CN108115567A - A kind of sand paper automatic-exchanging system - Google Patents
A kind of sand paper automatic-exchanging system Download PDFInfo
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- CN108115567A CN108115567A CN201711396600.4A CN201711396600A CN108115567A CN 108115567 A CN108115567 A CN 108115567A CN 201711396600 A CN201711396600 A CN 201711396600A CN 108115567 A CN108115567 A CN 108115567A
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- sand paper
- sand
- paper
- exchanging system
- platform
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention discloses a kind of sand paper automatic-exchanging systems, belong to sanding and polishing equipment field, including taking sand paper mechanism, sand supplying mechanism of paper and master control；The master control respectively with milling robot joined together, described sand paper mechanism and the sand supplying mechanism of paper signal is taken to be connected；It is described that sand paper mechanism is taken to include clip claw assembly；It is described that sand paper mechanism is taken to further include the first driving and reversing mechanism；First driving and reversing mechanism interlocks the clip claw assembly advance and retreat translation.Present invention mainly solves replace the problem of sand paper operation is needed between two clamping pieces that milling robot is controlled to drive the antiquated sand paper clamping jaw that is moved precisely to sand paper more exchange device so as to aggravate research staff's burden；Compare 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 that antiquated sand paper is driven accurately to run between two clamping jaws of clip claw assembly, reduce the workload of programming, the burden of the research staff of mitigation.
Description
Technical field
The present invention relates to sanding and polishing equipment field, more particularly to a kind of sand paper automatic-exchanging system.
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
It changes.
, 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 installs new sand paper；Manually carry out replace sand paper operation, work efficiency compared with
It is low, and there are certain security risks.
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 automatic-exchanging systems, can replace manually carrying out sand
Paper replacement operation, and carry out only needing to allow during sand paper replacement operation milling robot drive antiquated sand paper reach substantially take sand paper work
Position, without accurately being moved.
The technical solution used in the present invention is：A kind of sand paper automatic-exchanging system, including taking sand paper mechanism, for sand paper machine
Structure and master control；The master control respectively with milling robot joined together, described take sand paper mechanism and the sand supplying mechanism of paper signal
Connection；It is described that sand paper mechanism is taken to include clip claw assembly；It is described that sand paper mechanism is taken 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 that sand paper mechanism is taken to be disposed adjacent with the sand supplying mechanism of paper 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 to separate the hairbrush of sand paper, and the hairbrush is located at pendulum
The side of platform is laid flat, with the sand paper of separation of synechia.
In above-mentioned technical proposal, the setting height of the hairbrush is equal on milling robot and platform for placing joined together
The height of sand paper contact.
In above-mentioned technical proposal, this kind of sand paper automatic-exchanging system further includes to detect the sand paper top surface on platform for placing
The height detecting device of height；The height detecting device is connected with the master signal.
In above-mentioned technical proposal, this kind of sand paper automatic-exchanging system further includes to detect milling robot joined together
Milling tools whether got sand paper take paper detecting apparatus；It is described that paper detecting apparatus is taken to be connected with the master signal.
In above-mentioned technical proposal, this kind of sand paper automatic-exchanging system further includes to detect the sand paper on the platform for placing
The material detection device whether having been used up；The material detection device is connected with the master signal.
In above-mentioned technical proposal, this kind of sand paper automatic-exchanging system further includes alignment mechanism；The alignment mechanism with it is described
Take sand paper mechanism mutually opposed；The alignment mechanism includes alignment chuck and the second driving and reversing mechanism；Second driving and reversing mechanism connects
The dynamic alignment chuck, which is retreated, to be translatable, 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 automatic-exchanging system further includes litter decoration；The litter decoration is located at the folder
Below claw assembly.
In above-mentioned technical proposal, this kind of sand paper automatic-exchanging system further includes to detect the inspection that comes off whether sand paper comes off
Survey device；The detection device that comes off is connected with the master signal.
The beneficial effects of the invention are as follows：
1st, a kind of sand paper automatic-exchanging system provided by the invention, including taking sand paper mechanism and alignment mechanism, takes sand paper machine
Structure includes clip claw assembly and interlocks the first driving and reversing mechanism of clip claw assembly advance and retreat translation, and sand paper mechanism and alignment mechanism is taken to match somebody with somebody
It closes, you can remove the antiquated sand paper taken on the milling robot of sand paper station run to substantially；Therefore, compare of the prior art
Sand paper more exchange device, it is only necessary to control the polishing for carrying out translation action, there is multiaxis without controlling of two driving and reversing mechanisms
Robot drives antiquated sand paper accurately to run between two clamping jaws of clip claw assembly, reduces the workload of programming, mitigates
Research staff burden.
2nd, a kind of sand paper automatic-exchanging system provided by the invention takes sand paper mechanism, school using only rack-mounted
The operation removed antiquated sand paper and change new sand paper can be completed in totally three mechanisms for complete machine structure and sand supplying mechanism of paper, simple in structure tight
It gathers, can substitute at low cost and manually carry out sand paper replacement operation.
Description of the drawings
Fig. 1 is a kind of whole three-dimensional view of sand paper automatic-exchanging system of the present invention；
Fig. 2 is that a kind of sand paper automatic-exchanging system of the present invention opens the whole three-dimensional view after protective cover；
Fig. 3 is the whole stereopsis after a kind of removal protective cover of another angle of sand paper automatic-exchanging system of the present invention
Figure；
Fig. 4 is the A partial enlarged views in Fig. 2；
Fig. 5 is a kind of three-dimensional view of the sand supplying mechanism of paper of sand paper automatic-exchanging system of the present invention；
Fig. 6 is the B partial enlarged views in Fig. 3；
Fig. 7 is the C partial enlarged views in Fig. 3；
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；311st, platform for placing through hole；32nd, push unit；33rd, gag lever post；34th, hairbrush；341st, bearing；35th, erecting bed；
36th, mounting rod；4th, alignment mechanism；41st, alignment chuck；42nd, the second driving and reversing mechanism；5th, litter decoration；61st, come off detection device；62、
Height detecting device；63rd, paper detecting apparatus is taken；64th, material detection device.
Specific 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 automatic-exchanging system including rack 1, takes sand paper mechanism 2, sand supplying mechanism of paper
3rd, alignment mechanism 4, litter decoration 5, master control (being to show in figure) and testing agency.This kind of sand paper automatic-exchanging system and polishing machine
People is used cooperatively.
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 1
13, support feet 12 and fixed seat 13 are respectively in the corner of rack 1, by adjusting every 12 height of support feet respectively, can adjust
The level of rack 1；It opens there are one falling hole 11 at the middle part of rack 1；Litter decoration 5 is located at the lower section of falling hole 11；It is 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.
Testing agency include coming off detection device 61, height detecting device 62, paper detecting apparatus 63 and material is taken to detect dress
Put 64；The detection device that comes off 61, height detecting device 62 take paper detecting apparatus 63 and material detection device 64 to believe respectively with master control
Number connection.
As shown in Figure 4 and Figure 6, sand paper mechanism 2 is taken to include 21 and first driving and reversing mechanism 22 of clip claw assembly；Clip claw assembly 21 wraps
Include clamping jaw 211 and closing device 212, closing device 212 can be horizontal folding pneumatic-finger or horizontal folding it is electronic
Finger or the pneumatic-finger of rotating folding or the electronic finger of horizontal folding；In the present embodiment, closing device
212 be the pneumatic-finger of horizontal folding, and closing device 212 is connected by solenoid valve with source of the gas, the solenoid valve of closing device 212 and
Master signal connects；There are two clamping jaws 211, is respectively provided in two gripping fingers of closing device 212, so that closing device 212
211 folding of clamping jaw can be interlocked.The form fit of clamping jaw 211 and milling tools, specifically, clamping jaw 211 connects with milling tools
Contacting surface is the cambered surface of indent, and can be matched with the side view of milling tools.
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, and first retreats
The solenoid valve of device 22 is connected with master signal；First driving and reversing mechanism 22 is horizontally disposed, and the closing device 212 of clip claw assembly 21 is set
On the slide unit of the first driving and reversing mechanism 22, so that the first driving and reversing mechanism 22 can interlock the advance and retreat translation of clip claw assembly 21, and first
The stroke of driving and reversing mechanism 22 makes clamping jaw 211 be always positioned at 11 top of falling hole, therefore the clamping jaw 211 of clip claw assembly 21 also is located at giving up
The top of carton 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
The solenoid valve of driving and reversing mechanism 42 is connected with master signal；Second driving and reversing mechanism 42 is horizontally disposed, alignment chuck 41 be located at second into
The front end of the moving component of unloading device 42, so that the second driving and reversing mechanism 42 can interlock the advance and retreat translation of alignment chuck 41；Alignment card
The form fit of grinding head in the shape and milling robot of disk 41, specifically, alignment chuck 41 connect with milling tools
Contacting surface is the cambered surface of indent, and can be matched with the side view of milling tools.Alignment mechanism 4 is used to correct on milling robot
The position of milling tools.
As shown in fig. 6, the detection device 61 that comes off is correlation type photoelectric sensor, the light beam for the detection device that comes off is described in
Take the path of dropping for the sand paper that sand paper mechanism 2 removes；Specifically, the detection device that comes off 61 includes transmitting terminal and receiving terminal；It is de-
Fall the transmitting terminal of detection device 61 and receiving terminal sets up separately in the both sides of falling hole 11, the detection device 61 that makes to come off is by detecting whether
There is object by light path, so as to detect whether object through falling hole 11, and then on the milling tools of detection milling robot
Antiquated sand paper whether taken sand paper mechanism 2 picked up and come off.
As shown in figure 5 and figure 7, sand supplying mechanism of paper 3 include platform for placing 31, push unit 32, gag lever post 33, hairbrush 34,
Erecting bed 35 and mounting rod 36.
Push unit 32 is cylinder or electric cylinder；In the present embodiment, push unit 32 is cylinder, and push unit 32 is logical
It crosses solenoid valve to connect with source of the gas, the solenoid valve of push unit 32 is connected with master signal.Erecting bed 35 is square, and middle part is equipped with logical
Hole；The cylinder body of push unit 32 is vertically arranged in 35 lower end of erecting bed, piston rod the leading to through erecting bed 35 of push unit 32
Hole；Platform for placing 31 is smooth disk；Platform for placing 31 is located at the front end of the piston rod of push unit 32, makes push unit 32
31 upward-downward translation of platform for placing can be interlocked.Gag lever post 33 shares seven, is each provided on erecting bed 35, and all gag lever posts 33 are spaced
It is set uniformly around platform for placing 31, the length of gag lever post 33 more than push unit 32 with interlocking 31 upward-downward translation of platform for placing
Stroke.Erecting bed 35 is screwed in rack 1, and sand supplying mechanism of paper 3 is enable to fix.
There are two the hairbrush 34 of sand supplying mechanism of paper 3, 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 mounted on by bearing 341 in rack 1, 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 a variety of 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, and the sand paper of adhesion is made to be 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. 7,31 both sides of platform for placing of sand supplying mechanism of paper 3 set two sensor mounting rods opposed to each other
36；Height detecting device 62 is correlation type photoelectric sensor, and transmitting terminal and receiving terminal set up separately in two sensor mounting rods 36
Top, the top of mounting rod 36 reserves position for paper detecting apparatus 63 is taken to install, i.e., does not put sand paper on platform for placing 31
When, then the light beam that 62 transmitting terminal of height detecting device emits passes through above platform for placing 31 and connecing by height detecting device 62
Receiving end receives.
Height detecting device 62 makes the top one of the sand paper being stacked on platform for placing 31 heap open sand paper to be always positioned at together
One height, specifically, after milling robot takes sand paper away, the height for the sand paper heap being stacked on platform for placing 31 can drop
It is low, if height detecting device 62 has not detected that object between transmitting terminal and receiving terminal, feeds back information to master at this time
Control, master control control the solenoid valve of push unit 32, and push unit 32 is made to interlock platform for placing 31 and is translatable upwards, until height detection
Device 62 has detected object between transmitting terminal and receiving terminal, i.e. the top surface of sand paper heap on platform for placing 31 reaches default height
Degree, makes sand paper heap shelter from the light path of height detecting device 62, makes the top one of sand paper heap being stacked on platform for placing 31
It opens sand paper and maintains sustained height always, sand is taken away from platform for placing 31 with default level altitude convenient for milling robot
Paper.
Paper detecting apparatus 63 is taken to be located at the top of a sensor mounting rod 36 away from rack 1 for photoelectric sensor, take
The light beam of paper detecting apparatus 63 emits straight up；The program setting of milling robot, after taking sand paper away, make the edge of sand paper from
63 top of paper detecting apparatus is taken to pass through；If paper detecting apparatus 63 is taken to detect object process, show milling robot
Remove sand paper；On the contrary, if paper detecting apparatus 63 is taken not detect that object passes through, show milling robot takes sand paper to move
Make failure takes sand paper to act, it is necessary to re-execute.
Platform for placing 31 is equipped with platform for placing through hole 311；Material detection device 64 be photoelectric sensor, be located at put it is flat
31 lower section of platform, the light beam of material detection device 64 pass through the platform for placing through hole 311 on platform for placing 31；If material detection device
64 have detected article, then show have sand paper to put on platform for placing 31；If material detection device 64 does not detect article,
Show that no sand paper or sand paper are taken on platform for placing 31.
As shown in Figures 2 and 3, in the present embodiment, take there are two sand paper mechanisms 2, Liang Gequ sand paper mechanism 2 is adjacent to be located at
Fall 11 side of hole, one of them takes sand paper mechanism 2 and alignment mechanism 4 mutually opposed；Liang Gequ sand paper mechanism 2 and alignment mechanism 4
It is set around falling hole 11.The one side for taking clamping jaw 211 towards the alignment mechanism 4 of sand paper mechanism 2 is the contact with milling tools
Face；The alignment chuck 41 of alignment mechanism 4 is towards the contact surface that the one side for taking sand paper mechanism 2 is with milling tools；Take sand paper machine
Form that a milling tools for milling robot takes sand paper here between structure 2 and alignment mechanism 4 takes sand paper space.
There are two sand supplying mechanism of paper 3, 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.
Master control is programmable controller, is hung in rack 1；The detection device that comes off 61, height detecting device 62 take paper to examine
It surveys device 63 and material detection device 64 is connected by signal wire with master signal respectively；Due to master control also respectively with clip claw assembly
The solenoid valve of 21 closing device 212, take sand paper mechanism 2 the first driving and reversing mechanism 22 solenoid valve, sand supplying mechanism of paper 3 passage
The solenoid signal of the solenoid valve of device 32 and the second driving and reversing mechanism 42 of alignment mechanism 4 connects, so master control can pass through control
Make above-mentioned each solenoid valve, so control clip claw assembly 21 folding and advance and retreat, sand supplying mechanism of paper 3 platform for placing 31 up and down
Translation and the advance and retreat of alignment chuck 41.
A kind of sand paper automatic-exchanging system provided in this embodiment is used cooperatively with milling robot, milling robot sand
Paper polishes to workpiece, and sand paper can be worn after a certain period of time, and milling robot stops polishing action at this time, and from sand paper certainly
Through hole 141 in the rack 1 of dynamic replacement system on protective cover 14 stretches into, and arrival takes taking between sand paper mechanism 2 and alignment mechanism 4
Sand paper space；Milling robot sends signal in place and interlocks alignment chuck to master control, master control the second driving and reversing mechanism 42 of control at this time
41 advance, and alignment chuck 41 is made to be resisted against on the milling tools on milling robot, is moved with the position correction for completing milling tools
To make, then master control controls the first driving and reversing mechanism 22 to interlock clip claw assembly 21 and advances, and clip claw assembly 21 is in opening state at this time, the
After one driving and reversing mechanism 22 gearing clip claw assembly 21 advances in place, master control controls closing device 212 to interlock clamping jaw 211 and closes again, i.e.,
Clip claw assembly 21 clamps antiquated sand paper, and alignment chuck 41 and two clamping jaws 211 are resisted against on milling tools at this time, are then polished
Robot drives milling tools to rise, and the antiquated sand paper on milling tools is made to be removed by clip claw assembly 21, after milling robot leaves,
Closing device 212 interlocks clamping jaw 211 and opens, and makes antiquated sand paper through falling hole 11 and falls into litter decoration 5；Complete the above process
Afterwards, the first driving and reversing mechanism 22 interlocks clip claw assembly 21 and resets；Second driving and reversing mechanism 42 interlocks alignment chuck 41 and resets.
The detection device that comes off 61 detects whether antiquated sand paper has taken off by having detected whether object through falling hole 11
Fall, and information is fed back into master control；If the detection device that comes off 61 has not detected that object through falling hole 11, that is, shows to polish
Antiquated sand paper on instrument is not fallen off simultaneously, and master control at this time feeds back information to milling robot, and milling robot interlocks polishing again
Instrument arrival takes takes sand paper space between sand paper mechanism 2 and alignment mechanism 4；Master control control takes sand paper mechanism 2 and alignment mechanism 4
Again act, specifically, alignment mechanism 4 re-executes the position correction action of milling tools；First driving and reversing mechanism 22 is again
Clip claw assembly 21 is interlocked to advance；Closing device 212 interlocks clamping jaw 211 and closes and clamp antiquated sand paper again；Milling robot is again
Milling tools is driven to rise, the antiquated sand paper on milling tools is made to be removed by clip claw assembly 21；Subsequent closing device 212 interlocks again
Clamping jaw 211 is opened, and is made antiquated sand paper through falling hole 11 and is fallen into litter decoration 5.Sand paper action is taken twice not if repeating
Success, master control will send error signal, and error signal can be communicated to by forms such as HMI, signal lamp or audible alarm units to be made
User.
After sand paper is removed, milling robot interlocks milling tools and reaches 3 top of sand supplying mechanism of paper, 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, completion takes sand
Paper acts；It if there is sand paper adhesion at this time, can be brushed down by hairbrush 34, make the sand paper of adhesion and be polished the sand that robot takes away
Paper separates, and subsequent push unit 32 interlocks platform for placing 31 and is translatable upwards, makes the sand paper heap being stacked on platform for placing 31 most
Upper end one opens sand paper and is always positioned at sustained height, and milling robot is facilitated to carry out that paper is taken to act.The program setting of milling robot,
Completion take sand paper act after after, make the edge of sand paper from taking process paper detecting apparatus 63 above；If paper detecting apparatus 63 is taken to detect
To there is object process, then show that milling robot has removed sand paper；On the contrary, if paper detecting apparatus 63 is taken not detect object
Body passes through, then show milling robot takes sand paper baulk, it is necessary to re-execute sand paper to be taken to act.If on platform for placing 31
There is no the sand paper on sand paper or platform for placing 31 to be taken, material detection device 64 feeds back information to master control, at master control
The information for not having sand paper on platform for placing 31 is communicated to use by forms such as HMI, signal lamp or audible alarm units after reason
Person.
When this kind of sand paper automatic-exchanging system is used cooperatively with milling robot, the polishing work of milling robot need to be only controlled
Tool run 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
Antiquated sand paper is removed in the cooperation of sand paper mechanism 2 and alignment mechanism 4；Only need two driving and reversing mechanisms of control carries out translation action, and
It need not control the milling robot with multiaxis that antiquated sand paper is driven accurately to run between two clamping jaws of clip claw assembly, reduce
The workload of programming, the burden of the research staff of mitigation.
Above embodiment 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 (14)
1. a kind of sand paper automatic-exchanging system, including taking sand paper mechanism (2), sand supplying mechanism of paper (3) and master control；The master control difference
With milling robot joined together, described sand paper mechanism (2) and the sand supplying mechanism of paper (3) signal is taken to be connected；It is described to take sand paper
Mechanism (2) includes 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)；The
One driving and reversing mechanism (22) interlocks clip claw assembly (21) the advance and retreat translation.
2. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：It is described take sand paper mechanism (2) with
The sand supplying mechanism of paper (3) is disposed adjacent.
3. a kind of sand paper automatic-exchanging system according to claim 1, 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 automatic-exchanging system according to claim 1, it is characterised in that：Sand supplying mechanism of paper (3) bag
Platform for placing (31) and push unit (32) are included, the push unit (32) interlocks platform for placing (31) upward-downward translation.
5. a kind of sand paper automatic-exchanging system according to claim 4, it is characterised in that：The sand supplying mechanism of paper (3) is also
Including at least two gag lever posts (33), the gag lever post (33) is set around the platform for placing (31).
6. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：The sand supplying mechanism of paper (3)
Further include to separate the hairbrush (34) of sand paper, the hairbrush (34) is located at the side of platform for placing (31).
7. a kind of sand paper automatic-exchanging system according to claim 6, it is characterised in that：The setting of the hairbrush (34) is high
Degree is equal to the height that milling robot joined together is contacted with the sand paper on platform for placing (31).
8. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes to detect pendulum
It is laid flat the height detecting device (62) of the sand paper apical side height on platform (31)；
The height detecting device (62) is connected with the master signal.
9. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes for detecting
What whether the milling tools on the milling robot of cooperation had got sand paper takes paper detecting apparatus (63)；It is described to take paper detecting apparatus
(63) it is connected with the master signal.
10. a kind of sand paper automatic-exchanging system according to claim 4 or 5, it is characterised in that：It further includes for detecting
State the material detection device (64) whether the sand paper on platform for placing (31) has been used up；The material detection device (64) with it is described
Master signal connects.
11. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：Further include alignment mechanism (4)；
The alignment mechanism (4) takes sand paper mechanism (2) mutually opposed with described；The alignment mechanism (4) include alignment chuck (41) and
Second driving and reversing mechanism (42)；Second driving and reversing mechanism (42) interlocks alignment chuck (41) the advance and retreat translation.
12. a kind of sand paper automatic-exchanging system according to claim 11, it is characterised in that：The alignment chuck (41)
Shape and the form fit of the milling tools on milling robot joined together.
13. a kind of sand paper automatic-exchanging system according to claim 1, it is characterised in that：Further include litter decoration (5)；Institute
Litter decoration (5) is stated to be located at below the clip claw assembly (21).
14. according to any a kind of sand paper automatic-exchanging system in claim 1,2,3 or 13, it is characterised in that：It further includes
For detecting the detection device that comes off (61) whether sand paper comes off；The detection device that comes off (61) connects with the master signal
It connects.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711396600.4A CN108115567A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper automatic-exchanging system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201711396600.4A CN108115567A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper automatic-exchanging system |
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| CN201711396600.4A Pending CN108115567A (en) | 2017-12-21 | 2017-12-21 | A kind of sand paper automatic-exchanging system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972264A (en) * | 2018-06-19 | 2018-12-11 | 禹奕智能科技（上海）有限公司 | Intelligent robot polishing system for door frame grinding and polishing |
| CN111390764A (en) * | 2019-01-03 | 2020-07-10 | 中国科学院沈阳自动化研究所 | Automatic sand paper replacing device and method for intelligent polishing of robot |
| CN111872809A (en) * | 2020-07-31 | 2020-11-03 | 天津波音复合材料有限责任公司 | Automatic polishing working platform |
| CN113001404A (en) * | 2021-02-25 | 2021-06-22 | 梦天家居集团股份有限公司 | Sand angle tool with sand paper feeding structure |
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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 |
| CN206677755U (en) * | 2016-07-19 | 2017-11-28 | 兴科电子科技有限公司 | A kind of automatically upper Sand paper for polishing device |
| CN207642924U (en) * | 2017-12-21 | 2018-07-24 | 东莞科耀机电设备有限公司 | A kind of sand paper automatic-exchanging system |
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| JPH0584660A (en) * | 1991-06-28 | 1993-04-06 | Yamaha Corp | Automatic changer for sand paper |
| EP1398287A2 (en) * | 2002-08-17 | 2004-03-17 | Raymond Wells | A dispenser for abrasive paper |
| CN204366742U (en) * | 2014-12-09 | 2015-06-03 | 昆山富新立伟自动化科技有限公司 | A kind of sand paper mechanism of replacing automatically |
| 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 |
| CN205520909U (en) * | 2016-04-07 | 2016-08-31 | 广东拓斯达科技股份有限公司 | Manipulator is polished and is traded abrasive paper device |
| CN206677755U (en) * | 2016-07-19 | 2017-11-28 | 兴科电子科技有限公司 | A kind of automatically upper Sand paper for polishing device |
| 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 |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972264A (en) * | 2018-06-19 | 2018-12-11 | 禹奕智能科技（上海）有限公司 | Intelligent robot polishing system for door frame grinding and polishing |
| CN111390764A (en) * | 2019-01-03 | 2020-07-10 | 中国科学院沈阳自动化研究所 | Automatic sand paper replacing device and method for intelligent polishing of robot |
| CN111872809A (en) * | 2020-07-31 | 2020-11-03 | 天津波音复合材料有限责任公司 | Automatic polishing working platform |
| CN113001404A (en) * | 2021-02-25 | 2021-06-22 | 梦天家居集团股份有限公司 | Sand angle tool with sand paper feeding structure |
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