located on the side of the bottom surface near the second positioning groove, and the first mating surface can abut against the contact surface of the contact part; The second mating surface is located on the bottom surface near the first positioning groove, and the second mating surface can abut against the contact surface of the contact part; Wherein, the first mating surface is parallel to the second positioning surface, and the second mating surface is parallel to the first positioning surface; A first positioning hole is provided on the first positioning surface, and a second positioning hole is provided on the second positioning surface.

2. The gripping device according to claim 1, characterized in that, Both the first preset angle and the second preset angle are 60°.

3. The gripping device according to claim 1 or 2, characterized in that, The clamping assembly includes a support member, a translation member, a driving member, and a clamping block; The support member is disposed on the robotic arm; the translation member is movably disposed on the support member, and the two translation members are disposed opposite to each other; the drive member is disposed on the support member, and the two drive members correspond one-to-one with the two translation members, and the drive member can drive the corresponding translation member to move; the two clamping blocks correspond one-to-one with the two translation members, and the clamping blocks are connected to the corresponding translation members. The two translational members move synchronously and in opposite directions, so that the two clamping blocks cooperate to clamp or release the main body.

4. The gripping device according to claim 3, characterized in that, The two clamping blocks have clamping grooves on their opposite surfaces, which engage with the main body.

5. The gripping device according to claim 3, characterized in that, The driving component is a cylinder, and the extension rod of the cylinder is connected to the translation component.

6. A grinding device, characterized in that, Includes the gripping device as described in any one of claims 1-5.

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