CN107627184A - A kind of automatically grinding mechanism - Google Patents
A kind of automatically grinding mechanism Download PDFInfo
- Publication number
- CN107627184A CN107627184A CN201710813031.2A CN201710813031A CN107627184A CN 107627184 A CN107627184 A CN 107627184A CN 201710813031 A CN201710813031 A CN 201710813031A CN 107627184 A CN107627184 A CN 107627184A
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- block
- grinding mechanism
- automatically grinding
- installation board
- grip block
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- 230000007246 mechanism Effects 0.000 title claims abstract description 27
- 238000005498 polishing Methods 0.000 claims abstract description 51
- 230000000694 effects Effects 0.000 claims abstract description 11
- 238000009434 installation Methods 0.000 claims description 39
- 125000006850 spacer group Chemical group 0.000 claims description 7
- 230000003139 buffering effect Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 7
- 230000006378 damage Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 230000000903 blocking effect Effects 0.000 description 2
- 230000006835 compression Effects 0.000 description 2
- 238000007906 compression Methods 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000013589 supplement Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Abstract
The invention belongs to field of machinery automation, there is provided a kind of automatically grinding mechanism, including, robot and sanding apparatus, robot drive sanding apparatus to carry out polishing work.Robot of the present invention drives sanding apparatus to carry out polishing work to replace manually being polished, reduce the labor intensity of operating personnel, improve operating efficiency, the detection and reading for carrying out polishing power can be put with accident in office by Mini compressed sensor, polishing power is adjusted according to parameters obtained electric Proportion valve, robot drives sanding apparatus adjustment polishing position, polishing effect is reached perfect condition.
Description
Technical field
The invention belongs to field of machinery automation, and in particular to a kind of automatically grinding mechanism.
Background technology
Workpiece can produce burr in process, or carry out sanding and polishing to improve product appearance, just generally have
Sander is polished.Some products require high to polishing, do not exist together polished when, required polishing dynamics is also different, leads to
Polished frequently with artificial craft, but due to larger in dynamics needed for polishing so that the manual grinding operation of operating personnel is strong
Degree is big, manual operation low production efficiency, big with caused ash content harm to the human body, and accident easily occurs when carrying out manual polishing
Injury accident.
Common automatically grinding device can only carry out polishing work, and polishing dynamics is adjusted by manual operation, and is beaten
Need to take out workpiece from clamping device when grinding position adjustment, gripped after carrying out position adjustment, carry out next place's polishing,
Operation inconvenience.
The content of the invention
The purpose of the present invention is above mentioned problem be present for existing technology, it is proposed that one kind can detect polishing power, change
Become polishing power size, there is the automatically grinding mechanism of compensation function.
The purpose of the present invention can be realized by following technical proposal：A kind of automatically grinding mechanism, including, robot and beat
Mill apparatus, the robot drive sanding apparatus to carry out polishing work.
In a kind of above-mentioned automatically grinding mechanism, the robot has swivel head, and the swivel head upper end sets be hinged
There is a linkage block, the linkage block one end that is connected with swivel head is provided with U-shaped activity space, and the linkage block other end sets be hinged
There is transfer block, the transfer block other end, which is set, is hinged with fook, and the fook is provided with electrically with transfer block junction
Proportioning valve, the fook lower end, which is set, is hinged with rotating disk, and base is provided with below the rotating disk.
In a kind of above-mentioned automatically grinding mechanism, the rotating disk side is provided with draw bar, is set on the fook
There is traction passage, the draw bar passes through traction passage and is fixedly connected on one end that transfer block is hinged with linkage block.
In a kind of above-mentioned automatically grinding mechanism, the sanding apparatus upper end is provided with upper mounting plate and lower installation board, institute
State to set above upper mounting plate and be connected with swivel head, upper mounting plate lower section centre position is provided with cylinder, under the cylinder
Side is connected with Mini compressed sensor, and the Mini compressed sensor is arranged on lower installation board, the upper mounting plate lower surface
It is provided with limit shaft.
In a kind of above-mentioned automatically grinding mechanism, the upper mounting plate corner is provided with guide pillar, is set on the lower installation board
The guide pin bushing with guide pillar opposite position is equipped with, the guide column sleeve is set in guide pin bushing.
In a kind of above-mentioned automatically grinding mechanism, the upper mounting plate outer four sides is provided with blocking with screw connection
Piece, the lower installation board sets external diameter smaller than upper mounting plate, described to block including lower installation board is blocked in the shielding plate lower end
Piece wherein one side lower end centre position is provided with U-shaped breach.
In a kind of above-mentioned automatically grinding mechanism, extension spring bearing is provided with the upper mounting plate and lower installation board,
Extension spring is installed on the extension spring bearing.
In a kind of above-mentioned automatically grinding mechanism, lower installation board lower surface centre position is provided with lower lock block, described
Sanding machine is provided with below lower lock block, the sanding machine has conveying axis, cushion pad is provided with below the conveying axis, described
Buffering stator is provided with below cushion pad, the lower installation board sets and is connected with the first grip block and the second grip block, institute
State to set in the first grip block and the second grip block and sanding machine is installed, the buffering stator, which is set, to be screwed in first
Grip block lower end.
In a kind of above-mentioned automatically grinding mechanism, the sanding machine lower end is arranged with spacer, and the spacer, which is set, to be used
Screw is fixed on the first grip block and the second grip block lower end, and first grip block and second grip block one end are provided with receiving
Groove, the conveying axis, which are set, to be arranged in holding tank, and the sanding machine lower end is provided with connecting shaft through stator part, described
Connecting shaft lower end sets and is provided with polished section.
Compared with prior art, the advantage of the invention is that：Robot drives sanding apparatus to carry out polishing work to replace
Manually polished, reduce the labor intensity of operating personnel, improve operating efficiency, can be any by Mini compressed sensor
The external detection and reading for carrying out polishing power, polishing power is adjusted according to parameters obtained electric Proportion valve, robot drives polishing to fill
Adjustment polishing position is put, polishing effect is reached perfect condition.
Brief description of the drawings
Fig. 1 is a kind of structural representation of automatically grinding mechanism of the present invention；
Fig. 2 is the structural representation of sanding apparatus of the present invention.
In figure, robot 100, swivel head 110, linkage block 120, U-shaped activity space 121, transfer block 130, fook
140, electric Proportion valve 150, rotating disk 160, base 170, draw bar 180, draw passage 190, sanding apparatus 200, upper installation
Plate 210, cylinder 211, limit shaft 212, guide pillar 213, shielding plate 214, U-shaped breach 215, lower installation board 220, Mini compressed sensing
Device 221, guide pin bushing 222, extension spring bearing 223, extension spring 224, lower lock block 225, the first grip block 230, the second grip block
240, sanding machine 250, conveying axis 251, cushion pad 252, buffer stator 253, spacer 260, holding tank 270, connecting shaft
280, polished section 290.
Embodiment
It is the specific embodiment of the present invention and with reference to accompanying drawing below, technical scheme is further described,
But the present invention is not limited to these embodiments.
As shown in figure 1, a kind of automatically grinding mechanism, including, robot 100 and sanding apparatus 200, robot 100 drive
Sanding apparatus 200 carries out polishing work.
Preferably, robot 100 has swivel head 110, and the upper end of swivel head 110 sets and is hinged with linkage block 120, linkage block
120 one end that are connected with swivel head 110 are provided with U-shaped activity space 121, and the other end of linkage block 120 sets and is hinged with transfer block
130, the other end of transfer block 130, which is set, is hinged with fook 140, and fook 140 is provided with electric ratio with the junction of transfer block 130
Example valve 150, the lower end of fook 140, which is set, is hinged with rotating disk 160, and the lower section of rotating disk 160 is provided with base 170.U-shaped activity is empty
Between 121 be used for accommodate swivel head 110 so that sanding apparatus 200 carry out position adjustment when do not touch linkage block 120, machine
People 100 is provided with multiple articulated structures can be with flexible rotating, and electric Proportion valve 150 can control polishing power in bruting process
Size.
Preferably, the side of rotating disk 160 is provided with draw bar 180, and traction passage 190, traction are provided with fook 140
Bar 180 passes through traction passage 190 and is fixedly connected on one end that transfer block 130 is hinged with linkage block 120.Draw bar 180 with
Fook 140 connects but is not to be fully fixedly connected, and when grinding angle needs to change, draw bar 180 pulls transfer block
130 change the direction of sanding apparatus 200, while change the state position of fook 140, and robot 100 rotates flexibly, can be quick
Change polishing direction, carry out polishing work glibly.
Preferably, as shown in Fig. 2 the upper end of sanding apparatus 200 is provided with upper mounting plate 210 and lower installation board 220, upper installation
The top of plate 210 is set to be connected with swivel head 110, and the lower section centre position of upper mounting plate 210 is provided with cylinder 211, the lower section of cylinder 211
Mini compressed sensor 221 is connected with, Mini compressed sensor 221 is arranged on lower installation board 220, the following table of upper mounting plate 210
Face is provided with limit shaft 212.Sanding apparatus 200 is connected by upper mounting plate 210 with robot 100, micro- below cylinder 211
Type compression sensor 221 can monitor the size of polishing power in real time in bruting process, change gas by electric Proportion valve 150
The power output size of cylinder 211, then the curved line relation of passage time and position, to realize that the power required for polishing diverse location is adjusted
Whole, when cylinder 211 acts on adjustment polishing position, lower installation board 220 is lifted up, and limit shaft 212 lifts lower installation board 220
High definition, prevent that Mini compressed sensor 221 is damaged in the lower end of cylinder 211 when lifting too high.
Preferably, 210 4 jiaos of upper mounting plate is provided with guide pillar 213, is provided with lower installation board 220 relative with guide pillar 213
The guide pin bushing 222 of position is answered, 213 sets of guide pillar is set in guide pin bushing 222.When position is polished in adjustment, cylinder 211 is by lower installation board 220
It is pulled upwardly, guide pillar 213 is acted on guide pin bushing 222, and guide pillar 213 is combined into guide pin bushing 222 and is nested with so that lower installation board 220 is upward
Lift, be easy to work progress of polishing.
Preferably, the outer of upper mounting plate 210 four sides is provided with the shielding plate 214 with screw connection, and lower installation board 220 is set
External diameter is smaller than upper mounting plate 210, including lower installation board 220 is blocked in the lower end of shielding plate 214, the wherein one side lower end of shielding plate 214
Centre position is provided with U-shaped breach 215.Polishing ash content is blocked in outside when shielding plate 214 is used to polished, not shadow
The normal work of cylinder 211 and Mini compressed sensor 221 is rung, lower installation board 220 is arranged to smaller and upper mounting plate 210,
Lower installation board 220 is moved up and down in shielding plate 214 glibly, when lower installation board 220 moves up, whole lower installation
Plate 220 will be moved into shielding plate 214, can stop that ash content caused by polishing enters internal damage Mini compressed sensor 221.
Preferably, extension spring bearing 223, extension spring bearing are provided with upper mounting plate 210 and lower installation board 220
Extension spring 224 is installed on 223.Automatic compensation is realized by extension spring 224 and cylinder 211, the power of extension spring 224 is firm
It can realize well and be offseted with the first grip block 230, the second grip block 240 and sanding machine 250 gravity of itself.
Preferably, the lower surface centre position of lower installation board 220 is provided with lower lock block 225, and the lower section of lower lock block 225 is provided with mill
Ray machine 250, sanding machine 250 have conveying axis 251, and the lower section of conveying axis 251 is provided with cushion pad 252, the lower section of cushion pad 252
Buffering stator 253 is provided with, lower installation board 220, which is set, is connected with the first grip block 230 and the second grip block 240, the first folder
Hold to set in the grip block 240 of block 230 and second and sanding machine 250 is installed, buffering stator 253, which is set, to be screwed in first
The lower end of grip block 230.Impulsive force can be produced in polishing, cushion pad 252 can cause working stability progress of polishing under acting on.
Preferably, the lower end of sanding machine 250 is arranged with spacer 260, and spacer 260, which is set, to be screwed in the first clamping
The lower end of 230 and second grip block of block 240, the first grip block 230 and the one end of the second grip block 240 are provided with holding tank 270, conveying
Axle 251, which is set, to be arranged in holding tank 270, and the lower end of sanding machine 250 is provided with connecting shaft 280, connecting shaft through stator part
280 lower ends set and are provided with polished section 290.Sanding machine 250 is fixed on the first grip block 230 and the second clamping by spacer 260
In block 240, the holding tank 270 that the conveying axis 251 on sander are formed by the first grip block 230 and the second grip block 240 enters
Line position puts fixation.
Below according to above example, a kind of operation principle and flow of automatically grinding mechanism are described.
When carrying out polishing work, first the piece-holder by required processing is fixed, after setting polishing position, robot
100 drive sanding apparatus 200 carry out polishing work, and automatic compensation, extension spring are realized by extension spring 224 and cylinder 211
224 power can just be realized to offset with the first grip block 230, the second grip block 240 and sanding machine 250 gravity of itself
Disappear.
The rotary-grinding of polished section 290, it is miniature because workpiece surface flatness changes when polishing to a certain extent
Compression sensor 221 monitors that polishing power changes, and changes the size of the power output of cylinder 211 by electric Proportion valve 150,
Cylinder 211 pulls up lower installation board 220, reduces polishing contact surface, due to being provided with limit shaft 212 on upper mounting plate 210,
Stop movement when being moved on on lower installation board 220 and touching limit shaft 212, prevent from damaging Mini compressed sensor 221, lower installation
Plate 220 drives sanding machine 250 to move up when moving up, and the conveying axis 251 on sanding machine 250 are when being moved up due to blocking
The U-shaped breach 215 set on piece 214, the piece 214 that will not be blocked of conveying axis 251 hinder so that lower installation board 220 can move up.
, it is necessary to when changing polishing position, first making the small variation of out position, swivel head 110 after the completion of same position polishing
Being rotated in U-shaped activity space 121 drives sanding apparatus 200 to change direction, is needed according to polishing, passes through linkage block 120, switching
The cooperation rotation of block 130, fook 140, rotating disk 160 and base 170, robot 100 is adjusted to definite shape so that
Sanding apparatus 200 is coordinated with the position for needing to polish, and the activity of sanding apparatus 200 is adjustable, need not can so adjust
The location of workpiece, avoid needing not stop to dismount workpiece from clamping device in multiposition polishes work, waste time and energy and polish
Effect is uncontrollable.
Automatically grinding mechanism of the present invention can also monitor the big of polishing power in real time when replacing manually carrying out polishing work
It is small, and the position of sanding apparatus 200 can be adjusted after being polished a position automatically by robot 100, enter
The next place position polishing of row, it is not necessary to adjust the location of workpiece, production efficiency is high, can not only obtain common polishing effect, may be used also
To meet high accuracy polishing demand.
Specific embodiment described herein is only to spirit explanation for example of the invention.Technology belonging to the present invention is led
The technical staff in domain can be made various modifications or supplement to described specific embodiment or be replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (9)
1. a kind of automatically grinding mechanism, it is characterised in that including robot and sanding apparatus, the robot drive polishing dress
Put and carry out polishing work.
2. a kind of automatically grinding mechanism according to claim 1, it is characterised in that the robot has swivel head, institute
State swivel head upper end and set and be hinged with linkage block, the linkage block one end that is connected with swivel head is provided with U-shaped activity space, described
The linkage block other end, which is set, is hinged with transfer block, and the transfer block other end, which is set, is hinged with fook, and the fook is with turning
Connect block junction and be provided with electric Proportion valve, the fook lower end, which is set, is hinged with rotating disk, is set below the rotating disk
There is base.
3. a kind of automatically grinding mechanism according to claim 2, it is characterised in that the rotating disk side is provided with traction
Bar, traction passage is provided with the fook, the draw bar is through traction passage and is fixedly connected on transfer block and linkage
One end that block is hinged.
4. a kind of automatically grinding mechanism according to claim 2, it is characterised in that the sanding apparatus upper end is provided with
Installing plate and lower installation board, the upper mounting plate top is set to be connected with swivel head, and interposition installs below the upper mounting plate
Cylinder is equipped with, Mini compressed sensor is connected with below the cylinder, the Mini compressed sensor is arranged on lower installation board,
The upper mounting plate lower surface is provided with limit shaft.
5. a kind of automatically grinding mechanism according to claim 4, it is characterised in that the upper mounting plate corner, which is provided with, leads
Post, the guide pin bushing with guide pillar opposite position is provided with the lower installation board, and the guide column sleeve is set in guide pin bushing.
6. a kind of automatically grinding mechanism according to claim 5, it is characterised in that the upper mounting plate outer four sides is set
The shielding plate of useful screw connection, the lower installation board set external diameter smaller than upper mounting plate, and the shielding plate lower end is by lower installation
Including plate blocks, the shielding plate wherein one side lower end centre position is provided with U-shaped breach.
7. a kind of automatically grinding mechanism according to claim 6, it is characterised in that on the upper mounting plate and lower installation board
Extension spring bearing is provided with, extension spring is installed on the extension spring bearing.
A kind of 8. automatically grinding mechanism according to claim 7, it is characterised in that lower installation board lower surface interposition
Install and be equipped with lower lock block, sanding machine is provided with below the lower lock block, the sanding machine has conveying axis, the conveying axis lower section
Cushion pad is provided with, buffering stator is provided with below the cushion pad, the lower installation board sets and is connected with the first folder
Block and the second grip block are held, is set in first grip block and the second grip block and sanding machine, the buffering stator is installed
Setting is screwed in the first grip block lower end.
9. a kind of automatically grinding mechanism according to claim 8, it is characterised in that the sanding machine lower end is arranged with positioning
Piece, the spacer set and are screwed in the first grip block and the second grip block lower end, first grip block and second
Grip block one end is provided with holding tank, and the conveying axis, which are set, to be arranged in holding tank, and the sanding machine lower end passes through stator
Part is provided with connecting shaft, and the connecting shaft lower end sets and is provided with polished section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710813031.2A CN107627184A (en) | 2017-09-11 | 2017-09-11 | A kind of automatically grinding mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710813031.2A CN107627184A (en) | 2017-09-11 | 2017-09-11 | A kind of automatically grinding mechanism |
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| CN107627184A true CN107627184A (en) | 2018-01-26 |
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ID=61101138
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| CN201710813031.2A Pending CN107627184A (en) | 2017-09-11 | 2017-09-11 | A kind of automatically grinding mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555933A (en) * | 2018-05-04 | 2018-09-21 | 苏州市海研电子科技有限公司 | A kind of special force control of robot polishing |
| CN109048654A (en) * | 2018-09-20 | 2018-12-21 | 安徽荣明新材料科技有限公司 | A kind of constant force polishing grinding device for anti-attrition set |
| CN109807734A (en) * | 2019-03-19 | 2019-05-28 | 王承辉 | Automatically grinding polishing machine |
| CN112157489A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Variable grinding force machining method for thin-wall part |
| CN114485888A (en) * | 2022-01-06 | 2022-05-13 | 厦门市诺盛测控技术有限公司 | Structure for correcting four-angle difference of parallel beam sensor by intelligent manipulator file |
| CN114589597A (en) * | 2022-02-18 | 2022-06-07 | 业成科技（成都）有限公司 | Pressure control device, glue removing device and display device manufacturing system |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108555933A (en) * | 2018-05-04 | 2018-09-21 | 苏州市海研电子科技有限公司 | A kind of special force control of robot polishing |
| CN109048654A (en) * | 2018-09-20 | 2018-12-21 | 安徽荣明新材料科技有限公司 | A kind of constant force polishing grinding device for anti-attrition set |
| CN109807734A (en) * | 2019-03-19 | 2019-05-28 | 王承辉 | Automatically grinding polishing machine |
| CN109807734B (en) * | 2019-03-19 | 2024-02-23 | 王承辉 | Automatic polishing machine |
| CN112157489A (en) * | 2020-09-30 | 2021-01-01 | 浙江大学 | Variable grinding force machining method for thin-wall part |
| CN114485888A (en) * | 2022-01-06 | 2022-05-13 | 厦门市诺盛测控技术有限公司 | Structure for correcting four-angle difference of parallel beam sensor by intelligent manipulator file |
| CN114589597A (en) * | 2022-02-18 | 2022-06-07 | 业成科技（成都）有限公司 | Pressure control device, glue removing device and display device manufacturing system |
| CN114589597B (en) * | 2022-02-18 | 2023-06-27 | 业成科技（成都）有限公司 | Pressure control device, glue removing device and display device manufacturing system |
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