CN109434607A - Workpiece flash removed machine - Google Patents
Workpiece flash removed machine Download PDFInfo
- Publication number
- CN109434607A CN109434607A CN201811639236.4A CN201811639236A CN109434607A CN 109434607 A CN109434607 A CN 109434607A CN 201811639236 A CN201811639236 A CN 201811639236A CN 109434607 A CN109434607 A CN 109434607A
- Authority
- CN
- China
- Prior art keywords
- workpiece
- arm
- multiaxis
- joint arm
- crawl
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- 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
- B24B9/00—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor
- B24B9/02—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground
- B24B9/04—Machines or devices designed for grinding edges or bevels on work or for removing burrs; Accessories therefor characterised by a special design with respect to properties of materials specific to articles to be ground of metal, e.g. skate blades
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to a kind of workpiece flash removed machines, it includes rack and the grasping mechanism being arranged on the rack, turnover mechanism, workpiece polishing mechanism；The grasping mechanism is used for the clamping workpiece back side, and cooperates with workpiece polishing mechanism and complete the positive sanding operation of workpiece；The turnover mechanism is oppositely arranged with grasping mechanism, and turnover mechanism from grasping mechanism for picking up workpiece, and the sanding operation with workpiece polishing mechanism or other mechanisms cooperation completion back of work.The present invention has the advantages that realizing workpiece automation, the polishing at no dead angle by cooperation between grasping mechanism, turnover mechanism and workpiece polishing mechanism.
Description
Technical field
The present invention relates to automation equipment field, especially a kind of workpiece flash removed machine.
Background technique
Burr is the superfine small microscopic metal particle of remaining bits and surface that metalwork surface occurs.Burr is more, quality
Standard is lower.Burr is removed usually using manual polishing, large labor intensity, and dust is more.
Summary of the invention
The purpose of the present invention is to provide a kind of workpiece flash removed machines, are able to achieve workpiece automation, no dead angle flash removed
Operation.
The purpose of the present invention is achieved through the following technical solutions: a kind of workpiece flash removed machine, it includes rack and setting
Grasping mechanism, turnover mechanism, workpiece polishing mechanism on the rack；The grasping mechanism is used for the clamping workpiece back side, and and sander
The positive sanding operation of workpiece is completed in structure cooperation；The turnover mechanism is oppositely arranged with grasping mechanism, and turnover mechanism is used for from grabbing
It takes and picks up workpiece in mechanism, and complete the sanding operation of back of work with workpiece polishing mechanism or the cooperation of other mechanisms；The gripper
Structure includes grabbing pedestal, the multiaxis crawl mechanical arm A on crawl pedestal and grabbing set on the multiaxis crawl front end mechanical arm A
Take portion A；The turnover mechanism includes overturning pedestal, the multiaxis crawl mechanical arm B on overturning pedestal, being set to multiaxis gripper
The docking driving assembly crawl section B and driving overturning pedestal of the front end tool arm B mobile to grasping mechanism direction；The sander
Structure includes multiaxis grinding machine arm A and several grinding head A set on the front end multiaxis grinding machine arm A.
For the prior art, the present invention has the advantages that
1. the present invention includes grasping mechanism, turnover mechanism and workpiece polishing mechanism, workpiece to be polished first passes through grasping mechanism folder
It holds, and cooperates the front for completing workpiece to polish with workpiece polishing mechanism, due to there is machinery between piece-holder position and workpiece polishing mechanism
Interference, cause on workpiece there are large area interference dead angle can not remove；The present invention passes through the opposite side of turnover mechanism clamping workpiece,
Workpiece is docked from grasping mechanism and is moved away, and workpiece polishing mechanism is cooperated to complete beating for back of work (including interfering dead zone)
Mill operation, and then realize workpiece automation, the polishing at no dead angle.
2. the invention also includes charging workpiece polishing mechanisms and discharging workpiece polishing mechanism, and grasping mechanism is arranged two groups, two grippers
The bottom of structure is equipped with transposition rotating seat, realizes the polishing of three stations, greatly improves grinding workpieces efficiency, while workpiece can be automatic
Charging and discharging, realize full-automatic operation.
Detailed description of the invention
Fig. 1 is a kind of schematic perspective view of workpiece flash removed machine embodiment of the present invention.
Fig. 2 is the main view of Fig. 1.
Fig. 3 is the top view of workpiece flash removed machine (A indicates that the first station, B indicate second station, and C indicates 3rd station).
Fig. 4 is the top view (grasping mechanism and turnover mechanism mated condition) of workpiece flash removed machine.
Fig. 5 is the structural schematic diagram of grasping mechanism.
Fig. 6 is the structural schematic diagram of turnover mechanism.
Fig. 7 is the structural schematic diagram of workpiece polishing mechanism.
Label declaration: joint arm A, 222 behind 1 rack, 2 grasping mechanisms, 21 crawl pedestals, 22 multiaxises crawl mechanical arm A, 221
Joint arm before joint arm B, 322 behind preceding joint arm A, 23 crawl section A, 3 turnover mechanisms, 31 overturning pedestals, 32 multiaxises crawl mechanical arm B, 321
B, 33 crawl section B, 34 docking driving assemblies, 4 workpiece polishing mechanisms, 41 multiaxis grinding machine arm A, 411 polishing pedestals, joint arm in 412,
413 outer joint arms, 414 rotation and lifting parts, 415 general assembly ring flanges, 416 lifting guiding trestles, 42 grinding head A, 5 transposition rotating seats, 6
Charging workpiece polishing mechanism, 61 multiaxis grinding machine arm B, 62 grinding head B, 63 charging crawl sections, 7 discharging workpiece polishing mechanisms, 71 multiaxises are beaten
Grind mechanical arm C, 72 grinding head C, 73 discharging crawl sections.
Specific embodiment
The content of present invention is described in detail with embodiment with reference to the accompanying drawings of the specification:
As Fig. 1 to 7 show a kind of embodiment schematic diagram of workpiece flash removed machine provided by the invention.
A kind of workpiece flash removed machine, it includes rack 1 and the grasping mechanism being arranged in rack 12, turnover mechanism 3, beats
Grinding machine structure 4；
The grasping mechanism 2 is used for the clamping workpiece back side, and cooperates with workpiece polishing mechanism 4 and complete the positive polishing behaviour of workpiece
Make；The turnover mechanism 3 is oppositely arranged with grasping mechanism 2, turnover mechanism 3 for picking up workpiece from grasping mechanism 2, and with beat
The sanding operation of back of work is completed in grinding machine structure 4 or the cooperation of other mechanisms；
The grasping mechanism 2 includes crawl pedestal 21, the multiaxis crawl mechanical arm A22 on crawl pedestal 21 and sets
Crawl section A23 in the multiaxis crawl front end mechanical arm A22；
The turnover mechanism 3 includes overturning pedestal 31, the multiaxis crawl mechanical arm B32 on overturning pedestal 31, is set to
Multiaxis grabs the crawl section B33 of the front end mechanical arm B32 and driving overturning pedestal 31 drives to the mobile docking in 2 direction of grasping mechanism
Dynamic component 34；
The workpiece polishing mechanism 4 includes multiaxis grinding machine arm A41 and several set on the front end multiaxis grinding machine arm A41
Grinding head A42.
The multiaxis crawl mechanical arm A22 includes rear joint arm A221 and the rotation for being rotatably connected on crawl 21 side wall of pedestal
It is connected to the preceding joint arm A222 of the front end rear joint arm A221；Joint arm A221 horizontal extension setting after described, and turn of rear joint arm A221
The rotation axis of moving axis and preceding joint arm A222 is perpendicular；
The multiaxis crawl mechanical arm B32 includes rear joint arm B321 and the rotation for being rotatably connected on overturning 31 side wall of pedestal
It is connected to the preceding joint arm B322 of the front end rear joint arm B321；Joint arm B321 horizontal extension setting after described, and turn of rear joint arm B321
The rotation axis of moving axis and preceding joint arm B322 is perpendicular；Joint arm A221 and rear joint arm B321 is located in same horizontal line after described.
The crawl section A23 and crawl section B33 is pneumatic pawl.
Such as Fig. 4, when workpiece transfer before joint arm A222 and preceding joint arm B322 be all laid flat, at crawl section A23 and crawl section B33
In in same horizontal line, docking driving assembly 34 drives crawl section B33 to be moved to workpiece front and grabbing workpiece, crawl section A23
Power is removed, docking driving assembly 34 drives crawl section B33 to reset.
In the present embodiment, handled workpiece has a central axis hole, during the crawl position of crawl section A23 and crawl section B33 is
The front and back end of axis hole.
The multiaxis grinding machine arm A41 includes polishing pedestal 411, the internal segment for being rotatably connected on polishing 411 top of pedestal
Arm 412, the outer joint arm 413 for being rotatably connected on interior 412 outer end of joint arm and the rotation and lifting part 414 being arranged in outer joint arm 413.
The rotation and lifting part 414 is nut rotary type screw rod, and the lower end of the nut rotary type screw rod is equipped with general assembly method
Blue disk 415, grinding head A42 are fixedly connected on general assembly ring flange 415.
Nut rotary type screw rod can both complete the lifting of general assembly ring flange 415 displacement (no by two servo motor drivings
Rotation), 415 rotary motion of general assembly ring flange (not going up and down) can also be completed.
The multiaxis grinding machine arm A41 further includes lifting guiding trestle 416, and the polishing pedestal 411 is slidably connected at
It goes up and down on guiding trestle 416.
The lifting by a small margin of grinding head A42 is completed by nut rotary type screw rod, and the significantly lifting of grinding head A42 passes through
Guiding trestle 416 is gone up and down to complete.
The grasping mechanism 2 is arranged two groups altogether, and the bottom of two grasping mechanisms 2 is equipped with transposition rotating seat 5, two grasping mechanisms 2
It is distributed centered on the shaft for the rotating seat 5 that replaces in rotational symmetry；
Workpiece flash removed machine further includes charging workpiece polishing mechanism 6, and the charging workpiece polishing mechanism 6 and workpiece polishing mechanism 4 are respectively and not
Same 2 corresponding matching of grasping mechanism；
The charging workpiece polishing mechanism 6 include multiaxis grinding machine arm B61, it is several be set to the front end multiaxis grinding machine arm B61
Grinding head B62 and charging crawl section 63.
The workpiece flash removed machine further includes discharging workpiece polishing mechanism 7, and the discharging workpiece polishing mechanism 7 is corresponding with turnover mechanism 3
Cooperation, to complete the sanding operation of back of work；
The discharging workpiece polishing mechanism 7 include multiaxis grinding machine arm C71, it is several be set to the front end multiaxis grinding machine arm C71
Grinding head C72 and discharging crawl section 73.
The structure one of the structure of multiaxis grinding machine arm B61 and multiaxis grinding machine arm C71 and multiaxis grinding machine arm A41
It causes.
There are three types of embodiments altogether by the present invention:
1. single-station comprising grasping mechanism 2, turnover mechanism 3 and workpiece polishing mechanism 4；
2. double-station comprising two grasping mechanisms 2, turnover mechanism 3, workpiece polishing mechanism 4 and charging workpiece polishing mechanism 6；
3. three stations comprising two grasping mechanisms 2, turnover mechanism 3, workpiece polishing mechanism 4, charging workpiece polishing mechanism 6 and discharging
Workpiece polishing mechanism 7.
The working principle of three station workpiece flash removed machines is as follows:
1. the charging crawl section 63 on charging workpiece polishing mechanism 6 clamps workpiece to be processed, and is transferred to respective side grasping mechanism 2
On crawl section A23, the back side of crawl section A23 clamping workpiece at this time；
2. the grinding head B62 on charging workpiece polishing mechanism 6 polishes to the positive partial region of workpiece；
3. replace 180 ° of the rotation of rotating seat 5, above-mentioned workpiece transfer to workpiece polishing mechanism 4, the grinding head A42 on workpiece polishing mechanism 4
Complete the sanding operation of workpiece front remaining area；Meanwhile another grasping mechanism 2 turns to charging workpiece polishing mechanism 6, completes step
1-2。
4. turnover mechanism 3 is moved to grasping mechanism 2 by discharging workpiece polishing mechanism 7, by the workpiece transfer on grasping mechanism 2 to grabbing
Portion B33 is taken, at this time the front of crawl section B33 clamping workpiece；
5. turnover mechanism 3 is reset to discharging workpiece polishing mechanism 7, the grinding head C72 to discharge on workpiece polishing mechanism 7 completes back of work
The sanding operation in region；
6. after the completion of polishing, workpiece on discharging 7 top discharge crawl section 73 of workpiece polishing mechanism crawl turnover mechanism 3, and move away.
Claims (7)
1. a kind of workpiece flash removed machine, it is characterised in that: it includes the grasping mechanism of rack (1) and setting on rack (1)
(2), turnover mechanism (3), workpiece polishing mechanism (4)；
The grasping mechanism (2) is used for the clamping workpiece back side, and cooperates with workpiece polishing mechanism (4) and complete the positive polishing behaviour of workpiece
Make；The turnover mechanism (3) is oppositely arranged with grasping mechanism (2), and turnover mechanism (3) is for picking up work from grasping mechanism (2)
Part, and the sanding operation with workpiece polishing mechanism (4) or other mechanisms cooperation completion back of work；
The grasping mechanism (2) include crawl pedestal (21), be set to crawl pedestal (21) on multiaxis crawl mechanical arm A (22) with
And it is set to the crawl section A (23) of multiaxis crawl mechanical arm A (22) front end；
The turnover mechanism (3) include overturning pedestal (31), be set to overturning pedestal (31) on multiaxis crawl mechanical arm B (32),
Pedestal (31) are overturn to grasping mechanism (2) direction set on the crawl section B (33) of multiaxis crawl mechanical arm B (32) front end and driving
Mobile docking driving assembly (34)；
The workpiece polishing mechanism (4) include multiaxis grinding machine arm A (41) and it is several be set to multiaxis grinding machine arm A (41) front end
Grinding head A (42).
2. workpiece flash removed machine according to claim 1, it is characterised in that: the multiaxis grabs mechanical arm A (22) and includes
It is rotatably connected on the rear joint arm A (221) of crawl pedestal (21) side wall and is rotatably connected on the prosthomere of rear joint arm A (221) front end
Arm A (222)；Joint arm A (221) horizontal extension setting after described, and the rotation axis of rear joint arm A (221) and preceding joint arm A (222)
Rotation axis is perpendicular；
Multiaxis crawl mechanical arm B (32) includes being rotatably connected on the rear joint arm B (321) of overturning pedestal (31) side wall and turning
The dynamic preceding joint arm B (322) for being connected to rear joint arm B (321) front end；Joint arm B (321) horizontal extension setting after described, and rear joint arm B
(321) rotation axis and the rotation axis of preceding joint arm B (322) are perpendicular；Joint arm A (221) and rear joint arm B (321) is located at after described
In same horizontal line.
3. workpiece flash removed machine according to claim 1, it is characterised in that: the multiaxis grinding machine arm A (41) includes
Polishing pedestal (411), is rotatably connected on interior joint arm (412) at the interior joint arm (412) for being rotatably connected on polishing pedestal (411) top
The outer joint arm (413) of outer end and the rotation and lifting part (414) being arranged on outer joint arm (413).
4. workpiece flash removed machine according to claim 3, it is characterised in that: the rotation and lifting part (414) is nut rotation
The lower end of rotatable screw rod, the nut rotary type screw rod is equipped with general assembly ring flange (415), and grinding head A (42) is fixedly connected on always
It fills on ring flange (415).
5. workpiece flash removed machine according to claim 3, it is characterised in that: the multiaxis grinding machine arm A (41) is also wrapped
Lifting guiding trestle (416) is included, the polishing pedestal (411) is slidably connected in lifting guiding trestle (416).
6. workpiece flash removed machine described in -5 any one according to claim 1, it is characterised in that: the grasping mechanism (2) is altogether
It is arranged two groups, the bottom of two grasping mechanisms (2) is equipped with transposition rotating seat (5), and two grasping mechanisms (2) are with the rotating seat that replaces (5)
It is distributed centered on shaft in rotational symmetry；
Workpiece flash removed machine further includes charging workpiece polishing mechanism (6), the charging workpiece polishing mechanism (6) and workpiece polishing mechanism (4) respectively with
Different grasping mechanism (2) corresponding matchings；
The charging workpiece polishing mechanism (6) include multiaxis grinding machine arm B (61), it is several be set to multiaxis grinding machine arm B (61) before
The grinding head B (62) at end and charging crawl section (63).
7. workpiece flash removed machine according to claim 6, it is characterised in that: the workpiece flash removed machine further includes that discharging is beaten
Grinding machine structure (7), the discharging workpiece polishing mechanism (7) and turnover mechanism (3) corresponding matching, the polishing to complete back of work are grasped
Make；
The discharging workpiece polishing mechanism (7) include multiaxis grinding machine arm C (71), it is several be set to multiaxis grinding machine arm C (71) before
The grinding head C (72) at end and discharging crawl section (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639236.4A CN109434607A (en) | 2018-12-29 | 2018-12-29 | Workpiece flash removed machine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811639236.4A CN109434607A (en) | 2018-12-29 | 2018-12-29 | Workpiece flash removed machine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109434607A true CN109434607A (en) | 2019-03-08 |
Family
ID=65539869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811639236.4A Pending CN109434607A (en) | 2018-12-29 | 2018-12-29 | Workpiece flash removed machine |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109434607A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
| CN113001311A (en) * | 2021-04-13 | 2021-06-22 | 宁波丞智科技有限公司 | Aluminum casting robot polishing workstation |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3523240A1 (en) * | 1984-06-29 | 1986-02-20 | N P K "Elektronna obrabotka na materialite i novi technologii" Promišlena Sona "Orion", Sofia/Sofija | Apparatus for the simultaneous polishing and removal of burrs on voluminous rotational workpieces with concealed surfaces |
| CN102441959A (en) * | 2011-09-28 | 2012-05-09 | 谭立山 | Plastic cement glove automatic picking and counting device on plastic cement glove production line and picking method |
| CN105538111A (en) * | 2016-01-21 | 2016-05-04 | 宁波勋辉电器有限公司 | Automatic grinding and polishing device and processing method thereof |
| CN108296918A (en) * | 2018-02-23 | 2018-07-20 | 河南蓝翎环科防水材料有限公司 | A kind of arc side automatically grinding mechanism for electronic product |
| CN108527057A (en) * | 2018-05-08 | 2018-09-14 | 承德苏垦银河连杆有限公司 | A kind of connecting rod robotic deburring's equipment |
| CN208262525U (en) * | 2018-02-05 | 2018-12-21 | 东莞市山克斯智能科技有限公司 | A kind of robot polishing system |
| CN209335301U (en) * | 2018-12-29 | 2019-09-03 | 福州鸿基自动化设备有限公司 | Workpiece flash removed machine |
-
2018
- 2018-12-29 CN CN201811639236.4A patent/CN109434607A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3523240A1 (en) * | 1984-06-29 | 1986-02-20 | N P K "Elektronna obrabotka na materialite i novi technologii" Promišlena Sona "Orion", Sofia/Sofija | Apparatus for the simultaneous polishing and removal of burrs on voluminous rotational workpieces with concealed surfaces |
| CN102441959A (en) * | 2011-09-28 | 2012-05-09 | 谭立山 | Plastic cement glove automatic picking and counting device on plastic cement glove production line and picking method |
| CN105538111A (en) * | 2016-01-21 | 2016-05-04 | 宁波勋辉电器有限公司 | Automatic grinding and polishing device and processing method thereof |
| CN208262525U (en) * | 2018-02-05 | 2018-12-21 | 东莞市山克斯智能科技有限公司 | A kind of robot polishing system |
| CN108296918A (en) * | 2018-02-23 | 2018-07-20 | 河南蓝翎环科防水材料有限公司 | A kind of arc side automatically grinding mechanism for electronic product |
| CN108527057A (en) * | 2018-05-08 | 2018-09-14 | 承德苏垦银河连杆有限公司 | A kind of connecting rod robotic deburring's equipment |
| CN209335301U (en) * | 2018-12-29 | 2019-09-03 | 福州鸿基自动化设备有限公司 | Workpiece flash removed machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111673196A (en) * | 2020-05-28 | 2020-09-18 | 青岛力鼎自动化设备有限公司 | Shell deburring system and method |
| CN113001311A (en) * | 2021-04-13 | 2021-06-22 | 宁波丞智科技有限公司 | Aluminum casting robot polishing workstation |
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