CN109676486A - A kind of the automatically grinding polishing method and its automatically grinding polissoir of articular prosthesis - Google Patents
A kind of the automatically grinding polishing method and its automatically grinding polissoir of articular prosthesis Download PDFInfo
- Publication number
- CN109676486A CN109676486A CN201811314426.9A CN201811314426A CN109676486A CN 109676486 A CN109676486 A CN 109676486A CN 201811314426 A CN201811314426 A CN 201811314426A CN 109676486 A CN109676486 A CN 109676486A
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- China
- Prior art keywords
- articular prosthesis
- wheel
- polishing
- abrasive band
- supply disk
- Prior art date
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- 238000005498 polishing Methods 0.000 title claims abstract description 144
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000000428 dust Substances 0.000 claims abstract description 28
- 238000012937 correction Methods 0.000 claims description 61
- 229910001651 emery Inorganic materials 0.000 claims description 52
- 238000007667 floating Methods 0.000 claims description 52
- 230000033001 locomotion Effects 0.000 claims description 42
- 244000198134 Agave sisalana Species 0.000 claims description 34
- 210000002268 wool Anatomy 0.000 claims description 33
- 230000007774 longterm Effects 0.000 claims description 17
- 238000012545 processing Methods 0.000 claims description 13
- 239000004575 stone Substances 0.000 claims description 13
- 238000004806 packaging method and process Methods 0.000 claims description 12
- 230000008878 coupling Effects 0.000 claims description 11
- 238000010168 coupling process Methods 0.000 claims description 11
- 238000005859 coupling reaction Methods 0.000 claims description 11
- 238000011065 in-situ storage Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 238000009434 installation Methods 0.000 claims description 7
- 238000004018 waxing Methods 0.000 claims description 7
- 230000000694 effects Effects 0.000 claims description 6
- 239000000463 material Substances 0.000 claims description 4
- 239000004576 sand Substances 0.000 claims description 4
- 239000004677 Nylon Substances 0.000 claims description 3
- 229920001778 nylon Polymers 0.000 claims description 3
- 238000003825 pressing Methods 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 208000027418 Wounds and injury Diseases 0.000 abstract description 2
- 230000006378 damage Effects 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract description 2
- 208000014674 injury Diseases 0.000 abstract description 2
- 239000000047 product Substances 0.000 description 12
- 210000000707 wrist Anatomy 0.000 description 12
- 239000003638 chemical reducing agent Substances 0.000 description 6
- 238000010586 diagram Methods 0.000 description 6
- 210000003857 wrist joint Anatomy 0.000 description 6
- 238000013461 design Methods 0.000 description 4
- 238000004519 manufacturing process Methods 0.000 description 4
- 238000013519 translation Methods 0.000 description 4
- 230000001360 synchronised effect Effects 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 241001494479 Pecora Species 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- 238000010009 beating Methods 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 239000013066 combination product Substances 0.000 description 1
- 229940127555 combination product Drugs 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 210000004209 hair Anatomy 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B1/00—Processes of grinding or polishing; Use of auxiliary equipment in connection with such processes
-
- 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
- B24B41/06—Work supports, e.g. adjustable steadies
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention relates to a kind of automatically grinding polishing method of articular prosthesis and its automatically grinding polissoirs, in particular to the method for carrying out automatically grinding polishing to articular prosthesis using six-joint robot.A kind of automatically grinding polissoir of articular prosthesis includes the feeding device of articular prosthesis, the six-joint robot of operation, the frock clamp for grabbing articular prosthesis, the belt sander with a plurality of different size polishing abrasive band and for the letter out machine of polishing operation；The six-joint robot of operation is equipped with the frock clamp for grabbing articular prosthesis, and the feeding device of articular prosthesis, the belt sander with a plurality of different size polishing abrasive band are separately mounted to around the six-joint robot of operation for the letter out machine of polishing operation.The present invention thoroughly frees employee from the operation of heavy manual grinding, the six-joint robot of operation carries out crawl articular prosthesis profiling sanding and polishing automatically, the surface quality for improving articular prosthesis polishing, more effectively reduces injury of the dust to employee, environmental protection.
Description
Technical field
The present invention relates to a kind of automatically grinding polishing method of articular prosthesis and its automatically grinding polissoirs, especially
The method for being related to carrying out automatically grinding polishing to articular prosthesis using six-joint robot.
Background technique
Domestic medical instrument producer, the polishing of articular prosthesis still use traditional approach at present, are carried out by hand by employee
Operation, hand-held articular prosthesis are polished on abrasive band, and need in process of production it is lasting using the special gauges such as vernier caliper into
Row is measured size to determine and adjust the direction of polishing, is completely dependent on the experience of employee, so product surface quality is poor, and
Time-consuming and laborious, yield is very low.Employee must wear always safety device simultaneously, reduce the soakage of dust, work situation is severe.
Summary of the invention
The invention aims to solve the problems, such as hand polish " less, slowly, poor ", a kind of beating automatically for articular prosthesis is provided
Mill polishing method and its automatically grinding polissoir, the industrial automation equipment that proposition is researched and developed with autonomous innovation, combination product
The characteristic of material, precision etc., greatly improves surface polishing precision and production efficiency, solve manufacturer's production efficiency it is low,
Ropy problem promotes the manufacture level and R & D Level of entire industry.The present invention can prevent dust outlet substantially, significantly
Improve work situation, there is good social value.
The automatically grinding polishing method and its automatically grinding polissoir of a kind of articular prosthesis are to take following technical scheme
It realizes:
A kind of automatically grinding polissoir of articular prosthesis include the feeding device of articular prosthesis, operation six-joint robot, use
In the frock clamp of crawl articular prosthesis, the belt sander with a plurality of different size polishing abrasive band, for the letter out of polishing operation
Machine.
The six-joint robot of operation is equipped with the frock clamp for grabbing articular prosthesis, the feeding device of articular prosthesis,
Belt sander with a plurality of different size polishing abrasive band, the six axis machines for being separately mounted to for the letter out machine of polishing operation operation
Around people.
The feeding device of the articular prosthesis includes rack, supply disk one, supply disk two, rodless cylinder and linearly slides
Rail.Upper rack is provided with supply disk one, supply disk two, and supply disk one, two lower part of supply disk are equipped with linear slide rail, without bar gas
Cylinder, supply disk one, two structure of supply disk is consistent, is equipped with the copying support of nylon material for placing articular prosthesis.Work as feed
When disk one is in discharge position, articular prosthesis blank is placed sequentially on copying support, pile after entire supply disk one by
Start button is pressed, rodless cylinder pushes supply disk one to proceed to operating position on the linear slide rail, waits six-joint robot crawl
Articular prosthesis is polished.Articular prosthesis is put back to the copying support of supply disk one by six-joint robot in situ after polishing.
When supply disk two is also at discharge position at this time, equally articular prosthesis blank is placed sequentially on copying support,
Piling entire supply disk two, started by press button, rodless cylinder push supply disk two to proceed to working position on the linear slide rail later
It sets, six-joint robot crawl articular prosthesis is waited to polish.Six-joint robot puts back to articular prosthesis in situ after polishing
Copying support on supply disk two.
After the articular prosthesis polishing on supply disk one, rodless cylinder pushes supply disk one to retract on the linear slide rail
To discharge position, finished product is removed into packaging.
After the articular prosthesis polishing on supply disk two, rodless cylinder pushes supply disk two to retract on the linear slide rail
To discharge position, finished product is removed into packaging.
The design of double-station so that personnel it is only necessary between supply disk 1, supply disk 2 10 alternately goods of furniture for display rather than for use, take
Part greatly reduces the waiting time, improves the utilization rate of equipment.
The six-joint robot of the operation has 6 freedom degrees, is provided with six axis, respectively rotation (S axis), lower arm (L
Axis), upper arm (U axis), wrist rotation (R axis), wrist swinging (B axle), wrist revolution (T axis).For grabbing the work of articular prosthesis
Clamps are mounted on six-joint robot wrist revolution (T axis) end.Six servo motors directly pass through harmonic speed reducer, synchronous belt
The rotation of six joint shafts of driving such as wheel.The wrist joint designs of six axis joint robots are complex because wrist simultaneously
It is integrated with three kinds of movements.The wrist joint of six small-sized axis joint robots mainly uses harmonic speed reducer.Six axis joint machines
Two harmonic speed reducers have been used in the wrist part structure of people, wrist joint, and two synchronous toothed V belt translation inputs, centre is also used
Bevel-gear sett auxiliary driving.
The six-joint robot of operation uses commercially available six-shaft industrial robot.
For grabbing the frock clamp of articular prosthesis by connecting flange, cylinder, positioning and locking plate, pressing plate, mandril and clamp
It successively forms, integral installation is in six-joint robot end, with the six-joint robot mass motion of operation.It is reached when clamp is run
When articular prosthesis part corresponding position, cylinder stretches out, and mandril is pushed to clamp articular prosthesis, is then played articular prosthesis crawl
Mill.After polishing, cylinders retract, mandril unclamps articular prosthesis, and part is put back on copying support.
Organic frame is arranged in the belt sander with a plurality of different size polishing abrasive band, sets in rack single there are four polishing
Member, respectively sanding unit (system) one, sanding unit (system) two, sanding unit (system) three, sanding unit (system) four,
The thickness specification that abrasive band is arranged in each unit is different, is respectively provided with abrasive band one, abrasive band two, abrasive band three, abrasive band four.Six axis of operation
Robot and the frock clamp of front end can clamp articular prosthesis and successively carry out being polished by the profiling slightly to essence according to programmed logic.
Sanding unit one is arranged in the lower right of belt sander；Sanding unit two is arranged in the lower left of belt sander；Polishing is single
Member three is arranged in the upper left side of belt sander, and sanding unit four is arranged in the upper right side of belt sander.
The sanding unit (system) one includes motor one, belt driver one, main shaft one, main driving wheel one, sand
Band one, leading emery wheel one, from grinding wheel one, main correction wheel one, from correction wheel one, tensioning cylinder one, expansion tightening wheel one, floating cylinder
One.
The sanding unit (system) two includes motor one, transmission device one, main shaft one, main driving wheel two, abrasive band
Two, leading emery wheel two, from the rotation of grinding wheel two, main correction wheel two, from correction wheel two, tensioning cylinder two, expansion tightening wheel two, abrasive band
Two, floating cylinder two.
Sanding unit (system) three includes motor two, belt driver two, main shaft two, main driving wheel three, abrasive band three, master
Grinding wheel three, from the rotation of grinding wheel three, main correction wheel three, from correction wheel three, tensioning cylinder three, expansion tightening wheel three, floating cylinder three.
Sanding unit (system) four includes motor two, belt driver two, main shaft two, main driving wheel four, abrasive band four, sand
Band four, leading emery wheel four, from grinding wheel four, main correction wheel four, from correction wheel four, tensioning cylinder four, expansion tightening wheel four, abrasive band four,
Floating cylinder four.
The frame lower of belt sander is provided with collection funnel, and the dust of four sanding units (system) can fall on collection funnel
It is interior, and by taking out the processing of dirt blower.
The principle of belt sander is illustrated below:
Sanding unit (system) one: motor one is by one driving spindle one of belt driver, to drive one band of main driving wheel
Dynamic abrasive band one rotates, and abrasive band one drives leading emery wheel one again and rotates from grinding wheel one.Main correction wheel one and from correction wheel one protect
It is placed in the middle in long-term operating to demonstrate,prove abrasive band.Tensioning cylinder one pushes expansion tightening wheel one by air pressure, plays the role of compressing abrasive band one.It is floating
Cylinder one of taking offence pushes leading emery wheel one by air pressure and from grinding wheel one, does a degree of floating linear motion, can offset
The dimensional discrepancy of part.
Sanding unit (system) two: motor one is by one driving spindle one of belt driver, to drive main driving wheel
Two drive abrasive band two to rotate, and abrasive band two drives leading emery wheel two again and rotates from grinding wheel two.Main correction wheel two and from correction wheel
Two guarantee that abrasive band is placed in the middle in long-term operating.Tensioning cylinder two pushes expansion tightening wheel two by air pressure, plays the work for compressing abrasive band two
With.Floating cylinder two pushes leading emery wheel two by air pressure and from grinding wheel two, does a degree of floating linear motion, can be with
Offset the dimensional discrepancy of part.
Sanding unit (system) three: motor two is by two driving spindle two of belt driver, to drive main driving wheel
Three drive abrasive band three to rotate, and abrasive band three drives leading emery wheel three again and rotates from grinding wheel three.Main correction wheel three and from correction wheel
Three guarantee that abrasive band is placed in the middle in long-term operating.Tensioning cylinder three pushes expansion tightening wheel three by air pressure, plays the work for compressing abrasive band three
With.Floating cylinder three pushes leading emery wheel three by air pressure and from grinding wheel three, does a degree of floating linear motion, can be with
Offset the dimensional discrepancy of part.
Sanding unit (system) four: motor two is by two driving spindle two of belt driver, to drive main driving wheel
Four drive abrasive band four to rotate, and abrasive band four drives leading emery wheel four again and rotates from grinding wheel four.Main correction wheel four and from correction wheel
Four guarantee that abrasive band is placed in the middle in long-term operating.Tensioning cylinder four pushes expansion tightening wheel four by air pressure, plays the work for compressing abrasive band four
With.Floating cylinder four pushes leading emery wheel four by air pressure and from grinding wheel four, does a degree of floating linear motion, can be with
Offset the dimensional discrepancy of part.
The dust of four sanding units (system) can be fallen in collection funnel, and by taking out the processing of dirt blower.
The letter out machine for polishing operation include rack, motor, shaft, sisal, wool wheel, dust funnel and
Polish Wax polishing device.Motor is mounted on rear side of rack, and shaft is mounted on central rack by bearing, and both ends of the shaft is respectively provided with
Sisal, wool wheel, motor are rotated by drive pulley, transmission belt drive shaft.
It polishes Wax polishing device and is equipped with two groups, be separately mounted to be mounted on the rack on portion's bottom plate and wax for sisal, wool wheel.
Polishing Wax polishing device includes servo motor, shaft coupling, lead screw, compact heap, wax stone.The rack-mount portion of servo motor, servo
Motor is connect by shaft coupling with lead screw, and lead screw lower part is connected with compact heap, and wax stone is mounted on compact heap lower part.
Motor is housed on the letter out machine of polishing operation, drive shaft rotation then drives sisal and the rotation of wool wheel
Turn.Six-joint robot and the frock clamp of front end can clamp articular prosthesis successively close to sisal and wool wheel, according to setting
Sequence motion successively completes polishing operation from thick to thin, and being formed by dust can fall into dust funnel, and by taking out dirt wind
Machine processing.In order to guarantee that sisal and wool wheel can uniformly wax to improve the surface smoothness of articular prosthesis, wax stone is pacified
It is attached to compact heap lower part, and assembles the mould group that is in line by components such as servo motor, shaft coupling, lead screws, is integrally attached to sisal
With the surface of wool wheel, Z-direction movement is realized, to carry out automatic waxing.Above-mentioned component is again in integral installation to bottom plate, then solid
Determine onto slider cylinder, to realize transverse movement, guarantees that sisal and wool wheel also can uniformly wax in whole thickness direction.
A kind of automatically grinding polissoir automatically grinding polishing method of articular prosthesis, its step are as follows:
1, in the rack for the feeding device that supply disk one and supply disk two are mounted on articular prosthesis, on supply disk one and supply disk two
There is copying support in face, by articular prosthesis element storage part to be polished on copying support.When placing part finishes, rodless cylinder is pushed away
Dynamic supply disk one proceeds to the six-joint robot crawl part operation that operating position waits operation on the linear slide rail.
2, the six-joint robot front end of operation is equipped with the frock clamp for grabbing articular prosthesis, when six axis machines of operation
When device people drive moves to corresponding position for grabbing the frock clamp of articular prosthesis, internal cylinder stretches out, and mandril is pushed to match
Co-clip body clamps articular prosthesis, then grabs articular prosthesis from copying support, is sent to a plurality of different size polishing sand
On the belt sander of band, polish by four sanding units.The six-joint robot front end of operation is used to grab articular prosthesis
Frock clamp can clamp articular prosthesis successively carried out according to programmed logic by slightly to essence profiling polish.
Belt sander with a plurality of different size polishing abrasive band sanding unit with there are four, sanding unit one, which is arranged in, to be had
The lower right of the belt sander in a plurality of different size polishing abrasive band, motor one pass through one driving spindle one of belt driver, thus
Drive main driving wheel one that abrasive band one is driven to rotate, abrasive band one drives leading emery wheel one again and rotates from grinding wheel one by the six of operation
The frock clamp clamping articular prosthesis for grabbing articular prosthesis of axis robot front end is polished.Main correction wheel one and from entangling
Deflection wheel one guarantees that abrasive band is placed in the middle in long-term operating.Tensioning cylinder one pushes expansion tightening wheel one by air pressure, plays and compresses abrasive band one
Effect.Floating cylinder one pushes leading emery wheel one by air pressure and from grinding wheel one, does a degree of floating linear motion,
The dimensional discrepancy of part can be offset.
Sanding unit two is arranged in the lower left of the belt sander with a plurality of different size polishing abrasive band, and motor one passes through
One driving spindle one of belt driver, to drive main driving wheel two that abrasive band two is driven to rotate, abrasive band two drives leading emery wheel again
Two and from grinding wheel two rotation by the six-joint robot front end of operation be used to grab articular prosthesis frock clamp clamp joint
Prosthese is polished.Main correction wheel two and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel two.Tensioning cylinder two passes through gas
Pressure pushes expansion tightening wheel two, plays the role of compressing abrasive band two.Floating cylinder two by air pressure pushes leading emery wheel two and from polishing
Wheel two does a degree of floating linear motion, can offset the dimensional discrepancy of part.
Sanding unit three is arranged in the upper left side of the belt sander with a plurality of different size polishing abrasive band, and motor two passes through
Two driving spindle two of belt driver, to drive main driving wheel three that abrasive band three is driven to rotate, abrasive band three drives leading emery wheel again
Three and from grinding wheel three rotation by the six-joint robot front end of operation be used to grab articular prosthesis frock clamp clamp joint
Prosthese is polished.Main correction wheel three and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel three.Tensioning cylinder three passes through gas
Pressure pushes expansion tightening wheel three, plays the role of compressing abrasive band three.Floating cylinder three by air pressure pushes leading emery wheel three and from polishing
Wheel three does a degree of floating linear motion, can offset the dimensional discrepancy of part.
Sanding unit four is arranged in the upper right side of the belt sander with a plurality of different size polishing abrasive band, and motor two passes through
Two driving spindle two of belt driver, to drive main driving wheel four that abrasive band four is driven to rotate, abrasive band four drives leading emery wheel again
Four and from grinding wheel four rotation by the six-joint robot front end of operation be used to grab articular prosthesis frock clamp clamp joint
Prosthese is polished.Main correction wheel four and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel four.Tensioning cylinder four passes through gas
Pressure pushes expansion tightening wheel four, plays the role of compressing abrasive band four.Floating cylinder four by air pressure pushes leading emery wheel four and from polishing
Wheel four does a degree of floating linear motion, can offset the dimensional discrepancy of part.
The frock clamp crawl articular prosthesis for grabbing articular prosthesis of the six-joint robot front end of operation passes through respectively
The effect of polishing workpiece surface is played in the grinding in abrasive band one, abrasive band two, abrasive band three and abrasive band four.Dust dust meeting under polishing
It falls in collection funnel, and by taking out the processing of dirt blower.
3, sisal and wool wheel are installed for the letter out machine of polishing operation.The six-joint robot front end of operation is used to grab
Taking the frock clamp of articular prosthesis will clamp through articular prosthesis after grinding successively close to sisal and wool wheel, according to Sequence motion
Polishing operation is carried out, being formed by dust can fall into dust funnel, and by taking out the processing of dirt blower.Wax stone is installed to compact heap
On, and the mould group that is in line is assembled by components such as servo motor, shaft coupling, lead screws, it is being integrally attached to sisal and wool wheel just
Z-direction movement is realized, to carry out automatic waxing in top.Above-mentioned component is again in integral installation to bottom plate, then is fixed to slider cylinder
On, to realize transverse movement, guarantee that sisal and wool wheel also can uniformly wax in whole thickness direction.
4, the frock clamp clamping articular prosthesis profiling for grabbing articular prosthesis of the six-joint robot front end of operation is beaten
After mill and polishing operation, cylinders retract, mandril unclamps articular prosthesis, and part is put back on copying support.
When supply disk two is also at discharge position at this time, equally articular prosthesis blank is placed sequentially on copying support,
Piling entire supply disk two, started by press button, rodless cylinder push supply disk two to proceed to working position on the linear slide rail later
It sets, waits the six-joint robot of operation to grab articular prosthesis and polish.The six-joint robot of operation is by joint after polishing
Prosthese puts back to the copying support on supply disk two in situ.
5, after the articular prosthesis polishing on supply disk one, rodless cylinder pushes supply disk one to return on the linear slide rail
Discharge position is retreated to, finished product is removed into packaging.
After the articular prosthesis polishing on supply disk two, rodless cylinder pushes supply disk two to retract on the linear slide rail
To discharge position, finished product is removed into packaging.
A kind of the automatically grinding polishing method and its automatically grinding polissoir advantage of articular prosthesis:
The present invention includes feeding device and two supply disks, is equipped with copying support on supply disk, can firmly put product,
Guarantee the good location of product.Supply disk must realize the conversion of blowing and the two kinds of positions that work by pneumatically executing original part.
The present invention includes multivariant six-joint robot and the frock clamp that end customizes, and passes through the stretching and contracting of cylinder
It returns, crawl and placement for part.Frock clamp is solid and reliable, guarantees part in polishing by no inclined under external force
It moves and deforms.
The present invention includes the unit (system) for articular prosthesis polishing.Motor drives main driving wheel by V belt translation,
Drive abrasive band rotation, abrasive band drives leading emery wheel and from grinding wheel.In view of the unique property of V belt translation, correction is added in system
Wheel and expansion tightening wheel, guarantee the steady running in abrasive band, maintain good grinding effect.The part of six-joint robot crawl articular prosthesis
It is ground on abrasive band, the technique for completing polishing.
It is required according to the technique of articular prosthesis, more sets unit (system) can be configured, so that the abrasive band of different size is equipped,
Guarantee is processed in proper order from thick to thin.
The invention also includes letter out machines, for the surface polishing after articular prosthesis polishing.Motor drive sisal and wool
The part of wheel rotation, six-joint robot crawl articular prosthesis carries out surface polishing in sisal and wool wheel.
In order to guarantee the mirror surface requirement of polishing, it is additionally arranged automatic waxing mechanism.The vertical of wax stone is realized by electronic mould group
The transverse movement of wax stone is realized in movement by cylinder, guarantees wax stone moment contact sisal and wool wheel in entire polishing process
The effect of polishing is improved on surface.
Detailed description of the invention
Below with reference to attached drawing, the invention will be further described:
Fig. 1 is a kind of automatically grinding polissoir schematic diagram of articular prosthesis；
Fig. 2 is a kind of feeding device structural schematic diagram of the articular prosthesis of the automatically grinding polissoir of articular prosthesis；
Fig. 3 is a kind of structural representation of the frock clamp for grabbing articular prosthesis of the automatically grinding polissoir of articular prosthesis
Figure；
Fig. 4 is a kind of knot of the belt sander with a plurality of different size polishing abrasive band of the automatically grinding polissoir of articular prosthesis
Structure schematic diagram 1；
Fig. 5 is a kind of knot of the belt sander with a plurality of different size polishing abrasive band of the automatically grinding polissoir of articular prosthesis
Shield is omitted in structure schematic diagram 2()；
Fig. 6 is a kind of structural schematic diagram of the letter out machine for polishing operation of the automatically grinding polissoir of articular prosthesis.
Specific embodiment
In order to make the technical means, creative features, achievement of purpose and effectiveness of the invention easy to understand, next combine
Diagram is further described.
Referring to Fig.1 shown in -6, a kind of automatically grinding polissoir of articular prosthesis includes the feeding device 1 of articular prosthesis,
The six-joint robot 2 of operation, for grabbing the frock clamp 3 of articular prosthesis, the abrasive band with a plurality of different size polishing abrasive band
Machine 4, the letter out machine 5 for polishing operation.
The six-joint robot 2 of operation is equipped with the frock clamp 3 for grabbing articular prosthesis, the feeding device of articular prosthesis
1, belt sander 4 with a plurality of different size polishing abrasive band, six axis for being separately mounted to for the letter out machine 5 of polishing operation operation
Around robot 2.
The feeding device 1 of the articular prosthesis includes rack 11, supply disk 1, supply disk 2 10,8 and of rodless cylinder
Linear slide rail 9.11 top of rack is provided with supply disk 1, supply disk 2 10, and supply disk 1,2 10 lower part of supply disk are equipped with line
Property sliding rail 9, rodless cylinder 8, supply disk 1,2 10 structure of supply disk is consistent, and the copying support 7 for being equipped with nylon material is used for
Place articular prosthesis.When supply disk 1 is in discharge position, articular prosthesis blank is placed sequentially on copying support 7, is put
Started by press button after full entire supply disk 1, rodless cylinder 8 push supply disk 1 to proceed to work on linear slide rail 9
Position waits six-joint robot crawl articular prosthesis to polish.Six-joint robot puts articular prosthesis in situ after polishing
Return the copying support 7 on supply disk 1.
When supply disk 2 10 is also at discharge position at this time, articular prosthesis blank is equally placed sequentially in copying support 7
On, started by press button after entire supply disk 2 10 is piled, before the promotion supply disk 2 10 of rodless cylinder 8 is on linear slide rail 9
Row waits six-joint robot crawl articular prosthesis to polish to operating position.Six-joint robot is false by joint after polishing
Body puts back to the copying support 7 on supply disk 2 10 in situ.
After the articular prosthesis polishing on supply disk 1, rodless cylinder 8 pushes supply disk 1 on linear slide rail 9
It retracts to discharge position, finished product is removed into packaging.
After the articular prosthesis polishing on supply disk 2 10, rodless cylinder 8 pushes supply disk 2 10 in linear slide rail 9
Last time retreats to discharge position, and finished product is removed packaging.
The design of double-station so that personnel it is only necessary between supply disk 1, supply disk 2 10 alternately goods of furniture for display rather than for use, take
Part greatly reduces the waiting time, improves the utilization rate of equipment.
The six-joint robot 2 of the operation has 6 freedom degrees, is provided with six axis, respectively rotation (S axis), lower arm (L
Axis), upper arm (U axis), wrist rotation (R axis), wrist swinging (B axle), wrist revolution (T axis).For grabbing the work of articular prosthesis
Clamps 3 are mounted on 2 wrist of six-joint robot revolution (T axis) end.Six servo motors directly pass through harmonic speed reducer, synchronization
Belt wheel etc. drives the rotation of six joint shafts.The wrist joint designs of six axis joint robots are complex, because same in wrist
When be integrated with three kinds of movements.The wrist joint of six small-sized axis joint robots mainly uses harmonic speed reducer.Six axis joint machines
Two harmonic speed reducers have been used in the wrist part structure of device people, wrist joint, and two synchronous toothed V belt translation inputs, centre is also used
Bevel-gear sett auxiliary driving is arrived.
The six-joint robot 2 of operation uses commercially available six-shaft industrial robot.
For grab the frock clamp 3 of articular prosthesis by connecting flange 2-1, cylinder 12, positioning and locking plate 13, pressing plate 14,
Mandril 15 and clamp 16 successively form, and integral installation is in 2 end of six-joint robot, with 2 mass motion of six-joint robot.Work as folder
When the operation of body 16 reaches articular prosthesis part corresponding position, cylinder 12 stretches out, and mandril 15 is pushed to clamp articular prosthesis, will then close
Section prosthese crawl is polished.After polishing, cylinder 12 is retracted, and mandril 15 unclamps articular prosthesis, and part puts back to copying support 7
On.
Organic frame 17 is arranged in the described belt sander 4 with a plurality of different size polishing abrasive band, set in rack 17 there are four
Sanding unit, respectively sanding unit (system) one, sanding unit (system) two, sanding unit (system) three, sanding unit (are
System) four, the thickness specification that abrasive band is arranged in each unit is different, is respectively provided with abrasive band 1, abrasive band 2 19, abrasive band 3 20, abrasive band
4 21.The six-joint robot 2 of operation and the frock clamp 3 of front end can clamp articular prosthesis and successively carry out by thick according to programmed logic
Profiling to essence is polished.
Sanding unit one is arranged in the lower right of belt sander 4；Sanding unit two is arranged in the lower left of belt sander 4；Polishing
Unit three is arranged in the upper left side of belt sander 4, and sanding unit four is arranged in the upper right side of belt sander 4.
The sanding unit (system) one includes motor 1, belt driver 1, main shaft 1, main driving wheel
One 41, abrasive band 1, leading emery wheel 1, from grinding wheel 1, main correction wheel 1, from correction wheel 1, tensioning cylinder one
43, expansion tightening wheel 1, floating cylinder 1.Sanding unit one is arranged in the lower right of belt sander 4.
The sanding unit (system) two includes motor 1, transmission device 1, main shaft 1, main driving wheel two
45, abrasive band 2 19, leading emery wheel 2 26, from the rotation of grinding wheel 2 28, main correction wheel 2 27, from correction wheel 2 29, tensioning cylinder
2 47, expansion tightening wheel 2 46, abrasive band 2 19, floating cylinder 2 48.
Sanding unit (system) three include motor 2 49, belt driver 2 50, main shaft 2 51, main driving wheel 3 52,
Abrasive band 3 20, leading emery wheel 3 30, from the rotation of grinding wheel 3 32, main correction wheel 3 31, from correction wheel 3 33, tensioning cylinder three
54, expansion tightening wheel 3 53, floating cylinder 3 55.
Sanding unit (system) four include motor 2 49, belt driver 2 50, main shaft 2 51, main driving wheel 4 56,
Abrasive band 4 21, abrasive band 4 21, leading emery wheel 4 34, from grinding wheel 4 36, main correction wheel 4 35, from correction wheel 4 37, tensioner gas
Cylinder 4 58, expansion tightening wheel 4 57, abrasive band 4 21, floating cylinder 4 59.
17 lower part of rack of belt sander 4 with a plurality of different size polishing abrasive band is provided with collection funnel 60, and four are beaten
The dust of mill unit (system) can be fallen in collection funnel 60, and by taking out the processing of dirt blower.
The principle of belt sander is illustrated below:
Sanding unit (system) one: motor 1 is by one 39 driving spindle 1 of belt driver, to drive main transmission
It takes turns one 41 drive abrasive bands 1 to rotate, abrasive band 1 drives leading emery wheel 1 again and rotates from grinding wheel 1.Main correction wheel
One 23 and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel 1.Tensioning cylinder 1 pushes expansion tightening wheel one by air pressure
42, play the role of compressing abrasive band 1.Floating cylinder 1 by air pressure pushes leading emery wheel 1 and from grinding wheel 1,
A degree of floating linear motion is done, the dimensional discrepancy of part can be offset.
Sanding unit (system) two: motor 1 is by one 39 driving spindle 1 of belt driver, to drive master
Driving wheel 2 45 drives abrasive band 2 19 to rotate, and abrasive band 2 19 drives leading emery wheel 2 26 again and rotates from grinding wheel 2 28.Master entangles
Deflection wheel 2 27 and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel 2 29.Tensioning cylinder 2 47 pushes expansion tightening wheel by air pressure
2 46, play the role of compressing abrasive band 2 19.Floating cylinder 2 48 by air pressure pushes leading emery wheel 2 26 and from grinding wheel two
28, a degree of floating linear motion is done, the dimensional discrepancy of part can be offset.
Sanding unit (system) three: motor 2 49 is by 2 50 driving spindle 2 51 of belt driver, to drive master
Driving wheel 3 52 drives abrasive band 3 20 to rotate, and abrasive band 3 20 drives leading emery wheel 3 30 again and rotates from grinding wheel 3 32.Master entangles
Deflection wheel 3 31 and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel 3 33.Tensioning cylinder 3 54 pushes expansion tightening wheel by air pressure
3 53, play the role of compressing abrasive band 3 20.Floating cylinder 3 55 by air pressure pushes leading emery wheel 3 30 and from grinding wheel three
32, a degree of floating linear motion is done, the dimensional discrepancy of part can be offset.
Sanding unit (system) four: motor 2 49 is by 2 50 driving spindle 2 51 of belt driver, to drive master
Driving wheel 4 56 drives abrasive band 4 21 to rotate, and abrasive band 4 21 drives leading emery wheel 4 34 again and rotates from grinding wheel 4 36.Master entangles
Deflection wheel 4 35 and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel 4 37.Tensioning cylinder 4 58 pushes expansion tightening wheel by air pressure
4 57, play the role of compressing abrasive band 4 21.Floating cylinder 4 59 by air pressure pushes leading emery wheel 4 34 and from grinding wheel four
36, a degree of floating linear motion is done, the dimensional discrepancy of part can be offset.
The dust of four sanding units (system) can be fallen in collection funnel 60, and by taking out the processing of dirt blower.
The letter out machine 5 for polishing operation includes rack 73, motor 61, shaft 62, sisal 63, wool wheel
64, dust funnel 65, polishing Wax polishing device.Motor 61 is mounted on 73 rear side of rack, and shaft 62 is mounted on rack by bearing
73 middle parts, 62 both ends of shaft are respectively provided with sisal 63, wool wheel 64, and motor 61 passes through drive pulley, transmission belt drive shaft
62 rotations.
It polishes Wax polishing device and is equipped with two groups, be separately mounted to be mounted on 73 top bottom plate 71 of rack as sisal 63, wool
64 waxing of wheel.Polishing Wax polishing device includes servo motor 66, shaft coupling 67, lead screw 68, compact heap 69, wax stone 70.Servo motor
66 are mounted on 74 top of bracket, and servo motor 66 is connect by shaft coupling 67 with lead screw 68, and 68 lower part of lead screw is connected with compact heap
69, wax stone 70 is mounted on 69 lower part of compact heap.
Motor 61 is housed on the letter out machine 5 of polishing operation, drive shaft 62 rotates, and then drives sisal 63 and sheep
Hair wheel 64 rotates.The six-joint robot 2 of operation and the frock clamp 3 of front end can be by articular prosthesis clampings successively close to 63 He of sisal
Wool wheel 64 successively completes polishing operation from thick to thin according to the Sequence motion of setting, and dust can be fallen by being formed by dust
In funnel 65, and by taking out the processing of dirt blower.In order to guarantee that sisal 63 and wool wheel 64 can uniformly wax to improve joint
Wax stone 70 is installed to 69 lower part of compact heap, and passes through servo motor 66, shaft coupling 67, lead screw 68 by the surface smoothness of prosthese
Equal components assemble the mould group that is in line, and are integrally attached to the surface of sisal 63 and wool wheel 64, Z-direction movement are realized, to carry out
Automatic waxing.Above-mentioned component is again in integral installation to bottom plate 71, then is fixed in slider cylinder 72, thus realize transverse movement,
Guarantee that sisal 63 and wool wheel 64 also can uniformly wax in whole thickness direction.
A kind of automatically grinding polissoir automatically grinding polishing method of articular prosthesis, its step are as follows:
1, supply disk 1 and supply disk 2 10 are mounted in the rack 11 of the feeding device of articular prosthesis, feed | disk 1 and confession
Charging tray 2 10 has copying support 7 above, by articular prosthesis element storage part to be polished on copying support 7.When placing part is complete
Finish, rodless cylinder 8 pushes supply disk 1 to proceed to the crawl of six-joint robot 2 that operating position waits operation on linear slide rail 9
Part operation.
2,2 front end of six-joint robot of operation is equipped with the frock clamp 3 for grabbing articular prosthesis, when six axis of operation
When the drive of robot 2 moves to corresponding position for grabbing the frock clamp 3 of articular prosthesis, internal cylinder 12 stretches out, and pushes
Mandril 15 cooperates clamp 16 to clamp articular prosthesis, then grabs articular prosthesis from copying support 7, is sent on belt sander 4 and passes through
Four sanding units are crossed to polish.The frock clamp 3 for grabbing articular prosthesis of 2 front end of six-joint robot of operation can press from both sides
Articular prosthesis is taken successively to carry out being polished by the profiling slightly to essence according to programmed logic.
Belt sander 4 with a plurality of different size polishing abrasive band is matched there are four sanding unit, and sanding unit one is arranged in tool
There is the lower right of the belt sander 4 in a plurality of different size polishing abrasive band, motor 1 passes through one 39 driving spindle of belt driver
One 40, to drive main driving wheel 1 that abrasive band 1 is driven to rotate, abrasive band 1 drives leading emery wheel 1 and again from polishing
Take turns 1 rotation by 2 front end of six-joint robot of operation be used to grab articular prosthesis frock clamp 3 clamp articular prosthesis into
Row polishing.Main correction wheel 1 and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel 1.Tensioning cylinder 1 passes through gas
Pressure pushes expansion tightening wheel 1, plays the role of compressing abrasive band 1.Floating cylinder 1 pushes leading emery wheel 1 by air pressure
With from grinding wheel 1, a degree of floating linear motion is done, the dimensional discrepancy of part can be offset.
Sanding unit 22 is arranged in the lower left of the belt sander 4 with a plurality of different size polishing abrasive band, motor 1
By one 39 driving spindle 1 of belt driver, thus drive main driving wheel 2 45 that abrasive band 2 19 is driven to rotate, abrasive band 2 19
Leading emery wheel 2 26 is driven again and is rotated from grinding wheel 2 28 is used for 2 front end of six-joint robot of operation to grab articular prosthesis
Frock clamp 3 clamp articular prosthesis polish.Main correction wheel 2 27 and guarantee that abrasive band is operated for a long time from correction wheel 2 29
In it is placed in the middle.Tensioning cylinder 2 47 pushes expansion tightening wheel 2 46 by air pressure, plays the role of compressing abrasive band 2 19.Floating cylinder 2 48
Leading emery wheel 2 26 is pushed by air pressure and from grinding wheel 2 28, is done a degree of floating linear motion, can be offset part
Dimensional discrepancy.
Sanding unit 33 is arranged in the upper left side of the belt sander 4 with a plurality of different size polishing abrasive band, motor 2 49
By 2 50 driving spindle 2 51 of belt driver, thus drive main driving wheel 3 52 that abrasive band 3 20 is driven to rotate, abrasive band 3 20
Leading emery wheel 3 30 is driven again and is rotated from grinding wheel 3 32 is used for 2 front end of six-joint robot of operation to grab articular prosthesis
Frock clamp 3 clamp articular prosthesis polish.Main correction wheel 3 31 and guarantee that abrasive band is operated for a long time from correction wheel 3 33
In it is placed in the middle.Tensioning cylinder 3 54 pushes expansion tightening wheel 3 53 by air pressure, plays the role of compressing abrasive band 3 20.Floating cylinder 3 55
Leading emery wheel 3 30 is pushed by air pressure and from grinding wheel 3 32, is done a degree of floating linear motion, can be offset part
Dimensional discrepancy.
Sanding unit 44 is arranged in the upper right side of the belt sander 4 with a plurality of different size polishing abrasive band, motor 2 49
By 2 50 driving spindle 2 51 of belt driver, thus drive main driving wheel 4 56 that abrasive band 4 21 is driven to rotate, abrasive band 4 21
Leading emery wheel 4 34 is driven again and is rotated from grinding wheel 4 36 is used for 2 front end of six-joint robot of operation to grab articular prosthesis
Frock clamp 3 clamp articular prosthesis polish.Main correction wheel 4 35 and guarantee that abrasive band is operated for a long time from correction wheel 4 37
In it is placed in the middle.Tensioning cylinder 4 58 pushes expansion tightening wheel 4 57 by air pressure, plays the role of compressing abrasive band 4 21.Floating cylinder 4 59
Leading emery wheel 4 34 is pushed by air pressure and from grinding wheel 4 36, is done a degree of floating linear motion, can be offset part
Dimensional discrepancy.
The frock clamp 3 for grabbing articular prosthesis of 2 front end of six-joint robot of operation grabs articular prosthesis and leads to respectively
The effect of polishing workpiece surface is played in the grinding for crossing abrasive band 1, abrasive band 2 19, abrasive band 3 20 and abrasive band 4 21.Under polishing
Dust dust can be fallen in collection funnel 60, and by taking out the processing of dirt blower.
3, sisal 63 and wool wheel 64 are installed for the letter out machine 5 of polishing operation.2 front end of six-joint robot of operation
Frock clamp 3 for grabbing articular prosthesis will clamp successively close sisal 63 and wool wheel 64 through articular prosthesis after grinding,
Polishing operation is carried out according to Sequence motion, being formed by dust can fall into dust funnel 65, and by taking out the processing of dirt blower.Wax
Block 70 is installed on compact heap 69, and assembles the mould group that is in line by components such as servo motor 66, shaft coupling 67, lead screws 68, whole
Body is fixed on the surface of sisal 63 and wool wheel 64, Z-direction movement is realized, to carry out automatic waxing.Above-mentioned component is whole again
It is installed on bottom plate 71, then is fixed in slider cylinder 72, to realize transverse movement, guarantee sisal 63 and wool wheel 64 whole
A thickness direction also can uniformly wax.
4, the frock clamp 3 for grabbing articular prosthesis of 2 front end of six-joint robot of operation clamps articular prosthesis profiling
After grinding and buffing operation, cylinder 12 is retracted, and mandril 15 unclamps articular prosthesis, and part is put back on copying support 7.
When supply disk 2 10 is also at discharge position at this time, articular prosthesis blank is equally placed sequentially in copying support 7
On, started by press button after entire supply disk 2 10 is piled, before the promotion supply disk 2 10 of rodless cylinder 8 is on linear slide rail 9
Row waits the six-joint robot of operation to grab articular prosthesis and polishes to operating position.Six axis machines of operation after polishing
Articular prosthesis is put back to the copying support 7 on supply disk 2 10 by device people in situ.
5, after the articular prosthesis polishing on supply disk 1, rodless cylinder 8 pushes supply disk 1 in linear slide rail 9
Last time retreats to discharge position, and finished product is removed packaging.
After the articular prosthesis polishing on supply disk 2 10, rodless cylinder 8 pushes supply disk 2 10 in linear slide rail 9
Last time retreats to discharge position, and finished product is removed packaging.
In conclusion automatically grabbing articular prosthesis by the six-joint robot of operation, automatically grinding and polishing are successively carried out,
It can complete set objective.
The present invention a kind of the automatically grinding polishing method and its automatically grinding polissoir of articular prosthesis, including articular prosthesis
Feeding device 1, the six-joint robot 2 of operation there is a plurality of different size to beat for grabbing the frock clamp 3 of articular prosthesis
The belt sander 4 of frosted tape, the letter out machine 5 for polishing operation.Manually it is only necessary to carry out the feeding of articular prosthesis blank and at
The blanking of product part is carried out crawl articular prosthesis and subsequent profiling sanding and polishing process by robot automatically.
The present invention thoroughly frees employee from the operation of heavy manual grinding, and the six-joint robot 2 of operation is certainly
It is dynamic to carry out crawl articular prosthesis profiling polishing, polishing, the surface quality of articular prosthesis polishing is improved, productive temp is reduced,
Substantially increase articular prosthesis polishing work efficiency, more effectively reduce injury of the dust to employee, environmental protection, have it is good economical and
Social value.
Claims (10)
1. a kind of automatically grinding polissoir of articular prosthesis, which is characterized in that feeding device, operation including articular prosthesis
Six-joint robot, the frock clamp for grabbing articular prosthesis, with a plurality of different size polishing abrasive band belt sander and be used for
The letter out machine of polishing operation；
The six-joint robot of operation is equipped with the frock clamp for grabbing articular prosthesis, and the feeding device of articular prosthesis has
The belt sander in a plurality of different size polishing abrasive band, the six-joint robot week that operation is separately mounted to for the letter out machine of polishing operation
It encloses.
2. a kind of automatically grinding polissoir of articular prosthesis according to claim 1, which is characterized in that the joint
The feeding device of prosthese includes rack, supply disk one, supply disk two, rodless cylinder and linear slide rail；Upper rack is provided with confession
Charging tray one, supply disk two, supply disk one, two lower part of supply disk are equipped with linear slide rail, rodless cylinder, supply disk one, supply disk two
Structure is consistent, is equipped with the copying support of nylon material for placing articular prosthesis；It, will when supply disk one is in discharge position
Articular prosthesis blank is placed sequentially on copying support, piles started by press button after entire supply disk one, and rodless cylinder pushes away
Dynamic supply disk one proceeds to operating position on the linear slide rail, waits six-joint robot crawl articular prosthesis to polish, polishes
After six-joint robot articular prosthesis is put back to the copying support of supply disk one in situ；
When supply disk two is also at discharge position at this time, equally articular prosthesis blank is placed sequentially on copying support, is piled
Started by press button after entire supply disk two, rodless cylinder push supply disk two to proceed to operating position on the linear slide rail,
Six-joint robot crawl articular prosthesis is waited to polish, articular prosthesis is put back to feed by six-joint robot in situ after polishing
Copying support on disk two；
After the articular prosthesis polishing on supply disk one, rodless cylinder pushes supply disk one to be retracted on the linear slide rail to putting
Finished product is removed packaging by discharge position；
After the articular prosthesis polishing on supply disk two, rodless cylinder pushes supply disk two to be retracted on the linear slide rail to putting
Finished product is removed packaging by discharge position.
3. a kind of automatically grinding polissoir of articular prosthesis according to claim 1, which is characterized in that
The frock clamp for grabbing articular prosthesis is by connecting flange, cylinder, positioning and locking plate, pressing plate, mandril and folder
Body successively forms, and integral installation is in six-joint robot end, with the six-joint robot mass motion of operation；When clamp is run to
When up to articular prosthesis part corresponding position, cylinder stretches out, and mandril is pushed to clamp articular prosthesis, then grabs articular prosthesis and carries out
Polishing, after polishing, cylinders retract, mandril unclamps articular prosthesis, and part is put back on copying support.
4. a kind of automatically grinding polissoir of articular prosthesis according to claim 1, which is characterized in that described has
Organic frame is arranged in the belt sander in a plurality of different size polishing abrasive band, sets that there are four sanding units, respectively sanding unit in rack
One, sanding unit two, sanding unit three, sanding unit four, the thickness specification that abrasive band is arranged in each unit is different, is respectively provided with sand
Band one, abrasive band two, abrasive band three, abrasive band four；
Sanding unit one is arranged in the lower right of belt sander；Sanding unit two is arranged in the lower left of belt sander；Sanding unit three
It is arranged in the upper left side of belt sander, sanding unit four is arranged in the upper right side of belt sander；
The frame lower of belt sander is provided with collection funnel, and the dust of four sanding units can be fallen in collection funnel, and be passed through
Take out the processing of dirt blower.
5. a kind of automatically grinding polissoir of articular prosthesis according to claim 4, which is characterized in that the polishing
Unit one include motor one, belt driver one, main shaft one, main driving wheel one, abrasive band one, leading emery wheel one, from grinding wheel
One, main correction wheel one, from correction wheel one, tensioning cylinder one, expansion tightening wheel one, floating cylinder one.
6. a kind of automatically grinding polissoir of articular prosthesis according to claim 4, which is characterized in that the polishing
Unit two include motor one, transmission device one, main shaft one, main driving wheel two, abrasive band two, leading emery wheel two, from grinding wheel two
Rotation, main correction wheel two, from correction wheel two, tensioning cylinder two, expansion tightening wheel two, abrasive band two, floating cylinder two.
7. a kind of automatically grinding polissoir of articular prosthesis according to claim 4, which is characterized in that the polishing
Unit three include motor two, belt driver two, main shaft two, main driving wheel three, abrasive band three, leading emery wheel three, from grinding wheel
Three rotations, main correction wheel three, from correction wheel three, tensioning cylinder three, expansion tightening wheel three, floating cylinder three.
8. a kind of automatically grinding polissoir of articular prosthesis according to claim 4, which is characterized in that the polishing
Unit four include motor two, belt driver two, main shaft two, main driving wheel four, abrasive band four, abrasive band four, leading emery wheel four, from
Grinding wheel four, main correction wheel four, from correction wheel four, tensioning cylinder four, expansion tightening wheel four, abrasive band four, floating cylinder four.
9. a kind of automatically grinding polissoir of articular prosthesis according to claim 1, which is characterized in that described is used for
The letter out machine of polishing operation includes rack, motor, shaft, sisal, wool wheel, dust funnel and polishing Wax polishing device；It is electronic
Machine is mounted on rear side of rack, and shaft is mounted on central rack by bearing, and both ends of the shaft is respectively provided with sisal, wool wheel, electronic
Machine is rotated by drive pulley, transmission belt drive shaft；
It polishes Wax polishing device and is equipped with two groups, be separately mounted to be mounted on the rack on portion's bottom plate and wax for sisal, wool wheel, polishing
Wax polishing device includes servo motor, shaft coupling, lead screw, compact heap and wax stone；The rack-mount portion of servo motor, servo motor
It is connect by shaft coupling with lead screw, lead screw lower part is connected with compact heap, and wax stone is mounted on compact heap lower part.
10. a kind of automatically grinding polissoir automatically grinding polishing method of articular prosthesis described in claim 1, step is such as
Under:
(1) in the rack for the feeding device that supply disk one and supply disk two are mounted on articular prosthesis, supply disk one and supply disk two
There is copying support above, by articular prosthesis element storage part to be polished on copying support, when placing part finishes, rodless cylinder
Supply disk one is pushed to proceed to the six-joint robot crawl part operation that operating position waits operation on the linear slide rail；
(2) the six-joint robot front end of operation is equipped with the frock clamp for grabbing articular prosthesis, when six axis machines of operation
When people's drive moves to corresponding position for grabbing the frock clamp of articular prosthesis, internal cylinder stretches out, and pushes mandril cooperation
Clamp clamps articular prosthesis, then grabs articular prosthesis from copying support, is sent to a plurality of different size polishing abrasive band
Belt sander on, polish by four sanding units, the six-joint robot front end of operation for grabbing articular prosthesis
Frock clamp can clamp articular prosthesis and successively carry out being polished by the profiling slightly to essence according to programmed logic；
Belt sander with a plurality of different size polishing abrasive band is matched there are four sanding unit, and sanding unit one is arranged in a plurality of
The lower right of the belt sander in different size polishing abrasive band, motor one is by one driving spindle one of belt driver, to drive
Main driving wheel one drives abrasive band one to rotate, and abrasive band one drives leading emery wheel one again and rotates from grinding wheel one by six axis machines of operation
The frock clamp clamping articular prosthesis for grabbing articular prosthesis of device people front end is polished；Main correction wheel one and from correction wheel
One guarantees that abrasive band is placed in the middle in long-term operating；Tensioning cylinder one pushes expansion tightening wheel one by air pressure, plays the work for compressing abrasive band one
Leading emery wheel one is pushed by air pressure with, floating cylinder one and from grinding wheel one, does a degree of floating linear motion, it can be with
Offset the dimensional discrepancy of part；
Sanding unit two is arranged in the lower left of the belt sander with a plurality of different size polishing abrasive band, and motor one passes through band and passes
Dynamic one driving spindle one of device, to drive main driving wheel two that abrasive band two is driven to rotate, abrasive band two drives leading two He of emery wheel again
Articular prosthesis is clamped from the rotation of grinding wheel two by the frock clamp for being used to grab articular prosthesis of the six-joint robot front end of operation
It polishes；Main correction wheel two and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel two；Tensioning cylinder two is pushed away by air pressure
Dynamic expansion tightening wheel two plays the role of compressing abrasive band two；Floating cylinder two by air pressure pushes leading emery wheel two and from grinding wheel two,
A degree of floating linear motion is done, the dimensional discrepancy of part can be offset；
Sanding unit three is arranged in the upper left side of the belt sander with a plurality of different size polishing abrasive band, and motor two passes through band and passes
Dynamic two driving spindle two of device, to drive main driving wheel three that abrasive band three is driven to rotate, abrasive band three drives leading three He of emery wheel again
Articular prosthesis is clamped from the rotation of grinding wheel three by the frock clamp for being used to grab articular prosthesis of the six-joint robot front end of operation
It polishes；Main correction wheel three and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel three；Tensioning cylinder three is pushed away by air pressure
Dynamic expansion tightening wheel three plays the role of compressing abrasive band three；Floating cylinder three by air pressure pushes leading emery wheel three and from grinding wheel three,
A degree of floating linear motion is done, the dimensional discrepancy of part can be offset；
Sanding unit four is arranged in the upper right side of the belt sander with a plurality of different size polishing abrasive band, and motor two passes through band and passes
Dynamic two driving spindle two of device, to drive main driving wheel four that abrasive band four is driven to rotate, abrasive band four drives leading four He of emery wheel again
Articular prosthesis is clamped from the rotation of grinding wheel four by the frock clamp for being used to grab articular prosthesis of the six-joint robot front end of operation
It polishes；Main correction wheel four and guarantee that abrasive band is placed in the middle in long-term operating from correction wheel four；Tensioning cylinder four is pushed away by air pressure
Dynamic expansion tightening wheel four plays the role of compressing abrasive band four；Floating cylinder four by air pressure pushes leading emery wheel four and from grinding wheel four,
A degree of floating linear motion is done, the dimensional discrepancy of part can be offset；
The frock clamp crawl articular prosthesis for grabbing articular prosthesis of the six-joint robot front end of operation passes through abrasive band respectively
One, the effect of polishing workpiece surface is played in the grinding in abrasive band two, abrasive band three and abrasive band four；Dust dust under polishing can be fallen on
In collection funnel, and by taking out the processing of dirt blower；
(3) sisal and wool wheel are installed for the letter out machine of polishing operation, the six-joint robot front end of operation is used to grab
The frock clamp of articular prosthesis will clamp successively through articular prosthesis after grinding close to sisal and wool wheel, according to Sequence motion into
Row polishing operation, being formed by dust can fall into dust funnel, and by taking out the processing of dirt blower；Wax stone is installed to compact heap
On, and be in line mould group by servo motor, shaft coupling, screw block assembling, be integrally attached to sisal and wool wheel just on
Side realizes Z-direction movement, to carry out automatic waxing, above-mentioned component is again in integral installation to bottom plate, then is fixed to slider cylinder
On, to realize transverse movement, guarantee that sisal and wool wheel also can uniformly wax in whole thickness direction；
(4) the six-joint robot front end of operation for grab articular prosthesis frock clamp clamping articular prosthesis profiling polishing and
After polishing operation, cylinders retract, mandril unclamps articular prosthesis, and part is put back on copying support；
When supply disk two is also at discharge position at this time, equally articular prosthesis blank is placed sequentially on copying support, is piled
Started by press button after entire supply disk two, rodless cylinder push supply disk two to proceed to operating position on the linear slide rail,
The six-joint robot crawl articular prosthesis of operation is waited to polish, the six-joint robot of operation is by articular prosthesis after polishing
The copying support on supply disk two is put back in original position；
(5) after the articular prosthesis polishing on supply disk one, rodless cylinder pushes supply disk one to retract on the linear slide rail
To discharge position, finished product is removed into packaging；
After the articular prosthesis polishing on supply disk two, rodless cylinder pushes supply disk two to be retracted on the linear slide rail to putting
Finished product is removed packaging by discharge position.
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| CN201811314426.9A CN109676486A (en) | 2018-11-06 | 2018-11-06 | A kind of the automatically grinding polishing method and its automatically grinding polissoir of articular prosthesis |
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| CN201811314426.9A CN109676486A (en) | 2018-11-06 | 2018-11-06 | A kind of the automatically grinding polishing method and its automatically grinding polissoir of articular prosthesis |
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Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110142664A (en) * | 2019-06-19 | 2019-08-20 | 天津方准智能科技有限公司 | Valve body polishing production line |
| CN110524253A (en) * | 2019-08-23 | 2019-12-03 | 宝鸡保德利电气设备有限责任公司 | High iron catenary aluminum alloy spare part automatic polishing equipment |
| CN110814974A (en) * | 2019-12-04 | 2020-02-21 | 广东罗庚机器人有限公司 | Robot polisher station |
| 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 |
| CN111408997A (en) * | 2020-01-20 | 2020-07-14 | 上海载科智能科技有限公司 | Automatic grinding and polishing device of industrial robot applied claw hammer |
| CN112091788A (en) * | 2020-10-10 | 2020-12-18 | 江苏准信自动化科技股份有限公司 | Automatic polishing and grinding system |
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| CN113732897A (en) * | 2021-09-06 | 2021-12-03 | 杭州龙砺智能科技有限公司 | Robot polishing workstation and working method |
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| CN113927424A (en) * | 2021-09-30 | 2022-01-14 | 西安理工大学 | Special blade abrasive belt polishing and grinding robot |
| CN114406881A (en) * | 2022-01-19 | 2022-04-29 | 深圳市弗莱博自动化设备有限公司 | Outer knife mesh enclosure polishing equipment of rotary shaver |
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| CN110524253A (en) * | 2019-08-23 | 2019-12-03 | 宝鸡保德利电气设备有限责任公司 | High iron catenary aluminum alloy spare part automatic polishing equipment |
| CN110524253B (en) * | 2019-08-23 | 2024-05-10 | 宝鸡保德利电气设备有限责任公司 | Automatic polishing equipment for high-speed rail contact net aluminum alloy parts |
| 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 |
| CN110814974A (en) * | 2019-12-04 | 2020-02-21 | 广东罗庚机器人有限公司 | Robot polisher station |
| CN111408997A (en) * | 2020-01-20 | 2020-07-14 | 上海载科智能科技有限公司 | Automatic grinding and polishing device of industrial robot applied claw hammer |
| CN112091788A (en) * | 2020-10-10 | 2020-12-18 | 江苏准信自动化科技股份有限公司 | Automatic polishing and grinding system |
| CN113319870A (en) * | 2021-06-26 | 2021-08-31 | 浙江量大智能科技有限公司 | Polishing robot |
| CN113752139A (en) * | 2021-09-06 | 2021-12-07 | 杭州龙砺智能科技有限公司 | Robot grinding and polishing equipment and working method thereof |
| CN113732897B (en) * | 2021-09-06 | 2022-06-28 | 杭州龙砺智能科技有限公司 | Robot polishing and burnishing workstation and working method |
| CN113752139B (en) * | 2021-09-06 | 2022-07-19 | 杭州龙砺智能科技有限公司 | Robot grinding and polishing equipment and working method thereof |
| CN113732897A (en) * | 2021-09-06 | 2021-12-03 | 杭州龙砺智能科技有限公司 | Robot polishing workstation and working method |
| CN113927424A (en) * | 2021-09-30 | 2022-01-14 | 西安理工大学 | Special blade abrasive belt polishing and grinding robot |
| CN114406881A (en) * | 2022-01-19 | 2022-04-29 | 深圳市弗莱博自动化设备有限公司 | Outer knife mesh enclosure polishing equipment of rotary shaver |
| CN114406881B (en) * | 2022-01-19 | 2023-02-07 | 深圳市弗莱博自动化设备有限公司 | Outer knife mesh enclosure polishing equipment of rotary shaver |
| CN114714212A (en) * | 2022-04-18 | 2022-07-08 | 常州豪爵铃木摩托车有限公司 | Motor vehicle oil tank external body welding seam polishing equipment |
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