CN107984389B - Grinding head replacement system and robot grinding system - Google Patents
Grinding head replacement system and robot grinding system Download PDFInfo
- Publication number
- CN107984389B CN107984389B CN201711380454.6A CN201711380454A CN107984389B CN 107984389 B CN107984389 B CN 107984389B CN 201711380454 A CN201711380454 A CN 201711380454A CN 107984389 B CN107984389 B CN 107984389B
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- robot
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- 238000005498 polishing Methods 0.000 claims abstract description 211
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 238000003825 pressing Methods 0.000 claims description 35
- 239000000428 dust Substances 0.000 claims description 14
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 238000001514 detection method Methods 0.000 claims description 10
- 238000009434 installation Methods 0.000 claims description 6
- 230000000694 effects Effects 0.000 claims description 5
- 238000006073 displacement reaction Methods 0.000 claims description 3
- 238000004519 manufacturing process Methods 0.000 abstract description 9
- 230000008901 benefit Effects 0.000 abstract description 3
- 230000008859 change Effects 0.000 description 6
- 230000006835 compression Effects 0.000 description 4
- 238000007906 compression Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 238000000926 separation method Methods 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 125000006850 spacer group Chemical group 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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
- 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
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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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/003—Accessories therefor
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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
- 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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a polishing head replacement system and a robot polishing system with the polishing head replacement system, wherein the polishing head replacement system comprises a parking table arranged beside a polishing robot in an off-line manner, the parking table is provided with two polishing head parking positions, one polishing head parking position is used for bearing a polishing head to be placed on line, the other polishing head parking position is provided with a polishing head to be placed on line, and the two polishing head parking positions are provided with mounting mechanisms for fixedly arranging the polishing heads; the polishing head comprises a polishing machine, a polishing head support arranged on a corresponding polishing head parking position and a quick-change master disc matched with the quick-change male disc on the polishing robot, wherein the polishing machine and the quick-change master disc are arranged on the polishing head support. The invention can realize the switching work between the offline grinding head and the online grinding head, ensure that the replacement operation of the grinding wheel does not affect the normal production, avoid the condition of line stop waiting caused by the replacement of the grinding wheel, and improve the production line efficiency and the economic benefit.
Description
Technical Field
The invention relates to a polishing head replacement system and a robot polishing system with the polishing head replacement system, in particular to a polishing head replacement technology in the process of polishing a white car body robot.
Background
At present, in the field of body-in-white polishing, such as laser welding polishing stations of main line body-in-white top covers, a manual online grinding wheel replacement mode is adopted, and the manual grinding wheel replacement mode can cause economic loss of line stop waiting.
Disclosure of Invention
The embodiment of the invention relates to a polishing head replacement system and a robot polishing system with the polishing head replacement system, which at least can solve part of defects in the prior art.
The embodiment of the invention relates to a polishing head replacement system, which comprises a parking table arranged beside a polishing robot in an off-line manner, wherein the parking table is provided with two polishing head parking positions, one polishing head parking position is used for receiving a polishing head to be placed off-line, the other polishing head parking position is provided with a polishing head to be placed on-line, and the two polishing head parking positions are provided with a mounting mechanism for fixedly arranging the polishing head; the polishing head comprises a polishing machine, a polishing head support arranged on a corresponding polishing head parking position and a quick-change master disc matched with the quick-change male disc on the polishing robot, wherein the polishing machine and the quick-change master disc are arranged on the polishing head support.
As one of the embodiments, the mounting mechanism includes at least one set of clamping components, the clamping components include a clamping support, a pressing arm and a clamping driving unit, the clamping support is mounted on the parking table frame, the clamping driving unit is mounted on the clamping support, and the pressing arm is connected with the clamping driving unit and has a clamping position pressed on the polishing head support and a releasing position separated from the polishing head support.
As one of the embodiments, at least one compression block is installed at the bottom of the compression arm, the polishing head support is correspondingly provided with pressure blocks, the pressure blocks are configured in the same number and in one-to-one correspondence with the compression blocks of the mounting mechanism, a first limiting part is arranged at the bottom of each compression block, and a second limiting part which is matched with the first limiting part and is used for limiting the horizontal displacement of the polishing head support is arranged at the top of each pressure block.
As one of the embodiments, the installation mechanism comprises at least one group of positioning components, the positioning components comprise positioning pins which are installed at the top of the parking table frame and are vertical in the axial direction, pin sleeves are correspondingly arranged on the polishing head support, and the pin sleeves and the positioning pins of the installation mechanism are identical in number and are in one-to-one correspondence configuration.
As one embodiment, each positioning pin is mounted on a pin seat, and the pin seat is detachably mounted on the parking platform frame and the mounting position is adjustable.
As one of the embodiments, each pin seat is correspondingly provided with an L-shaped positioning seat for enclosing two adjacent side edge parts thereof and a plurality of adjusting gaskets for adjusting the horizontal distance between the pin seat and the positioning seat; the positioning seat is arranged at the top of the parking platform frame, and two side parts of the positioning seat are respectively in threaded connection with a horizontal locking bolt with the axial direction being the horizontal direction and are in locking connection with the side parts of the corresponding pin seat through the horizontal locking bolts; the pin seat is in threaded connection with a vertical locking bolt which is vertical in the axial direction and is in locking connection with the parking table frame through the vertical locking bolt.
As one of the embodiments, the polishing head support and/or the polishing head parking position is provided with a first detection unit for detecting whether the offline polishing head reaches the corresponding polishing head parking position.
As one of the embodiments, the grinding head parking position is provided with a second detection unit for detecting whether the grinding wheel is replaced in place.
As one of the embodiments, two positions where the polishing heads are parked are all provided with dust-proof plates, the dust-proof plates are arranged on one side of the parking table rack, which is close to the polishing robot, and are connected with dust-proof plate driving mechanisms, so that the dust-proof plates are provided with dust-proof positions which are blocked between the positions where the polishing heads are parked and the polishing lines, and avoidance and abdication positions which are used for enabling the polishing robot to abdicate actively.
The embodiment of the invention relates to a robot polishing system, which comprises a polishing robot, an online polishing head arranged at the free end of the polishing robot, and the polishing head replacement system, wherein the free end of the polishing robot is provided with a quick-change male disc which is detachably connected with a quick-change female disc of the online polishing head.
The embodiment of the invention has at least the following beneficial effects:
according to the polishing head replacement system provided by the invention, the quick-change assembly consisting of the quick-change male disc and the quick-change female disc is correspondingly arranged between the polishing robot and the polishing head, and the parking table is arranged beside the polishing line to realize the switching work between the offline polishing head and the online polishing head, so that the standby polishing head can be replaced when the offline polishing head is subjected to offline replacement of the grinding wheel, the replacement operation of the grinding wheel is ensured not to affect normal production, the condition of line stop waiting caused by replacement of the grinding wheel is avoided, and the production line efficiency and economic benefit can be effectively improved.
According to the robot polishing system provided by the invention, the separation operation of the quick-change male disc and the quick-change female disc of the to-be-offline polishing head and the assembly operation of the quick-change male disc and the quick-change female disc of the online polishing head are automatically completed by the robot giving signals, so that the replacement efficiency of the polishing head can be effectively improved, and the efficiency of a production line is ensured.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic structural diagram of a robot polishing system according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a polishing head according to an embodiment of the present invention;
FIG. 3 is a schematic view of a polishing head replacement system according to an embodiment of the present invention;
FIG. 4 is a schematic view of a parking stand (part) according to an embodiment of the present invention;
FIG. 5 is a schematic view of a polishing head parking position according to an embodiment of the present invention;
FIG. 6 is a schematic view of a clamping assembly according to an embodiment of the present invention;
fig. 7 is a schematic structural diagram of a dust-proof board according to an embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
As shown in fig. 1-3, an embodiment of the present invention provides a polishing head replacement system, which includes a parking table 1 arranged beside a polishing robot 3 in an off-line manner, wherein the parking table 1 has two polishing head parking positions, one of the polishing head parking positions is used for receiving a polishing head 2 to be taken off line, the other polishing head parking position is provided with a polishing head 2 to be taken on line, and both the polishing head parking positions are provided with a mounting mechanism for fixedly mounting the polishing head 2; the polishing head 2 comprises a polishing machine 202, a polishing head support 201 arranged on a corresponding polishing head parking position and a quick-change master disc 203 matched with a quick-change male disc 301 on the polishing robot 3, wherein the polishing machine 202 and the quick-change master disc 203 are arranged on the polishing head support 201. Wherein, the quick-change master disk 203 installed on the polishing head support 201 and the quick-change male disk 301 on the polishing robot 3 are of detachable connection structures, thereby conveniently realizing automatic and quick replacement of the polishing head 2.
In this embodiment, through setting up the quick change subassembly that comprises quick change public dish 301 and quick change master disk 203 between grinding robot 3 and grinding head 2 to arrange by the line of polishing and park platform 1 and realize waiting to roll off the line and polish switching work between head 2 and the head 2 of waiting to roll on the line, when carrying out the off-line change of grinding wheel to the head 2 of roll off the line, have reserve grinding head 2 to replace work, thereby guarantee that the change operation of grinding wheel can not influence normal production, avoid leading to the condition that the assembly line stops the line waiting because of changing the grinding wheel, can effectively improve production line efficiency and economic benefits.
The above-mentioned quick-change male disc 301 and quick-change female disc 203 are both preferably rectangular hollow frame structures, and a first flange 3011 is disposed on the quick-change male disc 301, and a second flange 2031 is disposed on the quick-change female disc 203, where the second flange 2031 is connected with a dust removing pipe 208 of the polisher 202, the first flange 3011 is used for an external dust collecting pipe, and the external dust collecting pipe can run on the polishing robot 3 and be connected with a dust remover, and can form a dust removing mechanism of the polishing system of the robot by butt joint of the first flange 3011 and the second flange 2031.
As shown in fig. 3 and 4, the parking stand 1 preferably adopts a frame structure, and may adopt a steel structure frame or the like; preferably, the parking platform 1 comprises two groups of gantry type supporting frames, the top of each group of gantry type supporting frames correspondingly forms one polishing head parking position, and one or more auxiliary cross beams 103 can be connected between two vertical supporting beams 101 of each gantry type supporting frame; the two polishing head parking positions are preferably sequentially arranged along the length direction of the polishing line/production line, the four vertical supporting beams 101 of the two gantry supporting frames are preferably in the same vertical plane, and one or more auxiliary cross beams 103 can be connected between the two gantry supporting frames so as to improve the structural strength of the parking table 1. The portal frame/rectangular frame is adopted in the embodiment to bear the polishing head 2, so that the polishing machine 202 and other parts on the polishing head 2 are in a suspended state, on one hand, the replacement operation of the polishing machine 202/grinding wheel is convenient, and on the other hand, the impact of the plane bearing type parking table 1 on the polishing machine 202, dust removing equipment and the like can be avoided.
Preferably, the mounting mechanism described above can ensure the parking stability of the polishing head 2 in the corresponding polishing head parking position, as shown in fig. 3 and 6, and preferably, the mounting mechanism includes at least one set of clamping assemblies 4, the clamping assemblies 4 include a clamping support 404, a pressing arm 401 and a clamping driving unit 402, the clamping support 404 is mounted on the stand of the parking stand 1, the clamping driving unit 402 is mounted on the clamping support 404, and the pressing arm 401 is connected with the clamping driving unit 402 and has a clamping position pressed on the polishing head stand 201 and a releasing position separated from the polishing head stand 201. The clamping driving unit 402 preferably drives the pressing arm 401 to swing, so as to facilitate the falling line of the polishing head 2 to fall or the falling line to go up; as shown in fig. 6, the clamping driving unit 402 may employ a swing cylinder, the swing axis of which is horizontal, so that the pressing arm 401 may be driven to apply a vertical pressing force to the sanding head holder 201. Preferably, two groups of clamping assemblies 4 are adopted, so that the compacting and fixing effects on the polishing head 2 can be improved; for the polishing head parking position of the gantry frame structure, the two sets of clamping assemblies 4 are respectively mounted on top of the two vertical support beams 101 of the corresponding gantry frame.
Further, as shown in fig. 6, at least one pressing block 403 is installed at the bottom of the pressing arm 401, the polishing head support 201 is correspondingly provided with pressing blocks 205, the number of the pressing blocks 205 is the same as that of the pressing blocks 403 of the installation mechanism and the pressing blocks 403 are configured in a one-to-one correspondence manner, a first limiting part is arranged at the bottom of the pressing blocks 403, and a second limiting part matched with the first limiting part is arranged at the top of the pressing blocks 205 so as to limit the horizontal displacement of the polishing head support 201. The first limiting part and the second limiting part are preferably in a structure that the protruding part is matched with the groove, and certainly, a plug pin is matched with the slot and the like; as shown in fig. 6, in the present embodiment, the first limiting portion is an arc-shaped protruding portion (may be hemispherical) formed at the bottom of the pressing block 403, and the second limiting portion is an arc-shaped groove formed on the pressure-bearing block 205. As shown in fig. 6, preferably, two pressing blocks 403 are disposed on each pressing arm 401, and the two pressing blocks 403 are respectively mounted at two ends of the pressing arm 401, and for the polishing head parking position of the gantry frame structure, the length direction of the pressing arm 401 is horizontal and is preferably perpendicular to the length direction of the gantry frame top beam 102, and the two pressing blocks 403 on the pressing arm 401 are respectively arranged at two sides of the corresponding gantry frame top beam 102, so that the pressing and stabilizing effect on the polishing head support 201 can be improved.
Correspondingly, as shown in fig. 5, the top of each vertical supporting beam 101 of the gantry frame extends to two sides along the width direction of the top beam 102, and the supporting block 10 is installed at the top of the supporting plate 9, the bottom of the polishing head support 201 can be correspondingly provided with the supporting block 206, and when the polishing head 2 is installed on the corresponding polishing head parking position, the supporting block 206 on the polishing head support 201 is supported on the supporting block 10 on the corresponding gantry frame, so that the supporting structural stability of the parking platform 1 to the polishing head 2 is ensured. Further preferably, as shown in fig. 2, the supporting blocks 206 on the polishing head support 201 are arranged below the two pressure bearing blocks 205 on the support in a one-to-one correspondence manner, so that the pressing force applied by the pressure arm 401 is directly and effectively transferred to the parking table 1, and the polishing head support 201 can be stably and reliably pressed.
In another embodiment, as shown in fig. 3-5, the mounting mechanism includes at least one set of positioning assemblies 5, the positioning assemblies 5 include positioning pins 501 mounted on the top of the stand of the parking stand 1 and vertical in the axial direction, and pin sleeves 204 are correspondingly disposed on the polishing head support 201, where the pin sleeves 204 are configured in the same number and one-to-one correspondence with the positioning pins 501 of the mounting mechanism. The preferred construction is that the embodiment provided with the positioning assembly 5 is an extension of the above-mentioned mounting mechanism comprising the clamping assembly 4, i.e. the mounting mechanism comprises the above-mentioned clamping assembly 4 and the positioning assembly 5. By the cooperation of the positioning pin 501 and the pin sleeve 204 on the polishing head support 201, on one hand, the guiding and positioning of the polishing head 2 can be conveniently completed when the polishing head 2 is arranged on the polishing head parking position, and on the other hand, the positioning pin can be matched with the clamping assembly 4 to fix the polishing head 2 more stably and reliably. As shown in fig. 4 and 5, it is also preferable to use two sets of positioning assemblies 5 to accurately position the sanding head 2 in a predetermined parking position; it is further preferred that two sets of positioning members 5 are arranged in one-to-one correspondence with two sets of clamping members 4, each set of clamping members 4 being arranged beside a corresponding positioning member 5. The locating pins 501 of each set of locating assemblies 5 may be mounted on the corresponding portal frame vertical support beam 101; with the above-described structure in which the support plate 9 is extended and the support blocks 10 are provided, two support blocks 10 are preferably separated on both sides of the positioning pin 501.
Continuing the structure of the above-mentioned locating component 5, as shown in fig. 5, each locating pin 501 is installed on a pin holder 502, the pin holder 502 is detachably installed on the stand of the parking stand 1 and the installation position is adjustable, the installation position of the pin holder 502 is adjustable, so that the polishing robot 3 can fall on the polishing head 2 to be off line or grasp the polishing head 2 to be on line in a natural stretching state or in a comfortable posture, the polishing robot 3 is prevented from frequently adjusting the degree of freedom, and the locating component 5 can be suitable for the placement of the polishing heads 2 with different specifications. Preferably, the pin holder 502 is mounted in an adjustable manner as follows: as shown in fig. 5, each pin holder 502 is correspondingly configured with an L-shaped positioning holder 503 for enclosing two adjacent side edges thereof and a plurality of adjusting shims 504 for adjusting the horizontal spacing between the pin holder 502 and the positioning holder 503; the positioning seat 503 is mounted at the top of the bench of the parking bench 1, and two side parts of the positioning seat 503 are both in threaded connection with horizontal locking bolts which are axially horizontal and are in locking connection with the side parts of the corresponding pin seat 502 through the horizontal locking bolts; the pin base 502 is screwed with a vertical locking bolt which is vertical in the axial direction and is in locking connection with the stand of the parking stand 1 through the vertical locking bolt. The pin holder 502 is preferably in a square plate structure, and two edges of the L-shaped positioning seat 503 are parallel to two adjacent edges of the pin holder 502, and are disposed close to each other, and the position of the pin holder 502 in the horizontal plane can be adjusted by adding or subtracting the spacer 504 between the edges of the L-shaped positioning seat and the edges of the pin holder. After the position adjustment of the pin base 502 is completed, the pin base 502 can be locked and fixed on the parking platform 1 through the horizontal locking bolt and the vertical locking bolt; correspondingly, if the two side parts of the L-shaped positioning seat 503 are respectively in the X-direction and the Y-direction, a strip-shaped locking groove can be formed on the side part of the pin seat 502 adjacent to and parallel to the X-direction side part of the positioning seat, and the strip-shaped locking groove can be matched and fixed with the horizontal locking bolt, and the length direction of the strip-shaped locking groove is parallel to the X-direction, so that the pin seat 502 can be locked by the horizontal locking bolt on the X-direction side part of the positioning seat when the X-direction distance between the pin seat 502 and the positioning seat 503 is adjusted; similarly, a strip-shaped locking groove is formed on the edge of the pin holder 502, which is adjacent and parallel to the Y-direction edge of the positioning holder. The vertical locking bolt can limit the pin holder 502 in a manner of abutting against the stand of the parking stand 1. Preferably, for a structure with two sets of positioning assemblies 5, the opening directions of the two positioning seats 503 are opposite to each other so as to adjust the spacing between the two positioning pins 501, thereby adapting to different polishing heads 2/polishing head holders 201.
Further preferably, the spacing between the pressing block 403 and the pressing arm 401 can be adjusted by adding or subtracting gaskets; and/or the spacing between the pressure-bearing block 205 and the polishing head support 201 can be adjusted by adding or subtracting shims; thereby adjusting the pressing effect of the pressing arm 401 on the sanding head holder 201. And/or the spacing between the supporting block 206 and the polishing head support 201 can be adjusted by adding or subtracting gaskets; and/or the spacing between the supporting blocks 10 and the supporting plates 9 can be adjusted by adding or subtracting gaskets, so as to adjust the vertical placement position of the polishing head 2 on the parking table 1.
As a preferred implementation manner of the polishing head replacement system provided in this embodiment, as shown in fig. 3 to 5, the polishing head stand 201 and/or the polishing head parking position are provided with a first detection unit for detecting whether the offline polishing head 2 reaches the corresponding polishing head parking position. Preferably, the first detection unit is provided on both the sanding head holder 201 and the sanding head parking position; wherein, set up the mechanical limit switch 204 on the first stand 201 of polishing, set up the vertical proximity switch 7 on the first parking place of polishing, this vertical proximity switch 7 is preferably installed on the top crossbeam 102 of the gantry frame of the aforesaid through the vertical switch support. The first detection unit detects that the polishing head 2 to be offline is parked in place, information is fed back to the system conveniently, the polishing robot 3 is separated from the polishing head 2 to be offline, and offline operation is completed.
As a preferred implementation manner of the polishing head replacement system provided in this embodiment, as shown in fig. 3 to 5, the polishing head parking position is provided with a second detection unit 8 for detecting whether the grinding wheel is replaced, and the second detection unit 8 preferably adopts a horizontal proximity switch 8, and the horizontal proximity switch 8 is preferably mounted on the top beam 102 of the gantry frame through a horizontal switch bracket, and the specific setting position is easy to design for a person skilled in the art according to practical situations. Whether the grinding wheel is on the grinding machine 202 is detected by the second detection unit 8, whether a new grinding wheel is replaced or not can be judged, feedback information to a system is facilitated, and the grinding head 2 with the replaced grinding wheel can wait for online use.
Further optimize foretell first replacement system's of polishing structure, like fig. 3 and 7, two first place department of parking of polishing all is equipped with dust guard 601, dust guard 601 install in park one side that is close to of 1 racks of platform 3 of polishing and be connected with dust guard actuating mechanism 602 to have and keep off the dustproof position between first place and the line of polishing of parking and for the position of dodging of 3 activities of polishing robot. The dust-proof plate driving mechanism 602 preferably drives the dust-proof plate 601 to swing around a horizontal rotation axis, and a swing cylinder or the like may be used. Through setting up foretell dust guard 601, play the effect of keeping apart the dust at the line polishing during operation of polishing to each part of protection polishing head change system, and avoid polishing head to park the position and deposit grey and cause polishing head 2 to park circumstances such as unstability.
Example two
The embodiment of the invention relates to a robot polishing system, which comprises a polishing robot 3 and an online polishing head 2 arranged at the free end of the polishing robot 3, wherein the online polishing head 2 is further provided with the polishing head replacement system provided in the first embodiment, the free end of the polishing robot 3 is provided with a quick-change male disc 301, and the quick-change male disc 301 is detachably connected with a quick-change female disc 203 of the online polishing head 2.
The separation operation of the quick-change male disc 301 and the quick-change female disc 203 of the polishing head 2 to be offline and the assembly operation of the quick-change male disc 301 and the quick-change female disc 203 of the online polishing head 2 are automatically completed by the robot 3 for signal, so that the replacement efficiency of the polishing head 2 can be effectively improved, and the efficiency of the production line is ensured.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, alternatives, and improvements that fall within the spirit and scope of the invention.
Claims (5)
1. A sanding head replacement system characterized by: the polishing device comprises a parking table which is arranged beside a polishing robot in an off-line manner, wherein the parking table is provided with two polishing head parking positions, one polishing head parking position is used for bearing a polishing head to be placed on line, the other polishing head parking position is provided with a polishing head to be placed on line, and the two polishing head parking positions are provided with a mounting mechanism for fixedly arranging the polishing heads;
the polishing head comprises a polishing machine, a polishing head bracket arranged on a corresponding polishing head parking position and a quick-change master disc matched with a quick-change male disc on the polishing robot, wherein the polishing machine and the quick-change master disc are arranged on the polishing head bracket;
the mounting mechanism comprises at least one group of clamping assemblies, the clamping assemblies comprise clamping supports, pressing arms and clamping driving units, the clamping supports are mounted on the parking table frame, the clamping driving units are mounted on the clamping supports, and the pressing arms are connected with the clamping driving units and are provided with clamping positions pressed on the polishing head support and loosening positions separated from the polishing head support;
the bottom of the pressing arm is provided with at least one pressing block, the polishing head support is correspondingly provided with bearing blocks, the bearing blocks are arranged in the same number and in one-to-one correspondence with the pressing blocks of the mounting mechanism, the bottom of the pressing block is provided with a first limiting part, and the top of the bearing block is provided with a second limiting part which is matched with the first limiting part so as to limit the horizontal displacement of the polishing head support;
the mounting mechanism comprises at least one group of positioning assemblies, the positioning assemblies comprise positioning pins which are mounted on the top of the parking table frame and are vertical in the axial direction, pin sleeves are correspondingly arranged on the polishing head support, and the pin sleeves are identical in number with the positioning pins of the mounting mechanism and are in one-to-one corresponding configuration;
each positioning pin is arranged on a pin seat, and the pin seat is detachably arranged on the parking platform frame and the installation position is adjustable;
each pin seat is correspondingly provided with an L-shaped positioning seat for enclosing two adjacent side edge parts of the pin seat and a plurality of adjusting gaskets for adjusting the horizontal distance between the pin seat and the positioning seat;
the positioning seat is arranged at the top of the parking platform frame, and two side parts of the positioning seat are respectively in threaded connection with a horizontal locking bolt with the axial direction being the horizontal direction and are in locking connection with the side parts of the corresponding pin seat through the horizontal locking bolts;
the pin seat is in threaded connection with a vertical locking bolt which is vertical in the axial direction and is in locking connection with the parking table frame through the vertical locking bolt.
2. The sanding head replacement system of claim 1, wherein: and the polishing head support and/or the polishing head parking position are/is provided with a first detection unit for detecting whether the polishing head to be offline reaches the corresponding polishing head parking position.
3. The sanding head replacement system of claim 1, wherein: and a second detection unit for detecting whether the grinding wheel is replaced in place or not is arranged on the grinding head parking position.
4. The sanding head replacement system of claim 1, wherein: two the first place department of parking of polishing all is equipped with the dust guard, the dust guard install in park bench one side that is close to polishing robot and be connected with dust guard actuating mechanism to have and keep off the dustproof position between first place and the line of polishing of parking and for the polishing robot activity is yielded.
5. The utility model provides a robot polishing system, includes the polishing robot with install in the online grinding head of polishing robot free end, its characterized in that: a sanding head replacement system as defined in any one of claims 1 to 4, wherein the sanding robot is provided with a quick-change male disc at a free end thereof, the quick-change male disc being detachably connected with a quick-change female disc of an online sanding head.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380454.6A CN107984389B (en) | 2017-12-20 | 2017-12-20 | Grinding head replacement system and robot grinding system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711380454.6A CN107984389B (en) | 2017-12-20 | 2017-12-20 | Grinding head replacement system and robot grinding system |
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| Publication Number | Publication Date |
|---|---|
| CN107984389A CN107984389A (en) | 2018-05-04 |
| CN107984389B true CN107984389B (en) | 2023-12-22 |
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| CN201711380454.6A Active CN107984389B (en) | 2017-12-20 | 2017-12-20 | Grinding head replacement system and robot grinding system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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