Tail end clamp structure of grinding robot

Abstract

The utility model discloses a polishing robot tail end clamp structure which comprises an equipment base and a servo motor arranged in the equipment base, the equipment base is rotationally connected with a rotating seat, the rotating seat is rotationally connected with a rotating arm through a supporting arm, the tail end of the rotating arm is rotationally connected with a connecting mechanism through a rotating shaft, and the connecting mechanism is connected with a clamping mechanism. The connecting mechanism comprises an assembling rotary disc and a pressing block movably connected into the assembling rotary disc, two damping assemblies are fixedly connected to the bottom of the pressing block, and the other ends of the damping assemblies are fixedly connected to the inner wall of a limiting groove formed in the assembling rotary disc and matched with the damping assemblies. By means of the equipment, vibration generated in the grinding process can be guided to the internal damping assembly, so that the vibration is attenuated, the situation that the vibration causes deviation of a workpiece on the clamping mechanism and damage to the machined workpiece is avoided, and different clamping mechanisms can be replaced according to different assemblies needing to be machined.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding robot clamps, in particular to a grinding robot end clamp structure. Background Art

[0002] An industrial robot is defined as "an automatic, reprogrammable, multi-purpose machine that can program more than three axes. It can be fixed or mobile. It is used in industrial automation applications." An operator is also defined as "a machine whose mechanism is usually composed of a series of components that are hinged or relatively sliding. It usually has several degrees of freedom to grasp or move objects (tools or workpieces)." Therefore, an industrial robot may be understood as: a mechanical and electronic device with human-like arm, wrist and hand functions; it can move any object or tool according to the time-varying requirements of spatial posture (position and posture) to complete the operation requirements of a certain industrial production. For example, clamping welding tongs or welding guns, spot welding or arc welding of car or motorcycle bodies; carrying die-cast or stamped parts or components; laser cutting; spraying; assembling mechanical parts, etc.

[0003] Patent application number "CN202221891429.0" describes "a pneumatic rotary clamp for an industrial robot, including an interface plate, which is connected to a transmission shaft through a pneumatic motor to drive the connecting disk at the bottom to rotate, and the bottom of the connecting disk is connected to a pneumatic three-jaw chuck, and the pneumatic three-jaw chuck is connected to an air claw, so that the pneumatic motor directly drives the pneumatic three-jaw chuck to rotate, and different grinding heads are clamped by the air claws, thereby facilitating the grinding operation and replacing the grinding head is faster."

[0004] However, during the use of the above-mentioned equipment, it is unavoidable that the grinding head may be offset due to the vibration generated by grinding, which may cause a slight offset when grinding the workpiece and thus cause damage to the processed workpiece. At the same time, the above-mentioned equipment clamps the grinding head by air claws, and cannot be quickly disassembled and installed to adapt to a variety of different clamping tools.

[0005] To this end, the utility model provides a grinding robot end fixture structure to solve the above problems. Utility Model Content

[0006] In view of the deficiencies in the prior art, the utility model provides a grinding robot end fixture structure, which solves the above-mentioned problem that the grinding head cannot be avoided from being offset due to the vibration generated by grinding, thereby causing a slight offset when grinding the workpiece and causing damage to the processed workpiece.

[0007] To achieve the above objectives, the utility model is implemented through the following technical solutions: a grinding robot end clamp structure, including an equipment base and a servo motor arranged inside the equipment base, the equipment base is rotatably connected with a rotating seat, the rotating seat is rotatably connected with a rotating arm through a support arm, and the end of the rotating arm is rotatably connected with a connecting mechanism through a rotating shaft, the connecting mechanism includes an assembly turntable and a pressure block movably connected inside the assembly turntable, the bottom of the pressure block is fixedly connected with two damping assemblies, and the other end of the damping assembly is fixedly connected to the inner wall of a limiting groove opened inside the assembly turntable and matching the damping assembly, a squeezing handle is slidably connected to the side of the assembly turntable, and a movable groove matching the squeezing handle is opened on the assembly turntable, the other end of the squeezing handle is fixedly connected with a push plate, and the push plate slides inside the assembly turntable, and the inside of the assembly turntable is slidably connected with a clamping mechanism.

[0008] Preferably, the clamping mechanism comprises a clamp base and a movable track fixed on the clamp base, clamps are movably connected to both ends of the movable track, and dovetail grooves matching the movable track are provided on both clamps.

[0009] Preferably, a damping pad is provided at the front end of the clamp for preventing the workpiece from falling off, and the damping pads are fixedly connected to two side surfaces of the front end of the clamp.

[0010] Preferably: a movable rod is fixedly connected to the inner side walls of the two clamps, and sliding grooves matching the movable rods are opened on both sides of the clamp base, and a limiting component is fixedly connected between the front end of the movable rod and the inner wall of the sliding groove to prevent the clamp from falling off.

[0011] Preferably, the front end of the push plate and the arc surface of the pressing block are both smooth surfaces that are easy to slide, and anti-slip pads are fixedly connected to the opposing surfaces of the pressing block and the bottom of the clamp base to prevent sliding.

[0012] Preferably, an opening matching the bottom plate at the bottom of the fixture base is provided on the front end of the assembly turntable, and the opening of the assembly turntable and the bottom plate of the fixture base are engaged and connected to facilitate disassembly and installation.

[0013] The utility model provides a grinding robot end fixture structure. Compared with the prior art, it has the following beneficial effects:

[0014] (1) The end fixture structure of the grinding robot slides the clamping mechanism into the interior of the assembly turntable through the opening on the assembly turntable, so that the bottom plate of the clamp base contacts the push plate and pushes the push plate to the other end of the assembly turntable. Under the action of the damping component, the pressure block can press the bottom plate of the clamp base outward and clamp the clamp base inside the assembly turntable, so that the clamping mechanism can be clamped on the connecting mechanism. The installation and disassembly operations are simple, and the vibration generated during the grinding process can be guided to the internal damping component, thereby attenuating the vibration, thereby avoiding the vibration causing the workpiece on the clamping mechanism to deviate, resulting in damage to the processed workpiece.

[0015] (2) The end fixture structure of the grinding robot uses a cylinder arranged inside the fixture base to make the fixtures at both ends of the fixture base gradually shrink inward until the workpiece is clamped between the two fixtures. When the workpiece is large, the fixture can also be expanded outward to support the two ends of the inner wall of the workpiece through the damping pads on the side of the fixture, thereby fixing the workpiece on the fixture base. A limit assembly is fixedly connected between the movable rod and the slide groove to prevent the fixture from falling off, thereby preventing the workpiece from falling off during the grinding process. At the same time, different clamping mechanisms can be replaced according to different components that need to be processed. BRIEF DESCRIPTION OF THE DRAWINGS

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

[0017] Figure 2 This is a structural exploded diagram of the connecting mechanism and the clamping mechanism of the utility model;

[0018] Figure 3 It is a cross-sectional stereoscopic diagram of the structural clamping mechanism of the utility model;

[0019] Figure 4 It is a stereoscopic diagram of the connecting mechanism and the clamping mechanism of the utility model.

[0020] In the figure, 1, equipment base; 2, rotating seat; 3, support arm; 4, rotating arm; 5, connecting mechanism; 51, assembly turntable; 52, pressure block; 53, squeezing handle; 54, push plate; 55, damping assembly; 6, clamping mechanism; 61, fixture base; 62, movable track; 63, fixture; 64, movable rod; 65, slide groove; 66, damping pad. DETAILED DESCRIPTION

[0021] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0022] Embodiment 1:

[0023] See also Figures 1 to 4 A grinding robot end fixture structure includes a device base 1 and a servo motor arranged inside the device base 1. A rotating seat 2 is rotatably connected to the device base 1. The rotating seat 2 is rotatably connected to a rotating arm 4 through a support arm 3, and the end of the rotating arm 4 is rotatably connected to a connecting mechanism 5 through a rotating shaft. The connecting mechanism 5 includes an assembly turntable 51 and a pressing block 52 movably connected to the inside of the assembly turntable 51. Two damping components 55 are fixedly connected to the bottom of the pressing block 52, and the other end of the damping component 55 is fixedly connected to the inner wall of a limiting groove that is opened inside the assembly turntable 51 and matches the damping component 55. A squeezing handle is slidably connected to the side of the assembly turntable 51. 53, and a movable groove matching the squeezing handle 53 is opened on the assembly turntable 51, the other end of the squeezing handle 53 is fixedly connected with a push plate 54, and the push plate 54 slides inside the assembly turntable 51, and the inside of the assembly turntable 51 is slidably connected with a clamping mechanism 6, the front end of the push plate 54 and the arc surface of the pressure block 52 are both smooth surfaces that are easy to slide, and the pressure block 52 and the bottom opposite surfaces of the clamp base 61 are fixedly connected with anti-slip pads to prevent sliding, the front end of the assembly turntable 51 is opened with an opening matching the bottom plate of the bottom of the clamp base 61, and the opening of the assembly turntable 51 and the bottom plate of the clamp base 61 are in a chimeric connection for easy disassembly and installation.

[0024] Embodiment 2:

[0025] See also Figures 1 to 4, this embodiment provides a technical solution based on the first embodiment: the clamping mechanism 6 includes a clamp base 61 and a movable track 62 fixed on the clamp base 61, the two ends of the movable track 62 are movably connected with clamps 63, and the two clamps 63 are provided with dovetail grooves matching the movable track 62, the front end of the clamp 63 is provided with a damping pad 66 for preventing the workpiece from falling off, and the damping pad 66 is fixedly connected to the two side surfaces of the front end of the clamp 63, the inner side walls of the two clamps 63 are fixedly connected with movable rods 64, and the two sides of the clamp base 61 are provided with slide grooves 65 matching the movable rod 64, and the front end of the movable rod 64 and the inner wall of the slide groove 65 are provided. A limit assembly is fixedly connected to prevent the clamp 63 from falling off. After the clamping mechanism 6 is installed, the cylinder arranged inside the clamp base 61 makes the clamps 63 at both ends of the clamp base 61 gradually shrink inward until the workpiece is clamped between the two clamps 63. When the workpiece is large, the clamp 63 can also be expanded outward to support the two ends of the inner wall of the workpiece through the damping pads 66 on the side of the clamp 63, so as to fix the workpiece on the clamp base 61. A limit assembly is fixedly connected between the movable rod 64 and the slide groove 65 to prevent the clamp 63 from falling off, so as to avoid the workpiece from falling off during the grinding process. At the same time, different clamping mechanisms 6 can be replaced according to different components that need to be processed.

[0026] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0027] Working principle: When working, first slide the clamping mechanism 6 into the assembly turntable 51 through the opening on the assembly turntable 51, so that the bottom plate of the clamp base 61 contacts the push plate 54 and pushes the push plate 54 to the other end of the assembly turntable 51, so that the push plate 54 releases the restraint on the pressure block 52, and under the action of the damping component 55, the pressure block 52 can press the bottom plate of the clamp base 61 outward, and the clamp base 61 is stuck in the assembly turntable 51, so that the clamping mechanism 6 can The clamping mechanism 6 is stuck on the connecting mechanism 5, and when the clamping mechanism 6 needs to be replaced, the squeezing handle 53 is pushed so that the squeezing handle 53 is pressed toward the inside of the assembly turntable 51 and contacts the arc surface on the pressing block 52. Under the action of the limiting groove and the damping component 55 inside the assembly turntable 51, the pressing block 52 can be pressed toward the inside of the assembly turntable 51, thereby releasing the restraint of the pressing block 52 on the clamping mechanism 6, and when the squeezing handle 53 is pushed, the pushing plate 54 can be driven to push the bottom of the clamp base 61, thereby the clamp The holding mechanism 6 is disassembled from the connecting mechanism 5, and the installation and disassembly operations are simple. It can also guide the vibration generated during the grinding process to the internal damping component 55, thereby attenuating the vibration, so as to avoid the vibration causing the workpiece on the clamping mechanism 6 to deviate, resulting in damage to the processed workpiece. At the same time, after the clamping mechanism 6 is installed, the cylinder arranged inside the clamp base 61 (the cylinder on the clamp 63 is a common existing technology in this field, which will not be described in detail here) is used to make the clamps 63 at both ends of the clamp base 61 gradually shrink inward until the workpiece is clamped between the two clamps 63. When the workpiece is large, the clamp 63 can also be expanded outward, and the damping pads 66 on the side of the clamp 63 can be used to press against the two ends of the inner wall of the workpiece, so as to fix the workpiece on the clamp base 61. A limiting component is fixedly connected between the movable rod 64 and the slide groove 65 to prevent the clamp 63 from falling off, so as to avoid the workpiece from falling off during the grinding process. At the same time, different clamping mechanisms 6 can be replaced according to different components that need to be processed.

[0028] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0029] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grinding robot end fixture structure, comprising a device base (1) and a servo motor arranged inside the device base (1), characterized in that: The equipment base (1) is rotatably connected to a rotating seat (2), the rotating seat (2) is rotatably connected to a rotating arm (4) via a support arm (3), and the end of the rotating arm (4) is rotatably connected to a connecting mechanism (5) via a rotating shaft, the connecting mechanism (5) comprising an assembly turntable (51) and a pressing block (52) movably connected to the inside of the assembly turntable (51), the bottom of the pressing block (52) is fixedly connected to two damping assemblies (55), and the other end of the damping assembly (55) is fixedly connected to the assembly turntable (51). On the inner wall of a limiting groove matching the damping assembly (55) provided inside the turntable (51), a squeezing handle (53) is slidably connected to the side surface of the assembly turntable (51), and a movable groove matching the squeezing handle (53) is provided on the assembly turntable (51), a push plate (54) is fixedly connected to the other end of the squeezing handle (53), and the push plate (54) slides inside the assembly turntable (51), and a clamping mechanism (6) is slidably connected to the inside of the assembly turntable (51).

2. The end fixture structure of a grinding robot according to claim 1, characterized in that: The clamping mechanism (6) comprises a clamp base (61) and a movable track (62) fixed on the clamp base (61); clamps (63) are movably connected at both ends of the movable track (62); and dovetail grooves matching the movable track (62) are provided on the two clamps (63).

3. The end fixture structure of a grinding robot according to claim 2, characterized in that: The front end of the clamp (63) is provided with a damping pad (66) for preventing the workpiece from falling off, and the damping pads (66) are fixedly connected to the two side surfaces of the front end of the clamp (63).

4. The end fixture structure of a grinding robot according to claim 2, characterized in that: A movable rod (64) is fixedly connected to the inner side walls of the two clamps (63), and sliding grooves (65) matching the movable rod (64) are provided on both sides of the clamp base (61), and a limiting component for preventing the clamp (63) from falling off is fixedly connected between the front end of the movable rod (64) and the inner wall of the sliding groove (65).

5. The end fixture structure of a grinding robot according to claim 1, characterized in that: The front end of the push plate (54) and the curved surface of the pressing block (52) are both smooth surfaces that facilitate sliding, and anti-slip pads are fixedly connected to the opposing surfaces of the pressing block (52) and the bottom of the clamp base (61) to prevent sliding.

6. The end fixture structure of a grinding robot according to claim 1, characterized in that: An opening matching the bottom plate of the bottom of the fixture base (61) is provided on the front end of the assembly turntable (51), and the opening of the assembly turntable (51) and the bottom plate of the fixture base (61) are engaged and connected to facilitate disassembly and installation.

Images