CN108858236A - A kind of robot is in artificial marble bathtub grinding technology - Google Patents
A kind of robot is in artificial marble bathtub grinding technology Download PDFInfo
- Publication number
- CN108858236A CN108858236A CN201810847502.6A CN201810847502A CN108858236A CN 108858236 A CN108858236 A CN 108858236A CN 201810847502 A CN201810847502 A CN 201810847502A CN 108858236 A CN108858236 A CN 108858236A
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- module
- control
- mechanical arm
- polishing
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robots in artificial marble bathtub grinding technology, including mechanical arm and firm banking, mechanical arm is symmetrically arranged at left and right sides of the top of the firm banking, the terminal of the mechanical arm connects polishing pad, hydraulic cylinder is equipped at the top center position of the firm banking, the top connection activity armed lever of the hydraulic cylinder, backing plate is connected and fixed at the top of the activity armed lever, the top connection transmission shield frame of the fixed backing plate, the left side of the transmission shield frame is equipped with driving motor, the right side of the driving motor is rotatablely connected drive roller shaft, the external of the drive roller shaft wraps up transmission chain band, the top of the transmission chain band, which is equipped with, determines clamp block and dynamic clamp block, the right side for determining clamp block is equipped with the dynamic clamp block.The present invention substantially reduces labour, and improves the accuracy of product processing polishing, realizes intelligent production, is worthy to be popularized.
Description
Technical field
The present invention relates to automation processing technique fields, and specially a kind of robot is in artificial marble bathtub polishing skill
Art.
Background technique
In recent years, demographic dividend fades away, and recruitment cost rises year by year, and consumer demand is higher and higher, it has also become
The pain spot and obstruction of sanitary ware industry development.For this purpose, sanitary ware industry also is being accelerated to make the transition, industry automation, mechanization production degree
It is higher and higher.As labor-intensive production, production link automation is the only way which must be passed of sanitary ware industry, introduces robot polishing
System, automated production have become the growth requirement of bathroom polishing, and grinding technology used at present is the hand-held tradition polishing of worker
Machine polishes point by point to bath tub surface, the major defect of manual polishing, and grinding efficiency is low, manual operation, it may appear that fatigue strength is asked
The problem of topic, homogeneity of product is difficult to ensure, manual operation, has a qualification, technical level, it is difficult to guarantee workpieces processing
Standardization, producers' working environment is severe, and operator is always at that noise is big, in the working environment more than dust, operating environment
It can do harm to huamn body, management cost is higher, wage for workmen's higher cost, for the above, then how to invent one
In artificial marble bathtub grinding technology, this becomes our problems to be solved for kind robot.
Summary of the invention
The purpose of the present invention is to provide a kind of robots in artificial marble bathtub grinding technology, solves background technique
Proposed in the problem of.
To solve the above problems, the present invention provides the following technical solutions：A kind of robot polishes in artificial marble bathtub
The top left and right sides of technology, including mechanical arm and firm banking, the firm banking is symmetrically arranged with mechanical arm, the machinery
The terminal of arm connects polishing pad, and hydraulic cylinder is equipped at the top center position of the firm banking, is connected at the top of the hydraulic cylinder
It takes over a job semaphore, backing plate is connected and fixed at the top of the activity armed lever, the top connection transmission shield frame of the fixed backing plate is described
The left side of transmission shield frame is equipped with driving motor, and the right side of the driving motor is rotatablely connected drive roller shaft, the drive roller shaft
Outside package transmission chain band, the top of the transmission chain band, which is equipped with, determines clamp block and dynamic clamp block, the right side for determining clamp block
Equipped with the dynamic clamp block, the left side of the firm banking is equipped with control cabinet, and it includes passing that the inside of the control cabinet, which is equipped with,
Send system and intelligence control system.
As present invention further optimization mode, the intelligence control system includes data inputting module, operation identification
Module, mechanical arm control module, force feedback sensing module, information transmit-receive transmission module, operation control logging modle, system upgrade
Update module, the data inputting module, operation identification module, mechanical arm control module, force feedback sensing module, information transmit-receive
Transmission module, operation control logging modle, system upgrade update module.
As present invention further optimization mode, the intelligence control system establishes corresponding system upgrade and updates mould
Block searches for more new system in time, and the system upgrade update module is set as that wireless network or cable network can be connected to, and leads to
It crosses network and carries out timely system update.
As present invention further optimization mode, the mechanical arm control module include remote control unit, movement execute list
Member, sensor unit, motion servo unit, polishing power unit, elevating control unit, the remote control unit integrally take orders
It is controlled, the sensor unit is set as detection contact article, and the motion servo unit is set as whole offer power, described
Polishing power unit is set as that marble can be carried out sanding and polishing, and the elevating control unit is set as control entirety and is gone up and down.
As present invention further optimization mode, the conveyer system includes power train control module, fixture control module
With lift adjustment module, the power train control module can carry out control transmission speed, and the fixture control module can carry out
Marble is clamped in control, and the lift adjustment module can control hydraulic cylinder and movable armed lever carries out lift adjustment.
As present invention further optimization mode, carrying out practically includes following operating procedure,
Step S1 starts, and conveyer system starting starts to transport article, by cooperating driving motor to carry out using power plant module
Drive roller shaft is driven, so that transmission chain band be driven to be transmitted, and carries out clamping workpiece by fixture control module；
Step S2, when article is sent to mechanical arm, by carrying out Intelligent control to mechanical arm using intelligence control system
Realize automatically grinding；
Step S3, the workpiece after polishing carry out continuing to transmit, and pipelining carries out continuous polishing transmission operation；
Step S4, system upgrade update module is during real time execution, by network real-time monitoring more new system, in time
Down loading updating system software keeps the safety and stabilization of intelligence control system in real time.
Compared with prior art, beneficial effects of the present invention are as follows：
This invention ensures that product stability, improves operating worker due to dust the case where illness, accurate operation：Complete root
Operation is carried out according to shape, it is flexible accurate：Automatic precision polishing processing, path are automatic：Automatically robot ambulation path is established, solely
Spy's calibration：Automatically it is calibrated and compensated deviation, height emulates：It is surface-treated working height emulation, improved efficiency：Simplify teaching journey
Sequence, programming time is extremely short, reduces artificial intensity, substantially reduces labour, realizes intelligent production, is worthy to be popularized.
Detailed description of the invention
Fig. 1 is the simple schematic diagram of integral device of the present invention；
Fig. 2 is total system principle framework schematic diagram of the present invention.
In figure：Mechanical arm -1, firm banking -2, polishing pad -3, hydraulic cylinder -4, movable armed lever -5, fixed backing plate -6, transmission
Shield frame -7, drive roller shaft -9, transmission chain band -10, determines clamp block -11, dynamic clamp block -12, control cabinet -13 at driving motor -8.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
This practical invention provides a kind of technical solution referring to FIG. 1-2,：A kind of robot polishes in artificial marble bathtub
The top left and right sides of technology, including mechanical arm 1 and firm banking 2, the firm banking 2 is symmetrically arranged with mechanical arm 1, described
The terminal of mechanical arm 1 connects polishing pad 3, is equipped with hydraulic cylinder 4, the hydraulic cylinder 4 at the top center position of the firm banking 2
Top connection activity armed lever 5, the top of the activity armed lever 5 is connected and fixed backing plate 6, the top connection of the fixed backing plate 6
Transmission shield frame 7, the left side of the transmission shield frame 7 are equipped with driving motor 8, and the right side of the driving motor 8 is rotatablely connected live-roller
Axis 9, the external of the drive roller shaft 9 wrap up transmission chain band 10, and the top of the transmission chain band 10, which is equipped with, determines clamp block 11 and move
Clamp block 12, the right side for determining clamp block 11 are equipped with the dynamic clamp block 12, and the left side of the firm banking 2 is equipped with control machine
Case 13, it includes conveyer system and intelligence control system that the inside of the control cabinet 13, which is equipped with,.
The intelligence control system includes data inputting module, operation identification module, mechanical arm control module, force feedback biography
Feel module, information transmit-receive transmission module, operation control logging modle, system upgrade update module, the data inputting module, behaviour
Make identification module, mechanical arm control module, force feedback sensing module, information transmit-receive transmission module, operation control logging modle, be
System upgrading update module.
The intelligence control system establishes corresponding system upgrade update module, is searched in time to more new system, institute
It states system upgrade update module to be set as that wireless network or cable network can be connected to, timely system update is carried out by network.
The mechanical arm control module include remote control unit, mobile execution unit, sensor unit, motion servo unit,
Polishing power unit, elevating control unit, the remote control unit, which integrally takes orders, to be controlled, and the sensor unit is set as
Detection contact article, the motion servo unit are set as whole and provide power, and the polishing power unit is set as can be to marble
Sanding and polishing is carried out, the elevating control unit is set as control entirety and is gone up and down.
The conveyer system includes power train control module, fixture control module and lift adjustment module, the dynamic Control
Module can carry out control transmission speed, and the fixture control module can carry out control and clamp marble, the lift adjustment
Module can control hydraulic cylinder and movable armed lever carries out lift adjustment.
Carrying out practically includes following operating procedure,
Step S1 starts, and conveyer system starting starts to transport article, by cooperating driving motor to carry out using power plant module
Drive roller shaft is driven, so that transmission chain band be driven to be transmitted, and carries out clamping workpiece by fixture control module；
Step S2, when article is sent to mechanical arm, by carrying out Intelligent control to mechanical arm using intelligence control system
Realize automatically grinding；
Step S3, the workpiece after polishing carry out continuing to transmit, and pipelining carries out continuous polishing transmission operation；
Step S4, system upgrade update module is during real time execution, by network real-time monitoring more new system, in time
Down loading updating system software keeps the safety and stabilization of intelligence control system in real time.
Embodiment
1. robot grinding efficiency is high, yield increases, robot polishing, can accomplish uninterruptedly to produce for 24 hours, and work
8 hours of people's darg.The traditional approach of the 2-3 bathtub of production in worker one day simultaneously, robot bathtub intelligence polishing system,
One hour energy 1 bathtub of output, one day yield at least 20, and compare the labourer hired by the month of traditional nearly ten thousand yuan of worker of grinding technology
Money, can monthly be saved labour turnover nearly 100,000 yuan using robot, equipment of a set of price at more than 100 ten thousand yuan.
2. robot is precisely polished according to the program set, grinding accuracy is high, and standardized production ensure that bathtub
Consistency, improve qualification rate, among the process of traditional manual polishing, inevitably will appear size and standard component occur error,
The problems such as surface is not smooth enough, and robot polishing system then can be fed back by advanced power control and be programmed to different sections
Unified polishing, and the consistency and flatness for ensuring to polish are carried out, as robot can uniformly grind low 0.5mm, but manual polishing
It is to go to polish by personal vision and dynamics, flatness is difficult to control.
To sum up, this invention ensures that product stability, improves operating worker due to dust the case where illness, accurate operation：
Operation is carried out according to shape completely, it is flexible accurate：Automatic precision polishing processing, path are automatic：Automatically robot ambulation is established
Path, uniqueness calibration：Automatically it is calibrated and compensated deviation, height emulates：It is surface-treated working height emulation, improved efficiency：Simplify
Teaching program, programming time is extremely short, reduces artificial intensity, substantially reduces labour, realizes intelligent production, is worth pushing away
Extensively.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (6)
1. a kind of robot is in artificial marble bathtub grinding technology, including mechanical arm (1) and firm banking (2), feature exists
It is：It is symmetrically arranged with mechanical arm (1) at left and right sides of the top of the firm banking (2), the terminal connection of the mechanical arm (1)
Polishing pad (3) is equipped with hydraulic cylinder (4) at the top center position of the firm banking (2), connects at the top of the hydraulic cylinder (4)
It takes over a job semaphore (5), is connected and fixed backing plate (6) at the top of the activity armed lever (5), the top connection of the fixed backing plate (6)
The left side of transmission shield frame (7), transmission shield frame (7) is equipped with driving motor (8), and the right side of the driving motor (8), which rotates, to be connected
It connects drive roller shaft (9), the external of the drive roller shaft (9) wraps up transmission chain band (10), sets at the top of the transmission chain band (10)
Have and determine clamp block (11) and dynamic clamp block (12), the right side for determining clamp block (11) is equipped with the dynamic clamp block (12), described
The left side of firm banking (2) is equipped with control cabinet (13), and it includes conveyer system and intelligence that the inside of control cabinet (13), which is equipped with,
It can control system.
2. a kind of robot according to claim 1 is in artificial marble bathtub grinding technology, it is characterised in that：The intelligence
The system of can control includes data inputting module, operation identification module, mechanical arm control module, force feedback sensing module, information receipts
Send out transmission module, operation control logging modle, system upgrade update module, the data inputting module, operation identification module, machine
Tool arm control module, force feedback sensing module, information transmit-receive transmission module, operation control logging modle, system upgrade update mould
Block.
3. a kind of robot according to claim 1 is in artificial marble bathtub grinding technology, it is characterised in that：The intelligence
The system of can control establishes corresponding system upgrade update module, is searched in time to more new system, and the system upgrade updates
Module is set as that wireless network or cable network can be connected to, and carries out timely system update by network.
4. a kind of robot according to claim 2 is in artificial marble bathtub grinding technology, it is characterised in that：The machine
Tool arm control module includes remote control unit, mobile execution unit, sensor unit, motion servo unit, polishing power unit, rises
Control unit drops, and the remote control unit, which integrally takes orders, to be controlled, and the sensor unit is set as detection contact article, institute
It states motion servo unit and whole offer power is provided, the polishing power unit is set as that sanding and polishing, institute can be carried out to marble
Elevating control unit is stated to be set as controlling whole gone up and down.
5. a kind of robot according to claim 1 is in artificial marble bathtub grinding technology, it is characterised in that：The biography
Sending system includes power train control module, fixture control module and lift adjustment module, and the power train control module can be controlled
Transmission speed processed, the fixture control module can carry out control and clamp marble, and the lift adjustment module can control liquid
Cylinder pressure and movable armed lever carry out lift adjustment.
6. a kind of robot according to claim 1 is in artificial marble bathtub grinding technology, it is characterised in that：Specific fortune
Row includes following operating procedure,
Step S1 starts, and conveyer system starting starts to transport article, by cooperating driving motor to be driven using power plant module
Drive roller shaft so that transmission chain band be driven to be transmitted, and carries out clamping workpiece by fixture control module；
Step S2, when article is sent to mechanical arm, by carrying out Intelligent control realization to mechanical arm using intelligence control system
Automatically grinding；
Step S3, the workpiece after polishing carry out continuing to transmit, and pipelining carries out continuous polishing transmission operation；
Step S4, system upgrade update module, by network real-time monitoring more new system, are downloaded in time during real time execution
System software is updated, keeps the safety and stabilization of intelligence control system in real time.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847502.6A CN108858236A (en) | 2018-07-27 | 2018-07-27 | A kind of robot is in artificial marble bathtub grinding technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810847502.6A CN108858236A (en) | 2018-07-27 | 2018-07-27 | A kind of robot is in artificial marble bathtub grinding technology |
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| Publication Number | Publication Date |
|---|---|
| CN108858236A true CN108858236A (en) | 2018-11-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810847502.6A Pending CN108858236A (en) | 2018-07-27 | 2018-07-27 | A kind of robot is in artificial marble bathtub grinding technology |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514571A (en) * | 2018-12-05 | 2019-03-26 | 上海发那科机器人有限公司 | It is a kind of to utilize robot vision and force snesor to the pinpoint method of car body polishing point |
| CN110722441A (en) * | 2019-10-10 | 2020-01-24 | 达英科(南京)设备有限公司 | Polishing robot capable of realizing diameter change through lever |
| CN113319694A (en) * | 2021-06-16 | 2021-08-31 | 温州职业技术学院 | High-efficient numerical control grinding machine who processes |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109514571A (en) * | 2018-12-05 | 2019-03-26 | 上海发那科机器人有限公司 | It is a kind of to utilize robot vision and force snesor to the pinpoint method of car body polishing point |
| CN110722441A (en) * | 2019-10-10 | 2020-01-24 | 达英科(南京)设备有限公司 | Polishing robot capable of realizing diameter change through lever |
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| CN113319694A (en) * | 2021-06-16 | 2021-08-31 | 温州职业技术学院 | High-efficient numerical control grinding machine who processes |
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Application publication date: 20181123 |