Automatic polishing gripper mechanism

Abstract

The utility model relates to the technical field of mechanical clamping jaws, and discloses an automatic polishing gripper mechanism which comprises a gripper connecting flange, a pneumatic floating device, a buffer device and a robot gripper electro-permanent magnet assembly, and the pneumatic floating device, the buffer device and the robot gripper electro-permanent magnet assembly are installed on the gripper connecting flange through bolts. And the pneumatic floating device has a deburring function. According to the utility model, the robot gripper electro-permanent magnet assembly is moved downwards, so that the electro-permanent magnet can move downwards, when the electro-permanent magnet moves to a certain position, a sensor on the sensor bracket can detect a workpiece, and the electro-permanent magnet can work, so that the workpiece can be clamped; when the workpiece is clamped, the sensor on the sensor support can detect the workpiece, the pneumatic floating device can operate at the moment, the workpiece can be polished through the polishing tool, and the polishing device is suitable for being widely popularized and used.

Description

Technical Field

[0001] The utility model belongs to the technical field of mechanical clamping claws, and specifically relates to an automatic grinding gripper mechanism. Background Art

[0002] The existing technology for this type of manual deburring and grinding is inefficient and cannot guarantee its quality, and the precision of the workpiece after deburring and grinding is very inconsistent.

[0003] The technical problem to be solved by this technology is: through the robot gripper mechanism, the gripped workpiece, grinding effect and position accuracy can be guaranteed to be consistent every time, high-intensity labor can be liberated, and the deburring and grinding functions of the gripping area can be performed simultaneously.

[0004] In view of this, the present utility model is proposed. Utility Model Content

[0005] In order to solve the problems of low efficiency and inability to guarantee the quality of the above-mentioned prior art manual deburring and grinding, and inconsistent precision of the workpiece after deburring and grinding, the basic concept of the technical solution adopted by the utility model is:

[0006] An automatic grinding gripper mechanism includes a gripper connection flange, a pneumatic floating device, a buffer device and a robot gripper electropermanent magnet assembly. The pneumatic floating device, the buffer device and the robot gripper electropermanent magnet assembly are bolted on the gripper connection flange. The pneumatic floating device has a deburring function. The buffer device is used for the robot to apply external force during the handling process to play a buffering role. The robot gripper electropermanent magnet assembly is used to carry a rectangular tube, and the workpiece is adsorbed by this assembly to achieve the handling effect. By moving the robot gripper electropermanent magnet assembly downward, the electropermanent magnet can move downward. When the electropermanent magnet moves to a certain position, the sensor on the sensor bracket can detect the workpiece. At this time, the electropermanent magnet can work, so the workpiece can be clamped. When the workpiece is clamped, because the sensor on the sensor bracket can detect the workpiece, the pneumatic floating device can be operated, so the workpiece can be polished by the grinding tool.

[0007] As a preferred embodiment of the utility model, the pneumatic floating device includes a floating spindle, a grinding tool and a mounting bracket, the mounting bracket is bolted on the gripper connection flange, a floating spindle is mounted on one side wall of the mounting bracket, and a grinding tool is mounted below the floating spindle. The specific installation position and components of the pneumatic floating device are determined to ensure that when the sensor on the sensor bracket can detect the workpiece, the pneumatic floating device can be operated, so that the workpiece can be polished by the grinding tool.

[0008] As a preferred embodiment of the utility model, the buffer device includes multiple gaskets, multiple rectangular springs, multiple guide shafts and multiple linear bearings, each of which is movable through the gripper connection flange, each of which is provided with gaskets on opposite sides, each of which is provided with a guide shaft through the inner cavity of the linear bearing, and each of which is provided with a rectangular spring on the outer wall of the linear bearing. The specific installation position and components of the buffer device are determined.

[0009] As a preferred embodiment of the utility model, the robot gripper electropermanent magnet assembly includes two sensor brackets, two electropermanent magnets and two proximity switches, the two sensor brackets are respectively installed on the opposite side walls of the two electropermanent magnets, and the two sensor brackets are penetrated by the proximity switches. The specific installation position and components of the robot gripper electropermanent magnet assembly are determined, and it is ensured that the robot gripper electropermanent magnet assembly is moved downward, so that the electropermanent magnet can move downward. When the electropermanent magnet moves to a certain position, the sensor on the sensor bracket can detect the workpiece, and the electropermanent magnet can work, so the workpiece can be clamped.

[0010] As a preferred embodiment of the utility model, the robot gripper electropermanent magnet assembly and the pneumatic floating device are used to carry the workpiece and can remove burrs on the workpiece.

[0011] Compared with the prior art, the utility model has the following beneficial effects:

[0012] The utility model realizes the function of deburring the workpiece during the handling process of the handling robot gripper, thereby realizing the simultaneous handling and deburring functions, and the safety and efficiency of the automatic deburring can ensure the consistency of the accuracy of the workpiece after grasping and deburring.

[0013] The utility model allows the robot gripper to move downwardly by moving the electropermanent magnet assembly so that the electropermanent magnet can move downwardly. When the electropermanent magnet moves to a certain position, the sensor on the sensor bracket can detect the workpiece, and the electropermanent magnet can work, so the workpiece can be clamped. When the workpiece is clamped, because the sensor on the sensor bracket can detect the workpiece, the pneumatic floating device can be operated, so the workpiece can be polished by the polishing tool.

[0014] The specific implementation of the utility model is further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In the attached picture:

[0016] Figure 1 It is a schematic diagram of the three-dimensional structure of the utility model;

[0017] Figure 2 This is a schematic diagram of the structure of the pneumatic floating device of the utility model;

[0018] Figure 3 This is a schematic diagram of the structure of the buffer device of the utility model;

[0019] Figure 4 This is a schematic diagram of the structure of the electro-permanent magnet assembly of the robot gripper of the utility model.

[0020] In the figure: 100, gripper connecting flange; 200, pneumatic floating device; 201, floating spindle; 202, grinding tool; 203, mounting bracket; 300, buffer device; 301, gasket; 302, rectangular spring; 303, guide shaft; 304, linear bearing; 400, robot gripper electropermanent magnet assembly; 401, sensor bracket; 402, electropermanent magnet; 403, proximity switch. DETAILED DESCRIPTION

[0021] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. The following embodiments are used to illustrate the utility model.

[0022] like Figures 1 to 4 As shown, an automatic grinding gripper mechanism includes a gripper connecting flange 100, a pneumatic floating device 200, a buffer device 300 and a robot gripper electro-permanent magnet assembly 400. The pneumatic floating device 200, the buffer device 300 and the robot gripper electro-permanent magnet assembly 400 are bolted on the gripper connecting flange 100. The pneumatic floating device 200 has a deburring function. The buffer device 300 is used for the robot to apply external force during the handling process to play a buffering role. The robot gripper electro-permanent magnet assembly 400 is used to carry the rectangular tube, and relies on this assembly to adsorb the workpiece to achieve the handling effect. By moving the robot gripper electropermanent magnet assembly 400 downward, the electropermanent magnet 402 can move downward. When the electropermanent magnet 402 moves to a certain position, the sensor on the sensor bracket 401 can detect the workpiece. At this time, the electropermanent magnet 402 can work, so the workpiece can be clamped. When the workpiece is clamped, because the sensor on the sensor bracket 401 can detect the workpiece, the pneumatic floating device 200 can be operated, so the workpiece can be polished by the polishing tool 202.

[0023] In a specific embodiment, the pneumatic floating device 200 includes a floating spindle 201, a grinding tool 202 and a mounting bracket 203. The mounting bracket 203 is bolted to the gripper connection flange 100. The floating spindle 201 is mounted on one side wall of the mounting bracket 203, and the grinding tool 202 is mounted below the floating spindle 201. In this setting, the specific installation position and components of the pneumatic floating device 200 are determined, ensuring that when the sensor on the sensor bracket 401 can detect the workpiece, the pneumatic floating device 200 can be operated, so that the workpiece can be ground by the grinding tool 202.

[0024] Furthermore, the buffer device 300 includes a plurality of gaskets 301, a plurality of rectangular springs 302, a plurality of guide shafts 303 and a plurality of linear bearings 304. Each linear bearing 304 is movable and penetrates the gripper connection flange 100. Gaskets 301 are arranged on opposite sides of each linear bearing 304. A guide shaft 303 is arranged through the inner cavity of each linear bearing 304. A rectangular spring 302 is arranged on the outer wall of each linear bearing 304. In this setting, the specific installation position and components of the buffer device 300 are determined.

[0025] Furthermore, the robot gripper electropermanent magnet assembly 400 includes two sensor brackets 401, two electropermanent magnets 402 and two proximity switches 403. The two sensor brackets 401 are respectively installed on the opposite side walls of the two electropermanent magnets 402, and the proximity switches 403 are installed through the two sensor brackets 401. In this setting, the specific installation position and components of the robot gripper electropermanent magnet assembly 400 are determined, ensuring that the robot gripper electropermanent magnet assembly 400 is moved downward, so that the electropermanent magnet 402 can move downward. When the electropermanent magnet 402 moves to a certain position, the sensor on the sensor bracket 401 can detect the workpiece, and the electropermanent magnet 402 can work, so the workpiece can be clamped.

[0026] Furthermore, the robot gripper electropermanent magnet assembly 400 and the pneumatic floating device 200 are used to carry the workpiece and can remove burrs on the workpiece.

[0027] The implementation principle of an automatic grinding gripper mechanism of this embodiment is as follows: first, the robot gripper electropermanent magnet assembly 400 is moved downward, so that the electropermanent magnet 402 can move downward, and when the electropermanent magnet 402 moves to a certain position, the sensor on the sensor bracket 401 can detect the workpiece, and the electropermanent magnet 402 can work, so the workpiece can be clamped (because the buffer device 300 is provided, so when the electropermanent magnet 402 clamps the workpiece, the buffer device 300 can play a buffering effect to prevent the workpiece from being damaged by impact). When the workpiece is clamped, because the sensor on the sensor bracket 401 can detect the workpiece, the pneumatic floating device 200 can be operated, so the workpiece can be polished by the polishing tool 202.

Claims

1. An automatic grinding gripper mechanism, comprising a gripper connecting flange (100), a pneumatic floating device (200), a buffer device (300) and a robot gripper electropermanent magnet assembly (400), characterized in that: The pneumatic floating device (200), the buffer device (300) and the robot gripper electropermanent magnet assembly (400) are bolted onto the gripper connection flange (100); the pneumatic floating device (200) has a deburring function; the buffer device (300) is used to buffer the robot when applying external force during the handling process; the robot gripper electropermanent magnet assembly (400) is used to handle the matrix tube, and relies on this assembly to absorb the workpiece to achieve the handling effect.

2. The automatic grinding gripper mechanism according to claim 1, characterized in that: The pneumatic floating device (200) comprises a floating spindle (201), a grinding tool (202) and a mounting bracket (203); the mounting bracket (203) is bolted onto a gripper connection flange (100); a floating spindle (201) is mounted on a side wall of the mounting bracket (203); and a grinding tool (202) is mounted below the floating spindle (201).

3. The automatic grinding gripper mechanism according to claim 1, characterized in that: The buffer device (300) includes a plurality of gaskets (301), a plurality of rectangular springs (302), a plurality of guide shafts (303) and a plurality of linear bearings (304), each of the linear bearings (304) being movable and extending through the gripper connecting flange (100), gaskets (301) being arranged on opposite sides of each linear bearing (304), a guide shaft (303) being arranged extending through the inner cavity of each linear bearing (304), and a rectangular spring (302) being arranged on the outer wall of each linear bearing (304).

4. The automatic grinding gripper mechanism according to claim 1, characterized in that: The robot gripper electropermanent magnet assembly (400) comprises two sensor brackets (401), two electropermanent magnets (402) and two proximity switches (403), wherein the two sensor brackets (401) are respectively mounted on opposite side walls of the two electropermanent magnets (402), and the proximity switches (403) are installed through the two sensor brackets (401).

5. The automatic grinding gripper mechanism according to claim 1, characterized in that: The robot gripper electropermanent magnet assembly (400) and the pneumatic floating device (200) are used to carry a workpiece and can remove burrs on the workpiece.

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