Quick-change type machine gripper for automatic polishing

Abstract

The utility model relates to a quick-change type mechanical gripper for automatic polishing, and belongs to the field of automatic equipment. The mechanical gripper comprises a connector (1), a control device (2), a displacement sensor support (3), a displacement sensor (4), a holding device (5), a connecting terminal (6), a clamping jaw top end shaft (7) and a clamping jaw (8). The mechanical gripper has the advantages that the mechanical gripper can be quickly replaced when various products are automatically polished, and the mechanical gripper is high in flexibility.

Description

Technical Field

[0001] The utility model belongs to the technical field of automation equipment, and in particular relates to a quick-change machine gripper for automatic grinding. Background Art

[0002] More and more companies are beginning to use automated equipment to achieve automatic grinding of products. However, in order to achieve automated grinding, the product must be clamped and positioned to ensure that it can be safely and stably maintained in a suitable position to facilitate grinding and cleaning by grinding tools.

[0003] At present, the mainstream grinding machine grippers are all used for special products. The patented "Robot Grinding Gripper for Clamping Round Feature Workpieces" is only for grinding round products, and the patented "Robot Grinding Gripper for Adapting to Workpiece Deviation" is only for small and simple products. The grippers are fixed on the equipment, and it is impossible to quickly replace the grippers to achieve the grinding of multiple varieties of products. Utility Model Content

[0004] 1. Technical issues to be resolved

[0005] The technical problem to be solved by the utility model is how to provide a quick-change machine gripper for automated grinding, so as to solve the problem that mainstream grinding machine grippers cannot achieve grinding of multiple varieties of products by quickly changing grippers.

[0006] (II) Technical solution

[0007] In order to solve the above technical problems, the utility model provides a quick-change machine gripper for automated grinding, the machine gripper comprising: a connector (1), a control device (2), a displacement sensor bracket (3), a displacement sensor (4), a clamping device (5), a connection terminal (6), a claw top shaft (7) and a claw (8);

[0008] The connector (1) comprises: a hydraulic joint and a cylinder, wherein the top of the hydraulic joint is connected to the end of the grinding device by means of a hydraulic connection; the bottom of the hydraulic joint is connected to the top of the cylinder;

[0009] The control device (2) is fixedly connected to the lower end of the cylinder, and comprises: a control console and a control device housing; a clamping device (5), a connecting terminal (6) and a claw top shaft (7) are also arranged in the control device housing; the control console is connected to the top of the clamping device (5); the top of the claw top shaft (7) is connected to the bottom of the clamping device (5); the bottom is connected to the clamping claw (8); and the top of the claw top shaft (7) is also connected to the connecting terminal (6) located in the clamping device (5); and electrical control is achieved through the connecting terminal (6), thereby controlling the opening and closing of the machine gripper, and clamping the claw top shaft (7) is achieved through the clamping device (5);

[0010] The top of the displacement sensor bracket (3) is connected to the control device housing via screws and extends to the bottom of the control device housing;

[0011] The displacement sensor (4) is arranged at the bottom of the sensor bracket (3) and is used to measure the displacement of the upper end surface of the polished product.

[0012] (III) Beneficial effects

[0013] The utility model provides a quick-change machine gripper for automatic grinding. When automatically grinding multiple varieties of products, the machine gripper is set according to the different types and varieties of products, so that the clamping claw (8) can be quickly replaced, the replacement efficiency between working parts can be improved, and the use range of the grinding equipment can be expanded. The displacement sensor (4) can measure the displacement of the product being ground and can detect whether the machine gripper is clamped to the product being ground.

[0014] The utility model has the advantages of realizing rapid replacement of machine grippers during automatic grinding of multiple varieties of products and has the characteristic of high flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 It is an axonometric view of the quick-change machine gripper for automated grinding of the utility model;

[0016] Figure 2 It is a partial cutaway view of the control device of the quick-change machine gripper for automated grinding of the utility model. DETAILED DESCRIPTION

[0017] In order to make the purpose, content and advantages of the utility model clearer, the specific implementation methods of the utility model are further described in detail below in conjunction with the drawings and embodiments.

[0018] The utility model provides a quick-change machine gripper for grinding, and its purpose is to be able to quickly replace machine grippers of multiple varieties and models when automatically grinding multiple varieties of products, thereby improving the replacement efficiency between working parts, expanding the use range of grinding equipment, and realizing the grinding of multiple varieties of products.

[0019] The utility model provides a quick-change machine gripper for automated grinding, the machine gripper comprising: a connector (1), a control device (2), a displacement sensor bracket (3), a displacement sensor (4), a clamping device (5), a connection terminal (6), a claw top shaft (7) and a claw (8);

[0020] The connector (1) comprises: a hydraulic joint and a cylinder, wherein the top of the hydraulic joint is connected to the end of the grinding device by means of a hydraulic connection; the bottom of the hydraulic joint is connected to the top of the cylinder;

[0021] The control device (2) is fixedly connected to the lower end of the cylinder, and comprises: a control console and a control device housing; a clamping device (5), a connecting terminal (6) and a claw top shaft (7) are also arranged in the control device housing; the control console is connected to the top of the clamping device (5); the top of the claw top shaft (7) is connected to the bottom of the clamping device (5); the bottom is connected to the clamping claw (8); and the top of the claw top shaft (7) is also connected to the connecting terminal (6) located in the clamping device (5); and electrical control is achieved through the connecting terminal (6), thereby controlling the opening and closing of the machine gripper, and clamping the claw top shaft (7) is achieved through the clamping device (5);

[0022] The top of the displacement sensor bracket (3) is connected to the control device housing via screws and extends to the bottom of the control device housing;

[0023] Two displacement sensors (4) are arranged at the bottom of the sensor bracket (3) and are used to measure the displacement of the upper end surface of the polished product. When the polished product has an irregularly shaped batch seam, it will affect the clamping of the end surface of the polished product and the gripper, causing the upper end surface of the polished product to be displaced. In addition, the displacement sensor (4) is used to detect whether the gripper is clamped to the polished product, so as to ensure the effective and safe operation of the polishing equipment.

[0024] The clamping device (5) is hydraulically-type and fixedly connected to the inside of the control device (2). A plurality of clamping claws are arranged at the bottom of the clamping device (5). The clamping claws are used to clamp the top shaft (7) of the clamping claw. The clamping claw (8) is connected below the top shaft (7) of the clamping claw, so that the clamping claw (8) is fixed by hydraulic means. When the clamping claw (8) needs to be replaced, the clamping claw is released by the control device (2), and the top shaft (7) and the clamping claw (8) fall off, so that the hydraulic clamping device (5) can realize the rapid replacement of the clamping claw.

[0025] A connecting terminal (6) is also connected above the top shaft (7) of the claw, a through hole is provided at the center of the top shaft (7) of the claw, and the connecting terminal (6) passes through the through hole and is connected to the claw (8) for controlling the opening and closing of the claw (8);

[0026] The top end of the clamping claw (8) is connected to the top end shaft (7) of the clamping claw. After the top end shaft (7) of the clamping claw is locked by the clamping device (5), the clamping claw (8) can clamp the product to be polished under the control of the connecting terminal (6).

[0027] The quick-change machine gripper for automatic grinding has the following action characteristics:

[0028] The machine gripper is set according to the type and variety of the product to be polished. The tops of different types of claws (8) are connected to the claw top shaft (7). When it is necessary to replace different types of polished products, it is necessary to replace the claw top shaft (7) and the claw (8). When the control device (2) sends a gripper release signal, the clamping device (5) will be loosened. After replacing another type of claw top shaft (7) and claw (8), when the control device (2) sends a gripper clamping signal, the claw top shaft (7) at the top of the claw (8) is locked. At this point, the hydraulic clamping device is completed to quickly replace the claw (8);

[0029] When the control device (2) sends a gripper opening signal through the connection terminal (6), the product to be polished is ready to be clamped on the clamping claw (8); when the control device (2) sends a gripper closing signal through the connection terminal (6), the clamping claw (8) clamps the product to be polished to a specified position, thereby realizing the opening and closing control of the clamping claw (8);

[0030] When the displacement sensor (4) detects that the product being polished has an irregularly shaped seam, it will affect the clamping of the end face of the product being polished and the clamping claw (8), and the product being polished needs to be further manually processed before clamping.

[0031] The utility model provides a quick-change machine gripper for automatic grinding. When automatically grinding multiple varieties of products, the machine gripper is set according to the different types and varieties of products, so that the clamping claw (8) can be quickly replaced, the replacement efficiency between working parts can be improved, and the use range of the grinding equipment can be expanded. The displacement sensor (4) can measure the displacement of the product being ground and can detect whether the machine gripper is clamped to the product being ground.

[0032] The utility model has the advantages of realizing rapid replacement of machine grippers during automatic grinding of multiple varieties of products and has the characteristic of high flexibility.

[0033] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the protection scope of the present invention.

Claims

1. A quick-change machine gripper for automated grinding, characterized in that: The machine gripper comprises: a connecting head (1), a control device (2), a displacement sensor bracket (3), a displacement sensor (4), a clamping device (5), a connecting terminal (6), a clamping claw top end shaft (7) and a clamping claw (8); The connector (1) comprises: a hydraulic joint and a cylinder, wherein the top of the hydraulic joint is connected to the end of the grinding device by means of a hydraulic connection; the bottom of the hydraulic joint is connected to the top of the cylinder; The control device (2) is fixedly connected to the lower end of the cylinder, and comprises: a control console and a control device housing; a clamping device (5), a connecting terminal (6) and a claw top shaft (7) are also arranged in the control device housing; the control console is connected to the top of the clamping device (5); the top of the claw top shaft (7) is connected to the bottom of the clamping device (5); the bottom is connected to the clamping claw (8); and the top of the claw top shaft (7) is also connected to the connecting terminal (6) located in the clamping device (5); and electrical control is achieved through the connecting terminal (6), thereby controlling the opening and closing of the machine gripper, and clamping the claw top shaft (7) is achieved through the clamping device (5); The top of the displacement sensor bracket (3) is connected to the control device housing via screws and extends to the bottom of the control device housing; The displacement sensor (4) is arranged at the bottom of the sensor bracket (3) and is used to measure the displacement of the upper end surface of the polished product.

2. The quick-change machine gripper for automated grinding according to claim 1, characterized in that: Two displacement sensors (4) are provided in total.

3. The quick-change machine gripper for automated grinding according to claim 1, characterized in that: The displacement sensor (4) detects whether the gripper is clamped to the product to be polished, thereby ensuring that the polishing equipment operates effectively and safely.

4. The quick-change machine gripper for automated grinding according to claim 1, characterized in that: The clamping device (5) is fixedly connected to the inside of the control device (2), and a plurality of clamping claws are arranged at the bottom of the clamping device (5). The clamping claws are used to clamp the top shaft (7) of the clamping claw, and the clamping claw (8) is connected below the top shaft (7) of the clamping claw.

5. The quick-change machine gripper for automated grinding according to claim 4, characterized in that: The clamping device (5) is a hydraulic clamping device.

6. The quick-change machine gripper for automated grinding according to claim 4, characterized in that: When the clamping claw (8) needs to be replaced, the clamping claw is released by the control device (2), and the top shaft (7) of the clamping claw and the clamping claw (8) fall off.

7. The quick-change machine gripper for automated grinding according to claim 1, characterized in that: A connecting terminal (6) is also connected above the top shaft (7) of the clamping claw. A through hole is provided at the center of the top shaft (7) of the clamping claw. The connecting terminal (6) passes through the through hole and is connected to the clamping claw (8) for controlling the opening and closing of the clamping claw (8).

8. The quick-change machine gripper for automated grinding according to claim 7, characterized in that: The top end of the clamping claw (8) is connected to the top end shaft (7) of the clamping claw. After the top end shaft (7) of the clamping claw is locked by the clamping device (5), the clamping claw (8) can clamp the product to be polished under the control of the connecting terminal (6).

9. The quick-change machine gripper for automated grinding according to claim 1, characterized in that: The machine gripper is arranged according to the type and variety of the product to be polished, and the top ends of different types of claws (8) are all connected to the claw top end shaft (7).

10. The quick-change machine gripper for automated grinding according to claim 9, characterized in that: When it is necessary to replace a different type of grinding product, the top shaft (7) and the claw (8) need to be replaced. When the control device (2) sends a gripping release signal, the clamping device (5) will be loosened. After replacing the top shaft (7) and the claw (8) of another type, when the control device (2) sends a gripping gripping signal, the top shaft (7) at the top of the claw (8) is locked. At this point, the hydraulic clamping device is completed to quickly replace the claw (8).

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