CN107350962A - A kind of five-pointed star chair leg polishing system and apply its polishing method - Google Patents
A kind of five-pointed star chair leg polishing system and apply its polishing method Download PDFInfo
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- CN107350962A CN107350962A CN201710729657.5A CN201710729657A CN107350962A CN 107350962 A CN107350962 A CN 107350962A CN 201710729657 A CN201710729657 A CN 201710729657A CN 107350962 A CN107350962 A CN 107350962A
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- chair leg
- feeding
- robot
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- 238000009434 installation Methods 0.000 claims description 26
- 239000011265 semifinished product Substances 0.000 claims description 25
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- 239000000463 material Substances 0.000 claims description 23
- 229920000742 Cotton Polymers 0.000 claims description 13
- 238000004018 waxing Methods 0.000 claims description 13
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- 244000198134 Agave sisalana Species 0.000 claims description 7
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- 238000001514 detection method Methods 0.000 claims description 5
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- 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
- B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
-
- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- 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
- B24B41/02—Frames; Beds; Carriages
-
- 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
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/14—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by liquid or gas pressure
-
- 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
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/16—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load
- B24B49/165—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation taking regard of the load for grinding tyres
-
- 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
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing 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
- B24B57/00—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents
- B24B57/04—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents for feeding of solid grinding, polishing or lapping agents
Abstract
The present invention relates to chair leg Intelligent Machining field, more particularly to a kind of five-pointed star chair leg polishing system and the method for processing, its system to include：Feeding device, blanking device, one-level robot, two level robot, three-level robot, one-level transfer positioning table, two level transfer positioning table, three-level transfer positioning table, one-level polishing machine, two level polishing machine and three-level photoreceiver；The system of processing includes feeding group, one-level polishing group, two level polishing group, three-level according to process sequence and receives light group and blanking group successively；The present invention proposes a kind of system and processing method that processing is polished specifically for five-pointed star chair leg, it utilizes three groups of robots and three groups of polishing machine division of labor coordinateds, the vacancy rate of process equipment in the polishing system is allowed to reach minimum, and then the polishing efficiency of five-pointed star chair leg is substantially increased, can solve limitation and compatibility issue that a robot in the prior art completes whole five-pointed star chair leg polishing.
Description
Technical field
The present invention relates to chair leg Intelligent Machining field, more particularly to five-pointed star chair leg polishing method and polishing system.
Background technology
Five-pointed star chair leg is exactly five for example starlike chair legs of pin, as shown in figure 17, the one of multiple support feets 72 as its name suggests
End and pedestal 71 connect, overall radial；The pedestal 71 is provided with chair bar mounting hole 711.Five-pointed star chair leg is on office chair
Using and its it is common, its middle part top connection is the telescopic cylinder of integral elevating of can offering one's seat, and the bottom of its five pin is all provided with
There is disk roller installation portion to be used to disk roller be installed.
Feel most power because five-pointed star chair leg carries in whole chair, therefore in order to ensure the structure of five-pointed star chair leg
Cai stability typically can all manufacture five-pointed star chair leg with metal, so that allow five-pointed star chair leg integrally to seem more attractive in appearance, it is necessary to it is right
The outer surface of five-pointed star chair leg after shaping carries out sanding and polishing processing.But because five-pointed star chair leg has five between pin and pin and pin
There is angle region, sanding and polishing gets up to position and processing is all pretty troublesome.Generally utilize polishing using artificial in the prior art
Machine is polished to five-pointed star chair leg, and this mode labor intensity is big, and working environment is poor, low production efficiency, production safety also be present
The problems such as.Also there is the mode being polished using robot to five-pointed star chair leg, but be all to five-pointed star chair using a robot
Pin is polished, and this mode five-pointed star chair leg is integrally fixed on frock clamp, and robot clamping polissoir is to five-pointed star chair leg
It is polished, five-pointed star chair leg can not be stirred freely in polishing process, it is necessary to do not polished a part and five-pointed star chair leg is subjected to weight
New definition clamping, while the glossing of five-pointed star chair leg is divided into polishing and receives the step of light, can also utilize the polishing of different materials
Buff polishing, it is necessary to the burnishing device in robot is frequently changed in the polishing processing of five-pointed star chair leg, is so produced
Efficiency is not still high, and cost withdraws slow, it is impossible to maximumlly create value using equipment, while repeatedly change burnishing device and
In the case of adjusting five-pointed star chair leg frock, the sanding and polishing quality of five-pointed star chair leg it is difficult to ensure that.
The content of the invention
It is an object of the invention to propose that one kind divides the work coordinateds to five-pointed star using three groups of robots and three groups of polishing machines
The method and apply its polishing system that chair leg is polished.
To use following technical scheme up to this purpose, the present invention：A kind of five-pointed star chair leg polishing system, it includes：On
Expect device, blanking device, one-level robot, two level robot, three-level robot, one-level transfer positioning table, two level transfer positioning
Platform, three-level transfer positioning table, one-level polishing machine, two level polishing machine and three-level photoreceiver；The system of processing is according to process sequence
Include feeding group, one-level polishing group, two level polishing group, three-level successively and receive light group and blanking group；Specifically, the charging group includes
There is the feeding device；The discharging group includes the blanking device；The one-level polishing group includes：The one-level robot
And one-level transfer positioning table and one-level polishing machine in the one-level robot work region；The two level polishing group bag
Include：The two level robot and two level transfer positioning table and two level polishing machine in the two level robot work region；
The three-level polishing group includes：The three-level robot and the three-level transfer positioning in the three-level robot work region
Platform and three-level photoreceiver；The feeding device is located in the one-level robot work region, and the blanking device is positioned at described
In three-level robot work region；The two level transfer positioning table also is located in the working region of the one-level robot；It is described
Three-level transfer positioning table also is located in the working region of the two level robot.
More excellent, the feeding device is arranged at the side in the working region of one-level robot, and the polishing machine is set
Opposite side in the working region of robot；The feeding device includes feeding pedestal, feeding delivery board, loading guide, more
Individual feeding limited block, conveying plate fixation mechanism and multiple chair leg position-limit mechanisms；The loading guide is provided on feeding pedestal,
The feeding delivery board activity is against the loading guide, and the conveying plate fixation mechanism is arranged at the close described of feeding pedestal
One end of robot, the feeding limited block are installed on the both ends of feeding pedestal；Multiple chair leg position-limit mechanism intervals are uniform
Ground is arranged on feeding delivery board, and the axis of the two neighboring chair leg position-limit mechanism is intersected；The chair leg position restrainer
Structure includes chair leg limiting plate, the spacing vertical rod of multiple chair legs and the spacing cross bar of multiple chair legs, and peace is erect in the spacing vertical rod of chair leg
Both ends loaded on chair leg limiting plate, relative two spacing vertical rods of chair leg are connected by the spacing cross bar of chair leg.
More excellent, the one-level robot, two level robot and three-level robot are provided with chair leg grabber, and the chair leg is grabbed
Device is taken to include clamping drive cylinder, clamping brace bar, chuck and guiding connector, the guiding connector is oriented to including support bar
Pipe, described one end for clamping drive cylinder and being arranged at support bar guide pipe；The clamping brace bar is arranged at support bar guide pipe
Inside, and one end of the clamping brace bar and clamp drive cylinder output axis connection, it is described clamping drive cylinder band
Dynamic clamping brace bar is oriented to in-pipe in support bar；The chuck includes at least two and clamps outside support piece, is supportted outside the clamping
Piece includes support bar sliding groove, and the support bar sliding groove is arranged at the inner side of the one end for clamping outside support piece；The chuck is set
In the other end of support bar guide pipe, the support bar sliding groove for clamping outside support piece is bonded to form chuck activity sets of holes；Work as folder
When compact schemes bar stretches out and inserts the chuck activity sets of holes of the chuck, the clamping outside support piece outwards struts；Outside the clamping
Blade also includes support bar locating slot, chuck convex edge and lasso installation groove, and the support bar locating slot is arranged at clamping
The inner side of the other end of outside support piece, one end of the support bar locating slot connect with one end of support bar sliding groove；The chuck
The outside of the close end of one end that convex clamps outside support piece along being arranged at；The lasso installation groove is arranged at clamping outside support piece
One end outside, and the lasso installation groove sets the top on chuck convex edge.
Also include closing tight set circle, the conjunction tight set snare is together in the lasso installation groove；The branch for clamping outside support piece
Strut locating slot is bonded to form the spacing sets of holes of chuck, and the aperture of the spacing sets of holes of chuck is less than the aperture of chuck activity sets of holes；
The guiding connector includes driver adpting flange and at least two chuck installing plates；
The cylinder adpting flange is arranged at one end of support bar guide pipe, the cylinder body for clamping drive cylinder with it is described
Cylinder adpting flange connects, and the piston rod for clamping drive cylinder connects with one end of clamping brace bar, the clamping
Drive cylinder drives clamping brace bar to be oriented to in-pipe in support bar；The chuck installing plate is symmetrically disposed on support bar and led
To the other end of pipe, the guiding connector also includes at least two chuck mounting pins, relative two pieces of chuck installing plates
Pin connection is installed by chuck.
The clamping outside support piece also includes chuck installation through-hole, and the chuck installation through-hole, which is arranged at, clamps the one of outside support piece
The outside at end, described one end for clamping outside support piece are placed on chuck mounting pin by chuck installation through-hole；The support bar guide pipe
Including bearing accommodating chamber and support bar limit chamber, the bearing accommodating chamber is arranged at one end of support bar guide pipe, the support
Bar limit chamber is arranged at the other end of support bar guide pipe, and the bearing accommodating chamber connects with support bar limit chamber；The guiding
Connector also includes support bar guide bearing, and the support bar guide bearing is socketed on the clamping brace bar and the support
Bar guide bearing is placed in bearing accommodating chamber, and the clamping brace bar successively passes through bearing accommodating chamber and support bar limit chamber；Institute
Stating chair leg grabber also includes spacing extension bar and electronic gag lever post, one end of the spacing extension bar and support bar guide pipe
Outside connects, and the electronic gag lever post is installed on the other end of the spacing extension bar；The spacing extension bar is L font knots
Structure, motor is set to drive the lifting of the electronic gag lever post in the spacing extension bar.
More excellent, the one-level polishing machine, two level polishing machine and three-level photoreceiver are dual-station polishing machine；The double
Polishing machine includes polishing frame, polishing motor, polishing transmission belt, polishing rotating shaft and two polishing wheels；The polishing driving
Motor and the polishing rotating shaft are respectively arranged at the relative both sides in the top for polishing frame, and the polishing rotating shaft level is set
Put, two polishing wheels rotate the both ends for being installed on the buff spindle respectively；The polishing transmission belt is sheathed on the polishing
Rotating shaft and the drive end of the polishing motor；Two polishing wheels are provided with useless close to the side of the polishing motor
Bits absorb cover, and the air outlet that the scrap absorbs cover connects with exhaust equipment.
The more excellent dual-station polishing machine is additionally provided with waxing mechanism and force control；The waxing mechnism is installed on described
Polish frame and set close to the edge of the polishing wheel, the waxing mechnism also includes waxing power set and wax stone movement
Seat；The force control includes：Polishing wheel pressure-detecting device, polishing shaft fixing block, polishing slide rail and power control case；The throwing
Light shaft fixing block relatively described polishing slide rail under the control of the power control case slides, and the polishing slide rail is fixed on the throwing
Ray machine frame.
More excellent, two polishing wheels that the level polishing machine and two level polishing machine are provided with are respectively sisal and cotton piece buff；
Two polishing wheels that the three-level polishing machine is provided with all are cotton piece buff.
More excellent, one-level transfer positioning table, two level transfer positioning table and three-level transfer positioning table are column transfer
Positioning table, the column transfer positioning table include：Column and positioning table；The positioning table includes chair leg rotating circular disk, center
Locating piece, multiple chair leg spacers and multiple chair leg locating pieces, multiple chair leg spacers are evenly and at intervals along the circumferential direction
It is arranged at the edge of the chair leg rotating circular disk；The chair leg locating piece is installed on the chair leg spacer, and the chair leg is determined
The top of position block is radially provided with chair leg detent；The centralized positioning block is arranged at the middle geometry of the chair leg rotating circular disk
It is located at the surface of column at center.
More excellent, the centralized positioning block is made up of nylon material；The chair leg locating piece is made up of excellent power glue material.
More excellent, the blanking device includes：Blanking frame, blanking conveyer belt, correlation type inductor and grating；Under described
Material conveyer belt is arranged at the top surface of the blanking frame；The grating is arranged at the feed end both sides of the blanking conveyer belt and light
The detection range of grid covers the feed end of the blanking conveyer belt；Two of the correlation type inductor are respectively arranged to penetrating end
The both sides of the discharge end of the blanking conveyer belt；The bottom of the blanking frame is provided with adjustable for height pin cup.
More excellent, the portion outside the polishing system is provided with dust cover；The top of the dust cover this have dust discharge
Hole；The dust cover side is provided with several visual windows and door；The visual windows are made up of acrylic transparent material plate；
The dust cover is provided with feeding port and feed opening；The dust cover covers the polishing system, the feeding dress
The feeding end put and the discharge end of the blanking device are located at outside the dust cover.
The method being polished using polishing system described above to five-pointed star chair leg, it comprises the following steps：
A. the power supply of polishing system is opened, the feeding of five-pointed star chair leg blank product placement feeding device is obtained by being molded
Band is provided with chair leg position-limit mechanism；
B. after chair leg position-limit mechanism fills blank product, feeding delivery board drives chair leg position-limit mechanism to be delivered to feeding device
Flowing end when, to crawl machine human hair serve material complete signal；
C. one-level feeding robot completes signal in response to feeding, and blank product is captured by chair leg grabber；
D. the blank product of crawl is put into middle one-level and turns positioning table by one-level feeding robot is positioned, after the completion of again
Blank product is taken out；
E. one-level feeding robot will position the blank product completed and extrude to moving back on the polishing wheel of one-level polishing machine
Dynamic and translation-angle, side and top to five-pointed star chair leg are polished processing, obtain first-stage semi-finished product；
F. one-level feeding robot is left after first-stage semi-finished product is placed into two level transfer positioning table, and goes to feeding device
Flowing end takes next blank product to be processed；
G. two level feeding robot captures first-stage semi-finished product by chair leg grabber from two level intermediate station, and by one-level half into
Product are extruded to moving back and forth on the polishing wheel of two level polishing machine and translation-angle, and the front of five-pointed star chair leg and V-arrangement angle are thrown
Light is processed, and obtains two level semi-finished product；
H. two level feeding robot is left after first-stage semi-finished product is placed into three-level transfer positioning table, and goes to two level transfer and determine
Position platform takes next product of one-level half to be processed；
I. three-level feeding robot captures two level semi-finished product by chair leg grabber from three-level intermediate station, and by two level half into
Product are extruded to moving back and forth on the polishing wheel of three-level polishing machine and translation-angle, all faces of five-pointed star chair leg are carried out receiving light added
Work, obtain finished product；
J. three-level feeding robot places finished product the lower material strip of blanking device, and goes to three-level intermediate station and take next two
Level semi-finished product are processed；
K. blanking device by finished product be delivered to blanking conveyer belt discharge end wait take away.
More excellent, five-pointed star chair leg will be completed to polish first with sisal in the step e and g, recycle cotton piece buff to five-pointed star
Chair leg completes polishing；Complete overall receipts light in the step i to five-pointed star chair leg using two cotton piece buffs.
Present invention proposition is a kind of to be polished the system of processing and using the system to five-pointed star chair specifically for five-pointed star chair leg
The method that pin is processed, using three groups of robots and three groups of polishing machines division of labor coordinateds, allow in the polishing system
The vacancy rate of process equipment reaches minimum, and then substantially increases the polishing efficiency of five-pointed star chair leg, can solve prior art
In robot complete the limitation and compatibility issue of whole five-pointed star chair leg polishing.In machining accuracy, due to described
The each machining cell of polishing system is the special specific process technology for completing ad-hoc location, so wheel need not be polished
Deng the replacing of part, positioning table in turning is provided between each machining cell in addition, allows five-pointed star chair leg entering each machining cell
When, positioning can be quickly finished and correct genuine preparation, therefore be also greatly improved in machining accuracy.
Brief description of the drawings
Fig. 1 is the dimensional structure diagram of the one of embodiment of the present invention；
Fig. 2 is the overlooking the structure diagram of embodiment in Fig. 1；
Fig. 3 is the feeding device overlooking the structure diagram of the one of embodiment of the present invention；
Fig. 4 is the dimensional structure diagram of embodiment in Fig. 2；
Fig. 5 is the chair leg gripper configuration schematic diagram of the one of embodiment of the present invention；
Fig. 6 is the chair leg grabber positive structure diagram of the one of embodiment of the present invention；
Fig. 7 is the outer support member assembled state schematic diagram of clamping of the one of embodiment of the present invention；
Fig. 8 is the outer support member inside structure schematic diagram of clamping of the one of embodiment of the present invention；
Fig. 9 is the outer support member outside structure diagram of clamping of the one of embodiment of the present invention；
Figure 10 is the clamping brace bar structural representation of the one of embodiment of the present invention；
Figure 11 is the guiding connector structural representation of the one of embodiment of the present invention；
Figure 12 is the dual-station polishing machine structural representation of the one of embodiment of the present invention；
Figure 13 is the column transfer positioning table overall structure diagram of the one of embodiment of the present invention；
Figure 14 is the structural representation of the positioning table of the one of embodiment of the present invention；
Figure 15 is the structural representation of the feeding device of the one of embodiment of the present invention；
Figure 16 is the structural representation of the guard shield of the one of embodiment of the present invention；
Figure 17 is the structural representation of heretofore described five-pointed star chair leg.
Wherein：One-level robot 101；Two level robot 102；Three-level robot 103；One-level transfer positioning table 201；Two level
Transfer positioning table 202；Three-level transfer positioning table 203；One-level polishing machine 301；Two level polishing machine 302；Three-level photoreceiver 303；It is double
Site polishing machine 2；Chair leg grabber 12；Clamp drive cylinder 13；Clamping brace bar 17；Chuck 18；Guiding connector 14；Support
Bar guide pipe 142；Clamp outside support piece 181；Support bar sliding groove 191；Chuck activity sets of holes 197；Five-pointed star chair leg 700；Pedestal 71；
Support feet 72；Chair bar mounting hole 711；Support bar locating slot 192；Chuck convex is along 196；Lasso installation groove 195；Close tight set
Circle 182；The spacing sets of holes 198 of chuck；Driver adpting flange 141；Chuck installing plate 143；Chuck mounting pin 145；Chuck is installed
Through hole 194；Bearing accommodating chamber 146；Support bar limit chamber 147；Support bar guide bearing 144；Feeding device 3；Feeding pedestal 31；
Feeding delivery board 32；Loading guide 33；Feeding limited block 34；Convey plate fixation mechanism 35；Chair leg position-limit mechanism 36；Chair leg is spacing
Base 363；The spacing vertical rod 361 of chair leg；The spacing cross bar 362 of chair leg；Spacing extension bar 15；Electronic gag lever post 16；Positioning table 4；Chair
Pin positioning disc 41；Chair leg spacer 42；Chair leg locating piece 43；Chair leg detent 44；Column 45；Centralized positioning block 47；Under
Expect device 5；Blanking frame 51；Blanking conveyer belt 52；Correlation type inductor 53；Grating 54；Pin cup 55；Polish frame 21；Polishing
Motor 22；Polish rotating shaft 23；Polishing wheel 24；Scrap absorbs cover 25；Waxing power set 26；Wax stone Mobile base 27；Power control
Case 28；Polish shaft fixing block 29；Dust cover 6；Dust exhausting hole 61；Visual windows 62；Door 63；Mountain material mouth 64；Feed opening 65.
Embodiment
Further illustrate technical scheme below in conjunction with the accompanying drawings and by embodiment.
As depicted in figs. 1 and 2, a kind of five-pointed star chair leg polishing system, it includes：Feeding device 3, blanking device 5, one
Level robot 101, two level robot 102, three-level robot 103, one-level transfer positioning table 201, two level transfer positioning table 202,
Three-level transfer positioning table 203, one-level polishing machine 301, two level polishing machine 302 and three-level photoreceiver 302；The system of processing according to
Process sequence includes feeding group, one-level polishing group, two level polishing group, three-level and receives light group and blanking group successively；The charging group bag
The feeding device 3 is included；The discharging group includes the blanking device 5；The one-level polishing group includes：The first-level machine
Device people 101 and one-level transfer positioning table 201 and one-level polishing machine 301 in the working region of one-level robot 101；Institute
Stating two level polishing group includes：The two level robot 102 and the two level transfer in the working region of two level robot 102
Positioning table 202 and two level polishing machine 302；The three-level polishing group includes：The three-level robot 103 and positioned at the three-level machine
Three-level transfer positioning table 203 and three-level photoreceiver 303 in the working region of device people 103；The feeding device 3 is located at the one-level
In the working region of robot 101, the blanking device is located in the working region of three-level robot 103；The two level transfer
Positioning table 202 also is located in the working region of the one-level robot 101；The three-level transfer positioning table 203 also is located at described
In the working region of two level robot 102.
The polishing system has three different processing departments packets into and having coordination with one another between three processing departments point
It is not individually to be polished processing, first processing part is one-level polishing group, and it is the branch to five-pointed star chair leg blank product
The side and top of spike 72 are polished, and obtain first-stage semi-finished product；Second processing part is two level polishing group, and it is to five-pointed star
What the face in the front and V-arrangement angle of chair leg and semi-finished product support feets 72 and base 71 was polished, obtain two level half
Finished product；3rd processing part is that three-level receives light group, and it is that two level semi-finished product are integrally carried out to receive light, obtains finished product；On described
What material group and blanking group were responsible for is feeding and the blanking operation of the polishing system.
As shown in figure 3, the feeding device 3 includes feeding pedestal 31, feeding delivery board 32, loading guide 33, Duo Geshang
Expect limited block 34, conveying plate fixation mechanism 35 and multiple chair leg position-limit mechanisms 36；The loading guide 33 is provided for feeding base
On seat 31, the activity of feeding delivery board 32 is against the loading guide 33, and the conveying plate fixation mechanism 35 is arranged at feeding
One end of the close robot 1 of pedestal 31, the feeding limited block 34 are installed on the both ends of feeding pedestal 31；It is multiple described
Chair leg position-limit mechanism 36 is arranged on feeding delivery board 32 evenly and at intervals, and the two neighboring chair leg position-limit mechanism 36
Intersect axis；As shown in figure 4, the chair leg position-limit mechanism 36 includes chair leg limiting plate 363, the spacing vertical rod of multiple chair legs
361 and the spacing cross bar 362 of multiple chair legs, the both ends for being installed on chair leg limiting plate 363 are erect in the spacing vertical rod 361 of chair leg,
The relative spacing vertical rod 361 of two chair legs is connected by the spacing cross bar 362 of chair leg.
The feeding device 3 is provided with feeding delivery board 32 for carrying polished five-pointed star chair leg, and is led by feeding
Polished five-pointed star chair leg is delivered in the working region of robot 1 by rail 33, and five-pointed star is inserted in order to the chuck 18 of robot 1
The chair bar mounting hole 711 of chair leg, captures polished five-pointed star chair leg.The both ends of the feeding pedestal 31 are provided with feeding limited block
34, feeding delivery board 32 is carried out spacing, prevent feeding delivery board 32 from being slid from feeding pedestal 31.Preferably, the feeding
Pressure sensor is provided with limited block 34, loading guide 33 stops conveying when feeding delivery board 32 touches feeding limited block 34
Feeding delivery board 32, so as to realize that feeding automates.The conveying plate fixation mechanism 35 is used to fix feeding delivery board 32, when upper
When material delivery board 32 is moved to one end of the feeding pedestal 31, the conveying plate fixation mechanism 35 locks the feeding delivery board
32, prevent that the feeding delivery board 32 is shifted over when robot 1 captures polished five-pointed star chair leg, influence to capture effect,
Eliminate safe hidden trouble.
The feeding delivery board 32 is provided with multiple chair leg position-limit mechanisms 36, and the chair leg position-limit mechanism 36 is used for pair
The support feet 72 of the five-pointed star chair leg of carrying is fixed, and five-pointed star chair leg is shifted over during preventing feeding and crawl, just
Five-pointed star chair leg is captured in robot.Because multiple support feets 72 of five-pointed star chair leg are installed radially in pedestal 71, thus it is multiple
The chair leg position-limit mechanism 36 is arranged on feeding delivery board 32 evenly and at intervals, and the two neighboring chair leg position-limit mechanism
36 axis is intersected, so that support feet 72 is fixed in the space of the two neighboring chair leg position-limit mechanism 36.It is moreover, adjacent
The angle between two adjacent supports pin 72 in the angle and five-pointed star chair leg of two chair leg position-limit mechanisms 36 is identical, with provided with
Exemplified by the five-pointed star chair leg that angle between five support feets 72 and two adjacent supports pin 72 is 108 °, accordingly, feeding conveying
Plate 32 set three chair leg position-limit mechanisms 36, the angle of the two neighboring chair leg position-limit mechanism 36 is 108 ° so that with support
Pin 72 is bonded；And three chair leg position-limit mechanisms 36 are in the same side of feeding delivery board 32, in order to quickly place five-pointed star chair
Pin.Two multiple spacing vertical rods 361 of chair leg of the chair leg position-limit mechanism 36 are spacing for being carried out to support feet 72, and chair leg
Spacing vertical rod 361 has a certain altitude, and realization once carries multiple five-pointed star chair legs, during feeding five-pointed star chair leg answer bottom surface upwards so as to
Capture and polish in robot 1；The spacing cross bar 362 of chair leg is set, can both improve the knot of the relative spacing vertical rod 361 of two chair legs
Structure intensity, the effect of handle is also acted as, personnel easy to operation, which extract, carries feeding delivery board 32.
As shown in Figure 5 and Figure 6, the one-level robot 101, two level robot 102 and three-level robot 103 are provided with chair leg
Grabber 12, the chair leg grabber 12 include clamping drive cylinder 13, clamping brace bar 17, chuck 18 and guiding connector
14, the guiding connector 14 includes support bar guide pipe 142, and the clamping drive cylinder 13 is arranged at support bar guide pipe
142 one end；
The clamping brace bar 17 is arranged at the inside of support bar guide pipe 142, and the one of the clamping brace bar 17
End and the output axis connection for clamping drive cylinder 13, the clamping drive cylinder 13 drive clamping brace bar 17 to be oriented in support bar
Moved in pipe 142；The chuck 18 includes at least two and clamps outside support piece 181, as shown in figure 8, the clamping outside support piece 181 wraps
Support bar sliding groove 191 is included, the support bar sliding groove 191 is arranged at the inner side of the one end for clamping outside support piece 181；The chuck
18 are arranged at the other end of support bar guide pipe 142, and the fitting of support bar sliding groove 191 for clamping outside support piece 181 forms folder
Head activity sets of holes 197, as shown in Figure 7；
When clamping brace bar 17 stretches out and inserts the chuck activity sets of holes 197 of the chuck 18, the clamping outside support piece
181 outwards strut；The intelligent polishing system for being used to process chair leg captures five-pointed star chair leg in the polishing machine by robot 1
2 are polished.The robot 1 sets the chair leg grabber 12, for clamping five-pointed star chair leg.Five-pointed star chair leg is generally by one
Pedestal 71 and multiple support feets 72 form, and one end of support feet 72 and pedestal 71 connect, overall radial；The pedestal 71 is set
There is chair bar mounting hole 711.It is right when robot 1 captures five-pointed star chair leg and is processed because the structure of five-pointed star chair leg is complex
Clearance control between fixture and five-pointed star chair leg requires very high：If the gap of fixture and five-pointed star chair leg is excessive, fixture can not press from both sides
Tight five-pointed star chair leg, loosens five-pointed star chair leg, causes to shift during processing, influences crudy；If fixture and five-pointed star chair leg
Gap is too small, then clamping difficulty increases, and robot 1, which need to accurately be directed at clamped position, could successfully capture five-pointed star chair leg, and control is difficult
Degree improves.Even moreover, with the five-pointed star chair leg of model, there is also certain deformation, geomery can not be identical, and
Existing five-pointed star chair leg fixture can not adjust with the deformation of five-pointed star chair leg, and part five-pointed star chair leg be present can not line-up jig
Clamping position, fixture adaptability are poor.
The chair bar mounting hole 711 of five-pointed star chair leg is inserted when the chuck 18 is processed, passes through the phase with support bar guide pipe 142
Interaction, clamp the pedestal 71 of five-pointed star chair leg.The chuck 18 includes at least two and clamps outside support piece 181, to set two folders
Exemplified by tight outside support piece 181：Two clamp the other end that outside support piece 181 is symmetrically disposed on support bar guide pipe 142, i.e., two folders
The support bar sliding groove 191 of tight outside support piece 181 is bonded, and forms chuck activity sets of holes 197.The clamping outside support piece 181 and support
To be flexibly connected between bar guide pipe 142, the outside support piece 181 that clamps can rotate around the one end of its own.
During work, the robot 1 drives the chuck 18 of the chair leg grabber 12 to insert the chair bar mounting hole of pedestal 71
In 711.Clamping brace bar 17 continues in chuck activity sets of holes 197 immediately after being stretched out from the other end of support bar guide pipe 142
Slide, now the clamping brace bar 17 will extrude the clamping outside support piece 181 of both sides, make the clamping outside support piece 181 of both sides outside
Strut, so as to which the hole wall of the clamping outside support piece 181 and chair bar mounting hole 711 mutually extrudes, realize the chuck 18 to five-pointed star
The effect of being fixedly clamped of the pedestal 71 of chair leg.The chair leg grabber 12 controls clamping brace bar 17 by clamping drive cylinder 13
Expanding-contracting action, regulation clamps the outer support degree of outside support piece 181, so as to control the clamping degree to clamping five-pointed star chair leg, with suitable
The deformation of five-pointed star chair leg is answered, and reduces influence of the clearance issues to crawl five-pointed star chair leg, operation more convenient quickly.
Preferably, as shown in Figure 8, Figure 9, the clamping outside support piece 181 also includes support bar locating slot 192, chuck positions
Convex edge 196 and lasso installation groove 195, the support bar locating slot 192 are arranged at the interior of the other end of clamping outside support piece 181
Side, one end of the support bar locating slot 192 connect with one end of support bar sliding groove 191；The chuck convex is set along 196
It is placed in the outside of the close end of the one end for clamping outside support piece 181；The lasso installation groove 195, which is arranged at, clamps outside support piece 181
One end outside, and the lasso installation groove 195 sets top of the chuck convex along 196；As shown in fig. 6, also wrap
Include and close tight set circle 182, the conjunction tight set circle 182 is sleeved on the lasso installation groove 195；As shown in fig. 7, supportted outside the clamping
The fitting of support bar locating slot 192 of piece 181 forms the spacing sets of holes 198 of chuck, and the aperture of the spacing sets of holes 198 of chuck is less than folder
The aperture of head activity sets of holes 197.
The lasso installation groove 195, which is used to fix, closes tight set circle 182 described in support, conjunction tight set circle 182 is sleeved on institute
The outside of the one end for clamping outside support piece 181 is stated, the clamping outside support piece 181 of the extruding of clamping brace bar 17 both sides makes the folder of both sides
When tight outside support piece 181 outwards struts, due to closing the fit effect of tight set circle 182, the clamping outside support piece 181 of both sides is not easy outwards
Strut and have squeezing action to clamping brace bar 17, so that in the clamping of pedestal 71 to five-pointed star chair leg, the clamping outside support piece
181 keep outer support angle constant, prevent that clamping outside support piece 181 loosens and can not clamp pedestal 71, the conjunction tight set circle 182 can increase
The clamping reliability of the strong chuck 18.The lasso installation groove 195 is also prevented from conjunction tight set circle 182 and shifts and influence to press from both sides
Tight effect.
The inner side of the other end for clamping outside support piece 181 sets support bar locating slot 192, two clamping outside support pieces
181 fitting of support bar locating slot 192 forms the spacing sets of holes 198 of chuck, and the aperture of the spacing sets of holes 198 of chuck is less than chuck
The aperture of activity sets of holes 197, so as to which the clamping brace bar 17 can not continue because that can not insert the spacing sets of holes 198 of the chuck
It is protruding, therefore the support bar locating slot 192 can play position-limiting action to clamping brace bar 17, prevent clamping brace bar 17
Overhang exceed permissible value, and then clamping outside support piece 181 is spent greatly, to five-pointed star the external support force of the pedestal 71 of five-pointed star chair leg
Chair leg causes to damage, and influences crudy.The chuck convex plays position-limiting action along 196, prevents that the chuck 18 is excessive
The chair bar mounting hole 711 of five-pointed star chair leg is inserted, and five-pointed star chair leg is caused to damage.
Preferably, as shown in figure 5, the guiding connector 14 includes the chuck of driver adpting flange 141 and at least two
Installing plate 143；The cylinder adpting flange 141 is arranged at one end of support bar guide pipe 142, the clamping drive cylinder 13
Cylinder body is connected with the cylinder adpting flange 141, and the piston rod and clamping brace bar 17 for clamping drive cylinder 13
One end connects, and the clamping drive cylinder 13 drives clamping brace bar 17 to be moved in support bar guide pipe 142；The chuck peace
Loading board 143 is symmetrically disposed on the other end of support bar guide pipe 142, and the guiding connector 14 also includes at least two chucks
Mounting pin 145, relative two pieces of chuck installing plates 143 are connected by chuck mounting pin 145；As shown in figure 9, the clamping
Outside support piece 181 also includes chuck installation through-hole 194, and the chuck installation through-hole 194 is arranged at one end of clamping outside support piece 181
Outside, described one end for clamping outside support piece 181 are placed on chuck mounting pin 145 by chuck installation through-hole 194；As shown in figure 11,
The support bar guide pipe 142 includes bearing accommodating chamber 146 and support bar limit chamber 147, and the bearing accommodating chamber 146 is arranged at
One end of support bar guide pipe 142, the support bar limit chamber 147 are arranged at the other end of support bar guide pipe 142, the axle
Accommodating chamber 146 is held to connect with support bar limit chamber 147；As shown in Figure 10, the guiding connector 14 also includes support bar guiding
Bearing 144, the support bar guide bearing 144 are socketed on the clamping brace bar 17 and the support bar guide bearing 144
It is placed in bearing accommodating chamber 146, the priority of clamping brace bar 17 passes through bearing accommodating chamber 146 and support bar limit chamber 147.
The clamping drive cylinder 13 drives clamping brace bar 17 to be moved in support bar guide pipe 142, and described clamp is driven
Cylinder 13 of taking offence output is stable, so that clamping brace bar 17 keeps stable when clamping five-pointed star chair leg, clamping reliability is good.It is described
The one end for clamping outside support piece 181 is placed in the chuck mounting pin 145 between two chuck installing plates 143, outer so as to clamp
Blade 181 can rotate around the one end of its own, and the clamping outside support piece 181 can be outside under the squeezing action of clamping brace bar 17
Strut.The telescopic moving of the bearing accommodating chamber 146 and support bar limit chamber 147 to the clamping brace bar 17 is played guiding and made
With, the support bar guide bearing 144 is set and is socketed on the clamping brace bar 17, can further support guide clamping
Strut 17, and the friction between clamping brace bar 17 and support bar guide pipe 142 is reduced, reduce energy consumption.
As shown in figure 12, the one-level polishing machine 301, two level polishing machine 302 and three-level photoreceiver 303 polish for double
Machine 2；The dual-station polishing machine 2 includes polishing frame 21, polishing motor 22, polishing transmission belt, polishing rotating shaft 23 and two
Individual polishing wheel 24；The polishing motor 22 and the polishing rotating shaft 23 are respectively arranged at the top phase of the polishing frame 21
To both sides, the polishing rotating shaft 23 is horizontally disposed, and two polishing wheels 24 rotate respectively is installed on the buff spindle 23
Both ends；The polishing transmission belt is sheathed on the drive end of the polishing rotating shaft 23 and the polishing motor 22；Described in two
Polishing wheel 24 is provided with scrap close to the side of the polishing motor 22 and absorbs cover 25, and the scrap absorbs the air outlet of cover 25
Connected with exhaust equipment.
Dual-station polishing machine 2 can set two polishing wheels 24, the two polishing wheels 24 can according to specific processing technology,
There is the mode that multiple choices are installed, for example one sisal is installed in the tentatively polishing stage and carries out numb light, one cotton piece buff of installation is in fiber crops
It is polished after light, so can both greatly improves processing efficiency, also can guarantee that quality of finish；Photophase is being received, due to five
Star chair leg integrally has been completed preliminary polishing, and for the polishing effect before not destroying, two polishing wheels 24 are arranged to
Cotton piece buff carries out receipts light, and because the distance between two polishing wheels 24 pass through special setting, five-pointed star chair leg is also centrosymmetric
Structure, so two polishing wheels 24 can carry out receiving light operation to five-pointed star chair leg simultaneously, so substantially increase the work effect for receiving light
Rate.
The dual-station polishing machine 2 is additionally provided with waxing mechanism and force control；The waxing mechnism is installed on the polishing
Frame 21 is simultaneously set close to the edge of the polishing wheel 24, and the waxing mechnism also includes waxing power set 26 and wax stone movement
Seat 27；The force control includes：Polishing wheel pressure-detecting device, polishing shaft fixing block 29, polishing slide rail and power control case 28；
The polishing shaft fixing block 29 relatively described polishing slide rail under the control of the power control case 28 slides, and the polishing slide rail is consolidated
Due to the polishing frame 21.
The waxing mechnism can need to wax to polishing wheel 24 according to polishing, so as to ensure that five-pointed star chair leg polishes
Glossiness after out；When being polished to five-pointed star chair leg, because robot is to clamp five-pointed star chair leg to be extruded to polishing
On wheel, if extruding force is too small between five-pointed star chair leg and polishing wheel 24, polishing effect will be very poor, if extruding force is excessive,
It can cause to polish transition or polishing wheel damage；Therefore when polishing, further contemplate polishing wheel 24 and have abrasion, power
Control case 28 can receive the pressure signal for the pressure-detecting device of polishing wheel 24 transmission that polishing wheel is provided with, and polishing machine is adjusted can
Make adequate compensation, there is provided enough polish pressures.When polish pressure is excessive, force control can suitably step back resigning, avoid
Pressure is too big, and polishing is uneven, and then can ensure the quality of finish of the five-pointed star chair leg.
Two polishing wheels 24 that the one level polishing machine 301 and two level polishing machine 302 are provided with are respectively sisal and cotton piece buff；
Two polishing wheels 24 that the three-level polishing machine 303 is provided with all are cotton piece buff.
The dual-station polishing machine 2 installs the polishing wheel 24 of variety classes combination, can complete different polishing process,
Different types of polishing wheel 24 is installed according to specific process technology, can avoid frequently changing polishing wheel 24 in process and determine
Position.
As shown in Figure 13 and Figure 14, one-level transfer positioning 201, two level transfer positioning table 202 and three-level transfer positioning table
203 be column transfer positioning table, and the column transfer positioning table includes：Column 45 and positioning table 4；The positioning table
4 include chair leg rotating circular disk 41, centralized positioning block 47, multiple chair leg spacers 42 and multiple chair leg locating pieces 43, multiple described
Chair leg spacer 42 is circumferentially arranged at the edge of the chair leg rotating circular disk 41 evenly and at intervals；The chair leg locating piece
43 are installed on the chair leg spacer 42, and the top of the chair leg locating piece 43 is radially provided with chair leg detent 44；Institute
State centralized positioning block 47 and be arranged at the surface for being located at column 45 at the middle geometric center of the chair leg rotating circular disk 41.
Robot clamps five-pointed star chair simply by the interaction of chuck 18 and support bar guide pipe 142 during due to feeding
The pedestal 71 of pin, by spacing extension bar 15 and wherein, a support feet 72 is not aligned.Therefore, set the positioning table 4 right
Five-pointed star chair leg is positioned, so that spacing extension bar 15 and wherein a support feet 72 is aligned.The positioning table 4 sets multiple chairs
Pin spacer 42, for being positioned to each support feet 72 of five-pointed star chair leg；The chair leg locating piece 43 positions provided with chair leg
Groove 44, it is spacing to be carried out to support feet 72, prevent robot 1 decline electronic gag lever post 16 with during fixed supporting foot 72 because support
Pin 72 offsets and fails to be completely fixed.Position sensor is provided with the chair leg rotating circular disk 41, to detect each support feet 72
Position, so as to rotate chair leg locating piece 43 so that chair leg locating piece 43 and support feet 72 correspond.Specifically, robot 1
After feeding device 3 grabs five-pointed star chair leg, five-pointed star chair leg is carried to the surface of positioning table 4, the chair leg rotating circular disk 41
Rotate so that chair leg locating piece 43 and support feet 72 correspond；Then, five-pointed star chair leg is placed on positioning table 4 by robot 1, chair
Pin grabber 12 and the separation of five-pointed star chair leg；Then, the chair leg rotating circular disk 41 returns back to that to return to chair leg locating piece 43 original
Position, robot 1 prestore the home position of chair leg locating piece 43, and robot body 11 drives chair leg grabber 12 to rotate so as to limit
Position extension bar 15 and wherein a support feet 72 is aligned；Finally, robot 1 captures five-pointed star chair leg again, and declines electronic spacing
Bar 16 connects the support feet 72 of five-pointed star chair leg and spacing extension bar 15, so as to the support feet 72 for the five-pointed star chair leg that is fixedly clamped.
By setting the positioning table 4, robot 1 is without setting accurate sensor and complicated algorithm to go detection to support
The position of pin 72, spacing extension bar 15 and the rapid alignment of support feet 72 are realized, while reducing control difficulty, and can improves alignment
Precision.
The centralized positioning block 47 is made up of nylon material；The chair leg locating piece 43 is made up of excellent power glue material.It is described
Centralized positioning block 47 is nylon material, wear-resisting and possess certain hardness, can also can protect product not effectively to product orientation
Scratched；The chair leg locating piece 43 is excellent power glue material, product can be oriented to, excellent power glue material can protect product surface
Do not scratched；The transfer and positioning of different product can be realized by adjusting chair leg locating piece 43 and changing centralized positioning block 47.
As shown in figure 15, the blanking device 5 includes：Blanking frame 51, blanking conveyer belt 52, the and of correlation type inductor 53
Grating 54；The blanking conveyer belt 52 is arranged at the top surface of the blanking frame 51；It is defeated that the grating 54 is arranged at the blanking
The detection range of the feed end both sides of band 52 and grating 54 is sent to cover the feed end of the blanking conveyer belt 52；The correlation type sense
Answer two both sides for being respectively arranged at the discharge end of the blanking conveyer belt 52 to penetrating end of device 53；51 bottoms of the blanking frame
Portion is provided with adjustable for height pin cup 55.
Blanking device 5 is the mode of conveying belt discharging, and product is put into the feed end of blanking conveyer belt 52, blanking by robot
Product is delivered to discharging section and taken away by artificial or other robot by conveyer belt 52；Robot blanking can be detected using grating 54
The feed end of conveyer belt 52 whether there is product, is easy to robot to determine whether to perform blowing order；Used using correlation type inductor 53
In detection product safety position, under described when when product is delivered to the discharge end of the blanking conveyer belt 52, touching is detected
Material conveyer belt 52 can stop, and avoid product from falling；The pin cup 55 can carry out height adjustment according to equipment requirement, can also avoid
Because ground out-of-flatness cause the blanking conveyer belt 52 set and transport it is unstable.
As shown in figure 16, its exterior is provided with dust cover 6；The top of the dust cover 6 this have dust exhausting hole 61；
The side of the dust cover 6 is provided with several visual windows 62 and door 63；The visual windows 62 are by acrylic transparent material
Plate is made；The dust cover is provided with feeding port 64 and feed opening 65；The dust cover 6 is by the polishing system cover
Firmly, the feeding device 3 is arranged at the feeding port 64, and the blanking device is arranged at 65 at the feed opening；On described
Expect that the feeding end 3 of device and the discharge end of the blanking device 5 are located at outside the dust cover.
Dust cover 6 integrally covers polishing system, only reserves feeding port 64 and feed opening 65 on operating personnel
Blanking uses, and whole production process sealing operation is capable of purifying air, improves work situation, improves labourer's enthusiasm, it is ensured that Yuan Gongshen
Body health；Equipment reserves four doors, and double door is fanned in front one, and reverse side three fans single open-door and enters commissioning device, dimension for operating personnel
Repair equipment, cleaning dust；There is acrylic transparency window around dust cover, robot is in steady production, external procedure personnel
Can be with the running situation of real-time monitored to internal unit；The dust exhausting hole 61 at top can connect with the dust pelletizing system of polishing system
Connect, the dust in dust cover is taken away.
The method being polished using polishing system as described above to five-pointed star chair leg, it comprises the following steps：
A. the power supply of polishing system is opened, the feeding of five-pointed star chair leg blank product placement feeding device is obtained by being molded
Band is provided with chair leg position-limit mechanism；
B. after chair leg position-limit mechanism fills blank product, feeding delivery board drives chair leg position-limit mechanism to be delivered to feeding device
Flowing end when, to crawl machine human hair serve material complete signal；
C. one-level feeding robot completes signal in response to feeding, and blank product is captured by chair leg grabber；
D. the blank product of crawl is put into middle one-level and turns positioning table by one-level feeding robot is positioned, after the completion of again
Blank product is taken out；
E. one-level feeding robot will position the blank product completed and extrude to moving back on the polishing wheel of one-level polishing machine
Dynamic and translation-angle, side and top to five-pointed star chair leg are polished processing, obtain first-stage semi-finished product；
F. one-level feeding robot is left after first-stage semi-finished product is placed into two level transfer positioning table, and goes to feeding device
Flowing end takes next blank product to be processed；
G. two level feeding robot captures first-stage semi-finished product by chair leg grabber from two level intermediate station, and by one-level half into
Product are extruded to moving back and forth on the polishing wheel of two level polishing machine and translation-angle, and the front of five-pointed star chair leg and V-arrangement angle are thrown
Light is processed, and obtains two level semi-finished product；
H. two level feeding robot is left after first-stage semi-finished product is placed into three-level transfer positioning table, and goes to two level transfer and determine
Position platform takes next product of one-level half to be processed；
I. three-level feeding robot captures two level semi-finished product by chair leg grabber from three-level intermediate station, and by two level half into
Product are extruded to moving back and forth on the polishing wheel of three-level polishing machine and translation-angle, all faces of five-pointed star chair leg are carried out receiving light added
Work, obtain finished product；
J. three-level feeding robot places finished product the lower material strip of blanking device, and goes to three-level intermediate station and take next two
Level semi-finished product are processed；
K. blanking device by finished product be delivered to blanking conveyer belt discharge end wait take away.
It is wherein more excellent, five-pointed star chair leg will be completed to polish first with sisal in the step e and g, recycle cotton piece buff pair
Five-pointed star chair leg completes polishing；Complete overall receipts light in the step i to five-pointed star chair leg using two cotton piece buffs.
Present invention proposition is a kind of to be polished the system of processing and using the system to five-pointed star chair specifically for five-pointed star chair leg
The method that pin is processed, using three groups of robots and three groups of polishing machines division of labor coordinateds, allow in the polishing system
The vacancy rate of process equipment reaches minimum, and then substantially increases the polishing efficiency of five-pointed star chair leg, can solve prior art
In robot complete the limitation and compatibility issue of whole five-pointed star chair leg polishing.In machining accuracy, due to described
The each machining cell of polishing system is the special specific process technology for completing ad-hoc location, so wheel need not be polished
Deng the replacing of part, positioning table in turning is provided between each machining cell in addition, allows five-pointed star chair leg entering each machining cell
When, positioning can be quickly finished and correct genuine preparation, therefore be also greatly improved in machining accuracy.
The technical principle of the present invention is described above in association with specific embodiment.These descriptions are intended merely to explain the present invention's
Principle, and limiting the scope of the invention can not be construed in any way.Based on explanation herein, the technology of this area
Personnel would not require any inventive effort the other embodiments that can associate the present invention, and these modes are fallen within
Within protection scope of the present invention.
Claims (10)
- A kind of 1. five-pointed star chair leg polishing system, it is characterised in that including：Feeding device, blanking device, one-level robot, Two level robot, three-level robot, one-level transfer positioning table, two level transfer positioning table, three-level transfer positioning table, one-level polishing Machine, two level polishing machine and three-level photoreceiver；The system of processing according to process sequence successively include feeding group, one-level polishing group, Two level polishing group, three-level receive light group and blanking group；The charging group includes the feeding device；The discharging group is included State blanking device；The one-level polishing group includes：The one-level robot and in the one-level robot work region One-level transfer positioning table and one-level polishing machine；The two level polishing group includes：The two level robot and positioned at the two level machine Two level transfer positioning table and two level polishing machine in device people working region；The three-level polishing group includes：The three-level robot And three-level transfer positioning table and three-level photoreceiver in the three-level robot work region；The feeding device is located at institute State in one-level robot work region, the blanking device is located in the three-level robot work region；The two level transfer Positioning table also is located in the working region of the one-level robot；The three-level transfer positioning table also is located at the two level robot Working region in.
- 2. a kind of polishing system according to claim 1, it is characterised in that the feeding device is arranged at first-level machine Side in the working region of device people, the polishing machine are arranged at the opposite side in the working region of robot；The feeding dress Put including feeding pedestal, feeding delivery board, loading guide, multiple feeding limited blocks, conveying plate fixation mechanism and multiple chair legs limit Position mechanism；The loading guide is provided on feeding pedestal, and the feeding delivery board activity is against the loading guide, described Conveying plate fixation mechanism is arranged at one end of the close robot of feeding pedestal, and the feeding limited block is installed on feeding base The both ends of seat；Multiple chair leg position-limit mechanisms are arranged on feeding delivery board evenly and at intervals, and the two neighboring chair Intersect the axis of pin position-limit mechanism；The chair leg position-limit mechanism includes chair leg limiting plate, the spacing vertical rod of multiple chair legs and more The both ends for being installed on chair leg limiting plate, relative two chair leg limits are erect in the individual spacing cross bar of chair leg, the spacing vertical rod of chair leg Position vertical rod is connected by the spacing cross bar of chair leg.
- 3. a kind of polishing system according to claim 1, it is characterised in that the one-level robot, two level machine People and three-level robot are provided with chair leg grabber, the chair leg grabber include clamping drive cylinder, clamping brace bar, chuck and Guiding connector, the guiding connector include support bar guide pipe, and the clamping drive cylinder is arranged at support bar guide pipe One end；The clamping brace bar is arranged at the inside of support bar guide pipe, and one end of the clamping brace bar and clamping The output axis connection of drive cylinder, the clamping drive cylinder drive clamping brace bar to be oriented to in-pipe in support bar；It is described Chuck includes at least two and clamps outside support piece, and the clamping outside support piece includes support bar sliding groove, and the support bar sliding groove is set It is placed in the inner side of the one end for clamping outside support piece；The chuck is arranged at the other end of support bar guide pipe, the clamping outside support piece Support bar sliding groove be bonded to form chuck activity sets of holes；When clamping brace bar stretches out and inserts the chuck movable sleeve of the chuck Kong Shi, the clamping outside support piece outwards strut；The clamping outside support piece also includes support bar locating slot, chuck convex edge and set Installation groove is enclosed, the support bar locating slot is arranged at the inner side for the other end for clamping outside support piece, the support bar locating slot One end connects with one end of support bar sliding groove；The close end of one end that the chuck convex clamps outside support piece along being arranged at Outside；The lasso installation groove is arranged at the outside of the one end for clamping outside support piece, and the lasso installation groove sets folder The top on head convex edge；Also include closing tight set circle, the conjunction tight set snare is together in the lasso installation groove；Outside the clamping The support bar locating slot of blade is bonded to form the spacing sets of holes of chuck, and the aperture of the spacing sets of holes of chuck is less than chuck activity sets of holes Aperture；The guiding connector includes driver adpting flange and at least two chuck installing plates；The cylinder adpting flange One end of support bar guide pipe is arranged at, the cylinder body for clamping drive cylinder is connected with the cylinder adpting flange, and institute The piston rod for stating clamping drive cylinder connects with one end of clamping brace bar, and the clamping drive cylinder drives clamping brace bar to exist Support bar is oriented to in-pipe；The chuck installing plate is symmetrically disposed on the other end of support bar guide pipe, the company of guiding Fitting also includes at least two chuck mounting pins, and relative two pieces of chuck installing plates install pin connection by chuck；It is described Clamping outside support piece also includes chuck installation through-hole, and the chuck installation through-hole is arranged at the outside of the one end for clamping outside support piece, institute The one end for stating clamping outside support piece is placed on chuck mounting pin by chuck installation through-hole；The support bar guide pipe accommodates including bearing Chamber and support bar limit chamber, the bearing accommodating chamber are arranged at one end of support bar guide pipe, and the support bar limit chamber is set In the other end of support bar guide pipe, the bearing accommodating chamber connects with support bar limit chamber；The guiding connector also includes Support bar guide bearing, the support bar guide bearing are socketed on the clamping brace bar and the support bar axis of guide bearing In in bearing accommodating chamber, the clamping brace bar successively passes through bearing accommodating chamber and support bar limit chamber；The chair leg grabber Also include spacing extension bar and electronic gag lever post, one end of the spacing extension bar connects with the outside of support bar guide pipe, institute State the other end that electronic gag lever post is installed on the spacing extension bar；The spacing extension bar is L font structures, described spacing to stretch Motor is set in rod to drive the lifting of the electronic gag lever post.
- 4. a kind of polishing system according to claim 1, it is characterised in that the one-level polishing machine, two level polishing Machine and three-level photoreceiver are dual-station polishing machine；The dual-station polishing machine includes polishing frame, polishing motor, polishing biography Dynamic band, polishing rotating shaft and two polishing wheels；The polishing motor and the polishing rotating shaft are respectively arranged at the polishing machine The relative both sides in the top of frame, the polishing rotating shaft are horizontally disposed with, and two polishing wheels rotate respectively is installed on the polishing The both ends of axle；The polishing transmission belt is sheathed on the drive end of the polishing rotating shaft and the polishing motor；Described in two Polishing wheel is provided with scrap close to the side of the polishing motor and absorbs cover, and the air outlet that the scrap absorbs cover is set with exhausting Standby connection.
- 5. a kind of polishing system according to claim 4, it is characterised in that the dual-station polishing machine, which is additionally provided with, to be beaten Wax mechanism and force control；The waxing mechnism is installed on the polishing frame and set close to the edge of the polishing wheel, institute Stating waxing mechnism also includes waxing power set and wax stone Mobile base；The force control includes：Polishing wheel pressure-detecting device, Polish shaft fixing block, polishing slide rail and power control case；The polishing shaft fixing block relative institute under the control of the power control case State polishing slide rail to slide, the polishing slide rail is fixed on the polishing frame；The one level polishing machine and two level polishing machine are set Two polishing wheels having are respectively sisal and cotton piece buff；Two polishing wheels that the three-level polishing machine is provided with all are cotton piece buff.
- 6. a kind of polishing system according to claim 1, it is characterised in that one-level transfer positioning table, two level transfer Positioning table and three-level transfer positioning table are column transfer positioning table, and the column transfer positioning table includes：Column and Positioning table；The positioning table includes chair leg rotating circular disk, centralized positioning block, multiple chair leg spacers and multiple chair leg locating pieces, Multiple chair leg spacers are circumferentially arranged at the edge of the chair leg rotating circular disk evenly and at intervals；The chair leg is determined Position block is installed on the chair leg spacer, and the top of the chair leg locating piece is radially provided with chair leg detent；In described Heart locating piece is arranged at the surface for being located at column at the middle geometric center of the chair leg rotating circular disk；The centralized positioning block by Nylon material is made；The chair leg locating piece is made up of excellent power glue material.
- 7. a kind of polishing system according to claim 1, it is characterised in that the blanking device includes：Blanking machine Frame, blanking conveyer belt, correlation type inductor and grating；The blanking conveyer belt is arranged at the top surface of the blanking frame；It is described Grating is arranged at the charging of the detection range covering blanking conveyer belt of the feed end both sides of the blanking conveyer belt and grating End；The both sides that two of the correlation type inductor are respectively arranged at the discharge end of the blanking conveyer belt to penetrating end；Under described The bottom of material frame is provided with adjustable for height pin cup.
- 8. a kind of polishing system according to claim 1, it is characterised in that the outside of the polishing system is set There is dust cover；The top of the dust cover this have dust exhausting hole；The dust cover side be provided with several visual windows and Door；The visual windows are made up of acrylic transparent material plate；The dust cover is provided with feeding port and feed opening；It is described dust-proof Shell covers the polishing system, and the feeding end of the feeding device and the discharge end of the blanking device are positioned at described Outside dust cover.
- 9. the method that polishing system of the application as described in any one in claim 1-8 is polished to five-pointed star chair leg, It is characterised in that it includes following steps：A. the power supply of polishing system is opened, the upper material strip that shaping is obtained to five-pointed star chair leg blank product placement feeding device is set There is chair leg position-limit mechanism；B. after chair leg position-limit mechanism fills blank product, feeding delivery board drives chair leg position-limit mechanism to be delivered to taking for feeding device When expecting end, serve material to crawl machine human hair and complete signal；C. one-level feeding robot completes signal in response to feeding, and blank product is captured by chair leg grabber；D. the blank product of crawl is put into middle one-level and turns positioning table by one-level feeding robot is positioned, after the completion of again by hair Base product takes out；E. one-level feeding robot will position the blank product completed extrude to moving back and forth on the polishing wheel of one-level polishing machine and Translation-angle, side and top to five-pointed star chair leg are polished processing, obtain first-stage semi-finished product；F. one-level feeding robot is left after first-stage semi-finished product is placed into two level transfer positioning table, and goes to the feeding of feeding device End takes next blank product to be processed；G. two level feeding robot captures first-stage semi-finished product by chair leg grabber from two level intermediate station, and first-stage semi-finished product is squeezed Be depressed on the polishing wheel of two level polishing machine and move back and forth and translation-angle, the front of five-pointed star chair leg and V-arrangement angle are polished plus Work, obtain two level semi-finished product；H. two level feeding robot is left after first-stage semi-finished product is placed into three-level transfer positioning table, and goes to two level transfer positioning table Next product of one-level half is taken to be processed；I. three-level feeding robot captures two level semi-finished product by chair leg grabber from three-level intermediate station, and two level semi-finished product are squeezed It is depressed on the polishing wheel of three-level polishing machine and moves back and forth and translation-angle, all faces of five-pointed star chair leg is carried out receiving light processing, obtained To finished product；J. three-level feeding robot places finished product the lower material strip of blanking device, and goes to three-level intermediate station and take next two level half Finished product is processed；K. blanking device by finished product be delivered to blanking conveyer belt discharge end wait take away.
- 10. a kind of five-pointed star chair leg polishing method according to claim 9, it is characterised in that will be first in the step e and g Five-pointed star chair leg is completed to polish using sisal, recycles cotton piece buff to complete to polish to five-pointed star chair leg；Two cloth are utilized in the step i Wheel completes overall receipts light to five-pointed star chair leg.
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| CN201710729657.5A CN107350962B (en) | 2017-08-23 | 2017-08-23 | Five-star chair leg polishing system and polishing method using same |
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| CN201710729657.5A CN107350962B (en) | 2017-08-23 | 2017-08-23 | Five-star chair leg polishing system and polishing method using same |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108161669A (en) * | 2018-02-01 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of pipeline system sanding and polishing work station based on robot |
| CN109015241A (en) * | 2018-08-29 | 2018-12-18 | 无锡航亚科技股份有限公司 | The equipment of trailing edge profile before a kind of rubbing down aviation precision forged blade |
| CN109108390A (en) * | 2018-08-31 | 2019-01-01 | 广州每通自动化设备有限公司 | A kind of three station deburring methods |
| CN110432680A (en) * | 2018-05-02 | 2019-11-12 | 马展雄 | Pedestal with lamp effect |
| CN111203765A (en) * | 2019-07-29 | 2020-05-29 | 杭州浅影文化创意有限公司 | Automatic office chair foot polishing method |
| CN111958377A (en) * | 2020-08-29 | 2020-11-20 | 雷盛文 | Quick grinding device of different pipe diameter steel pipe tip |
| CN112355787A (en) * | 2020-10-19 | 2021-02-12 | 杨庆金 | Polishing and grinding device for top of pentagonal bracket |
| CN114310626A (en) * | 2021-12-28 | 2022-04-12 | 无锡强连科技有限公司 | Flange polishing machine |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108161669A (en) * | 2018-02-01 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of pipeline system sanding and polishing work station based on robot |
| CN110432680B (en) * | 2018-05-02 | 2022-09-23 | 马展雄 | Foot seat with lamp effect |
| CN110432680A (en) * | 2018-05-02 | 2019-11-12 | 马展雄 | Pedestal with lamp effect |
| CN109015241A (en) * | 2018-08-29 | 2018-12-18 | 无锡航亚科技股份有限公司 | The equipment of trailing edge profile before a kind of rubbing down aviation precision forged blade |
| CN109015241B (en) * | 2018-08-29 | 2020-04-14 | 无锡航亚科技股份有限公司 | Equipment for polishing and grinding profile of front edge and tail edge of aviation precision-forged blade |
| CN109108390B (en) * | 2018-08-31 | 2020-11-17 | 广州每通自动化设备有限公司 | Three-station deburring machining method |
| CN109108390A (en) * | 2018-08-31 | 2019-01-01 | 广州每通自动化设备有限公司 | A kind of three station deburring methods |
| CN111203765A (en) * | 2019-07-29 | 2020-05-29 | 杭州浅影文化创意有限公司 | Automatic office chair foot polishing method |
| CN111203765B (en) * | 2019-07-29 | 2020-12-22 | 安吉洪晟家具有限公司 | Automatic office chair foot polishing method |
| CN111958377A (en) * | 2020-08-29 | 2020-11-20 | 雷盛文 | Quick grinding device of different pipe diameter steel pipe tip |
| CN111958377B (en) * | 2020-08-29 | 2022-02-18 | 德新钢管（中国）有限公司 | Quick grinding device of different pipe diameter steel pipe tip |
| CN112355787A (en) * | 2020-10-19 | 2021-02-12 | 杨庆金 | Polishing and grinding device for top of pentagonal bracket |
| CN114310626A (en) * | 2021-12-28 | 2022-04-12 | 无锡强连科技有限公司 | Flange polishing machine |
| CN114310626B (en) * | 2021-12-28 | 2023-10-31 | 无锡强连科技有限公司 | Flange plate polishing machine |
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