Grinding machine cross arm manipulator

Abstract

The utility model discloses a cross arm manipulator of a grinding machine, and relates to the technical field of grinding machine tools. The grinding machine cross arm mechanical arm comprises a fixing base used for installation, a clamping mechanism is arranged at the other end of the fixing base, the clamping mechanism is composed of an upper fixed clamping module and a lower adjustable clamping module, the upper fixed clamping module comprises synchronous sector teeth, and the centers of the synchronous sector teeth are connected with connecting rotating shafts; the two connecting rotating shafts are in limiting connection with the corresponding synchronous sector teeth through connecting sleeves arranged on the connecting rotating shafts correspondingly, and upper clamping arms are welded to the outer portions of the two connecting sleeves correspondingly. According to the utility model, the clamping thickness and the like between the two lower clamping arms are changed on the basis that the positions of the clamping arms of the clamping mechanism are adjusted in the adjusting frame due to the adjusting screw rod, so that the lower clamping arms finish positioning and clamping under the cooperation of the movable clamping of the upper clamping arms; and the stepped shaft, the concave part and the bent part are fixed and clamped through mutual linkage and matching.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding machine tools, in particular to a cross-arm manipulator for a grinding machine. Background Art

[0002] A grinder is a machine tool that uses a grinding tool to grind the surface of a workpiece. A grinder needs a robot to clamp parts. However, existing robots for grinders have the following disadvantages when used: 1. They are prone to shaking during telescopic adjustment, resulting in errors during clamping. 2. They are prone to slipping during clamping, and it is impossible to identify whether a part is clamped during clamping, resulting in the need for manual control of the robot's position.

[0003] For example, a manipulator for a grinder disclosed in Chinese patent publication number CN219170576U uses a guide rod to improve the stability of the upper clamping clamp during extension and retraction, and is not prone to shaking of the upper clamping clamp. The upper clamping clamp adopts a flat surface to improve the clamping stability and prevent slipping during clamping. A detection sensor is used to detect whether the upper clamping clamp has clamped the part, and no manual control is required.

[0004] First of all, there are many materials to be ground by the grinder, so there are some concave parts, bent parts and materials with stepped shafts. Then, the above-mentioned device is difficult to complete the clamping operation of non-flat bent parts with only two sets of clamps. Therefore, it is necessary to set up more than one set of clamp frames and equip them with adjustable mechanisms to complete the grinding and clamping of such non-flat and concave-convex materials. Utility Model Content

[0005] In view of the deficiencies in the prior art, the utility model provides a cross-arm manipulator for a grinding machine, which solves the problems raised in the above-mentioned background technology.

[0006] To achieve the above purpose, the utility model is implemented by the following technical solutions: a cross-arm manipulator for a grinding machine includes a fixed seat for installation, one end of the fixed seat is horizontally arrayed with a plurality of positioning holes, and the other end of the fixed seat is provided with a clamping mechanism, the clamping mechanism is composed of an upper fixed clamping module and a lower adjustable clamping module;

[0007] The upper fixed clamping module includes two synchronous sector teeth for transmission, the two synchronous sector teeth are meshed and connected to each other and are connected to a connecting shaft at the center thereof, the upper fixed clamping module is connected to the lower adjustable clamping module via the connecting shaft, the two connecting shafts are respectively connected to the corresponding synchronous sector teeth through connecting sleeves arranged thereon, upper clamping arms are welded to the outside of the two connecting sleeves, and the ends of the two upper clamping arms that are close to each other are fixedly connected to a bidirectional electric push rod via a connecting gasket.

[0008] In this embodiment, the bidirectional electric push rod is provided to realize the function of simultaneously contracting both ends on the basis of the unidirectional electric push rod. The existing bidirectional electric push rod technology is relatively mature, so it is not described in detail.

[0009] Preferably, in this embodiment, the bidirectional electric push rod is installed between the two upper clamping arms and must be in the middle by a connecting gasket. When both ends of the bidirectional electric push rod are contracted at the same time, the upper clamping arm is moved by the connecting gasket, and because the upper clamping arm is connected to the connecting shaft by a connecting sleeve, the two upper clamping arms rotate closer to each other after being subjected to force to achieve the clamping function. In summary, the setting of the synchronous fan teeth ensures the simultaneity of the clamping movement of the two upper clamping arms to a certain extent.

[0010] A further improvement of the technical solution of the utility model lies in that the other ends of the two upper clamping arms are respectively connected to an upper clamping clamp body which is in a broken line shape as a whole, and each of the upper clamping clamp bodies is welded to the corresponding upper clamping arm, wherein a guide frame for guiding is provided at the welding point between the two upper clamping clamp bodies and the corresponding upper clamping arms, and the two upper clamping clamp bodies are slidably connected to the guide frame via a guide groove in the guide frame.

[0011] Preferably, the guide frame limits the upper clamping clamps at both ends as a whole and also ensures the guiding property of the upper clamping clamps when they move, thereby ensuring the stability of the manipulator when clamping.

[0012] A further improvement of the technical solution of the utility model is that the two connecting shafts are rotatably installed on an upper base and a lower base respectively, the two upper bases and the lower base are fixedly connected to a fixed base on one side through a connecting rod welded at one end, and the lower adjustable clamping module is installed on the lower base.

[0013] The further improvement of the technical solution of the utility model is that: the lower adjustable clamping module includes two lower clamping arms respectively rotatably mounted on the bottom ends of the corresponding connecting shafts, the two lower clamping arms are respectively located on two lower bases, and the other ends of the two lower clamping arms are welded with lower clamping bodies, and an adjustment frame for adjustment is provided at the welding point between the lower clamping arm and the lower clamping body. Preferably, since the connection relationship between the lower clamping arm and the connecting shaft is rotationally connected, the lower clamping arm is not affected during the clamping rotation of the upper clamping arm, so in this embodiment, the clamping size and clamping range adjustment of the lower clamping arm are achieved by the internal components of the adjustment frame.

[0014] A further improvement of the technical solution of the utility model is that an adjusting column is rotatably installed in the middle of the top of the adjusting frame, the adjusting column is key-connected with an active bevel gear at the adjusting groove in the adjusting frame, both ends of the active bevel gear are meshingly connected with driven bevel gears installed on the adjusting screw, and the two adjusting screws are rotatably connected to the adjusting frame.

[0015] In this embodiment, after the adjusting column rotates, the two lower clamping arms and the connected lower clamping body cause the adjusting screw to rotate due to the meshing connection of the active bevel gear and the driven bevel gear. Due to the threaded connection, the lower clamping arm moves within the adjusting frame, and the clamping thickness between the two lower clamping arms changes. Therefore, in conjunction with the moving clamping of the upper clamping arm, the lower clamping arm completes the positioning clamping, and the mutual linkage and coordination achieves the fixed clamping operation of the stepped shaft, concave part and bent part.

[0016] A further improvement of the technical solution of the utility model is that the two adjusting screws are both threadedly connected to the corresponding lower clamping arms through the thread grooves of the lower clamping arms.

[0017] Beneficial Effects

[0018] The utility model provides a cross-arm manipulator for a grinding machine. Compared with the prior art, it has the following advantages:

[0019] Beneficial effects:

[0020] 1. The cross-arm manipulator of the grinder, based on the position adjustment of the clamping arm of the clamping mechanism in the adjustment frame due to the adjusting screw, the clamping thickness between the two lower clamping arms changes. Therefore, in conjunction with the mobile clamping of the upper clamping arm, the lower clamping arm completes the positioning clamping, and the mutual linkage and cooperation achieve the fixed clamping operation of the stepped shaft, concave parts and bent parts.

[0021] 2. The cross-arm manipulator of the grinder is connected to the connecting shaft through the clamping arm in the upper fixed clamping module through the connecting sleeve. The two upper clamping arms rotate closer to each other after being subjected to force to achieve the clamping function, and the setting of the synchronous fan teeth ensures the simultaneity of the clamping movement of the two upper clamping arms to a certain extent. The guide frame limits the upper clamping clamps at both ends as a whole and also ensures the guidance of the upper clamping clamps when they move, thereby ensuring the stability of the manipulator when clamping. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0023] Figure 2 It is a schematic diagram of the clamping mechanism of the utility model;

[0024] Figure 3 It is a schematic diagram of the fixed clamping module of the utility model;

[0025] Figure 4 It is a structural schematic diagram of the lower adjustable clamping module of the utility model.

[0026] In the figure: 101, fixing seat; 102, positioning hole; 201, synchronous sector gear; 202, connecting shaft; 203, connecting sleeve; 204, upper clamping arm; 205, connecting gasket; 206, bidirectional electric push rod; 207, upper clamping frame; 208, guide frame; 209, upper base; 210, lower base; 211, connecting rod; 301, lower clamping arm; 302, lower clamping clamp; 303, adjusting frame; 304, adjusting column; 305, active bevel gear; 306, adjusting screw; 307, driven bevel gear. DETAILED DESCRIPTION

[0027] 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.

[0028] The utility model provides three technical solutions:

[0029] Figure 1-3 The first embodiment is shown: a cross-arm manipulator for a grinding machine, comprising a fixed seat 101 for installation, a plurality of positioning holes 102 are arranged in a horizontal array at one end of the fixed seat 101, and a clamping mechanism is provided at the other end of the fixed seat 101, the clamping mechanism consisting of an upper fixed clamping module and a lower adjustable clamping module;

[0030] The upper fixed clamping module includes two synchronous sector teeth 201 for transmission. The two synchronous sector teeth 201 are meshed and connected to each other and are connected to a connecting shaft 202 at the center. The upper fixed clamping module is connected to the lower adjustable clamping module through the connecting shaft 202. The two connecting shafts 202 are respectively connected to the corresponding synchronous sector teeth 201 through connecting sleeves 203 arranged thereon. Upper clamping arms 204 are welded to the outside of the two connecting sleeves 203. The ends of the two upper clamping arms 204 that are close to each other are fixedly connected to a bidirectional electric push rod 206 through a connecting gasket 205.

[0031] In this embodiment, the bidirectional electric push rod 206 is provided to realize the function of simultaneously contracting both ends on the basis of the unidirectional electric push rod. The existing bidirectional electric push rod technology is relatively mature, so it is not described in detail.

[0032] Preferably, in this embodiment, the bidirectional electric push rod 206 is installed between the two upper clamping arms 204 and must be in the middle through the connecting gasket 205. When both ends of the bidirectional electric push rod 206 are simultaneously contracted, the upper clamping arm 204 is moved through the connecting gasket 205. Because the upper clamping arm 204 is connected to the connecting shaft 202 through the connecting sleeve 203, the two upper clamping arms 204 rotate closer to each other after being subjected to force to achieve the clamping function. In summary, the setting of the synchronous fan teeth 201 ensures the simultaneity of the clamping movement of the two upper clamping arms 204 to a certain extent.

[0033] The other ends of the two upper clamping arms 204 are respectively connected to an upper clamping clamp body 207 which is in the shape of a broken line as a whole. Each upper clamping clamp body 207 is welded to the corresponding upper clamping arm 204, and a guide frame 208 for guiding is provided at the welding point between the two upper clamping clamp bodies 207 and the corresponding upper clamping arms 204. The two upper clamping clamp bodies 207 are slidably connected to the guide frame 208 through a guide groove in the guide frame 208.

[0034] Preferably, the guide frame 208 limits the upper clamping clamps 207 at both ends as a whole and also ensures the guiding property of the upper clamping clamps 207 when moving, thereby ensuring the stability of the robot when clamping.

[0035] Figure 2-4 A second embodiment is shown, which mainly differs from the first embodiment in that two connecting shafts 202 are rotatably mounted on an upper base 209 and a lower base 210 respectively, and both the upper base 209 and the lower base 210 are fixedly connected to a fixed base 101 on one side via a connecting rod 211 welded at one end, and a lower adjustable clamping module is mounted on the lower base 210.

[0036] The lower adjustable clamping module includes two lower clamping arms 301 respectively rotatably mounted on the bottom ends of the corresponding connecting shafts 202, the two lower clamping arms 301 are respectively located on the two lower bases 210, and the other ends of the two lower clamping arms 301 are welded with lower clamping bodies 302, and an adjustment frame 303 for adjustment is provided at the welding point between the lower clamping arms 301 and the lower clamping bodies 302. Preferably, since the connection relationship between the lower clamping arms 301 and the connecting shaft 202 is both rotatably connected, the lower clamping arms 301 are not affected during the clamping rotation of the upper clamping arms 204, so in this embodiment, the clamping size and clamping range adjustment of the lower clamping arms 301 are achieved through the internal components of the adjustment frame 303.

[0037] Figure 1-24 shows a third embodiment, which mainly differs from the first embodiment in that an adjusting column 304 is rotatably installed in the middle of the top of the adjusting frame 303, and the adjusting column 304 is key-connected with an active bevel gear 305 at the adjusting groove in the adjusting frame 303, and both ends of the active bevel gear 305 are meshingly connected with a driven bevel gear 307 installed on the adjusting screw 306, and the two adjusting screws 306 are rotatably connected to the adjusting frame 303.

[0038] In this embodiment, after the adjusting column 304 rotates, the two lower clamping arms 301 and the connected lower clamping body 302 rotate the adjusting screw 306 due to the meshing connection between the active bevel gear 305 and the driven bevel gear 307. Due to the threaded connection, the lower clamping arm 301 moves in the adjusting frame 303, and the clamping thickness between the two lower clamping arms 301 changes. Therefore, in conjunction with the moving clamping of the upper clamping arm 301, the lower clamping arm 301 completes the positioning clamping, and the mutual linkage and cooperation achieves the fixed clamping operation of the stepped shaft, concave part and bent part.

[0039] The two adjusting screws 306 are both threadedly connected to the corresponding lower clamping arms 301 through the thread grooves of the lower clamping arms 301 .

[0040] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art, and the model parameters of each electrical appliance are not specifically limited, and conventional equipment can be used.

[0041] When in use, the preset adjustment is performed according to the material to be processed by the grinder. If the single material is a flat material such as a plate, the adjusting column 304 is first rotated by the driving motor according to the thickness of the material. Because the driving bevel gear 305 and the driven bevel gear 307 are connected by transmission, the lower clamping arm 301 and the lower clamping body 302 set at both ends of the adjustment frame 303 are adjusted in position until their thickness is the same as the material thickness. At this time, the bidirectional electric push rod 206 is retracted and the upper clamping arm 204 is moved by the connecting gasket 205, and because the upper The clamping arm 204 is connected to the connecting shaft 202 through the connecting sleeve 203, so the two upper clamping arms 204 rotate closer to each other after being subjected to force, so that the upper clamping arm 204 completes the clamping of one end of the material, and the lower clamping arm 301 is driven by the driving motor to descend on the adjusting column 304 to further clamp the material. Similarly, when the material is a non-flat material such as a stepped shaft, the upper clamping arm 204 completes the clamping of one end of the material, and the rear end of the bend or step at the other end is adjusted through the adjusting column 304, so that the lower clamping arm 301 performs limit clamping on the other end.

[0042] 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.

[0043] 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 cross-arm manipulator for a grinding machine, comprising a fixing seat (101) for installation, characterized in that: A plurality of positioning holes (102) are arranged in a horizontal array at one end of the fixing seat (101), and a clamping mechanism is provided at the other end of the fixing seat (101), wherein the clamping mechanism is composed of an upper fixed clamping module and a lower adjustable clamping module; The upper fixed clamping module comprises two synchronous sector teeth (201) for transmission, the two synchronous sector teeth (201) are meshed and connected with each other and are connected with a connecting shaft (202) at the center thereof, the upper fixed clamping module is connected with the lower adjustable clamping module via the connecting shaft (202), the two connecting shafts (202) are respectively connected with the corresponding synchronous sector teeth (201) in a limiting manner via connecting sleeves (203) arranged thereon, the outer parts of the two connecting sleeves (203) are welded with upper clamping arms (204), and the ends of the two upper clamping arms (204) close to each other are fixedly connected with a bidirectional electric push rod (206) via a connecting gasket (205).

2. The cross-arm manipulator for a grinding machine according to claim 1, characterized in that: The other ends of the two upper clamping arms (204) are respectively connected to an upper clamping clamp body (207) which is in the shape of a broken line as a whole, and each of the upper clamping clamp bodies (207) is welded to the corresponding upper clamping arm (204), wherein a guide frame (208) for guiding is provided at the welding point between the two upper clamping clamp bodies (207) and the corresponding upper clamping arm (204), and the two upper clamping clamp bodies (207) are slidably connected to the guide frame (208) via a guide groove in the guide frame (208).

3. The cross-arm manipulator for a grinding machine according to claim 1, characterized in that: The two connecting shafts (202) are rotatably mounted on an upper base (209) and a lower base (210) respectively. The two upper bases (209) and the lower base (210) are fixedly connected to a fixed base (101) on one side via a connecting rod (211) welded at one end. The lower adjustable clamping module is mounted on the lower base (210).

4. The cross-arm manipulator for a grinding machine according to claim 3, characterized in that: The lower adjustable clamping module comprises two lower clamping arms (301) respectively rotatably mounted on the bottom ends of corresponding connecting shafts (202); the two lower clamping arms (301) are respectively located on two lower bases (210); and the other ends of the two lower clamping arms (301) are welded with lower clamping bodies (302); and an adjustment frame (303) for adjustment is provided at the welding point between the lower clamping arms (301) and the lower clamping bodies (302).

5. The cross-arm manipulator for a grinding machine according to claim 4, characterized in that: An adjusting column (304) is rotatably mounted at the middle of the top of the adjusting frame (303); the adjusting column (304) is key-connected with an active bevel gear (305) at an adjusting groove in the adjusting frame (303); both ends of the active bevel gear (305) are meshingly connected with driven bevel gears (307) mounted on the adjusting screw rods (306); and the two adjusting screw rods (306) are rotatably connected to the adjusting frame (303).

6. The cross-arm manipulator for a grinding machine according to claim 5, characterized in that: The two adjusting screws (306) are both threadedly connected to the corresponding lower clamping arms (301) through the thread grooves of the lower clamping arms (301).

Images