CN108161669A - A kind of pipeline system sanding and polishing work station based on robot - Google Patents
A kind of pipeline system sanding and polishing work station based on robot Download PDFInfo
- Publication number
- CN108161669A CN108161669A CN201810101395.2A CN201810101395A CN108161669A CN 108161669 A CN108161669 A CN 108161669A CN 201810101395 A CN201810101395 A CN 201810101395A CN 108161669 A CN108161669 A CN 108161669A
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- Prior art keywords
- polishing
- wheel
- abrasive band
- robot
- idle pulley
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- 238000005498 polishing Methods 0.000 title claims abstract description 252
- 230000002093 peripheral effect Effects 0.000 claims abstract description 24
- 238000003801 milling Methods 0.000 claims abstract description 18
- 238000004519 manufacturing process Methods 0.000 claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims description 63
- 238000000227 grinding Methods 0.000 claims description 52
- 238000009434 installation Methods 0.000 claims description 48
- 230000033001 locomotion Effects 0.000 claims description 37
- 238000012937 correction Methods 0.000 claims description 14
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 12
- 238000000034 method Methods 0.000 claims description 10
- 238000007667 floating Methods 0.000 claims description 9
- 238000004804 winding Methods 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 7
- 239000000758 substrate Substances 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 6
- 239000000725 suspension Substances 0.000 claims description 6
- 230000001360 synchronised effect Effects 0.000 claims description 5
- 239000003292 glue Substances 0.000 claims description 3
- 238000007493 shaping process Methods 0.000 claims description 3
- 238000004088 simulation Methods 0.000 claims description 3
- 238000012360 testing method Methods 0.000 claims description 3
- 241001136800 Anas acuta Species 0.000 claims description 2
- 229910001651 emery Inorganic materials 0.000 claims description 2
- 238000013519 translation Methods 0.000 claims description 2
- 230000002452 interceptive effect Effects 0.000 abstract description 2
- 239000000428 dust Substances 0.000 description 32
- 239000011152 fibreglass Substances 0.000 description 9
- 238000005453 pelletization Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 6
- 239000004576 sand Substances 0.000 description 4
- 230000001681 protective effect Effects 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 241000237983 Trochidae Species 0.000 description 2
- 238000007517 polishing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000354 decomposition reaction Methods 0.000 description 1
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- 239000004744 fabric Substances 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 125000001475 halogen functional group Chemical group 0.000 description 1
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- 239000010959 steel Substances 0.000 description 1
- 230000009182 swimming Effects 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- 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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—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
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
-
- 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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
-
- 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
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
Abstract
The present invention relates to a kind of pipeline system sanding and polishing work stations based on robot,Polishing safe house including peripheral side,Mounting robot inside polishing safe house,Belt sander,Polishing machine,Polishing safe house both sides are installed by loading working table respectively,Blanking work platform,Belt sander at least 4 and it is spaced placement,Polishing machine at least 1 and it is spaced placement,Intermediate station is equipped between adjacent machines people,Workpiece on the milling robot gripping loading working table of the leftmost side is completed to be placed on intermediate station after first of polishing is processed close to belt sander,Follow-up milling robot,Polishing robot gripping workpiece completes corresponding polishing,Polishing,Rightmost side polishing robot gripping workpiece is placed on blanking work platform,Belt sander is double-station belt sander,Polishing machine is dual-station polishing machine,Different manufacturing procedures can be completed simultaneously,Improve production efficiency,Reduce production cost,Control system accurately controls the running orbit of robot,Coordinate intermediate station,It avoids interfering between robot.
Description
Technical field
The present invention relates to polishing processing equipment fields, and in particular to a kind of pipeline system sanding and polishing work based on robot
It stands.
Background technology
Currently, most products of the sanitary ware industries such as tap still rely on artificial progress grinding and buffing, Gong Renlao
Fatigue resistance is big, and seriously polluted, and the dust of generation has great damage to worker, and the degree of automation is low, speed of production is slow,
Production needs cannot be met, in addition, due to proficiency of workers difference, cause homogeneity of product poor, fraction defective occupies height, with
The reduction of number of workers, the raising of recruitment cost, there is an urgent need to replace manual work, therefore city using automation equipment for enterprise
Some automatically grinding equipment carry out sanding and polishing processing to tap on face, these automatically grinding equipment robots are instead of people
Work is polished, although improving production efficiency, what is used is all traditional robot teaching method, very multiple for surface
During miscellaneous sanitaryware programming, operator needs to consume a large amount of time and efforts and carrys out teaching repeatedly, correction motion track, in this way
Requirement to operator greatly improves, very long the time required to replacing product, causes equipment mobility low, and existing automatic
Grinding apparatus is single-station processing, and efficiency has to be hoisted.
Invention content
Process in sanding and polishing that encountered the degree of automation is low, sows for sanitarywares such as taps in the prior art
The problems such as rate is low, of high cost, speed of production is slow, the present invention provides a kind of pipeline system sanding and polishing works based on robot
It stands, specific technical solution is as follows：
A kind of pipeline system sanding and polishing work station based on robot, the polishing safe house including peripheral side, safe house of polishing
Loading working table, blanking work platform, machine are installed in internal mounting robot, belt sander, polishing machine, polishing safe house both sides respectively
People is divided into milling robot and polishing robot by manufacturing procedure, belt sander at least 4 and is spaced placement, and polishing machine is at least
There is 1 and be spaced placement, the quantity of milling robot is corresponding with belt sander quantity, the quantity and polishing machine of polishing robot
Quantity is corresponding, and intermediate station is equipped between adjacent machines people, and the workpiece that leftmost side milling robot is gripped on loading working table leans on
Nearly belt sander is placed on intermediate station after completing first of polishing processing, and follow-up milling robot, polishing robot gripping workpiece are complete
Into corresponding polishing, polishing, polishing robot gripping workpiece in the rightmost side is placed on blanking work platform.
As a preferred embodiment of the present invention, the loading working table is identical with the structure of blanking work platform, feeding work
Make platform and include fixed frame, material bottom plate, rotary cylinder, link block, movable plate, rack, gear, rotary shaft, top plate, bearing, rotation
Plate, swivel mount, left flitch and right flitch, fixed frame middle part peace charging bottom plate, material bottom plate top installation rotary cylinder, rotary cylinder
Piston rod installs link block, link block side installation movable plate, movable plate front installation rack, rack meshing gear, gear peace
Loaded on rotary shaft lower end, top plate, top plate centrally under installation bearing, bearing suit rotary shaft, rotation are installed above fixed frame
Axis upper end passes through top plate to connect swivel plate, installation swivel mount above swivel plate, and the section of swivel mount is isosceles triangle, swivel mount
Left and right sides tilts the left flitch of installation, right flitch respectively, and left flitch, right flitch surface are placed with multiple workpiece, are installed below top plate
Positioning cylinder, positioning cylinder piston rod pass through mounting of roof plate positioning pin, below swivel plate left and right sides be separately installed with left positioning column,
Right positioning column, positioning cylinder driving positioning pin are individually inserted into left positioning column, right positioning column fixed rotation Board position.
As a preferred embodiment of the present invention, dust pelletizing system is further included, the dust pelletizing system is soft including dust arrester, dust suction
Pipe, grid fiberglass, dust collection drawer and dedusting switch board, dust arrester are mounted on outside polishing safe house, dust arrester quantity and sand
Band machine, polishing machine correspond, and dust arrester is respectively communicated with the dust interface of belt sander, polishing machine, dedusting control by hose
Cabinet control dust arrester processed starts, and grid fiberglass is mounted on polishing safe house bottom, and belt sander, polishing machine are placed on grid glass
On steel, installation dust collection drawer below grid fiberglass.
As a preferred embodiment of the present invention, installation control belt sander, polishing machine, feeding work outside polishing safe house
The suspension control panel of platform, blanking work platform, suspension control panel is interior to be equipped with control system, and control system includes central processing
The pre- storing module of device, part model, the pre- storing module of device model, off-line programing module, robot motion's emulation module, code building
Module, abrasive band alarm module, polishes alarm module at work origin calibration module, is previously stored in the pre- storing module of part model
The part model of different size model is previously stored with belt sander, the polishing of different number combination in the pre- storing module of device model
Machine model, off-line programing module call in workpiece 3D models, equipment from the pre- storing module of part model, the pre- storing module of device model respectively
3D models, central processing unit generate robot motion track, robot motion according to workpiece 3D models, the equipment 3D models called in
Emulation module according to movement locus virtual analog robot motion, check whether there is in test machine people's motion process mechanical position limitation or
Collision generates, if robot motion track is normal, code generation module is straight according to robot motion's Track Pick-up post code
Connect and be transported to robot control cabinet, operator by the origin of work origin calibration module calibration machine human simulation movement locus and
The origin of practical belt sander, polishing machine, further improves the accuracy of robot motion track, and abrasive band alarm module calculates automatically
The polishing amount in single abrasive band, when polishing amount reaches preset value, abrasive band alarm module sends out alarm sounds operator replacement, polishing
Alarm module monitors the loss of buffing wax and polishing wheel by sensor automatically, and when being lost totally, polishing alarm module is sent out
Alarm sounds operator replaces.
As a preferred embodiment of the present invention, the belt sander be double-station belt sander, belt sander include abrasive band bottom plate,
Abrasive band actuating unit, abrasive band rotating mechanism and polishing unit, abrasive band bottom plate top installation abrasive band rotating mechanism, abrasive band rotating mechanism
Equipped with rotating seat, abrasive band actuating unit, polishing unit are mounted on above rotating seat, and there are two polishing units and left and right settings, and two
The abrasive band winding arrangement of a polishing unit is identical or different, abrasive band actuating unit driving polishing unit starting, abrasive band rotating mechanism
Rotating seat is driven to drive abrasive band actuating unit, polishing finite element rotation to proper operation face.
As a preferred embodiment of the present invention, the abrasive band rotating mechanism includes shaft seat, abrasive band rotary cylinder, connection
Head pushes pin, rotating seat, floating bearing, locating piece, limit base, oil buffer, positioning cylinder, guide and positioning pin, shaft
Seat is fixedly installed in abrasive band bottom plate side, and abrasive band rotary cylinder is installed on shaft seat, and abrasive band rotary cylinder piston rod, which stretches out, to be fixed
Connector is connected, connector is fixedly connected with promotion pin tail portion, and pin head part is pushed to be fixedly installed in rotating seat, rotating seat rotation peace
Loaded on floating bearing, floating bearing is installed in the middle part of the bottom plate of abrasive band, and locating piece is fixed for arc and above the bottom plate of abrasive band
One limit base of installation above the head end both ends of position block, limit base mutually install oil buffer inwardly, and locating piece is equipped with equidistant
The location hole of arrangement, positioning cylinder be mounted on rotating seat above, guide be mounted on rotating seat below and with positioning cylinder position phase
Corresponding, positioning cylinder piston rod extends downwardly into connection positioning pin, positioning pin inside guide and is matched with location hole, rotating seat rotation
± 45 ° to extreme position when, guide is in contact with oil buffer.
As a preferred embodiment of the present invention, it is single polishing unit include big riser, abrasive band, power wheel, the first idle pulley,
Rotating seat is fixedly mounted in convex rubber tire, tensioning apparatus, grinding wheel and the second idle pulley, big riser lower part, and tensioning apparatus is installed on big vertical
Plate and equipped with moveable tensioning wheel, the driving power wheel rotation of abrasive band abrasive band actuating unit, abrasive band are wrapped in power wheel, first lazy
The peripheral side revolution of wheel, convex rubber tire, tensioning wheel, grinding wheel and the second idle pulley, the first idle pulley of adjustment, tensioning apparatus, are beaten convex rubber tire
Emery wheel, the second idle pulley installation site so as to change abrasive band winding arrangement.
As a preferred embodiment of the present invention, the tensioning apparatus is vertically-mounted, and tensioning wheel can move up and down, tensioning wheel
Between the first idle pulley and convex rubber tire, convex rubber tire, grinding wheel, the second idle pulley are located in front of big riser, and the first idle pulley is located at big
Riser rear, convex rubber tire connecting rod, grinding wheel connecting rod, the first idler wheel link, the second idler wheel link are horizontally mounted respectively, and abrasive band is successively
It is wrapped in the peripheral side revolution of power wheel, the first idle pulley, tensioning wheel, convex rubber tire, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is installed obliquely, tensioning wheel can oblique movement, tensioning wheel be located at the first idle pulley and power wheel it
Between, the first idle pulley, convex rubber tire, grinding wheel, the second idle pulley are located in front of big riser, the first idler wheel link, grinding wheel connecting rod, second
Idler wheel link is horizontally mounted respectively, and convex rubber tire connecting rod is vertically installed in front of the first idler wheel link, and abrasive band is wrapped in power successively
The peripheral side revolution of wheel, tensioning wheel, the first idle pulley, convex rubber tire, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is horizontally mounted, tensioning wheel is horizontally moveable, tensioning wheel between convex rubber tire and grinding wheel,
Convex rubber tire, grinding wheel, the second idle pulley are located in front of big riser, and the first idle pulley is located at big riser rear, convex rubber tire connecting rod, grinding wheel
Connecting rod, the first idler wheel link, the second idler wheel link are horizontally mounted respectively, and abrasive band is wrapped in power wheel, the first idle pulley, convex glue successively
The peripheral side revolution of wheel, tensioning wheel, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is installed obliquely, tensioning wheel can oblique movement, tensioning wheel be located at convex rubber tire and the second idle pulley it
Between, grinding wheel, convex rubber tire, the second idle pulley are located in front of big riser, and the first idle pulley is located at big riser rear, convex rubber tire connecting rod, the
One idler wheel link is horizontally mounted respectively, and grinding wheel connecting rod, the second idler wheel link difference are diagonally-installed, and abrasive band is wrapped in power successively
The peripheral side revolution of wheel, the first idle pulley, grinding wheel, convex rubber tire, tensioning wheel and the second idle pulley.
As a preferred embodiment of the present invention, the polishing machine be dual-station polishing machine, polishing machine include polishing bottom plate,
Rack, polishing rotating mechanism, polishing wheel rotating mechanism, polishing wheel, Song La mechanisms and polishing wheel correction mechanism, polish on bottom plate
Square installation frame, polishing rotating mechanism driving rack are rotated left and right to proper operation face, rack upper interior installation polishing rotation
Motivation structure, the rack front left and right sides are separately installed with a Song La mechanisms, and polishing wheel correction mechanism, throwing are installed in middle part in front of rack
Halo rotating mechanism drives two polishing wheel rotations, and Song La mechanisms convey buffing wax, polishing wheel toward corresponding polishing wheel peripheral side
Correction mechanism shaping polishing wheel makes polishing wheel be always round.
As a preferred embodiment of the present invention, the polishing wheel correction mechanism includes fixed plate, two regulation handles, two
Root adjusts tooth bar, four leads, four rolling bearing units, two connecting rods and two polishing wheel sleakers, and fixed plate is mounted on machine
In front of frame, two adjust tooth bar and are rotatablely installed at left and right sides of fixed plate by rolling bearing units, adjust tooth bar head installation and adjustment
Handle adjusts and connecting rod tail end is threadedly coupled in the middle part of tooth bar, and simultaneously relative adjustment tooth bar is symmetrical arranged lead inserting connecting rod, even
Extension bar head end installs polishing wheel sleaker, and polishing wheel sleaker is located at below polishing wheel.
As a preferred embodiment of the present invention, the polishing wheel rotating mechanism includes rotary electric machine, rotary electric machine is installed
Rotary electric machine is fixedly mounted in plate, the first synchronizing wheel, synchronous belt, the second synchronizing wheel, transmission shaft, bearing block and substrate, substrate lower section
Installing plate, rotary electric machine are fixedly mounted on rotary electric machine installing plate side, and rotary electric machine output shaft passes through rotary electric machine installing plate
The first synchronizing wheel is fixedly mounted, the first synchronizing wheel connects the second synchronizing wheel by toothed belt transmission, and the second synchronizing wheel is fixedly mounted
In the middle part of transmission shaft, both ends of the drive shaft rotational installation bearing block, bearing block is installed on surface, and transmission shaft left and right ends pass through axis
Bearing is respectively fixedly connected with two polishing wheels in left and right.
Beneficial effects of the present invention：Milling robot, polishing robot difference coordinated belt sander, polishing machine complete stream
Ability of swimming operation, belt sander at least 4, polishing machine at least 1, belt sander are double-station belt sander, and polishing machine is double-station
Polishing machine can complete different manufacturing procedures simultaneously, improve production efficiency, save working hour, reduce production cost, control system essence
The really running orbit of control robot, coordinates intermediate station, avoids interfering between robot, and dust pelletizing system is further promoted
The dedusting of work station, dust elimination ability, can fully recycle the dust generated in process, and unlikely dust is leaked from polishing safe house
Go out, improve working environment.
Description of the drawings
Fig. 1 is the overall perspective view of the present invention；
Fig. 2 is the stereogram that the present invention hides polishing safe house top shell；
Fig. 3 is the vertical view that the present invention hides polishing safe house top shell；
Fig. 4 is the front view that the present invention hides polishing safe house；
Fig. 5 is the stereogram of the robot of the present invention；
Fig. 6 is the overall perspective view of the loading working table of the present invention；
The loading working table that Fig. 7 is the present invention hides the stereogram after protective plate；
Fig. 8 is the position view of the bottom plate, mounting of roof plate of the loading working table of the present invention in fixed frame；
Fig. 9 is the stereogram when rotary cylinder of the loading working table of the present invention coordinates with rotary shaft；
Figure 10 is the decomposition of the rotary cylinder, link block, movable plate, rack, gear, rotary shaft of the loading working table of the present invention
Figure；
Figure 11 is the stereogram of the swivel mount of the loading working table of the present invention；
Figure 12 is the structure diagram of the dust pelletizing system of the present invention；
Figure 13 is the block diagram of the control system of the present invention；
Figure 14 is the stereogram when left and right polishing unit sand band layout of the belt sander of the present invention is identical；
Figure 15 is the stereogram when left and right polishing unit sand band layout of the belt sander of the present invention differs；
Figure 16 is the stereogram of the abrasive band actuating unit of the belt sander of the present invention；
Figure 17 is the stereogram of the abrasive band rotating mechanism of the belt sander of the present invention；
Figure 18 is the other direction stereogram of the abrasive band rotating mechanism of the belt sander of the present invention；
Figure 19 is the exploded view of the abrasive band rotating mechanism of the belt sander of the present invention；
Figure 20 is that two polishing units of the present invention are mounted on the stereogram on rotating seat；
Figure 21 is the schematic diagram of the abrasive band Layout Embodiment 1 of the single polishing unit of the present invention；
Figure 22 is the schematic diagram of the abrasive band Layout Embodiment 2 of the single polishing unit of the present invention；
Figure 23 is the schematic diagram of the abrasive band Layout Embodiment 3 of the single polishing unit of the present invention；
Figure 24 is the schematic diagram of the abrasive band Layout Embodiment 4 of the single polishing unit of the present invention；
Figure 25 is the exterior perspective view of the polishing machine of the present invention；
Figure 26 is the perspective interior view of the polishing machine of the present invention；
Figure 27 is the stereogram of the polishing wheel correction mechanism of the polishing machine of the present invention；
Figure 28 is the stereogram of the polishing wheel rotating mechanism of the present invention；
Figure 29 is the exploded view of the polishing wheel rotating mechanism of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawings, the specific embodiment of the present invention is described further：
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ", " water
It is flat ", " interior ", the orientation of the instructions such as " outer " or position relationship for based on orientation shown in the drawings or position relationship, merely to just
In the description present invention and simplify description rather than instruction or imply signified position or element must have specific orientation, with
Specific azimuth configuration and operation, therefore be not considered as limiting the invention.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or be integrally connected；It can
To be mechanical connection or be electrically connected；It can be directly connected, can also be indirectly connected by intermediary, Ke Yishi
Connection inside two elements.For the ordinary skill in the art, concrete condition can be regarded and understands that above-mentioned term exists
Concrete meaning in the present invention.
As shown in Fig. 1~5, a kind of pipeline system sanding and polishing work station based on robot, the polishing including peripheral side
Feeding is installed in safe house 1,1 inside mounting robot of polishing safe house, belt sander 4, polishing machine 5, polishing safe house both sides respectively
Workbench 61, blanking work platform 62, robot are divided into milling robot 2 and polishing robot 3 by manufacturing procedure, belt sander 4 to
Rare 4 and placement is spaced, polishing machine 5 at least 1 and is spaced placement, quantity and the belt sander 4 of milling robot 2 count
Measure corresponding, the quantity of polishing robot 3 is corresponding with 5 quantity of polishing machine, and intermediate station 9 is equipped between adjacent machines people, most left
The workpiece that side milling robot 2 is gripped on loading working table 61 is completed close to belt sander 4 in being placed on after first of polishing is processed
Turntable 9, follow-up remainder milling robot 2, polishing robot 3 grip workpiece and complete corresponding polishing, polishing, rightmost side polishing
Robot 3 grips workpiece and is placed on blanking work platform 62.
Specifically, belt sander 4 preferably has 4, polishing machine 5 preferably has 1, and intermediate station 9 preferably has 4, the leftmost side first
The workpiece that a milling robot 2 is gripped on loading working table 61 is put after first completion first step polishing operation of belt sander 4
It puts on the intermediate station 9 of first, left side, the workpiece on second first intermediate station 9 of gripping of milling robot 2 is close to second
Belt sander 4 is placed on after completing second step polishing operation on second intermediate station 9, and third milling robot 2 grips second
Workpiece on intermediate station 9 is completed to be placed on third intermediate station 9 after third walks polishing operation close to third belt sander 4, the
One polishing robot 3 grips workpiece on third intermediate station 9 and is put after first first of polishing process of completion of polishing machine 5
It puts on the 4th intermediate station 9, workpiece is close to second polishing machine 5 on second the 4th intermediate station 9 of gripping of polishing robot 3
Blanking work platform 62, continuous-flow type operation are placed on after completing second polishing process, substep completes the sanding and polishing to tap
Processing, full process automatization operation, production efficiency is high, disposably can complete multiple working procedure simultaneously.
As shown in Fig. 6~11, loading working table 61 is identical with the structure of blanking work platform 62, and loading working table 61 includes solid
Determine frame 611, material bottom plate 612, rotary cylinder 613, link block 614, movable plate 615, rack 616, gear 617, rotary shaft 618,
Top plate 619, bearing 6110, swivel plate 6111, swivel mount 6112, left flitch 6113 and right flitch 6114,611 middle part of fixed frame are pacified
Charging bottom plate 612,612 top installation rotary cylinder 613 of material bottom plate, rotary cylinder piston rod installation link block 614, link block
Movable plate 615 is installed in 614 sides, and rack 616,616 meshing gear 617 of rack are installed in 615 front of movable plate, and gear 617 is installed
In 618 lower end of rotary shaft, 611 top installation top plate 619 of fixed frame, 619 centrally under of top plate installation bearing 6110, bearing
6110 suit rotary shafts 618,618 upper end of rotary shaft pass through top plate 619 to connect swivel plate 6111, and 61111 top of swivel plate is installed
Swivel mount 6112, the section of swivel mount 6112 is isosceles triangle, and 6112 left and right sides of swivel mount tilts the left flitch of installation respectively
6112nd, right flitch 6114, left flitch 6113,6114 surface of right flitch are placed with multiple workpiece, 619 lower section installation positioning gas of top plate
Cylinder 6115, positioning cylinder piston rod pass through top plate 619 to install positioning pin 6116, and 6111 lower section left and right sides of swivel plate is separately installed with
Left positioning column 6117, right positioning column 6118,6112 peripheral side of swivel mount installation protective plate, protective plate prevent from foreign matter from entering polishing setting
Standby interior, rotary cylinder 613 is drivingly connected block 614 and moves, and link block 614 drives movable plate 615 to move, and movable plate 615 is with moving teeth
Item 616 moves, and 616 drive gear 617 of rack rotates, and gear 617 drives rotary shaft 618 to rotate, and rotary shaft 618 drives swivel plate
611 rotations, swivel plate 611 drive swivel mount 6112 to rotate, and swivel mount 6112 drives left flitch 6113 and right flitch 61114 to change
Position, reloads so as to fulfill one side, and another side is in normal loading and unloading in grinding apparatus, does not interfere with equipment normal work, and
When swivel mount 6112 turns to extreme position, positioning cylinder 6115 drives positioning pin 6116 to be individually inserted into left positioning column
6117th, the position of swivel plate 6111 is fixed in right positioning column 6118, locked swivel mount 6112 prevents deviation, and occupied space is few, knot
Structure reasonable design does not interfere with grinding apparatus normal work, improves working efficiency, reduce cost, meet requirement.
As shown in figure 12, pipeline system sanding and polishing work station further includes dust pelletizing system, and the dust pelletizing system includes dust
Device 71, hose（It is not drawn into）, grid fiberglass 72, dust collection drawer 73 and dedusting switch board 74, dust arrester installation 71 beating
It grinds outside safe house, 71 quantity of dust arrester is corresponded with belt sander 4, polishing machine 5, and dust arrester 71 is connected respectively by hose
The dust interface of logical belt sander 4, polishing machine 5, dedusting switch board 74 control dust arrester 71 to start, and grid fiberglass 72 is mounted on and beats
Safe house bottom is ground, belt sander 4, polishing machine 5 are placed on grid fiberglass 72,72 lower section installation dust collection drawer of grid fiberglass
73, remaining dust, which can be fallen on grid fiberglass 72, to be drained in dust collection drawer 73, grid fiberglass 72 can load-bearing belt sander 4,
Polishing machine 5.
As shown in figure 13,1 outside installation control belt sander 4 of polishing safe house, polishing machine 5, loading working table 61, blankers
Make the suspension control panel 8 of platform 62, be equipped with control system in suspension control panel 8, control system 8 include central processing unit 81,
The pre- storing module 82 of part model, the pre- storing module 83 of device model, off-line programing module 84, robot motion's emulation module 85, generation
Code generation module 86, work origin calibration module 87, abrasive band alarm module 88, polishing alarm module 89, part model prestore mould
The part model of different size model is previously stored in block 72, different number is previously stored in the pre- storing module 83 of device model
Belt sander, the polishing machine model of combination, off-line programing module 84 is respectively from the pre- storing module of part model, the pre- storing module of device model
Workpiece 3D models, equipment 3D models are called in, central processing unit 81 generates machine according to workpiece 3D models, the equipment 3D models called in
People's movement locus, robot motion's emulation module 85 check test machine people according to movement locus virtual analog robot motion
Mechanical position limitation is whether there is in motion process or collision generates, if robot motion track is normal, code generation module is according to machine
People's trace generator post code is delivered directly to robot control cabinet 9, and operator passes through 87 school of work origin calibration module
The origin and practical belt sander of quasi- robot simulation's movement locus, the origin of polishing machine, further improve robot motion track
Accuracy, abrasive band alarm module 88 calculates the polishing amount in single abrasive band automatically, when polishing amount reaches preset value, abrasive band alarm
Module 88 sends out alarm sounds operator replacement, and polishing alarm module 89 monitors buffing wax and polishing wheel by sensor automatically
Loss, when being lost totally, polishing alarm module 89 sends out alarm sounds operator replacement, and central processing unit 81 controls sander
Device people 2, polishing robot 3, belt sander 4, polishing machine 5, loading working table 61, blanking work platform 62, dust pelletizing system are realized in succession
Linkage.
As shown in Figure 14~16, belt sander 4 is double-station belt sander, and belt sander 4 includes abrasive band bottom plate 41, abrasive band engine
Structure 42, abrasive band rotating mechanism 43 and polishing unit 44,41 top installation abrasive band rotating mechanism 43 of abrasive band bottom plate, abrasive band rotating mechanism
43 are equipped with rotating seat 435, and abrasive band actuating unit 42, polishing unit 44 are mounted on 431 top of rotating seat, 42 He of abrasive band actuating unit
44 peripheral side of polishing unit is equipped with outer cover 45, and 45 front of outer cover is equipped with the dust hopper for collecting polishing 44 dust of unit, outer cover 45
Top is equipped with hanging ring easy to carry, and there are two polishing units 44 and left and right settings, the abrasive band winding knot of two polishing units 44
Structure is identical or different, and the abrasive band winding arrangement of single polishing unit 44 has 4 kinds to adapt to the workpiece of different size, abrasive band power
Mechanism 42 includes power motor 421, pulley assembly and rotation axis 422, and power motor 421 is driven by pulley assembly and rotated
Axis 422 rotates, and the power wheel 443 of left and right polishing unit 44 is installed at 422 both ends of rotation axis respectively, and rotating mechanism 43 drives rotating seat
421 drive actuating units 42, polishing unit 44 rotate to proper operation face, so as to which the unit 44 that ensures to polish can own workpiece
Surface is polished, and will not omit while also solve the problem that the problem of joint of robot limiting.
As shown in Figure 17~19, the abrasive band rotating mechanism 43 includes shaft seat 431, abrasive band rotary cylinder 432, connector
433rd, pin 434, rotating seat 435, floating bearing 436, locating piece 437, limit base 438, oil buffer 439, positioning gas are pushed
Cylinder 4310, guide 4311 and positioning pin 4312, shaft seat 435 are fixedly installed in 41 side of abrasive band bottom plate, abrasive band rotary cylinder 432
Shaft seat 431 is installed on, rotary cylinder piston rod stretching in abrasive band is fixedly connected with connector 433, and connector 433, which is fixedly connected, to be pushed away
Dynamic 434 tail portion of pin, pushes 434 head of pin to be fixedly installed in rotating seat 435, and rotating seat 435 is rotatablely installed in floating bearing 436,
Floating bearing 436 is installed on 41 middle part of abrasive band bottom plate, and locating piece 437 is for arc and mounted on 41 top of abrasive band bottom plate, locating piece
One limit base 438 of installation, 438 phase of limit base install oil buffer 439, locating piece 437 inwardly above 437 head end both ends
Equipped with the location hole being spaced substantially equidistant, positioning cylinder 4310 is mounted on 435 top of rotating seat, and guide 4311 is mounted on rotating seat
Below 435 and corresponding with 4310 position of positioning cylinder, positioning cylinder piston rod extends downwardly into 4311 inside connection positioning of guide
Pin 4312, positioning pin 4312 are matched with location hole, when rotating seat 435 rotates ± 45 ° to extreme position, guide and oleo cushion
Device 439 is in contact, and prevents from rotating through position, 439 buffer protection guide 4311 of oil buffer preferably adjusts polishing unit 44
Rotation angle, realize belt sander rotation and adjustable rotation angle range.
As shown in figure 20, it is single polishing unit 44 include big riser 441, abrasive band 442, power wheel 443, the first idle pulley 444,
Rotating seat, tensioning is fixedly mounted in convex rubber tire 445, tensioning apparatus 446,447 and second idle pulley 448 of grinding wheel, big 441 lower part of riser
Device 446 is installed on big riser 441 and equipped with moveable tensioning wheel 4461, and actuating unit 2 drives power wheel 443 to rotate, sand
Band 442 is wrapped in power wheel 443, the first idle pulley 444, convex rubber tire 445, tensioning wheel 4461,447 and second idle pulley 448 of grinding wheel
Peripheral side revolution, adjustment the first idle pulley 448, convex rubber tire 445, tensioning apparatus 446, grinding wheel 447, the peace of the second idle pulley 448
Holding position is so as to change 442 winding arrangement of abrasive band.
As shown in figure 21, the configuration embodiment 1 of polishing unit 44：Tensioning apparatus 446 is vertically-mounted, tensioning wheel 4461 can on
Lower movement, tensioning wheel 4461 is between the first idle pulley 444 and convex rubber tire 445, convex rubber tire 445, grinding wheel 447, the second idle pulley
448 are located at big 441 front of riser, and the first idle pulley 448 is located at big 441 rear of riser, convex rubber tire connecting rod, grinding wheel connecting rod, first
Idler wheel link, the second idler wheel link are horizontally mounted respectively, and abrasive band 442 is wrapped in power wheel 443, the first idle pulley 444, tensioning successively
The peripheral side revolution of wheel 4461, convex rubber tire 445,447 and second idle pulley 448 of grinding wheel.
As shown in figure 22, the configuration embodiment 2 of polishing unit 44：Tensioning apparatus 446 is installed obliquely, and tensioning wheel 4461 can
Oblique movement, tensioning wheel 4461 is between the first idle pulley 444 and power wheel 443, the first idle pulley 444, convex rubber tire 445, polishing
It takes turns the 447, second idle pulley 448 and is located at big 441 front of riser, the first idler wheel link, grinding wheel connecting rod, the second idler wheel link difference water
Safety fills, and convex rubber tire connecting rod is vertically installed in front of the first idler wheel link, and abrasive band 442 is wrapped in power wheel 443, tensioning wheel successively
4461st, the peripheral side revolution of the first idle pulley 444, convex rubber tire 445,447 and second idle pulley 448 of grinding wheel.
As shown in figure 23, the configuration embodiment 3 of polishing unit 44：Tensioning apparatus 446 is horizontally mounted, and tensioning wheel 4461 can water
Translation is dynamic, and tensioning wheel 4461 is between convex rubber tire 445 and grinding wheel 447, convex rubber tire 445, grinding wheel 447, the second idle pulley 448
Positioned at big 441 front of riser, the first idle pulley 444 is located at big 441 rear of riser, convex rubber tire connecting rod, grinding wheel connecting rod, the first idle pulley
Connecting rod, the second idler wheel link are horizontally mounted respectively, and abrasive band 442 is wrapped in power wheel 443, the first idle pulley 4444, convex rubber tire successively
445th, the peripheral side revolution of tensioning wheel 4461,447 and second idle pulley 448 of grinding wheel.
As shown in figure 24, the configuration embodiment 4 of polishing unit 44：Tensioning apparatus 446 is installed obliquely, and tensioning wheel 4461 can
Oblique movement, for tensioning wheel 4461 between convex 445 and second idle pulley 448 of rubber tire, grinding wheel 447, convex rubber tire 445, second are lazy
Wheel 448 is located at big 441 front of riser, and the first idle pulley 444 is located at big 441 rear of riser, convex rubber tire connecting rod, the first idler wheel link point
It is not horizontally mounted, grinding wheel connecting rod, the second idler wheel link difference are diagonally-installed, and abrasive band 442 is wrapped in power wheel 443, the successively
The peripheral side revolution of one idle pulley 444, grinding wheel 447, convex rubber tire 445,4461 and second idle pulley 448 of tensioning wheel.
Polish unit 44 under the premise of any additional parts are not increased by adjusting the first idle pulley 448, convex rubber tire 445,
Tensioning apparatus 446, grinding wheel 447, the installation site of the second idle pulley 448 are so as to change 442 winding arrangement of abrasive band, four kinds of abrasive band cloth
Office is suitable for different workpieces and processes, and expands the use scope of belt sander, reduces cost, meets user and processes needs.
As shown in figs. 25 and 26, polishing machine 5 is dual-station polishing machine, and polishing machine 5 includes polishing bottom plate 51, rack 52, throws
Light rotating mechanism 53, polishing wheel rotating mechanism 54, polishing wheel 55, Song La mechanisms 56 and polishing wheel correction mechanism 57 polish bottom plate
51 top installation frames 52, polishing rotating mechanism 53 drive rack 52 to rotate left and right to proper operation face, polish rotating mechanism 53
It is similar with abrasive band rotating mechanism 43,52 upper interior of rack installation polishing wheel rotating mechanism 54, the 52 front left and right sides of rack
A Song La mechanisms 56 are separately installed with, polishing wheel correction mechanism 57 is installed at middle part in front of rack, and polishing wheel rotating mechanism 54 drives
Two polishing wheels 55 rotate, and Song La mechanisms 56 convey buffing wax, polishing wheel correction mechanism 57 toward corresponding 55 peripheral side of polishing wheel
Shaping polishing wheel makes polishing wheel be always round.
As shown in figure 27, polishing wheel correction mechanism 57 includes the regulation handle 572, two of fixed plate 571, two adjusting tooth bar
573rd, four connecting rods 576 of rolling bearing units 575, two of lead 574, four and two polishing wheel sleakers 577, fixed plate 571
Mounted on 52 front of rack, two adjust tooth bar 573 and are rotatablely installed by rolling bearing units 575 in 571 left and right sides of fixed plate, adjust
573 head installation and adjustment handle 572 of tooth bar is saved, 573 middle part of tooth bar is adjusted and is threadedly coupled 576 tail end of connecting rod, lead 574 is inserted
Simultaneously relative adjustment tooth bar 573 is symmetrical arranged load extension bar 576, and 576 head end of connecting rod installation polishing wheel sleaker 577, polishing wheel is scraped
Son 577 is located at 5 lower section of polishing wheel, and polishing wheel sleaker 577 is equipped with sawtooth close to 5 side of polishing wheel, respectively the tune of rotation left and right two
Handle 572 is saved, regulation handle 572 drives adjusting tooth bar 573 to rotate, and adjusts 573 drive connection bar 576 of tooth bar along lead 574
Lifting, connecting rod 576 drive polishing wheel sleaker 577 to be in contact with the polishing wheel 5 rotated, and polishing wheel sleaker 5757 wipes polishing wheel off
5 irregularities are held round polishing wheel 5, ensure concentricity.
As shown in Figure 28 and Figure 29, polishing wheel rotating mechanism 54 includes rotary electric machine 541, rotary electric machine installing plate 542, first
Synchronizing wheel 543, synchronous belt 544, the second synchronizing wheel 545, transmission shaft 546, bearing block 547 and substrate 548,548 lower section of substrate are solid
Dingan County's dress rotary electric machine installing plate 542, rotary electric machine 541 is fixedly mounted on 542 side of rotary electric machine installing plate, and rotary electric machine is defeated
Shaft passes through rotary electric machine installing plate 542 that the first synchronizing wheel 543 is fixedly mounted, and the first synchronizing wheel 543 is driven by synchronous belt 544
The second synchronizing wheel 545 is connected, 546 middle part of transmission shaft, 546 both ends of transmission shaft rotational installation axis is fixedly mounted in the second synchronizing wheel 545
Bearing 547, bearing block 547 are installed on 548 top of substrate, and 546 left and right ends of transmission shaft are respectively fixedly connected with across bearing block 547
Two polishing wheels 5 in left and right, rotary electric machine 541 drive the first synchronizing wheel 543 to rotate, and the first synchronizing wheel 543 is driven by synchronous belt 544
Dynamic second synchronizing wheel 545 rotates, and the second synchronizing wheel 545 drives transmission shaft 546 to rotate, and transmission shaft 36 drives the polishing wheel 5 at both ends
Rotation.
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,
Under 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 pipeline system sanding and polishing work station based on robot, it is characterised in that：Polishing safety including peripheral side
Room, mounting robot, belt sander, polishing machine inside polishing safe house, polishing safe house both sides install respectively loading working table, under
Expect workbench, robot is divided into milling robot and polishing robot by manufacturing procedure, belt sander at least 4 and is separated by opening
It puts, polishing machine at least 1 and is spaced placement, the quantity of milling robot is corresponding with belt sander quantity, polishing robot
Quantity it is corresponding with polishing machine quantity, between adjacent machines people be equipped with intermediate station, the leftmost side milling robot gripping feeding work
Make the workpiece on platform to complete to be placed on intermediate station, follow-up milling robot, polishing machine after first of polishing is processed close to belt sander
Device people grips workpiece and completes corresponding polishing, polishing, and polishing robot gripping workpiece in the rightmost side is placed on blanking work platform.
2. a kind of pipeline system sanding and polishing work station based on robot according to claim 1, it is characterised in that：Institute
It is identical with the structure of blanking work platform to state loading working table, loading working table includes fixed frame, material bottom plate, rotary cylinder, connection
Block, movable plate, rack, gear, rotary shaft, top plate, bearing, swivel plate, swivel mount, left flitch and right flitch, fixed frame middle part
Pacify charging bottom plate, rotary cylinder, rotary cylinder piston rod installation link block, the installation movement of link block side are installed above material bottom plate
Plate, movable plate front installation rack, rack meshing gear, gear are installed on rotary shaft lower end, top plate, top are installed above fixed frame
Plate centrally under installs bearing, bearing suit rotary shaft, and rotary shaft upper end passes through top plate to connect swivel plate, pacifies above swivel plate
Swivel mount is filled, the section of swivel mount is isosceles triangle, and swivel mount left and right sides tilts the left flitch of installation, right flitch, left material respectively
Plate, right flitch surface are placed with multiple workpiece, install positioning cylinder below top plate, positioning cylinder piston rod is determined across mounting of roof plate
Position pin, swivel plate lower section left and right sides are separately installed with left positioning column, right positioning column, and positioning cylinder driving positioning pin is individually inserted
Enter fixed rotation Board position in left positioning column, right positioning column.
3. a kind of pipeline system sanding and polishing work station based on robot according to claim 1, it is characterised in that：It beats
Grind the suspension control panel of installation control belt sander, polishing machine, loading working table, blanking work platform outside safe house, suspension control
It is equipped with control system in panel processed, control system includes central processing unit, the pre- storing module of part model, device model and prestores mould
Block, off-line programing module, robot motion's emulation module, code generation module, work origin calibration module, abrasive band alarm mould
Block polishes alarm module, the part model of different size model is previously stored in the pre- storing module of part model, device model is pre-
Belt sander, the polishing machine model of different number combination are previously stored in storing module, off-line programing module is respectively from part model
The pre- storing module of pre- storing module, device model calls in workpiece 3D models, equipment 3D models, and central processing unit is according to the workpiece 3D called in
Model, equipment 3D models generation robot motion track, robot motion's emulation module is according to movement locus virtual analog machine
People moves, and checks that mechanical position limitation or collision are whether there is in test machine people's motion process to be generated, if robot motion track is normal,
Code generation module is delivered directly to robot control cabinet according to robot motion's Track Pick-up post code, and operator passes through work
Make the origin of origin calibration module calibration machine human simulation movement locus and practical belt sander, the origin of polishing machine, further carry
The accuracy of high robot motion track, abrasive band alarm module calculate the polishing amount in single abrasive band automatically, when polishing amount reaches pre-
If during value, abrasive band alarm module sends out alarm sounds operator replacement, polishing alarm module monitors polishing by sensor automatically
The loss of wax and polishing wheel, when being lost totally, polishing alarm module sends out alarm sounds operator replacement.
4. a kind of pipeline system sanding and polishing work station based on robot according to claim 1, it is characterised in that：Institute
Belt sander is stated as double-station belt sander, it is single that belt sander includes abrasive band bottom plate, abrasive band actuating unit, abrasive band rotating mechanism and polishing
Member, abrasive band bottom plate top installation abrasive band rotating mechanism, abrasive band rotating mechanism are equipped with rotating seat, abrasive band actuating unit, polishing unit
Above rotating seat, polishing unit there are two and left and right settings, the abrasive band winding arrangement of two polishing units it is identical or not
Together, abrasive band actuating unit driving polishing unit starting, abrasive band rotating mechanism driving rotating seat drive abrasive band actuating unit, polishing single
Member rotates to proper operation face.
5. a kind of pipeline system sanding and polishing work station based on robot according to claim 4, it is characterised in that：Institute
Abrasive band rotating mechanism is stated to include shaft seat, abrasive band rotary cylinder, connector, push pin, rotating seat, floating bearing, locating piece, limit
Position seat, oil buffer, positioning cylinder, guide and positioning pin, shaft seat are fixedly installed in abrasive band bottom plate side, abrasive band rotary pneumatic
Cylinder is installed on shaft seat, and rotary cylinder piston rod stretching in abrasive band is fixedly connected with connector, and connector is fixedly connected with promotion pin tail
Portion pushes pin head part to be fixedly installed in rotating seat, and rotating seat is rotatablely installed in floating bearing, and floating bearing is installed on abrasive band bottom
In the middle part of plate, locating piece is for arc and above the bottom plate of abrasive band, one limit base of installation above the head end both ends of locating piece, limiting
Seat mutually installs oil buffer inwardly, and locating piece is equipped with the location hole being spaced substantially equidistant, and positioning cylinder is mounted on rotating seat
Side, guide is below rotating seat and corresponding with positioning cylinder position, and positioning cylinder piston rod is extended downwardly into inside guide
Positioning pin is connected, positioning pin is matched with location hole, when rotating seat rotates ± 45 ° to extreme position, guide and oil buffer
It is in contact.
6. a kind of pipeline system sanding and polishing work station based on robot according to claim 4, it is characterised in that：It is single
A polishing unit includes big riser, abrasive band, power wheel, the first idle pulley, convex rubber tire, tensioning apparatus, grinding wheel and the second idle pulley, greatly
Rotating seat is fixedly mounted in riser lower part, and tensioning apparatus is installed on big riser and equipped with moveable tensioning wheel, abrasive band abrasive band power
Mechanism driving power wheel rotation, abrasive band is wrapped in power wheel, the first idle pulley, convex rubber tire, tensioning wheel, grinding wheel and the second idle pulley
Peripheral side is turned round, and the first idle pulley of adjustment, convex rubber tire, tensioning apparatus, grinding wheel, the installation site of the second idle pulley are so as to change abrasive band
Winding arrangement.
7. a kind of pipeline system sanding and polishing work station based on robot according to claim 6, it is characterised in that：Institute
It is vertically-mounted to state tensioning apparatus, tensioning wheel can move up and down, and tensioning wheel between the first idle pulley and convex rubber tire, beat by convex rubber tire
Emery wheel, the second idle pulley are located in front of big riser, and the first idle pulley is located at big riser rear, convex rubber tire connecting rod, grinding wheel connecting rod, first
Idler wheel link, the second idler wheel link are horizontally mounted respectively, and abrasive band is wrapped in power wheel, the first idle pulley, tensioning wheel, convex glue successively
The peripheral side revolution of wheel, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is installed obliquely, tensioning wheel can oblique movement, tensioning wheel be located at the first idle pulley and power wheel it
Between, the first idle pulley, convex rubber tire, grinding wheel, the second idle pulley are located in front of big riser, the first idler wheel link, grinding wheel connecting rod, second
Idler wheel link is horizontally mounted respectively, and convex rubber tire connecting rod is vertically installed in front of the first idler wheel link, and abrasive band is wrapped in power successively
The peripheral side revolution of wheel, tensioning wheel, the first idle pulley, convex rubber tire, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is horizontally mounted, tensioning wheel is horizontally moveable, tensioning wheel between convex rubber tire and grinding wheel,
Convex rubber tire, grinding wheel, the second idle pulley are located in front of big riser, and the first idle pulley is located at big riser rear, convex rubber tire connecting rod, grinding wheel
Connecting rod, the first idler wheel link, the second idler wheel link are horizontally mounted respectively, and abrasive band is wrapped in power wheel, the first idle pulley, convex glue successively
The peripheral side revolution of wheel, tensioning wheel, grinding wheel and the second idle pulley；
Alternatively, the tensioning apparatus is installed obliquely, tensioning wheel can oblique movement, tensioning wheel be located at convex rubber tire and the second idle pulley it
Between, grinding wheel, convex rubber tire, the second idle pulley are located in front of big riser, and the first idle pulley is located at big riser rear, convex rubber tire connecting rod, the
One idler wheel link is horizontally mounted respectively, and grinding wheel connecting rod, the second idler wheel link difference are diagonally-installed, and abrasive band is wrapped in power successively
The peripheral side revolution of wheel, the first idle pulley, grinding wheel, convex rubber tire, tensioning wheel and the second idle pulley.
8. a kind of pipeline system sanding and polishing work station based on robot according to claim 1, it is characterised in that：Institute
Polishing machine is stated as dual-station polishing machine, polishing machine include polishing bottom plate, rack, polishing rotating mechanism, polishing wheel rotating mechanism,
Polishing wheel, Song La mechanisms and polishing wheel correction mechanism, polishing bottom plate top installation frame, polishing rotating mechanism driving rack or so
Proper operation face, rack upper interior installation polishing wheel rotating mechanism are rotated to, the rack front left and right sides is separately installed with one
Song La mechanisms, rack front middle part installation polishing wheel correction mechanism, polishing wheel rotating mechanism drive two polishing wheels rotations, send wax
Mechanism conveys buffing wax toward corresponding polishing wheel peripheral side, and polishing wheel correction mechanism shaping polishing wheel makes polishing wheel be always round
Shape.
9. a kind of pipeline system sanding and polishing work station based on robot according to claim 8, it is characterised in that：Institute
State polishing wheel correction mechanism include fixed plate, two regulation handles, two adjust tooth bars, four leads, four rolling bearing units,
Two connecting rods and two polishing wheel sleakers, fixed plate are mounted in front of rack, and two adjust tooth bar and rotated by rolling bearing units
It is installed at left and right sides of fixed plate, adjusts tooth bar head installation and adjustment handle, adjust and connecting rod tail end is threadedly coupled in the middle part of tooth bar,
Simultaneously relative adjustment tooth bar is symmetrical arranged lead inserting connecting rod, connecting rod head end installation polishing wheel sleaker, polishing wheel sleaker position
Below polishing wheel.
10. a kind of pipeline system sanding and polishing work station based on robot according to claim 8, it is characterised in that：
The polishing wheel rotating mechanism includes rotary electric machine, rotary electric machine installing plate, the first synchronizing wheel, synchronous belt, the second synchronizing wheel, passes
Rotary electric machine installing plate is fixedly mounted in moving axis, bearing block and substrate, substrate lower section, and rotary electric machine is fixedly mounted on rotary electric machine peace
Loading board side, rotary electric machine output shaft pass through rotary electric machine installing plate that the first synchronizing wheel is fixedly mounted, and the first synchronizing wheel passes through same
It walking V belt translation and connects the second synchronizing wheel, the second synchronizing wheel is fixedly mounted in the middle part of transmission shaft, both ends of the drive shaft rotational installation bearing block,
Bearing block is installed on surface, and transmission shaft left and right ends are respectively fixedly connected with two polishing wheels in left and right across bearing block.
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