CN117067021B - Centering device and centering manipulator - Google Patents
Centering device and centering manipulatorInfo
- Publication number
- CN117067021B CN117067021B CN202211576167.3A CN202211576167A CN117067021B CN 117067021 B CN117067021 B CN 117067021B CN 202211576167 A CN202211576167 A CN 202211576167A CN 117067021 B CN117067021 B CN 117067021B
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- CN
- China
- Prior art keywords
- lifting seat
- pushing mechanism
- sucker
- centering
- workpiece
- Prior art date
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/06—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain
- B24B9/08—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of non-metallic inorganic material, e.g. stone, ceramics, porcelain of glass
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Ceramic Engineering (AREA)
- Inorganic Chemistry (AREA)
- Manipulator (AREA)
Abstract
The invention provides a centering device and a four-out centering manipulator, wherein the centering device comprises a sucker, a lifting seat, a jaw mechanism, a pushing mechanism, a driving mechanism and a pushing mechanism, wherein the lifting seat is arranged at the side of the sucker, the jaw mechanism comprises a plurality of jaws movably arranged on the lifting seat, the jaws can move radially relative to the lifting seat, the pushing mechanism is arranged below the sucker and is linked with the jaw mechanism, the driving mechanism is connected with the pushing mechanism and drives the pushing mechanism to move up and down, the pushing mechanism drives the jaws to synchronously move radially inwards along the lifting seat when the pushing mechanism ascends so as to clamp a workpiece placed on the sucker, and the pushing mechanism drives the jaws to synchronously move radially outwards along the lifting seat and drive the jaws to descend so as to loosen the workpiece placed on the sucker, and the top ends of the jaws descend to the lower part outside the sucker. The centering device provided by the invention can realize high-efficiency and accurate automatic positioning, is suitable for the requirement of a large-diameter grinding tool on the side edge processing of a workpiece, and can effectively avoid the large-diameter grinding tool.
Description
Technical Field
The invention belongs to the technical field of machining equipment, and particularly relates to a centering device and a centering manipulator.
Background
In the grinding process of some workpieces, the workpieces are required to be clamped and positioned before grinding. For example, in the mobile phone glass processing industry, it is desirable to position the glass first and then process it. The positioning and clamping of the glass are finished manually, each time the glass is positioned, an auxiliary explorator is needed manually, the positioning is inaccurate, and the efficiency is low. Some uses pneumatic centering clamp to clamp and position glass, and glass processing needs to grind its upper surface and side, when using large diameter cutter to grind, large diameter cutter can interfere with centering clamp, can not avoid large diameter cutter, leads to being difficult to be suitable for the side abrasive machining of work piece.
Disclosure of Invention
The invention aims to provide a centering device and a centering manipulator, which are used for solving the technical problem that a centering clamp cannot be suitable for grinding the side edge of a workpiece because the centering clamp interferes when a large-diameter grinding tool grinds the side edge of the workpiece in the prior art.
In order to achieve the above purpose, the invention adopts the technical scheme that the centering device comprises:
A suction cup;
the lifting seat is arranged beside the sucker;
the claw mechanism comprises a plurality of claws movably arranged on the lifting seat, and the claws can radially move relative to the lifting seat;
a pushing mechanism arranged below the sucker and linked with the claw mechanism, and
The driving mechanism is connected with the pushing mechanism and drives the pushing mechanism to move up and down;
the pushing mechanism drives the claws to synchronously move radially inwards along the lifting seat when ascending so as to clamp the workpiece placed on the sucker, and drives the claws to synchronously move radially outwards along the lifting seat and drive the claws to descend when descending so as to loosen the workpiece placed on the sucker and the top ends of the claws descend to the lower part outside the sucker.
In one embodiment, the pushing mechanism is provided with a first position, a second position and a third position from top to bottom along a moving path, and the driving mechanism drives the pushing mechanism to switch among the first position, the second position and the third position;
The pushing mechanism is provided with a plurality of pushing claws, the tail ends of the pushing claws are provided with T-shaped inclined surface grooves, the tail ends of the pushing claws are provided with T-shaped inclined blocks, the inclined surfaces of the T-shaped inclined blocks are matched with the T-shaped inclined surface grooves, when the pushing mechanism descends from the first position to the second position, the T-shaped inclined blocks are in sliding fit in the T-shaped inclined surface grooves, and when the pushing mechanism descends from the second position to the third position, the T-shaped inclined blocks slide to the bottoms of the T-shaped inclined surface grooves so as to drive the lifting seat to descend from the upper limit position to the lower limit position.
In one embodiment, the jaw mechanism comprises at least two jaws arranged centrally symmetrically.
In one embodiment, the slope of the T-shaped sloping block is 45-60 degrees from the slope of the T-shaped sloping slot.
In one embodiment, the lifting seat is relatively fixed with the clamping jaw when moving between the upper limit position and the lower limit position, the clamping jaw is driven to move inwards along the radial direction of the lifting seat to clamp a workpiece placed on the sucker when rising from the second position to the first position, and the clamping jaw is driven to move outwards along the radial direction of the lifting seat and the lifting seat is driven to move downwards from the upper limit position to the lower limit position when falling from the second position to the third position, so that the top end of the clamping jaw is lowered to the lower side outside the sucker after the clamping jaw loosens the workpiece.
In one embodiment, the clamping jaw comprises a plurality of clamping jaws vertically arranged and a plurality of telescopic rods horizontally arranged, the telescopic rods are in one-to-one correspondence with the clamping jaws, the upper ends of the clamping jaws are used for clamping a workpiece, the lower ends of the clamping jaws are fixed with one ends of the telescopic rods, the other ends of the telescopic rods are accommodated in guide round holes arranged in the lifting seat and are in sliding connection with the lifting seat, the T-shaped inclined surface grooves are formed in the top surface of one side, close to the sucker, of the telescopic rods, and the telescopic rods can slide along the radial direction of the lifting seat so as to drive the clamping jaws to move radially relative to the lifting seat, so that the clamping jaws clamp or release the workpiece.
In one embodiment, the driving mechanism comprises a cylinder sleeve and a piston vertically arranged in the cylinder sleeve, the piston is provided with a piston rod extending out from the top wall of the cylinder sleeve, the lifting seat is provided with a through hole for the piston rod to pass through, and the piston rod passes through the through hole to be connected and fixed with the pushing mechanism;
the cylinder sleeve is also provided with a plurality of guide rods in the vertical direction, one ends of the guide rods extend out of the cylinder sleeve and penetrate through the lifting seat in a sliding mode, the lifting seat can move up and down along the guide rods, and the bottom surface of the sucker is fixedly connected with the guide rods.
In one embodiment, the lifting seat is propped against the bottom surface of the sucker when being positioned at the upper limit position, a compression spring is arranged between the cylinder sleeve and the lifting seat, the compression spring is in a compression state when the lifting seat is positioned at the upper limit position and the lower limit position, and the compression spring is configured to drive the lifting seat to rise from the lower limit position to the upper limit position and keep the clamping jaw and the pushing mechanism relatively fixed in the lifting seat rising process when the driving mechanism drives the pushing mechanism to rise from the third position to the second position.
In one embodiment, the piston and the corresponding cylinder sleeve are provided with a magnetic ring and a magnetic probe which are matched for use so as to detect the moving position of the piston.
In one embodiment, the sucker is provided with a vacuum channel connected with the vacuum generating device, and the workbench surface of the sucker is provided with a suction hole communicated with the vacuum channel so as to adsorb and fix the workpiece on the sucker when the clamping jaw clamps the workpiece.
The invention also provides a centering manipulator which comprises a base and the centering device, wherein the driving mechanism is fixed on the base, a plurality of centering devices are arranged on the base at intervals in a straight shape or in a rectangular array, and air holes which are mutually communicated are arranged between the base and the centering device so as to realize synchronous action of the centering device. In the invention, three, four, five, six or more centering devices can be connected in parallel to form a synchronous operation centering manipulator, thereby improving the processing efficiency.
Compared with the prior art, the centering device has the beneficial effects that the lifting seat and the pushing mechanism are in linkage, and each claw of the claw mechanism is driven to move radially inwards when the pushing mechanism ascends, so that the automatic positioning of a workpiece is completed. When the pushing mechanism descends, each claw of the claw mechanism is driven to move radially inwards and outwards, and the claw is driven to descend below the outer side of the sucker, so that interference between a grinding cutter and the claw in the process of grinding the side edge of the workpiece is avoided. The centering device can realize high-efficiency and accurate automatic positioning, is suitable for the requirement of a large-diameter grinding tool on the side edge processing of a workpiece, and can effectively avoid the large-diameter grinding tool.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a perspective view of a centering manipulator provided by an embodiment of the present invention;
FIG. 2 is a top view of the centering manipulator shown in FIG. 1;
FIG. 3 is a cross-sectional view of the centering manipulator of FIG. 2 taken along the direction AA;
FIG. 4 is a cross-sectional view of the centering device of the centering manipulator of FIG. 3, with the abutment mechanism in a first position;
FIG. 5 is a cross-sectional view of the centering device of the centering manipulator of FIG. 3, with the abutment mechanism in a third position;
FIG. 6 is a partial cross-sectional view of the centering manipulator shown in FIG. 1;
FIG. 7 is a perspective view of a pushing mechanism of the centering device of FIG. 4;
Fig. 8 is a cross-sectional view of a centering device provided by another embodiment.
Wherein, each reference sign in the figure:
10-centering mechanical arm, 20-centering device, 11-base, 12-air inlet, 13-air outlet, 14-water tank, 100-sucker, 200-lifting seat, 300-jaw mechanism, 400-pushing mechanism, 500-driving mechanism, 600-magnetic ring, 110-suction hole, 111-vacuum channel, 210-convex ring, 301-jaw, 310-jaw, 311-clamping block, 320-telescopic rod, 321-T-shaped inclined surface groove, 401-through hole, 410-pushing jaw, 411-T-shaped inclined block, 4111-first part, 4112-second part, 4113-inclined surface, 510-cylinder sleeve, 520-piston, 530-guide rod, 521-piston rod, 522-T-shaped table, 523-piston spring, 524-compression spring and 525-screw.
Detailed Description
In order to make the technical problems, technical schemes and beneficial effects to be solved more clear, the invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It will be understood that when an element is referred to as being "mounted" or "disposed" on another element, it can be directly on the other element or be indirectly on the other element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or be indirectly connected to the other element.
It is to be understood that the terms "length," "width," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are merely for convenience in describing and simplifying the description based on the orientation or positional relationship shown in the drawings, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus are not to be construed as limiting the invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present invention, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.
Fig. 1 shows a three-dimensional structure of a four-out centering manipulator 10, the centering manipulator 10 being provided with four side-by-side centering devices 20 for simultaneously grinding a plurality of workpieces. Fig. 2 shows a top view of the centering manipulator 10, fig. 3 shows a cross-sectional view of the centering manipulator 10, and a plurality of centering devices 20 are uniformly spaced on a base 11, i.e., the centering devices 20 share the base 11, so that the centering device has a compact structure and occupies little space. The centering device 20 of the present embodiment can be applied to, but not limited to, grinding glass, and other workpieces requiring grinding. With further reference to fig. 4-5, a centering device 20 provided in an embodiment of the present invention will now be described. The centering device 20 comprises a suction cup 100, a lifting seat 200, a jaw mechanism 300, a pushing mechanism 400 and a driving mechanism 500.
The top surface of the sucking disc 100 is a working surface and is used for bearing a workpiece, and the specific shape of the sucking disc 100 is set according to the outline shape of the workpiece. The lifting seat 200 is disposed beside the suction cup 100 and below the suction cup 100, and a space is provided between the lifting seat 200 and the suction cup 100. The jaw mechanism 300 includes a plurality of jaws 301 movably disposed on the elevating socket 200, each jaw 301 being capable of radial movement with respect to the elevating socket 200 to clamp and unclamp a workpiece.
The pushing mechanism 400 is disposed below the suction cup 100, and the pushing mechanism 400 is linked with the jaw mechanism 300. The pushing mechanism 400 is fixed on the driving mechanism 500, and the driving mechanism 500 can drive the pushing mechanism 400 to move up and down. When the driving mechanism 500 pushes the mechanism 400 to rise, the pushing mechanism 400 can drive each claw 301 to synchronously and radially move inwards along the lifting seat 200, so as to clamp the workpiece placed on the sucker 100, thereby realizing automatic and accurate positioning of the workpiece, and at the moment, the sucker 100 can adsorb the workpiece, so that the workpiece is adsorbed and fixed on the working surface of the sucker 100.
When the driving mechanism 500 pushes the mechanism 400 to descend, the pushing mechanism 400 can drive each jaw 301 to synchronously and radially move outwards along the lifting seat 200 and drive each jaw 301 to descend so as to loosen a workpiece placed on the suction cup 100, and the top end of each jaw 301 descends below the outer side of the suction cup 100, so that after the workpiece is positioned, when the workpiece is ground, a large-diameter grinding tool cannot touch the jaw 301, and the workpiece is effectively avoided. That is, the claw 301 in this embodiment can realize the action of horizontal tensioning and vertical lifting, descend after clamping, avoid the large-diameter grinding tool, and avoid interference between the large-diameter grinding tool and the claw mechanism 300 in the grinding process, so as to meet the machining requirement of side grinding.
Compared with the prior art, the centering device 20 provided by the invention has the advantages that the lifting seat 200 and the pushing mechanism 400 which are in linkage are arranged, and each claw 301 of the claw mechanism 300 is driven to move radially inwards when the pushing mechanism 400 ascends, so that the automatic positioning of a workpiece is completed. When the pushing mechanism 400 descends, each jaw 301 of the jaw mechanism 300 is driven to move radially inwards and outwards, and the jaw 301 is driven to descend below the outer side of the sucker 100, so that interference between a grinding tool and the jaw 301 in the process of grinding the side edge of a workpiece is avoided. The centering device 20 can realize efficient and accurate automatic positioning, is suitable for the requirement of a large-diameter grinding tool on the side edge processing of a workpiece, and can effectively avoid the large-diameter grinding tool.
Specifically, the pushing mechanism 400 has a first position, a second position, and a third position from top to bottom along the movement path. The pushing mechanism 400 is located at the first position, the lifting seat 200 is located at the upper limit position, as shown in fig. 4, and the pushing mechanism 400 is located at the third position, and the lifting seat 200 is located at the lower limit position, as shown in fig. 5. The driving mechanism 500 can drive the pushing mechanism 400 to switch among the first position, the second position, and the third position. The elevating seat 200 can move up and down between an upper limit position and a lower limit position.
With further reference to fig. 6 and 7, the pushing mechanism 400 has a plurality of pushing claws 410. The tail end of the claw 301 is provided with a T-shaped inclined plane groove 321, the tail end of the claw 410 is provided with a T-shaped inclined plane 411, and the inclined plane of the T-shaped inclined plane 411 is matched with the T-shaped inclined plane groove 321. When the pushing mechanism 400 descends from the first position to the second position, the T-shaped inclined block 411 is slidably engaged in the T-shaped inclined groove 321. When the pushing mechanism 400 descends from the second position to the third position, the T-shaped inclined block 411 slides to the limit position at the bottom of the T-shaped inclined slot 321, so as to drive the lifting seat 200 to descend from the upper limit position to the lower limit position.
Referring to fig. 6 and 7, the slope of the T-shaped slope block 411 is identical to the slope of the T-shaped slope groove 321. Preferably, the range of the slope of the T-shaped inclined block 411 and the slope of the T-shaped inclined groove 321 is set to 45-60 degrees, the slopes of the two are set in the range, so that effective sliding fit can be realized, the resistance between the two is smaller, and the sliding is smoother. The slope of the T-shaped sloping block 411 may be specifically selected from 45 degrees, 48 degrees, 50 degrees, 53 degrees, 55 degrees, 58 degrees, 60 degrees. The pushing mechanism 400 is provided with a proximal end at one end close to the center and a distal end at one end far away from the center, the T-shaped inclined block 411 is positioned at the distal end of the pushing mechanism 400, the cross section of the T-shaped inclined block 411 is T-shaped, the T-shaped inclined block 411 comprises a first part 4111 and a second part 4112 which are connected, the width of the second part 4112 is larger than that of the first part 4111, the second part 4112 is obliquely arranged and matched with the T-shaped inclined groove 321, the second part 4112 is provided with two opposite inclined surfaces 4113, and the inclined surfaces 4113 are consistent in inclination and consistent with the inclined surface of the T-shaped inclined groove 321. The tip of the inclined surface 4113 of the second portion 4112 is inclined in a direction away from the central axis of the pushing mechanism 400.
The jaw mechanism 300 comprises at least two jaws 301 arranged centrally symmetrically, i.e. the jaw mechanism 300 comprises at least two jaws 301 arranged centrally symmetrically with respect to the suction cup 100. Referring to fig. 1 and 2, in the present embodiment, the jaw mechanism 300 includes two groups of jaws 301, four jaws 301, wherein one group of jaws 301 is symmetrically disposed on two opposite sides of the suction cup 100 in the length direction, and the other group of jaws 301 is symmetrically disposed on two opposite sides of the suction cup 100 in the width direction. It will be appreciated that the number of the claws 301 may be adjusted according to the specific shape and processing requirements of the suction cup 100, for example, two claws 301 may be provided, where two claws 301 are symmetrically disposed on opposite sides of the suction cup 100, three claws 301 may be provided, where three claws 301 are disposed around the circumference of the suction cup 100 with the suction cup 100 as the center of a circle, and more than three claws 301 may be provided, where two claws 301 are disposed on opposite sides of the suction cup 100 in pairs, or disposed around the circumference of the suction cup 100 with even intervals.
Referring to fig. 4 and 5, when the lifting base 200 moves between the upper limit position and the lower limit position, the pushing mechanism 400 and the claw 301 are relatively fixed. When the pushing mechanism 400 is lifted from the second position to the first position, the claw 301 is driven to move radially inwards along the lifting seat 200, so that the workpiece placed on the sucker 100 is clamped. When the pushing mechanism 400 descends from the second position to the third position, the claw 301 is driven to move radially outwards along the lifting seat 200, the lifting seat 200 is driven to descend from the upper limit position to the lower limit position, and meanwhile, after the claw 301 loosens a workpiece, the top end of the claw 301 descends to the lower side outside the sucker 100.
Referring to fig. 4 to 6, the jaw 301 includes a plurality of jaws 310 disposed vertically and a plurality of telescopic rods 320 disposed horizontally, and the telescopic rods 320 are in one-to-one correspondence with the jaws 310. The upper end of clamping jaw 310 is provided with grip block 311, and grip block 311 is used for pressing from both sides the work piece, and the lower extreme of clamping jaw 310 is fixed with the one end of telescopic link 320. The other end of the telescopic rod 320 is accommodated in a guide circular hole arranged in the lifting seat 200 and is in sliding connection with the lifting seat 200, namely, the lifting seat 200 is provided with a circular hole matched with the other end of the telescopic rod 320, and the other end of the telescopic rod 320 can slide back and forth in the guide circular hole to realize sliding fit with the lifting seat 200. The top surface of the telescopic rod 320 near one side of the suction cup 100 is provided with a T-shaped inclined surface groove 321. The telescopic rod 320 can slide along the radial direction of the lifting seat 200 to drive the clamping jaw 310 to move radially relative to the lifting seat 200, so that the clamping jaw 310 clamps or unclamps a workpiece.
It can be appreciated that a guiding structure matched with each other can be provided between the hole wall of the guiding circular hole of the lifting seat 200 and the circumferential outer wall of the telescopic rod 320, so as to avoid relative rotation between the telescopic rod 320 and the lifting seat 200, and enable the clamping jaw 310 to keep a vertical state. The guiding structure can be a sliding groove and a sliding rail which are matched with each other. Other sliding fit structures, such as matched sliding rails and sliding grooves, can be adopted between the telescopic rod 320 and the lifting seat 200.
Referring to fig. 4 and 7, the driving mechanism 500 includes a cylinder liner 510 and a piston 520 vertically disposed in the cylinder liner 510, wherein the piston 520 can slide back and forth in a vertical direction relative to the cylinder liner 510. The piston 520 has a piston rod 521 extending from the top wall of the cylinder sleeve 510, and the lifting base 200 is provided with a through hole through which the piston rod 521 passes, and the piston rod 521 is fixedly connected with the pushing mechanism 400 through the through hole. In this embodiment, a through hole 401 penetrating up and down is formed in the center of the pushing mechanism 400, and a screw 525 is screwed to the piston rod 521 through the through hole 401, so that the pushing mechanism 400 is fixed to the top end of the piston rod 521. It will be appreciated that the drive mechanism 500 may also be a linear motion mechanism driven by hydraulic or electric power.
As shown in fig. 8, in one embodiment, piston rod 521 is sheathed with a piston spring 523, with piston spring 523 maintained in a compressed state. A T-shaped table 522 is provided on the outer periphery of the piston rod 521, and one end of the piston spring 523 abuts against a stepped surface of the T-shaped table 522, while the other end of the piston spring 523 abuts against the bottom surface of the elevating seat 200. The bottom surface of the lifting seat 200 is provided with a convex ring 210 in an axial direction, the convex ring 210 and the bottom surface of the lifting seat 200 enclose a containing groove, and the other end of the piston spring 523 is positioned in the containing groove.
The cylinder liner 510 is also provided with a plurality of guide rods 530 in a vertical direction. One end of the guide rod 530 extends out of the cylinder sleeve 510 and is slidably inserted into the lifting seat 200, and the lifting seat 200 can move up and down along the guide rod 530, that is, the lifting seat 200 is slidably matched with the guide rod 530, and the guide rod 530 plays a guiding role, so that the lifting seat 200 moves up and down in the vertical direction. The bottom surface of the suction cup 100 is fixedly connected with the guide rod 530.
Specifically, referring to fig. 8, the lifting seat 200 is located at the upper limit position and abuts against the bottom surface of the suction cup 100. A compression spring 524 is disposed between the cylinder liner 510 and the lifting seat 200, and the compression spring 524 is in a compressed state when the lifting seat 200 is located at the upper limit position and the lower limit position. One end of the compression spring 524 is propped against the sealing cover of the cylinder sleeve 510, and the other end of the compression spring 524 is propped against the bottom surface of the lifting seat 200 and sleeved on the periphery of the convex ring 210. The compression spring 524 is configured to drive the lifting base 200 to rise from the lower limit position to the upper limit position when the driving mechanism 500 drives the pushing mechanism 400 to rise from the third position to the second position, so that the pawl 301 and the pushing mechanism 400 remain relatively fixed during the lifting base 200 rising. When the pushing mechanism 400 continues to rise from the second position, the lifting seat 200 is pushed against the suction cup 100 due to the elastic force of the compression spring 524, and the lifting seat 200 is kept at the height position in the process.
Preferably, referring to fig. 8, a magnetic ring and a magnetic probe are provided on the piston 520 and the cylinder sleeve 510 to detect the moving position of the piston 520. In this embodiment, a magnetic ring 600 is disposed on the piston 520, and a magnetic probe (not shown) is disposed on the cylinder wall of the cylinder sleeve 510, so that a displacement sensor is formed to detect the moving position of the piston 520, thereby sensing the up-and-down movement of the piston 520 and the opening and clamping of the clamping jaw 310. The centering device 20 further comprises a control system in communication with the displacement sensor, and the displacement detection sensor feeds back a sensing signal to the control system to realize automatic operation of the centering device 20. The driving mechanism 500 is provided with a displacement detection sensor to sense action signals, so that workpiece clamping and positioning actions are automatically completed, and positioning accuracy and efficiency are improved.
Referring to fig. 1 and 4, the suction cup 100 is provided with a vacuum channel 111 connected with a vacuum generating device, and a suction hole 110 communicated with the vacuum channel 111 is formed on a working table of the suction cup 100, so that a workpiece is sucked and fixed on the suction cup 100 when the claw 301 clamps the workpiece. The suction holes 110 can be one or more, when the clamping jaw 310 clamps the suction cup 100, automatic positioning is completed, the vacuum generating device opens a suction valve, and the workpiece is sucked and fixed on the workbench surface of the suction cup 100 through the suction holes 110, and then the workpiece is ground. After finishing the grinding process, the vacuum generating device closes the air suction valve, opens the air exhaust valve to exhaust air through the air exhaust port, takes out the workpiece on the sucker 100, and places the next workpiece to be processed on the sucker 100.
Referring to fig. 1 to 3, a centering manipulator 10 according to an embodiment of the present invention includes a base 11 and a plurality of centering devices 20 described in the foregoing embodiments. The driving mechanism 500 is fixed on the base 11, and the plurality of centering devices 20 are arranged on the base 11 at intervals in a straight shape or are arranged on the base 11 in a rectangular array. In this embodiment, the plurality of centering devices 20 are uniformly arranged on the base 11 at intervals in a straight line shape, the side wall of the base 11 is provided with the air inlet hole 12 and the air outlet hole 13, when the piston 520 is required to ascend, the cylinder sleeve 510 is inflated through the air inlet hole 12, and when the piston 520 is required to descend, the air in the cylinder sleeve 510 is discharged through the air outlet hole 13. As shown in fig. 1, four centering devices 20 are arranged on the base 11 at regular intervals in a straight line shape, the four centering devices 20 share one water tank 14, the water tank 14 is fixed on the guide rod 530, and the water tank 14 can collect dust and scraps during processing, so that the processing environment is optimized. The centering manipulator 10 has the advantages of compact overall structure, small occupied space, high automation degree and improved machining efficiency, and can realize simultaneous grinding machining of a plurality of workpieces. It will be appreciated that the centering manipulator 10 may be combined with a pick and place manipulator to further increase the degree of automation.
Referring to fig. 1, fig. 4 and fig. 5 in combination, four centering devices 20 are disposed on the base 11, the jaw mechanism 300 of each centering device 20 is provided with four jaws 301, and the corresponding pushing mechanism 400 is provided with four pushing jaws 410, and the glass grinding process is described by taking glass grinding as an example:
the glass to be processed is clamped by the material taking and placing manipulator and placed on the sucker 100, the piston 520 drives the pushing mechanism 400 to rise from the third position to the second position, and meanwhile, the lifting seat 200 is driven to rise to prop against the bottom surface of the sucker 100. Because of the pre-tightening force provided by the compression spring 524, the lifting seat 200 does not move relative to the pushing mechanism 400 in the lifting process, and the upper ends of the four clamping jaws 310 are lifted to the pre-clamping height position.
The piston 520 continues to drive the pushing mechanism 400 to rise to the first position, and each T-shaped inclined block 411 at the tail end of the pushing claw 410 slides upwards along the T-shaped inclined surface groove 321, so as to push each claw 301 to move towards the direction of the suction cup 100, and the four clamping jaws 310 clamp the periphery side of the glass at the same time, thus completing centering and clamping of the glass.
The vacuum generating device opens the suction valve to allow the glass to be sucked and fixed on the suction cup 100.
The piston 520 drives the pushing mechanism 400 to descend from the first position to the third position, and the T-shaped inclined blocks 411 at the tail ends of the pushing claws 410 push the claws 301 to enable the clamping claws 310 to move away from the glass, release the glass and drive the clamping claws 310 to descend below the outer side of the sucker 100.
The grinding tool processes the top and side edges of the glass. After finishing the abrasive machining, the vacuum generating device closes the air suction valve, opens the air discharge valve to discharge air, and the material taking and placing manipulator takes out the glass ground on the sucker 100 and places the glass to be machined on the sucker 100. Repeating the steps to realize batch automatic grinding processing of multiple pieces of glass.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. A centering device, comprising:
A suction cup;
the lifting seat is arranged beside the sucker;
The jaw mechanism comprises a plurality of jaws which are movably arranged on the lifting seat, and the jaws can move radially relative to the lifting seat;
a pushing mechanism arranged below the sucker and linked with the claw mechanism, and
The driving mechanism is connected with the pushing mechanism and drives the pushing mechanism to move up and down;
when the pushing mechanism rises, each claw is driven to synchronously move radially inwards along the lifting seat so as to clamp a workpiece placed on the sucker; when the pushing mechanism descends, each claw is driven to synchronously move radially outwards along the lifting seat and is driven to descend so as to loosen a workpiece arranged on the sucker, and the top end of each claw descends to the lower part of the outer side of the sucker;
The pushing mechanism is provided with a first position, a second position and a third position from top to bottom along a moving path, and the driving mechanism drives the pushing mechanism to switch among the first position, the second position and the third position;
The pushing mechanism is provided with a plurality of pushing claws, the tail ends of the pushing claws are provided with T-shaped inclined surface grooves, the tail ends of the pushing claws are provided with T-shaped inclined blocks, the inclined surfaces of the T-shaped inclined blocks are matched with the T-shaped inclined surface grooves, when the pushing mechanism descends from the first position to the second position, the T-shaped inclined blocks are in sliding fit in the T-shaped inclined surface grooves, and when the pushing mechanism descends from the second position to the third position, the T-shaped inclined blocks slide to the bottoms of the T-shaped inclined surface grooves so as to drive the lifting seat to descend from the upper limit position to the lower limit position;
The jack catch mechanism comprises at least two jack catches which are arranged in a central symmetry way, wherein one end of the pushing mechanism close to the center is a near end, and the end far away from the center is a far end;
When the lifting seat moves between the upper limit position and the lower limit position, the pushing mechanism and the clamping jaw are relatively fixed; when the pushing mechanism descends from the second position to the third position, the claw is driven to radially outwards move along the lifting seat, and the lifting seat is driven to descend from the upper limit position to the lower limit position, so that the top ends of the claws descend to the lower side outside the sucker after the claws loosen the workpiece;
The lifting seat is propped against the bottom surface of the sucker when being positioned at the upper limit position;
The driving mechanism comprises a cylinder sleeve;
The cylinder sleeve and the lifting seat are provided with compression springs, the compression springs are in compression states when the lifting seat is located at the upper limit position and the lower limit position, and the compression springs are configured to drive the lifting seat to rise from the lower limit position to the upper limit position when the driving mechanism drives the pushing mechanism to rise from the third position to the second position, and enable the clamping jaw and the pushing mechanism to be kept relatively fixed in the lifting seat rising process.
2. The centering device of claim 1, wherein the T-shaped bevel block is positioned at the distal end of the pushing mechanism, the cross section of the T-shaped bevel block is T-shaped, the T-shaped bevel block comprises a first part and a second part which are connected, the width of the second part is larger than that of the first part, the second part is obliquely arranged and matched with the T-shaped bevel groove, the second part is provided with two opposite bevel surfaces, the slopes of the two bevel surfaces are consistent with the slopes of the T-shaped bevel groove, and the top end of the bevel surface of the second part is inclined towards the direction far away from the central axis of the pushing mechanism.
3. The centering device of claim 1, wherein the slope of the T-shaped bevel block is 45-60 degrees from the slope of the T-shaped bevel groove.
4. The centering device of claim 1, wherein the clamping jaw comprises a plurality of clamping jaws vertically arranged and a plurality of telescopic rods horizontally arranged, the telescopic rods are in one-to-one correspondence with the clamping jaws, the upper ends of the clamping jaws are used for clamping a workpiece, the lower ends of the clamping jaws are fixed with one ends of the telescopic rods, the other ends of the telescopic rods are accommodated in guide round holes formed in the lifting seat and are in sliding connection with the lifting seat, the T-shaped inclined surface grooves are formed in the top surface of one side, close to the sucker, of the telescopic rods, and the telescopic rods can slide along the radial direction of the lifting seat so as to drive the clamping jaws to move radially relative to the lifting seat, so that the clamping jaws clamp or release the workpiece.
5. The centering device of claim 1, wherein the driving mechanism further comprises a piston vertically arranged in the cylinder sleeve, the piston is provided with a piston rod extending out of the top wall of the cylinder sleeve, the lifting seat is provided with a through hole for the piston rod to pass through, and the piston rod passes through the through hole and is fixedly connected with the pushing mechanism.
6. The centering device of claim 5, wherein the cylinder sleeve is further provided with a plurality of guide rods in the vertical direction, one ends of the guide rods extend out of the cylinder sleeve and penetrate through the lifting seat in a sliding mode, the lifting seat can move up and down along the guide rods, the bottom surface of the sucker is fixedly connected with the guide rods, and the piston and the corresponding cylinder sleeve are provided with magnetic rings and magnetic probes which are matched with each other to detect the moving position of the piston.
7. The centering device of claim 4, wherein a guide structure matched with each other is arranged between the hole wall of the guide round hole and the circumferential outer wall of the telescopic rod so as to prevent relative rotation between the telescopic rod and the lifting seat, and the clamping jaw is kept in a vertical state, and the guide structure is a sliding groove and a sliding rail matched with each other.
8. The centering device as claimed in any one of claims 1 to 7, wherein the suction cup is provided with a vacuum channel connected with the vacuum generating device, and a suction hole communicated with the vacuum channel is formed on a working table surface of the suction cup so as to adsorb and fix the workpiece on the suction cup when the clamping jaw clamps the workpiece.
9. The centering manipulator is characterized by comprising a base and a plurality of centering devices according to any one of claims 1-8, wherein the driving mechanism is fixed on the base, the centering devices are arranged on the base at intervals in a straight shape or in a rectangular array, and air holes which are mutually communicated are arranged between the base and the centering devices so as to realize synchronous action of the centering devices.
10. The centering manipulator of claim 9, wherein four centering devices are arranged on the base at uniform intervals in a straight line, the centering manipulator further comprises a water tank, the four centering devices share one water tank, the cylinder sleeve is further provided with a plurality of guide rods in the vertical direction, and the water tank is fixed on the guide rods.
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| CN202211576167.3A CN117067021B (en) | 2022-12-12 | 2022-12-12 | Centering device and centering manipulator |
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| CN202211576167.3A CN117067021B (en) | 2022-12-12 | 2022-12-12 | Centering device and centering manipulator |
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| CN117067021A CN117067021A (en) | 2023-11-17 |
| CN117067021B true CN117067021B (en) | 2025-09-30 |
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| CN119635601B (en) * | 2025-01-22 | 2025-09-26 | 张家港市瑞昌智能机器系统有限公司 | Multifunctional manipulator with spool |
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| CN205436807U (en) * | 2016-01-31 | 2016-08-10 | 佛山市天箭机械设备有限公司 | A press from both sides mould second grade locking mechanism that is used for having a double meaning head of numerical control machine that contracts soon |
| CN210025022U (en) * | 2019-04-01 | 2020-02-07 | 广东科杰机械自动化有限公司 | Positioning fixture |
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|---|---|---|---|---|
| FR2727344A1 (en) * | 1994-11-30 | 1996-05-31 | Peugeot | DEVICE FOR TAKING A WORKPIECE SUCH AS A PINION DURING AN OPERATION FOR RODING A BORING THEREOF |
| KR20110117867A (en) * | 2010-04-22 | 2011-10-28 | (주)한테크 | Centering Jig for Glass Cover Processing |
| JP6830461B2 (en) * | 2018-07-25 | 2021-02-17 | 株式会社タカハシキカイ | Vacuum chuck |
| CN209579334U (en) * | 2019-03-18 | 2019-11-05 | 查彬 | A kind of centering clamp and machining equipment |
| CN213439212U (en) * | 2020-08-31 | 2021-06-15 | 东莞市源动力五金有限公司 | Fixing device with automatic clamping function for hardware fitting |
| CN216030268U (en) * | 2021-04-09 | 2022-03-15 | 江苏电子信息职业学院 | Machining fixing clamp convenient for angle adjustment |
| CN216126876U (en) * | 2021-07-30 | 2022-03-25 | 湖南伊米森机械科技有限公司 | Positioning and clamping device avoiding cutter |
| CN216372197U (en) * | 2021-10-18 | 2022-04-26 | 湖南伊米森机械科技有限公司 | One-to-three pneumatic four-claw manipulator |
| CN115302280A (en) * | 2022-06-30 | 2022-11-08 | 中科九微科技有限公司 | A hollow self-centering four-axis tooling |
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|---|---|---|---|---|
| CN205436807U (en) * | 2016-01-31 | 2016-08-10 | 佛山市天箭机械设备有限公司 | A press from both sides mould second grade locking mechanism that is used for having a double meaning head of numerical control machine that contracts soon |
| CN210025022U (en) * | 2019-04-01 | 2020-02-07 | 广东科杰机械自动化有限公司 | Positioning fixture |
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