CN108098568A - A kind of automatic grinding device and automatic grinding method - Google Patents
A kind of automatic grinding device and automatic grinding method Download PDFInfo
- Publication number
- CN108098568A CN108098568A CN201711421842.4A CN201711421842A CN108098568A CN 108098568 A CN108098568 A CN 108098568A CN 201711421842 A CN201711421842 A CN 201711421842A CN 108098568 A CN108098568 A CN 108098568A
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- grinding
- grinding device
- raw material
- product
- fixture
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/11—Lapping 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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/27—Work carriers
-
- 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
- B24B37/00—Lapping machines or devices; Accessories
- B24B37/34—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
Abstract
The present invention provides a kind of automatic grinding device and automatic grinding methods, the automatic grinding device includes board, the board is equipped with rotary table, the surrounding of the rotary table is equipped with loading assemblies, grinding device, detection device and blanking component successively, provided peripherally with several product positions on the rotary table, the product position is equipped with to clamp the clamp fixture of raw material.Technical solution using the present invention, realize the automatic grinding to this special shape such as product of lancet shape, resetting is not required in accurate positioning, one-time positioning can carry out the grinding, polishing and detection in multiple faces, substantially increase the uniformity and qualification rate of product；And device structure is compact, takes up little area, and it is easy to operation.
Description
Technical field
The invention belongs to product Grinding manufacturing technical field more particularly to a kind of automatic grinding device and automatic grinding sides
Method.
Background technology
At present, for the product of special construction, such as the product of lancet shape, because shape is nonstandard, there are many radians
And curved surface, so being difficult to be processed and formed at one time using existing equipment, to be also ground, it is necessary to be added using multiple equipment
Work, hand labor intensity and pressure are big；And be also easy to because contraposition is inaccurate, the uniformity for causing the shape of product is poor, product
Qualification rate it is low.
The content of the invention
For more than technical problem, the invention discloses a kind of automatic grinding device and automatic grinding methods, realize to this
The automatic grinding of kind special shape products substantially increases the uniformity and qualification rate of product.
In this regard, the technical solution adopted by the present invention is：
A kind of automatic grinding device, including board, the board is equipped with rotary table, the surrounding of the rotary table
Loading assemblies, grinding device, burnishing device, detection device and blanking component are equipped with successively, on the rotary table peripherally
Equipped with several product positions, the product position is equipped with to clamp the clamp fixture of raw material.
As a further improvement on the present invention, the automatic grinding device includes controller, for detecting raw material height
Displacement sensor and displacement lifting assembly, institute's displacement sensors are located at the top of the product position of rotary table, the displacement
Sensor is between loading assemblies and grinding device；The displacement lifting assembly is connected with displacement sensor, and displacement is driven to pass
Sensor declines the height of measurement raw material；The loading assemblies, displacement lifting assembly, displacement sensor, grinding device, detection dress
It puts, blanking component is connected with controller.
As a further improvement on the present invention, the grinding device includes grinding servo feed component and milling cutter, institute
It states grinding servo feed component to be connected with milling cutter, milling cutter is driven to advance or retreat；The burnishing device includes polishing
Servo feed component and polishing tool, it is described polishing servo feed component be connected with polishing tool, drive polishing tool advance or
It retreats.
As a further improvement on the present invention, the grinding device includes the first grinding device and use of roughly grinding processing
In the second grinding device of fine grinding.
As a further improvement on the present invention, the loading assemblies include vibrating disk, and the vibrating disk is equipped with discharge port, institute
The top for stating discharge port is equipped with manipulator, and the product of discharge port is placed on the product position of rotary table by the manipulator.
As a further improvement on the present invention, the blanking component includes manipulator, promotes fixture and product tray, described
Fixture is promoted to be located at the lower section of product position；The one side of the blanking component is equipped with blanking lifting assembly, the blanking lifting assembly
With fixture is promoted to be connected, driving is connected with fixture is promoted to move up with clamp fixture, and clamp fixture is pushed open, and manipulator picks up
The product of product position is taken to be placed in product tray.
As a further improvement on the present invention, the manipulator is included with the handling arm of spinfunction and raw material fixture,
The head of the raw material fixture and handling arm connects；The handling arm is connected with raw material fixture by rotary components, the rotation
Component drives the rotation of raw material fixture.
As a further improvement on the present invention, the lower section of the rotary table and it is equipped in the lower section positioned at working position
Bottom servo rotary components, the bottom servo rotary components include elevating mechanism and rotary drive mechanism, the rotation driving
Mechanism is equipped with connector, and the bottom of the clamping tool is equipped with the counterpart with connector cooperation, and the elevating mechanism drives
Dynamic rotary drive mechanism rises, so that connector coordinates with counterpart, then the rotary drive mechanism drives clamping tool
Drive raw material rotation.Further, the grinding device, burnishing device, the one side of detection device and in its corresponding product position
Lower section be equipped with bottom servo rotary components, that is, in grinding device, burnishing device, the corresponding product of detection device
Position is equipped with bottom servo rotary components.
Using this technical solution, when raw material to be processed reaches the station of grinding device, bottom servo rotary components
Rise, dock rotary drive mechanism and the frock clamp of product position, the grinding servo feed Component driver of simultaneous grinding device
Milling cutter moves forward, and milling cutter is made to be contacted with raw material, raw material is ground；Here, the rotary drive mechanism can root
According to driving clamping tool is needed to drive the angular turn of raw material on request, the grinding of different faces is carried out as requested to raw material, from
And it is shaped to specific shape.Spin finishing repeatedly is carried out several times moreover, can divide according to actual grinding situation, has been ground
Afterwards, servo rotary components in bottom decline, and power disengages, i.e., rotary drive mechanism is disengaged with frock clamp, rotary table rotation
To next station.
Here grinding device preferably includes the first grinding device for roughly grinding processing and the second grinding for fine grinding
Device, structure all same.The structure of the burnishing device is identical with the structure of grinding device, and operation principle is also identical, is only
Milling cutter is changed to polishing tool.
For detection device, when the finished product by preceding working procedure processing reaches the station of detection device, detection device
Other bottom servo rotary components rise, and dock rotary drive mechanism and the frock clamp of product position, the probe of detection device
Finished product by preceding working procedure processing can be detected.Here, the rotary drive mechanism can drive folder as needed
Tight frock drives the angular turn of product on request, carries out the detection of different faces as requested to product.After having detected, bottom is watched
Rotary components decline is taken, power disengages, i.e., rotary drive mechanism is disengaged with frock clamp, and rotary table is rotated to next work
Position.
Product after detection rotates into discharging station by rotary table, and qualified product is gone out by discharge component
Material, carries out arrangement placement, underproof product is placed in waste material box.
As a further improvement on the present invention, the detection device includes OCR vision inspection apparatus, the OCR visions inspection
The probe of instrument is surveyed positioned at the outside of product position.
As a further improvement on the present invention, the rotary table includes protractor disk, the automatic grinding device
Including protective cover, the protective cover is set in the outside on board top, and the protective cover is equipped with safety door.
The invention also discloses a kind of automatic grinding methods, and automatic grinding device as described above is used to be processed,
It comprises the following steps：
Step S1, raw material are discharged by loading assemblies, and are moved in the clamp fixture of rotary table product position；
Step S2, clamping raw material enter grinding process, and corase grinding processing is carried out by grinding device；In process, grinding
Bottom servo rotary components below the corresponding product position of device rise, and lead to rotary drive mechanism and the frock clamp of product position
Connector and counterpart docking cooperation are crossed, the grinding device is first ground a face of raw material, and then, the rotation is driven
Motivation structure driving clamping tool drives raw material to be rotated according to the rotational angle of setting, and the grinding device is to another face of raw material
The grinding of progress carries out spin finishing repeatedly, so as to be shaped to specific shape several times according to actual grinding situation point；Grinding
After complete, bottom servo rotary components decline, and rotary table is rotated to next station；
Step S3, the part after the processing of previous procedure are rotated by rotary table to detection station, detection device pair
Bottom servo rotary components below the product position answered rise, and dock rotary drive mechanism and the frock clamp of product position, examine
The probe for surveying device is detected the finished product by preceding working procedure processing；Then, the rotary drive mechanism driving clamps work
Dress drives finished product to be rotated according to the rotational angle of setting, the detection that the detection device carries out another face of finished product, according to
The face detected is needed to determine the number rotated；After having detected, bottom servo rotary components decline, and rotary table is rotated to next
A station；
Step S4, part after detection rotate into discharging station by rotary table and carry out blanking, and blanking component is by part
It removes and is placed in product tray from clamp fixture.
As a further improvement on the present invention, the automatic grinding method comprises the following steps：
（1）Raw material is sorted by vibrating disk permutation and discharged, and puts the clamping tool of the product position of rotary table by manipulator
It is interior.
（2）Clamping raw material detects clamping raw material by displacement sensor, to it after second station is entered
Height detection is carried out, without processing when the raw material below or above size requirement enters later process, the last quilt in discharging
Manipulator crawl is put into individual material-storing box, and can pour into vibrating disk by operator when quantity is enough reenters processing stream
Journey.
（3）The workpiece of height detection qualification carries out corase grinding processing into first grinding station by the first grinding device.
Bottom servo rotary components below the corresponding product position of first grinding device rise, and make the work of rotary drive mechanism and product position
Clamps are by connector and counterpart docking cooperation, while the grinding servo feed Component driver of the first grinding device roughly grinds knife
Tool Forward, makes corase grinding cutter be contacted with raw material, raw material is ground；First a face of raw material is ground, it is then, described
Rotary drive mechanism driving clamping tool drives raw material to be rotated according to the rotational angle of setting, and the corase grinding cutter is to the another of raw material
The grinding that one face carries out can divide according to actual grinding situation and be rotated corase grinding repeatedly several times, specific so as to be shaped to
Shape.After having roughly ground, bottom servo rotary components decline, and power disengages, i.e., rotary drive mechanism is disengaged with frock clamp, rotation
Revolving worktable is rotated to next station.
（4）By first grinding station processing raw material into second grinding station, by the second grinding device into
Row fine grinding.Bottom servo rotary components below the corresponding product position of second grinding device rise, and make rotary drive mechanism
Cooperation, while the grinding servo feed group of the second grinding device are docked by connector and counterpart with the frock clamp of product position
Part driving fine grinding cutter Forward, makes fine grinding cutter be contacted with raw material, raw material is refined；Essence first is carried out to a face of raw material
Mill, then, the rotary drive mechanism driving clamping tool drive raw material to be rotated according to the rotational angle of setting, the fine grinding knife
Have the grinding carried out to another face of raw material, can be divided according to actual grinding situation and be rotated corase grinding repeatedly several times, from
And it is shaped to specific shape.After having refined, bottom servo rotary components decline, and power disengages, i.e. rotary drive mechanism and work
Clamps disengage, and rotary table is rotated to next station.
（5）Raw material by second grinding station processing enters polishing station, is processed by shot blasting by burnishing device.
Bottom servo rotary components below the corresponding product position of burnishing device rise, and press from both sides rotary drive mechanism and the frock of product position
Tool is coordinated by connector and counterpart docking, while before the polishing servo feed Component driver polishing tool of burnishing device
It moves, polishing tool is made to be contacted with raw material, raw material is polished；First a face of raw material is polished, then, the rotation
Driving mechanism driving clamping tool drive raw material according to the rotational angle of setting rotate, the polishing tool to raw material another
The polishing that face carries out can divide according to actual situation and be rotated polishing repeatedly several times, so as to be shaped to specific shape
Part.After having polished, bottom servo rotary components decline, and power disengages, i.e., rotary drive mechanism is disengaged with frock clamp, rotation
Worktable rotary is to next station.
（6）Part after polishing is rotated by rotary table to OCR vision-based detection stations, and the bottom by detection device is watched
Rotary components rising is taken, docks rotary drive mechanism and the frock clamp of product position, the probe of OCR vision inspection apparatus can be with
Finished product by preceding working procedure processing is detected.Here, the rotary drive mechanism can drive clamping work as needed
Dress drives the angular turn of product on request, carries out the detection of different faces as requested to product.After having detected, the rotation of bottom servo
Turn component decline, power disengages, i.e., rotary drive mechanism is disengaged with frock clamp, and rotary table is rotated to next station.
（7）Part after detection rotates into discharging station by rotary table.During blanking, the driving of blanking lifting assembly
Fixture is promoted to move up to be connected with clamp fixture, and clamp fixture is pushed open, unclamps product, SERVO CONTROL carries spinfunction
Handling arm pass through raw material fixture capture a product（Vertical）And be rotated by 90 ° and become horizontal, it is then placed within product tray
It is interior into character.Underproof part is placed in waste material box.
Compared with prior art, beneficial effects of the present invention are：
Technical solution using the present invention realizes the automatic grinding to this special shape such as product of lancet shape, positioning
Precisely, resetting is not required, one-time positioning can carry out the grinding, polishing and detection in multiple faces, substantially increase product
Uniformity and qualification rate；And device structure is compact, takes up little area, and it is easy to operation.
Description of the drawings
Fig. 1 is a kind of structure schematic diagram of automatic grinding device of the present invention.
Fig. 2 is a kind of side structure schematic view of automatic grinding device of the present invention.
Fig. 3 is a kind of overlooking the structure diagram of automatic grinding device of the present invention.
Fig. 4 is a kind of structure diagram of the vibrating disk of automatic grinding device of the present invention.
Fig. 5 is a kind of structure diagram of the loading assemblies of automatic grinding device of the present invention.
Fig. 6 is a kind of structure diagram of the displacement detecting station of automatic grinding device of the present invention.
Fig. 7 is a kind of displacement sensor of automatic grinding device of the present invention and the structure diagram of displacement lifting assembly.
Fig. 8 is a kind of structure diagram of first grinding device of automatic grinding device of the present invention.
Fig. 9 is a kind of structure diagram of the corresponding product position of first grinding device of automatic grinding device of the present invention.
Figure 10 is a kind of side structure schematic view of first grinding device of automatic grinding device of the present invention.
Figure 11 is a kind of structure diagram of the detection station of automatic grinding device of the present invention.
Figure 12 is a kind of structure diagram of the discharge station of automatic grinding device of the present invention.
Reference numeral includes：100- rotary tables, 200- loading assemblies, 300- displacement sensors, 400- first are ground
Device, the second grinding devices of 500-, 600- burnishing devices, 700- detection devices, 800- blanking components, the rotation of 900- bottoms servo
Component；101- products position, 102- clamp fixtures；
201- vibrating disks, 202- discharge ports, 203- manipulators, 204- handling arm, 205- fixtures, 206- rotary components, 207- are former
Material；
301- displacement lifting assemblies, 302- lifting platforms, 303- briquettings, 304- springs；
401- grinds servo feed component, 402- corase grinding cutters；
701-OCR vision inspection apparatus；
801- promotes fixture, 802- blanking lifting assemblies, 803- product trays；
901- elevating mechanisms, 902- rotary drive mechanisms, 903- connectors.
Specific embodiment
The preferably embodiment of the present invention is described in further detail below.
Embodiment 1
As shown in Figure 1, Figure 2 and Figure 3, a kind of automatic grinding device, including board, the board is equipped with rotary table
100, the surrounding of the rotary table 100 is equipped with loading assemblies 200, the displacement sensing for detecting 207 height of raw material successively
Device 300, grinding device, burnishing device 600, detection device 700 and blanking group 800, on the rotary table 100 peripherally
Equipped with several product positions 101, the product position 101 is equipped with to clamp the clamp fixture 102 of raw material 207.The grinding dress
Put the first grinding device 400 including being used to roughly grind processing and the second grinding device 500 for fine grinding.The rotary table
100 be protractor disk workbench, and the automatic grinding device includes protective cover, and the protective cover is set in the outer of board top
Side, the protective cover are equipped with safety door, and the safety door is equipped with safety sensor.
As shown in Fig. 1 ~ Fig. 7, the automatic grinding device includes controller and displacement lifting assembly 301, and the displacement passes
Sensor 300 is located at the top of the product position 101 of rotary table 100, institute's displacement sensors 300 be located at loading assemblies 200 with
Between grinding device；The displacement lifting assembly 301 is connected with displacement sensor 300, and displacement sensor 300 is driven to decline measurement
The height of raw material 207；The loading assemblies 200, displacement lifting assembly 301, displacement sensor 300, grinding device, detection device
700th, blanking group 800 is connected with controller.
Preferably, as shown in Figure 6 and Figure 7, displacement lifting assembly 301 therein includes lifting platform 302 and briquetting 303, institute
It states briquetting 303 to be connected with lifting platform 302 by spring 304, the detector of institute's displacement sensors 300 is located at the upper of briquetting 303
Side, the briquetting 303 push down the frock clamp of product position 101, and the detector of institute's displacement sensors 300 moves down, from
And measure the height of raw material 207；The mode of lifting cylinder may be employed in the displacement lifting assembly 301.
Embodiment 2
On the basis of embodiment 1, as shown in Figure 4 and Figure 5, the loading assemblies 200 include vibrating disk 201, the vibrating disk
201 are equipped with discharge port 202, and the top of the discharge port 202 is equipped with manipulator 203, and the manipulator 203 is by discharge port 202
Product is placed in the clamp fixture 102 of the product position 101 of rotary table 100 and is clamped.
As shown in Fig. 1 ~ Fig. 5, Figure 12, the blanking group 800 include manipulator 203,Promote fixture 801And product tray
803, the lower section that fixture 801 is promoted to be located at product position 101；The one side of the blanking group 800 is equipped with blanking lifting assembly
802, the blanking lifting assembly 802 drives with fixture 801 is promoted to be connected and promotion fixture 801 moves up and clamp fixture
102 connections, and clamp fixture 102 is pushed open, the product that manipulator 203 picks up product position 101 is placed in product tray 803.
Conventional lifting cylinder may be employed in the blanking lifting assembly 802.Promotion fixture 801 therein may be employed common pneumatic
Promote fixture etc..
As shown in figure 5, the manipulator 203 includes 207 fixture 205 of handling arm 204 and raw material with spinfunction, institute
207 fixture 205 of raw material is stated to be connected with the head of handling arm 204；The handling arm 204 passes through rotation group with 207 fixture 205 of raw material
Part 206 connects, and the rotary components 206 drive 207 fixture 205 of raw material to rotate.Wherein, the handling arm 204 with spinfunction
Using conventional robot arm, such as four axis or six-joint robot.Air-actuated jaw may be employed in 207 fixture 205 of raw material
Or Pneumatic suction cup.The rotary components 206 can be the rotation axis of electric rotating machine connection, and the handling arm 204 is pressed from both sides with raw material 207
Tool 205 is by rotating axis connection.Identical structure may be employed in loading assemblies 200 and the manipulator 203 of blanking group 800.
Here, as shown in figure 5, when carrying out feeding, raw material 207 is sorted by 201 permutation of vibrating disk and discharged, SERVO CONTROL
Handling arm 204 with spinfunction captures a raw material 207 by 207 fixture 205 of raw material and is rotated by 90 °, Ran Houtong every time
SERVO CONTROL is crossed to put into the clamping tool of product position 101 of rotary table 100.Clamping raw material 207 is into second
A station.
During blanking, as shown in figure 12, the driving of blanking lifting assembly 802 promotes fixture 801 to move up and clamp fixture 102
Connection, and clamp fixture 102 is pushed open, handling arm 204 of the SERVO CONTROL with spinfunction is grabbed by 207 fixture 205 of raw material
Take a product（Vertical）And be rotated by 90 ° and become horizontal, be then placed in product tray 803 into character.
Embodiment 3
On the basis of embodiment 2, as shown in Fig. 8 ~ Figure 12, the lower section of the rotary table 100 and positioned at working position
Lower section is equipped with bottom servo rotary components 900, and the bottom servo rotary components 900 include elevating mechanism 901 and rotation driving
Mechanism 902, the rotary drive mechanism 902 are equipped with connector 903, and the bottom of the clamping tool is equipped with and the connector
The counterpart of 903 cooperations, the elevating mechanism 901 drive rotary drive mechanism 902 to rise, so that connector 903 and cooperation
Part coordinates, and then the rotary drive mechanism 902 drives clamping tool that raw material is driven to rotate；The grinding device, burnishing device
600th, the one side of detection device 700 and bottom servo rotary components 900 are equipped in the lower section of its corresponding product position 101,
Exactly bottom servo rotation group is equipped in grinding device, burnishing device 600,700 corresponding product position 101 of detection device
Part 900.Wherein, the connector 903 is preferably shackle member, and the counterpart is preferably card slot.The rotary drive mechanism 902
Electric rotating machine may be employed.The elevating mechanism 901 is connected by connecting plate for electric motor with electric rotating machine, the electric rotating machine it is defeated
Shaft is connected with connector 903.
As shown in Fig. 8, Fig. 9 and Figure 10,400 and second grinding device 500 of the first grinding device includes grinding and watches
Feeder assembly 401 and milling cutter are taken, the grinding servo feed component 401 is connected with milling cutter, before driving milling cutter
Into or retreat；The burnishing device 600 includes polishing servo feed component and polishing tool, the polishing servo feed component with
Polishing tool connects, and polishing tool is driven to advance or retreat.For roughly grinding the first grinding device 400 of processing using corase grinding cutter
402, use fine grinding cutter for the second grinding device 500 of fine grinding.The grinding servo feed component 401 is watched using conventional
Take motor-driven feeder assembly.
As shown in Fig. 8, Fig. 9 and Figure 10, using this technical solution, when raw material to be processed reaches the station of grinding device
When, bottom servo rotary components 900 rise, and dock rotary drive mechanism 902 and the frock clamp of product position 101, grind simultaneously
The grinding servo feed component 401 of mill apparatus drives milling cutter Forward, and milling cutter is made to be contacted with raw material, raw material is ground
Mill；Here, the rotary drive mechanism 902 can drive clamping tool to drive the angular turn of raw material on request as needed,
The grinding of different faces is carried out as requested to raw material, so as to be shaped to specific shape.It moreover, can according to actual grinding situation
Spin finishing repeatedly is carried out several times with point, and after having ground, bottom servo rotary components 900 decline, and power disengages, i.e. rotation driving
Mechanism 902 is disengaged with frock clamp, and rotary table 100 is rotated to next station.
Here grinding device preferably includes the first grinding device 400 for roughly grinding processing and is ground for the second of fine grinding
Mill apparatus 500, structure is identical.First grinding device 400 is included for the corase grinding cutter 402 of corase grinding, the second grinding device
500 include the fine grinding cutter for fine grinding, and the emery wheel of different accuracy may be employed with cutter is refined for the corase grinding cutter 402.Institute
It states that the structure of burnishing device 600 is identical with the structure of grinding device, and operation principle is also identical, is only that milling cutter is changed to polishing
Cutter.
As shown in figure 11, the detection device 700 includes OCR vision inspection apparatus 701, the OCR vision inspection apparatus
701 probe is positioned at the outside of product position 101.When the finished product by preceding working procedure processing reaches the station of detection device 700
When, the bottom servo rotary components 900 on 700 side of detection device rise, and make the frock of rotary drive mechanism 902 and product position 101
Fixture docks, and the probe of detection device 700 can be detected the finished product by preceding working procedure processing.Here, the rotation
Driving mechanism 902 can drive clamping tool to drive product angular turn on request as needed, to product as requested into
The detection of row different faces.After having detected, bottom servo rotary components 900 decline, power disengage, i.e., rotary drive mechanism 902 and
Frock clamp disengages, and rotary table 100 is rotated to next station.
As shown in Fig. 1 ~ Figure 12, the operation principle of whole process is：
（1）Raw material is sorted by 201 permutation of vibrating disk and discharged, and material here arranges for horizontal axis, and SERVO CONTROL is with rotation
The handling arm 204 of rotating function is captured a raw material by fixture 205 and is rotated by 90 ° every time, then puts rotation by SERVO CONTROL
In the clamping tool of the product position 101 of revolving worktable 100.
（2）Clamping raw material detects clamping raw material by displacement sensor 300 after second station is entered,
Height detection is carried out to it, without processing when the raw material below or above size requirement enters later process, is finally being discharged
When by manipulator 203 crawl put into individual material-storing box, vibrating disk 201 can be poured by operator again when quantity is enough
Into work flow.
（3）The workpiece of height detection qualification carries out corase grinding by the first grinding device 400 and adds into first grinding station
Work.The bottom servo rotary components 900 of first grinding device, 400 corresponding 101 lower section of product position rise, and make rotary drive mechanism
902 dock cooperation with the frock clamp of product position 101 by connector 903 and counterpart, while the first grinding device 400 is ground
Mill servo feed component 401 drives corase grinding cutter 402 to move forward, and corase grinding cutter 402 is made to be contacted with raw material, raw material is ground；
First a face of raw material is ground, then, the rotary drive mechanism 902 drives clamping tool to drive raw material according to setting
Rotational angle rotate, the grinding that the corase grinding cutter 402 carries out another face of raw material can according to actual grinding situation
Corase grinding is rotated repeatedly several times with point, so as to be shaped to specific shape.After having roughly ground, under bottom servo rotary components 900
Drop, power disengage, i.e., rotary drive mechanism 902 is disengaged with frock clamp, and rotary table 100 is rotated to next station.
（4）Raw material by first grinding station processing passes through the second grinding device 500 into second grinding station
Carry out fine grinding.The bottom servo rotary components 900 of second grinding device, 500 corresponding 101 lower section of product position rise, and make rotation
Turn driving mechanism 902 and cooperation, while the second grinding are docked by connector 903 and counterpart with the frock clamp of product position 101
The driving fine grinding cutter Forward of grinding servo feed component 401 of device 500, makes fine grinding cutter be contacted with raw material, raw material is carried out
Fine grinding；First a face of raw material is refined, then, the rotary drive mechanism 902 drives clamping tool to drive raw material root
It is rotated according to the rotational angle of setting, the grinding that the fine grinding cutter carries out another face of raw material, according to actual grinding feelings
Condition can divide is rotated corase grinding repeatedly several times, so as to be shaped to specific shape.After having refined, bottom servo rotary components
900 decline, and power disengages, i.e., rotary drive mechanism 902 is disengaged with frock clamp, and rotary table 100 is rotated to next work
Position.
（5）Raw material by second grinding station processing enters polishing station, and place is polished by burnishing device 600
Reason.The bottom servo rotary components 900 of 600 corresponding 101 lower section of product position of burnishing device rise, and make rotary drive mechanism 902
Cooperation, while the polishing servo of burnishing device 600 are docked by connector 903 and counterpart with the frock clamp of product position 101
Feeder assembly driving polishing tool Forward, makes polishing tool be contacted with raw material, raw material is polished；First to one of raw material
Face is polished, and then, the rotary drive mechanism 902 drives clamping tool that raw material is driven to be turned according to the rotational angle of setting
Polishing dynamic, that the polishing tool carries out another face of raw material, can divide according to actual situation and be revolved repeatedly several times
Turn polishing, so as to be shaped to the part of specific shape.After having polished, bottom servo rotary components 900 decline, and power disengages,
I.e. rotary drive mechanism 902 is disengaged with frock clamp, and rotary table 100 is rotated to next station.
（6）Part after polishing is rotated by rotary table 100 to OCR vision-based detection stations, 700 side of detection device
Bottom servo rotary components 900 rise, and dock rotary drive mechanism 902 and the frock clamp of product position 101, the inspection of OCR visions
The finished product by preceding working procedure processing can be detected by surveying the probe of instrument 701.Here, the rotary drive mechanism 902
Clamping tool can be driven to drive the angular turn of product on request as needed, carry out the inspection of different faces as requested to product
It surveys.After having detected, bottom servo rotary components 900 decline, and power disengages, i.e., rotary drive mechanism 902 is disengaged with frock clamp,
Rotary table 100 is rotated to next station.
（7）Part after detection rotates into discharging station by rotary table 100.During blanking, blanking lifting assembly
802 drivings promote fixture 801 to move up and are connected with clamp fixture 102, and clamp fixture 102 is pushed open, unclamp product, servo
Handling arm 204 of the control with spinfunction captures a product by fixture 205（Vertical）And be rotated by 90 ° and become horizontal,
Be then placed in product tray 803 into character.Underproof part is placed in waste material box.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, it is impossible to assert
The specific implementation of the present invention is confined to these explanations.For those of ordinary skill in the art to which the present invention belongs, exist
On the premise of not departing from present inventive concept, several simple deduction or replace can also be made, should all be considered as belonging to the present invention's
Protection domain.
Claims (10)
1. a kind of automatic grinding device, it is characterised in that：It includes board, and the board is equipped with rotary table, the rotation
The surrounding of revolving worktable is equipped with loading assemblies, grinding device, detection device and blanking component successively, edge on the rotary table
Periphery is equipped with several product positions, and the product position is equipped with to clamp the clamp fixture of raw material.
2. automatic grinding device according to claim 1, it is characterised in that：It includes controller, for detecting raw material height
The displacement sensor of degree and displacement lifting assembly, institute's displacement sensors are located at the top, described of the product position of rotary table
Displacement sensor is between loading assemblies and grinding device；The displacement lifting assembly is connected with displacement sensor, drives position
Displacement sensor declines the height of measurement raw material；The loading assemblies, displacement lifting assembly, displacement sensor, grinding device, detection
Device, blanking component are connected with controller.
3. automatic grinding device according to claim 1, it is characterised in that：The grinding device includes grinding servo feed
Component and milling cutter, the grinding servo feed component are connected with milling cutter, and milling cutter is driven to advance or retreat；It is described
Automatic grinding device includes burnishing device, and the burnishing device is located at the downstream of grinding device, and the burnishing device includes polishing
Servo feed component and polishing tool, it is described polishing servo feed component be connected with polishing tool, drive polishing tool advance or
It retreats.
4. automatic grinding device according to claim 3, it is characterised in that：The grinding device includes roughly grinding processing
The first grinding device and the second grinding device for fine grinding.
5. automatic grinding device according to claim 1, it is characterised in that：The loading assemblies include vibrating disk, described
Vibrating disk is equipped with discharge port, and the top of the discharge port is equipped with manipulator, and the product of discharge port is placed on rotation by the manipulator
On the product position of revolving worktable.
6. automatic grinding device according to claim 5, it is characterised in that：The blanking component includes manipulator, promotes
Fixture and product tray, the lower section that fixture is promoted to be located at product position；The one side of the blanking component is equipped with blanking lifting group
Part, with fixture is promoted to be connected, driving is connected the blanking lifting assembly with fixture is promoted to move up with clamp fixture, and will folder
Tool frock is pushed open, and the product of manipulator pickup product position is placed in product tray.
7. automatic grinding device according to claim 6, it is characterised in that：The manipulator is included with spinfunction
The head connection of handling arm and raw material fixture, the raw material fixture and handling arm；The handling arm passes through rotation with raw material fixture
Component connects, and the rotary components drive the rotation of raw material fixture.
8. according to the automatic grinding device described in claim 1 ~ 7 any one, it is characterised in that：Under the rotary table
Side is simultaneously being equipped with bottom servo rotary components positioned at the lower section of working position, and the bottom servo rotary components include elevating mechanism
And rotary drive mechanism, the rotary drive mechanism are equipped with connector, the bottom of the clamping tool is equipped with and the connector
The counterpart of cooperation, the elevating mechanism driving rotary drive mechanism rises, so that connector coordinates with counterpart, Ran Housuo
It states rotary drive mechanism driving clamping tool and drives raw material rotation.
9. automatic grinding device according to claim 8, it is characterised in that：The grinding device, burnishing device, detection dress
The one side put simultaneously is equipped with bottom servo rotary components below its corresponding product position；The detection device is regarded including OCR
Feel detecting instrument, the probe of the OCR vision inspection apparatus is positioned at the outside of product position；The rotary table includes protractor
Disk, the automatic grinding device include protective cover, and the protective cover is set in the outside on board top, and the protective cover is equipped with
Safety door.
A kind of 10. automatic grinding method, it is characterised in that：It uses the automatic grinding as described in claim 8 ~ 9 any one
Device is processed, and is comprised the following steps：
Step S1, raw material are discharged by loading assemblies, and are moved in the clamp fixture of rotary table product position；
Step S2, clamping raw material enter grinding process, and corase grinding processing is carried out by grinding device；In process, grinding
Bottom servo rotary components below the corresponding product position of device rise, and lead to rotary drive mechanism and the frock clamp of product position
Connector and counterpart docking cooperation are crossed, the grinding device is first ground a face of raw material, and then, the rotation is driven
Motivation structure driving clamping tool drives raw material to be rotated according to the rotational angle of setting, and the grinding device is to another face of raw material
The grinding of progress carries out spin finishing repeatedly, so as to be shaped to specific shape several times according to actual grinding situation point；Grinding
After complete, bottom servo rotary components decline, and rotary table is rotated to next station；
Step S3, the part after the processing of previous procedure are rotated by rotary table to detection station, detection device pair
Bottom servo rotary components below the product position answered rise, and dock rotary drive mechanism and the frock clamp of product position, examine
The probe for surveying device is detected the finished product by preceding working procedure processing；Then, the rotary drive mechanism driving clamps work
Dress drives finished product to be rotated according to the rotational angle of setting, the detection that the detection device carries out another face of finished product, according to
The face detected is needed to determine the number rotated；After having detected, bottom servo rotary components decline, and rotary table is rotated to next
A station；
Step S4, part after detection rotate into discharging station by rotary table and carry out blanking, and blanking component is by part
It removes and is placed in product tray from clamp fixture.
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| CN201711421842.4A CN108098568A (en) | 2017-12-25 | 2017-12-25 | A kind of automatic grinding device and automatic grinding method |
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| CN201711421842.4A CN108098568A (en) | 2017-12-25 | 2017-12-25 | A kind of automatic grinding device and automatic grinding method |
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| CN201711421842.4A Pending CN108098568A (en) | 2017-12-25 | 2017-12-25 | A kind of automatic grinding device and automatic grinding method |
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