CN212735588U - Robot tongs and polishing robot of polishing - Google Patents
Robot tongs and polishing robot of polishing Download PDFInfo
- Publication number
- CN212735588U CN212735588U CN202021057360.2U CN202021057360U CN212735588U CN 212735588 U CN212735588 U CN 212735588U CN 202021057360 U CN202021057360 U CN 202021057360U CN 212735588 U CN212735588 U CN 212735588U
- Authority
- CN
- China
- Prior art keywords
- robot
- clamping
- polishing
- positioning
- jacking
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005498 polishing Methods 0.000 title claims abstract description 61
- 239000007788 liquid Substances 0.000 claims description 10
- 230000001681 protective effect Effects 0.000 claims description 3
- 238000009434 installation Methods 0.000 claims description 2
- 238000004519 manufacturing process Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a robot tongs and the robot of polishing, the clamping part that is used for the centre gripping work piece of polishing is set up through the interval on the frame, and the pipeline setting of connecting and control clamping part is on the frame, and set up the connecting portion that are used for connecting the robot on the frame, make the frame can be connected to on the robot, drive and move to the assigned position back by the robot, the tight work piece of polishing of the steerable clamping part clamp of pipeline, thereby the centre gripping to the work piece of polishing has been realized, the robot of polishing can begin to polish the work piece to this moment, the problem that current robot of polishing does not have supporting tongs has been solved.
Description
Technical Field
The utility model belongs to the technical field of the grinding, especially, relate to a robot tongs and the robot of polishing.
Background
The industrial robot consists of an operating machine, a controller, a servo driving system and a detection sensing device, and is electromechanical integrated automatic production equipment which is operated by a human, automatically controlled, programmed repeatedly and can complete various operations in a three-dimensional space. It is especially suitable for flexible production of various products in different batches, and plays an important role in stabilizing, improving product quality, improving production efficiency, improving labor conditions and fast updating and upgrading of products.
All need polish in a lot of product course of working, for example automobile transmission casing tradition polish by artifical the completion, but production efficiency is low like this, and the operating mode is abominable, and the incident is frequent, and along with the development of technique, the grinding device field is used gradually to the robot, but does not have the tongs supporting with the robot of polishing on the market now, leads to the robot of polishing to be difficult to use to the gearbox casing scene of polishing etc..
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide a robot tongs and the robot of polishing to solve the problem that current robot of polishing does not have supporting tongs.
In order to solve the above problem, the technical scheme of the utility model is that:
the utility model discloses a robot polishing gripper, which comprises a frame, a plurality of clamping parts, at least one floating positioning part, a signal and/or gas-liquid pipeline;
the surface of the frame, which faces the polishing workpiece, is an installation surface, and a connecting part for connecting an external robot is arranged on the frame;
the clamping parts are sequentially arranged on the mounting surface at intervals and are matched for clamping the polishing workpiece;
the floating positioning part is arranged on the mounting surface and used for avoiding the clamping part from being in hard contact with the polishing workpiece;
and the pipeline is arranged on the frame, is connected to each clamping part and is used for controlling the clamping parts.
The utility model discloses a robot polishing gripper, the frame is an integrated hollow tube; the pipeline comprises a signal routing pipeline and a gas-liquid pipeline;
the wiring pipeline and the gas-liquid pipeline are arranged in the hollow inner cavity of the integrated hollow pipe and are connected with each clamping part.
The utility model discloses a robot tongs of polishing, the integral type hollow tube includes a plurality of rectangular pipes, and is adjacent welded connection between the rectangular pipe.
The robot polishing gripper of the utility model comprises a clamping part, a lifting part, a clamping jaw, a lifting column and a middle column;
the jacking piece, the middle column and the jacking column are all arranged on the mounting surface, and the output end of the jacking piece and the top end of the jacking column are respectively positioned on two sides of the middle column;
the clamping jaw is rotatably connected to the top end of the middle column, the first end of the clamping jaw is rotatably connected with the output end of the jacking piece, and the second end of the clamping jaw is matched with the top end of the jacking column to form two clamping surfaces for clamping the polishing workpiece.
The utility model discloses a robot polishing tongs, the jacking piece includes cylinder and connecting rod; the cylinder is arranged on the mounting surface; the first end of the connecting rod is connected to the output end of the air cylinder, and the second end of the connecting rod is rotatably connected to the first end of the clamping jaw.
The utility model discloses a robot polishing tongs, the floating positioning part includes a base, a positioning shell, a positioning pin and an elastic piece;
the base is arranged on the mounting surface;
the first end of the positioning shell is provided with an opening, the second end of the positioning shell is provided with a positioning hole for extending the positioning pin, the first end of the positioning shell is connected to the base, and a limiting piece is arranged in an inner cavity of the positioning shell;
the positioning pin is arranged in the inner cavity of the positioning shell, a limiting block matched with the limiting piece is arranged on the positioning pin and used for limiting the relative position relation between the positioning pin and the positioning shell, and the first end of the positioning pin extends out of the positioning hole;
the elastic piece is arranged in the inner cavity of the positioning shell, and two ends of the elastic piece are respectively connected with the base and the second end of the positioning pin.
The utility model discloses a robot tongs of polishing, the elastic component is spring or elastic rubber.
The utility model discloses a robot tongs of polishing, clamping part department is equipped with the protection housing, is used for avoiding the components and parts of clamping part damage.
The utility model discloses a robot tongs of polishing, connecting portion are flange.
The utility model discloses a polishing robot, including the arbitrary one of the aforesaid robot tongs of polishing.
The utility model discloses owing to adopt above technical scheme, make it compare with prior art and have following advantage and positive effect:
1. the utility model relates to an embodiment is used for the clamping part of centre gripping work piece of polishing through the interval setting on the frame, and the pipeline setting of connecting and control clamping part is on the frame, and set up the connecting portion that are used for connecting the robot on the frame, make the frame be connected to on the robot, drive and move to the assigned position back by the robot, the work piece of polishing is pressed from both sides to the steerable clamping part of pipeline, thereby realized the centre gripping to the work piece of polishing, the robot of polishing can begin to polish the work piece this moment, the problem that current polishing robot does not have supporting tongs has been solved.
2. The utility model discloses an embodiment is through setting up location portion of floating on the frame, when the work piece is polished in the centre gripping, the locating pin that location portion of floating includes is under the effect of elastic component, and the work piece is polished in the contact of clamping part earlier than to realize the flexonics, play the effect of guide clamping part centre gripping work piece of polishing, guarantee to snatch the uniformity of work piece, avoid clamping part and work piece of polishing to contact firmly and lead to damaging the work piece.
3. The utility model relates to an embodiment is through setting up the frame into the hollow tube to walk the line pipeline with the signal and gas-liquid pipeline sets up in the cavity inner chamber of hollow tube, and the reconnection is to clamping part, and the structure sets up rationally, avoids a large amount of outer wiring to play the problem that security and iron fillings disturbed the easy damage.
Drawings
Fig. 1 is a schematic view of a robot polishing gripper of the present invention;
fig. 2 is a schematic view of the clamping portion of the robot polishing gripper of the present invention;
fig. 3 is a schematic diagram of the floating positioning portion of the robot polishing gripper of the present invention.
Description of reference numerals: 1: a frame; 2: a clamping portion; 201: a cylinder; 202: a connecting rod; 203: a clamping jaw; 204: a top pillar; 205: a middle column; 206: a protective housing; 3: a floating positioning part; 301: a base; 302: a positioning shell; 303: positioning pins; 304: an elastic member; 305: a bushing; 4: and connecting the flanges.
Detailed Description
The following describes the robot polishing gripper and the polishing robot in further detail with reference to the accompanying drawings and specific embodiments. The advantages and features of the present invention will become more fully apparent from the following description and appended claims.
Example one
Referring to fig. 1, in one embodiment, a robotic sanding hand grip includes a frame 1, a plurality of gripping portions 2, at least one floating locator portion 3, and signal and/or pneumatic-hydraulic lines.
The surface of the frame 1, which is used for facing a polishing workpiece, is a mounting surface, and the frame 1 is provided with a connecting part for connecting an external robot. Wherein the connecting part can be a connecting flange 4.
The clamping parts 2 are sequentially arranged on the mounting surface at intervals and are matched for clamping a polishing workpiece. Specifically, the number of the clamping portions 2 may be three or more, and when the number is three, two of the clamping portions 2 are respectively provided on the mounting surfaces at both ends of the frame 1, and the other is mounted on the mounting surface therebetween.
The floating positioning part 3 is arranged on the mounting surface and used for avoiding the hard contact between the clamping part 2 and a polishing workpiece. Specifically, the number of the floating positioning portions 3 may be two or more
And a pipeline which is arranged on the frame 1, is connected with each clamping part 2 and is used for controlling the clamping parts 2. I.e. the pipeline is laid along the frame 1 and has one end for receiving external control signals and the other end connected to the respective clamping part 2 for controlling the clamping part 2 to perform the clamping operation.
This embodiment is through setting up the clamping part 2 that is used for the centre gripping work piece of polishing on frame 1 at the interval, and the pipeline setting of connecting and control clamping part 2 is on frame 1, and set up the connecting portion that are used for connecting the robot on frame 1, make frame 1 can be connected to on the robot, drive and move to the assigned position back by the robot, the work piece of polishing is pressed from both sides to the steerable clamping part 2 of pipeline, thereby realized the centre gripping to the work piece of polishing, the work piece of polishing can begin to polish the work piece to the polishing robot this moment, the problem that current polishing robot does not have supporting tongs has been solved.
The following explains a specific structure of the present embodiment:
in the present embodiment, the frame 1 is an integral hollow tube. The pipeline comprises a signal routing pipeline and a gas-liquid pipeline. The wiring pipeline and the gas-liquid pipeline are arranged in the hollow inner cavity of the integrated hollow pipe and are connected with each clamping part 2.
The integrated hollow pipe can be a plurality of rectangular pipes which are connected in a welding mode. The rectangular pipe is light in bending resistance and torsion strength, the whole weight of the robot grinding gripper can be reduced, and the burden of an external robot connected with the robot grinding gripper is reduced.
In the present embodiment, the clamping portion 2 may specifically include a jacking piece, a clamping jaw 203, a jacking column 204, and a middle column 205.
The jacking piece, the middle column 205 and the top column 204 are all arranged on the mounting surface, and the output end of the jacking piece and the top end of the top column 204 are respectively located on two sides of the middle column 205.
The clamping jaw 203 is rotatably connected to the top end of the middle column 205, a first end of the clamping jaw 203 is rotatably connected with the output end of the jacking piece, and a second end of the clamping jaw 203 is matched with the top end of the jacking column 204 to form two clamping surfaces for clamping a grinding workpiece. The middle part of clamping jaw 203 rotates the top of connecting at the intermediate column 205 promptly, and first end is connected with the jacking piece and is formed a lever mechanism, and the first end that drives clamping jaw 203 through the jacking piece rises and descends for the second end of clamping jaw 203 is driven by reverse, again because of the second end setting of clamping jaw 203 in the top on shore 204 top, the clamping jaw 203 second end descends and can carry out the centre gripping with shore 204 cooperation to the work piece of polishing.
Further, the jacking member specifically includes a cylinder 201 and a connecting rod 202. The cylinder 201 is provided on the mounting surface. A first end of a connecting rod 202 is connected to the output end of the cylinder 201, and a second end of the connecting rod 202 is rotatably connected to a first end of a clamping jaw 203. In other embodiments, the cylinder 201 may also be another driving member, such as a hydraulic cylinder, which can drive the connecting rod 202 to move up and down, and is not limited in this respect.
Further, a protective cover 206 may be further disposed at the clamping portion 2 for preventing components of the clamping portion 2 from being damaged, such as the cylinder 201, a connection portion with the signal routing pipeline and the gas-liquid pipeline, and the like.
In the present embodiment, the floating positioning portion 3 includes a base 301, a positioning shell 302, a positioning pin 303, and an elastic member 304. Wherein,
the base 301 is provided on the mounting surface. The first end of the positioning shell 302 is provided with an opening, the second end is provided with a positioning hole for extending the positioning pin 303, the first end of the positioning shell 302 is connected to the base 301, and a limiting member is arranged in the inner cavity of the positioning shell 302. The positioning pin 303 is disposed in the inner cavity of the positioning shell 302, a limiting block matched with the limiting member is disposed on the positioning pin 303, and is used for limiting the relative position relationship between the positioning pin 303 and the positioning shell 302, and the first end of the positioning pin 303 extends out of the positioning hole. The elastic member 304 is disposed in the inner cavity of the positioning shell 302, and two ends of the elastic member 304 are connected to the second ends of the base 301 and the positioning pin 303, respectively. The elastic member 304 may be a spring or an elastic rubber.
Specifically, an annular plate is disposed on the base 301, the annular plate and the base 301 cooperate to form an accommodating space, and the first end of the positioning shell 302 can be inserted into the accommodating space to complete the connection with the base 301. The limiting member in the positioning shell 302 may be a slot section with a diameter smaller than that of the limiting member. A bushing 305 may also be disposed within the locating housing 302, the bushing 305 being disposed in the slot segment to guide and limit the direction of movement of the locating pin 303.
In other embodiments, when the requirement for positioning is low for polishing the workpiece, the floating positioning portion 3 may also be an elastic member directly disposed on the mounting surface, and is not particularly limited herein.
Example two
A grinding robot comprises the robot grinding gripper in the first embodiment. The clamping to the workpiece of polishing can be realized, and after the clamping, the polishing robot can start to polish the workpiece, so that the problem that the existing polishing robot does not have a matched gripper is solved.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments. Even if various changes are made to the present invention, the changes are still within the scope of the present invention if they fall within the scope of the claims and their equivalents.
Claims (10)
1. A robot grinding gripper is characterized by comprising a frame, a plurality of clamping parts, at least one floating positioning part and a signal and/or gas-liquid pipeline;
the surface of the frame, which faces the polishing workpiece, is an installation surface, and a connecting part for connecting an external robot is arranged on the frame;
the clamping parts are sequentially arranged on the mounting surface at intervals and are matched for clamping the polishing workpiece;
the floating positioning part is arranged on the mounting surface and used for avoiding the clamping part from being in hard contact with the polishing workpiece;
and the pipeline is arranged on the frame, is connected to each clamping part and is used for controlling the clamping parts.
2. The robotic sanding hand grip of claim 1 wherein the frame is a one-piece hollow tube; the pipeline comprises a signal routing pipeline and a gas-liquid pipeline;
the wiring pipeline and the gas-liquid pipeline are arranged in the hollow inner cavity of the integrated hollow pipe and are connected with each clamping part.
3. The robotic grinding gripper of claim 2 wherein said one-piece hollow tube comprises a plurality of rectangular tubes, adjacent ones of said rectangular tubes being welded together.
4. The robotic sanding gripper of claim 1, wherein the gripping portion includes a jacking member, a gripping jaw, a jacking post, a middle post;
the jacking piece, the middle column and the jacking column are all arranged on the mounting surface, and the output end of the jacking piece and the top end of the jacking column are respectively positioned on two sides of the middle column;
the clamping jaw is rotatably connected to the top end of the middle column, the first end of the clamping jaw is rotatably connected with the output end of the jacking piece, and the second end of the clamping jaw is matched with the top end of the jacking column to form two clamping surfaces for clamping the polishing workpiece.
5. The robotic sanding gripper of claim 4, wherein the jacking member includes a cylinder and a connecting rod; the cylinder is arranged on the mounting surface; the first end of the connecting rod is connected to the output end of the air cylinder, and the second end of the connecting rod is rotatably connected to the first end of the clamping jaw.
6. The robotic buffing grip of claim 1 wherein the floating locating portion includes a base, a locating shell, a locating pin, a resilient member;
the base is arranged on the mounting surface;
the first end of the positioning shell is provided with an opening, the second end of the positioning shell is provided with a positioning hole for extending the positioning pin, the first end of the positioning shell is connected to the base, and a limiting piece is arranged in an inner cavity of the positioning shell;
the positioning pin is arranged in the inner cavity of the positioning shell, a limiting block matched with the limiting piece is arranged on the positioning pin and used for limiting the relative position relation between the positioning pin and the positioning shell, and the first end of the positioning pin extends out of the positioning hole;
the elastic piece is arranged in the inner cavity of the positioning shell, and two ends of the elastic piece are respectively connected with the base and the second end of the positioning pin.
7. The robotic buffing grip of claim 6 wherein the resilient member is a spring or resilient rubber.
8. A robot sanding gripper as defined in claim 1, wherein a protective cover is provided at said gripping portion for protecting components of said gripping portion from damage.
9. A robotic sanding gripper as defined in claim 1 wherein said connecting portion is a connecting flange.
10. A sanding robot comprising a robotic sanding hand as claimed in any one of claims 1-9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021057360.2U CN212735588U (en) | 2020-06-10 | 2020-06-10 | Robot tongs and polishing robot of polishing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021057360.2U CN212735588U (en) | 2020-06-10 | 2020-06-10 | Robot tongs and polishing robot of polishing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212735588U true CN212735588U (en) | 2021-03-19 |
Family
ID=75007343
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021057360.2U Active CN212735588U (en) | 2020-06-10 | 2020-06-10 | Robot tongs and polishing robot of polishing |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212735588U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115229636A (en) * | 2022-07-28 | 2022-10-25 | 共享智能装备有限公司 | Grid section post-processing system |
-
2020
- 2020-06-10 CN CN202021057360.2U patent/CN212735588U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115229636A (en) * | 2022-07-28 | 2022-10-25 | 共享智能装备有限公司 | Grid section post-processing system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP4217125B2 (en) | Production system | |
| KR101558676B1 (en) | Respot Jig | |
| CN212735588U (en) | Robot tongs and polishing robot of polishing | |
| CN206899243U (en) | Tire transfer robot end effector | |
| CN109108607A (en) | Yarn bar positioning device | |
| CN208802546U (en) | Clamp for stacking automatic charging device | |
| CN113752276B (en) | Automatic flexible deburring machine for piston | |
| CN112775936B (en) | Butt welding device and method based on flexible tool and visual positioning | |
| CN115488569A (en) | Multi-station welding device for movable arm of excavator | |
| CN209970224U (en) | Turbocharger clamping jaw | |
| CN107335996B (en) | industrial robot for mounting torsion spring and working method thereof | |
| CN112757250A (en) | Industrial robot suitable for intelligent manufacturing workshop | |
| CN221211706U (en) | Two-way clamping device of manipulator | |
| CN110450186A (en) | A kind of mechanical grip for machine-building | |
| CN219853388U (en) | Workpiece clamping tool for numerical control machine tool | |
| CN221454918U (en) | Installation device for chemical robot | |
| CN213320180U (en) | Robot clamp | |
| CN216264463U (en) | Automatic change tow chain equipment mechanism | |
| CN218904501U (en) | Clamping head based on numerical control machine tool spindle | |
| CN213647561U (en) | Mechanical grabbing device for underwater robot | |
| CN218255234U (en) | Manipulator with steering assembly | |
| CN115366138B (en) | Automatic change electric centre gripping robot | |
| CN117985589B (en) | Auxiliary device for laying cable pipeline and connecting method | |
| CN210685886U (en) | Automatic add and unload drilling rod device and have its non-excavation pipe laying rig | |
| CN217316654U (en) | Oil cylinder inner wall welding auxiliary device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |