Do grandparents have legal rights when it comes to seeing the kids?

What state do you live in?
Some states are starting grandparent rights.
I think you have to prove that it is in the best interest of the kid(s) that you have a bond and they would suffer missing you or something like that.

Grandparent rights vary from state to state. Many states have them, but the terms of the rights will vary.

First I don't know if you are the parent or the grandparents. If at all possible this should be worked out without court. And unless they are dead, the parent of the child should be working to be sure their parents see the children when they get their visits.

Many states do have rights, others may some time.