Manipulator polishing clamp and using method thereof

Abstract

The invention discloses a mechanical arm polishing clamp which is high in automation degree, wide in application range and high in machining efficiency and a using method of the mechanical arm polishing clamp. Comprising a clamp seat mounted at the output end of a manipulator, a front jacking clamp and a rear jacking clamp which are coaxially arranged on the clamp seat, a driving mechanism for driving the front jacking clamp to rotate, and a pushing mechanism for pushing the rear jacking clamp to reciprocate towards the front jacking clamp, each of the front top clamp and the rear top clamp comprises an axially moving wedge-shaped block, a top head coaxially arranged at the outer end of the wedge-shaped block, at least three clamping units annularly and uniformly distributed along the wedge-shaped block and matched with the inclined surface of the wedge-shaped block, a spring for providing restoring force for the wedge-shaped block, and reset springs for respectively providing restoring force for the clamping units; after the pushing mechanism is started, the ejector head of the rear ejector clamp and the ejector head of the front ejector clamp are connected and make contact with the cup bottom and the cup opening, the wedge-shaped block is driven to move outwards, and the clamping units in the rear ejector clamp or the front ejector clamp are extruded out at the same time to abut against the inner wall of the cup opening or the inner wall of the cup bottom through the inclined face matching effect.

Description

Technical Field

[0001] The invention relates to the technical field of cup body polishing processing, in particular to a manipulator polishing fixture and a use method thereof. Background Art

[0002] At present, cup body processing has gradually tended towards mechanical automated production. The surface polishing of the cup body is noisy, dusty and in a harsh environment, so the polishing work has been largely replaced by machines. However, mechanical automated polishing has extremely high requirements for fixtures. Unsuitable and unqualified fixtures will cause the cup body to be unstable and jump during polishing, causing vibration marks on the surface of the cup body and leading to polishing line defects.

[0003] CN 213731157U discloses a cup clamp for a cup polishing production line, comprising a base, a clamping mechanism arranged on the base, the clamping mechanism comprising a first clamping end and a second clamping end, at least one of the two clamping ends can reciprocate toward the other clamping end, the first clamping end and the second clamping end rotate together with the cup when clamping the cup, the clamping can clamp the thermos cup to work in the production line, the whole clamp is fixed by the base and the conveying device on the production line, and the cup is taken out after the production line polishing is completed by controlling the clamp to release the cup through a controller. On the one hand, the size and shape and position tolerance of the cup to be processed are large, and the cup size type adapted by this special clamp is unique, which cannot adapt to the clamping of the same type of cup with multiple sizes, and the scope of application is very small; on the other hand, if the special clamp is slightly worn, the clearance between the special clamp and the cup body becomes larger, which will cause the cup body to be clamped unsteadily, jump, and the clamp and the cup body to slip, which is very easy to scratch the inner and outer surfaces of the cup body, and the clamp cost is high and the rework rate is high. Summary of the invention

[0004] The purpose of the present invention is to provide a manipulator polishing fixture with high automation, wide application range and high processing efficiency and a use method thereof.

[0005] To achieve the above object, the present invention adopts the following technical solution: Technical Solution 1: A manipulator polishing fixture, which includes a fixture seat installed at the output end of the manipulator, a front top fixture and a rear top fixture coaxially arranged on the fixture seat, a driving mechanism for driving the front top fixture to rotate, and a pushing mechanism for pushing the rear top fixture to reciprocate toward the front top fixture; the fixture seat is a frame structure, and the driving mechanism and the pushing mechanism are both fixed on the fixture seat; the front top fixture and the rear top fixture both include an axially movable wedge block, a head coaxially arranged at the outer end of the wedge block, at least three clamping units evenly arranged along the wedge block and matched with the inclined surface of the wedge block, a spring providing restoring force for the wedge block, and reset springs providing restoring force for the clamping units respectively; after the pushing mechanism is started, the head of the rear top fixture and the head of the front top fixture successively contact the bottom and the mouth of the cup, driving the wedge block to move outward, and through the coordinated action of the inclined surface, the clamping units in the rear top fixture or the front top fixture are simultaneously squeezed out to hold the inner wall of the mouth of the cup or the inner wall of the bottom of the cup.

[0006] Preferably, the front top clamp comprises a fixing sleeve and a front top wedge block which moves axially in the fixing sleeve; the clamping unit of the front top clamp is an equally divided tensioning block which is sleeved outside the front top wedge block, and the tensioning blocks all extend radially out of the fixing sleeve; an elastic ring is provided on the outside of the tensioning block to provide a restoring force for the tensioning block, and a slider is connected to the inside of the tensioning block, the inner side of the slider cooperates with the inclined surface of the front top wedge block, and a front top return spring which provides a restoring force for the slider is provided between the outer side of the slider and the inner wall of the fixing sleeve; a tensioning head is fixed at the end of the front top wedge block, and after the tensioning head contacts the inclined surface inside the cup mouth, the front top wedge block compresses the front top spring to move inward, and the slider simultaneously drives the tensioning block to move radially outward to tighten the cup mouth under the action of the inclined surface of the front top wedge block.

[0007] Preferably, the front top wedge block is evenly provided with sliding grooves corresponding to the slider, one end of the slider is arranged in the sliding groove, and an adaptive spring is arranged between the other end of the slider and the tensioning block; the number of the tensioning blocks is six.

[0008] Preferably, a hollow plunger cylinder is provided in the fixing sleeve, an axially retractable plunger pin is provided in the plunger cylinder, the protruding end of the plunger pin is connected to the end of the front top wedge block, and the front top spring is provided in the plunger cylinder to provide elastic restoring force for the plunger pin.

[0009] Preferably, a cup mouth sealing ring is further provided on one end of the outer side of the tension block close to the fixing sleeve.

[0010] Preferably, the rear top clamp comprises a claw seat, a rear top wedge block coaxially arranged in the claw seat and capable of axial movement, and a rear top spring providing a restoring force for the rear top wedge block; the clamping unit of the rear top clamp is a claw block extending obliquely outward, and the claw seat is provided with a through groove corresponding to the claw block; the claw block is axially limited in the through groove, the inner side of the claw block cooperates with the inclined surface of the rear top wedge block, and the outer side is provided with a self-centering spring providing a restoring force for it; the rear top wedge block compresses the rear top spring to move inward, and the claw block simultaneously moves radially outward to press against the inner wall of the cup bottom under the action of the inclined surface of the rear top wedge block.

[0011] Preferably, the rear top clamp also includes a hollow fixed seat arranged in the claw seat, and a push block corresponding to the claw block and arranged at the inner end of the claw block; the fixed seat is provided with a fixing part corresponding to the through slot, the push block and the claw block are both arranged in the fixing part, the inner side of the push block extends into the fixed seat and cooperates with the inclined surface of the rear top wedge block, and the outer side of the push block is connected to the claw block; a stop block is fixed at the through slot of the claw seat, and a self-centering spring is arranged between the stop block and the claw block.

[0012] Preferably, the claw block is connected to the push block by a latch, and the hole on the claw block corresponding to the latch is a waist-shaped hole; between the claw block and the stopper, a rear top return spring with a greater elastic force than the self-centering spring is provided below the self-centering spring.

[0013] Preferably, the driving mechanism is a motor, and the motor spindle is connected to the spindle of the front top clamp through a synchronous wheel and a synchronous belt; the pushing mechanism is a cylinder, and a slide and a slide seat are provided at the bottom of the rear top clamp, the bottom of the slide and the slide seat slide together through a dovetail groove, and the slide fixed at the bottom of the rear top clamp is connected to the protruding end of the cylinder.

[0014] Technical Solution 2: A method for using the manipulator polishing fixture described in Technical Solution 1, comprising the following steps: ① The manipulator drives the front top fixture and the rear top fixture on the fixture seat to approach the two ends of the cup body to be processed on the assembly line; ② The pushing mechanism starts, pushing the rear top clamp closer to the bottom of the cup. After the top head of the rear top clamp contacts the bottom of the cup, it continues to push the cup body to move toward the front top clamp. The tensioning top gradually enters the cup mouth until it contacts the inclined surface of the cup mouth. The inclined surface of the cup mouth squeezes the tensioning top, driving the front top wedge block to move inward to compress the front top spring. The slider moves outward under the action of the inclined surface of the front top wedge block, driving the tensioning block to open the tightening cup mouth outward and compress the rear top spring at the same time. The claw block moves outward under the action of the inclined surface of the rear top wedge block, pressing against the inner wall of the cup bottom to complete the cup body clamping; ③ The driving mechanism starts, driving the front top fixture to rotate, and driving the cup body and the rear top fixture to rotate synchronously; ④The robot moves and drives the cup body to the polishing station for polishing; ⑤After the polishing operation is completed, the robot moves the cup body to the assembly line and the drive mechanism is closed; ⑥ The pushing mechanism drives the rear top clamp to return. Under the action of the front top spring, elastic ring, rear top spring and self-centering spring, the front top wedge block, tension block, rear top wedge block and claw block are reset, and the front top clamp and the rear top clamp release the cup body.

[0015] Compared with the prior art, the present invention has the following advantages: first, a fixture seat with a frame structure is directly installed at the output end of the manipulator to simulate manual picking up of the cup body to the polishing station for polishing operation, thereby improving the degree of automated processing and the quality of polishing operation, while omitting the clamping device for the cup body on the assembly line, simplifying the structure, reducing costs, and effectively reducing the overall space utilization rate; second, both the front top fixture and the rear top fixture adopt a wedge block and a plurality of clamping unit structures matched with the inclined surface of the wedge block, and the pushing mechanism pushes the rear top fixture to move toward the front top fixture to clamp the cup body, drive the movement of the wedge block, and drive the clamping unit under the action of the inclined surface. It extends out to press against the inner wall of the cup mouth or the inner wall of the cup bottom to ensure the concentricity and stability of the cup body during polishing, and prevents the inner liner from being scratched due to slipping between the fixture and the cup body during polishing. While improving processing efficiency, it can also adapt to the processing of cups of various sizes, with a wide range of applications and strong practicality; third, both the ends of the front top fixture and the rear top fixture are provided with a top head, and the cooperation of the top head and the clamping unit expands the contact area between the fixture and the cup body, increases the clamping force, and firmly clamps the cup body between the front top fixture and the rear top fixture, with higher clamping stability; fourth, the wedge block and the clamping unit provide restoring force through springs and reset springs respectively, making demoulding easier and faster.

[0016] Further beneficial effects: First, the clamping unit of the front top clamp is an equally divided tensioning block structure, the tensioning block extends out of the fixed sleeve, and the slider connected to the inner side of the tensioning block is arranged in the fixed sleeve, and the inner side of the slider cooperates with the inclined surface of the front top wedge block. The setting of the equally divided tensioning block expands the contact area between the clamping unit and the cup mouth, improves the clamping force, and also expands the applicable range of the cup mouth; second, a sliding groove corresponding to the slider is opened on the front top wedge block, and the slider is restricted to slide in the sliding groove, ensuring the consistency and coaxiality of the extension of the tensioning block and improving the concentricity of the clamping; third, a front top reset spring is provided between the slider and the inner wall of the fixed sleeve, which is convenient for the slider to reset during demolding, and an adaptive spring is provided between the slider and the tensioning block to play a self-centering tensioning role, and can also avoid overload and expansion of the tensioning block. Tight, effectively protecting the tensioning block and the cup mouth. In addition, the setting of the adaptive spring can further expand the scope of application and meet the tensioning of cup mouths of various sizes; fourth, the front top wedge block is connected to the plunger pin, the plunger pin reciprocates in the plunger barrel, and the front top spring is arranged in the plunger barrel to provide elastic restoring force for the plunger pin, so that when the inclined surface of the front top wedge block is worn, it is only necessary to replace the front top wedge block installed at the end of the plunger pin, without disassembling the front top spindle, etc., which is simple and convenient for maintenance and greatly reduces the maintenance cost of the fixture; fifth, a cup mouth sealing ring is provided on the outside of the tensioning block, which can seal the cup mouth during clamping to prevent foreign matter such as dust and chips generated by polishing from entering the cup body, thereby improving the processing quality of the cup body; sixth, the front top fixture adopts a tensioning head, and the tensioning head and the inner inclined surface of the cup mouth are The tension block extends out of the tension cup mouth, the top of the rear top clamp presses against the bottom of the cup, and the claw block extends out to tighten the inner wall of the bottom of the cup. The front and rear clamps adopt this composite tensioning method to ensure the concentricity and stability of the cup body during polishing, improve the processing quality, and reduce the scrap rate; Seventh, the claw block is connected to the push block and limited in the fixed part of the fixed seat, the inner side of the push block cooperates with the inclined surface of the rear top wedge block, and the rear top wedge block drives the claw block to extend outward under the action of the inclined surface of the push block, and the fixed part and the through groove provide a guiding effect at the same time. The extension stability of the claw block is higher, and when the claw block is worn, only the claw block needs to be replaced, which is convenient for maintenance and greatly reduces the maintenance cost of the fixture; Eighth, the claw block and the push block are connected by a pin, and the pin hole on the claw block is a waist-shaped hole. The setting of the waist-shaped hole makes the push block and the claw There is a certain moving space between the blocks, and the self-centering spring between the claw block and the stop block makes the fit between the claw block and the inner wall of the cup bottom tighter, which can adapt to the different sizes of cup bottoms caused by processing errors; ninth, a rear top reset spring is also provided between the claw block and the stop block. The elastic force of the rear top reset spring is greater than that of the self-centering spring, which is more conducive to the reset of the claw block and the push block during demoulding, and the self-centering spring also plays a role of extreme overload retraction, effectively protecting the inner wall of the cup bottom and the claw block; tenth, the bottom of the rear top fixture adopts a slide and slide seat structure with a dovetail groove. Under the action of the pushing cylinder, the rear top fixture slides back and forth on the slide seat through the slide, and the sliding structure of the dovetail groove is more stable, which improves the concentricity of the front top fixture and the rear top fixture, and improves the processing efficiency and processing quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a three-dimensional structural schematic diagram of the manipulator polishing fixture of the present invention; Figure 2 It is a schematic cross-sectional structural diagram of the manipulator polishing fixture of the present invention when the cup body is not clamped; Figure 3 It is a schematic cross-sectional view of the structure of the manipulator polishing fixture of the present invention when the cup body is clamped; Figure 4 It is a three-dimensional structural schematic diagram of the front top clamp; Figure 5 1 is a schematic diagram of the cross-sectional structure of the front top clamp; Figure 6 It is a schematic diagram of the three-dimensional exploded structure of the rear top clamp; Figure 7 It is a three-dimensional structural schematic diagram of the rear top clamp; Figure 8 It is a three-dimensional mechanism schematic diagram of the rear top wedge block, the push block and the claw block in cooperation; Fig. 9 is a schematic diagram of the cross-sectional structure of the rear top clamp; Among them, 1. fixture seat, 2. front top fixture, 3. rear top fixture, 4. front top spindle, 5. rear top spindle, 6. front top bearing seat, 7. rear top bearing seat, 8. slide, 9. slide, 10. cylinder, 11. connecting rod, 12. servo motor, 13. planetary reducer, 14. main synchronous wheel, 15. synchronous belt, 16. slave synchronous wheel, 17. tensioning head, 18. rear top head, 19. front top spring, 20. rear top spring, 21. deep groove ball bearing, 22. self-aligning ball bearing, 23. front top wedge block, 24. tensioning block, 25. plunger cylinder , 26, plunger pin, 27, fixed sleeve, 28, slide groove, 29, adaptive spring, 30, slider, 31, groove, 32, elastic ring, 33, cup mouth sealing ring, 34, front top return spring, 35, rear top wedge block, 36, claw seat, 37, fixed seat, 38, fixed part, 39, push block, 40, claw block, 41, stopper, 42, rear top return spring, 43, self-centering spring, 44, guide groove, 45, through groove, 46, pin, 47, waist-shaped hole, 100, manipulator, 200, cup body, 300, cup mouth, 400, cup bottom. Implementation

[0018] In order to make the technical solution of the present invention clearer, the following Figure 1-9 It should be understood that the specific implementation methods described in this specification are only for explaining the present invention, and are not intended to limit the protection scope of the present invention.

[0019] A mechanical polishing fixture, see attached Figure 1 , 2, 3, comprising a manipulator 100, a fixture seat 1, a front top fixture 2, a rear top fixture 3, a driving mechanism and a pushing mechanism; the manipulator is a prior art and can be arranged at a polishing station; the fixture seat 1 is a frame structure, the fixture seat 1 is installed at the output end of the manipulator 100, the front top fixture 2, the rear top fixture 3, the driving mechanism and the pushing mechanism are all fixed on the fixture seat 1; the front top fixture 2 and the rear top fixture 3 are arranged concentrically; the front top fixture 2 is arranged above the driving mechanism, and the front top fixture 2 is driven to rotate by the driving mechanism; the rear top fixture 3 is arranged above the pushing mechanism, and is pushed by the pushing mechanism to move toward the front top fixture 2 Compound motion; the driving mechanism includes a servo motor 12, a planetary reducer 13, a main synchronous wheel 14, a slave synchronous wheel 16 and a synchronous belt 15, the servo motor 12 is connected to the main synchronous wheel 14 through the planetary reducer 13, the slave synchronous wheel 16 is arranged above the main synchronous wheel 14 and is connected by the synchronous belt 15, and the slave synchronous wheel 16 and the main synchronous wheel 14 are connected through the synchronous belt 15 to transmit power; the slave synchronous wheel 16 is fixed on the front top spindle 4 of the front top clamp 2, and the servo motor 12 transmits power to the front top clamp 2 through the planetary reducer 13 and then through the main synchronous wheel 14, the synchronous belt 15 and the slave synchronous wheel 16 to control the rotation of the front top clamp 2.

[0020] The pushing mechanism is arranged below the rear top clamp 3, and the pushing mechanism includes a cylinder 10, a slide 8 and a slide seat 9; the cylinder 10 and the slide seat 9 are both fixed on the clamp seat 1, the slide 8 is fixed below the rear top clamp 3, and the bottom of the slide 8 slides with the slide seat 9 through a dovetail groove; a through hole is opened in the middle of the slide seat 9, and a connecting rod 11 is fixed at the bottom of the slide 8, and the connecting rod 11 passes through the through hole and is connected to the telescopic end of the cylinder 10. Under the action of the cylinder 10, the rear top clamp 3 can slide back and forth on the slide seat 9 with the slide 8; a rear top bearing seat 7 is also fixed on the slide 8, and a rear top spindle 5 is arranged in the rear top bearing seat 7, and the rear top clamp 3 is fixed at the end of the rear top spindle 5, and a self-aligning ball bearing 22 is arranged between the rear top spindle 5 and the rear top bearing seat 7, and the rotation of the rear top clamp 3 is realized by the self-aligning ball bearing 22.

[0021] The front top fixture 2 is fixed to the end of the front top spindle 4; the front top bearing seat 6 is fixed on the fixture seat 1, and the front top spindle 4 is arranged on the front top bearing seat 6 through a deep groove ball bearing 21; the front end of the front top spindle 4 is fixed to the synchronous wheel 16, and the rear end is fixedly connected to the front top fixture 2; refer to the attached Figure 4 , 5As shown, the front top fixture 2 includes a fixing sleeve 27, a plunger cylinder 25, a plunger pin 26, a tensioning head 17, a front top wedge block 23, a front top spring 19, a tensioning block 24, a front top return spring 34 and an adaptive spring 29; the fixing sleeve 27 is fixedly connected to the rear end of the front top spindle 4, the fixing sleeve 27 is a hollow structure and the fixing sleeve 27 is coaxial with the front top spindle 4; a hollow plunger cylinder 25 is arranged in the fixing sleeve 27, the plunger pin 26 is located in the plunger cylinder 25, and the plunger cylinder 25 and the plunger pin 26 are limited by step matching, so as to limit the plunger pin 26 from moving outward under the action of the front top spring 19; in the cavity of the plunger cylinder 25, the position A front top spring 19 is provided between the front top spindle 4 and the plunger pin 26, and the front top spring 19 provides elastic restoring force for the plunger pin 26; the protruding end of the plunger pin 26 is connected to the end of the front top wedge block 23, and the other end of the front top wedge block 23 is fixedly connected to the tensioning head 17 adapted to the inner wall of the cup mouth 300, and the tensioning head 17 is provided with a conical surface that matches the inclined surface of the inner wall of the cup mouth 300; the front top wedge block 23 can move axially in the fixed sleeve 27; at least three equally divided tensioning blocks 24 that match the inclined surface of the front top wedge block 23 are evenly distributed on the outer side of the front top wedge block 23 in an annular shape, and six tensioning blocks are taken as an example in this embodiment; each of the tensioning blocks 24 is provided with a plurality of tensioning blocks 24, and each tensioning block ... Each tensioning block 24 is connected to the front top wedge block 23 through a slider 30, and the slider 30 is limited in the fixed sleeve 27, and the tensioning block 24 radially extends out of the fixed sleeve 27; a front top return spring 34 is provided between the inner wall of the slider 30 and the fixed sleeve 27 to provide a restoring force for the slider 30; the front top wedge block 23 is evenly provided with a slide groove 28 corresponding to the slider 30, one end of the slider 30 is arranged in the slide groove 28 and cooperates with the inclined surface of the slide groove 28, and the other end of the slider 30 is provided with a countersunk hole, and an adaptive spring 29 is arranged in the countersunk hole, and the tensioning block 24 and the slider 30 are connected by the adaptive spring 29, which plays a self-centering tightening role to ensure the appropriate Used for cup mouths of different sizes caused by processing errors; a circle of grooves 31 are provided on the outer side of the tensioning block 24, and an elastic ring 32 is provided in the groove 31 to provide elastic restoring force for the tensioning block 24; a cup mouth sealing ring 33 is also provided on the outer side of the tensioning block 24, close to the end of the fixed sleeve 27 (that is, the side away from the tensioning head 17), which is used to seal the cup mouth 300 to prevent polishing ash from entering the inner cavity of the thermos cup; after the tensioning head 17 contacts the inclined surface of the inner wall of the cup mouth, the front top wedge block 23 compresses the front top spring 19 to move inward, and the slider 30 drives the tensioning block 24 to move radially outward to tighten the inner wall of the cup mouth under the action of the inclined surface of the front top wedge block 23.

[0022] Refer to the attached Figure 6-9As shown, the rear top clamp 3 includes a claw seat 36, a fixed seat 37, a rear top wedge block 35, a rear top spring 20, a rear top head 18, a push block 39, a claw block 40, a stopper 41, a rear top return spring 42, and a self-centering spring 43; the claw seat 36 is coaxially fixed to the end of the rear top spindle 5, and the hollow fixed seat 37 is coaxially arranged in the claw seat 36; the rear top wedge block 35 is coaxially arranged in the middle cavity of the fixed seat 37, and a rear top spring 20 is arranged between the rear top wedge block 35 and the claw seat 36 to provide a restoring force for the rear top wedge block 35, and the rear top wedge block 35 can move axially; the rear top head 18 is fixed to the outer end of the rear top wedge block 35; the fixed seat 37 is evenly provided with at least three fixing parts 38 in the circumferential direction, In this embodiment, the fixing seat 37 is used as an example in which three fixing parts 38 are radially extended outward. A through groove 45 corresponding to the fixing part 38 is provided on the claw seat 36; each fixing part 38 is provided with a push block 39, a claw block 40, a stop block 41, a self-centering spring 43 and a rear top return spring 42; the inner side of the push block 39 extends into the fixing seat 37 and cooperates with the inclined surface of the rear top wedge block 35, and the outer side of the push block 39 is connected to the claw block 40; one end of the push block 39 conflicts with the conical surface of the rear top wedge block 35, and its contact surface is also a matching inclined surface; the rear top wedge block 35 can also be evenly provided with three guide grooves 44 in the circumferential direction, one end of the push block 39 is arranged in the guide groove 44 and cooperates with the bottom inclined surface of the guide groove 44, which can limit the push block 39 only moves in the direction of the guide groove 44; the other end of the push block 39 is connected to the claw block 40 by a pin 46. Specifically, a socket is provided on the claw block 40, and the other end of the push block 39 is also provided with a corresponding socket and connected to the claw block 40 through the pin 46, which is quick to assemble; the socket on the claw block 40 is a waist-shaped hole 47, so that there can be a certain moving space between the push block 39 and the claw block 40; the upper part of the claw block 40 is a clamping part that is inclined upward, and the lower part is a stopper that extends vertically downward, and the middle part is connected to the push block 39; the stopper 41 is fixed at the through groove 45 of the claw seat 36, and a self-centering spring 43 is provided between the middle part of the claw block 40 and the stopper 41, which cooperates with the setting of the waist-shaped hole 47 on the claw block 40 so that the claw block 40 and The fit between the cup bottom 400 is tighter, and can adapt to cup bottoms of different sizes caused by processing errors; a rear top reset spring 42 is provided between the lower part of the claw block 40 and the stop block 41, and the rear top reset spring 42 is located below the self-centering spring 43, and the elastic force of the rear top reset spring 42 is greater than the self-centering spring 43, which is used for resetting the claw block 40 and the push block 39 during demoulding; the cylinder 10 pushes the rear top clamp 3 close to the bottom 400 of the thermos cup, and the rear top head 18 contacts the cup bottom 400 and drives the rear top wedge block 35 to continue to move against the cup body 200, compressing the rear top spring 20 to move inward, and the rear top wedge block 35 drives the push block 39 to move outward under the action of the inclined surface, so that the claw block 40 moves outward to press against the inner wall of the cup bottom 400.

[0023] A method for using the above-mentioned manipulator polishing fixture comprises the following steps: ① The manipulator 100 drives the front top fixture 2 and the rear top fixture 3 on the fixture seat 1 to approach the two ends of the cup body 200 to be processed on the assembly line; ② The pushing mechanism is started, pushing the rear top clamp 3 to approach the cup bottom 400. After the rear top head 18 of the rear top clamp 3 contacts the cup bottom 400, it continues to push the cup body 200 to move toward the front top clamp 2. The tensioning head 17 gradually enters the cup mouth 300 until it contacts the inclined surface of the cup mouth 300. The inclined surface of the cup mouth squeezes the tensioning head 17, driving the front top wedge block 23 to move inward to compress the front top spring 19. The slider 30 moves outward under the action of the inclined surface of the front top wedge block 23, driving the tensioning block 24 to open the cup mouth 300 outward and compress the rear top spring 20 at the same time. The push block 39 moves outward under the action of the inclined surface of the rear top wedge block 35, driving the claw block 40 to move outward to hold the inner wall of the cup bottom 400, completing the cup body clamping; ③ The servo motor 12 of the driving mechanism is started, driving the front top fixture 2 to rotate, driving the cup body 200 and the rear top fixture 3 to rotate synchronously; ④ The manipulator 100 moves, driving the cup body 200 to the polishing station for polishing operation; ⑤ After the polishing operation is completed, the robot 100 moves the cup body 200 to the assembly line, and the drive mechanism is closed; ⑥ The pushing mechanism drives the rear top clamp 3 to retract. Under the action of the front top spring 19, the front top reset spring 34, the elastic ring 32, the rear top spring 20, the self-centering spring 43, and the rear top reset spring 42, the front top wedge block 23, the tensioning block 24, the rear top wedge block 35, and the claw block 40 are reset, and the front top clamp 2 and the rear top clamp 3 release the cup body 200 and reset.

[0024] In the description of the present technical solution, it should be noted that the orientation or positional relationship indicated by terms such as "upper" and "inner" are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present technical solution 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 technical solution.

[0025] At the same time, in the description of this technical solution, it should be noted that, unless otherwise clearly specified and limited, the terms "fixed" and "matched" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this technical solution can be understood according to specific circumstances.

[0026] Although embodiments of the present technical solution have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and variations may be made to these embodiments without departing from the principles and spirit of the present technical solution, and that the scope of the present technical solution is defined by the appended claims and their equivalents.

Claims

1. A manipulator polishing fixture, characterized in that: The invention comprises a fixture seat (1) installed at the output end of a manipulator (100), a front top fixture (2) and a rear top fixture (3) coaxially arranged on the fixture seat (1), a driving mechanism for driving the front top fixture (2) to rotate, and a pushing mechanism for pushing the rear top fixture (3) to reciprocate toward the front top fixture (2); the fixture seat (1) is a frame structure, and the driving mechanism and the pushing mechanism are both fixed on the fixture seat (1); the front top fixture (2) and the rear top fixture (3) each comprise an axially movable wedge block, a coaxially movable wedge block, and a driving mechanism for driving the rear top fixture (3) to reciprocate toward the front top fixture (2). The shaft is provided at the top end of the wedge block, at least three clamping units are evenly arranged along the wedge block and matched with the inclined surface of the wedge block, a spring provides restoring force for the wedge block, and reset springs provide restoring force for the clamping units respectively; after the pushing mechanism is started, the top of the rear top clamp (3) and the top of the front top clamp (2) successively contact the bottom of the cup and the mouth of the cup, driving the wedge block to move outward, and through the coordinated action of the inclined surface, the clamping units in the rear top clamp (3) or the front top clamp (2) are simultaneously squeezed out to press against the inner wall of the mouth of the cup or the inner wall of the bottom of the cup.

2. The robot polishing fixture according to claim 1, characterized in that: The front top clamp (2) comprises a fixing sleeve (27) and a front top wedge block (23) axially movable in the fixing sleeve (27); the clamping unit of the front top clamp (2) is an equally divided tensioning block (24) sleeved outside the front top wedge block (23), and the tensioning blocks (24) all radially extend out of the fixing sleeve (27); an elastic ring (32) is provided on the outer side of the tensioning block (24) to provide a restoring force for the tensioning block (24), and a slider (30) is connected to the inner side of the tensioning block (24), and the inner side of the slider (30) is in contact with the front top wedge block (23). The inclined surface of the wedge block (23) is matched, and a front top return spring (34) is provided between the outer side of the slider (30) and the inner wall of the fixed sleeve (27) to provide a restoring force for the slider (30); the end of the front top wedge block (23) is fixed with a tensioning head (17), and after the tensioning head (17) contacts the inner inclined surface of the cup mouth (300), the front top wedge block (23) compresses the front top spring (19) to move inward, and the slider (30) is driven by the inclined surface of the front top wedge block (23) to move radially outward to tighten the cup mouth.

3. The robot polishing fixture according to claim 2, characterized in that: The front top wedge block (23) is evenly provided with sliding grooves (28) corresponding to the sliders (30), one end of the slider (30) is arranged in the sliding groove (28), and an adaptive spring (29) is arranged between the other end of the slider (30) and the tensioning block (24); there are six tensioning blocks (24).

4. The robot polishing fixture according to claim 2, characterized in that: A hollow plunger cylinder (25) is arranged in the fixed sleeve (27), an axially retractable plunger pin (26) is arranged in the plunger cylinder (25), the protruding end of the plunger pin (26) is connected to the end of the front top wedge block (23), and a front top spring (19) is arranged in the plunger cylinder (25) to provide elastic restoring force for the plunger pin (26).

5. The robot polishing fixture according to claim 2, characterized in that: A cup mouth sealing ring (33) is also provided on one end of the outer side of the tensioning block (24) close to the fixing sleeve (27).

6. The robot polishing fixture according to claim 2, characterized in that: The rear top clamp (3) comprises a claw seat (36), a rear top wedge block (35) coaxially arranged in the claw seat (36) and capable of axial movement, and a rear top spring (20) providing a restoring force for the rear top wedge block (35); the clamping unit of the rear top clamp (3) is a claw block (40) extending obliquely outward, and the claw seat (36) is provided with a through groove (45) corresponding to the claw block (40); the claw block (40) is axially limited in the through groove (45), the inner side of the claw block (40) is matched with the inclined surface of the rear top wedge block (35), and the outer side is provided with a self-centering spring (43) providing a restoring force for it; the rear top wedge block (35) compresses the rear top spring (20) to move inward, and the claw block (40) is simultaneously moved radially outward under the action of the inclined surface of the rear top wedge block (35) to press against the inner wall of the cup bottom (400).

7. The robot polishing fixture according to claim 6, characterized in that: The rear top clamp (3) also includes a hollow fixed seat (37) arranged in the claw seat (36), and a push block (39) corresponding to the claw block (40) and arranged at the inner side end of the claw block (40); the fixed seat (37) is provided with a fixed portion (38) corresponding to the through slot (45), the push block (39) and the claw block (40) are both arranged in the fixed portion (38), the inner side of the push block (39) extends into the fixed seat (37) and cooperates with the inclined surface of the rear top wedge block (35), and the outer side of the push block (39) is connected to the claw block (40); a stopper (41) is fixed at the through slot (45) of the claw seat (36), and a self-centering spring (43) is arranged between the stopper (41) and the claw block (40).

8. The robot polishing fixture according to claim 7, characterized in that: The claw block (40) is connected to the push block (39) via a latch (46), and a hole on the claw block (40) corresponding to the latch (46) is a waist-shaped hole (47); a rear return spring (42) having a greater elastic force than the self-centering spring (43) is provided between the claw block (40) and the stopper (41) and below the self-centering spring (43).

9. The robot polishing fixture according to claim 1, characterized in that: The driving mechanism is a motor, and the main shaft of the motor is connected to the main shaft of the front top clamp (2) through a synchronous wheel and a synchronous belt; the pushing mechanism is a cylinder, and a slide table (8) and a slide seat (9) are provided at the bottom of the rear top clamp (3), and the bottom of the slide table (8) and the slide seat (9) slide in cooperation through a dovetail groove, and the slide table (8) fixed at the bottom of the rear top clamp (3) is connected to the protruding end of the cylinder.

10. A method for using the manipulator polishing fixture according to claim 6, comprising the following steps: ① The manipulator (100) drives the front top clamp (2) and the rear top clamp (3) on the clamp seat (1) to approach the two ends of the cup body to be processed on the production line; ② The pushing mechanism is started, pushing the rear top clamp (3) toward the bottom of the cup. After the top of the rear top clamp (3) contacts the bottom of the cup, it continues to push the cup body toward the front top clamp (2). The tensioning top (17) gradually enters the cup mouth until it contacts the inclined surface of the cup mouth. The inclined surface of the cup mouth squeezes the tensioning top (17), driving the front top wedge block (23) to move inward to compress the front top spring (19). The slider (30) moves outward under the action of the inclined surface of the front top wedge block (23), driving the tensioning block (24) to open the cup mouth outward and compress the rear top spring (20). The claw block (40) moves outward under the action of the inclined surface of the rear top wedge block (35), pressing against the inner wall of the cup bottom, and completing the cup body clamping. ③ The driving mechanism is started, driving the front top clamp (2) to rotate, thereby driving the cup body and the rear top clamp (3) to rotate synchronously; ④ The manipulator (100) moves to drive the cup body to the polishing station for polishing operation; ⑤After the polishing operation is completed, the robot moves the cup body to the assembly line and the drive mechanism is closed; ⑥ The pushing mechanism drives the rear top clamp (3) to retract, and under the action of the front top spring (19), the elastic ring (32), the rear top spring (20), and the self-centering spring (43), the front top wedge block (23), the tension block (24), the rear top wedge block (35), and the claw block (40) are reset, and the front top clamp (2) and the rear top clamp (3) release the cup body.

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