Centering device and centering manipulator

Abstract

The present invention provides a centering device and a one-outlet four-centering manipulator, the centering device includes: a suction cup; a lifting seat, arranged beside the suction cup; a claw mechanism, including a plurality of claws movably arranged on the lifting seat, the claws being able to move radially relative to the lifting seat; a push mechanism, arranged below the suction cup and linked with the claw mechanism; a driving mechanism, connected to the push mechanism and driving the push mechanism to move up and down; when the push mechanism rises, it drives each claw to move radially inward along the lifting seat synchronously to clamp the workpiece placed on the suction cup; when the push mechanism descends, it drives each claw to move radially outward along the lifting seat synchronously and drives each claw to descend to release the workpiece placed on the suction cup, and the top end of the claw descends to below the outer side of the suction cup. The centering device provided by the present invention can not only realize efficient and accurate automatic positioning, but also meet the requirements of large-diameter grinding tools for side processing of workpieces, and can effectively avoid large-diameter grinding tools.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical processing equipment, and more specifically, relates to a centering device and a centering manipulator. Background Art

[0002] During the grinding process of some workpieces, the workpiece needs to be clamped and positioned before grinding. For example, in the mobile phone glass processing industry, the glass needs to be positioned before processing. Some glass positioning and clamping are done manually, and each positioning requires manual use of auxiliary molds, which is inaccurate and inefficient. Some use pneumatic centering fixtures to clamp and position the glass. Glass processing requires grinding its upper surface and sides. When using large-diameter tools for grinding, the large-diameter tool will interfere with the centering fixture and cannot avoid the large-diameter tool, making it difficult to grind the side of the workpiece. Summary of the Invention

[0003] The purpose of the present invention is to provide a centering device and a centering robot to solve the technical problem in the prior art that when a large-diameter grinding tool is grinding the side of a workpiece, it interferes with the centering fixture and the centering fixture is not suitable for grinding the side of the workpiece.

[0004] To achieve the above-mentioned purpose, the technical solution adopted by the present invention is to provide a centering device, comprising:

[0005] Suction cup;

[0006] A lifting seat is provided beside the suction cup;

[0007] A claw mechanism, comprising a plurality of claws movably arranged on the lifting base, wherein the claws are capable of radially moving relative to the lifting base;

[0008] a push mechanism, disposed below the suction cup and linked to the claw mechanism; and

[0009] A driving mechanism, connected to the push mechanism and driving the push mechanism to move up and down;

[0010] When the push mechanism rises, it drives each of the clamping claws to move synchronously radially inward along the lifting seat to clamp the workpiece placed on the suction cup; when the push mechanism descends, it drives each of the clamping claws to move synchronously radially outward along the lifting seat and drives each of the clamping claws to descend to release the workpiece placed on the suction cup, and the top end of the clamping claw descends to below the outer side of the suction cup.

[0011] In one embodiment, the push mechanism has a first position, a second position, and a third position from top to bottom along the movement path, and the driving mechanism drives the push mechanism to switch between the first position, the second position, and the third position; the lifting seat can move up and down between an upper limit position and a lower limit position;

[0012] The push mechanism has a plurality of push claws, the ends of the claws are provided with T-shaped inclined grooves, the ends of the push claws are provided with T-shaped inclined blocks, and the inclined surfaces of the T-shaped inclined blocks match the T-shaped inclined grooves; when the push mechanism descends from the first position to the second position, the T-shaped inclined blocks slide and fit in the T-shaped inclined grooves; when the push mechanism descends from the second position to the third position, the T-shaped inclined blocks slide to the bottom of the T-shaped inclined grooves to drive the lifting seat to descend from the upper limit position to the lower limit position.

[0013] In one embodiment, the clamping mechanism includes at least two clamping jaws that are centrally symmetrically arranged.

[0014] In one embodiment, the slope of the inclined surface of the T-shaped inclined block and the slope of the T-shaped inclined surface groove are 45-60 degrees.

[0015] In one embodiment, when the lifting seat moves between the upper limit position and the lower limit position, the pushing mechanism and the clamping claw are relatively fixed; when the pushing mechanism rises from the second position to the first position, the clamping claw is driven to move radially inward along the lifting seat to clamp the workpiece placed on the suction cup; when the pushing mechanism descends from the second position to the third position, the clamping claw is driven to move radially outward along the lifting seat and drives the lifting seat to descend from the upper limit position to the lower limit position, so that the top end of the clamping claw is dropped below the outer side of the suction cup after the clamping claw releases the workpiece.

[0016] In one embodiment, the clamping jaws include a plurality of vertically arranged clamping jaws and a plurality of horizontally arranged telescopic rods, and the telescopic rods correspond to the clamping jaws one by one; the upper end of the clamping jaws is used to clamp the workpiece, the lower end of the clamping jaws is fixed to one end of the telescopic rod, the other end of the telescopic rod is accommodated in a guide circular hole provided in the lifting seat and is slidably connected to the lifting seat, and the T-shaped bevel groove is provided on the top surface of the telescopic rod close to the suction cup; the telescopic rod can slide radially along the lifting seat to drive the clamping jaws to move radially relative to the lifting seat, so that the clamping jaws clamp or release the workpiece.

[0017] In one embodiment, the driving mechanism includes a cylinder sleeve and a piston vertically arranged in the cylinder sleeve, the piston having a piston rod extending from the top wall of the cylinder sleeve, the lifting seat having a through hole for the piston rod to pass through, the piston rod passing through the through hole and connected and fixed to the push mechanism; the piston rod has a T-shaped platform, and the piston spring is arranged between the T-shaped platform and the cover of the cylinder sleeve;

[0018] The cylinder sleeve is also provided with a plurality of guide rods in the vertical direction. One end of the guide rod extends out of the cylinder sleeve and slides through the lifting seat. The lifting seat can move up and down along the guide rod. The bottom surface of the suction cup is connected and fixed to the guide rod.

[0019] In one embodiment, the lifting seat is in abutment against the bottom surface of the suction cup when it is in the upper limit position; a compression spring is provided between the cylinder sleeve and the lifting seat, and the compression spring is in a compressed state when the lifting seat is in the upper limit position and the lower limit position, and the compression spring is configured to drive the lifting seat to rise from the lower limit position to the upper limit position when the driving mechanism drives the pushing mechanism to rise from the third position to the second position, and to keep the claw and the pushing mechanism relatively fixed during the rising process of the lifting seat.

[0020] In one embodiment, the piston and the corresponding cylinder sleeve are provided with a magnetic ring and a magnetic probe for use together to detect the moving position of the piston.

[0021] In one embodiment, the suction cup is provided with a vacuum channel connected to a vacuum generating device, and a suction hole connected to the vacuum channel is opened on the working surface of the suction cup, so that the workpiece can be adsorbed and fixed on the suction cup when the clamping claw clamps the workpiece.

[0022] The present invention also provides a centering robot comprising a base and the aforementioned centering device, wherein the drive mechanism is fixed to the base, and a plurality of the centering devices are arranged on the base in a straight line or in a rectangular array, with interconnected air holes provided between the base and the centering devices to achieve synchronous operation of the centering devices. In the present invention, three, four, five, six, or more centering devices can be connected in parallel to form a synchronously operating centering robot, thereby improving processing efficiency.

[0023] The beneficial effect of the centering device provided by the present invention is that, compared with the prior art, the centering device of the present invention, by providing a linked lifting seat and a push mechanism, drives the claws of the claw mechanism to move radially inward when the push mechanism rises, thereby completing the automatic positioning of the workpiece. When the push mechanism descends, it drives the claws of the claw mechanism to move radially inward and outward, and drives the claws to descend below the outer side of the suction cup, thereby avoiding interference between the grinding tool and the claws during the grinding process of the side of the workpiece. The centering device can not only achieve efficient and accurate automatic positioning, but also is suitable for the needs of large-diameter grinding tools for processing the side of the workpiece, and can effectively avoid large-diameter grinding tools. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. 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 any creative work.

[0025] Figure 1 A three-dimensional diagram of a centering manipulator provided in an embodiment of the present invention;

[0026] Figure 2 for Figure 1 A top view of the centering manipulator shown;

[0027] Figure 3 for Figure 2 A cross-sectional view of the centering manipulator along the AA direction is shown;

[0028] Figure 4 for Figure 3 A cross-sectional view of the centering device in the centering manipulator shown, wherein the push mechanism is in the first position;

[0029] Figure 5 for Figure 3 A cross-sectional view of the centering device in the centering manipulator shown, wherein the push mechanism is in the third position;

[0030] Figure 6 for Figure 1 A partial cross-sectional view of the centering manipulator shown;

[0031] Figure 7 for Figure 4 A three-dimensional diagram of the push mechanism in the centering device shown;

[0032] Figure 8 A cross-sectional view of a centering device provided in another embodiment.

[0033] Among them, the reference numerals in the figures are:

[0034] 10-centering manipulator; 20-centering device; 11-base; 12-air inlet; 13-exhaust hole; 14-water tank; 100-suction cup; 200-lifting seat; 300-claw mechanism; 400-pushing mechanism; 500-driving mechanism; 600-magnetic ring; 110-air inlet; 111-vacuum channel; 210-convex ring; 301-claw; 310-clamping claw; 311- Clamping block; 320-telescopic rod; 321-T-shaped inclined groove; 401-through hole; 410-push claw; 411-T-shaped inclined block; 4111-first part; 4112-second part; 4113-inclined surface; 510-cylinder sleeve; 520-piston; 530-guide rod; 521-piston rod; 522-T-shaped platform; 523-piston spring; 524-compression spring; 525-screw. DETAILED DESCRIPTION

[0035] In order to make the technical problems, technical solutions and beneficial effects to be solved by the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0036] It should be noted that when an element is referred to as being “fixed on” or “disposed on” another element, it may be directly on the other element or indirectly on the other element. When an element is referred to as being “connected to” another element, it may be directly connected to the other element or indirectly connected to the other element.

[0037] It should be understood that the terms "length", "width", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and therefore cannot be understood as limiting the present invention.

[0038] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature identified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0039] Figure 1 The figure shows a three-dimensional structure of a four-centering robot 10. The centering robot 10 is provided with four centering devices 20 arranged side by side, and can grind multiple workpieces at the same time. Figure 2The top view of the centering robot 10 is shown. Figure 3 The cross-sectional structure of the centering manipulator 10 is shown. Multiple centering devices 20 are evenly spaced and arranged on a base 11. That is, each centering device 20 shares a base 11, which is compact and occupies little space. The centering device 20 of this embodiment can be used for, but is not limited to, grinding glass. It can also be applied to other workpieces that require grinding. Figures 4 and 5 The centering device 20 provided by the embodiment of the present invention is now described. The centering device 20 includes a suction cup 100, a lifting seat 200, a claw mechanism 300, a push mechanism 400 and a driving mechanism 500.

[0040] The top surface of the suction cup 100 serves as the work surface for supporting the workpiece. The specific shape of the suction cup 100 is determined by the contour of the workpiece. The lifting base 200 is positioned adjacent to and below the suction cup 100, with a gap between them. The clamping mechanism 300 includes multiple clamping claws 301 movably mounted on the lifting base 200. Each clamping claw 301 can move radially relative to the lifting base 200 to clamp and release the workpiece.

[0041] The push mechanism 400 is disposed below the suction cup 100 and is linked to the claw mechanism 300. The push mechanism 400 is fixed to the drive mechanism 500, which can drive the push mechanism 400 to move up and down. When the drive mechanism 500 and the push mechanism 400 rise, the push mechanism 400 can drive each claw 301 to move synchronously radially inward along the lifting base 200, thereby clamping the workpiece placed on the suction cup 100, achieving automatic and accurate positioning of the workpiece. At this time, the suction cup 100 can absorb the workpiece so that the workpiece is adsorbed and fixed on the working surface of the suction cup 100.

[0042] When the driving mechanism 500 pushes the pushing mechanism 400 downward, the pushing mechanism 400 can drive each clamping claw 301 to move synchronously radially outward along the lifting base 200, and drive each clamping claw 301 downward, thereby releasing the workpiece placed on the suction cup 100. In addition, the top end of each clamping claw 301 is lowered below the outer side of the suction cup 100. In this way, after the workpiece is positioned, the large-diameter grinding tool will not contact the clamping claw 301 during the grinding process, thus effectively avoiding the workpiece. In other words, the clamping claw 301 in this embodiment can achieve horizontal clamping and vertical lifting movements. After clamping, it descends to avoid the large-diameter grinding tool. During the grinding process, there is no interference between the large-diameter grinding tool and the clamping claw mechanism 300, making it suitable for processing requirements requiring side grinding.

[0043] Compared with the prior art, the centering device 20 provided by the present invention is characterized by providing a linked lifting seat 200 and a push mechanism 400. When the push mechanism 400 rises, it drives the claws 301 of the claw mechanism 300 to move radially inward, thereby completing the automatic positioning of the workpiece. When the push mechanism 400 descends, it drives the claws 301 of the claw mechanism 300 to move radially inward and outward, and drives the claws 301 to descend below the outer side of the suction cup 100, thereby avoiding interference between the grinding tool and the claws 301 during the grinding process of the side of the workpiece. The centering device 20 can not only achieve efficient and accurate automatic positioning, but also is suitable for the needs of large-diameter grinding tools for processing the side of the workpiece, and can effectively avoid large-diameter grinding tools.

[0044] Specifically, the push mechanism 400 has a first position, a second position and a third position from top to bottom along the moving path. Figure 4 As shown, the push mechanism 400 is located at the first position, and the lifting seat 200 is located at the upper limit position; Figure 5 As shown, the push mechanism 400 is located at the third position, and the lifting seat 200 is located at the lower limit position. The driving mechanism 500 can drive the push mechanism 400 to switch between the first position, the second position and the third position. The lifting seat 200 can move up and down between the upper limit position and the lower limit position.

[0045] Further reading Figure 6 、 Figure 7 The push mechanism 400 includes a plurality of push claws 410. The distal end of the clamping claw 301 is provided with a T-shaped inclined groove 321, and the distal end of the push claw 410 is provided with a T-shaped inclined block 411. The inclined surface of the T-shaped inclined block 411 matches the T-shaped inclined groove 321. When the push mechanism 400 descends from the first position to the second position, the T-shaped inclined block 411 slides within the T-shaped inclined groove 321. When the push mechanism 400 descends from the second position to the third position, the T-shaped inclined block 411 slides to the limit position at the bottom of the T-shaped inclined groove 321, thereby driving the lifting base 200 to descend from the upper limit position to the lower limit position.

[0046] See Figure 6 and Figure 7The slope of the T-shaped bevel block 411 is consistent with the slope of the T-shaped bevel groove 321. Preferably, the slope of the T-shaped bevel block 411 and the slope of the T-shaped bevel groove 321 are set in the range of 45 degrees to 60 degrees. The slopes of the two are set within this range to achieve effective sliding fit, with less resistance between the two, and smoother relative sliding. The slope of the T-shaped bevel block 411 can be selected from 45 degrees, 48 ​​degrees, 50 degrees, 53 degrees, 55 degrees, 58 degrees, and 60 degrees. The end of the push mechanism 400 closest to the center is the proximal end, and the end away from the center is the distal end. A T-shaped bevel block 411 is located at the distal end of the push mechanism 400. The cross-section of the T-shaped bevel block 411 is T-shaped. The T-shaped bevel block 411 includes a first portion 4111 and a second portion 4112 connected to each other. The width of the second portion 4112 is greater than that of the first portion 4111. The second portion 4112 is tilted and matches the T-shaped bevel groove 321. The second portion 4112 has two opposing beveled surfaces 4113. The slopes of the two beveled surfaces 4113 are consistent and match the slope of the T-shaped bevel groove 321. The top of the beveled surface 4113 of the second portion 4112 is tilted away from the central axis of the push mechanism 400.

[0047] The claw mechanism 300 includes at least two claws 301 that are centrally symmetrically arranged. That is, the claw mechanism 300 includes at least two claws 301 that are centrally symmetrically arranged with respect to the suction cup 100. Figure 1 、 Figure 2 In this embodiment, the claw mechanism 300 includes two groups of claws 301, a total of four claws 301, one group of claws 301 is symmetrically arranged on opposite sides of the suction cup 100 in the length direction, and the other group of claws 301 is symmetrically arranged on opposite sides of the suction cup 100 in the width direction. It can be understood that the number of claws 301 can be adjusted according to the specific shape of the suction cup 100 and processing requirements. For example, two claws 301 can be provided, and the two claws 301 are symmetrically arranged on opposite sides of the suction cup 100; three claws 301 can also be provided, and the three claws 301 are evenly spaced around the circumference of the suction cup 100 with the suction cup 100 as the center; more than three claws 301 can also be provided, and they are arranged in pairs on opposite sides of the suction cup 100, or evenly spaced around the circumference of the suction cup 100.

[0048] See Figure 4 and Figure 5When the lifting platform 200 moves between the upper and lower limit positions, the push mechanism 400 and the clamping claw 301 are relatively fixed. When the push mechanism 400 rises from the second position to the first position, it drives the clamping claw 301 to move radially inward along the lifting platform 200, thereby clamping the workpiece placed on the suction cup 100. When the push mechanism 400 descends from the second position to the third position, it drives the clamping claw 301 to move radially outward along the lifting platform 200 and drives the lifting platform 200 to descend from the upper limit position to the lower limit position. At the same time, after the clamping claw 301 releases the workpiece, the top end of the clamping claw 301 descends to the outside and below the suction cup 100.

[0049] See also Figures 4 to 6 The clamping jaws 301 include multiple vertically arranged clamping jaws 310 and multiple horizontally arranged telescopic rods 320, with each telescopic rod 320 corresponding to each clamping jaw 310. A clamping block 311 is provided at the upper end of the clamping jaw 310 for clamping the workpiece. The lower end of the clamping jaw 310 is fixed to one end of the telescopic rod 320. The other end of the telescopic rod 320 is received in a guide hole provided in the lifting base 200 and is slidably connected to the lifting base 200. Specifically, the lifting base 200 is provided with a circular hole that mates with the other end of the telescopic rod 320, allowing the other end of the telescopic rod 320 to slide back and forth within the guide hole, achieving a sliding engagement with the lifting base 200. A T-shaped beveled groove 321 is provided on the top surface of the telescopic rod 320 on the side closest to the suction cup 100. The telescopic rod 320 can slide radially along the lifting base 200, driving the clamping jaw 310 to move radially relative to the lifting base 200, thereby clamping or releasing the workpiece.

[0050] It is understood that a cooperating guide structure may be provided between the wall of the guide circular hole of the lifting base 200 and the outer circumferential wall of the telescopic rod 320 to prevent relative rotation between the telescopic rod 320 and the lifting base 200, thereby maintaining the clamping jaw 310 in a vertical position. Specifically, the guide structure may be a cooperating slide groove and slide rail. Other sliding engagement structures may also be employed between the telescopic rod 320 and the lifting base 200, such as a cooperating slide rail and slide groove.

[0051] See Figure 4 and Figure 7The driving mechanism 500 includes a cylinder sleeve 510 and a piston 520 vertically arranged in the cylinder sleeve 510. The piston 520 can slide back and forth in the vertical direction relative to the cylinder sleeve 510. The piston 520 has a piston rod 521 extending from the top wall of the cylinder sleeve 510. The lifting seat 200 is provided with a through hole for the piston rod 521 to pass through. The piston rod 521 is connected and fixed to the push mechanism 400 through the through hole. In this embodiment, a through hole 401 is provided in the center of the push mechanism 400, which runs through the top and bottom. A screw 525 is passed through the through hole 401 and is threadedly connected to the piston rod 521, thereby fixing the push mechanism 400 to the top of the piston rod 521. It can be understood that the driving mechanism 500 can also be a linear motion mechanism driven by hydraulic pressure or electricity.

[0052] like Figure 8 As shown, in one embodiment, a piston spring 523 is mounted on a piston rod 521, which is maintained in a compressed state. A T-shaped step 522 is provided on the outer periphery of the piston rod 521. One end of the piston spring 523 abuts against the stepped surface of the T-shaped step 522, while the other end of the piston spring 523 abuts against the bottom surface of the lift base 200. A raised ring 210 is axially protruded from the bottom surface of the lift base 200. The raised ring 210 and the bottom surface of the lift base 200 form a receiving groove, in which the other end of the piston spring 523 is located.

[0053] The cylinder sleeve 510 is also equipped with multiple vertical guide rods 530. One end of the guide rod 530 extends out of the cylinder sleeve 510 and slides through the lifting base 200. The lifting base 200 can move up and down along the guide rod 530. In other words, the lifting base 200 slides with the guide rod 530, which acts as a guide, allowing the lifting base 200 to move up and down in the vertical direction. The bottom surface of the suction cup 100 is fixedly connected to the guide rod 530.

[0054] Specifically, see Figure 8 When the lift base 200 is in the upper limit position, it abuts against the bottom surface of the suction cup 100. A compression spring 524 is disposed between the cylinder sleeve 510 and the lift base 200. The compression spring 524 is compressed when the lift base 200 is in both the upper and lower limit positions. One end of the compression spring 524 abuts against the cover of the cylinder sleeve 510, while the other end abuts against the bottom surface of the lift base 200 and is positioned around the outer circumference of the convex ring 210. The compression spring 524 is configured to drive the lift base 200 from the lower limit position to the upper limit position when the drive mechanism 500 drives the push mechanism 400 from the third position to the second position. This ensures that the claw 301 and the push mechanism 400 remain relatively fixed during the lift base 200's ascent. When the push mechanism 400 continues to rise from the second position, the elastic force of the compression spring 524 forces the lift base 200 to abut against the suction cup 100, maintaining the lift base 200 at this height during this process.

[0055] Preferably, see Figure 8 , the piston 520 and the cylinder sleeve 510 are provided with a magnetic ring and a magnetic probe for use together to detect the moving position of the piston 520. In this embodiment, a magnetic ring 600 is provided on the piston 520, and a magnetic probe (not shown) is provided on the cylinder wall of the cylinder sleeve 510, so as to form a displacement detection sensor, which can detect the moving position of the piston 520, and then sense the up and down movement of the piston 520 and the opening and clamping of the clamping jaws 310. The centering device 20 also includes a control system that is communicatively connected to the displacement sensor. The displacement detection sensor feeds back the sensing signal to the control system to realize the automatic operation of the centering device 20. The driving mechanism 500 is provided with a displacement detection sensor to sense the action signal, so that the workpiece clamping and positioning action is automatically completed, thereby improving the positioning accuracy and efficiency.

[0056] See also Figure 1 、 Figure 4 The suction cup 100 is provided with a vacuum channel 111 connected to the vacuum generating device, and the work surface of the suction cup 100 is provided with an air suction hole 110 connected to the vacuum channel 111, so that when the jaws 301 clamp the workpiece, the workpiece is adsorbed and fixed on the suction cup 100. The air suction hole 110 can be one or more. When the clamping jaws 310 clamp the suction cup 100 and complete the automatic positioning, the vacuum generating device opens the air suction valve and adsorbs and fixes the workpiece on the work surface of the suction cup 100 through the air suction hole 110, and then grinds the workpiece. After the grinding process is completed, the vacuum generating device closes the air suction valve, opens the exhaust valve to discharge the gas through the exhaust port, removes the workpiece on the suction cup 100, and places the next workpiece to be processed on the suction cup 100.

[0057] See also Figures 1 to 3 The centering manipulator 10 provided in the embodiment of the present invention includes a base 11 and a plurality of centering devices 20 described in the above embodiments. The driving mechanism 500 is fixed on the base 11, and the plurality of centering devices 20 are arranged in a straight line at intervals on the base 11 or in a rectangular array on the base 11. In this embodiment, the plurality of centering devices 20 are evenly spaced in a straight line on the base 11, and the side wall of the base 11 is provided with an air inlet 12 and an exhaust hole 13. When the piston 520 needs to rise, the cylinder sleeve 510 is inflated through the air inlet 12. When the piston 520 needs to descend, the gas in the cylinder sleeve 510 is discharged through the exhaust hole 13. As Figure 1 As shown, the base 11 is equipped with four centering devices 20 evenly spaced in a straight line. These four centering devices 20 share a water trough 14, which is fixed to the guide rod 530. The water trough 14 collects dust and debris during processing, optimizing the processing environment. The centering robot 10 has a compact overall structure and occupies little space. It can perform simultaneous grinding of multiple workpieces, achieving a high degree of automation and improving processing efficiency. It is understood that the centering robot 10 can be used in conjunction with a pick-and-place robot for joint processing, further improving the degree of automation.

[0058] See also Figure 1 、 Figure 4 and Figure 5 Four centering devices 20 are provided on the base 11. The claw mechanism 300 of each centering device 20 is provided with four claws 301, and the corresponding push mechanism 400 is provided with four push claws 410. Taking the grinding process of glass as an example, the processing process of glass is described as follows:

[0059] The loading and unloading robot grips the glass to be processed and places it on the suction cup 100. The piston 520 drives the push mechanism 400 from the third position to the second position, simultaneously driving the lifting platform 200 to rise until it contacts the bottom surface of the suction cup 100. Due to the preload provided by the compression spring 524, the lifting platform 200 and the push mechanism 400 do not move relative to each other during the ascent. The upper ends of the four clamping jaws 310 rise to the pre-clamping height.

[0060] The piston 520 continues to drive the push mechanism 400 to rise to the first position, and the T-shaped inclined blocks 411 at the end of the push claws 410 slide upward along the T-shaped inclined grooves 321, thereby pushing the clamping claws 301 to move toward the suction cup 100. The four clamping claws 310 simultaneously clamp the four sides of the glass to complete the centering clamping of the glass.

[0061] The vacuum generating device opens the suction valve to allow the glass to be adsorbed and fixed on the suction cup 100 .

[0062] The piston 520 drives the pushing mechanism 400 to descend from the first position to the third position. The T-shaped inclined block 411 at the end of each pushing claw 410 pushes the clamping claw 301, causing each clamping claw 310 to move away from the glass, release the glass, and drive the clamping claw 310 to descend to the lower side of the outer side of the suction cup 100.

[0063] The grinding tool processes the top and side surfaces of the glass. After the grinding process is complete, the vacuum generator closes the suction valve and opens the exhaust valve to release the gas. The unloading robot removes the ground glass from the suction cup 100 and places the next glass to be processed on the suction cup 100. Repeating these steps achieves automatic batch grinding of multiple pieces of glass.

[0064] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A centering device comprising: Suction cup; A lifting seat is provided beside the suction cup; A claw mechanism, comprising a plurality of claws movably disposed on the lifting base, wherein the claws are capable of radially moving relative to the lifting base; A push mechanism is provided below the suction cup and is linked to the claw mechanism; as well as A driving mechanism, connected to the push mechanism and driving the push mechanism to move up and down; When the push mechanism rises, it drives each of the clamping claws to move synchronously radially inward along the lifting base to clamp the workpiece placed on the suction cup; when the push mechanism descends, it drives each of the clamping claws to move synchronously radially outward along the lifting base and drives each of the clamping claws to descend to release the workpiece placed on the suction cup, and the top ends of the clamping claws descend to below the outer side of the suction cup; The push mechanism has a first position, a second position and a third position from top to bottom along the moving path, and the driving mechanism drives the push mechanism to switch among the first position, the second position and the third position; The lifting seat can move up and down between an upper limit position and a lower limit position; The push mechanism comprises a plurality of push claws, the ends of the claws are provided with T-shaped inclined grooves, the ends of the push claws are provided with T-shaped inclined blocks, and the inclined surfaces of the T-shaped inclined blocks match the T-shaped inclined grooves; when the push mechanism descends from the first position to the second position, the T-shaped inclined blocks slide and fit in the T-shaped inclined grooves; when the push mechanism descends from the second position to the third position, the T-shaped inclined blocks slide to the bottom of the T-shaped inclined grooves, thereby driving the lifting seat to descend from the upper limit position to the lower limit position; The claw mechanism includes at least two claws arranged symmetrically around the center; the end of the push mechanism close to the center is the proximal end, and the end away from the center is the distal end; When the lifting base moves between the upper limit position and the lower limit position, the resisting mechanism and the clamping claw are relatively fixed; when the resisting mechanism rises from the second position to the first position, the clamping claw is driven to move radially inward along the lifting base to clamp the workpiece placed on the suction cup; when the resisting mechanism descends from the second position to the third position, the clamping claw is driven to move radially outward along the lifting base and the lifting base is driven to descend from the upper limit position to the lower limit position, so that the top end of the clamping claw is lowered to below the outer side of the suction cup after the clamping claw releases the workpiece; When the lifting seat is located at the upper limit position, it abuts against the bottom surface of the suction cup; The driving mechanism includes a cylinder sleeve; A compression spring is provided between the cylinder sleeve and the lifting seat, and the compression spring is in a compressed state when the lifting seat is located at the upper limit position and the lower limit position. The compression spring is configured to drive the lifting seat to rise from the lower limit position to the upper limit position when the driving mechanism drives the push mechanism to rise from the third position to the second position, and to keep the claw and the push mechanism relatively fixed during the process of the lifting seat rising.

2. The centering device according to claim 1, characterized in that: The T-shaped bevel block is located at the far end of the push mechanism, and the cross-section of the T-shaped bevel block is T-shaped; the T-shaped bevel block includes a first part and a second part that are connected, the width of the second part is greater than the width of the first part, the second part is inclined and matches the T-shaped bevel groove, the second part has two opposite bevels, the inclinations of the two bevels are consistent, and are consistent with the inclination of the T-shaped bevel groove; the top end of the bevel of the second part is inclined in a direction away from the central axis of the push mechanism.

3. The centering device according to claim 1, characterized in that: The slope of the inclined surface of the T-shaped inclined block and the slope of the T-shaped inclined surface groove are 45-60 degrees.

4. The centering device according to claim 1, characterized in that: The clamping jaws include a plurality of vertically arranged clamping jaws and a plurality of horizontally arranged telescopic rods, and the telescopic rods correspond to the clamping jaws one by one; the upper end of the clamping jaws is used to clamp the workpiece, the lower end of the clamping jaws is fixed to one end of the telescopic rod, the other end of the telescopic rod is accommodated in a guide circular hole provided in the lifting seat and is slidably connected to the lifting seat, and the T-shaped bevel groove is provided on the top surface of the telescopic rod close to the suction cup; the telescopic rod can slide radially along the lifting seat to drive the clamping jaws to move radially relative to the lifting seat, so that the clamping jaws clamp or release the workpiece.

5. The centering device according to claim 1, characterized in that: The driving mechanism also includes a piston vertically arranged in the cylinder sleeve, the piston has a piston rod extending from the top wall of the cylinder sleeve, the lifting seat is provided with a through hole for the piston rod to pass through, and the piston rod passes through the through hole and is connected and fixed to the push mechanism.

6. The centering device according to claim 5, characterized in that: The cylinder sleeve is also provided with a plurality of guide rods in the vertical direction, one end of the guide rod extends out of the cylinder sleeve and slides through the lifting seat, the lifting seat can move up and down along the guide rod, and the bottom surface of the suction cup is fixedly connected to the guide rod; the piston and the corresponding cylinder sleeve are provided with a magnetic ring and a magnetic probe for use in conjunction to detect the moving position of the piston.

7. The centering device according to claim 4, characterized in that: A mutually cooperating guide structure is provided between the hole wall of the guide circular hole and the circumferential outer wall of the telescopic rod to prevent relative rotation between the telescopic rod and the lifting seat, so that the clamping claw remains in a vertical state; wherein: the guide structure is a mutually cooperating slide groove and slide rail.

8. The centering device according to any one of claims 1 to 7, characterized in that: The suction cup is provided with a vacuum channel connected to a vacuum generating device, and a suction hole connected to the vacuum channel is opened on the working surface of the suction cup, so that the workpiece can be adsorbed and fixed on the suction cup when the clamping claw clamps the workpiece.

9. A centering manipulator, characterized in that: It comprises a base and a plurality of centering devices according to any one of claims 1 to 8, wherein the driving mechanism is fixed on the base, and the plurality of centering devices are arranged on the base in a straight line or in a rectangular array, and mutually communicating air holes are provided between the base and the centering devices to realize the synchronous action of the centering devices.

10. The centering manipulator according to claim 9, characterized in that: The base is provided with four centering devices evenly spaced in a straight line. The centering robot also includes a water tank. The four centering devices share one water tank. The cylinder sleeve is also provided with multiple guide rods in the vertical direction. The water tank is fixed on the guide rods.

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