CN104942707A - Six-axis five-linkage tool grinding machine with automatic feeding and discharging functions - Google Patents
Six-axis five-linkage tool grinding machine with automatic feeding and discharging functions Download PDFInfo
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- CN104942707A CN104942707A CN201410114241.9A CN201410114241A CN104942707A CN 104942707 A CN104942707 A CN 104942707A CN 201410114241 A CN201410114241 A CN 201410114241A CN 104942707 A CN104942707 A CN 104942707A
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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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B27/00—Other grinding machines or devices
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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
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- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a six-axis five-linkage tool grinding machine with automatic feeding and discharging functions. The six-axis five-linkage tool grinding machine comprises an automatic feeding assembly for conveying materials automatically, a material grabbing assembly for gabbing the conveyed materials, a rectangular-coordinate three-axis robot for moving the grabbed materials to the machining positions, a mounting assembly for limiting the mounting positions of the moved materials, a machining assembly for machining the materials in the mounting positions and a machine base for limiting the mounting positions of the automatic feeding assembly, the material grabbing assembly, the rectangular-coordinate three-axis robot, the mounting assembly and the machining assembly. Compared with the prior art, the automatic feeding assembly, the automatic feeding and discharging functions are achieved by configuring the material grabbing assembly and the three-axis robot for adjusting the station for the tool grinding machine, the automatic machining function is achieved by arranging the mounting assembly and the machining assembly, and the fully automated production mode is achieved.
Description
Technical field
The present invention relates to grinding machine technical field, particularly relate to a kind of six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function.
Background technology
Grinding machine utilizes grinding tool to carry out the lathe of grinding to surface of the work.Most grinding machines uses the emery wheel of High Rotation Speed to carry out grinding to surface of the work.Six-axle five-linkage cutter and tool grinding machine of the prior art is substantially all use artificial feeding, discharge, and mode automaticity like this is low, can cause cost of labor raising, efficiency slowly, and the high result of error rate.
Summary of the invention
The object of the present invention is to provide a kind of six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function, to solve above-mentioned technical problem.
For reaching this object, the present invention by the following technical solutions:
A six-axle five-linkage cutter and tool grinding machine for tool automatic loading/unloading function, comprising:
Automatic-feeding assembly, for automatic transport material;
Material grabbing assembly, captures in order to material conveying come;
Rectangular co-ordinate three-axis robot, in order to be displaced to Working position by crawled material;
Installation component, limits the installation site of displacement and next material;
Processing assembly, is in the material of installation site in order to processing;
Support, limits the installation site of described Automatic-feeding assembly, described material grabbing assembly, described rectangular co-ordinate three-axis robot, described installation component, described processing assembly;
Described Automatic-feeding assembly at least comprises a vibrating disk and a linear vibrator, and described vibrating disk is connected with described linear vibrator, in order to automatic transport material;
The rotating mechanism that described material grabbing assembly comprises liftable material grasping mechanism and described material grasping mechanism can be made to rotate, described material grasping mechanism comprises the jaw that has and match with material shapes and the elevating mechanism for making described jaw be elevated, described rotating mechanism comprises source of rotational drive, and for connecting the rotating shaft of described source of rotational drive and described material grasping mechanism;
Described rectangular co-ordinate three-axis robot comprises and can produce the X-axis mechanical arm of displacement, Y-axis mechanical arm and Z axis mechanical arm respectively in X-axis, Y-axis and Z-direction, any two mechanical arms being in adjacent position in described X-axis mechanical arm, described Y-axis mechanical arm and described Z axis mechanical arm are in transmission connection mutually, one of them mechanical arm of described X-axis mechanical arm, described Y-axis mechanical arm, described Z axis mechanical arm is fixedly connected with described support, and the mechanical arm being in non adjacent positions with this mechanical arm is fixedly connected with described material grabbing assembly.
Especially, described installation component comprises and can produce the X-axis assembly of displacement, Y-axis assembly and Z axis assembly respectively in X-axis, Y-axis and Z-direction, and for the first rotating assembly of clamping material, described X-axis assembly, described Y-axis assembly and described Z axis assembly superpose setting mutually, be in transmission connection between any two adjacent assemblies, one of them assembly of described X-axis assembly, described Y-axis assembly, described Z axis assembly is fixed on described support, is fixedly installed described first rotating assembly with on the assembly that this assembly is non-adjacent.
Especially, described X-axis assembly, described Y-axis assembly or described Z axis assembly arrange black box, described black box is organ protective cover and/or armor protective cover.
Especially, described first rotating assembly is fixed on described X-axis assembly, described Y-axis assembly or described Z axis assembly by connecting plate, described first rotating assembly comprises the first motor as drive source, and drive rotatably for the collet chuck of clamping material by it, described first motor seal is in seal closure, its output connects described collet chuck, and by the first flange seal, also arranges the air cylinder tie rod being used for optionally making described collet chuck clamp or unclamp in described seal closure and the first flange.
Especially, the screw mechanism that described X-axis assembly, described Y-axis assembly or described Z axis assembly comprise a base and be arranged on base, described base adopts the groove version of the equal opening in two ends, comprise a bottom land and the groove sidewall being symmetricly set in bottom land both sides, the screw mandrel of described screw mechanism is fixed on the middle part of described bottom land by screw mandrel supporting seat, described screw mandrel cross-under connecting plate, described connecting plate is fixedly connected with the arbitrary assembly adjacent with this assembly.
Especially, described processing assembly comprises the second rotating assembly and spindle assemblies that arrange in superposition, described spindle assemblies is arranged on described second rotating assembly, described second rotating assembly is fixed on described support, described spindle assemblies comprises for the rotating grinding wheel spindle of fixed emery wheel, and described second rotating assembly drives described spindle assemblies to rotate.
Especially, described spindle assemblies is arranged in main shaft shield, and described grinding wheel spindle stretches out outside described main shaft shield, and described spindle assemblies comprises two grinding wheel spindles, is arranged at the both sides of described main shaft shield respectively.
Especially, described support comprises a machine base body, this machine base body has a surface element, described surface element offers multiple installing hole for fixing described installation component, the brace table that what described surface element also protruded be provided with for fixing described processing assembly, described Automatic-feeding assembly and described rectangular co-ordinate three-axis robot.
Especially, the surface element of described machine base body is provided with oil-recovery tank, and/or the bottom of described machine base body arranges forklift groove.
Especially, described cutter and tool grinding machine also comprises control system, and described control system is connected respectively with described Automatic-feeding assembly, described material grabbing assembly, described rectangular co-ordinate three-axis robot, described installation component, described processing assembly.
Beneficial effect of the present invention:
Contrast prior art, the cutter and tool grinding machine of this programme by configuration Automatic-feeding assembly, material grabbing assembly, for adjusting the three-axis robot of station, achieve automatic feeding, discharge function, and the function of processing is automatically achieved by arranging installation component and processing assembly, achieve full-automatic production model.
Accompanying drawing explanation
According to drawings and embodiments the present invention is described in further detail below.
Fig. 1 is the perspective view of the grinding machine described in embodiments of the invention;
Fig. 2 is the partial structurtes schematic diagram of the Automatic-feeding assembly shown in Fig. 1;
Fig. 3 is the schematic top plan view of the fixed part shown in Fig. 2;
Fig. 4 is the perspective view of the movable part shown in Fig. 2;
Fig. 5 is the perspective view of the material grabbing assembly shown in Fig. 1;
The partial structurtes schematic diagram that Fig. 6 is the jaw shown in Fig. 5;
Fig. 7 is the perspective view of the rectangular co-ordinate three-axis robot shown in Fig. 1;
Fig. 8 is the perspective view of the installation component shown in Fig. 1;
Fig. 9 is the internal structure schematic diagram of the X-axis assembly shown in Fig. 8;
Figure 10 is the external structure schematic diagram of the X-axis assembly shown in Fig. 8;
Figure 11 is the cross-sectional schematic of the dee shown in Figure 10;
Figure 12 is the structural representation of the drag chain shown in Figure 10;
Another external structure schematic diagram that Figure 13 is the X-axis assembly shown in Fig. 8;
Figure 14 is the front view of the first rotating assembly shown in Fig. 8;
Figure 15 is the internal structure schematic diagram of the first rotating assembly shown in Figure 14;
Figure 16 is the perspective view of the processing assembly shown in Fig. 1;
Figure 17 is the schematic side view of the processing assembly shown in Fig. 1;
Figure 18 is the perspective view of the support shown in Fig. 1;
Figure 19 is the structural representation of the brace table shown in Figure 18;
Figure 20 is the elevational schematic view of the support shown in Figure 18;
Figure 21 is the control principle drawing of the grinding machine described in embodiments of the invention.
In figure:
100, Automatic-feeding assembly; 101, vibrating disk; 102, linear vibrator; 103, the first track; 104, the first material trough; 105, material-pulling device; 106, fixed part; 107, the second material trough; 108, movable part; 109, pushing sheet; 110, the first power source; 111, the first station; 112, the second station; 113, material-gathering device; 114, blanking port; 115, pusher entrance;
200, material grabbing assembly; 201, jaw; 202, elevating mechanism; 203, the second power source; 204, rotating shaft; 205, connecting portion; 206, clamping part; 207, groove; 208, clamping area; 209, the first fixed head;
300, rectangular co-ordinate three-axis robot; 301, X-axis mechanical arm; 302, Y-axis mechanical arm; 303, Z axis mechanical arm; 304, the second fixed head; 305, L-type plate;
400, installation component; 401, X-axis assembly; 402, Y-axis assembly; 403, Z axis assembly; 404, the first rotating assembly; 405, base; 406, screw mandrel; 407, the first connecting plate; 408, bottom land; 409, groove sidewall; 410, screw mandrel supporting seat; 411, slide block; 412, chute; 413, the first side; 414, dee; 415, drag chain; 416, the second connecting plate; 417, the 3rd connecting plate; 418, dee main body; 419, the first kink; 420, the second kink; 421, the first horizontal part; 422, the second horizontal part; 423, bend; 424, First terrace; 425, sealing plate; 426, the first seal closure; 427, organ protective cover; 428, armor protective cover; 429, the 4th connecting plate; 430, the first motor; 431, the first flange; 432, collet chuck; 433, the second seal closure; 434, air cylinder tie rod;
500, processing assembly; 501, spindle assemblies; 502, the second rotating assembly; 503, grinding wheel spindle; 504, main shaft shield; 505, rotating shaft guard shield; 506, emery wheel pad;
600, support; 601, machine base body; 602, surface element; 603, installing hole; 604, brace table; 605, horizontal reference groove; 606, boss; 607, boss end face; 608, boss side surfaces; 609, second step face; 610 second sides; 611, the 3rd side; 612, oil-recovery tank; 613, forklift groove;
700, material.
Detailed description of the invention
Technical scheme of the present invention is further illustrated by detailed description of the invention below in conjunction with accompanying drawing.
As shown in Figure 1, the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function of the present invention, comprising: Automatic-feeding assembly 100, for automatic transport material; Material grabbing assembly 200, captures in order to material conveying come; Rectangular co-ordinate three-axis robot 300, in order to be displaced to Working position by crawled material; Installation component 400, limits the installation site of displacement and next material; Processing assembly 500, is in the material of installation site in order to processing; Support 600, limits the installation site of described Automatic-feeding assembly 100, described material grabbing assembly 200, described rectangular co-ordinate three-axis robot 300, described installation component 400, described processing assembly 500.
Automatic-feeding assembly 100 at least comprises vibrating disk 101 and a linear vibrator 102, and vibrating disk 101 is connected with linear vibrator 102, in order to automatic transport material.Scheme more specifically, shown in Figure 2, linear vibrator 102 is arranged at the side of vibrating disk 101, and linear vibrator 102 comprises on the first track 103, first track 103 and has the first material trough 104, and material 700 can pass through from the first material trough 104.Incorporated by reference to shown in Fig. 2 to 4, Automatic-feeding assembly 100 also comprises material-pulling device 105, material-pulling device 105 comprises fixed part 106, movable part 108 and for driving the first power source 110 of movable part 108 action, fixed part 106 is offered the second material trough 107, second material trough 107 and the first material trough 104 connect, and material 700 can move in the second material trough 107 from the first material trough 104.Movable part 108 is arranged pushing sheet 109, pushing sheet 109 can insert in the second material trough 107, and under the effect of the first power source 110, promotes material 700 move in the second material trough 107 until reach assigned position (this assigned position refers to wait for that material grabbing assembly 200 captures the position of material 700).
In the present embodiment, see Fig. 2 and 3, one end of the first guide rail 103 connects with vibrating disk 101, and the other end connects with material-pulling device 105.Second material trough 107 to be opened on fixed part 106 and perpendicular with the first material trough 104, one end enclosed shape of the second material trough 107 becomes the first station 111, the other end is not closed and is formed pusher entrance 115, middle part and first material trough 104 intersection of the second material trough 107 form the second station 112, wherein, second station 112 is configured to the station that pusher waited for by material 700, pusher entrance 115 is configured to pushing sheet 109 and enters the station promoting to wait for pusher in the second material trough 107, first station 111 is configured to pushing sheet 109 and material 700 is pushed to the station waited for and capturing.Preferred scheme, material-pulling device 105 is arranged sensor (not shown), for detecting the material 700 of the first station 111 and the second station 112, when detecting that the first station 111 exists material 700, sensor by signal transmission to control system, control system controls the first power source 110 and does not work, and the material making pushing sheet 109 not promote to be in the second station 112 moves ahead; When detecting that the material 700 of the first station 111 does not exist, sensor by signal transmission to control system, control system controls the first power source 110 and works, the material making pushing sheet 109 promote to be in the second station 112 proceeds to the first station 111, so, the automatic transmission transport of material is just achieved.Preferred scheme, sensor adopts photoelectric sensor, and the first power source 110 adopts cylinder.First material trough 104, second material trough 107 causes, so that the carrying out orderly smoothly of convey materials and pusher work with the size uniformity of material 700 and pushing sheet 109.Pushing sheet 109 is one-body molded with movable part 108, so can improve the intensity of part, also can be convenient to manufacture.The material 700 of the present embodiment is preferably bar, certainly in other embodiments, can also be the version such as square.
Shown in Figure 2, Automatic-feeding assembly 100 also comprises the side material-gathering device 113 of the fixed part 106 being arranged at material-pulling device 105, for being collected by the material processed 700.Material-gathering device 113 is offered blanking port 114, by material grabbing assembly 200, the material of crawl is positioned in material-gathering device 113 through blanking port 114.In the present embodiment, blanking port 114 is preferably waist-shaped hole structure.The position corresponding to blanking port 114 in material-gathering device 113 arranges an inclined-plane (not shown), when the material of crawl falls through blanking port 114 by material grabbing assembly 200, material 700 can freely tumble position farther to material-gathering device 113 by inclined-plane, design like this can make the material auto-sequencing of material-gathering device 113 inside and be unlikely to overstocked, further can raising efficiency.
Shown in Figure 5, the rotating mechanism that material grabbing assembly 200 comprises liftable material grasping mechanism and described material grasping mechanism can be made to rotate, described material grasping mechanism comprises the jaw 201 that has and match with material shapes and the elevating mechanism 202 for making described jaw be elevated, described rotating mechanism comprises the second power source 203, for providing rotational power, and for connecting the rotating shaft 204 of described second power source 203 and described material grasping mechanism.Make jaw 201 elevating movement by elevating mechanism 202, be positioned at the material of the first station 111 with gripping.Concrete, elevating mechanism 202 makes jaw 201 drop to the relevant position gripping material of the first station 111, and then elevating mechanism 202 makes jaw 201 rise to leave the first station 111, thus is capture Job readiness next time.
In the present embodiment, elevating mechanism 202 adopts cylinder, at the output (being the lower end of cylinder in figure) of cylinder, jaw 201 is set, the structure of jaw 201 is specifically see Fig. 6, jaw 201 comprises the two sub-claw portions be symmetrical set, sub-claw portion comprises the connecting portion 205 for connecting cylinder output, and for clamping the clamping part 206 of material, and clamping part 206 comprises a groove 207 and is symmetricly set in the clamping area 208 of both sides of groove 207.When needs capture material, first cylinder makes jaw 201 drop to the first station 111 place, material 700 is in the centre position of two sub-claw portions and corresponds to groove 207, then cylinder makes two sub-claw portions converge in opposite directions, until stop when the clamping area 208 of two sub-claw portions leans, material 700 is by firm grip between two grooves 207, and finally, cylinder makes jaw 201 rise overally leave the first station 111 and complete material crawl work.In the present embodiment, groove 207 preferably adopts triangle trench structure, so designs, can provide the chucking power that material is stronger, avoid dropping of material.Certainly in other examples, groove 207 also can adopt other structures such as deep-slotted chip breaker.The jaw 201 of the present embodiment has two, and two jaw 201 parallel interval are arranged.By arrange two jaws 201 can complete simultaneously the first station 111 material crawl work and to the work of material-gathering device 113 blanking, further improve grinding machine operating efficiency.
The second power source 203 is connected by rotating shaft 204 in the upper end of elevating mechanism 202, second power source 203 of the present embodiment is cylinder, the output of cylinder and elevating mechanism 202 are by rotating shaft 204 pivot joint, when the output of cylinder is protruding, elevating mechanism 202 outwards will rotate (counter clockwise direction that rotation direction is arrow points in the drawings) along rotating shaft 204, thus for material automation install carrier is provided.
Material grabbing assembly 200 is connected by the first fixed head 209 with rectangular co-ordinate three-axis robot 300, (the material crawl that unprocessed material captures and processed is comprised) after completing material crawl work, adjust displacement by rectangular co-ordinate three-axis robot 300 again, finally realize the automatic feeding, discharge work of material.See Fig. 5, rotating shaft 204 is serially connected with on the first fixed head 209, and be also fixed on the first fixed head 209 as the cylinder end of the second power source 203, first fixed head 209 is connected on rectangular co-ordinate three-axis robot 300, by the first fixed head 209 for material crawl and rotation work provide reliable and stable environment.
Shown in Figure 7, rectangular co-ordinate three-axis robot 300 comprises and can produce the X-axis mechanical arm 301 of displacement, Y-axis mechanical arm 302 and Z axis mechanical arm 303 respectively in X-axis, Y-axis and Z-direction, any two mechanical arms being in adjacent position in X-axis mechanical arm 301, Y-axis mechanical arm 302 and Z axis mechanical arm 303 are interconnected, one of them mechanical arm of X-axis mechanical arm 301, Y-axis mechanical arm 302, Z axis mechanical arm 303 is fixedly connected with described support 600, and the mechanical arm being in non adjacent positions with this mechanical arm is fixedly connected with described material grabbing assembly 200.
In the present embodiment, Y-axis mechanical arm 302 is fixedly connected with support 600 by the second fixed head 304, Z axis mechanical arm 303 is arranged on Y-axis mechanical arm 302, X-axis mechanical arm 301 is arranged on Z axis mechanical arm 303, material grabbing assembly 200 is connected on X-axis mechanical arm 301, Y-axis mechanical arm 302 can make Z axis mechanical arm 303, X-axis mechanical arm 301 and material grabbing assembly 200 produce displacement in the Y-axis direction, Z axis mechanical arm 303 can make X-axis mechanical arm 301 and material grabbing assembly 200 produce displacement in the Z-axis direction, X-axis mechanical arm 301 can make material grabbing assembly 200 produce displacement in the X-axis direction, crawled material so can be made to produce the axial displacement of XYZ, thus realize material disassemble and assemble work on installation component 400.Certainly in other embodiments, also can be that Y-axis mechanical arm 302 is fixedly connected with support 600 by the second fixed head 304, X-axis mechanical arm 301 is arranged on Y-axis mechanical arm 302, Z axis mechanical arm 303 is arranged on X-axis mechanical arm 301, material grabbing assembly 200 is connected on Z axis mechanical arm 303, can realize the function of this programme equally.
As to the connected mode of adjacent machine arm and a citing of manner of execution, in the present embodiment, Z axis mechanical arm 303 is connected on Y-axis mechanical arm 302 by a L-type plate 305, this L-type plate 305 is fixedly connected with the screw of the screw mechanism of Y-axis mechanical arm 302, the screw mandrel of screw mechanism is arranged along Y-axis and passes through a motor-driven rotation, when motor makes screw mandrel rotate, screw produces the straight-line displacement in Y-axis, thus makes Z axis mechanical arm 303 produce straight-line displacement in Y-axis.X-axis mechanical arm 301 and the Z axis mechanical arm 303 of the present embodiment, and the connected mode of material grabbing assembly 200 and X-axis mechanical arm 301 and manner of execution and aforesaid way principle consistent, repeat no more herein.
Installation component 400 comprises and can produce the X-axis assembly 401 of displacement, Y-axis assembly 402 and Z axis assembly 403 respectively in X-axis, Y-axis and Z-direction, and in order to the first rotating assembly 404 of clamping material, X-axis assembly 401, Y-axis assembly 402 and Z axis assembly 403 superpose setting mutually, wherein, the assembly of one of X-axis assembly 401, Y-axis assembly 402, Z axis assembly 403 is fixed on support 600, be in transmission connection between any two adjacent assemblies, the first rotating assembly 404 is loaded on the assembly non-adjacent with the assembly be fixed on support 600.See Fig. 8, in the present embodiment, X-axis assembly 401 is fixed on support 600, Y-axis assembly 402 is in transmission connection on X-axis assembly 401, Z axis assembly 403 passes to and is connected on Y-axis assembly 402, first rotating assembly 404 is in transmission connection on Z axis assembly 403, X-axis assembly 401 can make Y-axis assembly 402, Z axis assembly 403, first rotating assembly 404 produces the displacement of X-direction, Y-axis assembly 402 can make Z axis assembly 403, first rotating assembly 404 produces the displacement of Y direction, Z axis assembly 403 can make the first rotating assembly 404 produce the displacement of Z-direction, so by X-axis assembly 401, the interlock of Y-axis assembly 402 and Z axis assembly 403 can make material in X-axis, Y-axis and Z-direction produce displacement respectively, thus reach the object that instrumentality material level puts.The factors such as relative to traditional bridge-type linear axis layout type, there is volume large, feeding, discharge space is little, and maintenance operation is inconvenient, this programme adopts superposition arrangement, and space availability ratio is high, and assembling maintenance is more convenient, and stability and precision improve greatly.
As to the connected mode of above-mentioned adjacent component and a citing of manner of execution, Fig. 9 shows the concrete structure of X-axis assembly.In the present embodiment, the screw mechanism that X-axis assembly 401 comprises a base 405 and is arranged on base 405, wherein, screw mandrel 406 and the Y-axis assembly 402 of screw mechanism are rotationally connected, and screw mandrel 406 is driven by motor (not shown) and rotates.When motor makes screw mandrel rotate, the rotation of screw mandrel is converted into the rectilinear movement of Y-axis assembly 402 along screw mandrel, thus makes Y-axis assembly 402 produce displacement in X-direction.Scheme more specifically, Y-axis assembly 402 is rotationally connected with screw mandrel 406 by the first connecting plate 407, when specifically assembling, Y-axis assembly 402 entirety is fixed on the first connecting plate 407, then the first connecting plate 407 is connected on screw mandrel 406, finally again integral installation on base 405.Preferred scheme, base 405 adopts the groove version of the equal opening in two ends, comprise a bottom land 408 and the groove sidewall 409 being symmetricly set in bottom land 408 both sides, screw mandrel 406 is fixed on the middle part of bottom land 408 by screw mandrel supporting seat 410, screw mandrel 406 cross-under first connecting plate 407.Preferred scheme, the top of groove sidewall 409 is provided with slide block 411, slide block 411 is preferably through the length direction of groove sidewall 409, the surface of the close groove sidewall 409 of the first connecting plate 407 is provided with the chute 412 matched with slide block 411, design like this, when the first connecting plate 407 moves linearly on screw mandrel 406, slide block 411 slides in chute 412, improves the stationarity of transmission.The slide block 411 corresponding to each groove sidewall 409 in the present embodiment arranges two chutes 412 at the first connecting plate 407 interval, improves transmission accuracy further.
This programme, preferably in embodiment, in order to improve the efficiency of transmission further, can also arrange the assembly of accessory drive.As a citing, incorporated by reference to Fig. 9 and Figure 10, the outside of groove sidewall 409 has the first side 413, first side 413 is provided with dee 414, dee 414 is provided with drag chain 415, the part that first connecting plate 407 protrudes from groove sidewall 409 is connected with the second connecting plate 416, drag chain 415 is connected with the 3rd connecting plate 417, second connecting plate 416 and is connected with the 3rd connecting plate 417.When screw mandrel 406 rotate drive first connecting plate 407 move linearly time, drag chain 415 slides under the drive of the second connecting plate 416 and the 3rd connecting plate 417 in dee 414, further increases the efficiency of transmission.Wherein, shown in Figure 11, dee 414 comprises one in flat dee main body 418, and be arranged at first kink 419 and second kink 420 at dee main body 418 two ends, second kink 420 is for connecting the first side 413, first kink 419 in order to be limited in dee 414 by drag chain 415.Preferred first kink 419 and the second kink 420 are respectively to the incorgruous bending in both sides of dee main body 418.Shown in Figure 12, drag chain 415 comprises two spaced first horizontal part 421, second horizontal parts 422, and is connected to the bend 423 between the first horizontal part 421 and the second horizontal part 422.3rd connecting plate 417 level is installed on the first horizontal part 421, between insertion the 3rd connecting plate 417 of the second connecting plate 416 level and the first horizontal part 421, is realized the firm connection of three by bolt.Second horizontal part 422 is placed in the dee main body 418 of dee 414, and the first kink 419 can prevent the second horizontal part 422 from coming off in dee main body 418, thus ensures the reliability of motion.
In Grinding Process, be attended by the foreign material such as a large amount of metal fillings, once these foreign material access arrangement inside will have a negative impact, for this reason, installation component 400 is provided with black box, the foreign material such as metal fillings can be prevented in process to enter, and it is inner, avoids above-mentioned rough sledding to occur.Concrete, shown in Fig. 9 and Figure 10, be positioned at above the first side 413 be provided with First terrace 424 in the outside of groove sidewall 409, First terrace 424 has two and is symmetricly set in the outside of two groove sidewalls 409 respectively.On base 405, button is provided with guard shield, and in being contained in by screw mechanism, guard shield covers on First terrace 424, and is fixedly connected with groove sidewall 409 by bolt, and the first connecting plate 407 is placed in the top of described guard shield.Because base 405 adopts the groove version of the equal opening in two ends; at the two ends of this groove, sealing plate 425 is all set; drive motors is connected with screw mandrel 406 by the installing hole offered on sealing plate 425; the outer setting of motor has the first seal closure 426; so; by above-mentioned design, screw mechanism and the equal seal protection of drive motors are got up, avoid foreign material to produce the impacts such as infringement to it.The version of guard shield has multiple, such as, the guard shield of Fig. 9 display is organ protective cover 427, organ guard shield have be not afraid of that pin is stepped on, hard object collide indeformable, the life-span long, good seal and the feature such as operation is light, and guard shield tool stroke is long and compress little advantage, without any metal parts in guard shield, there will be loose-parts when not worrying that guard shield works and cause serious destruction to machine.And for example, the guard shield shown in Figure 13 is armor protective cover 428, the design of armor protective cover can through+900 DEG C of high temperature be impacted and red-hot fragment causes, and when in its compressed state, makes these armors can keep its original state without any obstacle; Owing to having good adhesion between the preset armor, armor protective cover forms reliable protective layer and resists dust, sand end, greasy dirt, iron filings etc.Certainly, combinationally using of organ protective cover 427 and armor protective cover 428 can also be adopted, such as, in the present embodiment, the periphery (i.e. the circumferential lateral surface of assembly) of Z axis assembly 403 adopts armor protective cover 428, and its inside (namely by the surface arranging the first rotating assembly 404 that circumferential lateral surface is surrounded) adopts organ protective cover.
What need statement is, above-mentioned just to being convenient to describe version and the manner of execution that citing shows X-axis assembly, those skilled in the art can know that the version of above-mentioned X-axis assembly and manner of execution are equally applicable to Y-axis assembly and Z axis assembly, repeat no more herein.
As shown in FIG. 14 and 15, first rotating assembly 404 is fixed on Z axis assembly 403 by the 4th connecting plate 429, first rotating assembly 404 comprises the first motor 430 as drive source, and drive rotatably for the collet chuck 432 of clamping material 700 by it, first motor 430 is sealed in the second seal closure 433, its output connects collet chuck 432, and sealed by the first flange 431, the air cylinder tie rod 434 being used for optionally collet chuck 432 being clamped or unclamping also is set in the second seal closure 433 and the first flange 431.The version of the first traditional rotating assembly for adopting servomotor by gear drive, and adopts claw fixation workpiece, and the defect of which is: gear-driven accuracy is low, install loaded down with trivial details, servomotor response speed is slow, and the mode efficiency of jack catchs type fixation workpiece is low, and error is large.This programme adopts motor direct-drive to replace servo-drive and gear drive, improve response speed and positioning precision, adopt the mode of rod-pulling type cylinder braking system locking chuck fixation workpiece to improve the efficiency of workpiece feeding, discharge, and ensure the stability of workpiece in process.
Shown in Figure 16, processing assembly 500 comprises the second rotating assembly 502 and spindle assemblies 501 that arrange in superposition, and spindle assemblies 501 is arranged on the second rotating assembly 502, and the second rotating assembly 502 is fixed on support 600.Spindle assemblies 501 comprises rotating grinding wheel spindle 503, can fixed emery wheel on grinding wheel spindle 503, and the second rotating assembly 502 can make spindle assemblies 501 rotate.Traditional spindle assemblies and the second rotating assembly are that separate type is installed, and there is rotating shaft moment little, the shortcomings such as rotating distance is little.This programme uses the spindle assemblies mode that superpose upper and lower with the second rotating assembly, and have rotating distance greatly, shaft load is little, easy to connect, advantage that torsion is large etc.In addition, traditional rotating assembly is fixed on X linear axis, and load is large, and along with X-axis very low from dynamic stability.Second rotating assembly 502 is directly fixed on support 600 by this programme, and support 600 preferably adopts marble material to make, and utilize the stability characteristic (quality) of support 600, machining accuracy improves greatly, direct load main shaft, also greatly promoting of response speed.More specifically, the second rotating assembly 502 comprises turning cylinder and drive motors, and drive motors can drive turning cylinder to rotate, turning cylinder and spindle assemblies 501 are in transmission connection, when motor-driven rotation axle rotates, spindle assemblies 501 also produces rotation, thus carries out grinding work.The turning cylinder of this programme is directly driven by motor, and fast response time, precision are high, avoids traditional approach can produce wearing and tearing problem by turbine worm transmission simultaneously.In the present embodiment, spindle assemblies 501 is arranged in main shaft shield 504, and grinding wheel spindle 503 stretches out outside main shaft shield 504, and the second rotating assembly 502 is installed in rotating shaft guard shield 505, and main shaft shield 504 is fixed on rotating shaft guard shield 505 by ring flange.Main shaft shield 504 and rotating shaft guard shield 505 can prevent dust, greasy dirt etc. from entering in spindle assemblies 501 and the second rotating assembly 502, ensure that respective working environment is stablized.
Preferred scheme, grinding wheel spindle 503 is provided with emery wheel pad 506, in order to by spaced apart for adjacent grinding wheel.Preferred scheme, spindle assemblies 501 comprises two grinding wheel spindles 503, is arranged at the both sides of main shaft shield 504 respectively, all can fixed emery wheel on each grinding wheel spindle 503.Spindle assemblies 501 adopts two-way grinding wheel spindle, and grinding wheel all can be installed in left and right both sides, enables grinding machine process more complex cutting tools, to meet the demand of client's diversity processing.As shown in figure 17, in the present embodiment, spindle assemblies 501 comprises two grinding wheel spindles 503, is symmetricly set in the both sides of main shaft shield 504 respectively, and each grinding wheel spindle 503 at least can install two emery wheels.
Shown in Figure 18, support 600 comprises a machine base body 601, and this machine base body 601 has a surface element 602, and surface element 602 offers multiple installing hole 603, for fixedly mounting assembly 400; Also be provided with brace table 604 at surface element 602, brace table 604 offered multiple installing hole 603, for fixing processing assembly 500, Automatic-feeding assembly 100, rectangular co-ordinate three-axis robot 300.The installing hole 603 of the present embodiment preferably adopts bolt hole, adopts bolt fixed installation, is convenient to dismounting.Installing hole 603 on surface element 602 comprises the two parts at interval, center between the two sections arranges horizontal reference groove 605, the installation of installation component 400 can be facilitated to locate, and is specifically the installation location being convenient to X-axis assembly 401 in installation component 400 in the present embodiment.
In the present embodiment, brace table 604 is preferably arranged at the right opposite of installation component 400, so, processing assembly 500 can be made to be positioned at the right opposite of installation component 400, can so that manufacture carry out smoothly.
Shown in Figure 19, brace table 604 is arranged boss 606, boss 606 at least has a boss end face 607 and boss side surfaces 608, extend to form second step face 609 by the end of boss side surfaces 608 to brace table 604 outer rim, extend to form the second adjacent side 610 and the 3rd side 611 by the end in second step face 609 to the bottom of brace table 604.Boss end face 607 is for the second rotating assembly 502 in fixing processing assembly 500; 3rd side 611, for the Y-axis mechanical arm 302 in fixing rectangular co-ordinate three-axis robot 300, connects Y-axis mechanical arm 302 and the 3rd side 611 especially by the second fixed head 304; Second step face 609 is for installing linear vibrator 102, second side 610 of Automatic-feeding assembly 100 for installing the vibrating disk 101 of fixing Automatic-feeding assembly 100.By the above-mentioned structural design to brace table 604, effectively can utilize installing space, the carrying out of ease of assembly work.
Surface element 602 is also provided with oil-recovery tank 612, can recycles processing oil, meet the designing requirement of grinding machine base used specially.Shown in Figure 18, the oil-recovery tank 612 of the present embodiment adopts " U " type structure, multiple installing hole 603 and brace table 604 are surrounded on it inner, design like this, the parts of processing action are all limited in the inner space of oil-recovery tank 612, can, so that the recovery operation of processing oil, reclaim more abundant, thorough.
The bottom of machine base body 601 arranges forklift groove 613, can so that the carrying work of complete machine.Concrete, ask for an interview Figure 20, in the present embodiment, the bottom of machine base body 601 arranges four forklift groove 613, wherein, longitudinal separation arranges the forklift groove 613 that two run through the length direction of machine base body 601, is horizontally arranged at interval two and runs through the forklift groove 613 of the width of machine base body 601, and four forklift groove 613 all arrange the end position near machine base body 601.So, regardless of from laterally or longitudinally all carrying work can be carried out, flexible operation mode by forklift groove 613 pairs of complete machines, simultaneously because forklift groove 613 is all arranged on the end position near machine base body 601, when using fork truck to extract machine, the stationarity of transportation can be ensured.
Support 600 preferably adopts marble material to make.Traditional Five-axis linked tool grinding machine adopts original cast iron base usually, but belongs to extraordinary type due to cast iron cutter and tool grinding machine, often needs die sinking again to customize base, so just causes the cost of plant bottom case very large.The support 600 of this programme adopts marble material, and marble has physical stable, and organize careful, the crystal grain that is impacted comes off, phozy limit, surface, does not affect its plane precision, stable material quality, can ensure the shape that remains unchanged for a long period of time, linear expansion coefficient is little, and mechanical precision is high, antirust, antimagnetic, insulation.Marble support adopts monoblock natural granite to burnish and fabricate, and process relative to the die sinking of cast iron base, the polishing cost of granite is low, and technique is simple, is convenient to manufacture.For the diversity of cutter and tool grinding machine equipment, the equipment of various axle construction and stroke can be mated flexibly.Require higher due in the process that cutter is produced to the precision and stability of lathe, marble support not only shock resistance, stability is high, and lower than cast iron cost, and outward appearance is beautiful.
See Figure 21, the grinding machine of this programme also comprises control system, control system is connected with Automatic-feeding assembly 100, material grabbing assembly 200, rectangular co-ordinate three-axis robot 300, installation component 400, processing assembly 500, controls Automatic-feeding assembly 100 automatic transport material by control system; Material conveying come by material grabbing assembly 200 is again captured; Then control rectangular co-ordinate three-axis robot 300 and crawled material is displaced to Working position; Control installation component 400 undertaking to be again shifted and next material; Last controlled working assembly 500 is processed the material installed, and circulation like this just achieves the automatic feeding, discharge of material and automatically processes.In the present embodiment, control system preferably adopts PLC system, and design is convenient, and cost is low.
The term "front", "rear" that this programme adopts, "left", "right" are for convenience of description and with reference to illustrated direction, " first ", " second ", " the 3rd ", " the 4th " etc. are just distinguished in description, do not have special implication.
It is to be understood that; above-mentioned detailed description of the invention is only preferred embodiment of the present invention and institute's application technology principle; in technical scope disclosed in this invention, the change that any those skilled in the art of being familiar with easily expect or replacement, all should be encompassed in protection scope of the present invention.
Claims (10)
1. a six-axle five-linkage cutter and tool grinding machine for tool automatic loading/unloading function, is characterized in that, comprising:
Automatic-feeding assembly, for automatic transport material;
Material grabbing assembly, captures in order to material conveying come;
Rectangular co-ordinate three-axis robot, in order to be displaced to Working position by crawled material;
Installation component, limits the installation site of displacement and next material;
Processing assembly, is in the material of installation site in order to processing;
Support, limits the installation site of described Automatic-feeding assembly, described material grabbing assembly, described rectangular co-ordinate three-axis robot, described installation component, described processing assembly;
Described Automatic-feeding assembly at least comprises a vibrating disk and a linear vibrator, and described vibrating disk is connected with described linear vibrator, in order to automatic transport material;
The rotating mechanism that described material grabbing assembly comprises liftable material grasping mechanism and described material grasping mechanism can be made to rotate, described material grasping mechanism comprises the jaw that has and match with material shapes and the elevating mechanism for making described jaw be elevated, described rotating mechanism comprises source of rotational drive, and for connecting the rotating shaft of described source of rotational drive and described material grasping mechanism;
Described rectangular co-ordinate three-axis robot comprises and can produce the X-axis mechanical arm of displacement, Y-axis mechanical arm and Z axis mechanical arm respectively in X-axis, Y-axis and Z-direction, any two mechanical arms being in adjacent position in described X-axis mechanical arm, described Y-axis mechanical arm and described Z axis mechanical arm are in transmission connection mutually, one of them mechanical arm of described X-axis mechanical arm, described Y-axis mechanical arm, described Z axis mechanical arm is fixedly connected with described support, and the mechanical arm being in non adjacent positions with this mechanical arm is fixedly connected with described material grabbing assembly.
2. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 1, it is characterized in that, described installation component comprises can in X-axis, Y-axis and Z-direction produce the X-axis assembly of displacement respectively, Y-axis assembly and Z axis assembly, and for the first rotating assembly of clamping material, described X-axis assembly, described Y-axis assembly and described Z axis assembly superpose setting mutually, be in transmission connection between any two adjacent assemblies, described X-axis assembly, described Y-axis assembly, one of them assembly of described Z axis assembly is fixed on described support, described first rotating assembly is fixedly installed with on the assembly that this assembly is non-adjacent.
3. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 2, it is characterized in that, described X-axis assembly, described Y-axis assembly or described Z axis assembly arrange black box, and described black box is organ protective cover and/or armor protective cover.
4. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 2, it is characterized in that, described first rotating assembly is fixed on described X-axis assembly by connecting plate, on described Y-axis assembly or described Z axis assembly, described first rotating assembly comprises the first motor as drive source, and drive rotatably for the collet chuck of clamping material by it, described first motor seal is in seal closure, its output connects described collet chuck, and by the first flange seal, the air cylinder tie rod being used for optionally making described collet chuck clamp or unclamp also is set in described seal closure and the first flange.
5. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 2, it is characterized in that, the screw mechanism that described X-axis assembly, described Y-axis assembly or described Z axis assembly comprise a base and be arranged on base, described base adopts the groove version of the equal opening in two ends, comprise a bottom land and the groove sidewall being symmetricly set in bottom land both sides, the screw mandrel of described screw mechanism is fixed on the middle part of described bottom land by screw mandrel supporting seat, described screw mandrel cross-under connecting plate, described connecting plate is fixedly connected with the arbitrary assembly adjacent with this assembly.
6. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 1, it is characterized in that, described processing assembly comprises the second rotating assembly and spindle assemblies that arrange in superposition, described spindle assemblies is arranged on described second rotating assembly, described second rotating assembly is fixed on described support, described spindle assemblies comprises for the rotating grinding wheel spindle of fixed emery wheel, and described second rotating assembly drives described spindle assemblies to rotate.
7. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 6, it is characterized in that, described spindle assemblies is arranged in main shaft shield, described grinding wheel spindle stretches out outside described main shaft shield, described spindle assemblies comprises two grinding wheel spindles, is arranged at the both sides of described main shaft shield respectively.
8. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 1, it is characterized in that, described support comprises a machine base body, this machine base body has a surface element, described surface element offers multiple installing hole for fixing described installation component, the brace table that what described surface element also protruded be provided with for fixing described processing assembly, described Automatic-feeding assembly and described rectangular co-ordinate three-axis robot.
9. the six-axle five-linkage cutter and tool grinding machine of tool automatic loading/unloading function according to claim 8, is characterized in that, the surface element of described machine base body is provided with oil-recovery tank, and/or the bottom of described machine base body arranges forklift groove.
10. the six-axle five-linkage cutter and tool grinding machine of the tool automatic loading/unloading function according to any one of claim 1 to 9, it is characterized in that, described cutter and tool grinding machine also comprises control system, and described control system is connected respectively with described Automatic-feeding assembly, described material grabbing assembly, described rectangular co-ordinate three-axis robot, described installation component, described processing assembly.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410114241.9A CN104942707A (en) | 2014-03-25 | 2014-03-25 | Six-axis five-linkage tool grinding machine with automatic feeding and discharging functions |
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| CN201410114241.9A CN104942707A (en) | 2014-03-25 | 2014-03-25 | Six-axis five-linkage tool grinding machine with automatic feeding and discharging functions |
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| CN105881165A (en) * | 2016-04-08 | 2016-08-24 | 冠亿精密工业(昆山)有限公司 | Five-axis CNC grinding robot |
| CN105881167A (en) * | 2016-04-08 | 2016-08-24 | 冠亿精密工业(昆山)有限公司 | Five-axis CNC grinding robot |
| CN107600873A (en) * | 2017-07-20 | 2018-01-19 | 镇江建华轴承有限公司 | A kind of straight pin sanding apparatus |
| CN107745393A (en) * | 2017-10-15 | 2018-03-02 | 无锡市盛宝嘉科技有限公司 | Plane joint manipulator for bearing ring forging and stamping loading and unloading |
| CN109676524A (en) * | 2018-12-29 | 2019-04-26 | 深圳市海之诚自动化技术有限公司 | A kind of polissoir |
| CN110640588A (en) * | 2019-10-15 | 2020-01-03 | 增城市运豪五金塑料有限公司 | Tire dull polish machine |
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Application publication date: 20150930 |