Multi-dimensional force control clamp of polishing robot

Abstract

The utility model relates to the technical field of clamps, and discloses a multi-dimensional force control clamp of a polishing robot, which solves the problem that a workpiece shakes in the clamping process, firstly, the workpiece is placed above a rotating disc, then the rotating disc is driven to rotate by a servo motor, and the workpiece is driven to rotate by the servo motor in the rotating process of the rotating disc. The arc-shaped groove can also change along with rotation of the rotating disc, so that the fixing rod is driven to move horizontally, the four clamping mechanisms move towards the center of the rotating disc at the same time, then the workpiece is clamped at the center position of the rotating disc, and due to clamping in the four directions and good matching of the workpiece are achieved, the clamping stabilizing effect is further improved.

Description

Technical Field

[0001] The utility model relates to the technical field of die-cutting machines, in particular to a multi-dimensional force-controlled fixture for a polishing robot. Background Art

[0002] A fixture is a device used to fix the object to be processed during the mechanical manufacturing process so that it occupies the correct position for construction or testing.

[0003] The existing Chinese patent with publication number CN220481513U discloses a multi-dimensional force sensor centering pneumatic clamp, which pushes the active slide to the left side through an electric lifting and retraction rod. During the sliding process of the active slide, the sliding racks on its front and rear sides drive the two changing gears to rotate. While rotating, the changing gears drive the sliding racks located on the front and rear sides of the bottom of the driven slide to displace, thereby causing the driven slide and the active slide to move toward each other until the surface of the clamping arm contacts the surface of the six-dimensional force sensor to achieve a clamping effect. However, since the clamping arm only clamps the two symmetrical directions of the six-dimensional force sensor and is not fully equipped, the six-dimensional force sensor is likely to shake in a direction perpendicular to the clamping direction during the polishing process, which results in certain defects. Utility Model Content

[0004] The purpose of the utility model is to provide a multi-dimensional force-controlled clamp for a polishing robot. The device is used to work, thereby solving the problem of shaking of the workpiece during the clamping process.

[0005] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a multi-dimensional force-controlled fixture of a polishing robot comprises a base, a support member is provided on the inner side of the base, four groups of clamping mechanisms are provided at the lower end of the support member, a driving mechanism is provided inside the support member, a workpiece is placed on the upper end of the driving mechanism, the driving mechanism comprises a servo motor, a fixing member is fixedly installed on the outer side of the servo motor, the fixing member is fixedly connected to the base, a rotating disk is fixedly installed on the output end of the servo motor, and four groups of arc grooves are provided on the upper surface of the rotating disk, the clamping mechanism comprises a fixing rod, the fixing rod is matched with the arc groove and is slidably connected, first, the workpiece is placed above the rotating disk, and then the rotating disk is driven to rotate by the servo motor. During the rotation of the rotating disk, the arc groove will also change with the rotation of the rotating disk, thereby driving the fixing rod to move horizontally, and the four groups of clamping mechanisms move toward the center of the rotating disk at the same time, thereby clamping the workpiece at the center position of the rotating disk, and because the clamping in four directions is well matched with the workpiece, the clamping stability effect is further improved.

[0006] Preferably, the clamping mechanism includes a rectangular block fixedly connected to the upper surface of the support member, with sliding grooves on both sides of the rectangular block, a slider is slidably installed on the outer side of the rectangular block, the slider is slidably connected to the sliding groove, an L-plate is fixedly installed on the upper end of the slider, the fixed rod is located at the lower end of the L-plate and is fixedly connected, and the slider is slidably connected to the sliding groove, so that when the fixed rod is driven by the arc groove, it can drive the L-plate and the slider to move, thereby finally achieving the clamping of the workpiece.

[0007] Preferably, a telescopic rod 1 is fixedly installed at one end of the L-plate, and an arc-shaped clamping plate is fixedly installed at the end of the telescopic rod 1 away from the L-plate. A spring 1 is sleeved on the outer side of the telescopic rod 1, one end of the spring 1 is fixedly connected to the L-plate, and the other end of the spring 1 is fixedly connected to the arc-shaped clamping plate. During the horizontal movement of the L-plate, the telescopic rod 1 and the arc-shaped clamping plate are simultaneously pushed to move, so that the arc-shaped clamping plate contacts the workpiece to achieve a clamping effect. The setting of the spring 1 effectively avoids damage to the surface of the workpiece due to excessive pressure when the arc-shaped clamping plate contacts the workpiece, thereby achieving a protective effect.

[0008] Preferably, two triangular plates are fixedly mounted on the outer surface of the L-plate. The arrangement of the two triangular plates greatly improves the overall structural strength of the L-plate to ensure stable clamping.

[0009] Preferably, the support member includes a carrying plate, a through hole is provided through the middle of the carrying plate, the rotating disk is rotatably connected to the through hole, a rectangular groove is provided on the upper surface of the base, the carrying plate matches the rectangular groove and is slidably connected, and a plurality of telescopic rods 2 are fixedly installed on the lower end of the carrying plate, the lower end of the telescopic rod 2 is fixedly connected to the surface of the rectangular groove, a spring 2 is provided on the outer side of the telescopic rod 2, the upper end of the spring 2 is fixedly connected to the lower surface of the carrying plate, and the lower end of the spring 2 is fixedly connected to the surface of the rectangular groove. Through the arrangement of the spring 2 and the telescopic rod 2, the support member as a whole has good vibration buffering performance, thereby improving the accuracy of processing and polishing.

[0010] Preferably, rubber corner pads are fixedly installed on the four outer corners of the base. The provision of the rubber corner pads further improves the protection performance of the entire device, thereby extending its service life.

[0011] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0012] The multi-dimensional force-controlled clamp of the polishing robot proposed by the utility model first places the workpiece above the rotating disk, and then drives the rotating disk to rotate through the servo motor. During the rotation of the rotating disk, the arc groove will also change with the rotation of the rotating disk, thereby driving the fixed rod to move horizontally, and the four groups of clamping mechanisms move toward the center of the rotating disk at the same time, thereby clamping the workpiece in the center position of the rotating disk. Moreover, since the clamping in four directions is well matched with the workpiece, the clamping stability effect is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0014] Figure 2 This is a schematic diagram of the support structure of the utility model;

[0015] Figure 3 This is a schematic diagram of the driving mechanism structure of the utility model;

[0016] Figure 4 This is a schematic diagram of the structure of the clamping mechanism of the present utility model;

[0017] Figure 5 This is a schematic diagram of the base structure of the present utility model.

[0018] In the figure: 1. Base; 11. Rectangular groove; 12. Rubber corner pad; 2. Support member; 21. Loading plate; 22. Through hole; 23. Second spring; 24. Second telescopic rod; 3. Clamping mechanism; 31. Rectangular block; 32. Slide groove; 33. Slider; 34. L-plate; 35. Fixed rod; 36. Triangular plate; 37. First telescopic rod; 38. First spring; 39. Arc clamping plate; 4. Driving mechanism; 41. Servo motor; 42. Fixing member; 43. Rotating disk; 44. Arc groove; 5. Workpiece. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0020] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings.

[0021] Combine Figure 1 、 Figure 3-4The multi-dimensional force control fixture of the polishing robot includes a base 1, a support member 2 is provided on the inner side of the base 1, four groups of clamping mechanisms 3 are provided at the lower end of the support member 2, a driving mechanism 4 is provided inside the support member 2, a workpiece 5 is placed on the upper end of the driving mechanism 4, the driving mechanism 4 includes a servo motor 41, a fixing member 42 is fixedly installed on the outer side of the servo motor 41, the fixing member 42 is fixedly connected to the base 1, a rotating disk 43 is fixedly installed on the output end of the servo motor 41, and four groups of arc grooves 44 are opened on the upper surface of the rotating disk 43, and the clamping mechanism 3 includes a fixing rod 35 The fixed rod 35 matches the arc groove 44 and is slidably connected. First, the workpiece 5 is placed above the rotating disk 43, and then the rotating disk 43 is driven to rotate by the servo motor 41. During the rotation of the rotating disk 43, the arc groove 44 will also change with the rotation of the rotating disk 43, thereby driving the fixed rod 35 to move horizontally, and the four groups of clamping mechanisms 3 move toward the center of the rotating disk 43 at the same time, thereby clamping the workpiece 5 in the center position of the rotating disk 43. Moreover, since the clamping in four directions is well matched with the workpiece 5, the clamping stability effect is further improved.

[0022] Combine Figure 4 The clamping mechanism 3 includes a rectangular block 31 fixedly connected to the upper surface of the support member 2, and a slide groove 32 is provided on both sides of the rectangular block 31. A slider 33 is slidably installed on the outer side of the rectangular block 31, and the slider 33 is slidably connected to the slide groove 32. An L-plate 34 is fixedly installed on the upper end of the slider 33, and a fixed rod 35 is located at the lower end of the L-plate 34 and is fixedly connected. The slider 33 is slidably connected to the slide groove 32, so that when the fixed rod 35 is driven by the arc groove 44, the L-plate 34 and the slider 33 can be driven to move, thereby finally clamping the workpiece 5.

[0023] Combine Figure 4 A telescopic rod 37 is fixedly installed at one end of the L-plate 34, and an arc-shaped clamping plate 39 is fixedly installed at the end of the telescopic rod 37 away from the L-plate 34. A spring 38 is sleeved on the outer side of the telescopic rod 37, one end of the spring 38 is fixedly connected to the L-plate 34, and the other end of the spring 38 is fixedly connected to the arc-shaped clamping plate 39. During the horizontal movement of the L-plate 34, the telescopic rod 37 and the arc-shaped clamping plate 39 are simultaneously pushed to move, so that the arc-shaped clamping plate 39 contacts the workpiece 5 to achieve a clamping effect. The setting of the spring 38 effectively avoids damage to the surface of the workpiece 5 due to excessive pressure when the arc-shaped clamping plate 39 contacts the workpiece 5, thereby achieving a protective effect.

[0024] Combine Figure 4 Two triangular plates 36 are fixedly mounted on the outer surface of the L-plate 34. The arrangement of the two triangular plates 36 greatly improves the overall structural strength of the L-plate 34 to ensure stable clamping.

[0025] Combine Figure 2The support member 2 includes a carrying plate 21, a through hole 22 is opened through the middle of the carrying plate 21, and the rotating disk 43 is rotatably connected to the through hole 22. A rectangular groove 11 is opened on the upper surface of the base 1, and the carrying plate 21 matches the rectangular groove 11 and is slidably connected. A plurality of telescopic rods 24 are fixedly installed on the lower end of the carrying plate 21. The lower end of the telescopic rod 24 is fixedly connected to the surface of the rectangular groove 11, and a spring 23 is provided on the outer side of the telescopic rod 24. The upper end of the spring 23 is fixedly connected to the lower surface of the carrying plate 21, and the lower end of the spring 23 is fixedly connected to the surface of the rectangular groove 11. Through the arrangement of the spring 23 and the telescopic rod 24, the support member 2 as a whole has good vibration buffering performance, thereby improving the accuracy of machining and polishing.

[0026] Combine Figure 5 Rubber corner pads 12 are fixedly installed at the four outer corners of the base 1. The provision of the rubber corner pads 12 further improves the overall protection performance of the device, thereby extending its service life.

[0027] The specific working process and principle of the present invention are as follows: first, the workpiece 5 is placed above the rotating disk 43, and then the rotating disk 43 is driven to rotate by the servo motor 41. During the rotation of the rotating disk 43, the arc groove 44 will also change with the rotation of the rotating disk 43, thereby driving the fixed rod 35 to drive the L plate 34 and the slider 33 and the slide groove 32 to slide and produce displacement. During the horizontal movement of the L plate 34, the telescopic rod 37 and the arc clamping plate 39 are simultaneously pushed to move, so that the arc clamping plate 39 contacts the workpiece 5. Finally, the four groups of clamping mechanisms 3 move toward the center of the rotating disk 43 at the same time, thereby clamping the workpiece 5 at the center position of the rotating disk 43.

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

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

Claims

1. A multi-dimensional force-controlled fixture for a polishing robot, comprising a base (1), a support member (2) provided on the inner side of the base (1), four sets of clamping mechanisms (3) provided at the lower end of the support member (2), a driving mechanism (4) provided inside the support member (2), a workpiece (5) placed at the upper end of the driving mechanism (4), and characterized in that: The driving mechanism (4) includes a servo motor (41), a fixing member (42) is fixedly installed on the outside of the servo motor (41), and the fixing member (42) is fixedly connected to the base (1). A rotating disk (43) is fixedly installed on the output end of the servo motor (41), and four groups of arc grooves (44) are opened on the upper surface of the rotating disk (43). The clamping mechanism (3) includes a fixing rod (35), and the fixing rod (35) matches the arc groove (44) and is slidably connected.

2. The multi-dimensional force-controlled fixture for a polishing robot according to claim 1, characterized in that: The clamping mechanism (3) comprises a rectangular block (31) fixedly connected to the upper surface of the support member (2), a sliding groove (32) is provided on both sides of the rectangular block (31), a slider (33) is slidably installed on the outer side of the rectangular block (31), the slider (33) is slidably connected to the sliding groove (32), an L-plate (34) is fixedly installed on the upper end of the slider (33), and a fixing rod (35) is located at the lower end of the L-plate (34) and is fixedly connected.

3. The multi-dimensional force-controlled fixture for a polishing robot according to claim 2, characterized in that: A telescopic rod (37) is fixedly installed on one end of the L-plate (34), and an arc-shaped clamping plate (39) is fixedly installed on the end of the telescopic rod (37) away from the L-plate (34). A spring (38) is sleeved on the outer side of the telescopic rod (37), one end of the spring (38) is fixedly connected to the L-plate (34), and the other end of the spring (38) is fixedly connected to the arc-shaped clamping plate (39).

4. The multi-dimensional force-controlled fixture for a polishing robot according to claim 2, characterized in that: Two triangular plates (36) are fixedly mounted on the outer surface of the L-plate (34).

5. The multi-dimensional force-controlled fixture for a polishing robot according to claim 1, characterized in that: The support member (2) comprises a bearing plate (21), a through hole (22) is provided in the middle of the bearing plate (21), a rotating disk (43) is rotatably connected to the through hole (22), a rectangular groove (11) is provided on the upper surface of the base (1), the bearing plate (21) matches the rectangular groove (11) and is slidably connected, a plurality of telescopic rods (24) are fixedly mounted on the lower end of the bearing plate (21), the lower end of the telescopic rods (24) are fixedly connected to the surface of the rectangular groove (11), a spring (23) is sleeved on the outer side of the telescopic rods (24), the upper end of the spring (23) is fixedly connected to the lower surface of the bearing plate (21), and the lower end of the spring (23) is fixedly connected to the surface of the rectangular groove (11).

6. The multi-dimensional force-controlled fixture for a polishing robot according to claim 1, characterized in that: Rubber corner pads (12) are fixedly mounted on the four outer corners of the base (1).

Images