Mechanical gripper with damping function for metal grinding

Abstract

The utility model discloses a mechanical grab hand for metal grinding with damping function, including base, damping seat, mounting bracket, grab hand, the base is used for installing mechanical grab hand for metal grinding on the mechanical arm, the damping seat top is connected with the base, and the grab hand is installed on the mounting bracket, the damping seat contains fixed base, movable seat, damper, the fixed base inboard is equipped with the guide rail, the fixed base bottom is equipped with the opening, the movable seat side is equipped with the sliding block that agrees with the guide rail, and the movable seat is installed in the fixed base from the opening through the sliding block, the movable seat top is connected with the fixed base through the damper, and the movable seat bottom is connected with the mounting bracket, through the guide rail and sliding block of setting, make the movable seat in the fixed base not sway left and right, through the damper, make mechanical grab hand and metal surface collision, can contract upwards, improved the service life of mechanical grab hand.

Description

Technical Field

[0001] This utility model relates to the field of robot grippers, specifically a mechanical gripper for metal grinding with vibration reduction function. Background Technology

[0002] When performing mirror polishing on high-precision metal products such as aluminum products, the main method currently used to achieve a mirror finish is manual surface polishing. However, this method is time-consuming and labor-intensive. Using a robotic arm for polishing can greatly improve the efficiency of the process. However, when using a robotic arm for polishing, due to the high hardness of the metal products, the robotic gripper needs to be protected against vibration to reduce damage from rigid collisions and extend its service life. Utility Model Content

[0003] The purpose of this invention is to provide a mechanical gripper for metal grinding with vibration reduction function, so as to solve the problem of vibration reduction of mechanical grippers mentioned in the background art.

[0004] To achieve the above objectives, this utility model provides the following technical solution: a mechanical gripper for metal grinding with vibration damping function, comprising a base, a vibration damping seat, a mounting frame, and a gripper; the base is used to mount the mechanical gripper for metal grinding on a robotic arm, the top of the vibration damping seat is connected to the base, and the gripper is mounted on the mounting frame; the vibration damping seat includes a fixed seat, a movable seat, and a vibration damper, the fixed seat has a guide rail on its inner side, an opening at the bottom of the fixed seat, and a slider that matches the guide rail on its side, through which the movable seat is mounted into the fixed seat from the opening; the top of the movable seat is connected to the fixed seat through the vibration damper, and the bottom of the movable seat is connected to the mounting frame.

[0005] As a further technical solution of this utility model, the vibration damper includes a slide rod, a vibration damping spring, and a bushing. The top of the movable seat is provided with an opening for installing the bushing. The bushing is fixedly installed in the opening by screws. The upper part of the slide rod is a threaded rod and the bottom is provided with a nut. The slide rod passes through the bushing and the vibration damping spring and is threadedly connected to the top of the inner side of the fixed seat. The vibration damping spring is disposed between the fixed seat and the movable seat. The nut of the slide rod blocks the bushing to prevent the vibration damper from falling off the movable seat.

[0006] As a further technical solution of this utility model, there are multiple shock absorbers, which are symmetrically arranged on the top of the movable seat.

[0007] As a further technical solution of this utility model, the base includes a first mounting base and a second mounting base. The first mounting base has a through hole for connecting with a robotic arm, and the second mounting base is connected to a fixed base.

[0008] As a further technical solution of this utility model, the mounting bracket is provided with a sliding groove in the middle.

[0009] As a further technical solution of this utility model, the gripper includes a movable claw, a fixed claw, and an adjusting screw; the fixed claw is installed at the bottom of the mounting frame, the movable claw includes an adjusting seat and movable claw teeth, the adjusting seat passes through a sliding groove and is connected to the movable claw teeth, and the adjusting seat is provided with a threaded hole; the end of the adjusting screw after passing through the threaded hole abuts against the fixed claw.

[0010] As a further technical solution of this utility model, the bottom of the fixed claw is provided with a downward arc-shaped protrusion one, and the top of the movable claw tooth is provided with an upward arc-shaped protrusion two, and an abrasive belt is fitted on the arc-shaped protrusion one and the arc-shaped protrusion two.

[0011] As a further technical solution of this utility model, the movable claw teeth are located away from the outer side of the mounting frame and are provided with a blocking plate that protrudes above the second arc-shaped protrusion.

[0012] Compared with the prior art, the beneficial effects of this utility model are: 1. This utility model uses a sliding rod, a damping spring, and a bushing in cooperation. When the gripper collides with the metal surface, the damping spring contracts, reducing the damage to the gripper caused by rigid collision and improving the service life of the gripper.

[0013] 2. This utility model uses a rotating adjusting screw to allow the movable claw to slide within the groove, reducing the distance between the movable and fixed claws, at which point the abrasive belt is inserted. Rotating the adjusting screw again increases the distance between the movable and fixed claws, tensioning the abrasive belt, allowing the robotic arm to drive the gripper for fine grinding on the surface to be ground. If the abrasive belt becomes damaged, rotating the adjusting screw reduces the distance between the movable and fixed claws, allowing the abrasive belt to be rotated to the unworn side. Rotating the adjusting screw again increases the distance between the movable and fixed claws, tensioning the abrasive belt, thus enabling manual adjustment of the belt. Furthermore, a stop plate prevents the abrasive belt from falling off. Attached Figure Description

[0014] Figure 1 This is a perspective three-dimensional structural diagram of the present invention; Figure 2 This is a three-dimensional structural diagram of the present invention; Figure 3 This is a perspective structural diagram of the vibration damping seat of this utility model; Figure 4 This is a schematic diagram of the vibration damper structure of this utility model; In the diagram: 1. Base, 2. Vibration damping seat, 3. Mounting bracket, 4. Handle; 11. Mounting seat one, 12. Mounting seat two, 21. Fixed seat, 22. Movable seat, 23. Vibration damper, 24. Guide rail, 25. Slider, 26. Opening, 31. Slide groove, 41. Movable claw, 42. Fixed claw, 43. Adjusting screw, 44. Grinding belt, 45. Baffle plate, 231. Slide rod, 232. Bushing, 233. Vibration damping spring. Detailed Implementation

[0015] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0016] Please see Figure 1-4 This utility model provides an embodiment: a mechanical gripper for metal grinding with vibration damping function, including a base 1, a vibration damping seat 2, a mounting frame 3, and a gripper 4; the base 1 is used to mount the mechanical gripper for metal grinding on a robotic arm, the top of the vibration damping seat 2 is connected to the base 1, and the gripper 4 is mounted on the mounting frame 3; the vibration damping seat 2 includes a fixed seat 21, a movable seat 22, and a vibration damper 23, the fixed seat 21 has a guide rail 24 on its inner side, and an opening 26 at its bottom. The movable seat 22 has a slider 25 on its side that matches the guide rail 24. The movable seat 22 is installed into the fixed seat 21 from the opening 26 by the slider 25. The top of the movable seat 22 is connected to the fixed seat 21 by a vibration damper 23, and the bottom of the movable seat 22 is connected to the mounting bracket 3. With the set guide rail 24 and slider 25, the movable seat 22 will not sway left and right in the fixed seat 21. With the vibration damper 23, the mechanical gripper can retract upward when it collides with the metal surface, which improves the service life of the mechanical gripper.

[0017] Specifically, the vibration damper 23 includes a slide rod 231, a damping spring 233, and a bushing 232. The top of the movable seat 22 has an opening for installing the bushing 232. The bushing 232 is fixedly installed in the opening by screws. The upper part of the slide rod 231 is a threaded rod, and the bottom is provided with a nut. The slide rod 231 passes through the bushing 232 and the damping spring 233 and is threadedly connected to the top of the inner side of the fixed seat 21. The damping spring 233 is disposed between the fixed seat 21 and the movable seat 22. The nut of the slide rod 231 blocks the bushing 232 to prevent the vibration damper from falling off the movable seat 22. It should be noted that the threaded connection refers to the connection through a screw and a threaded hole. The provision of threaded holes is common knowledge in the industry and therefore does not require further explanation. In addition, the rebound force can be adjusted by twisting the slide rod 231 to contract the damping spring 233, which can indirectly control the contact force between the mechanical gripper and the metal surface.

[0018] Specifically, there are multiple vibration dampers 23, which are symmetrically arranged on the top of the movable seat 22 for better vibration damping effect.

[0019] Specifically, the base 1 includes a first mounting base 11 and a second mounting base 12. The first mounting base 11 has a through hole for connecting to the robotic arm, and the second mounting base 12 is connected to the fixed base 21.

[0020] Specifically, the mounting bracket 3 has a sliding groove 31 in the middle.

[0021] Specifically, the gripper 4 includes a movable claw 41, a fixed claw 42, and an adjusting screw 43; the fixed claw 42 is installed at the bottom of the mounting frame 3, the movable claw 41 includes an adjusting seat and movable claw teeth, the adjusting seat passes through the slide groove 31 and is connected to the movable claw teeth, and the adjusting seat is provided with a threaded hole; the end of the adjusting screw 43 after passing through the threaded hole abuts against the fixed claw 42; and the grinding belt 44 of the mechanical gripper can be manually replaced at any time as needed.

[0022] Specifically, the bottom of the fixed claw 42 is provided with a downward arc-shaped protrusion 1, and the top of the movable claw tooth is provided with an upward arc-shaped protrusion 2. An abrasive belt 44 is fitted onto the arc-shaped protrusion 1 and the arc-shaped protrusion 2.

[0023] Specifically, the movable claw teeth are located away from the outer side of the mounting bracket 3, and a blocking plate 45 that protrudes above the second arc-shaped protrusion is provided to prevent the abrasive belt 44 from falling off.

[0024] Working principle: The metal grinding mechanical gripper is mounted on the robotic arm via the base 1. Rotating the adjusting screw 43 causes the movable claw 41 to slide within the groove 31, reducing the distance between the movable claw 41 and the fixed claw 42, at which point the grinding belt 44 is inserted. Rotating the adjusting screw 43 again increases the distance between the movable claw 41 and the fixed claw 42, tensioning the grinding belt 44. When the robotic arm drives the gripper to contact the surface to be ground, the fixed claw 42 receives force and transmits the force to the mounting frame 3. The mounting frame 3 pushes the movable seat 22 upwards, causing the guide rail 24 and slider 25 to move the movable seat 22 left and right. 2. The compression damping spring 233 contracts, and at the same time, the damping spring 233 provides feedback force, pressing the movable seat 22 downward; thus achieving the effect of damping vibration, and allowing the abrasive belt 44 to adhere tightly to the metal surface for fine grinding; after the abrasive belt 44 is damaged by grinding, the adjusting screw 43 is rotated, the distance between the movable claw 41 and the fixed claw 42 is reduced, the abrasive belt 44 is rotated to the unworn side, and the adjusting screw 43 is rotated again to increase the distance between the movable claw 41 and the fixed claw 42, the abrasive belt 44 is tensioned, realizing the manual adjustment of the abrasive belt; and the baffle plate 45 can prevent the abrasive belt 44 from falling off.

[0025] It will be apparent to those skilled in the art that this invention is not limited to the details of the exemplary embodiments described above, and that it can be implemented in other specific forms without departing from the spirit or essential characteristics of this invention. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of equivalents of the claims be included within this invention. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A mechanical gripper for metal grinding with vibration damping function, characterized in that: The system includes a base (1), a vibration damping seat (2), a mounting frame (3), and a gripper (4). The base (1) is used to mount the mechanical gripper for metal grinding on the robotic arm. The top of the vibration damping seat (2) is connected to the base (1), and the gripper (4) is mounted on the mounting frame (3). The vibration damping seat (2) includes a fixed seat (21), a movable seat (22), and a vibration damper (23). The fixed seat (21) has a guide rail (24) on its inner side and an opening (26) at its bottom. The movable seat (22) has a slider (25) on its side that matches the guide rail (24). The movable seat (22) is mounted into the fixed seat (21) through the opening (26) by the slider (25). The top of the movable seat (22) is connected to the fixed seat (21) through the vibration damper (23), and the bottom of the movable seat (22) is connected to the mounting frame (3).

2. The mechanical gripper for metal grinding with vibration damping function according to claim 1, characterized in that: The damper (23) includes a slide rod (231), a damping spring (233), and a bushing (232). The top of the movable seat (22) is provided with an opening for installing the bushing (232). The bushing (232) is fixedly installed in the opening by screws. The upper part of the slide rod (231) is a threaded rod and the bottom is provided with a nut. The slide rod (231) passes through the bushing (232) and the damping spring (233) and is threaded to the top of the inner side of the fixed seat (21). The damping spring (233) is located between the fixed seat (21) and the movable seat (22). The nut of the slide rod (231) blocks the bushing (232) to prevent the damper (23) from falling off the movable seat (22).

3. A mechanical gripper for metal grinding with vibration damping function according to claim 2, characterized in that: Multiple shock absorbers (23) are symmetrically arranged on the top of the movable seat (22).

4. A mechanical gripper for metal grinding with vibration damping function according to claim 1, characterized in that: The base (1) includes mounting seat one (11) and mounting seat two (12). Mounting seat one (11) has a through hole for connecting to the robotic arm, and mounting seat two (12) is connected to the fixed seat (21).

5. A mechanical gripper for metal grinding with vibration damping function according to claim 1, characterized in that: The mounting bracket (3) has a sliding groove (31) in the middle.

6. A mechanical gripper for metal grinding with vibration damping function according to claim 5, characterized in that: The gripper (4) includes a movable claw (41), a fixed claw (42), and an adjusting screw (43); the fixed claw (42) is installed at the bottom of the mounting bracket (3); the movable claw (41) includes an adjusting seat and movable claw teeth; the adjusting seat passes through the slide groove (31) and is connected to the movable claw teeth; the adjusting seat is provided with a threaded hole; the end of the adjusting screw (43) after passing through the threaded hole abuts against the fixed claw (42).

7. A mechanical gripper for metal grinding with vibration damping function according to claim 6, characterized in that: The fixed claw (42) has a downward arc-shaped protrusion at the bottom and an upward arc-shaped protrusion at the top of the movable claw teeth. An abrasive belt (44) is fitted onto the arc-shaped protrusion and the arc-shaped protrusion.

8. A mechanical gripper for metal grinding with vibration damping function according to claim 7, characterized in that: The movable claw teeth are located away from the outer side of the mounting bracket (3), and a blocking plate (45) is provided that protrudes above the arc-shaped protrusion 2.

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