CN111215951B

CN111215951B - Clamping manipulator capable of automatically feeding and discharging materials in conical mirror machining

Info

Publication number: CN111215951B
Application number: CN202010111349.8A
Authority: CN
Inventors: 程颖; 郑书强; 朱宁; 卢永斌
Original assignee: Tianjin University of Science and Technology
Current assignee: Tianjin University of Science and Technology
Priority date: 2020-02-24
Filing date: 2020-02-24
Publication date: 2021-10-26
Anticipated expiration: 2040-02-24
Also published as: CN111215951A

Abstract

The invention relates to a clamping manipulator capable of automatically feeding and discharging in conical mirror machining, which comprises a clamping ring rotating mechanism and a three-finger grabbing mechanism, wherein the three-finger grabbing mechanism comprises fingers and a grabbing control motor, at least two linear bearings are symmetrically and fixedly arranged at the inner end of an outer sliding sleeve of the clamping ring rotating mechanism, one end of a guide rod is arranged in each linear bearing in a penetrating manner, a spring is sleeved on the guide rod, the grabbing control motor is fixedly arranged on the inner ring surface of a fixed ring, an output shaft of the grabbing control motor is coaxially connected with the rotating ring, three cylindrical pins are radially and symmetrically arranged on the outer end surface of the rotating ring, three sliding grooves are radially and symmetrically formed on the outer end surface of the fixed ring, a sliding block is arranged in each sliding groove, and the fingers are used as connecting rods to connect an adjacent pair of cylindrical pins and the sliding blocks. The clamping and unloading of the automatic feeding and discharging of the conical mirror can be achieved by the manipulator, the mechanism can be used for directly clamping and clamping the end face to carry out feeding and discharging of the conical mirror, and the situation that a hand directly contacts the surface of the conical mirror to scratch is avoided.

Description

Clamping manipulator capable of automatically feeding and discharging materials in conical mirror machining

Technical Field

The invention belongs to the field of industrial robot design and manufacture, relates to a feeding and discharging technology for conical surface mirror machining, and particularly relates to a clamping manipulator capable of automatically feeding and discharging in conical surface mirror machining.

Background

The conical mirror is a precision reflector widely applied to laser positioning and has a huge market. The conical mirror is usually machined by an ultra-precision lathe, but the most traditional worker is still used for manually clamping and removing the conical mirror in the machining process. Although the performance of the existing numerical control machine tool is continuously improved, the numerical control machine tool can manufacture more precise parts, the improvement of the production efficiency in the large-scale manufacture of small parts is far from enough only by manually clamping and unloading, particularly for the precise machine tool, the machining cost of the precise machine tool is high, the yield can be improved to the maximum extent in a short time, the precision part is machined in the market, the machining time is fixed for achieving the required precision, the benefit of the precise machine tool can be maximized only by reducing the time for loading and unloading, and the automatic loading and unloading by adopting an industrial robot is the optimal choice for improving the production efficiency.

Compared with the conventional workpiece processing, the conical mirror processing has the following characteristics: the processing precision is high, the volume of the conical surface mirror is small, the processing procedure is simple, and the conical surface mirror is generally produced in large batch. The characteristics lead the conical mirror to be time-consuming and labor-consuming in the traditional processing process, and simultaneously, because the processed conical mirror has higher surface precision, the surface scratch is easily caused when the conical mirror is manually unloaded, and the yield is reduced. In order to improve the processing efficiency and the yield of the conical surface mirror, the automatic conical surface mirror clamping system is set up for improving the production efficiency of the conical surface mirror, and automatic feeding and discharging of the conical surface mirror are realized.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides the automatic clamping and unloading manipulator for machining the conical mirror, so that the manual intervention is reduced in the whole machining process, the automatic loading and unloading are realized, and the production efficiency and the yield are greatly improved.

The technical scheme adopted by the invention for solving the technical problem is as follows:

a clamping manipulator for automatic feeding and discharging in conical surface mirror machining comprises a clamping ring rotating mechanism and a three-finger grabbing mechanism, wherein the clamping ring rotating mechanism comprises a clamping ring rotating motor, a rotating cylinder and a claw sleeve, the clamping ring rotating motor is installed on a fixed frame, an output shaft of the clamping ring rotating motor is coaxially connected with one end of the rotating cylinder, the other end of the rotating cylinder is coaxially and fixedly provided with the claw sleeve through a bolt, the outer edge of the outer end face of the claw sleeve is radially and symmetrically provided with three claws, the inner ring face of the claw sleeve is in contact with the outer ring face of a bearing, the inner ring face of the bearing is fixedly installed with an outer sliding sleeve, the three-finger grabbing mechanism comprises fingers, a fixed ring, a rotating ring, a cylindrical pin, a spring and a grabbing control motor, at least two linear bearings are symmetrically and fixedly installed at the inner end of the outer sliding sleeve of the clamping ring rotating mechanism, one end of a guide rod penetrates through the linear bearings, the spring is sleeved on the guide rod, and one end of the spring is fixedly installed with the linear bearing, the other end of the guide rod is fixedly installed with the fixed ring, one end of the guide rod is embedded into the fixed ring and fixedly installed with the fixed ring, the other end of the guide rod penetrates through the linear bearing and fixedly installed with the inner sliding sleeve, the inner ring surface of the fixed ring is fixedly installed with the grabbing control motor, the output shaft of the grabbing control motor is coaxially connected with the rotating ring, three cylindrical pins are fixedly installed on the outer end surface of the rotating ring in a radial symmetry mode, three sliding grooves are symmetrically formed in the outer end surface of the fixed ring in the radial mode, a sliding block is installed in each sliding groove, the three sliding blocks are installed on the outer sides of the three cylindrical pins correspondingly, and the fingers serve as connecting rods to connect an adjacent pair of cylindrical pins and the sliding blocks.

Moreover, a clamping ring is sleeved and fixed outside the chuck for clamping the conical mirror, and a clamping groove is formed in the clamping ring.

A pressure sensor is attached to the jaw of the jaw case.

And the head of the claw is provided with a spring ball plunger.

And the tail part of the fixing frame is provided with a flange hole for connecting the robot.

A travel switch is attached to an end surface of the fixed ring.

The invention has the advantages and positive effects that:

1. the invention realizes grabbing through three assigned center mechanisms evolved by the crank block, and the three crank block mechanisms are arranged in 120 degrees and rotate to realize centering action. The motor drives the middle rotating mechanism to screw and loosen the chuck, so that the automatic clamping and unloading of the processing are realized.

2. The clamping and unloading of the automatic feeding and discharging of the machining of the conical surface mirror can be realized by the manipulator, the end face can be directly clamped and clamped by the manipulator to feed and discharge the conical surface mirror, and the scratch caused by the direct contact of hands on the surface of the conical surface mirror is avoided.

Drawings

FIG. 1 is a sectional view of the clamping manipulator;

FIG. 2 is a perspective view of the clamping manipulator;

FIG. 3 is a perspective view of a conical mirror chuck and a snap ring;

FIG. 4 is a perspective view of three fingers;

FIG. 5 is a schematic view of the gripping mechanism;

FIG. 6 is a rear view of FIG. 5;

FIG. 7 is a view showing a use state (grasping state) of the clamping manipulator;

fig. 8 is a use state diagram (a state of abutting rotation with the snap ring) of the present chucking robot.

Reference numbers in the figures: 1 finger, 2 spring ball plunger, 3 cover plates, 4 fixed rings, 5 rotating rings, 6 cylindrical pins, 7 claw sleeves, 8 springs, 9 deep groove ball bearings, 10 grabbing control motors, 11 outer sliding sleeves, 12 linear bearings, 13 guide rods, 14 inner sliding sleeves, 15 rotating cylinders, 16 fixing frames, 17 clamping ring rotating motors, 18 pressure sensors, 19 conical mirrors, 20 clamping discs, 21 clamping rings, 22 clamping grooves, 23 sliding blocks, 24 sliding grooves and 25 travel switches

Detailed Description

The present invention is further illustrated by the following specific examples, which are intended to be illustrative, not limiting and are not intended to limit the scope of the invention.

A clamping manipulator capable of automatically feeding and discharging in conical mirror machining comprises a clamping ring rotating mechanism and a three-finger grabbing mechanism.

The clamp ring rotating mechanism comprises a clamp ring rotating motor 17, a fixed frame 16, a rotating cylinder 15, a claw sleeve 7, a deep groove ball bearing 9 and an outer sliding sleeve 11, wherein the clamp ring rotating motor 17 is installed on the fixed frame 16, an output shaft of the clamp ring rotating motor 17 is coaxially connected with one end of the rotating cylinder 15, the other end of the rotating cylinder 15 is coaxially and fixedly provided with the claw sleeve 7 through a bolt, three clamping claws are radially and symmetrically arranged along the outer edge of the outer end face of the claw sleeve, the heads of the clamping claws are provided with spring ball plungers 2, the inner annular surface of the claw sleeve is in contact with the outer annular surface of the deep groove ball bearing 9, and the inner annular surface of the deep groove ball bearing 9 is fixedly installed with the outer sliding sleeve 11. The clasp rotating motor drives the rotary cylinder 15 and further drives the claw sleeve 7 to rotate. The tail part of the fixing frame is provided with a flange hole for connecting the Youhao robot, and the fixing frame is connected with the Youhao robot.

The three-finger grabbing mechanism comprises fingers 1, a cover plate 3, a fixing ring 4, a rotating ring 5, a cylindrical pin 6, a spring 8, a grabbing control motor 10, linear bearings 12, a guide rod 13 and an inner sliding sleeve 14, wherein at least two linear bearings 12 are symmetrically and fixedly arranged at the inner end of an outer sliding sleeve 11 of the clamping ring rotating mechanism, one end of the guide rod 13 penetrates through the linear bearings 12, the spring 8 is sleeved on the guide rod 13, one end of the spring is fixedly arranged with the linear bearings 12, the other end of the spring is fixedly arranged with the fixing ring 4, one end of the guide rod 13 is embedded into the fixing ring 4 and fixedly arranged with the fixing ring 4, and the other end of the guide rod passes through the linear bearings 12 and fixedly arranged with the inner sliding sleeve 14. The grabbing control motor 10 is fixedly installed on the inner ring surface of the fixing ring 4, the output shaft of the grabbing control motor 10 is coaxially connected with the rotating ring 5, three cylindrical pins 6 are fixedly installed on the outer end surface of the rotating ring 5 in a radial symmetrical mode, three sliding grooves 24 are formed on the outer end surface of the fixing ring 4 in a radial symmetrical mode, a sliding block 23 is installed in each sliding groove, the three sliding blocks are installed on the outer sides of the three cylindrical pins correspondingly, and the fingers serve as connecting rods to connect an adjacent pair of cylindrical pins and the sliding blocks. The cover plate 3 is fixedly mounted on the outer end face of the fixing ring, a through hole is formed in the center of the cover plate, and fingers penetrate out of the through hole. A travel switch 25 is attached to an end surface of the fixed ring.

A clamping ring 21 is fixedly sleeved outside the chuck 20 for clamping the conical mirror 19, and a clamping groove 22 is formed in the clamping ring. Three finger 1 snatchs the conical surface mirror and puts into the chuck with it on, the terminal surface before the chuck is being pushed up to three fingers, and conical surface mirror clamping manipulator continues to impel forward, compression spring 8 for three indicate snatch the mechanism and inwards compress, and snap ring rotary mechanism impels forward, and snap ring rotating electrical machines is rotatory simultaneously, drives claw cover 7 and snap ring cooperation, drives the snap ring rotation then, makes the chuck screw, presss from both sides tight conical surface mirror. The pressure sensor 18 is arranged on the claw of the claw sleeve 7, the screwing torque force can be detected in real time, and the screwing is stopped when the required torque force value is reached, so that the operation is finished, and the operation is quitted.

The three-finger grabbing mechanism is of a three-pointed-center structure, three evolved crank sliding block mechanisms are combined with one another and are installed at 120 degrees, and the three-finger grabbing mechanism rotates to achieve the centering effect. The grabbing control motor rotates to drive the rotating ring 5 to rotate, and then the fingers 1 on the cylindrical pin 6 are driven, so that the three fingers 1 realize grabbing and releasing actions. The rotating ring 5 is equivalent to a circular ring in an evolving crank slide block, and the slide block is driven to slide by the rotation of the circular ring.

The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the inventive concept, and these changes and modifications are all within the scope of the present invention.

Claims

1. The utility model provides a clamping manipulator of unloading in conical surface mirror processing automation which characterized in that: the three-finger grabbing mechanism comprises fingers, a fixed ring, a rotating ring, a cylindrical pin, a spring and a grabbing control motor, wherein at least two linear bearings are symmetrically and fixedly arranged at the inner end of the outer sliding sleeve of the clamping ring rotating mechanism, one end of a guide rod is penetrated and arranged in each linear bearing, the spring is sleeved on each guide rod, one end of the spring is fixedly arranged with each linear bearing, the other end of the spring is fixedly arranged with the fixed ring, one end of the guide rod is embedded into the fixed ring and fixedly arranged with the fixed ring, the other end of the three-finger grabbing mechanism penetrates through a linear bearing to be fixedly installed with an inner sliding sleeve, a grabbing control motor is fixedly installed on the inner ring surface of a fixing ring, an output shaft of the grabbing control motor is coaxially connected with a rotating ring, three cylindrical pins are radially and symmetrically installed on the outer end surface of the rotating ring, three sliding grooves are radially and symmetrically formed in the outer end surface of the fixing ring, a sliding block is installed in each sliding groove, the three sliding blocks are respectively and correspondingly installed on the outer sides of the three cylindrical pins, fingers are used as connecting rods to be connected with a pair of adjacent cylindrical pins and the sliding blocks, a clamping ring is fixedly sleeved outside a chuck for clamping a conical surface mirror, a clamping groove is formed in the clamping ring, the three fingers grab the conical surface mirror and put on the chuck, the three fingers push against the front end surface of the chuck, the conical surface mirror clamping manipulator continues to push forwards, a spring is compressed, the three-finger grabbing mechanism is inwards compressed, a clamping ring rotating mechanism pushes forwards, meanwhile, the clamping ring rotating motor rotates to drive a claw sleeve to be matched with the clamping ring, then the clamping ring is driven to rotate, so that the chuck is screwed tightly to clamp the conical mirror.

2. The clamping manipulator capable of automatically feeding and discharging materials for processing the conical surface mirror as claimed in claim 1, wherein the clamping manipulator is characterized in that: and a pressure sensor is arranged on the jaw of the jaw sleeve.

3. The clamping manipulator capable of automatically feeding and discharging materials for processing the conical surface mirror as claimed in claim 1, wherein the clamping manipulator is characterized in that: the head of the claw is provided with a spring ball plunger.

4. The clamping manipulator capable of automatically feeding and discharging materials for processing the conical surface mirror as claimed in claim 1, wherein the clamping manipulator is characterized in that: the tail part of the fixing frame is provided with a flange hole for connecting a robot.

5. The clamping manipulator capable of automatically feeding and discharging materials for processing the conical surface mirror as claimed in claim 1, wherein the clamping manipulator is characterized in that: the end face of the fixed ring is provided with a travel switch.