Flexible gripper of combined hammer head grinding robot

Abstract

The invention relates to a flexible gripper of a conjoined hammer head grinding robot. The gripper comprises a hammer body clamping mechanism, and the hammer body clamping mechanism is installed on a connecting flange of the robot; the gripper further comprises a hammer handle clamping mechanism, the hammer handle clamping mechanism is installed on a connecting flange of the robot, the hammer body clamping mechanism clamps a one-piece hammer body, and the hammer handle clamping mechanism clamps a one-piece hammer handle. The hammer handle clamping mechanism is a floating type clamping mechanism. The hammer body and the hammer handle are separated and clamped and fixed at the same time, so that the process of hammering the hammer is more stable; the hammer head is rigidly fixed and the hammer handle is flexibly fixed along with the hammer head, so that the structure size deviation between the hammer handle of the conjoined hammer and the hammer can be absorbed, the consistency of coordinate positions of the hammer head in the whole process from a positioning tool to abrasive belt grinding is ensured, and the accurate grinding and polishing effect is achieved.

Description

Technical Field

[0001] The present invention relates to a grinding robot, and more particularly to a flexible gripper for a grinding robot of a conjoined hammer head. Background Art

[0002] The conjoined hammer is cast by a multi-cavity mold. Due to the thermal expansion and contraction effect, after it cools from high temperature to normal temperature, there is a spatial angle between the normal of the center line of the hammer handle and the center line of the hammer (the hammer head and the hammer body), resulting in an increasing deviation of the distance between the middle and the end of the hammer handle from the center line. In order to ensure the same position of the hammer head on the positioning fixture, the position of the hammer handle on the fixing fixture has uncertain deviations in the left, right, up, and down directions. When using a grinding robot to grind the conjoined hammer head, if the conjoined hammer is only rigidly grasped from the fixing fixture, the position of the hammer head will deviate greatly after the conjoined hammer leaves the fixing fixture, resulting in a very low success rate during actual grinding and even scrapping. Summary of the Invention

[0003] In view of the above problems, the present invention provides a flexible gripper for a grinding robot of a conjoined hammer head.

[0004] Technical Solution of the Present Invention: A flexible gripper for a grinding robot of a conjoined hammer head, the gripper includes a hammer body clamping mechanism, and the hammer body clamping mechanism is installed on the connecting flange of the robot; the gripper further includes a hammer handle clamping mechanism, the hammer handle clamping mechanism is installed on the connecting flange of the robot, the hammer body clamping mechanism clamps the hammer body of the conjoined hammer, and the hammer handle clamping mechanism clamps the hammer handle of the conjoined hammer; the hammer handle clamping mechanism is a floating clamping mechanism.

[0005] Further refining the above technical solution, the hammer handle clamping mechanism is an upper and lower clamp, which includes an upper clamp block and a lower clamp block, and the upper clamp block and the lower clamp block cooperate to clamp the upper and lower edges of the hammer handle of the conjoined hammer; the hammer handle clamping mechanism includes a bracket, a sliding block, a floating plate, and a locking structure. The bracket is fixed on the connecting flange of the robot, the sliding block is installed on the bracket and floats, the floating plate is fixedly connected to the sliding block and floats together with the sliding block, the locking structure is installed on the bracket, and it is connected to the sliding block to lock or release the sliding block. The upper clamp block and the lower clamp block are installed on the floating plate and float together with the floating plate.

[0006] Further refining the above technical solution, the upper clamp block is a fixed block, and the lower clamp block is a flipping block. When clamping, the lower clamp block bypasses the hammer handle of the conjoined hammer and cooperates with the upper clamp block to hold and fix it.

[0007] Further refining the above technical solution, the sliding block is slidably and cooperatively connected to the bracket; during the movement of the hammer handle clamping mechanism, the upper clamp block contacts the hammer handle of the conjoined hammer, and under the restriction of the hammer handle of the conjoined hammer, the sliding block floats.

[0008] Further refining the above technical solution, a number of spring limit rods are installed on the sliding block; while limiting, it makes its floating more stable.

[0009] Further refining the above technical solution, the hammer body clamping mechanism is a side clamp, which clamps on both side surfaces of the hammer body of the connected hammer.

[0010] Further refining the above technical solution, the clamping part of the hammer body clamping mechanism is attached with Oxford board.

[0011] Further refining the above technical solution, the locking structure is composed of a locking cylinder connected to a locking head. It increases the adsorption adhesion and will not damage the spray coating on the surface of the hammer body and hammer handle of the connected hammer.

[0012] Further refining the above technical solution, an opening for placing the upper edge of the hammer handle of the connected hammer is provided at the lower part of the upper clamping block.

[0013] The advantages of the present invention are reasonable design and ingenious concept. By separately clamping and fixing the hammer body and the hammer handle at two places simultaneously, the process of the hammer head can be made more stable; by rigidly fixing the hammer head and allowing the hammer handle to follow and fix flexibly, the dimensional deviation between the hammer handle of the connected hammer and the hammer can be absorbed, and the coordinate position of the hammer head can be kept consistent from the positioning tooling to the whole process of sand belt grinding, so as to achieve the precise grinding and polishing effect. Brief Description of the Drawings

[0014] Figure 1 It is a schematic structural diagram of a flexible gripper for the hammer head grinding robot of a connected hammer.

[0015] Figure 2 It is a schematic structural diagram of the hammer body clamping mechanism.

[0016] Figure 3 It is a schematic structural diagram of the hammer handle clamping mechanism (1).

[0017] Figure 4 It is a schematic structural diagram of the hammer handle clamping mechanism (2).

[0018] In the figure, the hammer body of the connected hammer is 1-1, the hammer handle of the connected hammer is 1-2; the hammer body clamping mechanism is 2-1, the hammer handle clamping mechanism is 2-2, the bracket is 2-2-1, the sliding block is 2-2-2, the floating plate is 2-2-3, the locking cylinder is 2-2-4, the spring limit rod is 2-2-5, the upper clamping block is 2-2-6, the lower clamping block is 2-2-7; the robot connection flange is 3. Detailed Description of the Invention

[0019] Such as Figures 1-4As shown in the figure, a flexible gripper for grinding the head of a conjoined hammer, the gripper includes a hammer body clamping mechanism 2-1 and a hammer handle clamping mechanism 2-2; the hammer body clamping mechanism 2-1 is a side clamp, which is installed on the connecting flange 3 of the robot, and the clamping part of the hammer body clamping mechanism 2-1 is attached with an Oxford board 2-1-1; the hammer handle clamping mechanism 2-2 is an upper and lower clamp, which includes a bracket 2-2-1, a sliding block 2-2-2, a floating plate 2-2-3, a locking cylinder 2-2-4, a number of spring limit rods 2-2-5, an upper clamp block 2-2-6, and a lower clamp block 2-2-7. The bracket 2-2-1 is fixed on the robot connecting flange 3, the sliding block 2-2-2 is slidably connected to the bracket 2-2-1, and a number of spring limit rods 2-2-8 are installed thereon. The floating plate 2-2-3 is fixedly connected to the sliding block 2-2-2. The locking cylinder 2-2-4 is installed on the bracket 2-2-1 and is connected to the sliding block 2-2-2. The upper clamp block 2-2-6 is a fixed block and is installed on the floating plate 2-2-3. The lower clamp block 2-2-7 is a flipping block and is installed on the floating plate 2-2-3. An opening for accommodating the upper edge of the hammer handle 1-2 of the conjoined hammer is provided at the lower part of the upper clamp block 2-2-6.

[0020] When the above-mentioned gripper grabs the conjoined hammer from top to bottom, the hammer body clamping mechanism 2-1 and the hammer handle clamping mechanism 2-2 move downward synchronously. When the hammer body clamping mechanism 2-2 moves in place, the hammer body clamping mechanism 2-1 and the hammer handle clamping mechanism 2-2 stop moving. The hammer body clamping mechanism 2-1 clamps on both sides of the hammer body 1-1 of the conjoined hammer, and the hammer handle clamping mechanism 2-2 (the upper clamp block 2-2-6 and the lower clamp block 2-2-7 cooperate) clamps on the upper and lower edges of the hammer handle 1-2 of the conjoined hammer; the hammer handle clamping mechanism 2-2 floats during movement. The upper clamp block 2-2-6 touches the hammer handle 1-2 of the conjoined hammer first. Under the restriction of the hammer handle 1-2 of the conjoined hammer, the sliding block 2-2-2 is forced to float, and the floating plate 2-2-3 floats together with the sliding block 2-2-2. The upper clamp block 2-2-6 and the lower clamp block 2-2-7 float together with the floating plate 2-2-3.

[0021] The above embodiments are only for explaining the technical concept and characteristics of the invention, and their purpose is to enable those who are familiar with this technology to understand the content of the invention and implement it accordingly, and cannot be used to limit the protection scope of the invention. Any equivalent changes or modifications made according to the spirit and essence of the invention should be covered by the protection scope of the invention.

Claims

1. A flexible gripper for a one-piece hammer head grinding robot, the gripper comprising a hammer body clamping mechanism, the hammer body clamping mechanism being mounted on a connecting flange of the robot; characterized in that: The gripper also includes a hammer handle clamping mechanism, which is mounted on the connecting flange of the robot, the hammer body clamping mechanism clamps the hammer body of the one-piece hammer, and the hammer handle clamping mechanism clamps the hammer handle of the one-piece hammer; The hammer handle clamping mechanism is a floating clamping mechanism.

2. The flexible gripper of a one-piece hammer head grinding robot according to claim 1, characterized in that: The hammer handle clamping mechanism is an upper and lower clamp, which includes an upper clamp block and a lower clamp block. The upper clamp block cooperates with the lower clamp block and is clamped on the upper and lower edges of the hammer handle of the integrated hammer; The hammer handle clamping mechanism includes a bracket, a sliding block, a floating plate, and a locking structure. The bracket is fixed on the robot connection flange, the sliding block is installed on the bracket and floats, the floating plate is fixedly connected to the sliding block and floats with the sliding block, the locking structure is installed on the bracket, which is connected to the sliding block, locks or releases the sliding block, and the upper clamping block and the lower clamping block are installed on the floating plate and float with the floating plate.

3. The flexible gripper of a one-piece hammer head grinding robot according to claim 2, characterized in that: The upper clamping block is a fixed block, and the lower clamping block is a flipping block.

4. The flexible gripper of the one-piece hammer head grinding robot according to claim 3 is characterized in that: The sliding block is connected to the bracket in a sliding cooperation manner; when the hammer handle clamping mechanism moves, the upper clamping block contacts the integrated hammer handle, and under the restriction of the integrated hammer handle, the sliding block floats.

5. The flexible gripper of the one-piece hammer head grinding robot according to claim 4 is characterized in that: A plurality of spring limiting rods are installed on the sliding block.

6. The flexible gripper of a one-piece hammer head grinding robot according to claim 1, characterized in that: The hammer body clamping mechanism is a side clamp, which is clamped on the two side surfaces of the hammer body of the integrated hammer.

7. According to the flexible gripper of the one-piece hammer and hammer head grinding robot as described in claim 6, the clamping part of the hammer body clamping mechanism is attached with an Oxford plate.

8. The flexible gripper of a one-piece hammer head grinding robot according to claim 4, characterized in that: The locking structure is composed of a locking cylinder and a locking head connected together.

9. The flexible gripper of a one-piece hammer head grinding robot according to claim 3, characterized in that: The lower part of the upper clamping block is provided with an opening for accommodating the upper edge of the handle of the integrated hammer.

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