CN109605182B - Robot polishing and grinding device for spectacle frame processing and control method thereof - Google Patents
Robot polishing and grinding device for spectacle frame processing and control method thereof Download PDFInfo
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- CN109605182B CN109605182B CN201811633213.2A CN201811633213A CN109605182B CN 109605182 B CN109605182 B CN 109605182B CN 201811633213 A CN201811633213 A CN 201811633213A CN 109605182 B CN109605182 B CN 109605182B
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- spectacle frame
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- grinding
- injection molding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/006—Machines or devices using grinding or polishing belts; Accessories therefor for special purposes, e.g. for television tubes, car bumpers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
- B24B21/20—Accessories for controlling or adjusting the tracking or the tension of the grinding belt
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/04—Protective covers for the grinding wheel
- B24B55/05—Protective covers for the grinding wheel specially designed for portable grinding machines
- B24B55/057—Protective covers for the grinding wheel specially designed for portable grinding machines with belt-like tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C37/00—Component parts, details, accessories or auxiliary operations, not covered by group B29C33/00 or B29C35/00
- B29C37/0092—Drying moulded articles or half products, e.g. preforms, during or after moulding or cooling
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/38—Cutting-off equipment for sprues or ingates
- B29C45/382—Cutting-off equipment for sprues or ingates disposed outside the mould
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29C—SHAPING OR JOINING OF PLASTICS; SHAPING OF MATERIAL IN A PLASTIC STATE, NOT OTHERWISE PROVIDED FOR; AFTER-TREATMENT OF THE SHAPED PRODUCTS, e.g. REPAIRING
- B29C45/00—Injection moulding, i.e. forcing the required volume of moulding material through a nozzle into a closed mould; Apparatus therefor
- B29C45/17—Component parts, details or accessories; Auxiliary operations
- B29C45/72—Heating or cooling
- B29C45/7207—Heating or cooling of the moulded articles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B29—WORKING OF PLASTICS; WORKING OF SUBSTANCES IN A PLASTIC STATE IN GENERAL
- B29L—INDEXING SCHEME ASSOCIATED WITH SUBCLASS B29C, RELATING TO PARTICULAR ARTICLES
- B29L2012/00—Frames
- B29L2012/005—Spectacle frames
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Manufacturing & Machinery (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a robot polishing and grinding device for processing a spectacle frame, which comprises the following components: an injection molding machine capable of obtaining a spectacle frame by injection molding; the water cooling mechanism can cool the glasses frames which are injected and molded by the injection molding machine with cold water and carry out dewatering operation; the online polishing group can cut a water gap of the water-cooled glasses frame and polish the glasses frame; the electric cabinet is electrically connected with the water cooling mechanism, the online grinding group and the injection molding machine; the water cooling mechanism is arranged above a movable mold protective cover of the injection molding machine, the online polishing group is arranged on a fixed mold head plate of the injection molding machine, the electric cabinet is placed on the side surface of the injection molding machine, and the online polishing group is provided with six mechanical arms which can respectively perform automatic clamping on the spectacle frame among the injection molding machine, the water cooling mechanism and the online polishing group and convey the spectacle frame to the corresponding position. The invention also discloses a control method of the robot polishing and grinding device for processing the spectacle frame, and the invention improves the working efficiency.
Description
Technical Field
The invention relates to the field of spectacle frame processing machinery, in particular to a robot polishing and grinding device for processing a spectacle frame, which integrates automatic grabbing, cooling, shearing, polishing and grinding and a control method thereof.
Background
Along with the continuous development of intelligent equipment, the eyesight of more and more teenagers and children is rapidly reduced, and the glasses must be worn finally, so that the industry of the glasses is continuously developed and promoted, the glasses generally comprise a glasses frame and lenses, the lenses are mounted on the glasses frame after the glasses frame is processed according to the sizes of the lenses during processing of the products to form a pair of complete glasses, and a user can use the glasses, so that the glasses frame is an essential part, the processing efficiency of the glasses frame directly influences the processing efficiency of finally processing a pair of complete glasses, but the efficiency of the existing glasses frame processing equipment is low, most of the existing glasses frame processing equipment needs manual operation, the danger of manual production is high, the glasses frame needs to be taken out of an injection molding machine manually and then cooled separately, and then the glasses frame is respectively operated between polishing, processing, cutting and material taking, the automation degree is low, and, in summary, the conventional eyeglass frame processing device has the following problems: low processing efficiency, poor automatic operation level and high labor cost.
Disclosure of Invention
The invention aims to solve the defects of the prior art and provide a robot polishing and grinding device for processing spectacle frames, which perfectly replaces manual operation through a manipulator, integrates automatic grabbing, cooling, shearing and grinding into a whole, does not need step-by-step processing, adopts water cooling and alternative cooling, and can greatly reduce the water cooling period, thereby improving the working efficiency of the whole process, ensuring high product processing efficiency and high automatic operation level, and reducing the labor cost.
In order to achieve the above object, the present invention provides a robot polishing and grinding device for processing a spectacle frame, comprising:
an injection molding machine capable of obtaining a spectacle frame by injection molding;
the water cooling mechanism can cool the glasses frames which are injected and molded by the injection molding machine with cold water and carry out dewatering operation;
the online polishing group can cut a water gap of the water-cooled glasses frame and polish the glasses frame;
the electric cabinet is electrically connected with the water cooling mechanism, the online grinding group and the injection molding machine;
the automatic glasses frame clamping device comprises an injection molding machine, a water cooling mechanism, an online polishing group, an electric cabinet, a fixed die head plate, an electric cabinet, a six-axis manipulator, a glass frame clamping mechanism, a movable die head plate, a movable die;
the water cooling mechanism comprises a water cooling support, a water cooling bottom plate, a water tank, a water cooling shield, two hole gas rows, three hole gas rows, a gas source processor, two sets of lifting cylinders, two reflection sensors and two sets of picture frame hooks for hanging the glasses frames respectively, the water tank is arranged at the front end above the water cooling bottom plate, the front part of the water tank is divided into a drainage area, the rear part of the water tank is divided into a water accumulation area, the water accumulation area is filled with clear water, the two hole gas rows and the three hole gas rows are respectively arranged in the drainage area of the water tank, each set of picture frame hooks is connected with the output end of a corresponding lifting cylinder, the two lifting cylinders are both arranged at the two sides above the water cooling bottom plate, the two lifting cylinders are arranged behind the water tank side by side and are positioned above the reflection sensors and the water cooling shield simultaneously, the two reflection sensors are both electrically connected with the corresponding lifting cylinders, the water, the two-hole gas exhaust and the three-hole gas exhaust are connected with the gas source processor.
Further, in order to facilitate operation, the online polishing group comprises an online polishing bottom plate, a machine table connecting seat, a polishing assembly, a cutting hopper, a finished product hopper, a cutting assembly, a first air shear group, a material taking clamp and a second air shear group; the online polishing bottom plate is arranged on the machine table connecting seat, the material taking clamp is arranged on a six-axis manipulator, the six-axis manipulator is connected to the right side above the online polishing bottom plate, the polishing assembly is connected to the left side above the online polishing bottom plate, and the cutting assembly, the first air shear assembly and the second air shear assembly are respectively arranged in the middle above the online polishing bottom plate; and the second air shear set is positioned between the cutting assembly and the first air shear set.
Further, in order to facilitate operation, the polishing assembly comprises a variable frequency motor, a tensioning cylinder, a polishing vertical plate, a bamboo joint air nozzle, a polishing abrasive belt, a polishing shield, a pressure regulating valve, an abrasive belt driving wheel and a driven wheel; the abrasive belt driving wheel is installed on the variable frequency motor, the variable frequency motor is connected behind the polishing vertical plate, the tensioning cylinder is installed behind the polishing vertical plate and is arranged above the amount of the variable frequency motor, the pressure regulating valve is installed behind the polishing vertical plate and is arranged on the left side of the tensioning cylinder, the bamboo joint air nozzle is installed behind the polishing vertical plate, the polishing abrasive belt is connected with three driven wheels and one abrasive belt driving wheel, and the polishing protective cover is connected in front of the polishing vertical plate.
Further, the six-axis robot is a robot structure capable of moving in each axial direction for the convenience of operation.
The invention also discloses a control method of the robot polishing and grinding device for processing the spectacle frame, which comprises the following steps:
A) after the injection molding machine is used for injection molding of the spectacle frame, the spectacle frame is grabbed by a material fetching clamp on the six-axis manipulator, then the spectacle frame is hung on the left spectacle frame hook, the left spectacle frame hook works correspondingly to the connected lifting cylinder, and the spectacle frame hook is immersed in clear water for cooling;
B) meanwhile, the six-axis manipulator grabs the spectacle frame which is injected again and hangs the spectacle frame on the right side, and the spectacle frame on the left side is cooled; at the moment, the lifting cylinders correspondingly connected with the spectacle frame hooks on the right side immerse the spectacle frames into clear water for cooling, so that the two groups of lifting cylinders work alternately to save the waiting time of cooling;
C) at the moment, the left lifting cylinder lifts the cooled spectacle frame, the spectacle frame which is grabbed by the six-axis manipulator and cooled enters a drainage layer of the water tank, the spectacle frame with water is subjected to high-pressure air blowing and water removing treatment by the two-hole air exhaust and the three-hole air exhaust, and the spectacle frame which is grabbed by the six-axis manipulator and is provided with water is lifted between the two-hole air exhaust and the three-hole air exhaust to perform air blowing and water removing back and forth; after finishing, cutting the water gap of the spectacle frame by the cutting assembly, and then further polishing the water gap by the polishing assembly; after polishing, the mirror frame flows back into a finished product box from a finished product hopper to finish the production work of one flow of the product;
D) because the left side picture frame hook after grabbing is an empty hook and does not hang a picture frame, the circulation operation of the steps is carried out at the moment, a new picture frame is grabbed from the injection molding machine by the six-axis manipulator and hung on the empty picture frame hook, and meanwhile, the six-axis manipulator grabs the picture frame on the other group of picture frame hooks to carry out dewatering, cutting and polishing processing; realize two sets of picture frame couples and cool off in turn, the manipulator snatchs in turn, accomplishes incessant efficient processing operation step.
Further, the grinding component is used for grinding the water gap in a flexible grinding mode of an abrasive belt.
Further, the six-axis robot is a robot structure capable of performing individual axial movements.
Further, the spectacle frame being sanded is protected by a sanding guard in step C.
Furthermore, when the work of the lifting cylinder triggers and adjusts, the corresponding reflection sensor gives a starting signal to the lifting cylinder to drive the lifting cylinder to work.
According to the robot polishing and grinding device for spectacle frame processing and the control method thereof, manual operation is replaced perfectly through the mechanical arm, automatic grabbing, cooling, shearing and grinding are integrated, step-by-step processing is not needed, double-station water cooling alternative cooling is adopted, and a water cooling period can be greatly reduced, so that the working efficiency of the whole process is improved, the high product processing efficiency and the high automatic operation level are ensured, and the labor cost is reduced.
Description of the drawings:
fig. 1 is a schematic view showing the overall structure of a robot polishing and grinding device for spectacle frame processing according to embodiment 1;
FIG. 2 is a side view of the structure of the on-line grinding group in example 1;
FIG. 3 is a top view of the structure of the in-line grinding group in example 1;
FIG. 4 is a plan view showing the structure of a water cooling mechanism in embodiment 1;
FIG. 5 is a perspective view showing the structure of the sanding assembly of example 1 in one direction;
figure 6 is a perspective view of the sanding assembly of example 1 in another orientation.
In the reference symbols: 1. grinding the group on line; 2. a water cooling mechanism; 3. an injection molding machine; 4. an electric cabinet; 11. polishing the bottom plate on line; 12. a machine station connecting seat; 13. polishing the assembly; 14. cutting the hopper; 15. a finished product hopper; 16. a cutting assembly; 17. a six-axis manipulator; 18. a first air shear set; 19. a material taking clamp; 110. a second air shear set; 131. a variable frequency motor; 132. a tensioning cylinder; 133. polishing the vertical plate; 134. a bamboo joint air tap; 135. sanding an abrasive belt; 136. grinding the protective cover; 137. a pressure regulating valve; 138. a belt drive wheel; 139. a driven wheel; 21. a water-cooled support; 22. water-cooling the bottom plate; 23. a water tank; 24. a water-cooled shield; 25. two-hole air exhaust; 26. three-hole gas row; 27. a lifting cylinder; 28. a reflective inductor; 29. the picture frame is hooked; 210. an air source processor; 211. an eyeglass frame.
Detailed Description
The invention will be further described with reference to the following examples.
Example 1:
as shown in fig. 1, the present embodiment provides a robot polishing and grinding device for processing spectacle frames, which includes the following components:
an injection molding machine 3 capable of obtaining the eyeglass frame 211 by injection molding;
a water cooling mechanism 2 capable of cooling the glasses frame 211 which is injection molded by the injection molding machine with cold water and performing a water removal operation;
the online grinding group 1 can cut a water gap of the water-cooled glasses frame 211 and grind the water gap;
and an electric cabinet 4 electrically connected with the water cooling mechanism 2, the on-line grinding group 1 and the injection molding machine 3;
the water cooling mechanism 2 is arranged above a movable mold protective cover of the injection molding machine 3, the online polishing group 1 is arranged on a fixed mold head plate of the injection molding machine 3, the electric cabinet 4 is arranged on the side surface of the injection molding machine, and the online polishing group 1 is provided with a six-axis manipulator 17 which can automatically clamp the spectacle frame 211 and convey the spectacle frame to a corresponding position between the injection molding machine 3, the water cooling mechanism 2 and the online polishing group 1.
As shown in fig. 2 and 3, further, for convenience of operation, the online grinding group 1 includes an online grinding bottom plate 11, a machine connecting seat 12, a grinding assembly 13, a cutting hopper 14, a finished product hopper 15, a cutting assembly 16, a first air shear group 18, a material taking clamp 19, and a second air shear group 110; the online grinding bottom plate 11 is arranged on the machine table connecting seat 12, the material taking clamp 19 is arranged on the six-axis manipulator 17, the six-axis manipulator 17 is connected to the right side above the online grinding bottom plate 11, the grinding assembly 13 is connected to the left side above the online grinding bottom plate 11, and the cutting assembly 16, the first air shear set 18 and the second air shear set 110 are respectively arranged in the middle above the online grinding bottom plate 11; and the second air shear set 110 is located intermediate the cutting assembly 16 and the first air shear set 18.
As shown in fig. 5 and 6, further, for convenience of operation, the grinding assembly 13 includes a variable frequency motor 131, a tensioning cylinder 132, a grinding vertical plate 133, a bamboo joint air nozzle 134, a grinding belt 135, a grinding shield 136, a pressure regulating valve 137, a belt driving wheel 138 and a driven wheel 139; the belt drive wheels 138 are mounted on the variable frequency motor 131, the variable frequency motor 131 is connected behind the polishing vertical plate 133, the tensioning cylinder 132 is mounted behind the polishing vertical plate 133 and is arranged above the amount of the variable frequency motor 131, the pressure regulating valve 137 is mounted behind the polishing vertical plate 133 and is arranged on the left side of the tensioning cylinder 132, the bamboo joint air nozzle 134 is mounted behind the polishing vertical plate 133, the polishing belt 135 is connected with three driven wheels 139 and one belt drive wheel 138, and the polishing shield 136 is connected in front of the polishing vertical plate 133.
The working principle is as follows: six-shaft manipulator 17 clamps glasses frame 211 which is finished by cooling and dewatering and cuts a water gap, and moves to a position to be polished, and electric cabinet 4 drives and starts variable frequency motor 131, then belt driving wheel 138 is driven to rotate and drives belt 135 to polish and drive three driven wheels 139 to transmit, and three driven wheels 139 strain belt 135 to polish, so that belt 135 is in a tightening state, and meanwhile pressure regulating valve 137 can regulate the air pressure to control the tightening force of tensioning cylinder 132, so as to regulate the tightness of belt 135, thereby being suitable for glasses frame 211 made of different materials to polish and polish, bamboo joint air nozzle 134 performs air blowing and cooling on the polishing position in the polishing process, so that the quality of the polished product is better, the loss of belt 135 is reduced, and the processing cost is saved.
As shown in fig. 4, further, for convenience of operation, the water cooling mechanism 2 includes a water cooling support 21, a water cooling bottom plate 22, a water tank 23, a water cooling shield 24, a two-hole air exhaust 25, a three-hole air exhaust 26, an air source processor 210, two sets of lifting cylinders 27, two reflective sensors 28, and two sets of glasses frame hooks 29 for hanging glasses frames 211, wherein the water tank 23 is disposed at the front end above the water cooling bottom plate 22, the front part of the water tank 23 is a water drainage area, the rear part of the water tank is a water accumulation area, the water accumulation area is filled with clear water, the two-hole air exhaust 25 and the three-hole air exhaust 26 are respectively installed in the water drainage area of the water tank 24, each set of glasses frame hooks 29 is connected to the output end of a corresponding lifting cylinder 27, the two lifting cylinders 27 are installed at both sides above the water cooling bottom plate 22, the two lifting cylinders 27 are arranged side by side behind the water tank 23 and, the two reflection sensors 28 are electrically connected with the corresponding lifting cylinders 27, the water-cooling shield 24 is arranged behind the water tank 23, the air source processor 210 is arranged on the side surface of the water-cooling bracket 21, and the two-hole air exhaust 25 and the three-hole air exhaust 26 are connected with the air source processor 210.
Further, the six-axis robot 17 is a robot structure capable of 6 axial direction movements for the convenience of operation.
The working principle is as follows: after the injection molding machine 3 injects the spectacle frame 211, the spectacle frame 211 is grabbed by the material fetching clamp 19 on the six-axis manipulator 17, then the spectacle frame 211 is hung on the left spectacle frame hook 29, at the moment, the left spectacle frame hook 29 works correspondingly to the connected lifting cylinder 27, and the spectacle frame hook 29 is immersed in clean water for cooling; meanwhile, the six-axis manipulator 17 grabs the newly injected spectacle frame 211 again to be hung on the right spectacle frame hook 29, and the left spectacle frame 211 is cooled; at the moment, the lifting air cylinders 27 correspondingly connected with the spectacle frame hooks 29 on the right side immerse the spectacle frames 211 in clear water for cooling, so that the two groups of lifting air cylinders 27 are ensured to work alternately to save the waiting time of cooling; at the moment, the left lifting cylinder 27 is lifted with the cooled spectacle frame 211, the spectacle frame 211 which is cooled is grabbed by the six-axis manipulator 17 and enters a drainage layer of the water tank 23, the spectacle frame with water is subjected to high-pressure air blowing and water removing treatment by the two-hole air exhaust 25 and the three-hole air exhaust 26, and the spectacle frame with water grabbed by the six-axis manipulator 17 is lifted between the two-hole air exhaust 25 and the three-hole air exhaust 26 to perform air blowing and water removing; after the water gap is cut, the cutting assembly 16 is used for cutting the water gap of the glasses frame 211, and then the polishing assembly 13 is used for further water gap polishing operation; after polishing, the mirror frame is guided into a finished product box by a finished product hopper 15, and the production work of one process of the product is finished; because the grabbed left side spectacle frame hook 29 is an empty hook and does not hang a spectacle frame, the circulation operation of the steps is carried out at the moment, a new spectacle frame 211 is reloaded from the injection molding machine 3 by the six-axis manipulator 17 and hung on the empty spectacle frame hook 29, and meanwhile, the six-axis manipulator 17 grabs the spectacle frame on the other group of spectacle frame hooks 29 for dewatering, cutting and polishing; the automatic cooling machine has the advantages that the two groups of mirror frame hooks 29 are alternately cooled, the mechanical arms alternately grab, uninterrupted and efficient machining operation steps are completed, the mechanical arms perfectly replace manual operation, automatic grabbing, cooling, shearing and polishing are integrated, step-by-step machining is not needed, double-station water cooling alternate cooling is adopted, the water cooling period can be greatly reduced, accordingly, the working efficiency of the whole process is improved, the high product machining efficiency and the high automatic operation level are ensured, and the labor cost is reduced.
Example 3:
the method for controlling the robot polishing and grinding device for processing the spectacle frame according to embodiment 1 includes the following steps:
A) after the injection molding machine 3 injects the spectacle frame 211, the spectacle frame 211 is grabbed by the material fetching clamp 19 on the six-axis manipulator 17, then the spectacle frame 211 is hung on the left spectacle frame hook 29, at the moment, the left spectacle frame hook 29 works correspondingly to the connected lifting cylinder 27, and the spectacle frame hook 29 is immersed in clean water for cooling;
B) meanwhile, the six-axis manipulator 17 grabs the newly injected spectacle frame 211 again to be hung on the right spectacle frame hook 29, and the left spectacle frame 211 is cooled; at the moment, the lifting air cylinders 27 correspondingly connected with the spectacle frame hooks 29 on the right side immerse the spectacle frames 211 in clear water for cooling, so that the two groups of lifting air cylinders 27 are ensured to work alternately to save the waiting time of cooling;
C) at the moment, the left lifting cylinder 27 is lifted with the cooled spectacle frame 211, the spectacle frame 211 which is cooled is grabbed by the six-axis manipulator 17 and enters a drainage layer of the water tank 23, the spectacle frame with water is subjected to high-pressure air blowing and water removing treatment by the two-hole air exhaust 25 and the three-hole air exhaust 26, and the spectacle frame with water grabbed by the six-axis manipulator 17 is lifted between the two-hole air exhaust 25 and the two-hole air exhaust 26 to perform air blowing and water removing; after the water gap is cut, the cutting assembly 16 is used for cutting the water gap of the glasses frame 211, and then the polishing assembly 13 is used for further water gap polishing operation; after polishing, the mirror frame flows back into a finished product box from a finished product hopper 15 to finish the production work of one flow of the product;
D) because the grabbed left side spectacle frame hook 29 is an empty hook and does not hang a spectacle frame, the circulation operation of the steps is carried out at the moment, a new spectacle frame 211 is reloaded from the injection molding machine 3 by the six-axis manipulator 17 and hung on the empty spectacle frame hook 29, and meanwhile, the six-axis manipulator 17 grabs the spectacle frame on the other group of spectacle frame hooks 29 for dewatering, cutting and polishing; the two groups of mirror frame hooks 29 are alternately cooled, and the mechanical arm alternately grabs to complete the uninterrupted and efficient processing operation steps.
Further, the grinding component 13 is used for grinding the nozzle by using a flexible grinding mode of a sand belt.
Further, the six-axis robot 17 is a robot structure capable of 6 axial movements.
Furthermore, the dust generated by polishing can be isolated by the polishing protective cover 136 in the step C, and then discharged by an external dust suction system, so that dust-free polishing processing is realized.
Further, when the operation of the lifting cylinder 27 triggers the adjustment, the corresponding reflective sensor 28 sends a start signal to the lifting cylinder 27 to drive the lifting cylinder 27 to operate.
While there have been shown and described what are at present considered the fundamental principles and essential features of the invention and its advantages, it will be apparent to those skilled in the art that the invention is not limited to the details of the foregoing exemplary embodiments, but is capable of other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (9)
1. The utility model provides a spectacle-frame processing is with robot polishing grinding device which characterized in that includes following part:
an injection molding machine (3) capable of obtaining a spectacle frame (211) by injection molding;
a water cooling mechanism (2) which can cool the glasses frame (211) which is injected and molded by the injection molding machine by cold water and carry out dewatering operation;
the online grinding group (1) can cut a water gap of the water-cooled glasses frame (211) and grind the glasses frame;
and an electric cabinet (4) which is electrically connected with the water cooling mechanism (2), the online grinding group (1) and the injection molding machine (3);
the automatic glasses frame grinding machine is characterized in that the water cooling mechanism (2) is arranged above a movable mold protection cover of the injection molding machine (3), the online grinding group (1) is installed on a fixed mold head plate of the injection molding machine (3), the electric cabinet (4) is placed on the side surface of the injection molding machine, and the online grinding group (1) is provided with a six-axis manipulator (17) which can automatically clamp a glasses frame (211) among the injection molding machine (3), the water cooling mechanism (2) and the online grinding group (1) and convey the glasses frame to a corresponding position;
the water cooling mechanism (2) comprises a water cooling support (21), a water cooling bottom plate (22), a water tank (23), a water cooling shield (24), two hole gas rows (25), three hole gas rows (26), a gas source processor (210), two sets of lifting cylinders (27), two reflection sensors (28) and two sets of mirror frame hooks (29) used for hanging a glasses frame (211) respectively, wherein the water tank (23) is arranged at the front end above the water cooling bottom plate (22), the front part of the water tank (23) is divided into a drainage area, the rear part of the water tank is divided into a water accumulation area, the water accumulation area is filled with clear water, the two hole gas rows (25) and the three hole gas rows (26) are respectively installed in the drainage area of the water tank (24), each set of mirror frame hooks (29) is connected with the output end of one corresponding lifting cylinder (27), the two lifting cylinders (27) are both installed at two sides above the water cooling bottom plate (22), and the two lifting cylinders (27) are placed behind the water tank (, the water-cooling type air conditioner is characterized in that the water-cooling type air conditioner is located above the reflection sensors (28) and the water-cooling protective cover (24), the two reflection sensors (28) are electrically connected with the corresponding lifting air cylinders (27), the water-cooling protective cover (24) is installed behind the water tank (23), the air source processor (210) is installed on the side face of the water-cooling support (21), and the two-hole air exhaust (25) and the three-hole air exhaust (26) are connected with the air source processor (210).
2. The robot polishing and grinding device for spectacle frame processing according to claim 1, wherein the online grinding group (1) comprises an online grinding bottom plate (11), a machine connecting seat (12), a grinding assembly (13), a cutting hopper (14), a finished product hopper (15), a cutting assembly (16), a first air shear group (18), a material taking clamp (19) and a second air shear group (110); the online polishing device comprises a machine table connecting seat (12), an online polishing bottom plate (11), a material taking clamp (19), a six-axis manipulator (17), a polishing assembly (13), a cutting assembly (16), a first air shear assembly (18) and a second air shear assembly (110), wherein the online polishing bottom plate (11) is arranged on the machine table connecting seat (12), the six-axis manipulator (17) is connected to the right side above the online polishing bottom plate (11), the polishing assembly (13) is connected to the left side above the online polishing bottom plate (11), and the cutting assembly (16), the first air shear assembly and; and the second air shear group (110) is positioned in the middle of the cutting assembly (16) and the first air shear group (18).
3. The robot polishing and grinding device for spectacle frame processing according to claim 2, characterized in that the grinding component (13) comprises a variable frequency motor (131), a tensioning cylinder (132), a grinding vertical plate (133), a bamboo joint air tap (134), a grinding abrasive belt (135), a grinding protective cover (136), a pressure regulating valve (137), an abrasive belt driving wheel (138) and a driven wheel (139); the abrasive belt driving wheel (138) is installed on the variable frequency motor (131), the variable frequency motor (131) is connected behind a polishing vertical plate (133), the tensioning cylinder (132) is installed behind the polishing vertical plate (133) and is arranged above the amount of the variable frequency motor (131), the pressure regulating valve (137) is installed behind the polishing vertical plate (133) and is arranged on the left side of the tensioning cylinder (132), the bamboo joint air nozzle (134) is installed behind the polishing vertical plate (133), the polishing abrasive belt (135) is connected with three driven wheels (139) and one abrasive belt driving wheel (138), and the polishing protective cover (136) is connected in front of the polishing vertical plate (133).
4. A spectacle frame processing robot lapping device as claimed in claim 1, 2 or 3, characterized in that the six-axis robot arm (17) is a robot arm structure capable of 6 axial direction movements.
5. A control method of a robot polishing and grinding device for processing a spectacle frame is characterized by comprising the following steps:
A) after the injection molding machine (3) injects the spectacle frame (211), the spectacle frame is grabbed by a material taking clamp (19) on a six-axis manipulator (17), then the spectacle frame (211) is hung on the spectacle frame hook (29) on the left side, at the moment, the spectacle frame hook (29) on the left side works correspondingly to a lifting cylinder (27), and the spectacle frame hook (29) is immersed in clean water for cooling;
B) meanwhile, the six-axis manipulator (17) grabs the newly injection-molded spectacle frame (211) again to be hung on the right spectacle frame hook (29), and the left spectacle frame (211) is cooled; at the moment, the spectacle frame (211) is immersed into clear water for cooling by the lifting cylinders (27) correspondingly connected with the spectacle frame hooks (29) on the right side, so that the two groups of lifting cylinders (27) are ensured to work alternately to save the waiting time for cooling;
C) at the moment, the left lifting cylinder (27) is lifted with the cooled spectacle frame (211), the cooled spectacle frame (211) is grabbed by the six-axis manipulator (17) to enter a drainage layer of the water tank (23), the spectacle frame with water is subjected to high-pressure air blowing and water removing treatment by the two-hole air exhaust (25) and the three-hole air exhaust (26), and the spectacle frame with water grabbed by the six-axis manipulator (17) is lifted between the two-hole air exhaust (25) and the three-hole air exhaust (26) to perform air blowing and water removing back and forth; after the water gap cutting operation is finished, the cutting assembly (16) is used for cutting the water gap of the glasses frame (211), and then the polishing assembly (13) is used for further water gap polishing operation; after polishing, the mirror frame flows back into a finished product box from a finished product hopper (15) to finish the production work of one flow of the product;
D) because the grabbed left side spectacle frame hook (29) is an empty hook and a spectacle frame is not hung, the cyclic operation of the steps is carried out at the moment, a new spectacle frame (211) is grabbed from the injection molding machine (3) by the six-axis manipulator (17) and hung on the empty spectacle frame hook (29), and meanwhile, the six-axis manipulator (17) grabs the spectacle frame on the other group of spectacle frame hooks (29) to carry out dewatering, cutting and polishing processing; the two groups of mirror frame hooks (29) are alternately cooled, and the mechanical arm alternately grabs to complete the uninterrupted and efficient processing operation steps.
6. A control method of a robotic polishing and sharpening device for spectacle frame processing according to claim 5, characterized in that said sharpening assembly (13) is a nozzle sharpening with a belt-fed flexible sharpening.
7. The method for controlling a robotic polishing and sharpening device for spectacle frame processing according to claim 5 or 6, characterized in that said six-axis robot (17) is a robot structure capable of 6 axial movements.
8. A control method of a robot polishing and grinding device for spectacle frame processing according to claim 5 or 6, characterized in that the spectacle frame (211) being ground is protected by a grinding guard (136) in step C.
9. A control method of a robot polishing and grinding device for spectacle frame processing according to claim 5 or 6, characterized in that the operation of the lifting cylinder (27) triggers the adjustment by a corresponding reflection sensor (28) giving an activation signal to the lifting cylinder (27) to actuate the lifting cylinder (27).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811633213.2A CN109605182B (en) | 2018-12-29 | 2018-12-29 | Robot polishing and grinding device for spectacle frame processing and control method thereof |
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| CN201811633213.2A CN109605182B (en) | 2018-12-29 | 2018-12-29 | Robot polishing and grinding device for spectacle frame processing and control method thereof |
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| CN109605182B true CN109605182B (en) | 2021-01-19 |
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| CN110587920A (en) * | 2019-09-28 | 2019-12-20 | 南通匠人新材料科技有限公司 | Processing method of plastic edging for treadmill |
| CN111889682B (en) * | 2020-07-15 | 2022-08-09 | 焦作市强信粉末冶金科技有限公司 | Powder metallurgy spherical part topping device and using method thereof |
| CN112428103B (en) * | 2020-10-17 | 2021-10-29 | 安徽佩吉智能科技有限公司 | Abrasive belt grinding workbench for cover plate of washing machine |
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| DE2461886A1 (en) * | 1974-12-30 | 1976-07-08 | Werner Fa Hermann | MACHINE FOR GRINDING PERIODIC AREAS ON WORKPIECES |
| CN202306025U (en) * | 2011-09-22 | 2012-07-04 | 钟沿东 | Extrusion type spectacle frame section bar blank and forming equipment therefor |
| CN205685184U (en) * | 2016-06-06 | 2016-11-16 | 苏州晓炎自动化设备有限公司 | Six axis robot formula amary tape grinding machine |
| CN206201331U (en) * | 2016-09-30 | 2017-05-31 | 舒城县淳风塑业有限责任公司 | A kind of plastic crate forming machine with water cooling function |
| CN206718385U (en) * | 2017-03-24 | 2017-12-08 | 东莞市凹凸自动化科技有限公司 | A kind of glasses are molded frame Full-automatic cutting gate mechanism |
| CN207616667U (en) * | 2017-08-08 | 2018-07-17 | 佛山市埃科机器人科技有限公司 | A kind of full-automatic cutting polishing spectacle-frame equipment |
| CN208084811U (en) * | 2018-01-23 | 2018-11-13 | 佛山市埃科机器人科技有限公司 | One kind, which takes, cuts mill all-in-one machine |
| CN108161669A (en) * | 2018-02-01 | 2018-06-15 | 北京华航唯实机器人科技股份有限公司 | A kind of pipeline system sanding and polishing work station based on robot |
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Address after: 528100 one of block 2, 12 RiFeng Road, Leping Town, Sanshui District, Foshan City, Guangdong Province Patentee after: FOSHAN AIKE ROBOT TECHNOLOGY Co.,Ltd. Address before: No.103, 1st floor, No.6 Junye North Road, science and Technology Industrial Park, Shishan town, Nanhai District, Foshan City, Guangdong Province Patentee before: FOSHAN AIKE ROBOT TECHNOLOGY Co.,Ltd. |