CN106346337A - Automatic grinding device and method thereof - Google Patents
Automatic grinding device and method thereof Download PDFInfo
- Publication number
- CN106346337A CN106346337A CN201510412296.2A CN201510412296A CN106346337A CN 106346337 A CN106346337 A CN 106346337A CN 201510412296 A CN201510412296 A CN 201510412296A CN 106346337 A CN106346337 A CN 106346337A
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- CN
- China
- Prior art keywords
- workpiece
- station
- polishing
- grinding device
- automatically grinding
- Prior art date
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Classifications
-
- 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
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
-
- 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
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
-
- 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
Abstract
The invention provides an automatic grinding device and method thereof. The automatic grinding device comprises grinding tools which is clipped on the end of the mechanical arm, a staging with the sequential establishment of the feeding station, a grinding station and a receiving station, a material trough which is arranged on the feeding station with a plurality of grinding work pieces placed side by side inside, a clamping structure which clamp the work pieces moving from the feeding station to the grinding station and moving from the grinding station to the receiving station, a fastening structure which is arranged on the grinding station and clamp the work pieces for grinding, a control unit which control the action of the mechanical arm, the clamping structure and the fastening structure. The automatic grinding device and method thereof has the advantages of grinding work pieces automatically and improving the work efficiency. Grinding with the automatic grinding device and burnishing each work piece with the same strength and angle is conducted, thereby solving the problems of low efficiency of manual grinding and differences in the surface of the work pieces while grinding caused by grinding with the existing technology.
Description
[technical field]
A kind of the present invention relates to sanding apparatus and method, and more particularly to a kind of automatically grinding device and method.
[background technology]
It will usually need polishing processing, to process die casting work during die casting workpiece is produced
The joint line on part surface and burr, make surface of the work more conform to outward appearance demand by this processing procedure.
At present surface of the work is polished, be the hand-held file of staff one, a hand-held workpiece, then handss
Move to fall the joint line of surface of the work and sanding burr.But, on the one hand, hand sand, operation intensity is big,
Staff is easily tired, causes work efficiency relatively low；On the other hand, each operated by personnel's maneuver and
Dynamics is different, can cause the difference of each surface of the work polishing.
In view of this, it is necessary in fact to develop a kind of automatically grinding device and method, to solve above-mentioned hand sand
The problem of the difference of inefficiency and surface of the work polishing.
[content of the invention]
Therefore, it is an object of the invention to provide a kind of automatically grinding device and method, solve above-mentioned hand sand
The problem of the difference of inefficiency and surface of the work polishing.
In order to achieve the above object, the automatically grinding device of the present invention, it coordinates polishing workpiece with mechanical arm,
Described automatically grinding device includes:
Milling tools, it is held on the end of mechanical arm；
Workbench, it has the feeding station sequentially set up, polishing station and rewinding station；
Material trough, its on feeding station, several workpiece to be polished placed side by side in described material trough；
Clamp structure, its clamping workpiece is from feeding station movement to polishing station and from polishing station movement to receipts
Material station；
Clamping structure, it clamps described workpiece and supplies milling tools to polish on polishing station；
Control unit, it controls described mechanical arm, clamp structure and clamping structure action.
Alternatively, it is provided with slideway at rewinding station, slideway connects rewinding case, collect the workpiece after polishing.
Alternatively, described material trough tail end has location structure, treats polishing workpiece and is corrected positioning.
Alternatively, described location structure includes locating slot and positioning cylinder, locating slot located at material trough tail end,
Workpiece moves from material trough to locating slot, and positioning cylinder promotes workpiece located at locating slot side.
Alternatively, described clamp structure includes the first chuck and the second chuck, and the first chuck with the second chuck is in
Different angle settings, the first grips workpiece is from feeding station movement to polishing station, the second grips
Workpiece is from polishing station movement to rewinding station.
Alternatively, vertically on the first gripper cylinder, the second chuck is vertically located at the second clamping for the first chuck
On cylinder, the first gripper cylinder and the second gripper cylinder are fixed on connecting plate, connecting plate and the first displacement gas
Cylinder and second displacement cylinder connect, and the first displacement cylinder controls the first chuck and the second chuck in horizontal direction
Move forward and backward, second displacement cylinder controls the first chuck and the side-to-side movement in horizontal direction of the second chuck.
Alternatively, described clamping structure includes two clamping cylinders, and two clamping cylinders connect grip block respectively, and two
Grip block is oppositely arranged clamping workpiece.
Alternatively, it is provided with holding tank between two grip blocks to be located therein for workpiece, accommodate trench bottom and be provided with through hole,
Through hole connects the material bits case collecting material bits.
Alternatively, described grip block is provided with servomotor, and servomotor rotates described workpiece.
Alternatively, described mechanical arm arranges two or more milling tools, respectively this milling tools is in
Different angle settings, polish to the workpiece in two or more automatically grinding devices successively.
In addition, the present invention also provides a kind of automatically grinding method, it applies in above-mentioned automatically grinding device, should
Automatically grinding method comprises the following steps:
Several workpiece to be polished placed side by side in material trough；
Clamp structure clamps workpiece to be polished from feeding station movement to polishing station；
The milling tools polishing workpiece of mechanical arm end clamping；
Workpiece after clamp structure clamping polishing is from polishing station movement to rewinding station.
Compared to prior art, the automatically grinding device and method of the present invention, by material trough and discharge
Put several workpiece to be polished, clamp structure clamps the workpiece after polishing workpiece and polishing, mechanical arm end
The milling tools polishing workpiece of portion's clamping, it is achieved that automatically grinding workpiece, improves work efficiency, and passes through
Automatically grinding device is polished, and the dynamics of each workpiece of polishing and angle are consistent, thus solving in prior art
The problem of the difference of hand sand inefficiency and surface of the work polishing.
[brief description]
Fig. 1 illustrates the structural representation of automatically grinding device the first working condition first angle of the present invention.
Fig. 2 illustrates the structural representation of automatically grinding device the first working condition second angle of the present invention.
Fig. 3 illustrates the structural representation of automatically grinding device the first working condition third angle of the present invention.
Fig. 4 illustrates the structural representation of automatically grinding device second working condition of the present invention.
Fig. 5 illustrates the structural representation of automatically grinding device the 3rd working condition of the present invention.
Fig. 6 illustrates the structural representation of automatically grinding device the 4th working condition of the present invention.
Fig. 7 illustrates the flow chart of steps of the automatically grinding method of the present invention.
[specific embodiment]
Refer to shown in Fig. 1, Fig. 2 and Fig. 3, wherein Fig. 1 depicts the automatically grinding device first of the present invention
The structural representation of working condition first angle, the automatically grinding device first that Fig. 2 depicts the present invention works
The structural representation of state second angle, Fig. 3 depicts automatically grinding device first working condition of the present invention
The structural representation of third angle.
In a preferred embodiment, the automatically grinding device of the present invention, it coordinates polishing work with mechanical arm 10
Part 11, described mechanical arm 10 can be six axis robot arm, realize rotating at any angle and displacement, described
Automatically grinding device includes:
Milling tools 12, it is held on the end of mechanical arm 10, and described milling tools 12 can be file,
But it is not limited to this；
Workbench 13, it has the feeding station sequentially set up, polishing station and rewinding station；
Material trough 14, its on feeding station, several works to be polished placed side by side in described material trough 14
Part 11；
Clamp structure 15, its clamping workpiece 11 moves from feeding station movement to polishing station and from polishing station
To rewinding station；
Clamping structure 16, it clamps described workpiece 11 and polishes for milling tools 12 on polishing station；
Control unit, it controls described mechanical arm 10, clamp structure 15 and clamping structure 16 action, institute
Stating control unit can be programmable logic controller (PLC).
Wherein, it is provided with slideway 18 at rewinding station, slideway 18 connects rewinding case 17, the workpiece 11 after polishing
Slide to rewinding case 17 from slideway 18, collect the workpiece 11 after polishing, in slideway 18, be provided with protective layer protection
Workpiece 11 is not scratched, and described protective layer can be foam.
Wherein, in material trough 14 workpiece 11 may put irregular, for example material trough 14 can by vibration
Disk produces to put down and shakes, the deviation of meeting existence position.Therefore, follow-up clamp structure 15 clamping workpiece 11 for convenience,
Described material trough 14 tail end has location structure 19, treats polishing workpiece 11 and is corrected positioning, described fixed
Bit architecture 19 includes locating slot 20 and positioning cylinder 21, and locating slot 20 is located at material trough 14 tail end, workpiece
11 move from material trough 14 to locating slot 20, and positioning cylinder 21 promotes work located at locating slot 20 side
Part 11, the position of adjustment workpiece 11.
Wherein, described clamp structure 15 includes the first chuck 22 and the second chuck 23, the first chuck 22 and
Two chucks 23 are in different angles setting, the first chuck 22 clamp workpiece 11 to be polished from feeding station movement to
While polishing station, the workpiece 11 after the second chuck 23 clamping polishing is from polishing station movement to rewinding work
Position such that it is able to save the time.
Wherein, vertically on the first gripper cylinder 24, that is, the first gripper cylinder 24 is vertical for the first chuck 22
The first chuck 22 is promoted to move, the second chuck 23, vertically on the second gripper cylinder 25, second clamps
Cylinder 25 vertically promotes the second chuck 22 to move, and the first gripper cylinder 24 and the second gripper cylinder 25 are fixing
On connecting plate 26, connecting plate 26 is connected with the first displacement cylinder 27 and second displacement cylinder 28, and first
Displacement cylinder 27 controls the first chuck 22 and the second chuck 23 to move forward and backward in horizontal direction, second displacement
Cylinder 28 controls the first chuck 22 and second chuck 23 side-to-side movement in horizontal direction.
Wherein, described clamping structure 16 includes two clamping cylinders 29, and two clamping cylinders 29 connect clamping respectively
Plate 30, two grip blocks 30 are oppositely arranged clamping workpiece 11.
Wherein, it is provided with holding tank 31 between two grip blocks 30 to be located therein for workpiece 11, in polishing workpiece 11
When holding tank 31 prevent material bits from disorderly flying, holding tank 31 bottom is provided with through hole, and through hole connects the material collecting material bits
Bits case 32.
Wherein, described grip block 30 connects servomotor 33, servomotor 33 rotates described workpiece 11,
Another side for milling tools 12 polishing workpiece 11.
Wherein, described mechanical arm 10 arranges two or more milling tools 12, respectively this milling tools
12 is in different angle setting, the workpiece 11 in two or more automatically grinding devices is carried out beating successively
Mill.
In addition, referring to shown in Fig. 7, Fig. 7 depicts the flow chart of steps of the automatically grinding method of the present invention.
The present invention also provides a kind of automatically grinding method, and it is applied in above-mentioned automatically grinding device, preferably implements in one
In example, this automatically grinding method comprises the following steps:
Step s101: referring to Fig. 1, several workpiece 11 to be polished placed side by side in material trough 14,
In a preferred embodiment, also include step, workpiece 11 moves from material trough 14 to locating slot 20,
Positioning cylinder 21 promotes workpiece 11, the position of calibration of workpieces 11；
Step s102: refer to shown in Fig. 4, it illustrates automatically grinding device second working condition of the present invention
Structural representation, clamp structure 15 clamp workpiece 11 to be polished from feeding station movement to polishing station,
In a preferred embodiment, that is, the first displacement cylinder 27 and second displacement cylinder 28 cooperate and move first
Chuck 22 all around moves in horizontal direction, and the first gripper cylinder 24 vertically promotes the first chuck simultaneously
22 move downwardly on feeding station, clamp the mobile station of extremely polishing of workpiece 11 to be polished；
Step s103: refer to shown in Fig. 5, it illustrates automatically grinding device the 3rd working condition of the present invention
Structural representation, mechanical arm 10 end clamping milling tools 11 polishing workpiece 12, i.e. milling tools
11 move on to above workpiece 12 in the drive bottom of mechanical arm 10, and the joint line to workpiece 12 and burr are carried out
Polishing action, after the one side of polishing finished piece(s) 12, servomotor 33 drives workpiece 12 to rotate, and continues polishing
The another side of workpiece 12；
Step s104: refer to shown in Fig. 6, it illustrates automatically grinding device the 4th working condition of the present invention
Structural representation, clamp structure 15 clamping polishing after workpiece 12 from polishing station movement to rewinding station,
In a preferred embodiment, that is, after the completion of workpiece 12 polishing, the first displacement cylinder 27, second displacement cylinder
28th, mobile second chuck 23 of the second gripper cylinder 25 cooperation, the second chuck 23 moves to polishing station, folder
Hold the workpiece after polishing 11 to move to rewinding station, the workpiece 11 after polishing slides to rewinding case along sliding into 18
In 17；While the second chuck 23 action, the first chuck 22 clamps workpiece 11 to be polished and moves from feeding station
Move to polishing station, continue next do action.
Compared to prior art, the automatically grinding device and method of the present invention, by material trough 14 side by side
Place several workpiece 11 to be polished, clamp structure 15 clamps the workpiece 11 after polishing workpiece 11 and polishing,
The milling tools 12 polishing workpiece 11 of mechanical arm 10 end clamping, it is achieved that automatically grinding workpiece 11, carries
High work efficiency, and polishing by automatically grinding device, the dynamics of each workpiece 11 of polishing and angle unanimously,
Thus solving the problems, such as the difference of hand sand inefficiency and surface of the work polishing in prior art.
It is noted that the invention is not restricted to above-mentioned embodiment, any those skilled in the art's base
Any simple modification, equivalent variations and modification above-described embodiment made in technical solution of the present invention, all falls
Enter in protection scope of the present invention.
Claims (11)
1. a kind of automatically grinding device, its with mechanical arm cooperation polishing workpiece it is characterised in that described from
Dynamic sanding apparatus include:
Milling tools, it is held on the end of mechanical arm；
Workbench, it has the feeding station sequentially set up, polishing station and rewinding station；
Material trough, its on feeding station, several workpiece to be polished placed side by side in described material trough；
Clamp structure, its clamping workpiece is from feeding station movement to polishing station and from polishing station movement to receipts
Material station；
Clamping structure, it clamps described workpiece and supplies milling tools to polish on polishing station；
Control unit, it controls described mechanical arm, clamp structure and clamping structure action.
2. automatically grinding device according to claim 1 is it is characterised in that be provided with cunning at rewinding station
Road, slideway connects rewinding case, collects the workpiece after polishing.
3. automatically grinding device according to claim 1 is it is characterised in that described material trough tail end has
There is location structure, treat polishing workpiece and be corrected positioning.
4. automatically grinding device according to claim 3 is it is characterised in that described location structure includes
Locating slot and positioning cylinder, located at material trough tail end, workpiece moves from material trough to locating slot locating slot,
Positioning cylinder promotes workpiece located at locating slot side.
5. automatically grinding device according to claim 1 is it is characterised in that described clamp structure includes
First chuck and the second chuck, the first chuck is in different angle setting from the second chuck, the first grips work
, from feeding station movement to polishing station, the second grips workpiece is from polishing station movement to rewinding station for part.
6. automatically grinding device according to claim 5 it is characterised in that the first chuck vertically located at
On first gripper cylinder, vertically on the second gripper cylinder, the first gripper cylinder and second presss from both sides the second chuck
Hold cylinder to be fixed on connecting plate, connecting plate is connected with the first displacement cylinder and second displacement cylinder, first
Moving cylinder controls the first chuck and the second chuck to move forward and backward in horizontal direction, and second displacement cylinder controls first
Chuck and the second chuck are in horizontal direction side-to-side movement.
7. automatically grinding device according to claim 1 is it is characterised in that described clamping structure includes
Two clamping cylinders, two clamping cylinders connect grip block respectively, and two grip blocks are oppositely arranged clamping workpiece.
8. automatically grinding device according to claim 7 is it is characterised in that be provided with appearance between two grip blocks
Groove of receiving is located therein for workpiece, accommodates trench bottom and is provided with through hole, and through hole connects the material bits case collecting material bits.
9. automatically grinding device according to claim 1 is it is characterised in that connect on described grip block
Servomotor, servomotor rotates described workpiece.
10. automatically grinding device according to claim 1 is it is characterised in that on described mechanical arm
Two or more milling tools are set, and respectively this milling tools is in different angles setting, successively to two or
Workpiece in plural automatically grinding device is polished.
A kind of 11. automatically grinding methods are it is characterised in that this automatically grinding method comprises the following steps:
Several workpiece to be polished placed side by side in material trough；
Clamp structure clamps workpiece to be polished from feeding station movement to polishing station；
The milling tools polishing workpiece of mechanical arm end clamping；
Workpiece after clamp structure clamping polishing is from polishing station movement to rewinding station.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510412296.2A CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510412296.2A CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106346337A true CN106346337A (en) | 2017-01-25 |
| CN106346337B CN106346337B (en) | 2021-05-11 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510412296.2A Active CN106346337B (en) | 2015-07-14 | 2015-07-14 | Automatic polishing device and method |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956194A (en) * | 2017-03-03 | 2017-07-18 | 常熟市双月机械有限公司 | A kind of grinding machine apparatus of sustainable polishing |
| CN107414614A (en) * | 2017-07-26 | 2017-12-01 | 杭州亦侬农业科技有限公司 | A kind of lubricating cup inwall polish-brush flow-line equipment |
| CN107971880A (en) * | 2017-11-28 | 2018-05-01 | 温岭市奥美特电子有限公司 | A kind of processing technology of die casting aluminum component automatically grinding |
| CN108505100A (en) * | 2018-06-14 | 2018-09-07 | 山东粤广电子科技有限公司 | Row's production line and its control method on a kind of proximate matter automatic intelligent |
| CN108655911A (en) * | 2018-05-14 | 2018-10-16 | 柳州中科机器人自动化股份有限公司 | A kind of multi-functional robot grinding apparatus |
| CN108723953A (en) * | 2017-04-20 | 2018-11-02 | 苏州汉扬精密电子有限公司 | Three axis grinding devices |
| CN109227289A (en) * | 2018-09-29 | 2019-01-18 | 嘉善浩辰机械密封有限公司 | A kind of sealing element grinding device |
| CN109333320A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
| CN110125757A (en) * | 2019-06-11 | 2019-08-16 | 倪晋挺 | A kind of the Lower Sway Arm of Automobile casting burr remover |
| CN113118522A (en) * | 2020-01-15 | 2021-07-16 | 汉达精密电子(昆山)有限公司 | Automatic centre milling and printing equipment |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106956194A (en) * | 2017-03-03 | 2017-07-18 | 常熟市双月机械有限公司 | A kind of grinding machine apparatus of sustainable polishing |
| CN108723953A (en) * | 2017-04-20 | 2018-11-02 | 苏州汉扬精密电子有限公司 | Three axis grinding devices |
| CN107414614A (en) * | 2017-07-26 | 2017-12-01 | 杭州亦侬农业科技有限公司 | A kind of lubricating cup inwall polish-brush flow-line equipment |
| CN107971880A (en) * | 2017-11-28 | 2018-05-01 | 温岭市奥美特电子有限公司 | A kind of processing technology of die casting aluminum component automatically grinding |
| CN108655911B (en) * | 2018-05-14 | 2020-04-17 | 柳州中科机器人自动化股份有限公司 | Multifunctional robot polishing equipment |
| CN108655911A (en) * | 2018-05-14 | 2018-10-16 | 柳州中科机器人自动化股份有限公司 | A kind of multi-functional robot grinding apparatus |
| CN108505100A (en) * | 2018-06-14 | 2018-09-07 | 山东粤广电子科技有限公司 | Row's production line and its control method on a kind of proximate matter automatic intelligent |
| CN108505100B (en) * | 2018-06-14 | 2023-12-22 | 广东粤盛达自动化科技有限公司 | Intelligent full-automatic upper row production line for profiles and control method thereof |
| CN109227289A (en) * | 2018-09-29 | 2019-01-18 | 嘉善浩辰机械密封有限公司 | A kind of sealing element grinding device |
| CN109333320A (en) * | 2018-10-24 | 2019-02-15 | 武汉理工大学 | A kind of bowl-shape intrados polishing system of annular titanium alloy casting based on industrial robot and technique |
| CN110125757A (en) * | 2019-06-11 | 2019-08-16 | 倪晋挺 | A kind of the Lower Sway Arm of Automobile casting burr remover |
| CN110125757B (en) * | 2019-06-11 | 2020-11-13 | 诸暨市鸿畴智能科技有限公司 | Deburring device for lower swing arm casting of automobile |
| CN113118522A (en) * | 2020-01-15 | 2021-07-16 | 汉达精密电子(昆山)有限公司 | Automatic centre milling and printing equipment |
| CN113118522B (en) * | 2020-01-15 | 2022-10-18 | 汉达精密电子(昆山)有限公司 | Automatic milling thimble seal equipment |
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