CN211277970U - Internal-bracing clamping type robot clamp device and golf club head polishing equipment thereof - Google Patents

Abstract

The inner support clamping type robot fixture device and its golf club head grinding equipment, the inner support clamping type robot fixture device includes a driving component and a pushing component, and an elastic chuck, and the pushing component includes a connected force-increasing lever and a tie rod. The assembly is connected with the booster lever, and the booster lever is rotated and arranged on the clamp device, the pull rod is located in the elastic chuck, the elastic chuck is provided with an expansion sleeve, the clamping object is sleeved on the outer surface of the expansion sleeve, and the largest end of the pull rod is located. The outer diameter > the inner diameter of the expansion sleeve; the driving component drives the booster lever to rotate on the fixture device, and the booster lever drives the pull rod to reciprocate in the elastic chuck; during the reciprocating movement, one end of the pull rod gradually contacts and spreads the expansion sleeve, the elastic clamp The expansion sleeve of the head is propped up in the clamping object and the clamping object is held tightly; or, one end of the tie rod is gradually moved away from the expansion sleeve, and the expansion sleeve releases the clamping object. The utility model uses the inner support clamping type clamp to clamp the golf club head, and the grinding requirements of the whole club head can be satisfied by one clamping.

Description

Inner support clamping robot fixture device and golf club head grinding equipment

technical field

The utility model relates to an inner support clamping type robot clamp device and its golf club head grinding equipment.

Background technique

At present, the commonly used golf club head grinding fixture is a profiling positioning type, which can only complete 60% to 70% of the overall grinding work of the club head surface, resulting in incomplete grinding of the club head surface, requiring repeated clamping. In addition, most of the commonly used five-axis robots have an angle limit of ±120 degrees. Due to the limit of the five-axis angle, traditional fixtures cannot complete the entire club head grinding.

Chinese Patent Document No. CN208340040 U discloses a golf club head grinding system on 2019.01.08, including a multi-axis robot, a grinding mechanism and a feeding table, and a grinding fixture is arranged on the multi-axis robot; it also includes an edge changing device, an edge changing device It includes side changing bracket, side changing cylinder and side changing pressure plate. The side changing bracket is relatively fixed. The side changing cylinder is connected to the side changing pressure plate and drives the side changing pressure plate to reciprocate, so as to clamp the golf club head between the side changing bracket and the side changing plate. Between the pressing plates; a double-layer feeding device is arranged on the feeding table, and the double-layer feeding device includes an upper loading plate and a lowering plate. The upper loading plate and the lowering plate are respectively equipped with corresponding pushing cylinders to drive the upper loading plate and the lowering plate respectively. Reciprocating movement, positioning tooling is provided on the uploading board and/or the downloading board. This structure has the above-mentioned disadvantages. Therefore, further improvement is required.

Utility model content

The purpose of the present utility model is to provide a golf club with an inner support clamping type robot fixture device that has complete surface grinding, high inner support clamping, flexible and quick installation, and effectively solves the problem of incomplete surface polishing of the existing club head. head grinding equipment to overcome the deficiencies in the prior art.

An inner support clamping type robot gripper device designed for this purpose includes a drive assembly, a push assembly, and an elastic chuck. The push assembly includes a connected booster lever and a pull rod, the drive assembly is connected to the booster lever, and the booster The force lever is rotatably arranged on the clamp device, the pull rod is partially located in the elastic chuck, the elastic chuck is provided with an expansion sleeve for assembling the clamping object, the clamping object is sleeved on the outer surface of the expansion sleeve, and the maximum outer diameter of one end of the pulling rod > The inner diameter of the expansion sleeve; wherein, the driving component drives the booster lever to rotate on the fixture device, and the booster lever drives the pull rod to reciprocate in the elastic chuck during the rotation; during the reciprocating movement, one end of the pull rod gradually contacts and spreads the expansion sleeve , the expansion sleeve of the elastic chuck is stretched in the clamping object and the clamping object is held tightly; or, one end of the tie rod is gradually moved away from the expansion sleeve, the expansion sleeve shrinks and resets and the clamping object is released.

The driving component is at least a cylinder, the cylinder includes a cylinder body and a piston, the piston is provided with a piston rod, and the piston rod is connected with a booster lever; when the cylinder is inflated, the piston pushes the booster lever, and the booster lever rotates on the fixture device, The booster lever then drives the pull rod to move in the elastic collet.

One side of the cylinder body is provided with a fixed plate, the piston rod penetrates through the fixed plate, the fixed plate is provided with a connecting plate corresponding to the pull rod, the connecting plate is provided with a connecting seat and a rotating part corresponding to the booster lever, a mounting groove is arranged in the connecting seat, and one side of the connecting seat is provided Abutting on the connecting plate, the booster lever is partially installed in the installation groove, and the rotating piece penetrates through the installation slot and the booster lever, so that the booster lever is rotated and arranged on the clamp device.

One end of the force-increasing lever is provided with a positioning slot, and the tie rod is provided with a positioning block corresponding to the positioning slot, the positioning block is inserted into the positioning slot, and the two are fixedly connected.

The inner support clamping type robot fixture device also includes a connecting bottom block assembled with the elastic collet, the connecting bottom block is located at the bottom of the connecting seat, the connecting bottom block is provided with a groove corresponding to the elastic collet, and the elastic collet part is installed in the groove , and the connecting bottom block and the connecting seat jointly clamp the elastic collet.

The angle A between the connecting plate and the fixing plate is 135°.

The end of the tie rod contacting the expansion sleeve is provided with an inverted conical tie rod head.

According to this purpose, a golf club head grinding device with the above-mentioned inner support clamping type robot fixture device is designed, which includes a golf club head, and the golf club head is provided with an inner hole of a shank, and an inner hole of the shank of the golf club head is provided. The hole sleeve is arranged on the outer surface of the expansion sleeve, and the expansion sleeve tightens the inner hole of the pipe handle of the golf club head during the expansion, so as to clamp the golf club head.

A golf club head grinding device with an inner support clamping type robot fixture device further includes a laser deviation corrector, and the laser emitted by the laser deviation corrector is aimed at the golf club head.

The golf club head grinding device with the inner support clamping type robot jig device further comprises a robot five-axis for connecting the jig device, and a grinding wheel for grinding the golf club head.

The beneficial effects of the present utility model are as follows:

a. The expansion sleeve of the elastic chuck stretches and tightens the clamped object in the clamped object, and clamps the clamped object in the form of an inner support;

b. Use the inner support clamp to clamp the golf club head, and one clamping can meet the grinding requirements of the entire club head;

b. Use with the laser correction system (laser correction device) to ensure the grinding accuracy;

d. The unique 135° of the fixture solves the problem of the robot's five-axis limit position.

Description of drawings

FIG. 1 is a schematic structural diagram of a perspective view of a clamp device according to an embodiment of the present invention.

FIG. 2 is a schematic diagram of a partially exploded structure of a clamp device according to an embodiment of the present invention.

3 is a schematic diagram of an exploded structure of a clamp device according to an embodiment of the present invention.

4 is a schematic cross-sectional structure diagram of a clamp device according to an embodiment of the present invention.

FIG. 5 is a schematic structural diagram of a fixture device connected to five axes of a robot according to an embodiment of the present invention.

FIG. 6 and FIG. 7 are schematic diagrams of the structure of the clamp device freeing from the restriction of the five axes of the robot according to an embodiment of the present invention.

In the figure, 1 is the elastic chuck, 1.1 is the expansion sleeve, 2 is the booster lever, 2.1 is the positioning groove, 3 is the tie rod, 3.1 is the positioning block, 3.2 is the tie rod head, 4 is the cylinder body, 5 is the piston, and 5.1 is the Piston rod, 6 is the fixing plate, 7 is the connecting plate, 8 is the connecting seat, 8.1 is the mounting groove, 9 is the connecting bottom block, 9.1 is the groove, 10 is the golf club head, 11 is the laser deflector, and 12 is the robot Five shafts, 13 is a grinding wheel, and 14 is a rotating part.

Detailed ways

The present utility model will be further described below in conjunction with the accompanying drawings and embodiments.

Referring to Figures 1 to 4, an inner support clamping type robot fixture device includes a drive assembly, a push assembly, and an elastic chuck 1. The push assembly includes a connected force-increasing lever 2 and a pull rod 3, a drive assembly and a force-enhancing assembly. The lever 2 is connected, and the booster lever 2 is rotatably arranged on the clamp device, the pull rod 3 is partially located in the elastic chuck 1, and the elastic chuck 1 is provided with an expansion sleeve 1.1 for assembling the clamping object, and the clamping object is sleeved on the expansion sleeve. 1.1 On the outer surface, the maximum outer diameter of one end of the tie rod 3 > the inner diameter of the expansion sleeve 1.1; wherein, the driving component drives the booster lever 2 to rotate on the fixture device, and the booster lever 2 drives the tie rod 3 in the elastic chuck 1 during rotation. Carry out reciprocating movement; during the reciprocating movement, one end of the tie rod 3 gradually contacts and spreads the expansion sleeve 1.1, and the expansion sleeve 1.1 of the elastic collet 1 spreads and tightens the clamping object; or, one end of the tie rod 3 gradually moves away from Expand the sleeve 1.1, shrink the sleeve 1.1 to reset and loosen the clamp.

The expansion sleeve 1.1 of the elastic collet 1 stretches and holds the clamped object in the clamped object, and clamps the clamped object in the form of an inner support. The expansion sleeve 1.1 is provided with several expansion blocks, the bottoms of each expansion block are connected, and from above the bottom of the expansion block is connected, there is a gap between each expansion block, so as to open the expansion sleeve 1.1.

The driving component is at least a cylinder, the cylinder includes a cylinder block 4 and a piston 5, the piston 5 is provided with a piston rod 5.1, and the piston rod 5.1 and the booster lever 2 are connected by screws; the cylinder 4 is inflated, and the piston 5 pushes the booster lever 2, and the booster lever 2 rotates on the clamp device, and the booster lever 2 further drives the pull rod 3 to move in the elastic chuck 1.

A fixed plate 6 is provided on one side of the cylinder block 4, the piston rod 5.1 penetrates through the fixed plate 6, the fixed plate 6 is provided with a connecting plate 7 corresponding to the pull rod 3, and the connecting plate 7 is provided with a connecting seat 8 and a rotating member 14 corresponding to the booster lever 2. There is a mounting groove 8.1 in the seat 8, one side of the connecting seat 8 is against the connecting plate 7, the booster lever 2 is partially installed in the mounting groove 8.1, and the rotating member 14 penetrates the mounting groove 8.1 and the booster lever 2, so that the The booster lever 2 is rotatably arranged on the clamp device.

The rotating member 14 is a pin.

One end of the booster lever 2 is provided with a positioning groove 2.1, and the pull rod 3 is provided with a positioning block 3.1 corresponding to the positioning groove 2.1. The positioning block 3.1 is inserted into the positioning groove 2.1, and the two are fixedly connected.

The inner support clamping type robot fixture device also includes a connecting bottom block 9 assembled with the elastic collet 1, the connecting bottom block 9 is located at the bottom of the connecting seat 8, and the connecting bottom block 9 is provided with a groove 9.1 corresponding to the elastic collet 1, and the elastic clip The head 1 is partially installed in the groove 9.1, and the connecting bottom block 9 and the connecting seat 8 jointly clamp the elastic collet 1.

The angle A between the connecting plate 7 and the fixing plate 6 is 135°, which solves the problem of the robot's five-axis limit position, and can meet the grinding requirements of the entire club head in one clamping.

The end of the tie rod 3 contacting the expansion sleeve 1.1 is provided with an inverted conical tie rod head 3.2.

5 to 7, a golf club head grinding device with the above-mentioned inner support clamping type robotic gripper device includes a golf club head 10, the golf club head 10 is provided with a shank inner hole, and the golf club head The inner hole of the tube handle of 10 is sleeved on the outer surface of the expansion sleeve 1.1, and the expansion sleeve 1.1 holds the inner hole of the tube handle of the golf club head 10 during the expansion, so as to clamp the golf club head 10.

The golf club head grinding device with the inner support clamping type robotic fixture device further includes a laser deviation rectifier 11 , and the laser emitted by the laser deviation rectifier 11 is aimed at the golf club head 10 .

The golf club head grinding device with the inner support clamping type robot gripping device further includes a robot five-axis 12 for connecting the gripping device, and a grinding wheel 13 for grinding the golf club head 10 .

specifically:

The fixture uses an inner support chuck to hold the inner hole of the tube handle of the golf club head. After the cylinder is filled with high-pressure air, the piston rod 5.1 of the piston 5 is pushed out and pushes the booster lever 2; after the booster lever 2 is pushed, it drives the The pull rod 3 moves in the elastic collet 1; one end of the pull rod 3 is an inverted conical structure. During the movement, the expansion sleeve 1.1 of the elastic collet 1 is stretched to hold the inner hole of the pipe handle. After calculation, the static pressure of the expansion sleeve 1.1 of the elastic chuck 1 on the inner hole wall of the pipe handle can reach 29.2 N/mm2.

The above are the preferred solutions of the present invention, showing and describing the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments, and the descriptions in the above-mentioned embodiments and the description are only to illustrate the principle of the present invention. There are various changes and improvements that fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. An inner support clamping type robot clamp device, comprising a drive assembly and a push assembly, and an elastic chuck (1), characterized in that: the push assembly includes a connected booster lever (2) and a pull rod (3), The drive assembly is connected with the booster lever (2), and the booster lever (2) is rotatably arranged on the clamp device, the pull rod (3) is partially located in the elastic chuck (1), and the elastic chuck (1) is provided with a clamp for assembling The expansion sleeve (1.1) of the tightening object, the clamping object is sleeved on the outer surface of the expansion sleeve (1.1), and the maximum outer diameter of one end of the tie rod (3) > the inner diameter of the expansion sleeve (1.1); wherein, the driving component drives the booster lever ( 2) Rotate on the fixture device, and the booster lever (2) drives the pull rod (3) to reciprocate in the elastic chuck (1) during the rotation; during the reciprocating movement, one end of the pull rod (3) gradually contacts and spreads The expansion sleeve (1.1), the expansion sleeve (1.1) of the elastic chuck (1) is stretched in the clamping object and the clamping object is held tightly; 1.1) Shrink to reset and release the clamp. 2. The inner support clamping type robot fixture device according to claim 1, characterized in that: the drive assembly is at least a cylinder, the cylinder comprises a cylinder (4) and a piston (5), and the piston (5) is provided with a piston rod (5.1 ), the piston rod (5.1) is connected with the booster lever (2); inflating the cylinder (4), the piston (5) pushes the booster lever (2), and the booster lever (2) rotates on the fixture device , the booster lever (2) then drives the pull rod (3) to move in the elastic chuck (1). 3. The inner support clamping type robot fixture according to claim 2, characterized in that: one side of the cylinder (4) is provided with a fixing plate (6), the piston rod (5.1) penetrates the fixing plate (6), and the fixing plate (6) A connecting plate (7) is provided corresponding to the pull rod (3), and the connecting plate (7) is provided with a connecting seat (8) and a rotating member (14) corresponding to the booster lever (2), and the connecting seat (8) is provided with Mounting groove (8.1), one side of the connecting seat (8) abuts on the connecting plate (7), the booster lever (2) is partially installed in the mounting groove (8.1), and the rotating piece (14) penetrates the mounting groove (8.1) ) and a booster lever (2), so that the booster lever (2) is rotated and arranged on the fixture device. 4. The inner support clamping type robot fixture device according to claim 3, characterized in that: one end of the booster lever (2) is provided with a positioning groove (2.1), and the pull rod (3) is provided with a positioning block corresponding to the positioning groove (2.1). (3.1), the positioning block (3.1) is inserted into the positioning groove (2.1), and the two are fixedly connected. 5. The inner support clamping type robot fixture device according to claim 3, characterized in that: it also comprises a connecting bottom block (9) assembled with the elastic chuck (1), and the connecting bottom block (9) is located in the connecting seat (8). ) bottom, the connecting bottom block (9) is provided with a groove (9.1) corresponding to the elastic collet (1), the elastic collet (1) is partially installed in the groove (9.1), and connects the bottom block (9) and the connecting seat (8) Clamp the elastic collet (1) together. 6 . The inner support clamping type robot fixture according to claim 3 , wherein the included angle A between the connecting plate ( 7 ) and the fixing plate ( 6 ) is 135°. 7 . 7. The inner support clamping type robot fixture device according to claim 1, wherein the end of the tie rod (3) that contacts the expansion sleeve (1.1) is provided with an inverted conical tie rod head (3.2). 8. A golf club head grinding device of an inner support clamping type robotic gripper device, comprising the inner support clamping type robotic gripper device according to any one of claims 1-7 and a golf club head (10), a golf ball The club head (10) is provided with a tube shank inner hole, and is characterized in that: the tube shank inner hole of the golf club head (10) is sleeved on the outer surface of the expansion sleeve (1.1), and the expansion sleeve (1.1) is in the middle of the expansion sleeve. Tighten the inner hole of the shank of the golf club head (10) to clamp the golf club head (10). 9. The golf club head grinding device of the inner support clamping type robot fixture device according to claim 8, characterized in that: it also comprises a laser deviation corrector (11), and the laser emitted by the laser deviation corrector (11) is aimed at the golf ball Head (10). 10. The golf club head grinding device of the inner support clamping type robot fixture device according to claim 8, characterized in that: it further comprises a robot five-axis (12) for connecting the fixture device, and for grinding golf clubs The grinding wheel (13) of the head (10).

Images