Transfer manipulator for high-precision CBN grinding wheel

Abstract

The utility model relates to the field of transfer manipulators, and discloses a transfer manipulator for a high-precision CBN grinding wheel, the transfer manipulator comprises a rotating seat and a sliding frame, a mechanical arm is rotatably mounted at the top of the rotating seat, a plurality of grabbing claws are rotatably connected to one end of the mechanical arm, and a rotating rod is rotatably mounted at the bottom end of the sliding frame; an electric push rod is rotatably mounted on the surface of the rotating rod, a limiting disc is rotatably connected to the bottom end of the rotating rod, the multiple grabbing claws are distributed in a circumferential array mode with the center of the limiting disc as the axis, and the inner wall of the sliding frame and the surface of the mechanical arm are slidably mounted; the sliding frame is mounted on the surface of the mechanical arm, the bottom end of the sliding frame is rotationally connected with the rotating rod, the electric push rod is mounted between the rotating rod and the sliding frame, and one end of the rotating rod is rotationally connected with the limiting disc, so that the length of the electric push rod is adjusted to control the rotating rod to rotate; and the materials clamped by the limiting disc and the grabbing claw are limited.

Description

Technical Field

[0001] This application relates to the field of transfer robots, and more particularly to a transfer robot for high-precision CBN grinding wheels. Background Technology

[0002] CBN grinding wheels, short for cubic boron nitride grinding wheels, are high-performance grinding tools. They use cubic boron nitride (CBN) as the abrasive, with a bonding agent typically being cermet or resin, and are manufactured through a special process. CBN grinding wheels are characterized by high hardness, high wear resistance, high thermal stability, and good grinding efficiency. During processing, CBN grinding wheels are often handled by a transfer robot. A transfer robot is an automated device mainly used in industrial production processes to handle and transfer various materials and products. It mimics human hand movements, gripping and moving objects or operating tools according to a preset program, thus replacing manual handling and achieving automated production. In a typical transfer robot, after the rotating base is installed in a suitable position, a robotic arm is rotatably connected to the top of the rotating base. Several gripping claws are rotatably connected to one end of the robotic arm. The gripping claws fix the surface of the grinding wheel, and the robotic arm, in conjunction with the rotation of the rotating base, controls the gripping claws to move the grinding wheel to the appropriate position, completing the transfer of the grinding wheel.

[0003] Regarding the aforementioned technologies, the inventors believe that when conventional transfer robots are in use, because the grinding wheels are mostly disc-shaped, the gripper may not fully fit the grinding wheel when moving it. This can cause the grinding wheel to fall off due to shaking during transport, especially when the robot arm moves at high speeds. This affects the efficiency of the robot arm and causes inconvenience during transport.

[0004] The information disclosed in this background section is only intended to enhance the understanding of the background technology of this application, and therefore may include prior art that is not known to those skilled in the art. Utility Model Content

[0005] To address the problem of grinding wheels falling during the handling of grinding wheels by robotic arms, this application provides a transfer robotic arm for high-precision CBN grinding wheels.

[0006] The present application provides a transfer robot for high-precision CBN grinding wheels, which adopts the following technical solution:

[0007] A transfer robot for high-precision CBN grinding wheels includes a rotating base and a sliding frame. A robotic arm is rotatably mounted on the top of the rotating base, and a plurality of gripping claws are rotatably connected to one end of the robotic arm. A rotating rod is rotatably mounted on the bottom of the sliding frame, and an electric push rod is rotatably mounted on the surface of the rotating rod. A limiting disk is rotatably connected to the bottom of the rotating rod. The plurality of gripping claws are arranged in a circular array around the center of the limiting disk. The inner wall of the sliding frame is slidably mounted on the surface of the robotic arm, and the dimensions of the inner wall of the sliding frame are adapted to the dimensions of the surface of the robotic arm. The rotating rod has a V-shaped cross-section, and the top of the electric push rod is rotatably connected to the bottom of the sliding frame.

[0008] Preferably, a sliding rod is slidably connected to the inner wall of the sliding frame, the surface of the sliding rod is fixedly connected to the surface of the robotic arm, and the size and specifications of the sliding rod surface are adapted to the size and specifications of the inner wall of the sliding frame.

[0009] Preferably, a motor is fixedly mounted on the surface of the robotic arm, and a threaded rod is fixedly connected to the output end of the motor. One end of the threaded rod is rotatably mounted to the surface of the robotic arm, and the surface of the threaded rod is threadedly connected to the inner wall of the sliding frame.

[0010] Preferably, the inner wall of the sliding frame is rotatably equipped with a plurality of pulleys, which are divided into two groups. The two groups of pulleys are symmetrically distributed about the sliding frame, and the bottom ends of the pulleys are slidably connected to the surface of the robotic arm.

[0011] Preferably, a connecting block is fixedly installed at the bottom of the limiting plate, and two control ropes are fixedly connected to the surface of the connecting block. The two control ropes are symmetrically distributed about the connecting block as an axis, and one end of the control rope is fixedly installed to the bottom of the sliding frame. A support wheel is slidably connected to the surface of the control rope, and one end of the support wheel is rotatably installed to the surface of the rotating rod.

[0012] Preferably, a spring is fixedly connected to one end of the limiting plate, and one end of the spring is fixedly installed on the surface of the rotating rod.

[0013] Preferably, an auxiliary disk is fixedly connected to the surface of the limiting disk, the size and specifications of the auxiliary disk surface are adapted to the size and specifications of the limiting disk surface, and the auxiliary disk is a rubber disk.

[0014] In summary, this application includes the following beneficial technical effects:

[0015] 1. By mounting a sliding frame on the surface of a robotic arm, a rotating rod is rotatably connected to the bottom of the sliding frame. An electric push rod is installed between the rotating rod and the sliding frame, and one end of the rotating rod is rotatably connected to a limiting plate. This allows the limiting plate to be positioned relative to the material held by the gripper using the electric push rod. A sliding rod is slidably mounted on the inner wall of the sliding frame to adjust the lateral position of the limiting plate. A motor is mounted on the surface of the robotic arm, and a threaded rod is mounted on the output end of the motor. This allows the threaded rod to rotate after the motor is started, driving the sliding frame to slide on the sliding rod surface. Several pulleys are rotatably mounted on the inner wall of the sliding frame to facilitate movement. Compared to existing technologies, this method effectively improves the stability of the robotic arm when moving the grinding wheel.

[0016] 2. A connecting block can also be installed at one end of the limiting plate. Two control ropes are installed at one end of the connecting block, and support wheels are slidably connected to the surface of the control ropes. This allows the control ropes to be pulled by the rotating rod after rotation. After the grinding wheel moves to the appropriate position, the limiting plate is controlled to separate from the grinding wheel. A spring is installed on the surface of the limiting plate so that the limiting plate can be reset by the spring after the control ropes release the pull on the limiting plate. An auxiliary plate made of rubber is installed on the surface of the limiting plate to improve the fixing effect of the device and effectively improve the use effect of the device. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of a transfer robot for high-precision CBN grinding wheels according to an embodiment of the application.

[0018] Figure 2 This is a schematic diagram of the sliding frame structure according to an embodiment of the application;

[0019] Figure 3 This is a side view of the embodiment of the application.

[0020] Figure 4 This is a schematic diagram of the structure at point A in the embodiment of the application.

[0021] Explanation of reference numerals in the attached diagram: 1. Rotating seat; 2. Robotic arm; 3. Gripping claw; 4. Sliding frame; 5. Rotating rod; 6. Limiting plate; 7. Electric push rod; 8. Sliding rod; 9. Motor; 10. Threaded rod; 11. Pulley; 12. Connecting block; 13. Control rope; 14. Support wheel; 15. Spring; 16. Auxiliary plate. Detailed Implementation

[0022] The following is in conjunction with the appendix Figure 1 —4. This application will be described in further detail.

[0023] This application discloses a transfer robot for high-precision CBN grinding wheels, referring to... Figure 1 - Figure 2 The system includes a rotating base 1. In use, after the rotating base 1 is installed in a suitable position, a robotic arm 2 is rotatably connected to the top of the rotating base 1. Several gripping claws 3 are rotatably connected to one end of the robotic arm 2. The gripping claws 3 are used to fix the surface of the grinding wheel. The robotic arm 2, in conjunction with the rotation of the rotating base 1, controls the gripping claws 3 to move the grinding wheel to a suitable position, thus completing the transportation of the grinding wheel. A sliding frame 4 is installed on the surface of the robotic arm 2. A rotating rod 5 is rotatably connected to the bottom end of the sliding frame 4. An electric push rod 7 is installed between the rotating rod 5 and the sliding frame 4. One end of the rotating rod 5 is rotatably connected to a limiting plate 6, so that the length of the rotating rod 5 can be adjusted by the electric push rod 7 to control the rotation of the rotating rod 5. This limits the material held by the gripping claws 3 and the limiting plate 6, effectively improving the stability of the robotic arm 2 when moving the grinding wheel, thereby preventing the material from falling off when the gripping claws 3 are moving.

[0024] Reference Figure 2 The inner wall of the sliding frame 4 is slidably equipped with a slide rod 8. The surface of the slide rod 8 is fixedly connected to the surface of the robotic arm 2, so as to facilitate the movement of the sliding frame 4 and adjust the lateral position of the limiting plate 6. The surface of the robotic arm 2 is equipped with a motor 9, and the output end of the motor 9 is equipped with a threaded rod 10. The surface of the threaded rod 10 is threadedly connected to the inner wall of the sliding frame 4, so as to control the rotation of the threaded rod 10 after the motor 9 is started, thereby driving the sliding frame 4 to slide on the surface of the slide rod 8, thereby reducing the amount of manual operation. Several pulleys 11 are rotatably installed on the inner wall of the sliding frame 4. The surface of the pulleys 11 slides on the surface of the robotic arm 2, so as to reduce the friction between the sliding frame 4 and the robotic arm 2, thereby making the movement of the sliding frame 4 more convenient.

[0025] Reference Figure 3 - Figure 4 A connecting block 12 is installed at one end of the limiting plate 6. Two control ropes 13 are installed at one end of the connecting block 12. One end of the control rope 13 is connected to the bottom end of the sliding frame 4, and a support wheel 14 is slidably connected to the surface of the control rope 13. One end of the support wheel 14 is connected to the surface of the rotating rod 5, so that after the rotating rod 5 rotates, the control rope 13 can be used to pull the connecting block 12, causing the limiting plate 6 at one end of the connecting block 12 to rotate. This allows the limiting plate 6 to separate from the grinding wheel after it moves to the appropriate position. A spring 15 is installed on the surface of the limiting plate 6, and one end of the spring 15 is connected to the surface of the rotating rod 5, so that after the control rope 13 releases the pull on the limiting plate 6, the spring 15 can be used to reset the limiting plate 6, thus ensuring the fixing effect of the limiting plate 6. An auxiliary plate 16 made of rubber is installed on the surface of the limiting plate 6, so as to increase the friction between the limiting plate 6 and the grinding wheel, thereby improving the fixing effect of the device.

[0026] The implementation principle of a high-precision CBN grinding wheel transfer robot according to an embodiment of this application is as follows: A sliding frame 4 is mounted on the surface of a robotic arm 2. A rotating rod 5 is rotatably connected to the bottom end of the sliding frame 4. An electric push rod 7 is installed between the rotating rod 5 and the sliding frame 4. One end of the rotating rod 5 is rotatably connected to a limiting plate 6, allowing the electric push rod 7 to adjust its length and control the rotation of the rotating rod 5. This limits the material held by the gripper 3 and prevents the material from falling off during the gripper 3's movement. A sliding rod 8 is slidably mounted on the inner wall of the sliding frame 4, and the surface of the sliding rod 8 is fixedly connected to the surface of the robotic arm 2 to facilitate... The sliding frame 4 is moved by the sliding rod 8, thereby adjusting the lateral position of the limiting plate 6. A motor 9 is installed on the surface of the robotic arm 2, and a threaded rod 10 is installed at the output end of the motor 9. The surface of the threaded rod 10 is threadedly connected to the inner wall of the sliding frame 4, so that the rotation of the threaded rod 10 can be controlled by the motor 9 after starting, which drives the sliding frame 4 to slide on the surface of the sliding rod 8, thereby reducing the amount of manual operation. Several pulleys 11 are rotatably installed on the inner wall of the sliding frame 4. The surface of the pulleys 11 slides on the surface of the robotic arm 2, so as to reduce the friction between the sliding frame 4 and the robotic arm 2, thereby making the sliding frame 4 more convenient to move.

[0027] A connecting block 12 can also be installed at one end of the limiting plate 6. Two control ropes 13 are installed at one end of the connecting block 12. One end of the control rope 13 is connected to the bottom end of the sliding frame 4, and a support wheel 14 is slidably connected to the surface of the control rope 13. One end of the support wheel 14 is connected to the surface of the rotating rod 5, so that after the rotating rod 5 rotates, the control rope 13 can be used to pull the connecting block 12, causing the limiting plate 6 at one end of the connecting block 12 to rotate. This allows the limiting plate 6 to separate from the grinding wheel after it moves to the appropriate position. A spring 15 is installed on the surface of the limiting plate 6, and one end of the spring 15 is connected to the surface of the rotating rod 5, so that after the control rope 13 releases the pull on the limiting plate 6, the spring 15 can be used to reset the limiting plate 6, thus ensuring the fixing effect of the limiting plate 6. An auxiliary plate 16 made of rubber is installed on the surface of the limiting plate 6, so as to increase the friction between the limiting plate 6 and the grinding wheel, thereby improving the fixing effect of the device.

[0028] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A transfer robot for high-precision CBN grinding wheels, comprising a rotating base (1) and a sliding carriage (4), characterized in that: The top of the rotating seat (1) is rotatably installed with a mechanical arm (2), one end of the mechanical arm (2) is rotatably connected with a plurality of grabbing claws (3), the bottom end of the sliding frame (4) is rotatably installed with a rotating rod (5), the surface of the rotating rod (5) is rotatably installed with an electric push rod (7), and the bottom end of the rotating rod (5) is rotatably connected with a limiting disc (6), a plurality of the grabbing claws (3) are distributed in a circular array with the limiting disc (6) center as the axis.

2. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The inner wall of the sliding frame (4) is slidably installed with the surface of the mechanical arm (2), and the size specification of the inner wall of the sliding frame (4) is adapted to the size specification of the surface of the mechanical arm (2), the cross section of the rotating rod (5) is a "V" shaped structure, and the top of the electric push rod (7) is rotatably connected with the bottom end of the sliding frame (4).

3. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The inner wall of the sliding frame (4) is slidably connected with a sliding rod (8), the surface of the sliding rod (8) is fixedly connected with the surface of the mechanical arm (2), and the size specification of the surface of the sliding rod (8) is adapted to the size specification of the inner wall of the sliding frame (4).

4. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The surface of the mechanical arm (2) is fixedly installed with a motor (9), the output end of the motor (9) is fixedly connected with a threaded rod (10), one end of the threaded rod (10) is rotatably installed with the surface of the mechanical arm (2), and the surface of the threaded rod (10) is threadedly connected with the inner wall of the sliding frame (4).

5. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The inner wall of the sliding frame (4) is rotatably installed with a plurality of pulleys (11), a plurality of the pulleys (11) are divided into two groups, the two groups of pulleys (11) are distributed in axial symmetry with the sliding frame (4) as the axis, and the bottom end of the pulley (11) is slidably connected with the surface of the mechanical arm (2).

6. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The bottom end of the limiting disc (6) is fixedly installed with a connecting block (12), the surface of the connecting block (12) is fixedly connected with two control ropes (13), the two control ropes (13) are distributed in axial symmetry with the connecting block (12) as the axis, one end of the control rope (13) is fixedly installed with the bottom end of the sliding frame (4), the surface of the control rope (13) is slidably connected with a supporting wheel (14), and one end of the supporting wheel (14) is rotatably installed with the surface of the rotating rod (5).

7. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: One end of the limiting disc (6) is fixedly connected with a clock spring (15), and one end of the clock spring (15) is fixedly installed with the surface of the rotating rod (5).

8. The transfer robot for high-precision CBN grinding wheels according to claim 1, characterized in that: The surface of the limiting disc (6) is fixedly connected with an auxiliary disc (16), the size specification of the surface of the auxiliary disc (16) is adapted to the size specification of the surface of the limiting disc (6), and the auxiliary disc (16) is a rubber disc.

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