CN108818183A - It turns a millstone special manipulator - Google Patents

Abstract

The invention discloses a special manipulator for grinding, which includes a base, a large arm, a middle arm, a small arm and two clamping fingers, the large arm is hingedly connected with one end of the middle arm, and the small arm is installed At the other end of the middle arm, the small arm is provided with a first driving assembly for driving the two clamping fingers to move horizontally relative to each other, and the small arm between the two clamping fingers is provided with a There is a pressing mechanism for pressing the workpiece, a second driving assembly for adjusting the angle between the upper arm and the middle arm is provided, and a reciprocating assembly for driving the horizontal reciprocating movement of the upper arm is provided on the base. mechanism, the reciprocating mechanism is provided with a rotating mechanism for driving the rotation of the middle arm. The invention is compact in structure, easy to use, can replace manually grabbing workpieces and performing reciprocating grinding, greatly reduces labor intensity, improves production and processing efficiency, and has the characteristics of low cost, high safety, high degree of automation and wide application range.

Description

Special manipulator for grinding

technical field

The invention relates to the technical field of manipulators, more specifically, it relates to a special manipulator for grinding.

Background technique

Workpiece plane grinding is a common process in machining workshops, and it is a process of grinding the surface of the workpiece. Most of the existing workpiece plane grinding is manual operation, that is, manually holding the workpiece on the grinding table for reciprocating grinding, so as to obtain a required plane. The transmission grinding method has high labor intensity, low production and processing efficiency, and the safety of workers cannot be guaranteed. Moreover, the manual grinding method has low precision of the processed plane and cannot guarantee the consistency of the product. Thus affecting the quality of the product. At present, there are various manipulators on the market, but most of them are tools for realizing station conversion, and there is still a gap that needs to be broken through in the special manipulator for workpiece plane pushing and grinding.

Contents of the invention

The technical problem to be solved by the present invention is to provide a compact and easy-to-use special-purpose manipulator for pushing and grinding, which can replace manual grabbing and reciprocating grinding of workpieces, greatly reducing labor intensity and improving production. Processing efficiency, with the characteristics of low cost, high safety, high degree of automation and wide application range.

The technical solution of the present invention is as follows: a special manipulator for grinding, including a base, and also includes a large arm, a middle arm, a small arm and two clamping fingers, the large arm is hingedly connected with one end of the middle arm, and the The small arm is installed on the other end of the middle arm, and the two clamping fingers are installed on both sides of the small arm, and the small arm is equipped with a device for driving the two clamping fingers horizontally. For the relative movement of the first drive assembly, a pressing mechanism for pressing the workpiece is provided on the small arm between the two clamping fingers, and a mechanism for adjusting the angle of the two is provided between the large arm and the middle arm. In the second drive assembly, the base is provided with a reciprocating mechanism for driving the boom to reciprocate horizontally, and the reciprocating mechanism is provided with a rotation mechanism for driving the boom to rotate.

As a further improvement, the first driving assembly includes a connecting seat connected to the small arm and a first hydraulic cylinder located below the connecting seat, and the clamping finger is connected to the output end of the first hydraulic cylinder connect.

Further, the second driving assembly includes a second hydraulic cylinder, and the two ends of the second hydraulic cylinder are respectively connected with the main arm and the middle arm through pins.

Further, the pressing mechanism includes a third hydraulic cylinder installed on the forearm and a pressure block at the output end of the third hydraulic cylinder, and the third hydraulic cylinder is installed in parallel on the forearm .

Further, the reciprocating mechanism includes a first motor, a screw and a slider, the first motor is installed at one end of the base, the screw is connected to the output end of the first motor, and the slider is connected to the screw connected by screwing, two guide columns are arranged on both sides of the screw rod, and the slider is passed through the two guide columns.

Further, the rotating mechanism includes a second motor and a gear pair, the two gears of the gear pair are respectively installed on the output end of the boom and the second motor, and the boom is movably plugged into the inside the slider.

Further, the manipulator also includes a grinding table located on one side of the base.

Further, the grinding table includes a support frame, a workbench located above the support frame, and a detachable grinding plate arranged on the top surface of the workbench.

Further, at least two high-pressure water guns are arranged above the grinding plate.

Further, the bottom of the support frame is also provided with a plurality of adjusting bolts.

Beneficial effect

Compared with the prior art, the present invention has the following advantages:

The special manipulator for pushing and grinding of the present invention has a compact structure and is easy to use. It is specially used for pushing and grinding the workpiece plane, and can replace manual grabbing and reciprocating grinding of the workpiece, which greatly reduces labor intensity and improves production and processing efficiency and processing accuracy. The consistency of the workpiece precision can be guaranteed, and the quality of the product can be ensured. It has the characteristics of low cost, high safety, high degree of automation and wide application range; the cooperation of the clamping fingers and the pressing mechanism can realize the clamping of the workpiece While pushing and grinding, it can also ensure that the workpiece is not damaged.

Description of drawings

Fig. 1 is the front view structure schematic diagram of the present invention;

Fig. 2 is a left view structural schematic diagram of the present invention.

Among them: 1-base, 2-big arm, 3-middle arm, 4-small arm, 5-clamping finger, 6-connecting seat, 7-first hydraulic cylinder, 8-second hydraulic cylinder, 9-pin, 10-Third hydraulic cylinder, 11-Block, 12-First motor, 13-Screw, 14-Slider, 15-Guide column, 16-Second motor, 17-Gear pair, 18-Grinding table, 19- Reinforcement seat, 18a-support frame, 18b-working table, 18c-grinding plate, 18d-high pressure water gun.

Detailed ways

The present invention will be further described below in conjunction with the specific embodiments in the accompanying drawings.

Referring to Figures 1-2, a special manipulator for grinding according to the present invention includes a base 1, a large arm 2, a middle arm 3, a small arm 4 and two clamping fingers 5, wherein the large arm 2 is perpendicular to the base 1 , the big arm 2 is hingedly connected to one end of the middle arm 3 , the small arm 4 is installed on the other end of the middle arm 3 , and the small arm 4 is arranged perpendicular to the middle arm 3 , and two clamping fingers 5 are installed on both sides of the small arm 4 , and the two clamping fingers 5 are arranged parallel to the forearm 4, and the first drive assembly for driving the two clamping fingers 5 to move horizontally relative to each other is provided on the forearm 4 to clamp the workpiece. The small arm 4 between the fingers 5 is provided with a pressing mechanism for pressing the workpiece to press the workpiece down so as to have sufficient friction when grinding. There is a device between the big arm 2 and the middle arm 3 to adjust the angle of the two. The second drive assembly can lift or lower the workpiece. The base 1 is provided with a reciprocating mechanism for driving the horizontal reciprocating movement of the arm 2 to push the workpiece to complete the grinding action. The reciprocating mechanism is provided for driving the arm 2 to rotate. The unique rotating mechanism makes the workpiece rotate at a certain angle to complete the conversion of the station.

Preferably, the first drive assembly includes a connecting seat 6 connected to the forearm 4 and a first hydraulic cylinder 7 located below the connecting seat 6, wherein the clamping finger 5 is connected to the output end of the first hydraulic cylinder 7. The seat 6 is also provided with a reinforced seat 19, and the other end of the first hydraulic cylinder 7 is fixed on the reinforced seat 19, so that the force on the first hydraulic cylinder 7 is more uniform, and the relative movement of the clamping fingers 5 is more stable; its pressing mechanism Including the third hydraulic cylinder 10 installed on the forearm 4 and the pressure block 11 located at the output end of the third hydraulic cylinder 10, the third hydraulic cylinder 10 is installed in parallel on the forearm 4 to give the workpiece a vertical downward pressure, Both the first hydraulic cylinder 7 and the third hydraulic cylinder 10 are equipped with magnetic induction sensors to monitor the pressure of the two cylinders in real time. The cooperation of the clamping fingers and the pressing mechanism can realize the clamping and grinding of the workpiece At the same time, it can also ensure that the workpiece is not damaged, its transmission is stable, the load is large, and the workpiece can be clamped well. At the same time, workpieces of different lengths can be clamped; similarly, the second drive assembly includes the second hydraulic cylinder. 8. The two ends of the second hydraulic cylinder 8 are respectively connected with the main arm 2 and the middle arm 3 through pins 9, so as to facilitate the control of the switching station of the manipulator.

Further, the reciprocating mechanism includes a first motor 12, a screw 13 and a slider 14, wherein the first motor 12 is installed at one end of the base 1, the screw 13 is connected to the output end of the first motor 12, and the slider 14 rotates with the screw 13 There are two guide columns 15 on both sides of the screw 13, and the slider 14 is installed on the two guide columns 15. The manipulator is driven to reciprocate by the screw drive to grind the workpiece, which has high transmission precision. The characteristics; the rotating mechanism includes a second motor 16 and a gear pair 17, wherein the two gears of the gear pair 17 are respectively installed on the output ends of the boom 2 and the second motor 16, and the boom 2 is movably inserted into the slider 14 , Drive the manipulator to switch the position of the workpiece through gear transmission, which has the characteristics of small size, small space occupation and large driving force.

The manipulator of the present invention also includes a grinding table 18 on one side of the base 1, the grinding table 18 includes a support frame 18a, a workbench 18b above the support frame 18a and a detachable grinding plate located on the top surface of the workbench 18b 18c, the grinding plate 18c is in contact with the workpiece to form a grinding state, wherein the grinding plate 18c can be fixed on the workbench 18b through clamps or bolts, which is convenient for disassembly and maintenance, and at least two high-pressure water guns 18d are arranged above the grinding plate 18c , play the role of excretion and cooling.

When the special manipulator for pushing and grinding of the present invention is in actual work, the first drive assembly acts to drive the clamping fingers 5 to clamp the workpiece, and then the rotating mechanism acts to drive the big arm 2 to rotate, thereby driving the workpiece to rotate to the top of the grinding table 18; then The action of the second driving component drives the middle arm 3 to descend, thereby driving the workpiece to contact and fit the grinding plate 18c of the grinding table 18; then the pressing mechanism acts to give the workpiece a downward pressure, increasing the friction between the workpiece and the grinding plate 18c Finally, the action of the reciprocating mechanism drives the boom 2 to reciprocate horizontally, thereby driving the workpiece to grind on the grinding plate 18c until the required plane is obtained. The special manipulator for pushing and grinding of the present invention has a compact structure and is easy to use. It is specially used for pushing and grinding the workpiece plane, and can replace manual grabbing and reciprocating grinding of the workpiece, which greatly reduces labor intensity and improves production and processing efficiency and processing accuracy. The consistency of workpiece precision can be guaranteed, and the quality of products can be guaranteed. It has the characteristics of low cost, high safety, high degree of automation and wide application range.

What is described above is only the preferred embodiment of the present invention, it should be pointed out that for those skilled in the art, under the premise of not departing from the structure of the present invention, some deformations and improvements can also be made, and these will not affect the implementation of the present invention effect and utility of the patent.

Claims (9)

1. The special manipulator 1. one kind is turned a millstone, including pedestal (1), which is characterized in that further include large arm (2), middle arm (3), forearm (4) With two holding fingers (5), the large arm (2) and one end of middle arm (3) are hinged and connected, and the forearm (4) is mounted on institute The other end of middle arm (3) is stated, holding finger (5) described in two is mounted on the two sides of the forearm (4), the forearm (4) It is equipped with the first driving assembly for driving two holding finger (5) horizontal relative motions, in two clamping hands Refer to that the forearm (4) between (5) is equipped with the hold-down mechanism for workpiece pressing, is equipped between the large arm (2) and middle arm (3) The second driving assembly of the two angle is adjusted, the pedestal (1) is equipped with for driving the large arm (2) horizontal reciprocating movement Reciprocator, the reciprocator be equipped with for drive the large arm (2) rotate rotating mechanism.
2. 2. special manipulator according to claim 1 of turning a millstone, which is characterized in that first driving assembly includes and institute The first hydraulic cylinder (7) stating the attachment base (6) of forearm (4) connection and being located at below the attachment base (6), the holding finger (5) it is connect with the output end of the first hydraulic cylinder (7).
3. 3. special manipulator according to claim 1 of turning a millstone, which is characterized in that second driving assembly includes second The both ends of hydraulic cylinder (8), the second hydraulic cylinder (8) are connected with the large arm (2), middle arm (3) respectively by pin (9).
4. 4. special manipulator according to claim 1 of turning a millstone, which is characterized in that the hold-down mechanism includes being installed on institute It states the third hydraulic cylinder (10) on forearm (4) and is located at the briquetting (11) of the output end of the third hydraulic cylinder (10), it is described Third hydraulic cylinder (10) is installed in parallel on the forearm (4).
5. 5. special manipulator according to claim 1 of turning a millstone, which is characterized in that the reciprocator includes first motor (12), screw rod (13) and sliding block (14), the first motor (12) are mounted on one end of pedestal (1), the screw rod (13) It being connect with the output end of first motor (12), the sliding block (14) is screwed on screw rod (13) to be connected, and the two of the screw rod (13) Side is equipped with two guide posts (15), and the sliding block (14) is arranged on two guide posts (15).
6. 6. special manipulator according to claim 5 of turning a millstone, which is characterized in that the rotating mechanism includes the second motor (16) and gear pair (17), two gears of the gear pair (17) are separately mounted to the large arm (2) and the second motor (16) on output end, the large arm (2) activity is plugged in the sliding block (14).
7. 7. special manipulator of turning a millstone described in any one of -6 according to claim 1, which is characterized in that the manipulator is also Mill platform (18) including being located at the pedestal (1) side.
8. 8. special manipulator according to claim 7 of turning a millstone, which is characterized in that the mill platform (18) includes support frame (18a), be located at the support frame (18a) above workbench (18b) and removably be set to the top surface the workbench (18b) on Nog plate (18c).
9. 9. special manipulator according to claim 8 of turning a millstone, which is characterized in that be additionally provided with above the nog plate (18c) At least two giants (18d).