CN109531362A - A kind of three manipulator water mill belt sanders - Google Patents
A kind of three manipulator water mill belt sanders Download PDFInfo
- Publication number
- CN109531362A CN109531362A CN201811480077.8A CN201811480077A CN109531362A CN 109531362 A CN109531362 A CN 109531362A CN 201811480077 A CN201811480077 A CN 201811480077A CN 109531362 A CN109531362 A CN 109531362A
- Authority
- CN
- China
- Prior art keywords
- water mill
- belt sander
- mill belt
- arm
- abrasive band
- 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.)
- Withdrawn
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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
- 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
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
-
- 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
- B24B57/00—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents
- B24B57/02—Devices for feeding, applying, grading or recovering grinding, polishing or lapping agents for feeding of fluid, sprayed, pulverised, or liquefied grinding, polishing or lapping agents
Abstract
A kind of three manipulator water mill belt sanders, belong to advanced manufacture and automatic field, including board, power control cabinet unit, the first water mill belt sander unit, the second water mill belt sander unit and third water mill belt sander unit, the first water mill belt sander unit, the second water mill belt sander unit and third water mill belt sander unit are arranged on the circumference of board in a manner of annular array；Wherein, the first water mill belt sander unit, the second water mill belt sander unit and third water mill belt sander unit include first linear module, mechanical arm assembly and water mill belt sander.Three manipulators water mill belt sander of the present invention, it is reasonable in design, by the water mill belt sander that three autonomous workings are arranged on circular board, the polishing of element to be polished can be carried out respectively, polishing is by corase grinding, the process of fine grinding and deburring, so that the quality of element to be polished greatly improves, simultaneously because three independent working cells, greatly improve work efficiency.
Description
Technical field
The invention belongs to advanced manufacture and automatic fields, and in particular, to a kind of three manipulator water mill belt sanders.
Background technique
Belt sander is widely used in the grinding of metal, non-ferrous metal and nonmetallic manufactured various piece surfaces, and utilizes
Roller is ground piece surface of different shapes, especially suitable for industries such as machine-building, hardware tool, die casting, haberdashery and hardware
Deburring, overlap and polishing, also can be used as mechanical processing industry abrasive machine part and cutter tool and use, can also be used to
Simple female polishing is carried out, can also be polished.Therefore, belt sander is a kind of basic manufacturing equipment, and is more closed
The manufacturing equipment of key influences the precision of utensil very big.
And the sand ribbon of existing numerous water mill formula belt sander is usually single head, can only successively carry out beating for a part
Mill, for current efficient production method, the belt sander of single head is no longer satisfied the demand of production.
Summary of the invention
Goal of the invention: the object of the present invention is to provide a kind of three manipulator water mill belt sanders, solve single head water milling
With the low problem of machine working efficiency.
Technical solution: the present invention provides a kind of three manipulator water mill belt sanders, including board, power control cabinet unit, the
One water mill belt sander unit, the second water mill belt sander unit and third water mill belt sander unit, the section of the board are circle,
The power control cabinet unit is in the center of board, the first water mill belt sander unit, the second water mill belt sander unit and
Third water mill belt sander unit is arranged on the circumference of board in a manner of annular array；Wherein, the first water mill belt sander
Unit, the second water mill belt sander unit and third water mill belt sander unit include first linear module, mechanical arm assembly and water mill
Belt sander, the water mill belt sander are arranged on board, and the first linear module is arranged above board, the manipulator group
Part is arranged in first linear module, and element to be polished can be transported to by the mechanical arm assembly by first linear module driving
On water mill belt sander.Three manipulator water mill belt sanders of the invention, by the way that the first water milling band is arranged on the same board
Machine unit, the second water mill belt sander unit and third water mill belt sander unit, three units work independently, and substantially increase work
Efficiency.
Further, three above-mentioned manipulator water mill belt sanders, the water mill belt sander include water mill belt sander rack,
First grinding assembly, the second grinding assembly, wire drawing component, one group of lapping liquid catheter, one group of slurry nozzle, hold down assembly and
Abrasive band component is conveyed, the water mill belt sander rack is arranged on board, and the conveying abrasive band component is arranged in water mill belt sander
In rack, first grinding assembly, the second grinding assembly and wire drawing component are successively set along conveying abrasive band component direction of transfer
It sets, first grinding assembly, the second grinding assembly and wire drawing component are arranged in water mill belt sander rack, first grinding
Component, the second grinding assembly and wire drawing component are located above conveying abrasive band component, and the lapping liquid catheter and setting are in water mill
In belt sander rack, and one end of lapping liquid catheter is connect with the sink box in water mill belt sander rack, the lapping liquid
The other end of catheter is equipped with slurry nozzle, slurry nozzle setting the first grinding assembly, the second grinding assembly or
The side of person's wire drawing component, and slurry nozzle is located at the first grinding assembly, the second grinding assembly or wire drawing component lower end
The top in portion, described hold down assembly is arranged in water mill belt sander rack, and holds down assembly and can move up and down and be pressed on
Convey abrasive band component wait polish on element, it is described conveying abrasive band component lower section be equipped with lapping liquid receiving slit.Element to be polished
Element to be polished successively is passed through in transmission by conveying abrasive band component, and element to be polished is carried out polishing and deburring or drawing
Silk.
Further, three above-mentioned manipulator water mill belt sanders, first grinding assembly and the second grinding assembly packet
Include the first driving motor, gear band, driving gear, driven gear, drive rod, the first grinding wheel, the second grinding wheel and abrasive band, institute
It states the first driving motor to connect with driving gear, the driving gear is connect by gear band with driven gear, the driven tooth
Wheel is connect by drive rod with the first grinding wheel, and the first grinding wheel can be rotated synchronously with driven gear, second abrasive band
Wheel is connect by abrasive band with the first grinding wheel, and the mesh number in abrasive band is less than abrasive band on the second grinding assembly on first grinding assembly
Mesh number.
Further, three above-mentioned manipulator water mill belt sanders, the water mill belt sander rack are tensioned equipped with abrasive band
Component is adjusted, the abrasive band tensioning adjusts component and includes pedestal, support frame, adjust stud, the first transfer block, the first spring, stretch
Contracting block and support tube, the pedestal are arranged in water mill belt sander rack, and support frame as described above is arranged on the upper surface of pedestal, institute
It states support tube setting on the support frame, the first groove and the first threaded hole, first threaded hole is equipped with inside the support tube
It is connected to the first groove, and the diameter of the first threaded hole, less than the diameter of the first groove, first threaded hole is located at support
The lower end of cylinder, first groove are located at the upper end of support tube, and the adjusting stud is threadedly coupled with the first threaded hole, and
And adjust stud upper end protrude into the first groove, it is described adjust stud upper end be equipped with the first transfer block, described first
Spring is arranged between the first transfer block and telescopic block, and the telescopic block is stretched out from the upper end of the first groove, and telescopic block
Upper end connect with drive rod.The working principle that abrasive band tensioning is adjusted is to adjust stud by rotation, be adjusted and adjust stud
The length of the first groove is protruded into, so that the length that telescopic block stretches out support tube is adjusted, to adjust the first grinding wheel and the second sand
Tensile force between belt wheel.
Further, three above-mentioned manipulator water mill belt sanders, first grinding assembly, the second grinding assembly and drawing
The two sides of silk component, which are equipped with, to hold down assembly, described to hold down assembly including cylinder, one group of telescopic rod, one group of second spring, one group
Contact roller, first compress conveyer belt and support plate, and the cylinder is arranged in water mill belt sander rack, the cylinder and support plate
Connection, the telescopic rod and contact roller are respectively provided on the supporting plate, and the telescopic rod is connect with contact roller, the second spring set
It is located at the outside of telescopic rod, the first compression conveyer belt is set in the outside of one group of contact roller, and the cylinder can drive support
Plate moves up and down, and element to be polished can be pressed on abrasive band by the first compression conveyer belt.Pass through the with second spring
One compresses conveyer belt, is capable of providing certain buffer function.
Further, three above-mentioned manipulator water mill belt sanders, the support plate is close to the end of water mill belt sander rack
Face is equipped with the first sliding block, and the water mill belt sander rack is equipped with first sliding groove, and first sliding block is arranged in first sliding groove
It is interior, and the first sliding block can be moved up and down along first sliding groove.
Further, three above-mentioned manipulator water mill belt sanders, the mechanical arm assembly include first material clamping group
Part, fixing seat, first rotating shaft, the second shaft, manipulator large arm, mechanical hand arm, third shaft, the 4th shaft, the 5th shaft,
Connecting plate and large arm transfer block, the fixing seat are arranged in first linear module, and the large arm transfer block passes through first rotating shaft
It is connect with fixing seat, the manipulator large arm is connect by the second shaft with large arm transfer block, and the manipulator large arm passes through the
Three shafts are connect with mechanical hand arm, and the machinery hand arm is connect by the 4th shaft with connecting plate, are set on the connecting plate
There is the 5th shaft, the first material clamp assemblies are connect by the 5th shaft with connecting plate, the first material clamp assemblies
Element to be polished can be clamped and be placed on abrasive band.
Further, three above-mentioned manipulator water mill belt sanders, the first material clamp assemblies include turntable, first
CCD camera, first material clamp assemblies and the second lifting cylinder, the turntable are connect with connecting plate, and first CCD camera is set
It sets on connecting plate, the first material clamp assemblies and the second lifting cylinder are arranged on turntable, second lifting cylinder
It is connect with first material clamp assemblies.
Further, three above-mentioned manipulator water mill belt sanders, the first material clamp assemblies include fixed clamp
Arm and active grasping arm, the section of the fixed clamping arm is L-type, and one end of fixed clamping arm is equipped with extension, described
Active grasping arm is hinged with extension, and the active grasping arm is equipped with stretch rod, the fixation close to one end of fixed clamping arm
Clamping limb is equipped with first through hole, end of the stretch rod far from active grasping arm extended the far from the end of active grasping arm
One through-hole, second lifting cylinder is connect with the end that stretch rod stretches out first through hole, and the second lifting cylinder can pull
Stretch rod rises or decline, and the lower end of the fixed clamping arm and active grasping arm is wedge shape.First CCD camera can acquire
The position of element to be polished, the second lifting cylinder pull up stretch rod, and active grasping arm is close to fixed clamping arm thus will
Element to be polished steps up, and the second lifting cylinder extends downwardly promotion stretch rod, active grasping arm to fixed clamping arm far to
It will element release be polished.
Further, three above-mentioned manipulator water mill belt sanders, the direction of transfer starting point in the abrasive band and end point
It She You not material loading platform and platform of blanking.The material loading platform and platform of blanking of setting are convenient for accepting element to be polished.
Above-mentioned technical proposal can be seen that the invention has the following beneficial effects: three manipulator water of the present invention
Frosted tape machine, it is reasonable in design, by circular board be arranged three autonomous working water mill belt sanders, can respectively into
The polishing of row element to be polished, polishing is by corase grinding, the process of fine grinding and deburring, so that the quality of element to be polished mentions significantly
Height, simultaneously because three independent working cells, greatly improve work efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of three manipulators water mill belt sander of the present invention；
Fig. 2 is the structural schematic diagram of water mill belt sander of the present invention；
Fig. 3 is the structural schematic diagram of the first grinding assembly of the present invention or the second grinding assembly；
Fig. 4 is the structural schematic diagram of the present invention to hold down assembly；
Fig. 5 is the structural schematic diagram of mechanical arm assembly of the present invention；
Fig. 6 is the structural schematic diagram of first material clamp assemblies of the present invention.
In figure: board 1, power control cabinet unit 2, the first water mill belt sander unit 3, first linear module 31, mechanical arm assembly
32, first material clamp assemblies 321, fixing seat 322, first rotating shaft 323, the second shaft 324, manipulator large arm 325, manipulator
Forearm 326, third shaft 327, the 4th shaft 328, the 5th shaft 329, connecting plate 3210, large arm transfer block 3211, water milling
Band machine 33, water mill belt sander rack 331, first sliding groove 3311, the first CCD camera 3212, first material clamp assemblies 3213, the
Two lifting cylinders 3214, fixed clamping arm 3215, active grasping arm 3216, extension 3217, stretch rod 3218, first through hole
3219, turntable 3220, the first grinding assembly 332, the first driving motor 3321, gear band 3322, driving gear 3323, driven tooth
Take turns 3324, drive rod 3325, the first grinding wheel 3326, the second grinding wheel 3327, abrasive band 3328, the second grinding assembly 333, wire drawing
Component 334, lapping liquid catheter 335, slurry nozzle 336, the 337, cylinder 3371 that holds down assembly, telescopic rod 3372, the second bullet
Spring 3373, contact roller 3374, first compress conveyer belt 3375, support plate 3376, the first sliding block 3377, conveying abrasive band component 338,
Lapping liquid receiving slit 339, the second water mill belt sander unit 4, third water mill belt sander unit 5, abrasive band tensioning adjust component 6, bottom
Seat 61, adjusts stud 63, the first transfer block 64, the first spring 65, telescopic block 66, support tube 67, the first groove at support frame 62
671, the first threaded hole 672, material loading platform 7, platform of blanking 8.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", " clockwise ", " inverse
The orientation or positional relationship of the instructions such as hour hands " is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of description originally
Invention and simplified description, rather than the device or element of indication or suggestion meaning must have a particular orientation, with specific side
Position construction and operation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, unless otherwise indicated, the meaning of " plurality " is two
It is a or more than two, unless otherwise restricted clearly.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected；It can be machine
Tool connection, is also possible to be electrically connected；It can be directly connected, two members can also be can be indirectly connected through an intermediary
Connection inside part.For the ordinary skill in the art, above-mentioned term can be understood in this hair as the case may be
Concrete meaning in bright.
In the present invention unless specifically defined or limited otherwise, fisrt feature second feature "upper" or "lower"
It may include that the first and second features directly contact, also may include that the first and second features are not direct contacts but pass through it
Between other characterisation contact.Moreover, fisrt feature includes the first spy above the second feature " above ", " above " and " above "
Sign is right above second feature and oblique upper, or is merely representative of first feature horizontal height higher than second feature.Fisrt feature exists
Second feature " under ", " lower section " and " following " include that fisrt feature is directly below and diagonally below the second feature, or is merely representative of
First feature horizontal height is less than second feature.
Embodiment
Three manipulator water mill belt sanders as shown in Figure 1, including board 1, power control cabinet unit 2, the first water mill belt sander
Unit 3, the second water mill belt sander unit 4 and third water mill belt sander unit 5, the section of the board 1 is circle, described automatically controlled
Cabinet unit 2 is in the center of board 1, the first water mill belt sander unit 3, the second water mill belt sander unit 4 and third
Water mill belt sander unit 5 is arranged on the circumference of board 1 in a manner of annular array；Wherein, the first water mill belt sander list
First 3, second water mill belt sander unit 4 and third water mill belt sander unit 5 include first linear module 31,32 and of mechanical arm assembly
Water mill belt sander 33, the water mill belt sander 33 are arranged on board 1, and the first linear module 31 is arranged above board 1,
The mechanical arm assembly 32 is arranged in first linear module 31, and the mechanical arm assembly 32 is driven by first linear module 31
Element to be polished can be transported on water mill belt sander 33.
Water mill belt sander 33 as shown in Figure 2 includes water mill belt sander rack 331, the grinding of the first grinding assembly 332, second
Component 333,334, one groups of wire drawing component, 335, one groups of lapping liquid catheter slurry nozzle 336, hold down assembly 337 and conveying sand
Band component 338, the water mill belt sander rack 331 are arranged on board 1, and conveying abrasive band component 338 is arranged in water milling
In band machine rack 331, first grinding assembly 332, the second grinding assembly 333 and wire drawing component 334 are along conveying abrasive band group
338 direction of transfer of part is set gradually, and first grinding assembly 332, the second grinding assembly 333 and the setting of wire drawing component 334 exist
In water mill belt sander rack 331, first grinding assembly 332, the second grinding assembly 333 and wire drawing component 334 are located at conveying
338 top of abrasive band component, the lapping liquid catheter 335 and setting are in water mill belt sander rack 331, and lapping liquid drain
One end of pipe 335 is connect with the sink box in water mill belt sander rack 331, and the other end of the lapping liquid catheter 335 is equipped with
Slurry nozzle 336, the slurry nozzle 336 are arranged in the first grinding assembly 332, the second grinding assembly 333 or wire drawing
The side of component 334, and slurry nozzle 336 is located at the first grinding assembly 332, the second grinding assembly 333 or wire drawing group
The top of 334 lower end of part, it is described to hold down assembly 337 settings in water mill belt sander rack 331, and holding down assembly 337 can
Move up and down and be pressed on conveying abrasive band component 338 wait polish on element, it is described conveying abrasive band component 338 lower section be equipped with
Lapping liquid receiving slit 339.Wherein, the first grinding assembly 332 as shown in Figure 3 and the second grinding assembly 333 include the first driving
Motor 3321, gear band 3322, driving gear 3323, driven gear 3324, drive rod 3325, the first grinding wheel 3326, second
Grinding wheel 3327 and abrasive band 3328, first driving motor 3321 are connect with driving gear 3323, the driving gear 3323
It is connect by gear band 3322 with driven gear 3324, the driven gear 3324 passes through drive rod 3325 and the first grinding wheel
3326 connections, and the first grinding wheel 3326 can be rotated synchronously with driven gear 3324, and second grinding wheel 3327 passes through sand
Band 3328 is connect with the first grinding wheel 3326, and the mesh number in abrasive band 3328 is less than the second grinding group on first grinding assembly 332
The mesh number in abrasive band 3328 on part 333.Wherein, the direction of transfer starting point in abrasive band 3328 and end are respectively equipped with 7 He of material loading platform
Platform of blanking 8.In addition, water mill belt sander rack 331, which is equipped with abrasive band tensioning, adjusts component 6, the abrasive band tensioning adjusts component 6
Including pedestal 61, support frame 62, adjust stud 63, the first transfer block 64, the first spring 65, telescopic block 66 and support tube 67, institute
It states pedestal 61 to be arranged in water mill belt sander rack 331, support frame as described above 62 is arranged on the upper surface of pedestal 61, the support
Cylinder 67 be arranged on support frame 62, inside the support tube 67 be equipped with the first groove 671 and the first threaded hole 672, described first
Threaded hole 672 is connected to the first groove 671, and the diameter of the first threaded hole 672 is less than the diameter of the first groove 671, described
First threaded hole 672 is located at the lower end of support tube 67, and first groove 671 is located at the upper end of support tube 67, the tune
Section stud 63 protrudes into the first groove 671 with the upper end that the first threaded hole 672 is threadedly coupled, and adjusts stud 63, described
The upper end for adjusting stud 63 is equipped with the first transfer block 64, and first spring 65 is arranged in the first transfer block 64 and telescopic block 66
Between, the telescopic block 66 is stretched out from the upper end of the first groove 671, and the upper end of telescopic block 66 and drive rod 3325 connect
It connects.
The two sides of first grinding assembly 332 as shown in Figure 4, the second grinding assembly 333 and wire drawing component 334 are equipped with pressure
Tight component 337, described hold down assembly 337 includes 3371, one groups of cylinder, 3372, one groups of telescopic rod, 3373, one groups of pressures of second spring
Bearing up pulley 3374, first compresses conveyer belt 3375 and support plate 3376, and the cylinder 3371 is arranged in water mill belt sander rack 331
On, the cylinder 3371 is connect with support plate 3376, and the telescopic rod 3372 and contact roller 3374 are arranged at support plate 3376
On, the telescopic rod 3372 is connect with contact roller 3374, and the second spring 3373 is set in the outside of telescopic rod 3372, described
First compression conveyer belt 3375 is set in the outside of one group of contact roller 3374, and the cylinder 3371 can drive about 3376 support plate
Mobile, element to be polished can be pressed on abrasive band 3328 by the first compression conveyer belt 3375.Support plate 3376 is close to water mill
The end face of belt sander rack 331 is equipped with the first sliding block 3377, and the water mill belt sander rack 331 is equipped with first sliding groove
3311, first sliding block 3377 is arranged in first sliding groove 3311, and the first sliding block 3377 can be in first sliding groove 3311
Lower movement.
Mechanical arm assembly 32 as shown in Figure 5 include first material clamp assemblies 321, fixing seat 322, first rotating shaft 323,
Second shaft 324, manipulator large arm 325, mechanical hand arm 326, third shaft 327, the 4th shaft 328, the 5th shaft 329,
Connecting plate 3210 and large arm transfer block 3211, the fixing seat 322 are arranged in first linear module 31, the large arm transfer block
3211 are connect by first rotating shaft 323 with fixing seat 322, and the manipulator large arm 325 is transferred by the second shaft 324 with large arm
Block 3211 connects, and the manipulator large arm 325 is connect by third shaft 327 with mechanical hand arm 326, the machinery hand arm
326 are connect by the 4th shaft 328 with connecting plate 3210, and the connecting plate 3210 is equipped with the 5th shaft 329, first object
Material clamping component 321 is connect by the 5th shaft 329 with connecting plate 3210, the first material clamp assemblies 321 can clamp to
Polishing element is simultaneously placed on abrasive band 3328.
First material clamp assemblies 321 as shown in FIG. 6 include turntable 3220, the first CCD camera 3212, first material folder
Component 3213 and the second lifting cylinder 3214 are held, the turntable 3220 is connect with connecting plate 3210, first CCD camera 3212
It is arranged on connecting plate 3210, the first material clamp assemblies 3213 and the second lifting cylinder 3214 are arranged in turntable 3220
On, second lifting cylinder 3214 is connect with first material clamp assemblies 3213.First material clamp assemblies 3213 include solid
Clamp gripping arm 3215 and active grasping arm 3216, the section of the fixed clamping arm 3215 are L-type, and fixed clamping arm 3215
One end be equipped with extension 3217, the active grasping arm 3216 is hinged with extension 3217, and the active grasping arm 3216 leans on
One end of nearly fixed clamping arm 3215 is equipped with stretch rod 3218, the end of the fixed clamping arm 3215 far from active grasping arm 3216
Portion be equipped with first through hole 3219, the extended first through hole 3219 in end of the stretch rod 3218 far from active grasping arm 3216,
Second lifting cylinder 3214 is connect with the end that stretch rod 3218 stretches out first through hole 3219, and the second lifting cylinder
3214 can pull stretch rod 3218 to rise or decline, and the lower end of the fixed clamping arm 3215 and active grasping arm 3216 is
Wedge shape.
On the basis of above structure, a kind of working method of three manipulators water mill belt sander is as follows:
1) mechanical arm assembly 32 is moved to one end of material loading platform 7 by first linear module 31；
2) first material clamp assemblies 321 clamp the element to be polished on material loading platform 7；
3) 31 driving manipulator component 32 of first linear module is moved to 338 top of conveying abrasive band component, and will element be polished
It is placed on conveying abrasive band component 338；
4) conveying abrasive band component 338 starts, and element to be polished successively passes through the first grinding group with the conveying transmission of abrasive band component 338
Part 332, the second grinding assembly 333 and wire drawing component 334；
5) element to be polished is moved to immediately below the first grinding assembly 332, and two sides hold down assembly and push down element to be polished under 337
Both sides of the edge, the first grinding assembly 332 carries out element to be polished polishing, and after polishing, holding down assembly 337 will element be polished
Release；
6) element to be polished is moved to immediately below the second grinding assembly 333, and two sides hold down assembly and push down element to be polished under 337
Both sides of the edge, the second grinding assembly 333 carries out element to be polished polishing, and after polishing, holding down assembly 337 will element be polished
Release；
7) element to be polished is moved to immediately below wire drawing component 334, and two sides, which hold down assembly, pushes down the two sides of element to be polished under 337
Edge, wire drawing component 334 carry out element deburring to be polished or carry out wire drawing, and holding down assembly 337 discharges element to be polished；
8) in process of lapping, the jet grinding liquid constantly on abrasive band 3328 of slurry nozzle 336；
9) wait polish element after wire drawing component 334, with the conveying of conveying abrasive band component 338, element to be polished is fallen into down
Expect on platform 8.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the principle of the present invention, several improvement can also be made, these improvement also should be regarded as of the invention
Protection scope.
Claims (10)
1. a kind of three manipulator water mill belt sanders, it is characterised in that: including board (1), power control cabinet unit (2), the first water mill
Belt sander unit (3), the second water mill belt sander unit (4) and third water mill belt sander unit (5), the section of the board (1)
For circle, the power control cabinet unit (2) is in the center of board (1), the first water mill belt sander unit (3), second
The circumference of board (1) is arranged in water mill belt sander unit (4) and third water mill belt sander unit (5) in a manner of annular array
On；Wherein, the first water mill belt sander unit (3), the second water mill belt sander unit (4) and third water mill belt sander unit
It (5) include first linear module (31), mechanical arm assembly (32) and water mill belt sander (33), water mill belt sander (33) setting
On board (1), the first linear module (31) setting is above board (1), and mechanical arm assembly (32) setting is the
On one linear mould group (31), the mechanical arm assembly (32) can be transported element to be polished by first linear module (31) driving
To on water mill belt sander (33).
2. three manipulators water mill belt sander according to claim 1, it is characterised in that: water mill belt sander (33) packet
Include water mill belt sander rack (331), the first grinding assembly (332), the second grinding assembly (333), wire drawing component (334), one group
Lapping liquid catheter (335), one group of slurry nozzle (336) hold down assembly (337) and convey abrasive band component (338), the water
Frosted tape machine rack (331) is arranged on board (1), and the conveying abrasive band component (338) is arranged in water mill belt sander rack
(331) on, first grinding assembly (332), the second grinding assembly (333) and wire drawing component (334) are along conveying abrasive band group
Part (338) direction of transfer is set gradually, first grinding assembly (332), the second grinding assembly (333) and wire drawing component
(334) it is arranged in water mill belt sander rack (331), first grinding assembly (332), the second grinding assembly (333) and drawing
Silk component (334) be located at conveying abrasive band component (338) above, the lapping liquid catheter (335) and be arranged in water mill belt sander
In rack (331), and one end of lapping liquid catheter (335) is connect with the sink box in water mill belt sander rack (331), institute
The other end for stating lapping liquid catheter (335) is equipped with slurry nozzle (336), and the slurry nozzle (336) is arranged first
The side of grinding assembly (332), the second grinding assembly (333) or wire drawing component (334), and slurry nozzle (336) position
In the top of the first grinding assembly (332), the second grinding assembly (333) or wire drawing component (334) lower end, the compression group
Part (337) be arranged in water mill belt sander rack (331), and hold down assembly (337) can move up and down and be pressed on conveying
Abrasive band component (338) wait polish on element, it is described conveying abrasive band component (338) lower section be equipped with lapping liquid receiving slit (339).
3. three manipulators water mill belt sander according to claim 2, it is characterised in that: first grinding assembly
(332) and the second grinding assembly (333) include the first driving motor (3321), gear band (3322), driving gear (3323), from
Moving gear (3324), drive rod (3325), the first grinding wheel (3326), the second grinding wheel (3327) and abrasive band (3328), it is described
First driving motor (3321) is connect with driving gear (3323), the driving gear (3323) by gear band (3322) with from
Moving gear (3324) connection, the driven gear (3324) are connect by drive rod (3325) with the first grinding wheel (3326), and
And first grinding wheel (3326) can be rotated synchronously with driven gear (3324), second grinding wheel (3327) passes through abrasive band
(3328) it is connect with the first grinding wheel (3326), the mesh number in abrasive band (3328) is less than second on first grinding assembly (332)
The mesh number of abrasive band (3328) on grinding assembly (333).
4. three manipulators water mill belt sander according to claim 3, it is characterised in that: the water mill belt sander rack
(331) it is equipped with abrasive band tensioning and adjusts component (6), it includes pedestal (61), support frame that the abrasive band tensioning, which adjusts component (6),
(62), stud (63), the first transfer block (64), the first spring (65), telescopic block (66) and support tube (67), the pedestal are adjusted
(61) it is arranged in water mill belt sander rack (331), support frame as described above (62) is arranged on the upper surface of pedestal (61), the branch
It supports cylinder (67) to be arranged on support frame (62), the first groove (671) and the first threaded hole is equipped with inside the support tube (67)
(672), first threaded hole (672) is connected to the first groove (671), and the diameter of the first threaded hole (672) is less than
The diameter of one groove (671), first threaded hole (672) are located at the lower end of support tube (67), first groove (671)
Positioned at the upper end of support tube (67), the adjusting stud (63) is threadedly coupled with the first threaded hole (672), and adjusts stud
(63) upper end is protruded into the first groove (671), and the upper end for adjusting stud (63) is equipped with the first transfer block (64), institute
It states the first spring (65) to be arranged between the first transfer block (64) and telescopic block (66), the telescopic block (66) is from the first groove
(671) upper end is stretched out, and the upper end of telescopic block (66) is connect with drive rod (3325).
5. three manipulators water mill belt sander according to claim 4, it is characterised in that: first grinding assembly
(332), the two sides of the second grinding assembly (333) and wire drawing component (334) are equipped with hold down assembly (337), described to hold down assembly
It (337) include cylinder (3371), one group of telescopic rod (3372), one group of second spring (3373), one group of contact roller (3374), first
Conveyer belt (3375) and support plate (3376) are compressed, the cylinder (3371) is arranged in water mill belt sander rack (331), described
Cylinder (3371) is connect with support plate (3376), and the telescopic rod (3372) and contact roller (3374) are arranged at support plate
(3376) on, the telescopic rod (3372) connect with contact roller (3374), and the second spring (3373) is set in telescopic rod
(3372) outside, described first compresses the outside that conveyer belt (3375) are set in one group of contact roller (3374), the cylinder
(3371) support plate (3376) can be driven to move up and down, described first, which compresses conveyer belt (3375), to be pressed on element to be polished
On abrasive band (3328).
6. three manipulators water mill belt sander according to claim 5, it is characterised in that: the support plate (3376) is close
The end face of water mill belt sander rack (331) is equipped with the first sliding block (3377), and the water mill belt sander rack (331) is equipped with the
One sliding slot (3311), the first sliding block (3377) setting is in first sliding groove (3311), and the first sliding block (3377) can edge
First sliding groove (3311) moves up and down.
7. three manipulators water mill belt sander according to claim 1, it is characterised in that: mechanical arm assembly (32) packet
Include first material clamp assemblies (321), fixing seat (322), first rotating shaft (323), the second shaft (324), manipulator large arm
(325), mechanical hand arm (326), third shaft (327), the 4th shaft (328), the 5th shaft (329), connecting plate (3210)
With large arm transfer block (3211), the fixing seat (322) is arranged on first linear module (31), the large arm transfer block
(3211) it is connect by first rotating shaft (323) with fixing seat (322), the manipulator large arm (325) passes through the second shaft (324)
It is connect with large arm transfer block (3211), the manipulator large arm (325) passes through third shaft (327) and mechanical hand arm (326)
Connection, the machinery hand arm (326) are connect by the 4th shaft (328) with connecting plate (3210), the connecting plate (3210)
It is equipped with the 5th shaft (329), the first material clamp assemblies (321) pass through the 5th shaft (329) and connecting plate (3210)
Connection, the first material clamp assemblies (321) can clamp element to be polished and be placed on abrasive band (3328).
8. three manipulators water mill belt sander according to claim 7, it is characterised in that: the first material clamp assemblies
It (321) include turntable (3220), the first CCD camera (3212), first material clamp assemblies (3213) and the second lifting cylinder
(3214), the turntable (3220) connect with connecting plate (3210), and first CCD camera (3212) is arranged in connecting plate
(3210) on, the first material clamp assemblies (3213) and the second lifting cylinder (3214) are arranged on turntable (3220), institute
The second lifting cylinder (3214) is stated to connect with first material clamp assemblies (3213).
9. three manipulators water mill belt sander according to claim 8, it is characterised in that: the first material clamp assemblies
It (3213) include fixed clamping arm (3215) and active grasping arm (3216), the section of the fixed clamping arm (3215) is L-type,
And one end of fixed clamping arm (3215) is equipped with extension (3217), the active grasping arm (3216) and extension (3217)
Hingedly, the active grasping arm (3216) is equipped with stretch rod (3218) close to the one end of fixed clamping arm (3215), the fixation
Clamping limb (3215) is equipped with first through hole (3219) far from the end of active grasping arm (3216), and the stretch rod (3218) is separate
The extended first through hole in end (3219) of active grasping arm (3216), second lifting cylinder (3214) and stretch rod
(3218) the end connection of first through hole (3219) is stretched out, and the second lifting cylinder (3214) can pull on stretch rod (3218)
It rises or declines, the lower end of the fixed clamping arm (3215) and active grasping arm (3216) is wedge shape.
10. three manipulators water mill belt sander according to claim 3, it is characterised in that: the biography of the abrasive band (3328)
Direction starting point and end is sent to be respectively equipped with material loading platform (7) and platform of blanking (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480077.8A CN109531362A (en) | 2018-12-05 | 2018-12-05 | A kind of three manipulator water mill belt sanders |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811480077.8A CN109531362A (en) | 2018-12-05 | 2018-12-05 | A kind of three manipulator water mill belt sanders |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109531362A true CN109531362A (en) | 2019-03-29 |
Family
ID=65853734
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811480077.8A Withdrawn CN109531362A (en) | 2018-12-05 | 2018-12-05 | A kind of three manipulator water mill belt sanders |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109531362A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497075A (en) * | 2020-11-30 | 2021-03-16 | 广州奔德网络科技有限公司 | Automatic polishing solution adding device for watch manufacturing and grinding |
| CN114559344A (en) * | 2022-03-01 | 2022-05-31 | 徐州海天石化有限公司 | Grinding mechanism for universal grinding machine for heat exchange plate |
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| US4527359A (en) * | 1984-04-23 | 1985-07-09 | Timesavers, Inc. | Segmented platen with diaphragm cylinder control |
| CN105479303A (en) * | 2016-01-21 | 2016-04-13 | 华寿庆 | Building board surface polishing machine |
| CN205600456U (en) * | 2016-03-30 | 2016-09-28 | 苏州春兴精工股份有限公司 | Die -casting is deburring robot for product |
| CN106914808A (en) * | 2017-01-21 | 2017-07-04 | 中山市华南理工大学现代产业技术研究院 | Club head surface automatically grinding equipment |
| CN207548340U (en) * | 2017-11-10 | 2018-06-29 | 深圳市创世纪机械有限公司 | A kind of numerically-controlled machine tool of double work executing agency |
| CN108214288A (en) * | 2018-01-07 | 2018-06-29 | 余成付 | The robot polishing system of titanium alloy stent |
| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4527359A (en) * | 1984-04-23 | 1985-07-09 | Timesavers, Inc. | Segmented platen with diaphragm cylinder control |
| CN105479303A (en) * | 2016-01-21 | 2016-04-13 | 华寿庆 | Building board surface polishing machine |
| CN205600456U (en) * | 2016-03-30 | 2016-09-28 | 苏州春兴精工股份有限公司 | Die -casting is deburring robot for product |
| CN106914808A (en) * | 2017-01-21 | 2017-07-04 | 中山市华南理工大学现代产业技术研究院 | Club head surface automatically grinding equipment |
| CN207548340U (en) * | 2017-11-10 | 2018-06-29 | 深圳市创世纪机械有限公司 | A kind of numerically-controlled machine tool of double work executing agency |
| CN108214288A (en) * | 2018-01-07 | 2018-06-29 | 余成付 | The robot polishing system of titanium alloy stent |
| CN108621120A (en) * | 2018-07-09 | 2018-10-09 | 薛敏强 | A kind of conveying machinery arm of Multifunctional rotary displacement that capableing of branch's feeding |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112497075A (en) * | 2020-11-30 | 2021-03-16 | 广州奔德网络科技有限公司 | Automatic polishing solution adding device for watch manufacturing and grinding |
| CN114559344A (en) * | 2022-03-01 | 2022-05-31 | 徐州海天石化有限公司 | Grinding mechanism for universal grinding machine for heat exchange plate |
| CN114559344B (en) * | 2022-03-01 | 2022-11-22 | 徐州海天石化有限公司 | A grinding mechanism for universal grinder for heat transfer plate |
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Application publication date: 20190329 |
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| WW01 | Invention patent application withdrawn after publication |