CN109623587A - A kind of robot polishing station - Google Patents
A kind of robot polishing station Download PDFInfo
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- CN109623587A CN109623587A CN201910055476.8A CN201910055476A CN109623587A CN 109623587 A CN109623587 A CN 109623587A CN 201910055476 A CN201910055476 A CN 201910055476A CN 109623587 A CN109623587 A CN 109623587A
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- Prior art keywords
- robot
- polishing
- main shaft
- power control
- polishing machine
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- 238000005498 polishing Methods 0.000 title claims abstract description 120
- 239000000463 material Substances 0.000 claims abstract description 56
- 238000000227 grinding Methods 0.000 claims abstract description 47
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 36
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000000428 dust Substances 0.000 claims abstract description 30
- 210000000245 forearm Anatomy 0.000 claims abstract description 11
- 230000001360 synchronised effect Effects 0.000 claims description 30
- 239000003638 chemical reducing agent Substances 0.000 claims description 25
- 239000000758 substrate Substances 0.000 claims description 10
- 238000013016 damping Methods 0.000 claims description 8
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims description 8
- 230000000694 effects Effects 0.000 claims description 3
- 230000007423 decrease Effects 0.000 abstract description 5
- 230000009467 reduction Effects 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- BVPWJMCABCPUQY-UHFFFAOYSA-N 4-amino-5-chloro-2-methoxy-N-[1-(phenylmethyl)-4-piperidinyl]benzamide Chemical compound COC1=CC(N)=C(Cl)C=C1C(=O)NC1CCN(CC=2C=CC=CC=2)CC1 BVPWJMCABCPUQY-UHFFFAOYSA-N 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 229910001069 Ti alloy Inorganic materials 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000012937 correction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003292 diminished effect Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 125000001475 halogen functional group Chemical group 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000010935 stainless steel Substances 0.000 description 1
- 229910001220 stainless steel Inorganic materials 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
-
- 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
- B24B41/02—Frames; Beds; Carriages
-
- 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
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/20—Drives or gearings; Equipment therefor relating to feed movement
-
- 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
- B24B49/16—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 taking regard of the load
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a kind of robot polishing station, it include: pedestal, loading and unloading platform, robot body, polishing machine and control cabinet, the loading and unloading platform, robot body and polishing machine are arranged on pedestal, the loading and unloading platform includes upper layer material platform and lower layered material platform, the robot body includes robot's arm and robot forearm, the polishing machine includes mounting plate and clothes closet, at least provided with a polishing machine mould group on the clothes closet, the corresponding dust exhaust apparatus of each polishing machine mould group, the control cabinet respectively with loading and unloading platform, robot body is connected with polishing machine.High degree of automation of the present invention, customized parameter is more, with spindle drive, control of grinding force mechanism, take turns into control feed mechanism, the adjusting of abrasive band tensile force, deviation correcting device and dust exhaust apparatus, the demand for fully meeting golf club head polishing and other grinding workpieces, the decline of grinding yield, grinding efficiency reduction caused by workpiece deformation, abrasive band and polishing wheel wear are obviously improved.
Description
Technical field
The present invention relates to robot polishing technology field, specially a kind of robot polishing station.
Background technique
With the development of science and technology, the progress of automatic technology, the policy guidance of machine substitute human labor, many traditional-handwork industry all faces
Face that the upgrading of industry, especially manipulation strength are big, there are occupational disease hazards, the polishing grindings for polishing professional's shortage to lead
Domain, robot is instead of artificial sanding and polishing using imperative.
Abrasive band polishing polishing stainless steel is carried out using robot and titanium alloy, the hardness on the surface of workpiece are relatively high especially
It is that golf club head industry will also carry out 0.8mm thin-walled parts below and be ground, the deflection of spray is again bigger,
In this way to the control of grinding strength between polishing machine and robot, the control of abrasive band linear velocity, the position control in abrasive band, abrasive band
Tensile force control, the correction control in abrasive band, abrasive band loss grinding diminished strength problem, spark and dust protection, exclude back
The control and processing of the problems such as receipts is of crucial importance, and when traditional polissoir is polished, workpiece is easily-deformable, Wear Mechanism of Abrasive Belt, throwing
Cause the decline of grinding yields, grinding efficiency low after halo abrasion, to be unable to satisfy the demand of robot polishing.
Summary of the invention
The purpose of the present invention is to provide a kind of robot polishing station, have high degree of automation, customized parameter
It is more, and there is spindle drive, control of grinding force mechanism, take turns into control feed mechanism, the control of abrasive band tensile force, tuningout dress
It sets, dust exhaust apparatus function, fully meets the demand of golf club head polishing and other grinding workpieces, workpiece deformation, abrasive band are ground
The decline of grinding yield, grinding efficiency reduction caused by damage, polishing wheel wear problem are obviously improved, and solve above-mentioned technology back
The problem of scape is proposed.
To achieve the above object, the invention provides the following technical scheme: a kind of robot polishing station, comprising: pedestal；
Loading and unloading platform, the loading and unloading platform are set on the base, and the loading and unloading platform includes two the first guiding disposed in parallel
Axis rail, the first guiding axis guide rail are fixedly connected by upper layer connecting plate with upper layer material platform, two first guiding axis
Guide rail is slidably arranged in first straight line bearing, and the first straight line bearing passes through fastener and the fixed company of material platform mould group bottom plate
It connects, the upper layer material platform bottom side is provided with upper layer material platform driving cylinder, and the upper layer material platform drives cylinder in upper layer material platform
The length direction of driving lower edge the first guiding axis guide rail move back and forth, the first straight line is located on the material platform mould group bottom plate
Bearing side is provided with second straight line bearing, and the second guiding axis guide rail is provided on the second straight line bearing, and described second leads
It is fixedly connected to axis rail with lower layered material platform, is provided on the lower layered material platform and drives it along the second guiding axis guide rail length direction
The lower layered material platform driving cylinder moved back and forth；
Robot body, the robot body are set on the base, robot body include robot increase connection pedestal, with
The robot waist base that connection pedestal is fixedly connected, the waist being arranged on robot waist base are increased by robot, described
It is provided with robot's arm on waist, robot forearm, the robot's arm and machine are provided on the robot's arm
People's forearm is flexibly connected, and gripper is provided on the robot forearm, and the gripper is used to grab being processed on loading and unloading platform
Part；
Polishing machine, the polishing machine are located on pedestal, and polishing machine includes mounting plate and right angle setting on a mounting board vertical
Cabinet is correspondingly arranged on a dust suction in each polishing machine mould group at least provided with a polishing machine mould group on the clothes closet
Device, the dust exhaust apparatus include dust hood, and the dust hood side is provided with dust hood door-plate, and dust hood is internally provided with
Sink, the sink are connected with drainpipe, and the polishing machine mould group includes the first tensioning wheel, main shaft slide plate, polishing wheel and master
Axis driving mechanism, first tensioning wheel and polishing wheel are arranged at main shaft slide plate both ends, and the first tensioning wheel and polishing wheel pass through
Abrasive band connects, third linear bearing there are four settings on the main shaft slide plate, is equipped with one in third linear bearing described in every two
A guiding axis, the guiding axis are mounted on module group substrates two sides by marginal position, and the module group substrates pass through connector and polishing
Power control mold core is fixedly connected, and grooved hole is opened up on module group substrates, and the polishing power control mold core is detachably connected with clothes closet,
And be equipped with and taken turns into control feed mechanism and control of grinding force mechanism on polishing power control mold core, it is described to take turns into control feed mechanism
It passes through slot with control of grinding force mechanism to connect with main shaft slide plate, first tensioning wheel side is provided with three bar cylinders, described
Deviation correcting device is provided on three bar cylinders, the spindle drive is mounted on main shaft slide plate, and polishing wheel is driven to rotate；
Control cabinet, the control cabinet are arranged in the side of pedestal, and control cabinet respectively with loading and unloading platform, robot body and polishing
Machine connection, control cabinet includes that polishing machine power control cabinet, the man-machine interface being arranged in polishing machine power control cabinet and robot body are automatically controlled
Cabinet and the PLC programmable controller being arranged in polishing machine power control cabinet, the polishing machine power control cabinet, man-machine interface and robot
Ontology power control cabinet is connect with PLC programmable controller.
Preferably, the loading and unloading platform further includes rack, and the frame top is fixedly connected with material platform mould group bottom plate.
Preferably, it is described take turns into control feed mechanism include axis feeding connector, reducer pedestal and take turns into control servo
Motor is equipped with speed reducer on the reducer pedestal, and reducer pedestal side is fixedly connected with polishing power control mold core, described to subtract
Fast machine is connect with taking turns into control servo motor, and is provided with feed screw in speed reducer, outer spiral shell is provided on the feed screw
Line, and feed screw is flexibly connected by external screw thread with nut, the nut side is provided with damping rubber, the damping rubber and master
Axis feeds connector connection, and the axis feeding connector is U-shape, and axis feeding connector deviates from U-shaped opening one end
It is fixedly connected with main shaft slide plate.
Preferably, the control of grinding force mechanism includes that control of grinding force servo motor, power control connector are synchronous with power control
The output shaft of band tensioner, the control of grinding force servo motor is rotatablely connected by the first synchronous belt and the second tensioning wheel,
Second tensioning wheel is located in power control synchronous belt tensioner, and the power control synchronous belt tensioner passes through connector and polishing power
Control mold core connection, setting is strong on first synchronous belt controls synchronous strip connecting plate, the synchronous strip connecting plate of the power control with
Power control connector is vertically arranged, and the power control connector is fixedly connected with main shaft slide plate.
Preferably, the spindle drive includes main shaft drives servo motor and main shaft body, and the main shaft drives are watched
The output shaft for taking motor is connect by the second synchronous belt with timing belt pulley, and the timing belt pulley is arranged in main shaft body
On, a tapering is designed to away from timing belt pulley one end on the main shaft body, which is detachably connected with polishing wheel.
Preferably, the speed reducer is turbine worm reducer.
Preferably, the clothes closet also on be provided with sink water supplying pipe and exhaust column, the sink water supplying pipe is connect with sink,
The exhaust column both ends are run through clothes closet and extended on the outside of clothes closet to be connect with exhaust equipment.
Preferably, the deviation correcting device includes three bar cylinder connecting plates and main shaft slide plate connecting plate, and the three bars cylinder connects
Fishplate bar is connect by hinge axis with main shaft slide plate connecting plate, and institute is deviated from the three bars cylinder connecting plate and main shaft slide plate connecting plate
It states hinge axis one end to connect by spring, the main shaft slide plate connecting plate is connect with main shaft slide plate, and on main shaft slide plate connecting plate
Be provided with extension bar, the extension bar by tuningout screw connection seat and tuningout screw connection, the tuningout screw connection seat with
Three bar cylinders are fixedly connected.
Compared with prior art, beneficial effects of the present invention are as follows:
1, the present invention by setting control cabinet, PLC programmable controller is set in control cabinet, the controller respectively with loading and unloading
Platform, robot body and polishing machine connection, control its driving by PLC programmable controller, reach high degree of automation, can
Effect more than adjustment parameter.
2, the present invention on polishing machine by being arranged spindle drive, control of grinding force mechanism, taking turns into control feeding machine
Structure, the control of abrasive band tensile force, deviation correcting device and dust exhaust apparatus, each mechanism, which cooperates with each other, to be fully met golf club head and beats
The demand of mill and other grinding workpieces, the decline of grinding yield, grinding efficiency caused by workpiece deformation, Wear Mechanism of Abrasive Belt problem reduce
It is obviously improved.
3, the present invention on clothes closet by being arranged polishing machine mould group, and multiple polishing machine mould groups can be set, conveniently simultaneously
Different workpiece is processed, it is practical.
4, by the way that a tapering is arranged on main shaft body, which is detachably connected the present invention with polishing wheel, convenient for assembling
And replacement polishing wheel, achieve the effect that practical.
5, the present invention is by being arranged main shaft drives servo motor, taking turns into control servo motor and control of grinding force servo electricity
Machine, the main shaft drives servo motor are taken turns into control servo motor and control of grinding force servo motor through PLC PLC technology
Device control, can be accurately controlled the revolution, the main shaft slide plate amount of feeding and grinding force size of polishing wheel, further improve
Product to be processed accuracy reduces the error for being polished product.
Detailed description of the invention
Fig. 1 is structure chart of the invention；
Fig. 2 is the structure chart of loading and unloading platform of the present invention；
Fig. 3 is the structure chart of robot body of the present invention；
Fig. 4 is a kind of embodiment view of polishing machine of the present invention；
Fig. 5 is the structure chart of dust exhaust apparatus of the present invention；
Fig. 6 is one of the structure chart of polishing machine mould group of the present invention；
Fig. 7 is the two of the structure chart of polishing machine mould group of the present invention；
Fig. 8 is that the present invention takes turns the structure chart into control feed mechanism；
Fig. 9 is the structure chart of axis feeding connector of the present invention；
Figure 10 is the structure chart of control of grinding force mechanism of the present invention；
Figure 11 is the structure chart of spindle drive of the present invention；
Figure 12 is the structure chart of main shaft body of the present invention；
Figure 13 is the structure chart of deviation correcting device of the present invention；
Figure 14 is the functional-block diagram of control system of the present invention.
Appended drawing reference and title in figure is as follows:
1, pedestal；2, loading and unloading platform；201, the first guiding axis guide rail；202, upper layer connecting plate；203, upper layer material platform；204, first
Linear bearing；205, expect platform mould group bottom plate；206, upper layer material platform drives cylinder；207, second straight line bearing；208, the second guiding
Axis rail；209, lower layered material platform；210, lower layered material platform drives cylinder；211, rack；3, robot body；301, robot is increased
Connect pedestal；302, robot's arm；303, robot forearm；304, gripper；305, robot waist base；306, waist；
4, polishing machine；41, mounting plate；42, clothes closet；421, exhaust column；422, sink water supplying pipe；43, dust exhaust apparatus；431, dust hood；
432, dust hood door-plate；433, sink；434, drainpipe；44, polishing machine mould group；441, the first tensioning wheel；442, main shaft slide plate；
443, polishing wheel；444, it takes turns into control feed mechanism；4441, feed screw；4442, external screw thread；4443, nut；4444, main shaft
Feed connector；4445, damping rubber；4446, reducer pedestal；4447, it takes turns into control servo motor；4448, speed reducer；445, it grinds
Cut power control mechanism；4451, control of grinding force servo motor；4452, the first synchronous belt；4453, the synchronous strip connecting plate of power control；
4454, power control connector；4455, the second tensioning wheel；4456, power control synchronous belt tensioner；446, spindle drive；4461,
Main shaft drives servo motor；4462, the second synchronous belt；4463, timing belt pulley；4464, tapering；4465, main shaft body；
447, deviation correcting device；4471, spring；4472, three bar cylinder connecting plate；4473, main shaft slide plate connecting plate；4474, extension bar；
4475, tuningout screw；4476, tuningout screw connection seat；4477, hinge axis；448, three bar cylinder；449, abrasive band；4410, it polishes
Power controls mold core；4411, third linear bearing；4412, guiding axis；4413, module group substrates；5, control cabinet；51, Electrical Control is polished
Cabinet；52, man-machine interface；53, robot body power control cabinet.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Fig. 1 to Figure 14 is please referred to, a kind of embodiment provided by the invention: a kind of robot polishing station, including pedestal
1, loading and unloading platform 2, robot body 3, polishing machine 4 and control cabinet 5；The loading and unloading platform 2 is arranged on pedestal 1, it is described on
Blanking bench 2 includes two the first guiding axis guide rails 201 disposed in parallel, and the first guiding axis guide rail 201 is connected by upper layer
Plate 202 is fixedly connected with upper layer material platform 203, and two the first guiding axis guide rails 201 are slidably arranged in first straight line bearing 204
Interior, the first straight line bearing 204 is fixedly connected by fastener with material platform mould group bottom plate 205,203 bottom of upper layer material platform
Side is provided with upper layer material platform driving cylinder 206, driving lower edge of the upper layer material platform 203 in upper layer material platform driving cylinder 206
The length direction of first guiding axis guide rail 201 moves back and forth, and the first straight line bearing is located on the material platform mould group bottom plate 205
204 sides are provided with second straight line bearing 207, and the second guiding axis guide rail 208, institute are provided on the second straight line bearing 207
It states the second guiding axis guide rail 208 to be fixedly connected with lower layered material platform 209, is provided on the lower layered material platform 209 and drives it along second
The lower layered material platform that 208 length direction of guiding axis guide rail moves back and forth drives cylinder 210, and the loading and unloading platform 2 further includes rack
211,211 top of rack is fixedly connected with material platform mould group bottom plate 205；Robot body 3, the robot body 3 are arranged
On pedestal 1, robot body 3 includes that robot increases connection pedestal 301, increases with robot and connect the fixation of pedestal 301 company
The robot waist base 305 connect, the waist 306 being arranged on robot waist base 305 are provided on the waist 306
Robot's arm 302 is provided with robot forearm 303, the robot's arm 302 and machine on the robot's arm 302
People's forearm 303 is flexibly connected, and gripper 304 is provided on the robot forearm 303, the gripper 304 is for grabbing loading and unloading
Work piece on platform 2；The polishing machine 4 is located on pedestal 1, and polishing machine 4 is including mounting plate 41 and is vertically mounted on peace
Clothes closet 42 in loading board 41, at least provided with a polishing machine mould group 44, each polishing machine mould group 44 on the clothes closet 42
On be correspondingly arranged on a dust exhaust apparatus 43, setting is there are two polishing machine mould group 44 in the present embodiment, two polished die groups 44
It is arranged in parallel on clothes closet 42, the dust exhaust apparatus 43 includes dust hood 431, and 431 side of dust hood is provided with dust hood
Door-plate 432, and dust hood 431 is internally provided with sink 433, the sink 433 is connected with drainpipe 434, the polishing machine
Mould group 44 includes the first tensioning wheel 441, main shaft slide plate 442, polishing wheel 443 and spindle drive 446, first tensioning wheel
441 and the setting of polishing wheel 443 at 442 both ends of main shaft slide plate, and the first tensioning wheel 441 and polishing wheel 443 are connected by abrasive band 449
It connects, third linear bearing 4411 there are four settings on the main shaft slide plate 442, is set in third linear bearing 4411 described in every two
There is a guiding axis 4412, the guiding axis 4412 is mounted on 4413 two sides of module group substrates by marginal position, the module group substrates
4413, which control mold core 4410 with polishing power by connector, is fixedly connected, and grooved hole is opened up on module group substrates 4413, the mill
Luminous power control mold core 4410 is detachably connected with clothes closet 42, and is polished to be equipped on power control mold core 4410 and be taken turns into control feeding machine
Structure 444 and control of grinding force mechanism 445, it is described take turns into control feed mechanism 444 and control of grinding force mechanism 445 pass through slot with
Main shaft slide plate 442 connects, and 441 side of the first tensioning wheel is provided with three bar cylinders 448, is arranged on the three bars cylinder 448
There is deviation correcting device 447, the spindle drive 446 is mounted on main shaft slide plate 442, and polishing wheel 443 is driven to rotate, described
Clothes closet 42 also on be provided with sink water supplying pipe 422 and exhaust column 421, the sink water supplying pipe 422 is connect with sink 433, described
421 both ends of exhaust column run through clothes closet 42 and extend to 42 outside of clothes closet to be connect with exhaust equipment；The control cabinet 5 is arranged in pedestal
1 side, and control cabinet 5 is connect with loading and unloading platform 2, robot body 3 and polishing machine 4 respectively, control cabinet 5 includes that polishing is electromechanical
Control cabinet 51, the man-machine interface 52 being arranged in polishing machine power control cabinet 51 and robot body power control cabinet 53 and setting are in polishing machine
PLC programmable controller in power control cabinet 51, the polishing machine power control cabinet 51, man-machine interface 52 and robot body power control cabinet 53
It is connect with PLC programmable controller, PLC programmable controller is KV-N Series Controller, and PLC is programmable in the present embodiment
The PLC programmable controller of the preferred model KV-N60AT of controller, the PLC programmable controller, programming is convenient, can be existing
Field editing procedure, man-machine interface 52 are preferably TK6071iP.
Specifically, described take turns into control feed mechanism 444 includes axis feeding connector 4444, reducer pedestal 4446 and wheel
Into control servo motor 4447, speed reducer 4448, and 4446 side of reducer pedestal and mill are installed on the reducer pedestal 4446
Luminous power control mold core 4410 is fixedly connected, and the speed reducer 4448 is connect into controlling servo motor 4447 with taking turns, and speed reducer
It is provided with feed screw 4441 in 4448, external screw thread 4442 is provided on the feed screw 4441, and feed screw 4441 is logical
It crosses external screw thread 4442 to be flexibly connected with nut 4443,4443 side of nut is provided with damping rubber 4445, the damping rubber
4445 connect with axis feeding connector 4444, and the axis feeding connector 4444 is U-shape, and axis feeding connector
4444 are fixedly connected away from U-shaped opening one end with main shaft slide plate 442.
Specifically, the control of grinding force mechanism 445 includes control of grinding force servo motor 4451, power control connector 4454
Pass through the first synchronous belt 4452 with the output shaft of power control synchronous belt tensioner 4456, the control of grinding force servo motor 4451
It is rotatablely connected with the second tensioning wheel 4455, second tensioning wheel 4455 is located in power control synchronous belt tensioner 4456, described
Power control synchronous belt tensioner 4456 controls mold core 4410 with polishing power by connector and connect, on first synchronous belt 4452
Setting is strong to control synchronous strip connecting plate 4453, and the synchronous strip connecting plate 4453 of the power control is vertically arranged with power control connector 4454,
The power control connector 4454 is fixedly connected with main shaft slide plate 442.
Specifically, the spindle drive 446 includes main shaft drives servo motor 4461 and main shaft body 4465, it is described
The output shaft of main shaft drives servo motor 4461 is connect by the second synchronous belt 4462 with timing belt pulley 4463, the synchronization
Belt pulley 4463 is arranged on main shaft body 4465, is designed on the main shaft body 4465 away from 4463 one end of timing belt pulley
One tapering 4464, the tapering 4464 are detachably connected with polishing wheel 443, and design tapering 4464 is convenient for the disassembly of polishing wheel 443 and more
It changes, it is convenient and practical.
Specifically, the deviation correcting device 447 includes three bar cylinder connecting plates 4472 and main shaft slide plate connecting plate 4473, it is described
Three bar cylinder connecting plates 4472 are connect by hinge axis 4477 with main shaft slide plate connecting plate 4473, the three bars cylinder connecting plate
4472 and main shaft slide plate connecting plate 4473 on connected away from described 4477 one end of hinge axis by spring 4471, the main shaft slide plate
Connecting plate 4473 is connect with main shaft slide plate 442, and extension bar 4474, the extension bar are provided on main shaft slide plate connecting plate 4473
4474 are connect by tuningout screw connection seat 4476 with tuningout screw 4475, the tuningout screw connection seat 4476 and three bar cylinders
448 are fixedly connected.
It should be noted that speed reducer 4448 is preferably turbine worm reducer in the present embodiment.
The present invention is first written PLC programmable controller and programs when being embodied practical, and work station is made to enter default journey
Processed product is manually placed on the upper layer material platform 203 or lower layered material platform 209 of loading and unloading platform 2, PLC programmable control by sequence
Device control processed drives lower layered material platform driving cylinder 210 and upper layer material platform to drive cylinder 206, when upper layer material platform driving cylinder 206 drives
When dynamic, upper layer material platform drives the output end of cylinder 206 to push upper layer material platform 203 along the length direction of the first guiding axis guide rail 201
It is moved back and forth in first straight line bearing 204, when the cylinder 210 of layered material platform driving instantly is driven, lower layered material platform drives cylinder 210
Lower layered material platform 209 is pushed to move back and forth in second straight line bearing 207 along the length direction of the second guiding axis guide rail 208, PLC can
Programmable controller drives the interval time of the operation of cylinder 210 to control upper layer material platform driving cylinder 206 and lower layered material platform, makes upper layer
Expect that platform 203 and lower layered material platform 209 are run in alternating expression back and forth；When upper layer material platform 203 or lower layered material platform 209 run to robot sheet
When the working region of body 3, mechanical human body 3 is under the control of PLC programmable controller by upper layer material platform 203 or lower layered material platform
Product to be processed on 209, which clamps and is moved to polishing machine 4, carries out grinding-polishing；PLC programmable controller control is thrown when grinding
Ray machine 4 operates, and when polishing machine 4 works, main shaft drives servo motor 4461 drives polishing wheel 443 to rotate, the sand on polishing wheel 443
Band 449 is ground product to be processed, while the rotation of control of grinding force servo motor 4451 drives the first synchronous belt 4452
On the synchronous strip connecting plate 4453 of power control move, and it is past to be further driven to the main shaft slide plate 442 connecting with power control connector 4454
443 1 end motion of polishing wheel, until 442 stop motion of main shaft slide plate is ground at this time when damping rubber 4445 and nut 4443 contact
The strength of power control servo motor 4451 is consistent with setting value, and is in quick condition, to reach the mesh of constant force griding
, spark and small clast in grinding process are first got in the sink 443 in dust exhaust apparatus 43, through flowing water stream by clast collection
Middle processing, dust and smog in grinding are sucked out by the exhaust column 421 on clothes closet 42, when on polishing wheel 443 or polishing wheel 443
When abrasive band 449 is worn, take turns into the feed screw 4441 and 4448 cooperative movement of speed reducer on control feed mechanism 444, band
The dynamic main shaft slide plate 442 connecting with axis feeding connector 4444 is moved toward the direction of polishing wheel 443, is made on polishing wheel 443
Abrasive band 449 contacts grinding with the workpiece on robot body 3 and realizes accurate polishing with this, when abrasive band 449 occurs in grinding process
When traversing sideslip, rotary offset screw 4475 makes three bar gas by changing the contact force of tuningout screw 4475 and extension bar 4474
Cylinder connecting plate 4472 and main shaft slide plate connecting plate 4473 are in dynamic balance tension under the action of spring 4471, reach tuningout
Purpose, of simple structure and strong practicability.
It is high using PLC programmable controller auto-control degree by using above-mentioned technical solution, customized parameter
It is more, and there is spindle drive, control of grinding force mechanism, take turns into control feed mechanism, the control of abrasive band tensile force, tuningout dress
It sets, dust exhaust apparatus function, fully meets the demand of golf club head polishing and other grinding workpieces, workpiece deformation, abrasive band are ground
The decline of grinding yield, grinding efficiency reduction caused by damage, polishing wheel wear problem are obviously improved.
It is obvious to a person skilled in the art that invention is not limited to the details of the above exemplary embodiments, Er Qie
In the case where without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, the present embodiments are to be considered as illustrative and not restrictive, and the scope of the present invention is by appended power
Benefit requires rather than above description limits, it is intended that all by what is fallen within the meaning and scope of the equivalent elements of the claims
Variation is included within the present invention.Any reference signs in the claims should not be construed as limiting the involved claims.
Claims (8)
1. a kind of robot polishing station, it is characterised in that: include:
Pedestal (1)；
Loading and unloading platform (2), the loading and unloading platform (2) are arranged on pedestal (1), and the loading and unloading platform (2) includes two and sets in parallel
The the first guiding axis guide rail (201) set, the first guiding axis guide rail (201) pass through upper layer connecting plate (202) and upper layer material platform
(203) it being fixedly connected, two the first guiding axis guide rails (201) are slidably arranged in first straight line bearing (204), and described the
One linear bearing (204) is fixedly connected by fastener with material platform mould group bottom plate (205), upper layer material platform (203) bottom one
Side is provided with upper layer material platform driving cylinder (206), driving of the upper layer material platform (203) in upper layer material platform driving cylinder (206)
The length direction of lower edge the first guiding axis guide rail (201) moves back and forth, and described first is located on the material platform mould group bottom plate (205)
Linear bearing (204) side is provided with second straight line bearing (207), is provided with second on the second straight line bearing (207) and is led
To axis rail (208), the second guiding axis guide rail (208) is fixedly connected with lower layered material platform (209), the lower layered material platform
(209) it is provided on and it is driven to drive cylinder along the lower layered material platform that second guiding axis guide rail (208) length direction moves back and forth
(210)；
Robot body (3), the robot body (3) are arranged on pedestal (1), and robot body (3) includes that robot adds
Height connection pedestal (301), increase with robot the robot waist base (305) for connecting pedestal (301) and being fixedly connected, be arranged exist
Waist (306) on robot waist base (305) is provided with robot's arm (302), the machine on the waist (306)
It is provided on device National People's Congress arm (302) robot forearm (303), the robot's arm (302) and robot forearm (303) activity
It connects, is provided with gripper (304) on the robot forearm (303), the gripper (304) is for grabbing loading and unloading platform (2)
Work piece；
Polishing machine (4), the polishing machine (4) are located on pedestal (1), and polishing machine (4) includes mounting plate (41) and vertical peace
Clothes closet (42) on mounting plate (41), at least provided with a polishing machine mould group (44), Mei Gesuo on the clothes closet (42)
It states and is correspondingly arranged on a dust exhaust apparatus (43) in polishing machine mould group (44), the dust exhaust apparatus (43) includes dust hood (431),
Dust hood (431) side is provided with dust hood door-plate (432), and dust hood (431) is internally provided with sink (433), institute
It states sink (433) to be connected with drainpipe (434), the polishing machine mould group (44) includes the first tensioning wheel (441), main shaft slide plate
(442), polishing wheel (443) and spindle drive (446), first tensioning wheel (441) and polishing wheel (443) are arranged in master
Axis slide plate (442) both ends, and the first tensioning wheel (441) and polishing wheel (443) are connected by abrasive band (449), the main shaft slide plate
(442) on there are four settings third linear bearing (4411), one is equipped in third linear bearing (4411) described in every two and is led
To axis (4412), the guiding axis (4412) is mounted on module group substrates (4413) two sides by marginal position, the module group substrates
(4413) it is fixedly connected by connector with polishing power control mold core (4410), and opens up grooved hole on module group substrates (4413),
Polishing power control mold core (4410) is detachably connected with clothes closet (42), and polishes and be equipped with wheel in power control mold core (4410)
It is described to take turns into control feed mechanism (444) and grinding force control into control feed mechanism (444) and control of grinding force mechanism (445)
Mechanism (445) processed passes through slot and connect with main shaft slide plate (442), and the first tensioning wheel (441) side is provided with three bar cylinders
(448), it is provided with deviation correcting device (447) on the three bars cylinder (448), the spindle drive (446) is mounted on main shaft
On slide plate (442), and polishing wheel (443) is driven to rotate；
Control cabinet (5), the control cabinet (5) setting in the side of pedestal (1), and control cabinet (5) respectively with loading and unloading platform (2),
Robot body (3) and polishing machine (4) connection, control cabinet (5) include polishing machine power control cabinet (51), are arranged in polishing machine power control cabinet
(51) PLC of man-machine interface (52) and robot body power control cabinet (53) and setting in polishing machine power control cabinet (51) on can
Programmable controller, the polishing machine power control cabinet (51), man-machine interface (52) and robot body power control cabinet (53) can be compiled with PLC
Range controller connection.
2. a kind of robot polishing station according to claim 1, it is characterised in that: the loading and unloading platform (2) is also wrapped
Including rack (211), rack (211) top are fixedly connected with material platform mould group bottom plate (205).
3. a kind of robot polishing station according to claim 1, it is characterised in that: described to take turns into control feed mechanism
(444) include axis feeding connector (4444), reducer pedestal (4446) and take turns into control servo motor (4447), the deceleration
It is equipped on base (4446) speed reducer (4448), and reducer pedestal (4446) side and polishing power control mold core (4410) are fixed
Connection, the speed reducer (4448) connect with taking turns into control servo motor (4447), and speed reducer (4448) is interior is provided with feeding
Screw rod (4441) is provided with external screw thread (4442) on the feed screw (4441), and feed screw (4441) passes through external screw thread
(4442) it is flexibly connected with nut (4443), nut (4443) side is provided with damping rubber (4445), the damping rubber
(4445) it is connect with axis feeding connector (4444), the axis feeding connector (4444) is U-shape, and axis feeding
Connector (4444) is fixedly connected away from U-shaped opening one end with main shaft slide plate (442).
4. a kind of robot polishing station according to claim 1, it is characterised in that: the control of grinding force mechanism
It (445) include control of grinding force servo motor (4451), power control connector (4454) and power control synchronous belt tensioner (4456), institute
The output shaft for stating control of grinding force servo motor (4451) is turned by the first synchronous belt (4452) and the second tensioning wheel (4455)
Dynamic connection, second tensioning wheel (4455) are located in power control synchronous belt tensioner (4456), the power control synchronous belt tensioner
(4456) it is connect by connector with polishing power control mold core (4410), strong control is set on first synchronous belt (4452)
Synchronous strip connecting plate (4453), the power control synchronous strip connecting plate (4453) is vertically arranged with power control connector (4454), described
Power control connector (4454) is fixedly connected with main shaft slide plate (442).
5. a kind of robot polishing station according to claim 1, it is characterised in that: the spindle drive
It (446) include main shaft drives servo motor (4461) and main shaft body (4465), the main shaft drives servo motor (4461)
Output shaft is connect by the second synchronous belt (4462) with timing belt pulley (4463), and timing belt pulley (4463) setting exists
On main shaft body (4465), a tapering is designed to away from timing belt pulley (4463) one end on the main shaft body (4465)
(4464), which is detachably connected with polishing wheel (443).
6. a kind of robot polishing station according to claim 3, it is characterised in that: the speed reducer (4448) is whirlpool
Worm and gear speed reducer.
7. a kind of robot polishing station according to claim 1, it is characterised in that: the also upper setting of the clothes closet (42)
There are sink water supplying pipe (422) and exhaust column (421), the sink water supplying pipe (422) connect with sink (433), the exhaust column
(421) both ends are run through clothes closet (42) and are extended on the outside of clothes closet (42) and connect with exhaust equipment.
8. a kind of robot polishing station according to claim 1, it is characterised in that: deviation correcting device (447) packet
Three bar cylinder connecting plates (4472) and main shaft slide plate connecting plate (4473) are included, the three bars cylinder connecting plate (4472) passes through hinge
Axis (4477) is connect with main shaft slide plate connecting plate (4473), the three bars cylinder connecting plate (4472) and main shaft slide plate connecting plate
(4473) on away from the hinge axis (4477) one end by spring (4471) connect, the main shaft slide plate connecting plate (4473) and
Main shaft slide plate (442) connection, and extension bar (4474) are provided on main shaft slide plate connecting plate (4473), the extension bar (4474)
It is connect by tuningout screw connection seat (4476) with tuningout screw (4475), the tuningout screw connection seat (4476) and three bar gas
Cylinder (448) is fixedly connected.
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| CN201910055476.8A CN109623587B (en) | 2019-01-21 | 2019-01-21 | Robot polishing workstation |
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| CN201910055476.8A CN109623587B (en) | 2019-01-21 | 2019-01-21 | Robot polishing workstation |
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| CN110355651A (en) * | 2019-06-19 | 2019-10-22 | 禹奕智能科技（上海）有限公司 | Stamping die intelligent robot polishing system |
| CN110948345A (en) * | 2019-11-26 | 2020-04-03 | 福尼斯智能装备(珠海)有限公司 | Force-control abrasive belt grinding machine |
| CN111015696A (en) * | 2019-12-25 | 2020-04-17 | 中南大学 | Force control connecting device for flexible operation of industrial robot |
| CN112605808A (en) * | 2020-12-11 | 2021-04-06 | 上海爱仕达机器人有限公司 | Double-station abrasive belt machine |
| CN112847056A (en) * | 2021-01-13 | 2021-05-28 | 东莞市照亮智能装备科技有限公司 | Automatic polishing equipment |
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|---|---|
| CN109623587B (en) | 2023-12-15 |
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Effective date of registration: 20240308 Address after: Building 17, Taishan Intelligent Equipment Industrial Park, No.1 Fu'an West Road, Dajiang Town, Taishan City, Jiangmen City, Guangdong Province, 529200 Patentee after: Illuminating intelligent equipment (Jiangmen) Co.,Ltd. Guo jiahuodiqu after: China Address before: 523000 D2, No.142, Tangqing East Road, Hengtang, Tangxia Town, Dongguan City, Guangdong Province Patentee before: DONGGUAN ZHAOLIANG INTELLIGENT EQUIPMENT TECHNOLOGY CO.,LTD. Guo jiahuodiqu before: China |