Combined type polishing mechanical arm

Abstract

The utility model discloses a combined type polishing mechanical arm which comprises a polishing mechanical arm body. The limiting assembly comprises a mounting plate connected with the polishing mechanical arm body, a lifting air cylinder mounted at the end of the mounting plate and a lifting plate connected with the top end of the lifting air cylinder, and third electromagnets are arranged at the two ends of the mounting plate; the object fastening assembly comprises an adsorption plate, an adsorption pipe installed on the side position of the bottom of the adsorption plate and an adjusting assembly installed on the adsorption plate, and the adjusting assembly comprises a movable air cylinder installed in the center position of the surface of the adsorption plate, a lifting plate matched with the surface of the adsorption plate, and a first electromagnet and a second electromagnet which are installed on the surface of the lifting plate; according to the design of transferring the workpieces according to the workpieces of different shapes and sizes, the side-by-side cylindrical workpieces are attracted according to the vacuum attraction principle, a first electromagnet or a second electromagnet generates a magnetic field after being powered on and attracts the workpieces of different widths, and a proper workpiece transferring method can be rotated according to the workpieces of different widths and sizes.

Description

Technical Field

[0001] The utility model belongs to the technical field of robotic arms, and particularly relates to a combined grinding robotic arm. Background Art

[0002] A robotic arm is a device that controls the position and posture of an end effector through the movement of each joint. Robotic arms have a wide range of uses. The clamping head of the robotic arm uses the principle of vacuum adsorption to suck multiple side-by-side workpieces, change the position of the workpieces, and place them in a grinding position. Different clamping heads need to be replaced according to workpieces of different shapes and sizes.

[0003] The robotic arm for grinding is designed for workpieces of a specific size and shape, and different clamping heads are replaced to clamp and transfer the workpieces. However, it is rather troublesome and not convenient enough to frequently replace different clamping heads. When the grinding robotic arm is used for grinding workpieces, there is a problem that the design does not transfer workpieces according to workpieces of different shapes and sizes. Therefore, this application proposes a combined grinding robotic arm. Summary of the Utility Model

[0004] The purpose of the utility model is to provide a combined grinding robotic arm to solve the problem that the grinding robotic arm in the above background art does not transfer workpieces according to workpieces of different shapes and sizes.

[0005] To achieve the above purpose, the utility model provides the following technical solution: A combined grinding robotic arm, comprising

[0006] A grinding robotic arm main body;

[0007] A limiting component, including a mounting plate connected to the grinding robotic arm main body, a lifting cylinder mounted at the end of the mounting plate, and a lifting plate connected to the top of the lifting cylinder. Third electromagnets are provided at both ends of the mounting plate.

[0008] An object fixing component, including an adsorption plate, an adsorption tube mounted at the bottom side position of the adsorption plate, and an adjusting component mounted on the adsorption plate. The adjusting component includes a moving cylinder mounted at the center position of the surface of the adsorption plate, a lifting plate that fits the surface of the adsorption plate, a first electromagnet and a second electromagnet mounted on the surface of the lifting plate. A connecting rod is provided at the side position of the adsorption plate, and a connecting block connected to the top of the connecting rod.

[0009] Preferably, the lifting plate is of a "U" shape, an installation groove is formed on the surface of the end of the lifting plate away from the lifting cylinder, and a through groove communicating with the installation groove is provided on the lifting plate.

[0010] Preferably, the connecting block is in clearance fit with the installation groove, and a groove geometrically matching the third electromagnet is provided on the top surface of the connecting block.

[0011] Preferably, the first electromagnet is distributed at the central position of the lifting plate, and the second electromagnets are evenly distributed at the middle positions on the sides of the lifting plate.

[0012] Preferably, the bottom surfaces of the second electromagnets and the first electromagnet are flush.

[0013] Preferably, a partition ring is provided inside the adsorption plate.

[0014] Preferably, the space inside the adsorption plate is divided by the partition ring into a vacuum chamber a and a cavity b, and the adsorption tube is communicated with the vacuum chamber a.

[0015] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0016] In the present utility model, there is a design for transporting workpieces according to workpieces of different shapes and sizes. Using the principle of vacuum adsorption, the adsorption tubes on the adsorption plate adsorb columnar workpieces arranged side by side. When adsorbing workpieces of different widths, after the first electromagnet or the second electromagnet is energized, a magnetic field is generated and the workpieces are firmly adsorbed. According to workpieces of different width dimensions, a suitable method for transporting workpieces can be rotated. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a schematic structural diagram of the present utility model;

[0018] Figure 2 is a schematic bottom view structural diagram of the adsorption plate of the present utility model;

[0019] Figure 3 is a schematic three-dimensional structural diagram of the lifting plate of the present utility model;

[0020] Figure 4 For the present utility model Figure 1 is a schematic structural diagram in the A-A direction of the adsorption plate in;

[0021] In the figure: 1. Main body of the grinding robot arm; 2. Mounting plate; 4. Adsorption plate; 21. Third electromagnet; 31. Lifting cylinder; 32. Lifting plate; 41. Adsorption tube; 42. Partition ring; 51. Moving cylinder; 52. First electromagnet; 53. Lifting plate; 54. Second electromagnet; 61. Connecting rod; 62. Connecting block; 321. Mounting groove; 322. Passing groove. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] Embodiment

[0024] Please refer to Figures 1 to 4 , the present invention provides a technical solution: a combined grinding robotic arm, including a grinding robotic arm main body 1. The principle that the grinding robotic arm main body 1 actively places the grabbed workpiece at the grinding position for grinding is a conventional technical means, and this application will not elaborate in detail; a limiting component, including a mounting plate 2 connected to the grinding robotic arm main body 1, a lifting cylinder 31 installed at the end of the mounting plate 2, and a lifting plate 32 connected to the top of the lifting cylinder 31. The mounting plate 2 is combined with the grinding robotic arm main body 1 and the lifting cylinder 31 by conventional methods. The lifting cylinder 31 drives the lifting plate 32 to lift and lower. The lifting plate 32 is limitedly connected to the connecting block 62 to accurately position the adsorption plate 4. Third electromagnets 21 are provided at both ends of the mounting plate 2. The mounting plate 2 is combined with the third electromagnets 21 by conventional methods. After the third electromagnets 21 are energized, a magnetic field is generated, and the third electromagnets 21 are magnetically connected to the connecting block 62 to firmly install the connecting block 62 and the adsorption plate 4; an object fixing component, including an adsorption plate 4, an adsorption tube 41 installed at the bottom side position of the adsorption plate 4, and an adjustment component installed on the adsorption plate 4. Using the principle of vacuum adsorption, the adsorption tube 41 on the adsorption plate 4 adsorbs the side-by-side workpieces, and the position of the workpieces can be changed to make them in the position to be ground, which is convenient for grinding; the adjustment component includes a moving cylinder 51 installed at the center position of the surface of the adsorption plate 4, a lifting plate 53 that fits the surface of the adsorption plate 4, a first electromagnet 52 and a second electromagnet 54 installed on the surface of the lifting plate 53. The moving cylinder 51 is combined with the adsorption plate 4 and the lifting plate 53 by conventional methods. The moving cylinder 51 drives the lifting plate 53 to vertically lift and lower. The first electromagnet 52 and the second electromagnet 54 adsorb the workpiece. According to workpieces of different sizes, the first electromagnet 52 or the second electromagnet 54 can be selected to firmly adsorb the workpiece. A connecting rod 61 is provided at the side position of the adsorption plate 4, and a connecting block 62 is connected to the top of the connecting rod 61. The connecting rod 61 is combined with the adsorption plate 4 and the connecting block 62 by conventional methods.

[0025] In this embodiment, the lifting plate 32 has a "U" - shaped structure. An installation groove 321 is formed on the surface of one end of the lifting plate 32 away from the lifting cylinder 31. A through - slot 322 communicating with the installation groove 321 is provided on the lifting plate 32. The connecting block 62 is in clearance fit with the installation groove 321. A groove geometrically matching the third electromagnet 21 is provided on the top surface of the connecting block 62. The connecting rod 61 passes through the through - slot 322, and the connecting block 62 is placed in the installation groove 321 to realize the limitation of the connecting block 62.

[0026] In this embodiment, the first electromagnet 52 is distributed at the center position of the lifting plate 53, and the second electromagnets 54 are evenly distributed at the middle positions on the sides of the lifting plate 53. The bottom surfaces of the second electromagnets 54 and the first electromagnet 52 are flush. After the first electromagnet 52 or the second electromagnet 54 is energized, a magnetic field is generated to firmly adsorb the workpiece. According to workpieces of different sizes, the first electromagnet 52 or the second electromagnet 54 can be selected to firmly adsorb the workpiece.

[0027] In this embodiment, a partition ring 42 is provided inside the adsorption plate 4. The space inside the adsorption plate 4 is divided into a vacuum chamber a and a cavity b by the partition ring 42. The adsorption tube 41 is communicated with the vacuum chamber a. Using the principle of vacuum adsorption, the adsorption tube 41 on the adsorption plate 4 adsorbs the workpiece, and the grinding robot main body 1 can change the position of the workpiece to make it in the position to be ground, which is convenient for grinding.

[0028] The working principle and usage process of the present utility model:

[0029] When grinding row - arranged cylindrical workpieces, using the principle of vacuum adsorption, the adsorption tube 41 on the adsorption plate 4 adsorbs the workpiece, and the grinding robot main body 1 moves to change the position of the workpiece to make it in the position to be ground, which is convenient for grinding;

[0030] When grinding plate - shaped workpieces, the moving cylinder 51 operates to make the lifting plate 53 move vertically downward. After the first electromagnet 52 or the second electromagnet 54 is energized, a magnetic field is generated to firmly adsorb the workpiece. According to workpieces of different width sizes, the first electromagnet 52 or the second electromagnet 54 can be selected to firmly adsorb the workpiece;

[0031] The adsorption plate 4 and the mounting plate 2 have a combined structure. When disassembling and assembling the adsorption plate 4, the third electromagnet 21 is powered off, and the lifting cylinder 31 and the lifting plate 32 move vertically downward, making the adsorption plate 4 and the connecting block 62 move vertically downward. There is a gap between the lifting plate 32 and the mounting plate 2, and the connecting rod 61 moves in the through - slot 322, and the connecting block 62 and the connecting rod 61 can be taken out;

[0032] In summary: There is a design for transferring workpieces according to workpieces of different shapes and sizes. Using the principle of vacuum adsorption, the adsorption tubes 41 on the adsorption plate 4 adsorb the columnar workpieces arranged side by side. When adsorbing workpieces of different widths, the first electromagnet 52 or the second electromagnet 54 generates a magnetic field after being energized and firmly adsorbs the workpieces. According to workpieces of different width dimensions, a suitable method for transferring workpieces can be rotated.

[0033] Although the embodiments of the present invention have been shown and described (see the above detailed description), for those of ordinary skill in the art, it can be understood that various changes, modifications, substitutions, and variations can be made to these embodiments without departing from the principle and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A combined grinding robot arm, characterized in that: include Polishing the robot arm body (1); A limit assembly comprises a mounting plate (2) connected to a grinding robot arm body (1), a lifting cylinder (31) mounted on the end of the mounting plate (2), and a lifting plate (32) connected to the top of the lifting cylinder (31), wherein third electromagnets (21) are provided at both ends of the mounting plate (2); An object fixing component comprises an adsorption plate (4), an adsorption tube (41) installed at a bottom side position of the adsorption plate (4), and an adjustment component installed on the adsorption plate (4), wherein the adjustment component comprises a moving cylinder (51) installed at a center position of the surface of the adsorption plate (4), a lifting plate (53) matched with the surface of the adsorption plate (4), a first electromagnet (52) and a second electromagnet (54) installed on the surface of the lifting plate (53), and a connecting rod (61) and a connecting block (62) connected to the top end of the connecting rod (61) are provided at the side position of the adsorption plate (4).

2. A combined grinding robot arm according to claim 1, characterized in that: The lifting plate (32) is a "U"-shaped structure. A mounting groove (321) is provided on the surface of one end of the lifting plate (32) away from the lifting cylinder (31). A passing groove (322) communicating with the mounting groove (321) is provided on the lifting plate (32).

3. The combined grinding robot arm according to claim 1, characterized in that: The connection block (62) is clearance-matched with the installation groove (321), and a groove whose geometric shape matches that of the third electromagnet (21) is provided on the top surface of the connection block (62).

4. The combined grinding robot arm according to claim 1, characterized in that: The first electromagnet (52) is distributed at the center position of the lifting plate (53), and the second electromagnet (54) is evenly distributed at the middle position of the side of the lifting plate (53).

5. The combined grinding robot arm according to claim 1, characterized in that: The bottom surfaces of the second electromagnet (54) and the first electromagnet (52) are flush.

6. The combined grinding robot arm according to claim 1, characterized in that: A separation ring (42) is provided inside the adsorption plate (4).

7. The combined grinding robot arm according to claim 6, characterized in that: The space inside the adsorption plate (4) is divided into a vacuum chamber a and a cavity b by a separation ring (42), and the adsorption tube (41) is connected to the vacuum chamber a.

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