CN108942658B

CN108942658B - Double-grinding and polishing device for tail end of robot

Info

Publication number: CN108942658B
Application number: CN201810630753.9A
Authority: CN
Inventors: 李峰; 邓小军
Original assignee: Yuyi Intelligent Technology (shanghai) Co Ltd
Current assignee: Yuyi Intelligent Technology (shanghai) Co Ltd
Priority date: 2018-06-19
Filing date: 2018-06-19
Publication date: 2020-01-24
Anticipated expiration: 2038-06-19
Also published as: CN108942658A

Abstract

The invention provides a double-grinding and polishing device for the tail end of a robot, which comprises a driving device (201), a fixed rack (202), an executing device (203) and a transmission device (204); the driving device (201) and the transmission device (204) are both fixedly mounted on the fixed frame (202), and the execution device (203) is connected with the transmission device (204); the transmission (204) comprises an eccentric mechanism and/or a non-eccentric mechanism. The invention can finish two procedures of grinding and polishing without replacing tools, and can reduce the production takt of the station by more than 20 s; greatly prolongs the service life of the abrasive paper, increases the number of the door frames of each piece of abrasive paper sanding vehicle from 2-3 to 5-6, improves the use efficiency of the abrasive paper by more than 2 times, and improves the input-return ratio of the whole equipment.

Description

Double-grinding and polishing device for tail end of robot

Technical Field

The invention relates to the field of grinding and polishing equipment, in particular to a double-grinding and polishing device for the tail end of a robot.

Background

The automobile body workshop has high automation level and high production takt and simultaneously has high requirement on the whole polishing quality. The processing of two processes of polishing and polishing need be carried out to present door frame arc after welding, and in traditional robot grinding station, it all adopts pneumatic angle grinder and pneumatic burnishing machine to process to polish and polish. The processing mode can not control the key parameters such as grinding force, rotating speed and the like, so that the welding seams after grinding and polishing are uneven, and the consumption of grinding materials is increased; in addition, the grinding tool needs to be replaced in the machining process, so that the beat of stations is increased, and the equipment cost is increased; meanwhile, the pneumatic polishing machine and the angle grinder have high noise and are difficult to control, and the health of workers is influenced.

Disclosure of Invention

In view of the defects in the prior art, the invention aims to provide a double polishing device for a robot tail end.

The double-grinding and polishing device for the tail end of the robot comprises a driving device, a fixed rack, an executing device and a transmission device; the driving device and the transmission device are both fixedly arranged on the fixed frame, and the execution device is connected with the transmission device;

the transmission includes an eccentric mechanism and/or a non-eccentric mechanism.

Preferably, the fixed frame comprises a mounting plate and a housing;

the mounting plate is fixedly connected with the housing and forms a containing space inside, and the whole or part of the transmission device is mounted in the containing space; the driving device comprises a servo motor, the servo motor is fixedly mounted on the mounting plate, and the servo motor is connected with the transmission device.

Preferably, the driving device further comprises a flexible force control device, the flexible force control device is fixedly mounted on the mounting plate, and the flexible force control device is connected with the servo motor.

Preferably, the fixed frame further comprises a dustproof ring and soundproof cotton, the soundproof cotton is fixedly mounted on the housing, and the housing, the dustproof ring and the mounting plate are sequentially connected;

the mounting plate is also provided with an air blowing joint and a bearing housing; the inner side of the mounting plate is provided with a reinforcing rib.

Preferably, the transmission device further comprises a driving wheel, and the driving wheel is connected with the servo motor;

the non-eccentric mechanism comprises a first driven wheel, and the eccentric mechanism comprises a second driven wheel; the driving wheel, the first driven wheel and the second driven wheel are connected through the arranged synchronous belt in sequence.

Preferably, the non-eccentric mechanism further comprises a first belt seat bearing and a non-eccentric shaft;

the first belt seat bearing is fixedly arranged on the mounting plate, and the first driven wheel and the first belt seat bearing are both arranged on the non-eccentric shaft.

Preferably, the eccentric mechanism further comprises a second bearing with a seat, a first sleeve, an eccentric shaft, a first bearing, a turntable connecting shaft, a second bearing, a disc spring and a second sleeve;

the second bearing with a seat, the first sleeve, the second driven wheel, the second sleeve, the first bearing, the disc spring, the second bearing and the turntable connecting shaft are sequentially arranged on the eccentric shaft.

Preferably, the executing device comprises a first rotating disc and a second rotating disc, and the first rotating disc and the second rotating disc are both positioned in a space outside the object containing space;

the first rotating disc and the second rotating disc are respectively arranged on the non-eccentric mechanism and the eccentric mechanism.

Preferably, the non-eccentric mechanism further comprises a millennium shaft, a pressing sheet and a retainer ring; the thousand-blade wheel shaft is connected with the non-eccentric shaft;

the actuating device comprises a louver blade; the pressing sheet and the retainer ring together axially fix the louver blades on the louver shaft.

Preferably, the transmission device further comprises an idler wheel assembly, wherein the idler wheel assembly comprises a locking plate, an idler wheel shaft, an idler wheel bracket, a locknut, an adjusting bolt, a bolt bracket and an idler wheel;

the idle wheel is arranged on an idle wheel shaft, the idle wheel shaft is rotationally connected with an idle wheel bracket, the locking plate is arranged on the idle wheel bracket, the idle wheel bracket and the bolt bracket are both arranged on the mounting plate, the adjusting bolt is connected with the idle wheel bracket, and the locknut is arranged on the adjusting bolt;

the timing belt is in contact with the idler in the direction of length extension.

Compared with the prior art, the invention has the following beneficial effects:

1. the invention can finish two procedures of grinding and polishing without replacing tools, and can reduce the production takt of the station by more than 20 s;

2. the service life of the abrasive paper can be greatly prolonged, the number of the door frames of each abrasive paper sanding vehicle is increased from 2-3 to 5-6, the use efficiency of the abrasive paper is improved by more than 2 times, and the input-return ratio of the whole equipment is improved;

3. the automatic sand paper replacing machine is matched with an automatic sand paper replacing machine for use, so that the function of automatically replacing sand paper can be realized, manual intervention is not needed, and the manual burden is reduced;

4. through the displacement compensation of the flexible force control device, the output force control and the rotating speed control of the servo motor, the whole polishing process can be controlled and adjusted, the new automobile polishing process can be adjusted quickly in an automobile part factory conveniently, and the universality of equipment is improved.

5. Through the automatic flexible compensation of flexible power control device, can reduce the robot orbit debugging degree of difficulty, carry out burnishing and polishing automatic compensation to welding error simultaneously, promote whole burnishing and polishing quality.

Drawings

Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:

FIG. 1 is a perspective view of a double polishing apparatus for a robot end;

FIG. 2 is a schematic diagram of the position of the transmission in the double polishing apparatus for the end of the robot;

FIG. 3 is an exploded view of a double polishing apparatus for a robot tip;

FIG. 4 is a schematic view of the back structure of the mounting plate;

FIG. 5 is an exploded view of a non-over-center mechanism;

FIG. 6 is an exploded view of the eccentric mechanism;

FIG. 7 is another downward perspective view of the dual polishing apparatus for the end of the robot;

fig. 8 is an exploded view of a non-eccentric mechanism in a modification.

The figures show that:

Detailed Description

The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that variations and modifications can be made by persons skilled in the art without departing from the spirit of the invention. All falling within the scope of the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, are not to be construed as limiting the present invention.

As shown in fig. 1 and fig. 2, the double polishing device for the robot end of the present invention mainly comprises four major parts, namely a driving device 201, a fixed frame 202, an executing device 203 and a transmission device 204. The driving device 201 and the transmission device 204 are fixed on the fixed frame 202 through screws, the actuator 203 is connected to the transmission device 204 through threads, and the four devices are matched with each other to transmit power to the actuator 203 to achieve grinding and polishing of the surface of the workpiece.

As shown in fig. 3, the driving device 201 is mainly composed of a flexible force control device 1 and a servo motor 2, both of which are fixed to a mounting plate 3 by screws. The servo motor 2 is used as a power source, the flexible force control device 1 can control the pressure of grinding and polishing, and the invention can meet different process requirements by controlling the rotating speed of the servo motor 2 and the output force of the flexible force control device 1. The fixed frame 202 mainly comprises a mounting plate 3, a dust ring 5, soundproof cotton 6, a housing 7, a blowing joint 11 and a bearing housing 12; wherein, the dust ring 5, the housing 7, the blowing joint 11 and the bearing housing 12 are fixed on the mounting plate 3 through screws, and the soundproof cotton 6 is fixed with the housing 7 through bonding. 3 inside symmetric distributions of mounting panel have strengthening rib 13, can improve self intensity and rigidity, reduce the vibration of device and increase mounting panel life, housing 7, bearing housing 12 can protect device internal component and avoid the collision damage, dust ring 5, blowing joint 11 can avoid the dust to get into, improve the life of hold-in range 10 and band pulley, wherein dust ring 5 can also reduce vibration, soundproof cotton 6 can reduce the noise that hold-in range 10 high-speed motion produced, can be with noise control below 70dB, accord with national standard. The executing device 203 is mainly a first rotating disk 8 and a second rotating disk 9, which are fixed with a transmission device through self threads, and different rotating disks such as a sand paper tray, a hundred-blade wheel, a grinding wheel and the like can be selected according to different processes, so that the diversification of the grinding tool is realized.

As shown in fig. 3, 4, 5, and 6, the transmission device 204 mainly includes a driving wheel 4, a synchronous belt 10, a locking plate 14, an idler shaft 15, an idler bracket 16, a locknut 17, an adjusting bolt 18, a bolt bracket 19, an idler 20, a first locknut 21, a first belt bearing 22, a first driven wheel 23, a non-eccentric shaft 24, a second locknut 25, a second belt bearing 26, a first sleeve 27, a second driven wheel 28, an eccentric shaft 29, a first bearing 30, a turntable connecting shaft 31, a second bearing 32, a disc spring 33, and a second sleeve 34. The driving wheel 4 is fixed on an output shaft of the servo motor 2 through a set screw and a flat key, and is positioned by the set screw in the radial direction and the axial direction, and the flat key is positioned in the circumferential direction and transmits torque. The idler wheel 20 is fixed on the idler wheel shaft 15 through a set screw and a flat key, the idler wheel shaft 15 and the idler wheel support 16 are radially positioned through transition fit, circumferential and axial positioning is carried out through a locking plate 14, the locking plate 14 is fixed on the idler wheel support 16 through a screw, and the idler wheel support 16 and a bolt support 19 are fixed with the mounting plate 3 through screws. When adjusting the hold-in range elasticity, through adjusting bolt 18 front and back position, drive the back-and-forth movement of idler support 16, screw up set screw in suitable position can, in order to guarantee the hold-in range long-term steady operation, increase lock nut 17 and increase the reliability, prevent that the hold-in range is not hard up. The first belt seat bearing 22 and the non-eccentric shaft 24 are in transition fit, are positioned by using a shaft shoulder, are fixed by the second locking nut 25, the first driven wheel 23 is fixed on the non-eccentric shaft 24 through an elastic retainer ring and a flat key, the first belt seat bearing 22 is fixed on the mounting plate 3 through a screw, the first rotary disc 8 is fixed on the non-eccentric shaft 24 through threaded connection, the first locking nut 21, the first belt seat bearing 22, the first driven wheel 23 and the non-eccentric shaft 24 form a non-eccentric mechanism, the rotating speed is slightly low, and the grinding machine is suitable for a grinding process. A second lock nut 25, a second bearing with a seat 26, a first sleeve 27, a second driven wheel 28 and a second sleeve 34 are sequentially mounted on the eccentric shaft 29, wherein the second bearing with a seat 26 is in transition fit with the eccentric shaft 29 and is positioned by the first sleeve 27, the second lock nut 25 is fixed, the second driven wheel 28 is in transition fit with the eccentric shaft 29 and is axially positioned by the first sleeve 27 and the second sleeve 34, and torque is transmitted by circumferential positioning of a flat key. The first bearing 30 and the second bearing 32 are fixed on the eccentric shaft 29 through interference fit and are fixed through elastic check rings, the disc spring 33 adjusts the bearing clearance, the turntable connecting shaft 31 is fixed on the first bearing 30 and the second bearing 32 through interference fit and is axially positioned through elastic check rings, and the second turntable 9 is fixed on the eccentric shaft 29 through threaded connection. The second locking nut 25, the second bearing with seat 26, the first sleeve 27, the second driven wheel 28, the eccentric shaft 29, the first bearing 30, the rotary table connecting shaft 31, the second bearing 32, the disc spring 33 and the second sleeve 34 form an eccentric mechanism, the rotating speed is high, and the polishing machine is suitable for a polishing process, wherein the dynamic balance grade of the eccentric shaft 29 reaches G1, and the generation of vibration is reduced from the source.

As shown in fig. 7, when the present invention is used for polishing and buffing, the output force and the response time of the flexible force control device 1 and the rotation speed of the servo motor 2 can be set according to the process requirements, and then two processes of polishing and buffing can be completed by selecting a suitable first turntable 8 and a suitable second turntable 9. The flexible force control device can also control the grinding amount through real-time feedback, if the removal amount of the surface of the workpiece is too large, the flexible force control device 1 can contract, and then a large force is output through feedback, so that the grinding amount is increased, and the effect of completely consistent surface of the workpiece is achieved.

In a variant, as shown in figure 8, the first rotating disc 8 of the actuator 203 can be replaced by a louvre 36 to adapt to different sanding process requirements. The axle 35 is fixed on the non-eccentric shaft 24 through self screw thread, after the louver blades 36 are installed, the pressing sheet 37 and the check ring 38 are used for pressing and fixing in sequence, and finally the axle 35 is fixed on the axle by screws.

According to the invention, the servo motor is applied to a grinding and polishing station, and the rotating speed is transmitted to the tail end of the execution device 203 through synchronous belt transmission, and the rotating speed of the servo motor 2 can be accurately controlled and the synchronous belt 10 does not stall in the transmission process, so that the rotating speed requirement in the grinding and polishing process can be well ensured; the flexible force control device 1 can accurately control the magnitude of the grinding force, and the ultra-fast response time can be adjusted at any time in the grinding process, so that the grinding quality is ensured, the loss of grinding materials is reduced, and the cost is controlled; according to the invention, the grinding and polishing tools are integrated into one device, and the polishing process can be carried out without replacing tools after the grinding process is finished, so that the beat of a station is saved, and the yield is increased; the invention controls the generation of vibration by adding the soundproof cotton 6, reduces the generation of noise from the source and controls the noise of equipment to be 70 dB; the invention can eliminate the influence caused by poor welding quality of arc welding in the previous process, and can control the grinding amount by controlling the grinding force by the flexible force control device 1, thereby ensuring the consistency of the ground welding seam.

The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes and modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.

Claims

1. A double grinding and polishing device for the tail end of a robot is characterized by comprising a driving device (201), a fixed frame (202), an executing device (203) and a transmission device (204); the driving device (201) and the transmission device (204) are both fixedly mounted on the fixed frame (202), and the execution device (203) is connected with the transmission device (204);

the transmission (204) comprises an eccentric mechanism and a non-eccentric mechanism;

the fixed frame (202) comprises a mounting plate (3) and a housing (7);

the mounting plate (3) is fixedly connected with the housing (7) and forms a containing space inside, and the whole or part of the transmission device (204) is mounted in the containing space; the driving device (201) comprises a servo motor (2), the servo motor (2) is fixedly installed on the installation plate (3), and the servo motor (2) is connected with the transmission device (204);

the driving device (201) further comprises a flexible force control device (1), the flexible force control device (1) is fixedly mounted on the mounting plate (3), and the flexible force control device (1) is connected with the servo motor (2);

the transmission device (204) further comprises a driving wheel (4), and the driving wheel (4) is connected with the servo motor (2);

the non-eccentric mechanism comprises a first driven wheel (23), and the eccentric mechanism comprises a second driven wheel (28); the driving wheel (4), the first driven wheel (23) and the second driven wheel (28) are connected in sequence through the arranged synchronous belt (10);

the non-eccentric mechanism further comprises a first seated bearing (22) and a non-eccentric shaft (24);

the first bearing with a seat (22) is fixedly arranged on the mounting plate (3), and the first driven wheel (23) and the first bearing with a seat (22) are both arranged on the non-eccentric shaft (24);

the eccentric mechanism also comprises a second bearing with a seat (26), a first sleeve (27), an eccentric shaft (29), a first bearing (30), a turntable connecting shaft (31), a second bearing (32), a disc spring (33) and a second sleeve (34);

the second bearing with a seat (26), the first sleeve (27), the second driven wheel (28), the second sleeve (34), the first bearing (30), the disc spring (33), the second bearing (32) and the turntable connecting shaft (31) are sequentially arranged on the eccentric shaft (29).

2. The double grinding and polishing device for the tail end of the robot as claimed in claim 1, wherein the fixed frame (202) further comprises a dust ring (5) and soundproof cotton (6), the soundproof cotton (6) is fixedly installed on a housing (7), and the housing (7), the dust ring (5) and the mounting plate (3) are connected in sequence;

the mounting plate (3) is also provided with a blowing joint (11) and a bearing housing (12); the inner side of the mounting plate (3) is provided with a reinforcing rib (13).

3. The double polishing device for robot end according to claim 1, characterized in that the performing device (203) comprises a first turntable (8) and a second turntable (9), both the first turntable (8) and the second turntable (9) being located in a space outside the object containing space;

the first rotating disk (8) and the second rotating disk (9) are respectively arranged on the non-eccentric mechanism and the eccentric mechanism.

4. The double polishing device for robot end according to claim 1, characterized in that the non-eccentric mechanism further comprises a spider shaft (35), a pressing sheet (37) and a retainer ring (38); the thousand-blade wheel shaft (35) is connected with the non-eccentric shaft (24);

the actuator (203) comprises a louver (36); the pressing piece (37) and the retainer ring (38) together axially fix the louver blade (36) on the louver shaft (35).

5. The double polishing device for robot tips according to claim 1, characterized in that the transmission device (204) further comprises an idler assembly comprising a locking plate (14), an idler shaft (15), an idler bracket (16), a locknut (17), an adjusting bolt (18), a bolt bracket (19) and an idler (20);

the idle wheel (20) is arranged on an idle wheel shaft (15), the idle wheel shaft (15) is rotationally connected with an idle wheel bracket (16), the locking plate (14) is arranged on the idle wheel bracket (16), the idle wheel bracket (16) and the bolt bracket (19) are both arranged on the mounting plate (3), the adjusting bolt (18) is connected with the idle wheel bracket (16), and the locknut (17) is arranged on the adjusting bolt (18);

the timing belt (10) is in contact with the idler pulley (20) in the direction of longitudinal extension.