CN109877666A - A kind of double mechanical arms multi-station high efficient grinding apparatus - Google Patents
A kind of double mechanical arms multi-station high efficient grinding apparatus Download PDFInfo
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- CN109877666A CN109877666A CN201910223176.6A CN201910223176A CN109877666A CN 109877666 A CN109877666 A CN 109877666A CN 201910223176 A CN201910223176 A CN 201910223176A CN 109877666 A CN109877666 A CN 109877666A
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- arm
- speed reducer
- turntable
- servo motor
- rotation
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Abstract
The invention discloses a kind of double mechanical arms multi-station high efficient grinding apparatus, including cast iron base, A2 arm, A3 arm, A4 arm, A5 arm, the upper end outer surface of cast iron base is equipped with mechanical arm pedestal, and the upper end outer surface of mechanical arm pedestal is equipped with A1 turntable, the inside of A1 turntable is equipped with A1 speed reducer and A1 servo motor, A1 speed reducer and the driving A1 turntable rotation of A1 servo motor, A2 speed reducer and A2 servo motor are installed at the top of A1 turntable, A2 arm is connect by A2 speed reducer with A1 turntable, A2 speed reducer and the driving A2 arm rotation of A2 servo motor, A3 motor and A3 speed reducer are installed inside A3 arm, A3 arm is connect by A3 speed reducer with A2 arm, A3 motor and the driving A3 arm rotation of A3 speed reducer.A kind of double mechanical arms multi-station high efficient grinding apparatus of the present invention can be polished any position by sixdegree-of-freedom simulation, be cooperated by double mechanical arms with station dial, can improve working efficiency, bring better prospect of the application.
Description
Technical field
The present invention relates to robot grinding apparatus field, in particular to a kind of double mechanical arms multi-station high efficient grinding apparatus.
Background technique
Robot polishing power head, mechanical grinding mode is divided into rigidity polishing at present and flexibility is polished, can
Require different the characteristics of using suitable rigidity and flexible grinding head rigidity grinding head to be at low cost according to workpiece and technique
It is honest and clean, the shortcomings that processing effect is bad when workpiece configurations complexity, and flexible head then can effectively supplement rigid grinding head；Existing pretreatment
There are certain drawbacks in device, polishing is the subsequent technique of casting, is occupied an important position in production, traditional artificial when in use
Polishing takes time and effort, and to the health of worker, there is also very big hidden danger, and milling robot is as a kind of new industry skill
Art is come into being, however, traditional milling robot is all Single Mechanical arm, can only once polish a workpiece, is needed further
It is perfect, bring certain influence in actual use, for this purpose, it is proposed that a kind of double mechanical arms multi-station high efficient polishing set
It is standby.
Summary of the invention
The main purpose of the present invention is to provide a kind of double mechanical arms multi-station high efficient grinding apparatus, can effectively solve to carry on the back
The problems in scape technology.
To achieve the above object, the technical scheme adopted by the invention is as follows:
A kind of double mechanical arms multi-station high efficient grinding apparatus, including cast iron base, A2 arm, A3 arm, A4 arm, A5 arm, the cast iron
The upper end outer surface of pedestal is equipped with mechanical arm pedestal, and the upper end outer surface of the mechanical arm pedestal is equipped with A1 turntable, institute
The inside for stating A1 turntable is equipped with A1 speed reducer and A1 servo motor, A1 speed reducer and the driving A1 turntable rotation of A1 servo motor,
A2 speed reducer and A2 servo motor are installed at the top of the A1 turntable, the A2 arm is connect by A2 speed reducer with A1 turntable,
A2 speed reducer and A2 servo motor driving A2 arm rotate, and are equipped with A3 motor and A3 speed reducer, the A3 arm inside the A3 arm
It is connect by A3 speed reducer with A2 arm, A3 motor and the driving A3 arm rotation of A3 speed reducer, the end of the A3 arm is equipped with A4 and watches
It takes motor and its transmission mechanism driving A4 rotation, the A4 arm is connect by A4 speed reducer with A3 arm, the A5 arm passes through pin shaft
Connected with A4 arm, the inside of the A4 arm be equipped with A5 servo motor and transmission device driving A5 arm rotation, the A5 arm it is interior
Portion is equipped with the driving A6 arm rotation of A6 servo motor, be connected on the A6 arm milling tools can according to the burr situation of workpiece with
Any angle polishing, the outer surface of the cast iron base is equipped with station dial.
Preferably, the station dial is made of multi-group workpiece jig, and the quantity of workpiece jig is six groups.
Preferably, the mechanical arm pedestal, A turntable, A arm, A arm, A arm, A arm, A arm quantity be two groups, every group of structure
The complete mechanical arm of Cheng Yitai.
Preferably, the lower end outer surface leaving certain gaps uncovered by the economic plan of the cast iron base is to play anti-skidding effect.
Preferably, the A arm, A arm, A arm, A arm outer surface be coated with anti-oxidant hydrophobic oleophobic layer.
Compared with prior art, the invention has the following beneficial effects:
In the present invention, A1 turntable is installed on mechanical arm pedestal, A1 speed reducer and A1 servo motor are installed inside A1 turntable, drives
Dynamic A1 turntable rotation, A2 arm are connect by A2 speed reducer with A1 turntable, and A2 speed reducer and A2 servo electricity are mounted at the top of A1 turntable
Machine, driving A2 arm rotation, A3 arm are connect with A2 arm by A3 speed reducer, A3 motor and A3 speed reducer are equipped with inside A3 arm, is driven
Dynamic A3 arm rotation, A4 arm are connect by A4 speed reducer with A3 arm, and A3 arm end is equipped with A4 servo motor and its transmission mechanism, drives
Dynamic A4 arm rotation, A5 arm are connected by pin shaft with A4 arm, and A5 servo motor and transmission device are equipped with inside A4 arm, drives A5 arm
It rotates, A6 servo motor is installed inside A5 arm, driving A6 arm rotates, and is connected with milling tools on A6 arm, can be according to workpiece
Burr situation is polished with any angle, and two mechanical arms cooperate simultaneously, is improved grinding efficiency, is equipped with multistation on cast iron base
Turntable is equipped with workpiece jig on station dial, can be polished any position by sixdegree-of-freedom simulation, pass through double-mechanical
Arm cooperates with station dial, can improve working efficiency, brings better prospect of the application.
Detailed description of the invention
Fig. 1 is a kind of overall schematic of double mechanical arms multi-station high efficient grinding apparatus of the present invention.
In figure: 1, cast iron base；2, mechanical arm pedestal；3, A1 turntable；4, A2 arm；5, A3 arm；6, A4 arm；7, A5 arm；8,
A6 arm；9, milling tools；10, station dial.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
As shown in Figure 1, a kind of double mechanical arms multi-station high efficient grinding apparatus, including cast iron base 1, A2 arm 4, A3 arm 5, A4
Arm 6, A5 arm 7, the upper end outer surface of cast iron base 1 are equipped with mechanical arm pedestal 2, and the upper end outer surface peace of mechanical arm pedestal 2
Equipped with A1 turntable 3, the inside of A1 turntable 3 is equipped with A1 speed reducer and A1 servo motor, A1 speed reducer and the driving of A1 servo motor
A1 turntable 3 rotates, and the top of A1 turntable 3 is equipped with A2 speed reducer and A2 servo motor, and A2 arm 4 passes through A2 speed reducer and A1 turntable
3 connections, A2 speed reducer and A2 servo motor driving A2 arm 4 rotate, and are equipped with A3 motor and A3 speed reducer, A3 arm 5 inside A3 arm 5
It is connect by A3 speed reducer with A2 arm 4, A3 motor and A3 speed reducer driving A3 arm 5 rotate, and the end of A3 arm 5 is equipped with A4 servo
Motor and its transmission mechanism driving A4 rotation, A4 arm 6 are connect by A4 speed reducer with A3 arm 5, and A5 arm 7 passes through pin shaft and A4 arm 6
Connection, the inside of A4 arm 6 is equipped with A5 servo motor and transmission device driving A5 arm 7 rotates, and the inside of A5 arm 7 is equipped with A6 and watches
The rotation of motor driven A6 arm 8 is taken, being connected with milling tools 9 on A6 arm 8 can be polished according to the burr situation of workpiece with any angle,
The outer surface of cast iron base 1 is equipped with station dial 10；
Station dial 10 is made of multi-group workpiece jig, and the quantity of workpiece jig is six groups；Mechanical arm pedestal 2, A1 turntable 3,
A2 arm 4, A3 arm 5, A4 arm 6, A5 arm 7, A6 arm 8 quantity be two groups, one complete mechanical arm of every group of composition；Cast iron base
1 lower end outer surface leaving certain gaps uncovered by the economic plan is to play anti-skidding effect；A2 arm 4, A3 arm 5, A4 arm 6, A5 arm 7 outer surface be coated with antioxygen
Change hydrophobic oleophobic layer.
It should be noted that the present invention is a kind of double mechanical arms multi-station high efficient grinding apparatus, when in use, mechanical arm base
A1 turntable 3 is installed on seat 2, A1 speed reducer and A1 servo motor are installed inside A1 turntable 3, driving A1 turntable 3 rotates, A2 arm
4 are connect by A2 speed reducer with A13 turntable, and A2 speed reducer and A2 servo motor are mounted at the top of A1 turntable 3, drive 4 turns of A2 arm
Dynamic, A3 arm 5 is connect by A3 speed reducer with A2 arm 4, and A3 motor and A3 speed reducer are equipped with inside A3 arm 5, drives 5 turns of A3 arm
Dynamic, A4 arm 6 is connect by A4 speed reducer with A3 arm 5, and 5 end of A3 arm is equipped with A4 servo motor and its transmission mechanism, drives A4
Arm 6 rotates, and A5 arm 7 is connected by pin shaft and A4 arm 6, and A5 servo motor and transmission device are equipped with inside A4 arm 6, drives A5 arm
7 rotate, and A6 servo motor is equipped with inside A5 arm 7, and driving A6 arm 8 rotates, and is connected with milling tools 9 on A6 arm 8, can be according to work
The burr situation of part is polished with any angle, and two mechanical arms cooperate simultaneously, is improved grinding efficiency, is equipped on cast iron base 1
Station dial 10 is equipped with workpiece jig on station dial 10, can be polished any position by sixdegree-of-freedom simulation,
It is cooperated by double mechanical arms with station dial, working efficiency can be improved, it is more practical.
In the description of the present invention, it is to be understood that, term " coaxial ", " bottom ", " one end ", " top ", " middle part ",
The orientation or positional relationship of the instructions such as " other end ", "upper", " side ", " top ", "inner", " front ", " center ", " both ends " is
It is based on the orientation or positional relationship shown in the drawings, is merely for convenience of description of the present invention and simplification of the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
Limitation of the invention.
In addition, term " first ", " second ", " third ", " the 4th " are used for description purposes only, and should not be understood as instruction or
It implies relative importance or implicitly indicates the quantity of indicated technical characteristic, define " first ", " second ", " the as a result,
Three ", the feature of " the 4th " can explicitly or implicitly include at least one of the features.
In the present invention unless specifically defined or limited otherwise, term " installation ", " setting ", " connection ", " fixation ",
Terms such as " being screwed on " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be with
It is mechanical connection, is also possible to be electrically connected；It can be directly connected, two can also be can be indirectly connected through an intermediary
The interaction relationship of connection or two elements inside a element, unless otherwise restricted clearly, for the common of this field
For technical staff, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (5)
1. a kind of double mechanical arms multi-station high efficient grinding apparatus, it is characterised in that: including cast iron base (1), A2 arm (4), A3 arm
(5), the upper end outer surface of A4 arm (6), A5 arm (7), the cast iron base (1) is equipped with mechanical arm pedestal (2), and the machinery
The upper end outer surface of arm pedestal (2) is equipped with A1 turntable (3), and the inside of the A1 turntable (3) is equipped with A1 speed reducer and A1 is watched
Motor, A1 speed reducer and A1 servo motor driving A1 turntable (3) rotation are taken, A2 deceleration is installed at the top of the A1 turntable (3)
Machine and A2 servo motor, the A2 arm (4) are connect by A2 speed reducer with A1 turntable (3), and A2 speed reducer and A2 servo motor drive
Dynamic A2 arm (4) rotation, is equipped with A3 motor and A3 speed reducer inside the A3 arm (5), the A3 arm (5) by A3 speed reducer with
A2 arm (4) connection, A3 motor and A3 speed reducer driving A3 arm (5) rotation, the end of the A3 arm (5) is equipped with A4 servo motor
And its transmission mechanism driving A4 rotation, the A4 arm (6) are connect by A4 speed reducer with A3 arm (5), the A5 arm (7) passes through pin
Axis and A4 arm (6) connection, the inside of the A4 arm (6) are equipped with A5 servo motor and transmission device driving A5 arm (7) rotation, institute
The inside for stating A5 arm (7) is equipped with A6 servo motor driving A6 arm (8) rotation, is connected with milling tools (9) on the A6 arm (8)
It can be polished according to the burr situation of workpiece with any angle, the outer surface of the cast iron base (1) is equipped with station dial
(10).
2. a kind of double mechanical arms multi-station high efficient grinding apparatus according to claim 1, it is characterised in that: the multistation
Turntable (10) is made of multi-group workpiece jig, and the quantity of workpiece jig is six groups.
3. a kind of double mechanical arms multi-station high efficient grinding apparatus according to claim 1, it is characterised in that: the mechanical arm
Pedestal (2), A1 turntable (3), A2 arm (4), A3 arm (5), A4 arm (6), A5 arm (7), A6 arm (8) quantity be two groups, every group
Constitute a complete mechanical arm.
4. a kind of double mechanical arms multi-station high efficient grinding apparatus according to claim 1, it is characterised in that: the cast iron bottom
The lower end outer surface leaving certain gaps uncovered by the economic plan of seat (1) is to play anti-skidding effect.
5. a kind of double mechanical arms multi-station high efficient grinding apparatus according to claim 1, it is characterised in that: the A2 arm
(4), A3 arm (5), A4 arm (6), A5 arm (7) outer surface be coated with anti-oxidant hydrophobic oleophobic layer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910223176.6A CN109877666A (en) | 2019-03-22 | 2019-03-22 | A kind of double mechanical arms multi-station high efficient grinding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910223176.6A CN109877666A (en) | 2019-03-22 | 2019-03-22 | A kind of double mechanical arms multi-station high efficient grinding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109877666A true CN109877666A (en) | 2019-06-14 |
Family
ID=66933767
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910223176.6A Pending CN109877666A (en) | 2019-03-22 | 2019-03-22 | A kind of double mechanical arms multi-station high efficient grinding apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109877666A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114346814A (en) * | 2021-12-29 | 2022-04-15 | 昆山路得威自动化设备有限公司 | Three-station deburring machine |
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| CN1426342A (en) * | 2000-04-28 | 2003-06-25 | 莱姆普工程师有限公司 | Device for mechanically rough machining and/or finish machining cast parts |
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| CN114346814A (en) * | 2021-12-29 | 2022-04-15 | 昆山路得威自动化设备有限公司 | Three-station deburring machine |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190614 |
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| RJ01 | Rejection of invention patent application after publication |