CN107932329A - A kind of sand paper replaces system - Google Patents
A kind of sand paper replaces system Download PDFInfo
- Publication number
- CN107932329A CN107932329A CN201711395659.1A CN201711395659A CN107932329A CN 107932329 A CN107932329 A CN 107932329A CN 201711395659 A CN201711395659 A CN 201711395659A CN 107932329 A CN107932329 A CN 107932329A
- Authority
- CN
- China
- Prior art keywords
- sand paper
- sand
- paper
- clip claw
- claw assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65H—HANDLING THIN OR FILAMENTARY MATERIAL, e.g. SHEETS, WEBS, CABLES
- B65H3/00—Separating articles from piles
- B65H3/46—Supplementary devices or measures to assist separation or prevent double feed
- B65H3/56—Elements, e.g. scrapers, fingers, needles, brushes, acting on separated article or on edge of the pile
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of sand paper to replace system, belongs to sanding and polishing equipment field, it includes taking sand paper mechanism and sand supplying mechanism of paper；It is described to take sand paper mechanism to include clip claw assembly；It is described to take sand paper mechanism to further include the first driving and reversing mechanism；First driving and reversing mechanism interlocks the clip claw assembly advance and retreat translation, so that clip claw assembly can grip the sand paper on the milling tools of milling robot.The problem of present invention mainly solves between two clamping pieces for replacing the clamping jaw that sand paper operation needs to control milling robot drive antiquated sand paper to be moved precisely to sand paper more exchange device so as to aggravate research staff's burden；Contrast sand paper of the prior art more exchange device, only need two driving and reversing mechanisms of control carries out translation action, without controlling the milling robot with multiaxis to drive antiquated sand paper accurately to run between two clamping jaws of clip claw assembly, the workload of programming is reduced, alleviates the burden of research staff.
Description
Technical field
The present invention relates to sanding and polishing equipment field, and system is replaced more particularly to a kind of sand paper.
Background technology
With the raising of the degree of automation, often polished using milling robot all kinds of workpiece or steel plate,
During being polished using milling robot, the sand paper being located on the milling tools of milling robot can be lost, it is necessary to more
Change.
, it is necessary to which milling robot, which drives antiquated sand paper to run to, predetermined changes sand paper work when manually carrying out replacing sand paper operation
Position, then removes antiquated sand paper with manpower, and install new sand paper；Manually carry out replace sand paper operation, work efficiency compared with
It is low, and there are certain security risk.
Also occurring that the sand paper more exchange device for replacing sand paper operation can be carried out at present, the equipment of this type includes clamping jaw,
, it is necessary to control the clamping jaw that milling robot drives antiquated sand paper to be moved precisely to sand paper more exchange device when replace sand paper operation
Two clamping pieces between, then clamping jaw closes and clamps antiquated sand paper, milling robot movement, make antiquated sand paper and milling robot
Separation；Common milling robot has multiaxis, and control milling robot precise motion can aggravate the burden of research staff.
The content of the invention
To solve the problem above-mentioned, the present invention provides a kind of sand paper to replace system, can replace manually carrying out sand paper more
Change operation, and only need during sand paper replacement operation allowing milling robot drive antiquated sand paper reach substantially take sand paper station, and
Need not accurately it be moved.
The technical solution used in the present invention is：A kind of sand paper replaces system, including takes sand paper mechanism and sand supplying mechanism of paper；
It is described to take sand paper mechanism to include clip claw assembly；It is described to take sand paper mechanism to further include the first driving and reversing mechanism；First driving and reversing mechanism
The clip claw assembly advance and retreat translation is interlocked, so that clip claw assembly can be gripped on the milling tools of milling robot joined together
Sand paper.
It is described to take sand paper mechanism and the sand supplying mechanism of paper to be disposed adjacent in above-mentioned technical proposal.
In above-mentioned technical proposal, the clip claw assembly includes clamping jaw and closing device, and the closing device interlocks the folder
Pawl folding.
In above-mentioned technical proposal, the sand supplying mechanism of paper includes platform for placing and push unit, and the push unit interlocks
The platform for placing upward-downward translation, the top one for making to be stacked in the sand paper heap on platform for placing open sand paper and are always positioned at same height
Degree.
In above-mentioned technical proposal, the sand supplying mechanism of paper further includes at least two gag lever posts, and the gag lever post is around described
Platform for placing is set.
In above-mentioned technical proposal, the sand supplying mechanism of paper further includes the hairbrush for separating sand paper, and the hairbrush is located at institute
The side of platform for placing is stated, with the sand paper of separation of synechia.
In above-mentioned technical proposal, the setting height of the hairbrush is equal to milling robot joined together and the platform for placing
On sand paper contact height.
In above-mentioned technical proposal, this kind of sand paper replaces system and further includes alignment mechanism；The alignment mechanism takes sand with described
Mechanism of paper is mutually opposing；The alignment mechanism includes alignment chuck and the second driving and reversing mechanism；Second driving and reversing mechanism interlocks institute
The advance and retreat translation of alignment chuck is stated, to correct the milling tools on milling robot joined together.
In above-mentioned technical proposal, the shape of the alignment chuck and the shape of the milling tools on milling robot joined together
Shape matches.
In above-mentioned technical proposal, this kind of sand paper replaces system and further includes litter decoration；The litter decoration is located at the set of jaws
Below part.
The beneficial effects of the invention are as follows：
1st, a kind of sand paper provided by the invention replaces system, including takes sand paper mechanism and alignment mechanism, takes sand paper mechanism bag
Include clip claw assembly and interlock the first driving and reversing mechanism of clip claw assembly advance and retreat translation, take sand paper mechanism and alignment mechanism to coordinate, i.e.,
The antiquated sand paper taken on the milling robot of sand paper station run to substantially can be removed；Therefore, sand paper of the prior art is contrasted
More exchange device, it is only necessary to control the polishing machine for carrying out translation action, there is multiaxis without controlling of two driving and reversing mechanisms
People drives antiquated sand paper accurately to run between two clamping jaws of clip claw assembly, reduces the workload of programming, alleviates and grind
The burden of hair personnel.
2nd, a kind of sand paper provided by the invention replaces system, and sand paper mechanism, alignment machine are taken using only rack-mounted
Totally three mechanisms can complete to remove antiquated sand paper and change the operation of new sand paper for structure and sand supplying mechanism of paper, its is simple and compact for structure,
It can at low cost substitute and manually carry out sand paper replacement operation.
Brief description of the drawings
Fig. 1 is that a kind of sand paper of the present invention replaces the overall three-dimensional view of system；
Fig. 2 is that a kind of sand paper of the present invention replaces the overall three-dimensional view after system opening protective cover；
Fig. 3 is the A partial enlarged views in Fig. 2；
Fig. 4 is the three-dimensional view that a kind of sand paper of the present invention replaces the sand supplying mechanism of paper of system.
Reference numeral is：1st, rack；11st, falling hole；12nd, support feet；13rd, fixed seat；14th, protective cover；141st, through hole；2、
Take sand paper mechanism；21st, clip claw assembly；211st, clamping jaw；212nd, closing device；22nd, the first driving and reversing mechanism；3rd, sand supplying mechanism of paper；31、
Platform for placing；32nd, push unit；33rd, gag lever post；34th, hairbrush；341st, bearing；35th, erecting bed；4th, alignment mechanism；41st, alignment
Chuck；42nd, the second driving and reversing mechanism；5th, litter decoration.
Embodiment
The invention will now be described in further detail with reference to the accompanying drawings.
As depicted in figs. 1 and 2, a kind of sand paper replaces system, including rack 1, takes sand paper mechanism 2, sand supplying mechanism of paper 3, school
Complete machine structure 4 and litter decoration 5.This kind of sand paper is replaced system and is used cooperatively with milling robot.
The lower end of rack 1 is equipped with four support feets 12 that may only adjust height and four fixed seats for being used for fixed frame
13, support feet 12 and fixed seat 13 are respectively in the corner of rack 1, by adjusting every height of support feet 12 respectively, can adjust
The level of rack 1；The middle part of rack 1 is provided with a falling hole 11；Litter decoration 5 is located at the lower section of falling hole 11；Also set in rack 1
There is the protective cover 14 that protection takes sand paper mechanism 2 and alignment mechanism 4, protective cover 14, which covers, takes sand paper mechanism 2 and alignment mechanism 4, protects
The top plate of shield 14 is equipped with through hole 141, is stretched into for the arm body and milling tools of milling robot.
As shown in figure 3, sand paper mechanism 2 is taken to include 21 and first driving and reversing mechanism 22 of clip claw assembly；Clip claw assembly 21 includes folder
Pawl 211 and closing device 212, closing device 212 can be the pneumatic-finger of horizontal folding or the electronic finger of horizontal folding,
Can also be the pneumatic-finger of rotating folding or the electronic finger of horizontal folding；In the present embodiment, closing device 212 is water
The pneumatic-finger of conjunction is opened flat, closing device 212 is connected by solenoid valve with source of the gas；Clamping jaw 211 has two, is respectively provided at folding dress
Put in 212 two gripping fingers, so that closing device 212 can interlock 211 folding of clamping jaw.The shape of clamping jaw 211 and milling tools
Matching, specifically, the contact surface of clamping jaw 211 and milling tools is the cambered surface of indent, and can be with the side view of milling tools
Matching.
First driving and reversing mechanism 22 can be cylinder either electric cylinder or slider cylinder or electronic slide unit；At this
In embodiment, the first driving and reversing mechanism 22 is slider cylinder, and the first driving and reversing mechanism 22 is connected by solenoid valve with source of the gas；First retreats
Device 22 is horizontally disposed, and the closing device 212 of clip claw assembly 21 is located on the slide unit of the first driving and reversing mechanism 22 so that first into
Unloading device 22 can interlock the advance and retreat translation of clip claw assembly 21, and the stroke of the first driving and reversing mechanism 22 makes clamping jaw 211 be always positioned at dropping
The top of hole 11, therefore the clamping jaw 211 of clip claw assembly 21 also is located at the top of litter decoration 5.
Alignment mechanism 4 includes 41 and second driving and reversing mechanism 42 of alignment chuck, and the second driving and reversing mechanism 42 is cylinder or electronic
Cylinder；In the present embodiment, the second driving and reversing mechanism 42 is cylinder, and the second driving and reversing mechanism 42 is connected by solenoid valve with source of the gas；Second
Driving and reversing mechanism 42 is horizontally disposed, and alignment chuck 41 is located at the front end of the moving component of the second driving and reversing mechanism 42 so that second into
Unloading device 42 can interlock the advance and retreat translation of alignment chuck 41；The shape of grinding head in the shape and milling robot of alignment chuck 41
Matching, specifically, the contact surface of alignment chuck 41 and milling tools is the cambered surface of indent, and can be with the side shape of milling tools
Shape matches.Alignment mechanism 4 is used for the position for correcting the milling tools on milling robot.
As shown in figure 4, sand supplying mechanism of paper 3 includes platform for placing 31, push unit 32, gag lever post 33, hairbrush 34 and installation
Platform 35.
Push unit 32 is cylinder or electric cylinder；In the present embodiment, push unit 32 is cylinder, and push unit 32 is logical
Solenoid valve is crossed to connect with source of the gas.Erecting bed 35 is square, and middle part is equipped with through hole；The cylinder body of push unit 32 is vertically arranged in installation
35 lower end of platform, the piston rod of push unit 32 pass through the through hole of erecting bed 35；Platform for placing 31 is smooth disk；Platform for placing
31 are located at the front end of the piston rod of push unit 32, push unit 32 is interlocked 31 upward-downward translation of platform for placing, so that heap
The top one for the sand paper heap being laminated on platform for placing 31 opens sand paper and is always positioned at sustained height, specifically, when polishing machine
After people takes sand paper away, the height for the sand paper heap being stacked on platform for placing 31 can reduce, and push unit 32 can be interlocked and put at this time
Platform 31 is translatable upwards, and the top one for the sand paper heap for making to be stacked on platform for placing 31 opens sand paper and is always positioned at sustained height.
In the present embodiment, gag lever post 33 shares seven, is each provided on erecting bed 35, and all gag lever posts 33 surround put evenly and at intervals
Platform 31 is set, the length of gag lever post 33 and the stroke that 31 upward-downward translation of platform for placing is interlocked more than push unit 32.Erecting bed
35 are screwed in rack 1, sand supplying mechanism of paper 3 is fixed.
The hairbrush 34 of sand supplying mechanism of paper 3 has two, and two hairbrush 34 are square and in the same size, and two hairbrush 34 are substantially
The side of platform for placing 31 is located at opposed to each other, specifically, two hairbrush are installed in rack 1 by bearing 341, and
The bristle face platform for placing 31 of hairbrush 34；The setting height of two hairbrush 34 is equal on milling robot and platform for placing 31
The height of sand paper contact, makes the bristle of two hairbrush 34 can be with the upper contact for the sand paper heap being stacked on platform for placing 31.
When milling robot takes sand paper away, upper and lower two or multiple sand paper are possible to adhesion；Milling robot interlocks most upper
When sand paper rising is opened in face one, the sand paper of adhesion can be brushed down by hairbrush 34, the sand paper of adhesion is taken away with being polished robot
Sand paper separation so that the milling tools of milling robot can only once take a sand paper away, improve processing quality, reduce
Sand paper wastes.
As shown in Fig. 2, in the present embodiment, sand paper mechanism 2 is taken there are two, Liang Gequ sand paper mechanism 2 is adjacent to be located at falling hole
11 sides, one of them takes sand paper mechanism 2 and alignment mechanism 4 mutually opposing；Liang Gequ sand paper mechanism 2 and alignment mechanism 4 surround
Falling hole 11 is set.The side for taking clamping jaw 211 towards the alignment mechanism 4 of sand paper mechanism 2 is the contact surface with milling tools；School
The alignment chuck 41 of complete machine structure 4 is towards the contact surface that the side for taking sand paper mechanism 2 is with milling tools；Take 2 He of sand paper mechanism
Form that a milling tools for milling robot takes sand paper here between alignment mechanism 4 takes sand paper space.
Sand supplying mechanism of paper 3 has two, is separately fixed at the side of left and right two of rack 1；After opening protective cover 14, wherein one
A sand supplying mechanism of paper 3 is adjacent with Liang Gequ sand paper mechanism 2, another sand supplying mechanism of paper 3 is adjacent with alignment mechanism 4.
This kind of sand paper is replaced system and is used cooperatively with milling robot, and milling robot polishes workpiece with sand paper,
Sand paper can be worn after a certain period of time, and milling robot stops polishing action at this time, and replaces from sand paper and protected in the rack 1 of system
Through hole 141 on shield 14 stretches into, and arrival takes takes sand paper space, the second driving and reversing mechanism between sand paper mechanism 2 and alignment mechanism 4
42 gearing alignment chucks 41 advance, and alignment chuck 41 is resisted against on the milling tools on milling robot, then first retreat
Device 22 interlocks clip claw assembly 21 and advances, and clip claw assembly 21 is in open mode at this time, and the first driving and reversing mechanism 22 interlocks set of jaws
After part 21 advances in place, closing device 212 interlocks clamping jaw 211 and closes, i.e., clip claw assembly 21 clamps antiquated sand paper, at this time alignment chuck
41 and two clamping jaws 211 be resisted against on milling tools, then milling robot drive milling tools rise, make milling tools
On antiquated sand paper removed by clip claw assembly 21, after milling robot leaves, closing device 212 interlock clamping jaw 211 open, make antiquated sand
Paper is through falling hole 11 and falls into litter decoration 5.After completing the above process, it is multiple that the first driving and reversing mechanism 22 interlocks clip claw assembly 21
Position；Second driving and reversing mechanism 42 interlocks alignment chuck 41 and resets.
After sand paper is removed, milling robot interlocks milling tools and reaches the top of sand supplying mechanism of paper 3, then milling robot
The sand paper taken away in the sand paper that milling tools declines and stacked from platform for placing 31 positioned at topmost one is interlocked, if having at this time
Sand paper adhesion, can be brushed down by hairbrush 34, the sand paper of adhesion is separated with being polished the sand paper that robot takes away, then passage
Device 32 interlocks platform for placing 31 and is translatable upwards, and sand paper is opened all the time in the top one for the sand paper heap for making to be stacked on platform for placing 31
Positioned at sustained height.
When this kind of sand paper replacement system is used cooperatively with milling robot, only the milling tools of milling robot need to be controlled to transport
Row to substantially take sand paper station, take sand paper space between Ji Qu sand paper mechanism 2 and alignment mechanism 4, you can by taking sand paper
Antiquated sand paper is removed in the cooperation of mechanism 2 and alignment mechanism 4；Only need two driving and reversing mechanisms of control carries out translation action, without
Control the milling robot with multiaxis to drive antiquated sand paper accurately to run between two clamping jaws of clip claw assembly, reduce journey
The workload of sequence design, the burden of the research staff of mitigation.
Embodiment above is merely illustrative and not limiting to the invention, therefore all according to described in present patent application scope
The equivalent change or modification done of method, be included in the range of present patent application.
Claims (10)
1. a kind of sand paper replaces system, including takes sand paper mechanism (2) and sand supplying mechanism of paper (3)；It is described to take sand paper mechanism (2) to include
Clip claw assembly (21)；It is characterized in that, described take sand paper mechanism (2) to further include the first driving and reversing mechanism (22)；Described first retreats
Device (22) interlocks clip claw assembly (21) the advance and retreat translation.
2. a kind of sand paper according to claim 1 replaces system, it is characterised in that：The sand paper mechanism (2) and described of taking
Sand supplying mechanism of paper (3) is disposed adjacent.
3. a kind of sand paper according to claim 1 replaces system, it is characterised in that：The clip claw assembly (21) includes clamping jaw
(211) and closing device (212), the closing device (212) interlock clamping jaw (211) folding.
4. a kind of sand paper according to claim 1 replaces system, it is characterised in that：The sand supplying mechanism of paper (3) includes pendulum
Platform (31) and push unit (32) are laid flat, the push unit (32) interlocks platform for placing (31) upward-downward translation.
5. a kind of sand paper according to claim 4 replaces system, it is characterised in that：The sand supplying mechanism of paper (3) further includes
At least two gag lever posts (33), the gag lever post (33) are set around the platform for placing (31).
6. a kind of sand paper according to claim 4 or 5 replaces system, it is characterised in that：The sand supplying mechanism of paper (3) is also wrapped
The hairbrush (34) for separating sand paper is included, the hairbrush (34) is located at the side of the platform for placing (31).
7. a kind of sand paper according to claim 6 replaces system, it is characterised in that：Setting height of the hairbrush (34) etc.
In the height that milling robot joined together is contacted with the sand paper on the platform for placing (31).
8. a kind of sand paper according to claim 1 replaces system, it is characterised in that：Further include alignment mechanism (4)；The school
Complete machine structure (4) takes sand paper mechanism (2) mutually opposing with described；The alignment mechanism (4) include alignment chuck (41) and second into
Unloading device (42)；Second driving and reversing mechanism (42) interlocks alignment chuck (41) the advance and retreat translation.
9. a kind of sand paper according to claim 8 replaces system, it is characterised in that：The shape of the alignment chuck (41) with
The form fit of milling tools on milling robot joined together.
10. a kind of sand paper according to claim 1 replaces system, it is characterised in that：Further include litter decoration (5)；It is described useless
Carton (5) is located at below the clip claw assembly (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711395659.1A CN107932329A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper replaces system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711395659.1A CN107932329A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper replaces system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107932329A true CN107932329A (en) | 2018-04-20 |
Family
ID=61941643
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711395659.1A Pending CN107932329A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper replaces system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107932329A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848777A (en) * | 2019-03-28 | 2019-06-07 | 上海爱仕达机器人有限公司 | A kind of safety cabinet surface polishing work station and its polishing process |
| CN111673619A (en) * | 2020-07-01 | 2020-09-18 | 无锡盈连科技有限公司 | Automatic sand changing table |
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| CN205184531U (en) * | 2015-12-02 | 2016-04-27 | 东莞市信腾机器人科技有限公司 | Polisher pneumatic capstan is from moving sand device |
| CN205325448U (en) * | 2016-01-29 | 2016-06-22 | 兴科电子科技有限公司 | Automatic equipment of polishing |
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| CN206481500U (en) * | 2016-12-31 | 2017-09-08 | 深圳市配天机器人技术有限公司 | The sandblasting pipeline system and its blanking equipment of a kind of flexible PCB |
| CN107243807A (en) * | 2017-06-05 | 2017-10-13 | 广东天机工业智能系统有限公司 | Grinding apparatus and its workpiece polishing mechanism |
| CN107363718A (en) * | 2017-07-28 | 2017-11-21 | 东莞中国科学院云计算产业技术创新与育成中心 | Tear sand paper device |
| CN207642925U (en) * | 2017-12-21 | 2018-07-24 | 东莞科耀机电设备有限公司 | A kind of sand paper replacement system |
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| JPH0584660A (en) * | 1991-06-28 | 1993-04-06 | Yamaha Corp | Automatic changer for sand paper |
| CN102615414A (en) * | 2012-04-01 | 2012-08-01 | 项大清 | Automatic millstone welder |
| CN203651223U (en) * | 2013-12-25 | 2014-06-18 | 惠州市宏盛电子有限公司 | Stamping machine |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848777A (en) * | 2019-03-28 | 2019-06-07 | 上海爱仕达机器人有限公司 | A kind of safety cabinet surface polishing work station and its polishing process |
| CN109848777B (en) * | 2019-03-28 | 2023-08-04 | 上海爱仕达机器人有限公司 | Safe surface polishing workstation and polishing method thereof |
| CN111673619A (en) * | 2020-07-01 | 2020-09-18 | 无锡盈连科技有限公司 | Automatic sand changing table |
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