CN106985069A - A kind of automatic replacing grinding head device - Google Patents
A kind of automatic replacing grinding head device Download PDFInfo
- Publication number
- CN106985069A CN106985069A CN201710290187.7A CN201710290187A CN106985069A CN 106985069 A CN106985069 A CN 106985069A CN 201710290187 A CN201710290187 A CN 201710290187A CN 106985069 A CN106985069 A CN 106985069A
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- Prior art keywords
- grinding head
- electric drill
- axis
- drill key
- straight line
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- 230000008878 coupling Effects 0.000 claims description 13
- 238000010168 coupling process Methods 0.000 claims description 13
- 238000005859 coupling reaction Methods 0.000 claims description 13
- 238000011084 recovery Methods 0.000 claims description 9
- 239000002699 waste material Substances 0.000 claims description 9
- 230000006835 compression Effects 0.000 claims description 5
- 238000007906 compression Methods 0.000 claims description 5
- 238000010276 construction Methods 0.000 claims description 5
- 230000009286 beneficial effect Effects 0.000 abstract description 2
- 238000005457 optimization Methods 0.000 description 12
- 238000005498 polishing Methods 0.000 description 6
- 230000008901 benefit Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000036461 convulsion Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000012512 characterization method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B24B45/00—Means for securing grinding wheels on rotary arbors
-
- 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
- B24B27/0092—Grinding attachments for lathes or the like
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of automatic replacing grinding head device, its three-dimensional machine mobile phone structure, electric drill key actuated device and grinding head storehouse mechanism for including frame and being disposed thereon；Three-dimensional machine mobile phone structure is fixed on the upper left corner of frame by X-axis straight line slide unit, for gripping the grinding head in the mechanism of grinding head storehouse, electric drill key actuated device is fixed on the middle part of frame by drive device mounting bracket, for tightening or unclamping electric drill head, grinding head storehouse mechanism is fixed on the middle part of frame by belt switch magnet, and positioned at the left side of electric drill key actuated device, for providing grinding head.The apparatus structure is ingenious in design, rationally distributed, can effectively improve the quality and speed of electric drill tool changing, applied widely, beneficial to wide popularization and application.
Description
Technical field
The present invention relates to automatic tool changer technical field, and in particular to a kind of automatic replacing grinding head device.
Background technology
Function of polishing carries out Precision Machining to the surface of workpiece, dispels the cut of workpiece surface, spot, turned-down edge phenomenon makes
Workpiece surface light, smoothly, the machine of a certain accurate roughness value is even up into mirror effect.
To lift operating efficiency, mostly using the pneumatic grinding head of robotic gripper in workpiece surface polishing operation, to reach
Certain surface effect.For grinding head polishing when due to workpiece occur rigid collision, the life-span for the grinding head that contracted significantly,
So grinding head will be changed often, so as to cause the processing non-cutting time of workpiece long.And existing replacing polishing is all artificial behaviour
Make, not only inefficiency, and grinding head is installed and is also easy to produce error, causes grinding head to be easier damage, it is often more important that
It is very dangerous.
The content of the invention
In view of the above-mentioned problems existing in the prior art, the purpose of the present invention is：There is provided a kind of smart structural design, rationally,
With fast automatic replacing grinding head device, it can greatly shorten the processing non-cutting time of workpiece, improve grinding workpieces efficiency.
To achieve the above object, the present invention is adopted the following technical scheme that：
Relative to prior art, the invention has the advantages that：A kind of automatic replacing grinding head device, including frame, three
Tie up manipulator mechanism, electric drill key actuated device and grinding head storehouse mechanism；
Three-dimensional machine mobile phone structure：Including X-axis straight line slide unit, Y-axis straight line slide unit, Z axis straight line slide unit, X-axis motor, Y
Axle motor, Z axis motor and crawl structure；
The X-axis straight line slide unit, Y-axis straight line slide unit and Z axis straight line slide unit are mutually perpendicular to, and are set on the X-axis straight line slide unit
There is the X-axis slide block that can be slid along, X-axis motor drives X-axis slide block to be slided along X-axis straight line slide unit length direction；
One end of the Y-axis straight line slide unit is fixed in X-axis slide block, and Y-axis straight line slide unit is provided with the Y-axis that can be slid along
Sliding block, Y-axis motor drives Y-axis sliding block to be slided along Y-axis straight line slide unit length direction；
One end of the Z axis straight line slide unit is fixed on Y-axis sliding block, and Z axis straight line slide unit is provided with the Z axis that can be slid along
Sliding block, Z axis motor drives Z axis sliding block to be slided along Z axis straight line slide unit length direction；
The crawl structure includes Pneumatic parallel folder motor and Pneumatic parallel folder, the Pneumatic parallel folder motor
It is arranged on Z axis sliding block, the output shaft of Pneumatic parallel folder motor is connected the Pneumatic parallel folder of driving with Pneumatic parallel folder and rotated；
Electric drill key actuated device：Including drive device mounting bracket, line slide rail, electric drill key actuated motor, electric drill key
Spoon motor mounting bracket, electric drill key, the second sliding block；
The line slide rail is horizontally set on drive device mounting bracket, and second sliding block is arranged on line slide rail,
And can be slidably reciprocated along line slide rail, electric drill key actuated motor mounting rack is fixed on the second sliding block, and the electric drill key drives
Dynamic motor is arranged on electric drill key actuated motor mounting rack, and the output shaft of electric drill key actuated motor is connected with electric drill key,
Drive electric drill key turns；
Grinding head storehouse mechanism：Including belt switch magnet, grinding head and grinding head fixed plate；
There are multiple grinding head mounting holes for being used to install grinding head, belt switch magnet level in the grinding head fixed plate
Set, and be fixedly connected with the bottom of grinding head fixed plate, the grinding head is solid installed in grinding head by grinding head mounting hole
In fixed board；
The three-dimensional machine mobile phone structure is fixed on the upper left corner of frame by X-axis straight line slide unit, for gripping grinding head storehouse
Grinding head in mechanism, electric drill key actuated device is fixed on the middle part of frame by drive device mounting bracket, for tightening or
Electric drill head is unclamped, grinding head storehouse mechanism is fixed on the middle part of frame by belt switch magnet, and positioned at electric drill key actuated device
Left side, for providing grinding head.
As optimization, the electric drill key actuated device also includes second shaft coupling and connecting shaft；
The output shaft of the electric drill key actuated motor passes sequentially through second shaft coupling, connecting shaft and electric drill key and connected.
As optimization, the electric drill key actuated device also includes torque force limiting device；
The input of the torque force limiting device is connected with connecting shaft, the output end of torque force limiting device and the left end of electric drill key
Connection.
As optimization, the electric drill key includes electric drill key connecting shaft, electric drill key gear and electric drill key bit；
The electric drill key connecting shaft is hollow-core construction, and it is interior provided with compression spring, and the electric drill key bit passes through pressure
Spring is connected in electric drill key connecting shaft；
The left end of the electric drill key connecting shaft and the output end of torque force limiting device are connected, the right-hand member of electric drill key connecting shaft
Electric drill key gear is installed, and gear is located at the left side of electric drill key bit.
As optimization, the grinding head fixed plate in the grinding head storehouse mechanism is consolidated by left grinding head fixed plate and right grinding head
Fixed board is constituted, and left grinding head fixed plate and right grinding head fixed plate be arranged in parallel, and between there is gap.
As optimization, it is one group that the grinding head mounting hole, which installs three, for installing a grinding head.
As optimization, the grinding head storehouse mechanism also includes multiple common magnet, and the common magnet is arranged on left polishing
Between head fixed plate and right grinding head fixed plate, and each common magnet is corresponding with one group of grinding head mounting hole installation.
As optimization, the grinding head storehouse mechanism also includes multiple photoelectric sensors, and the photoelectric sensor is arranged on a left side
Between grinding head fixed plate and right grinding head fixed plate, and each photoelectric sensor and one group of grinding head mounting hole install relative
Should.
As optimization, in addition to grating sensor, the grating sensor is arranged on four angles of frame.
It is used as optimization, in addition to Waste recovery mechanism；The Waste recovery mechanism is arranged in frame, and corresponding to electric drill
The lower left position of key actuated device.
The automatic replacing grinding head apparatus structure is ingenious in design, rationally sets electric drill key and electric drill key actuated device,
When the electric drill key bit contraposition on the electric drill keyhole on electric drill and electric drill key actuated device is inaccurate, electric drill key actuated
Device drives electric drill key to move forward, and electric drill key is driven when electric drill key gear is engaged with electric drill head gear, so that
Obtain electric drill key bit with electric drill keyhole to cooperate, and then realize electric drill automatic tool changer.Effectively improve the quality of electric drill tool changing
And speed, and overall structure is simple, compact, it is easy to accomplish, it is applied widely, beneficial to wide popularization and application.
Brief description of the drawings
Fig. 1 is the automatic structural representation for changing grinding head device.
Fig. 2 is the stereogram of three-dimensional machine mobile phone structure.
Fig. 3 is Fig. 2 front view.
Fig. 4 is Fig. 2 right view.
Fig. 5 is Fig. 2 top view.
Fig. 6 is the stereogram of electric drill key actuated device.
Fig. 7 is Fig. 6 front view.
Fig. 8 is Fig. 6 right view.
Fig. 9 is Fig. 6 top view.
Figure 10 is the stereogram of grinding head storehouse mechanism.
Figure 11 is Figure 10 front view.
Figure 12 is Figure 10 right view.
Figure 13 is Figure 10 top view.
In figure, frame 10；Three-dimensional machine mobile phone structure 20, X-axis straight line slide unit 21, X-axis fixture 21a, X-axis slide bar 21b, X
Axle sliding block 21c, Y-axis straight line slide unit 22, Y-axis fixture 22a, Y-axis slide bar 22b, Y-axis sliding block 22c, Z axis straight line slide unit 23, Z axis
Fixture 23a, Z axis slide bar 23b, Z axis sliding block 23c, Pneumatic parallel folder motor 24, Pneumatic parallel folder motor mounting bracket
24a, shaft coupling 25, Pneumatic parallel folder mounting bracket 26, Pneumatic parallel folder 27；Electric drill key actuated device 30, line slide rail 31, electricity
Bore key actuated motor 32, electric drill key actuated motor mounting rack 33, second shaft coupling 34, connecting shaft 35, torque force limiting device 36,
Electric drill key 37, drive device mounting bracket 38, the second sliding block 39；Grating sensor 40；Grinding head storehouse mechanism 50, belt switch magnet
51st, grinding head 52, photoelectric sensor 53, left grinding head fixed plate 54a, right grinding head fixed plate 54b, common magnet 55, polishing
Head mounting hole 56；Waste recovery mechanism 60.
Embodiment
The present invention is described in further detail below in conjunction with the accompanying drawings.
In the description of the invention, it is to be understood that term " on ", " under ", "front", "rear", "left", "right", " water
It is flat ", " top ", the orientation of the instruction such as " bottom " or position relationship for based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description, rather than indicate or imply signified device or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance
Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can express or
Implicitly include one or more this feature.In the description of the invention, " multiple " are meant that two or more,
Unless otherwise specifically defined.
In the present invention, unless otherwise clearly defined and limited, fisrt feature second feature it " on " or it " under "
Can directly it be contacted including the first and second features, it is not direct contact but by it that can also include the first and second features
Between other characterisation contact.Moreover, fisrt feature second feature " on ", " top " and " above " to include first special
Levy directly over second feature and oblique upper, or be merely representative of fisrt feature level height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " fisrt feature that includes are directly over second feature and oblique upper, or be merely representative of
Fisrt feature level height is less than second feature.
Referring to Fig. 1, a kind of automatic replacing grinding head device, including frame 10, three-dimensional machine mobile phone structure 20, electric drill key drive
Dynamic device 30, grating sensor 40, grinding head storehouse mechanism 50 and Waste recovery mechanism 60.
Referring to Fig. 2 to Fig. 5, three-dimensional machine mobile phone structure 20：Including X-axis straight line slide unit 21, Y-axis straight line slide unit 22, Z axis straight line
Slide unit 23, X-axis motor 21d, Y-axis motor 22d, Z axis motor 23d and crawl structure；
The X-axis straight line slide unit 21, Y-axis straight line slide unit 22 and Z axis straight line slide unit 23 are mutually perpendicular to, and the X-axis straight line is slided
Platform 21 is provided with the X-axis slide block 21c that can be slid along, and X-axis motor 21d drives X-axis slide block 21c along X-axis straight line slide unit 21
Length direction is slided；
One end of the Y-axis straight line slide unit 22 is fixed on X-axis slide block 21c, and Y-axis straight line slide unit 22 is provided with can be along its cunning
Dynamic Y-axis sliding block 22c, Y-axis motor 22d drive Y-axis sliding block 22c to be slided along the length direction of Y-axis straight line slide unit 22；
One end of the Z axis straight line slide unit 23 is fixed on Y-axis sliding block 22c, and Z axis straight line slide unit 23 is provided with can be along its cunning
Dynamic Z axis sliding block 23c, Z axis motor 23d drive Z axis sliding block 23c to be slided along the length direction of Z axis straight line slide unit 23；
The crawl structure includes Pneumatic parallel folder motor 24 and Pneumatic parallel folder 27, the Pneumatic parallel folder driving
Motor 24 is arranged on Z axis sliding block 23c, and the output shaft of Pneumatic parallel folder motor 24 is connected driving gas with Pneumatic parallel folder 27
Dynamic parallel folder 27 rotates.
As optimization, the X-axis straight line slide unit 21 includes X-axis fixture 21a, X-axis slide bar 21b and X-axis slide block 21c；Institute
Stating X-axis fixture 21a includes X-axis installing plate and the X-axis slide bar engaging lug for being fixed on X-axis installing plate two ends, the X-axis slide bar
21b is arranged between two X-axis slide bar engaging lugs, and the X-axis slide block 21c is arranged on X-axis slide bar 21b, and can be along X-axis slide bar
21b moves back and forth.There is X-axis slide block centre bore, the X-axis slide bar 21b passes through X-axis slide block center on the X-axis slide block 21c
Hole, and coordinate with X-axis slide block centre bore screw thread；The output shaft of the X-axis motor 21d is connected with X-axis slide bar 21b, drives X
Axle slide bar 21b is rotated.
The Y-axis straight line slide unit 22 includes Y-axis fixture 22a, Y-axis slide bar 22b and Y-axis sliding block 22c；The Y-axis is fixed
Part 22a includes Y-axis installing plate and is fixed on the Y-axis slide bar engaging lug at Y-axis installing plate two ends, and the Y-axis slide bar 22b is arranged on two
Between individual Y-axis slide bar engaging lug, the Y-axis sliding block 22c is arranged on Y-axis slide bar 22b, and can be moved back along Y-axis slide bar 22b
It is dynamic.There is Y-axis its center hole, the Y-axis slide bar 22b passes through Y-axis its center hole, and and Y-axis on the Y-axis sliding block 22c
Its center hole screw thread coordinates；The output shaft of the Y-axis motor 22d is connected with Y-axis slide bar 22b, driving Y-axis slide bar 22b
Rotate.
The Z axis straight line slide unit 23 includes Z axis fixture 23a, Z axis slide bar 23b and Z axis sliding block 23c；The Z axis is fixed
Part 23a includes Z axis installing plate and is fixed on the Z axis slide bar engaging lug at Z axis installing plate two ends, and the Z axis slide bar 23b is arranged on two
Between individual Z axis slide bar engaging lug, the Z axis sliding block 23c is arranged on Z axis slide bar 23b, and can be moved back along Z axis slide bar 23b
It is dynamic.There is Z axis its center hole, the Z axis slide bar 23b passes through Z axis its center hole, and and Z axis on the Z axis sliding block 23c
Its center hole screw thread coordinates；The output shaft of the Z axis motor 23d is connected with Z axis slide bar 23b, driving Z axis slide bar 23b
Rotate.
Design X, Y, Z axis is orthogonal two-by-two, and its mentality of designing meets cartesian coordinate system principle, is conducive to space three-dimensional
The foundation of structure coordinate system and the quick positioning for being conducive to workpiece coordinate.X, Y, Z axis uses three straight line slide unit structures
Composition, its precision is higher, and side should be rapid, and motion is got up quick steady.
Further, in addition to Pneumatic parallel folder motor mounting bracket 24a；The Pneumatic parallel folder motor is installed
Frame 24a is frame-shaped construction, and Pneumatic parallel folder motor mounting bracket 24a is fixed on Z axis sliding block 23c, the Pneumatic parallel folder
Motor 24 is arranged in Pneumatic parallel folder motor mounting bracket 24a frame-shaped construction.
Further, in addition to first shaft coupling 25, the output shaft of the Pneumatic parallel folder motor 24 passes through the
One shaft coupling 25 is connected with Pneumatic parallel folder 27, drives Pneumatic parallel folder 27 to rotate.
Further, in addition to it is Pneumatic parallel folder mounting bracket 26, it is described it is Pneumatic parallel folder mounting bracket 26 be connected to first
In the output end of shaft coupling 25, the Pneumatic parallel folder 27 is arranged on Pneumatic parallel folder mounting bracket 26.
In use, when host computer receives the signal for wanting three-dimensional mechanical hand mechanism to put crawl object to certain, it is upper
Machine sends corresponding signal and driven to X-axis motor 21d, the Y-axis motor 22d in three-dimensional machine mobile phone structure 20 and Z axis
Dynamic motor 23d makes it rotate to corresponding angle, so as to drive corresponding X-axis slide block 21c, Y-axis sliding block 22c and Z axis sliding block
23c is moved, and finally causes three-dimensional mechanical hand to defined location.Then Pneumatic parallel folder motor 24 drives Pneumatic parallel folder
27 are rotated again to corresponding angle, by it is Pneumatic parallel folder 27 clamping and release, and then realize three-dimensional mechanical hand crawl or
Person puts down the grinding head 52 in grinding head storehouse mechanism 50.
The three-dimensional mechanical hand mechanism kinematic smooth flow, precision is high, and cost performance is high.
Referring to Fig. 6 to Fig. 9, electric drill key actuated device 30：Including drive device mounting bracket 38, line slide rail 31, electric drill
Key actuated motor 32, electric drill key actuated motor mounting rack 33, electric drill key 37, the second sliding block 39；
The line slide rail 31 is horizontally set on drive device mounting bracket 38, and second sliding block 39 is arranged on straight line cunning
On rail 31, and it can be slidably reciprocated along line slide rail 31, electric drill key actuated motor mounting rack 33 is fixed on the second sliding block 39, institute
Electric drill key actuated motor 32 is stated on electric drill key actuated motor mounting rack 33, the output of electric drill key actuated motor 32
Axle is connected with electric drill key 37, and driving electric drill key 37 is rotated.
As optimization, the electric drill key actuated device 30 also includes second shaft coupling 34 and connecting shaft 35；The electric drill
The output shaft of key actuated motor 32 passes sequentially through second shaft coupling 34, connecting shaft 35 and is connected with electric drill key 37.
The output shaft of the electric drill key actuated motor 32 passes sequentially through second shaft coupling 34, connecting shaft 35 and electric drill key
37 connections, so design can be organic electric drill key actuated motor 32, second shaft coupling 34, connecting shaft 35 and electric drill key 37
Connect, clever structure is reasonable.
Further, the electric drill key actuated device 30 also includes torque force limiting device 36；The torque force limiting device 36
Input is connected with connecting shaft 35, and the output end of torque force limiting device 36 is connected with the left end of electric drill key 37.
Torque force limiting device 36 primarily serves the effect of protection electric drill key actuated motor 32, when electric drill key 37 twists electric drill
After tight, and electric drill key actuated motor 32 is still in rotary work, it is easy to just that electric drill key actuated motor 32 is stuck,
And then burn out electric drill key actuated motor 32, and the effect of torque force limiting device 36 be exactly when electric drill key 37 electric drill tightened with
Afterwards, just electric drill key actuated motor 32 and electric drill key 37 to being separated from, thus protect electric drill key actuated motor 32 not by
Burn out.
Further, the electric drill key 37 includes electric drill key connecting shaft, electric drill key gear and electric drill key bit；
The electric drill key connecting shaft is hollow-core construction, and it is interior provided with compression spring, and the electric drill key bit is connected by compression spring
In electric drill key connecting shaft；
The left end of the electric drill key connecting shaft is connected with the output end of torque force limiting device 36, the right side of electric drill key connecting shaft
Electric drill key gear is installed at end, and gear is located at the left side of electric drill key bit.
In use, wanting electric drill key actuated device 30 to go to tighten or unclamp on electric drill key bit when host computer is received
Grinding head 52 when, host computer sends a signal to electric drill key actuated motor 32, it is rotated corresponding angle, so as to drive
When electric drill key moves forward to the position that can just tighten or unclamp the grinding head 52 on electric drill head, electric drill key is driven,
And then tighten or unclamp the grinding head on electric drill head.Electricity on the electric drill keyhole on electric drill and electric drill key actuated device 30
Bore key bit contraposition it is inaccurate when, electric drill key actuated device 30 drives electric drill key to move forward, when electric drill key gear with
When electric drill head gear is engaged, electric drill key is driven, so that electric drill key bit cooperates with electric drill keyhole, and then is realized
Electric drill automatic tool changer.
The electric drill key actuated device has assembling flexible, price material benefit, can realize Quick fastening or release
The advantage of electric drill head.
Referring to Figure 10 to Figure 13, grinding head storehouse mechanism 50：Fixed including belt switch magnet 51, grinding head 52 and grinding head
Plate；
There are multiple grinding head mounting holes 56 for being used to install grinding head, belt switch magnet 51 in the grinding head fixed plate
It is horizontally disposed, and be fixedly connected with the bottom of grinding head fixed plate, the grinding head 52 is arranged on by grinding head mounting hole 56
In grinding head fixed plate；
As optimization, the grinding head fixed plate in the grinding head storehouse mechanism 50 is beaten by left grinding head fixed plate 54a and the right side
Bistrique fixed plate 54b is constituted, and left grinding head fixed plate 54a and right grinding head fixed plate 54b be arranged in parallel, and between have
Gap.
Further, it is one group that the grinding head mounting hole, which installs 56 3, for a hole is beaten for installing one
Bistrique 52, other two apertures are the mounting holes (described below) of photoelectric sensor 53.The grinding head storehouse mechanism 50 also includes multiple
Common magnet 55, the common magnet 55 is arranged between left grinding head fixed plate 54a and right grinding head fixed plate 54b, and often
It is corresponding that individual common magnet 55 installs 56 with one group of grinding head mounting hole.For the installation end of grinding head 52 to be adsorbed in grinding head
In fixed plate
Further, the grinding head storehouse mechanism 50 also includes photoelectric sensor 53, and the photoelectric sensor 53 is set
Between left grinding head fixed plate 54a and right grinding head fixed plate 54b, and each photoelectric sensor 53 and one group of grinding head are installed
It is corresponding that hole installs 56.
Grinding head storehouse mechanism have can clamping grinding head rapidly, it is convenient, flexible, can greatly mitigate manual labor
Advantage.
Photoelectric sensor 53 is for detecting in grinding head fixed plate 54 whether there is grinding head on each grinding head mounting hole
52, so that the relative position of three-dimensional mechanical hand mechanism to grinding head storehouse mechanism 50 captures new grinding head 52, belt switch magnet
51 be for grinding head storehouse mechanism 50 is adsorbed in the fixed position of frame 10, when the new grinding head in grinding head storehouse mechanism 50 all
When being finished, belt switch magnet 51 is manually turned off magnetic, replacing with harness has the grinding head storehouse mechanism of new grinding head.
The three-dimensional machine mobile phone structure 20 is fixed on the upper left corner of frame 10 by X-axis straight line slide unit 21, is beaten for gripping
Grinding head 52 in bistrique storehouse mechanism 50, electric drill key actuated device 30 is fixed on frame 10 by drive device mounting bracket 38
Middle part, for tightening or unclamping electric drill head, grinding head storehouse mechanism 50 is fixed on the middle part of frame 10 by belt switch magnet 51, and
Positioned at the left side of electric drill key actuated device 30, for providing grinding head 52.
As an improvement, the automatic replacing grinding head device also includes grating sensor 40, the grating sensor 40 is pacified
On four angles of frame 10.When grinding head device is moved certainly in work, when people or other unrelated objects entrance
From moving in grinding head device, grating sensor receives this signal, is subsequently sent to host computer, so that whole move certainly
Grinding head device ensures the life safety of employee and the safety of equipment in jerk state.
As an improvement, the automatic replacing grinding head device also includes Waste recovery mechanism 60, the Waste recovery mechanism
60 are arranged in frame 10, and corresponding to the lower left position of electric drill key actuated device 30.
The operation principle for the automatic replacing grinding head device that the present invention is provided：
During work, industrial six-joint robot drives electric drill sander to return to the origin position for changing grinding head and send signal
To control device, when control device receives grinding head signal to be changed, then control device driving one clip it is new
The three-dimensional machine mobile phone structure of grinding head, makes another Pneumatic parallel folder de-clamping not worked grinding head to be changed, Ran Hou electricity
Bore key actuated device to go forward to unclamp electric drill head, Pneumatic parallel folder presss from both sides out old grinding head, then drive Pneumatic parallel folder rotation
New grinding head is put into electric drill in front by the motor rotation 180 degree turned, and then electric drill key actuated device tightens electric drill head then
Home is retracted, three-dimensional machine mobile phone structure is put back to old grinding head in waste recovery mechanism, then according to grinding head storehouse machine
Photoelectric sensor on structure determines that there is new grinding head that position, and what a new grinding head is pressed from both sides again, waits next life
Order.
From moving grinding head device when work, when people or other unrelated objects enter from moving grinding head device
Interior, grating sensor receives this signal, is subsequently sent to host computer, so that whole move grinding head device in jerk certainly
State, and then ensure the life safety of employee and the safety of equipment.
Finally illustrate, the above embodiments are merely illustrative of the technical solutions of the present invention and it is unrestricted, although with reference to compared with
The present invention is described in detail good embodiment, it will be understood by those within the art that, can be to skill of the invention
Art scheme is modified or equivalent substitution, and without departing from the objective and scope of technical solution of the present invention, it all should cover at this
Among the right of invention.
Claims (10)
1. a kind of automatic replacing grinding head device, it is characterised in that：Including frame (10), three-dimensional machine mobile phone structure (20), electric drill
Key actuated device (30) and grinding head storehouse mechanism (50)；
Three-dimensional machine mobile phone structure (20)：Including X-axis straight line slide unit (21), Y-axis straight line slide unit (22), Z axis straight line slide unit (23), X
Axle motor (21d), Y-axis motor (22d), Z axis motor (23d) and crawl structure；
The X-axis straight line slide unit (21), Y-axis straight line slide unit (22) and Z axis straight line slide unit (23) are mutually perpendicular to, the X-axis straight line
Slide unit (21) is provided with the X-axis slide block (21c) that can be slid along, and X-axis motor (21d) drives X-axis slide block (21c) along X-axis
Straight line slide unit (21) length direction is slided；
One end of the Y-axis straight line slide unit (22) is fixed in X-axis slide block (21c), and Y-axis straight line slide unit (22) is provided with can be along it
The Y-axis sliding block (22c) of slip, Y-axis motor (22d) drives Y-axis sliding block (22c) along Y-axis straight line slide unit (22) length direction
Slide；
One end of the Z axis straight line slide unit (23) is fixed on Y-axis sliding block (22c), and Z axis straight line slide unit (23) is provided with can be along it
The Z axis sliding block (23c) of slip, Z axis motor (23d) drives Z axis sliding block (23c) along Z axis straight line slide unit (23) length direction
Slide；
The crawl structure includes Pneumatic parallel folder motor (24) and Pneumatic parallel folder (27), the Pneumatic parallel folder driving
Motor (24) is arranged on Z axis sliding block (23c), and the output shaft of Pneumatic parallel folder motor (24) connects with Pneumatic parallel folder (27)
Connect Pneumatic parallel folder (27) rotation of driving；
Electric drill key actuated device (30)：Including drive device mounting bracket (38), line slide rail (31), electric drill key actuated motor
(32), electric drill key actuated motor mounting rack (33), electric drill key (37), the second sliding block (39)；
The line slide rail (31) is horizontally set on drive device mounting bracket (38), and second sliding block (39) is arranged on straight line
On slide rail (31), and it can be slidably reciprocated along line slide rail (31), electric drill key actuated motor mounting rack (33) is fixed on the second cunning
On block (39), the electric drill key actuated motor (32) is arranged on electric drill key actuated motor mounting rack (33), electric drill key
The output shaft of motor (32) is connected with electric drill key (37), and driving electric drill key (37) is rotated；
Grinding head storehouse mechanism (50)：Including belt switch magnet (51), grinding head (52) and grinding head fixed plate；
There are multiple grinding head mounting holes (56) for being used to install grinding head, belt switch magnet (51) in the grinding head fixed plate
It is horizontally disposed, and be fixedly connected with the bottom of grinding head fixed plate, the grinding head (52) is pacified by grinding head mounting hole (56)
In grinding head fixed plate；
The three-dimensional machine mobile phone structure (20) is fixed on the upper left corner of frame (10) by X-axis straight line slide unit (21), for gripping
Grinding head (52) in grinding head storehouse mechanism (50), electric drill key actuated device (30) is fixed by drive device mounting bracket (38)
Middle part in frame (10), for tightening or unclamping electric drill head, grinding head storehouse mechanism (50) is fixed by belt switch magnet (51)
Middle part in frame (10), and positioned at the left side of electric drill key actuated device (30), for providing grinding head (52).
2. automatic replacing grinding head device as claimed in claim 1, it is characterised in that：The electric drill key actuated device (30)
Also include second shaft coupling (34) and connecting shaft (35)；
The output shaft of the electric drill key actuated motor (32) passes sequentially through second shaft coupling (34), connecting shaft (35) and electric drill key
Spoon (37) connection.
3. automatic replacing grinding head device as claimed in claim 2, it is characterised in that：The electric drill key actuated device (30)
Also include torque force limiting device (36)；
The input of the torque force limiting device (36) is connected with connecting shaft (35), output end and the electric drill key of torque force limiting device (36)
The left end connection of spoon (37).
4. automatic replacing grinding head device as claimed in claim 3, it is characterised in that：The electric drill key (37) includes electric drill
Key connecting shaft, electric drill key gear and electric drill key bit；
The electric drill key connecting shaft is hollow-core construction, and it is interior provided with compression spring, and the electric drill key bit passes through compression spring
It is connected in electric drill key connecting shaft；
The left end of the electric drill key connecting shaft is connected with the output end of torque force limiting device (36), the right-hand member of electric drill key connecting shaft
Electric drill key gear is installed, and gear is located at the left side of electric drill key bit.
5. automatic replacing grinding head device as claimed in claim 1, it is characterised in that：In the grinding head storehouse mechanism (50)
Grinding head fixed plate is made up of left grinding head fixed plate (54a) and right grinding head fixed plate (54b), left grinding head fixed plate
(54a) and right grinding head fixed plate (54b) are arranged in parallel, and between have gap.
6. automatic replacing grinding head device as claimed in claim 5, it is characterised in that：The grinding head mounting hole installs (56)
Three are one group, for installing a grinding head (52).
7. automatic replacing grinding head device as claimed in claim 6, it is characterised in that：The grinding head storehouse mechanism (50) is also wrapped
Multiple common magnet (55) are included, the common magnet (55) is arranged on left grinding head fixed plate (54a) and right grinding head fixed plate
Between (54b), and with one group of grinding head mounting hole to install (56) corresponding for each common magnet (55).
8. the automatic replacing grinding head device as described in claim any one of 1-7, it is characterised in that：The grinding head storehouse mechanism
(50) multiple photoelectric sensors (53) are also included, the photoelectric sensor (53) is arranged on left grinding head fixed plate (54a) and the right side
Between grinding head fixed plate (54b), and with one group of grinding head mounting hole to install (56) corresponding for each photoelectric sensor (53).
9. automatic replacing grinding head device as claimed in claim 8, it is characterised in that：Also include grating sensor (40), institute
Grating sensor (40) is stated on four angles of frame (10).
10. automatic replacing grinding head device as claimed in claim 9, it is characterised in that：Also include Waste recovery mechanism (60)；
The Waste recovery mechanism (60) is arranged in frame (10), and corresponding to the lower left position of electric drill key actuated device (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290187.7A CN106985069B (en) | 2017-04-26 | 2017-04-26 | A kind of automatic replacement grinding head device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710290187.7A CN106985069B (en) | 2017-04-26 | 2017-04-26 | A kind of automatic replacement grinding head device |
Publications (2)
| Publication Number | Publication Date |
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| CN106985069A true CN106985069A (en) | 2017-07-28 |
| CN106985069B CN106985069B (en) | 2018-11-06 |
Family
ID=59418748
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710290187.7A Expired - Fee Related CN106985069B (en) | 2017-04-26 | 2017-04-26 | A kind of automatic replacement grinding head device |
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| Country | Link |
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| CN (1) | CN106985069B (en) |
Cited By (3)
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| CN107984389A (en) * | 2017-12-20 | 2018-05-04 | 华工法利莱切焊系统工程有限公司 | Grinding head replaces system and robot polishing system |
| CN107984346A (en) * | 2017-12-12 | 2018-05-04 | 江苏文光模具技术有限公司 | Skylight burr equipment is gone in one kind automation |
| CN113043149A (en) * | 2021-04-19 | 2021-06-29 | 浙江机电职业技术学院 | Automatic plate polishing device and using method |
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| CN113043149B (en) * | 2021-04-19 | 2022-03-08 | 浙江机电职业技术学院 | Automatic plate polishing device and using method |
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|---|---|
| CN106985069B (en) | 2018-11-06 |
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Inventor after: Dai Hui Inventor after: Liao Yong Inventor after: Chen Rongdong Inventor after: Luo Xuneng Inventor after: Tang Guofeng Inventor after: Xie Yuanxiang Inventor after: Liang Binghua Inventor after: Chen Yongbo Inventor after: Zhang Zhong Inventor after: Liu Jie Inventor after: Liu Xiuquan Inventor after: Zhou Hua Inventor after: Kuang Wei Hua Inventor after: Zhu Honglei Inventor after: Huang Zhicheng Inventor before: Chen Yongbo Inventor before: Liao Yong Inventor before: Chen Rongdong Inventor before: Luo Xuneng Inventor before: Tang Guofeng Inventor before: Xie Yuanxiang Inventor before: Liang Binghua Inventor before: Dai Hui Inventor before: Zhang Zhong Inventor before: Liu Jie Inventor before: Liu Xiuquan Inventor before: Zhou Hua Inventor before: Kuang Wei Hua Inventor before: Zhu Honglei Inventor before: Huang Zhicheng |
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Effective date of registration: 20230111 Address after: 518133 816, Huachuangda Yihui Building, 107 National Road 47, Fanshen Community, Xin'an Street, Bao'an District, Shenzhen City, Guangdong Province Patentee after: Shenzhen Youkong Technology Co.,Ltd. Address before: 510000 Qingshan Lake, Shawan Town, Panyu District, Guangzhou City, Guangdong Province Patentee before: GUANGZHOU PANYU POLYTECHNIC |
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Granted publication date: 20181106 |