Flexible gripper of combined hammer body polishing robot

Abstract

The invention relates to a flexible gripper of a combined hammer body polishing robot. The gripper comprises a clamping mechanism. The clamping mechanism comprises an upper clamp and a lower clamp which are clamped on the upper edge and the lower edge of a hammer handle of the conjoined hammer; the clamping mechanism comprises a support, a floating plate, a stop lever and a clamping jaw, the support is fixed to a connecting flange of the robot, the floating plate is installed on the support, the stop lever is fixed to the floating plate, and the clamping jaw is installed on the floating plate; during clamping, the floating type clamping mechanism moves, the stop lever makes contact with the combined hammer handle, under the limitation of the combined hammer handle, the floating plate floats up and down, and the clamping jaw floats up and down along with the floating plate. A flexible grabbing mode is adopted to eliminate the adverse effect caused by different actual positions of the hammer handle due to dimensional tolerance, so that the positioning is accurate, and the grinding precision is high.

Description

Technical Field

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

[0002] After the conjoined hammer has been cast and cooled, there are dimensional tolerances between the hammer body and the hammer handle. During the grinding process, the positioning and fixing are based on the hammer body. Due to the dimensional tolerances, the actual positions of the hammer handles are different. When the traditional robot for grinding the hammer body uses a rigid gripper to directly grasp the hammer handle, after the hammer body leaves the positioning tooling, the position deviation will be inconsistent due to the stress elasticity generated by the rigid clamping jaws clamping the hammer handle, resulting in inaccurate positioning and affecting the grinding accuracy. Summary of the Invention

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

[0004] Technical Solution of the Present Invention: A flexible gripper for a robot for grinding the body of a conjoined hammer, the gripper comprising a clamping mechanism; the clamping mechanism is an upper and lower clamp, which clamps on the upper and lower edges of the hammer handle of the conjoined hammer; the clamping mechanism includes a bracket, a floating plate, a stop rod, and clamping jaws, the bracket is fixed on the connecting flange of the robot, the floating plate is installed on the bracket, the stop rod is fixed on the floating plate, and the clamping jaws are installed on the floating plate; during clamping, the floating clamping mechanism moves, the stop rod contacts the hammer handle of the conjoined hammer, and under the restriction of the hammer handle of the conjoined hammer, the floating plate floats up and down, and the clamping jaws float up and down together with the floating plate.

[0005] The above technical solution is further refined, the clamping jaw comprises an upper clamping block, a lower clamping block, a square push block, two inclined top chamfering blocks, and a driving device, the upper clamping block and the lower clamping block are mounted on a floating plate, the square push block is mounted on a floating plate, the two inclined top chamfering blocks are arranged above and below the square push block, they are in contact with the square push block, and the contact surfaces are inclined surfaces, the inclined top chamfering block on the square push block is an upper inclined top chamfering block, which is fixedly connected to the upper clamping block, the inclined top chamfering block under the square push block is a lower inclined top chamfering block, which is fixedly connected to the lower clamping block, the lower end of the upper clamping block extends to below the lower inclined top chamfering block, and is connected to the lower inclined top chamfering block through a spring shaft, the driving device is mounted on the floating plate, and The push block is connected; the driving device drives the push block to extend, the upper inclined top chamfering block moves upward, the upper clamping block moves upward accordingly, the lower inclined top chamfering block moves downward, the lower clamping block moves downward accordingly, the upper clamping block cooperates with the lower clamping block and opens, and the spring shaft is compressed; the driving device drives the push block to withdraw, and under the action of the spring shaft, the upper clamping block moves downward, the upper inclined fixed chamfering block moves downward accordingly, the lower inclined top chamfering block moves upward, the lower clamping block moves upward accordingly, the upper clamping block cooperates with the lower clamping block and closes; the clamping claw also includes a locking structure, which locks the closed upper clamping block and the lower clamping block.

[0006] The above technical scheme is further refined. The bracket is in the shape of a plate, which is stacked with the upper clamp block, the lower clamp block and the floating plate, and the contact surface is a smooth plane. The upper clamp block and the lower clamp block are located on one side of the bracket, and the floating plate is located on the other side of the bracket. The bracket, the upper clamp block, the lower clamp block and the floating plate are connected by a plurality of bolts I, and each bolt I is arranged side by side, and each bolt I passes through a vertical hole arranged in the bracket, the upper clamp block and the lower clamp block respectively, and the driving device is a cylinder, which is located on both sides of the stacked bracket, the upper clamp block, the lower clamp block and the floating plate with the square push block, and the cylinder passes through both sides of the stacked bracket, the upper clamp block, the lower clamp block and the floating plate, and the driving device and the square push block are connected to form a locking structure and also form a locking structure of the floating plate; when the driving device drives the square push block to withdraw, it clamps the stacked bracket, the upper clamp block, the lower clamp block and the floating plate, and locks the closed upper clamp block and the lower clamp block, and locks the floating plate; the bolt I is a guide column.

[0007] Taking into account that the clamping mechanism clamps the one-piece hammer handle from bottom to top, the above technical solution is further refined, and a spring limiting rod is installed on the floating plate. While limiting, the floating plate is in an upper position so that it can float. Otherwise, the floating plate is in a lower position under its own weight and cannot float under the restriction of the blocking rod. At the same time, the design of the spring limiting rod makes the floating plate float smoothly.

[0008] The above technical solution is further refined, and a plurality of bolts II are passed between the bracket and the floating plate, and each bolt II is arranged side by side and correspondingly passes through a vertical hole provided on the floating plate; the bolts II are also guide columns.

[0009] A flexible gripper for a conjoined hammer body grinding robot, the gripper comprising a clamping mechanism which is a side clamp and clamps on both side surfaces of the conjoined hammer handle; the clamping mechanism is composed of a movable jaw arm and a fixed jaw arm which are hinged, the fixed jaw arm is fixed on the connecting flange of the robot, a floating chuck is installed at the clamping part of the movable jaw arm, and a matrix flexible chuck is installed at the clamping part of the fixed jaw arm.

[0010] Further refining the above technical solution, the floating chuck includes a fixed rotating block, a main rotating space block, a left space block and a right space block. The fixed rotating block is installed at the clamping part of the movable jaw arm, the main rotating space block is installed on the fixed rotating block, the left space block and the right space block are respectively arranged on both sides of the rotating space block and connected to the main rotating space block. The left space block is fixed on the left radial rotating space block, and the right space block is fixed on the right radial rotating space block; when clamping, the left space block and the right space block abut against the side surface of the conjoined hammer handle. Under the restriction of the conjoined hammer handle, the rotating space block rotates, the left radial rotating space block and the right radial rotating space block float, and the left space block and the right space block float accordingly.

[0011] Further refining the above technical solution, the floating chuck further includes a limit plate and a number of limit bolts. The limit plate is fixed on the fixed rotating block, and each limit bolt is installed on the limit plate to form a floating limit for the left radial rotating space block and the right radial rotating space block.

[0012] Further refining the above technical solution, the contact parts of the left space block and the right space block with the side surface of the conjoined hammer handle are attached with cowhide blocks.

[0013] A flexible gripper for a conjoined hammer body grinding robot, the gripper comprising a clamping mechanism; there are two clamping mechanisms in total, and the two clamping mechanisms are arranged one in front of the other; one clamping mechanism is the above clamping mechanism (up and down clamp), and the other clamping mechanism is the above clamping mechanism (side clamp); the two clamping mechanisms clamp on the upper and lower edges of the conjoined hammer handle and on both side surfaces of the conjoined hammer handle respectively, and apply forces in four directions to stably and firmly clamp the conjoined hammer during grinding.

[0014] The advantages of the present invention are reasonable design and ingenious conception. The flexible grasping method is adopted to eliminate the adverse effects caused by "the actual positions of the hammer handles are different due to dimensional tolerances", so that the positioning is accurate and the grinding accuracy is high. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is a schematic structural diagram of a flexible gripper for a conjoined hammer body grinding robot (with a conjoined hammer).

[0016] Figure 2 It is a schematic structural diagram of the front clamping mechanism (1).

[0017] Figure 3 It is a schematic structural diagram of the front clamping mechanism (2).

[0018] Figure 4 It is a schematic structural diagram of the rear clamping mechanism.

[0019] Figure 5 It is a schematic structural diagram of the floating chuck.

[0020] Figure 6 It is a schematic structural diagram of the connecting hammer.

[0021] In the figure, the front clamping mechanism 1, bracket 1-1, floating plate 1-2, stop bar 1-3, clamping jaw 1-4, upper clamping block 1-4-1, lower clamping block 1-4-2, square push block 1-4-3, upper inclined top chamfering block 1-4-4, lower inclined top chamfering block 1-4-5, cylinder 1-4-6, spring shaft 1-4-7, bolt I 1-5, bolt II 1-6, spring limit rod 1-7; the rear clamping mechanism 2, movable clamping jaw arm 2-1, fixed clamping jaw arm 2-2, floating chuck 2-3, fixed rotating block 2-3-1, main rotating space block 2-3-2, left radial rotating space block 2-3-3, right radial rotating space block 2-3-4, left space block 2-3-5, right space block 2-3-6, limit plate 2-3-7, rubber block 2-3-8, matrix flexible chuck 2-4; the connecting flange 3 of the robot; the connecting hammer 4, connecting hammer handle 4-1. Specific implementation manner

[0022] As Figure 1-6 shown, a flexible gripper for a connecting hammer body grinding robot, the gripper includes two clamping mechanisms, with the two clamping mechanisms arranged one in front and the other behind; The front clamping mechanism 1 is an upper and lower clamp, including a bracket 1-1, a floating plate 1-2, a stop bar 1-3, and a jaw 1-4. The jaw 1-4 includes an upper clamp block 1-4-1, a lower clamp block 1-4-2, a square push block 1-4-3, an upper inclined ejector chamfer block 1-4-4, a lower inclined ejector chamfer block 1-4-5, a cylinder 1-4-6, and a locking structure. The bracket 1-1 is fixed on the connecting flange 3 of the robot. The bracket 1-1 is plate-shaped, and it is stacked with the upper clamp block 1-4-1, the lower clamp block 1-4-2, and the floating plate 1-2, and the contact surfaces are smooth planes. The upper clamp block 1-4-1 and the lower clamp block 1-4-2 are located on one side of the bracket 1-1, and the floating plate 1-2 is located on one side of the bracket 1-1. The bracket 1-1, the upper clamp block 1-4-1, the lower clamp block 1-4-2, and the floating plate 1-2 are connected by a number of bolts I 1-5. Each bolt I 1-5 is arranged side by side, and each bolt I 1-5 correspondingly passes through the vertical holes provided in the bracket 1-1, the upper clamp block 1-4-1, and the lower clamp block 1-4-2; the bolt I 1-5 is also a guide post; the square push block 1-4-3 is located on the side of the upper clamp block 1-4-1 and the lower clamp block 1-4-2, and the cylinder 1-4-6 is located on the side of the floating plate 1-2. The cylinder 1-4-6 passes through the stacked bracket 1-1, the upper clamp block 1-4-1, the lower clamp block 1-4-2, and the floating plate 1-2 and is connected to the square push block 1-4-3. The upper inclined ejector chamfer block 1-4-4 and the lower inclined ejector chamfer block 1-4-5 are respectively arranged above and below the square push block 1-4-3, and they are in contact with the square push block 1-4-3, and the contact surfaces are inclined planes. The upper inclined ejector chamfer block 1-4-4 is fixedly connected to the upper clamp block 1-4-1, and the lower inclined ejector chamfer block 1-4-5 is fixedly connected to the lower clamp block 1-4-2. The lower end of the upper clamp block 1-4-1 extends below the lower inclined ejector chamfer block 1-4-5 and is connected to the lower inclined ejector chamfer block 1-4-5 through a spring shaft 1-4-7; the connected cylinder 1-4-5 and the square push block 1-4-3 form a locking structure and also form a locking structure for the floating plate 1-2; between the bracket 1-1 and the floating plate 1-2, there are also a number of bolts II 1-6. Each bolt II 1-6 is arranged side by side and correspondingly passes through the vertical holes provided in the floating plate 1-2; the bolt II 1-6 is also a guide post; a spring limit rod 1-7 is installed on the floating plate 1-2; The rear clamping mechanism 2 is a side clamp, which is composed of a movable jaw arm 2-1 and a fixed jaw arm 2-2 hinged together. The fixed jaw arm 2-1 is fixed on the connecting flange 3 of the robot. A floating chuck 2-3 is installed at the clamping part of the movable jaw arm 2-1, and a matrix flexible chuck 2-4 is installed at the clamping part of the fixed jaw arm 2-2; The floating chuck 2-3 includes a fixed rotating block 2-3-1, a main rotating space block 2-3-2, a left radial rotating space block 2-3-3, a right radial rotating space block 2-3-4, a left space block 2-3-5, a right space block 2-3-6, a limit plate 2-3-7, and a number of limit bolts. The fixed rotating block 2-3-1 is installed at the clamping part of the movable jaw arm 2-1. The main rotating space block 2-3-2 is installed on the fixed rotating block 2-3-1. The left radial rotating space block 2-3-3 and the right radial rotating space block 2-3-4 are arranged on both sides of the rotating space block 2-3-2 and connected to the main rotating space block 2-3-2. The left space block 2-3-5 is fixed on the left radial rotating space block 2-3-3, and the right space block 2-3-6 is fixed on the right radial rotating space block 2-3-4; The limit plate 2-3-7 is fixed on the fixed rotating block 2-3-1, and each limit bolt is installed on the limit plate 2-3-5 to form a floating limit for the left radial rotating space block 2-3-3 and the right radial rotating space block 2-3-4; Tendon blocks 2-3-8 are attached to the left space block 2-3-3 and the right space block 2-3-4.

[0023] When the above-mentioned gripper grabs the conjoined hammer 4 from bottom to top, the front clamping mechanism 1 and the rear clamping mechanism 2 move upward synchronously. When the rear clamping mechanism 2 moves in place, the front clamping mechanism 1 and the rear clamping mechanism 2 stop moving. The front clamping mechanism 1 clamps on the upper and lower edges of the hammer handle 4-1 of the conjoined hammer, and the rear clamping mechanism 2 clamps on both sides of the hammer handle 4-1 of the conjoined hammer; During the movement of the front clamping mechanism 1, it floats. The stop rod 1-3 first touches the hammer handle 4-1 of the conjoined hammer. Under the restriction of the hammer handle 4-1 of the conjoined hammer, the floating plate 1-2 is forced to float, and the jaw 1-4 floats together with the floating plate 1-2; The front clamping mechanism 1 clamps on the upper and lower edges of the hammer handle 4-1 of the connected hammers: Initially, the air cylinder 1-4-6 drives the square push block 1-4-3 to extend, the upper inclined ejector chamfer block 1-4-4 moves upward, the upper clamping block 1-4-1 moves upward accordingly, the lower inclined ejector chamfer block 1-4-5 moves downward, and the lower clamping block 1-4-2 moves downward accordingly. The upper clamping block 1-4-1 and the lower clamping block 1-4-2 cooperate and open, and the spring shaft 1-4-7 is compressed; when the air cylinder 1-4-6 drives the square push block 1-4-3 to retract, under the action of the spring shaft 1-4-7, the upper clamping block 1-4-1 moves downward, the upper inclined ejector chamfer block 1-4-4 moves downward accordingly, the lower inclined ejector chamfer block 1-4-5 moves upward, and the lower clamping block 1-4-2 moves upward accordingly. The upper clamping block 1-4-1 and the lower clamping block 1-4-2 cooperate and close, clamping on the upper and lower edges of the hammer handle 4-1 of the connected hammers; the air cylinder 1-4-6 drives the square push block 1-4-3 to retract, and at the same time locks the upper clamping block 1-4-1 and the lower clamping block 1-4-2, and the floating plate 1-2. The rear clamping mechanism 2 clamps on both sides of the hammer handle 4-1 of the connected hammers: The movable jaw arm 2-1 swings, causing the floating chuck 2-3 to move relative to the matrix flexible chuck 2-4, clamping on both sides of the hammer handle 4-1 of the connected hammers; the floating chuck 2-3 floats during the movement, and the left space block 2-3-3 and the right space block 2-3-4 abut against the side surface of the hammer handle 4-1 of the connected hammers. Under the restriction of the hammer handle 4-1 of the connected hammers, the rotating space block 2-3-2 is forced to rotate, and the left space block 2-3-3 and the right space block 2-3-4 float.

[0024] The above embodiments are only used to illustrate the technical concept and features of the invention, and the purpose is to enable those who are familiar with this technology to understand the content of the present invention and implement it accordingly, and it cannot be used to limit the protection scope of the present invention. Any equivalent changes or modifications made according to the spirit and essence of the present invention should be covered by the protection scope of the present invention.

Claims

1. A flexible gripper for a one-piece hammer body grinding robot, the gripper comprising a clamping mechanism; characterized in that: The clamping mechanism is an upper and lower clamp, which is clamped on the upper and lower edges of the hammer handle of the one-piece hammer; The clamping mechanism includes a bracket, a floating plate, a baffle rod, and a clamping claw. The bracket is fixed on the connecting flange of the robot, the floating plate is installed on the bracket, the baffle rod is fixed on the floating plate, and the clamping claw is installed on the floating plate. During clamping, the floating clamping mechanism moves, the baffle rod contacts the hammer handle of the integrated hammer, and under the restriction of the hammer handle of the integrated hammer, the floating plate floats up and down, and the clamping claw floats up and down with the floating plate.

2. The flexible gripper of a one-piece hammer body polishing robot according to claim 1, characterized in that: The clamping jaws include an upper clamping block, a lower clamping block, a square push block, two inclined top chamfering blocks, and a driving device. The upper clamping block and the lower clamping block are mounted on a floating plate. The square push block is mounted on a floating plate. The two inclined top chamfering blocks are arranged above and below the square push block, and are in contact with the square push block, and the contact surfaces are inclined surfaces. The inclined top chamfering block on the square push block is an upper inclined top chamfering block, which is fixedly connected to the upper clamping block. The inclined top chamfering block under the square push block is a lower inclined top chamfering block, which is fixedly connected to the lower clamping block. The lower end of the upper clamping block extends to the lower inclined top chamfering block and is connected to the lower inclined top chamfering block through a spring shaft. The driving device is mounted On the floating plate, it is connected with the square push block; the driving device drives the square push block to extend, the upper inclined top chamfering block moves upward, the upper clamping block moves upward accordingly, the lower inclined top chamfering block moves downward, the lower clamping block moves downward accordingly, the upper clamping block cooperates with the lower clamping block and opens, and the spring shaft is compressed; the driving device drives the square push block to withdraw, and under the action of the spring shaft, the upper clamping block moves downward, the upper inclined fixed chamfering block moves downward accordingly, the lower inclined top chamfering block moves upward, the lower clamping block moves upward accordingly, and the upper clamping block cooperates with the lower clamping block and closes; The clamping jaws also include a locking structure, which locks the upper clamping block and the lower clamping block closed.

3. The flexible gripper of a one-piece hammer body polishing robot according to claim 2, characterized in that: The bracket is in the shape of a plate, which is stacked with the upper clamp block, the lower clamp block and the floating plate, and the contact surface is a smooth plane. The upper clamp block and the lower clamp block are located on one side of the bracket, and the floating plate is located on the other side of the bracket. The bracket, the upper clamp block, the lower clamp block and the floating plate are connected by a plurality of bolts I, and the bolts I are arranged side by side, and the bolts I correspondingly pass through the vertical holes arranged in the bracket, the upper clamp block and the lower clamp block. The driving device is a cylinder, which is located on both sides of the stacked bracket, the upper clamp block, the lower clamp block and the floating plate with the square push block. The cylinder passes through both sides of the stacked bracket, the upper clamp block, the lower clamp block and the floating plate, and the driving device is connected to the square push block to form a locking structure and also a locking structure of the floating plate; when the driving device drives the square push block to withdraw, it clamps the stacked bracket, the upper clamp block, the lower clamp block and the floating plate, and locks the closed upper clamp block and the lower clamp block, and locks the floating plate; the bolt I is a guide column.

4. The flexible gripper of a one-piece hammer body polishing robot according to claim 3, characterized in that: A spring limiting rod is installed on the floating plate.

5. The flexible gripper of a one-piece hammer body polishing robot according to claim 3, characterized in that: A plurality of bolts II are also passed between the bracket and the floating plate, and each bolt II is arranged side by side and correspondingly passes through a vertical hole arranged on the floating plate; the bolts II are also guide columns.

6. A flexible gripper for a one-piece hammer body grinding robot, the gripper comprising a clamping mechanism, characterized in that: The clamping mechanism is a side clamp, which is clamped on both sides of the hammer handle of the one-piece hammer; The clamping mechanism is composed of a movable clamping arm and a fixed clamping arm hinged together. The fixed clamping arm is fixed on the connecting flange of the robot. The clamping part of the movable clamping arm is installed with a floating clamp, and the clamping part of the fixed clamping arm is installed with a matrix flexible clamp.

7. The flexible gripper of a one-piece hammer body polishing robot according to claim 6, characterized in that: The floating chuck includes a fixed rotating block, a main rotating space block, a left radial rotating space block, a right radial rotating space block, a left space block, and a right space block. The fixed rotating block is installed on the clamping part of the movable clamping claw arm, the main rotating space block is installed on the fixed rotating block, the left radial rotating space block and the right radial rotating space block are arranged on both sides of the rotating space block and are connected to the main rotating space block, the left space block is fixed on the left radial rotating space block, and the right space block is fixed on the right radial rotating space block; when clamping, the left space block and the right space block are against the side of the one-piece hammer handle, and under the restriction of the one-piece hammer handle, the rotating space block rotates, the left radial rotating space block and the right radial rotating space block float, and the left space block and the right space block float accordingly.

8. The flexible gripper of a one-piece hammer body grinding robot according to claim 7, characterized in that: The floating chuck also includes a limit plate and a plurality of limit bolts. The limit plate is fixed on the fixed rotating block, and each limit bolt is installed on the limit plate to form a floating limit of the left radial rotating space block and the right radial rotating space block.

9. The flexible gripper of a one-piece hammer body polishing robot according to claim 7, characterized in that: The contacting parts of the left space block, the right space block and the side of the hammer handle of the integrated hammer are attached with tendon blocks.

10. A flexible gripper for a one-piece hammer body grinding robot, the gripper comprising a clamping mechanism; characterized in that: There are two clamping mechanisms, one in front and one in the back; one clamping mechanism is the clamping mechanism described in any one of claims 1-5, and the other clamping mechanism is the clamping mechanism described in any one of claims 6-9.

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