CN110328587A - Suitable for robot grinding and polishing grinding tool repository and replacement system - Google Patents
Suitable for robot grinding and polishing grinding tool repository and replacement system Download PDFInfo
- Publication number
- CN110328587A CN110328587A CN201910530276.3A CN201910530276A CN110328587A CN 110328587 A CN110328587 A CN 110328587A CN 201910530276 A CN201910530276 A CN 201910530276A CN 110328587 A CN110328587 A CN 110328587A
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- Prior art keywords
- polishing
- grinding
- grinding tool
- robot
- tool
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- 238000005498 polishing Methods 0.000 title claims abstract description 273
- 238000005096 rolling process Methods 0.000 claims abstract description 51
- 230000001105 regulatory effect Effects 0.000 claims description 19
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims description 18
- 230000004308 accommodation Effects 0.000 claims description 12
- 238000003860 storage Methods 0.000 claims description 7
- 238000000034 method Methods 0.000 claims description 4
- 230000033764 rhythmic process Effects 0.000 claims description 4
- 238000009434 installation Methods 0.000 claims description 3
- 230000008569 process Effects 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 125000001475 halogen functional group Chemical group 0.000 claims 1
- 230000008450 motivation Effects 0.000 claims 1
- 238000003825 pressing Methods 0.000 claims 1
- 230000001737 promoting effect Effects 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 6
- 230000008859 change Effects 0.000 description 5
- 229910000975 Carbon steel Inorganic materials 0.000 description 3
- 239000010962 carbon steel Substances 0.000 description 3
- 239000004576 sand Substances 0.000 description 3
- 239000003082 abrasive agent Substances 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 238000003466 welding Methods 0.000 description 2
- 235000008331 Pinus X rigitaeda Nutrition 0.000 description 1
- 235000011613 Pinus brutia Nutrition 0.000 description 1
- 241000018646 Pinus brutia Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 239000006071 cream Substances 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 230000002195 synergetic effect Effects 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—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
- B24B45/00—Means for securing grinding wheels on rotary arbors
Abstract
The present invention provides one kind to be suitable for robot grinding and polishing grinding tool repository and replacement system, it include rolling screen door (1), shield (2), grinding tool library frame (3), the base of tool (5), frame member (6), floor piece (9), grinding and polishing grinding tool (11) suitable for robot grinding and polishing grinding tool repository, the grinding and polishing grinding tool (11) includes burnishing device (4) and/or grinding and polishing abrasive band more changing device (8)；It include robot (10), grinding and polishing grinding tool (11), grinding and polishing grinding tool repository (12), control system (13) suitable for robot grinding and polishing grinding tool replacement system, robot (10), grinding and polishing grinding tool (11), grinding and polishing grinding tool repository (12) are connected to control system (13).The present invention realizes that grinding tool is replaced automatically, reduces the artificially intervention to robot grinding and polishing station or assembly line, and the intellectually and automatically for promoting entire robot grinding and polishing station or assembly line is horizontal.
Description
Technical field
The present invention relates to grinding and polishing technical fields, and in particular, to one kind is suitable for robot grinding and polishing grinding tool repository and more
Change system.
Background technique
Currently for the grinding and polishing of complicated high-precision requirement components (such as stamping die), because of complicated high-precision requirement zero
Component is high to surface grinding and polishing quality requirement, so as to cause grinding and polishing process complexity, currently relies primarily on artificial progress grinding and polishing, artificial to grind
There is grinding and polishing quality conformance difference and low efficiency in throwing.
In order to meet the higher and higher technical requirements of surface quality requirements, complicated high-precision requirement components robot is realized
Grinding and polishing realizes that the automatic replacement of grinding tool abrasive material is just essential.Although existing parts thereof realizes robot automatic grinding at present
It throws, but the replacement of grinding tool abrasive material relies primarily on manual progress.Artificial replacement by hand there are the replacement cycle is long, when replacement entire station or
The problem of assembly line need to be shut down, this all seriously restricts the intellectually and automatically of robot grinding and polishing station or assembly line.
The patent document of Publication No. CN 106625137A discloses a kind of abrasive band of belt sander in automatic polishing line
Apparatus for automatic change is mainly used for the automatic polishing line containing belt sander.The belt sander from move abrasive belt device by
Welding stand, tape swapping module, belt sander module, storage band module and electronic control module form.One is equipped at the top of welding stand
Horizontal guide rail has the slide unit moved left and right under motor driven on guide rail, installs tape swapping module thereon, lower-left rear welds
Empty van is as control cabinet for installing electronic control module, and for left anterior for installing storage band module, belt sander is installed in lower right
Module.Motion control by control unit in electric cabinet to each component of the device is realized waste sand band from belt sander
On remove, and quickly load onto the purpose of fresh sand band, this scenario-frame is complicated, and component is various, and device is huge, generally not simple enough
Just.
Summary of the invention
For the defects in the prior art, the object of the present invention is to provide one kind to be suitable for robot grinding and polishing grinding tool repository
And replacement system.
According to an aspect of the present invention, it provides a kind of suitable for robot grinding and polishing grinding tool repository, including rolling screen door, shield
Cover, grinding tool library frame, the base of tool, bracket, bottom plate, grinding and polishing grinding tool, the shield are mounted on around the frame of grinding tool library, the bottom plate
It is mounted on grinding tool library base of frame, the rolling screen door is mounted on the frame of grinding tool library, rolling screen door, shield, grinding tool library frame, bottom plate
An accommodation space is collectively defined, the bracket is arranged on the frame of grinding tool library and is located in the accommodation space, the base of tool
It is arranged on bracket, grinding and polishing grinding tool is placed on the base of tool, and the rolling screen door, which has, opens and closes two states, opening state
Under, accommodation space and exterior space are interconnected；Under the closed state, accommodation space is mutually isolated with exterior space；
The grinding and polishing grinding tool includes burnishing device and/or grinding and polishing abrasive band more changing device.
Preferably, knife handle sensor is provided on the base of tool, the knife handle sensor is able to detect grinding and polishing grinding tool
Status information.
Preferably, the rolling screen door includes rolling screen door crossbeam, roller shutter door sensor, and the rolling screen door slides fixed cross beam and sets
It sets in grinding tool library frame upper end, the roller shutter door sensor includes upper end sensor, lower end sensor, and the rolling screen door crossbeam connects
Motor is connect, the folding of rolling screen door crossbeam rotation control rolling screen door is driven by motor rotation.
Preferably, the burnishing device includes polishing wheel system, polishing casing component, and the polishing wheel system includes flexibility
Power control assembly, polishing assembly, the polishing casing component include housing bracket, housing, cylinder assembly, polishing auxiliary member, institute
It states flexible force control component and is separately connected polishing assembly, housing bracket, the throwing auxiliary member connects cylinder assembly, and polishing auxiliary member is set
It sets in casing interior, the housing, cylinder assembly are mounted on housing bracket；The polishing auxiliary member auxiliary polishing assembly is treated
Polishing workpiece is polished；The side that the polishing casing component is mounted on polishing assembly forms hemi-closure space.
Preferably, the flexible force control assembly includes active exposure flange mounting plate, active exposure flange, the active
Engagement flange one end is mounted on active exposure flange mounting plate, and the active exposure flange mounting plate connects housing bracket, institute
State active exposure flange other end connection robot end；
The polishing assembly includes polishing wheel, motor, polishing machine knife handle, and the motor passes through the connection polishing of polishing machine knife handle
Wheel, the active exposure flange mounting plate and/or housing bracket of the motor connection flexible force control component, the polishing wheel are located at cover
In shell；
The housing includes polishing wheel housing main body, housing baffle, and the housing baffle is flexibly connected polishing wheel housing master
Body；The polishing wheel of installation polishing assembly, polishing wheel housing main body at least cover half of polishing wheel in the polishing wheel housing main body；
The cylinder assembly includes air cylinder support, cylinder mounting plate, cylinder housing, cylinder, and the cylinder is mounted on cylinder
Inside on mounting plate and positioned at cylinder housing, the cylinder mounting plate pass through air cylinder support and connect housing bracket, the cylinder
It is separately connected polishing auxiliary member, housing；
The polishing auxiliary member includes antiscuffing paste, antiscuffing paste fixture block, and the antiscuffing paste connects cylinder by antiscuffing paste fixture block
The cylinder of component, the antiscuffing paste connect the housing main body of housing by antiscuffing paste fixture block.
Preferably, the grinding and polishing abrasive band more changing device includes support device, lifting device, sleeve joint device, regulating device, sand
Band, the support device include upper plate, bottom plate, bracket, and upper plate is arranged above bracket, and bottom plate is arranged below bracket, described
Lifting device is mounted on bottom plate, and the socket connects lifting device, and the regulating device is mounted on upper plate, and the abrasive band is logical
Toning regulating device, sleeve joint device tensioning support, the lifting device, sleeve joint device are relative to support device long perpendicular to abrasive band
Spend extending direction on can relative motion or on the direction perpendicular to upper plate can relative motion, the regulating device can
It slides relative to upper plate to adjust abrasive band tensioning degree；Abrasive band is tensioned the shape after support by the sleeve joint device, regulating device
Match with the shape in abrasive band on the abrasive band grinding and polishing apparatus in abrasive band to be replaced.
Preferably, the lifting device includes bearing plate, lifter plate, moving leader, spring pedestal, the spring pedestal point
It is not mounted on bottom plate, on upper plate, the both ends of moving leader pass through spring pedestal connecting bottom board and upper plate respectively, and lifter plate is located at
Between bottom plate and upper plate, lifter plate connects moving leader and can slide up and down relative to moving leader, and lifter plate connects pressure-bearing
Plate, bearing plate are located above lifter plate；
Between the moving leader and spring pedestal junction, between spring pedestal and upper plate junction, spring pedestal with
Spring washer is provided between back plate connections；
The sleeve joint device includes that one or more socket adjusts mast, and one end that the socket adjusts mast is mounted on liter
On the lifter plate of falling unit, can be moved together with lifter plate, it is described socket adjust mast the other end connection abrasive band and with
Collaborative regulating device is tensioned or is relaxed to abrasive band；
The sleeve joint device includes the first socket adjustable column bar, the second socket adjusts mast, third socket adjusts mast, the
Four sockets adjust mast, and the first socket adjustable column bar, the second socket adjust mast, the 4th socket adjusts mast and is located at pressure-bearing
In the circumferential direction of plate and one end shape of shape and abrasive band grinding and polishing apparatus for surrounding matches；
The regulating device includes slidable adjustment component, elbow, sliding slot guide rod, spout, bent plate, the slidable adjustment group
One end of one end connecting bend of part, one end of the other end connection sliding slot guide rod of elbow, the other end of sliding slot guide rod, which connects, to be slided
Slotware, spout connect the side of bent plate, and the other side of bent plate connects upper plate, spring built in the spout, and spout passes through
Spring connects sliding slot guide rod, can make sliding slot guide rod with slidable adjustment component in the side that sliding slot guide rod extends by adjustment spring
It moves back and forth upwards, the other end connection abrasive band of the slidable adjustment component simultaneously cooperates with sleeve joint device to carry out tensioning or pine to abrasive band
It relaxes；
The slidable adjustment component includes one or more slidable adjustment mast；The spout is by adjusting ring connecting bending
The side of plate.
According to another aspect of the present invention, it provides a kind of suitable for robot grinding and polishing grinding tool replacement system, including machine
People, grinding and polishing grinding tool, grinding and polishing grinding tool repository, control system, the grinding and polishing grinding tool are mounted on the end of robot, robot, mill
Rubbing down tool, grinding and polishing grinding tool repository are connected to control system, and the grinding and polishing grinding tool repository is suitable for machine using described
People's grinding and polishing grinding tool repository.
Preferably, the control system includes robot control cabinet, grinding and polishing grinding tool control cabinet, the control of grinding and polishing grinding tool repository
Cabinet, the robot control cabinet, grinding and polishing grinding tool control cabinet can be communicated mutually between grinding and polishing grinding tool repository control cabinet,
The robot control cabinet controls robot travel speed, carries out grinding and polishing rhythm control, while robot control cabinet
Also mutually communicated with grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet；
The grinding and polishing grinding tool control cabinet include it is following any one or appoint multiple modules: active exposure flange power output control mould
Block, motor control module, cylinder control module；Grinding and polishing grinding tool control cabinet controls grinding and polishing grinding tool and adds to workpiece to be processed progress grinding and polishing
Work；
The grinding and polishing grinding tool repository control cabinet connects grinding and polishing grinding tool repository, controls and detects rolling screen door folding, simultaneously
The status information of the grinding and polishing grinding tool of storage is detected.
Preferably, the control system can receive and process robot control cabinet, grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool
The information of repository control cabinet transmitting needs to control robot according to actual processing and carries out grinding and polishing grinding tool to grinding and polishing grinding tool repository
Replacement.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, it realizes that grinding tool is replaced automatically, reduces the artificially intervention to robot grinding and polishing station or assembly line, promote entire machine
The intellectually and automatically of device people's grinding and polishing station or assembly line is horizontal.
2, replacing construction is saved, artificial replacement needs robot grinding and polishing station or assembly line shutdown and the artificial replacement cycle is long,
Robot replaces automatically to shut down without robot grinding and polishing station or assembly line, and the replacement cycle is short, artificial only to relieve or examine
Grinding tool library grinding tool is supplemented when repairing.
3, reduce entreprise cost, on the one hand automatic replacement participates in saving enterprise's cost of labor without artificial, on the other hand because
It is short for the automatic replacement cycle, it can effectively improve robot grinding and polishing station or pipeline efficiency, to save enterprise's manufacturing
Cost.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is the schematic diagram that the present invention is suitable for robot grinding and polishing grinding tool repository.
Fig. 2 is the stereoscopic schematic diagram of burnishing device of the present invention.
Fig. 3 is the left view schematic diagram of burnishing device of the present invention.
Fig. 4 is the stereoscopic schematic diagram of grinding and polishing abrasive band more changing device of the present invention.
Fig. 5 is the schematic elevation view of grinding and polishing abrasive band more changing device of the present invention.
Fig. 6 is the structural schematic diagram of the regulating device of grinding and polishing abrasive band more changing device of the present invention.
Fig. 7 is the schematic diagram that the present invention is suitable for that robot grinding and polishing grinding tool replaces system.
It is shown in figure:
Specific embodiment
The present invention is described in detail combined with specific embodiments below.Following embodiment will be helpful to the technology of this field
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill of this field
For personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to the present invention
Protection scope.
In the description of the present application, it is to be understood that term " on ", "front", "rear", "left", "right", " is erected at "lower"
Directly ", the orientation or positional relationship of the instructions such as "horizontal", "top", "bottom", "inner", "outside" is orientation based on the figure or position
Relationship is set, description the application is merely for convenience of and simplifies description, rather than the device or element of indication or suggestion meaning are necessary
It with specific orientation, is constructed and operated in a specific orientation, therefore should not be understood as the limitation to the application.
The one kind provided according to the present invention be suitable for robot grinding and polishing grinding tool repository, as shown in Figure 1, include rolling screen door 1,
Shield 2, grinding tool library frame 3, the base of tool 5, frame member 6, floor piece 9, grinding and polishing grinding tool 11, the shield 2 are mounted on grinding tool library frame
Around frame 3, the floor piece 9 is mounted on 3 bottom of grinding tool library frame, and the rolling screen door 1 is mounted on grinding tool library frame 3, roller shutter
Door 1, shield 2, grinding tool library frame 3, floor piece 9 collectively define an accommodation space, and the frame member 6 is arranged in grinding tool library frame
On frame 3 and it is located in the accommodation space, the base of tool 5 is arranged on frame member 6, and grinding and polishing grinding tool 11 is placed on the base of tool 5, institute
It states rolling screen door 1 and has and open and close two states, under opening state, accommodation space and exterior space are interconnected；The pass
Under closed state, accommodation space is mutually isolated with exterior space；The grinding and polishing grinding tool 11 includes burnishing device 4 and/or grinding and polishing abrasive band
More changing device 8.Preferably, it is built suitable for the outer layer support of robot grinding and polishing grinding tool repository for carbon steel section combination rectangular
Figure grinding tool library frame 3, in grinding tool library, frame 3 is upper and lower, after, left and right sides disposes shield 2；The front side of frame 3 in grinding tool library
Rolling screen door 1 is installed, the rolling screen door 1, shield 2, grinding tool library frame 3 forms a sealing space, in the normal work of robot polishing
Rolling screen door 1 is in close state when making, and accomplishes the effect for sealing dedusting, and when robot needs to change grinding tool, rolling screen door 1 is opened, real
The automatic replacement of existing grinding tool；Inside grinding tool library frame 3, separated with one layer of drum carbon steel section bar support part 6 and one layer of floor piece 9,
It forms three layers of memory structure, on the first layer beam of drum carbon steel section bar support part 6, is connected with screw, be equidistantly placed two cutters
Seat 5 is placed on two base of tools 5 respectively there are two burnishing device 4, and three grinding and polishing abrasive bands placed side by side more change the outfit in floor piece 9
Set 8.
Knife handle sensor is provided on the base of tool 5, the knife handle sensor is able to detect the state of grinding and polishing grinding tool 11
Information.The rolling screen door 1 includes rolling screen door crossbeam, roller shutter door sensor 7, and the rolling screen door slides fixed cross beam and is arranged in grinding tool
3 upper end of library frame, the roller shutter door sensor 7 include upper end sensor, lower end sensor, and the rolling screen door crossbeam connection is electronic
Machine drives the folding of rolling screen door crossbeam rotation control rolling screen door 1 by motor rotation.Preferably, the rolling screen door 1 includes volume
Curtain door slides fixed cross beam, upper end roller shutter door sensor, lower end roller shutter door sensor；Fixed cross beam is slided by rolling screen door to guarantee
Rolling screen door 1 rises in the vertical direction and declines, and passes through upper end roller shutter door sensor and lower end roller shutter door sensor guarantees rolling screen door 1
In place, preventing rolling screen door 1 to be not closed completely leads to that dust enters and rolling screen door 1 opens and closes robot not in place and replaces grinding tool automatically for folding
Shi Fasheng impact event；When rolling screen door needs to open and close, motor rotation drives the rotation of motor pulley, electric motor belt
Wheel drives the rotation of rolling screen door crossbeam by driving belt, and rolling screen door crossbeam drives the rotation of runner disk to drive the rising of rolling screen door
With decline, realizes the folding of grinding tool Kuku, the folding in grinding tool library may be implemented by the positive and negative rotation of motor, pass through upper end roller shutter
The start-stop time of door sensor and lower end roller shutter door sensor control motor.
As Figure 2-3, the burnishing device 4 includes polishing wheel system, polishing casing component, the polishing wheel system packet
Flexible force control assembly, polishing assembly are included, the polishing casing component includes housing bracket 1011, housing, cylinder assembly, polishing
Auxiliary member, the flexible force control component are separately connected polishing assembly, housing bracket 1011, and the throwing auxiliary member connects air cylinder group
Part, polishing auxiliary member are arranged in casing interior, and the housing, cylinder assembly are mounted on housing bracket 1011；The polishing is auxiliary
Assistant piece auxiliary polishing assembly is treated polishing workpiece and is polished；The side that the polishing casing component is mounted on polishing assembly is formed
Hemi-closure space.
The flexible force control assembly includes active exposure flange mounting plate 101, active exposure flange 108, the active
108 one end of engagement flange is mounted on active exposure flange mounting plate 101,101 connect cover of active exposure flange mounting plate
Shell bracket 101,108 other end of active exposure flange connect robot end；The polishing assembly include polishing wheel 107,
Motor 109, polishing machine knife handle 1010, the motor 1010 connect polishing wheel 107, the motor by polishing machine knife handle 1010
The active exposure flange mounting plate 101 and/or housing bracket 1011 of 109 connection flexible force control components, the polishing wheel 107 are located at
In housing；The housing includes polishing wheel housing main body 105, housing baffle 106, and the housing baffle 106 is flexibly connected polishing
Take turns housing main body 105；The polishing wheel 107 of installation polishing assembly, polishing wheel housing main body in the polishing wheel housing main body 105
105 at least cover half of polishing wheel 107；The cylinder assembly includes air cylinder support 102, cylinder mounting plate 103, cylinder housing
104, cylinder, the cylinder are mounted on the inside on cylinder mounting plate 103 and being located at cylinder housing 104, the cylinder mounting plate
103 connect housing bracket 1011 by air cylinder support 102, and the cylinder is separately connected polishing auxiliary member, housing；The polishing is auxiliary
Assistant piece includes antiscuffing paste, antiscuffing paste fixture block, and the antiscuffing paste connects the cylinder of cylinder assembly, the polishing by antiscuffing paste fixture block
Cream connects the housing main body of housing by antiscuffing paste fixture block.
As Figure 4-Figure 6, the grinding and polishing abrasive band more changing device 8 includes support device, lifting device, sleeve joint device, adjusting
Device, abrasive band 201, the support device include upper plate 204, bottom plate 2011, bracket 2012, and upper plate 204 is arranged in bracket 2012
Top, bottom plate 2011 are arranged below bracket 2012, and the lifting device is mounted on bottom plate 2011, the socket connection lifting
Device, the regulating device are mounted on upper plate 204, and the abrasive band 201 passes through regulating device, sleeve joint device tensioning support, institute
State lifting device, sleeve joint device relative to support device on perpendicular to 1 length extending direction of abrasive band can relative motion or
On the direction perpendicular to upper plate 4 can relative motion, the regulating device can relative to upper plate 204 slide to adjust abrasive band
201 tensioning degrees；Abrasive band 201 is tensioned the shape after support and the abrasive band in abrasive band to be replaced by the sleeve joint device, regulating device
The shape in abrasive band matches on grinding and polishing apparatus.
The lifting device includes bearing plate 209, lifter plate 2010, moving leader 2014, spring pedestal 2015, the bullet
Spring pedestal 2015 is separately mounted on bottom plate 2011, on upper plate 204, and the both ends of moving leader 2014 pass through spring pedestal respectively
2015 connecting bottom boards 2011 and upper plate 204, between bottom plate 2011 and upper plate 204, lifter plate 2010 connects lifter plate 2010
Moving leader 2014 can simultaneously slide relative to about 2014 moving leader, and lifter plate 2010 connects bearing plate 209, bearing plate
209 are located at 2010 top of lifter plate；Between 2015 junction of the moving leader 2014 and spring pedestal, spring pedestal 2015 with
Between 204 junction of upper plate, spring pedestal 2015 and bottom plate be provided with spring washer between 2011 junction；The set tipping
It sets to be socketed including one or more and adjusts mast, one end that the socket adjusts mast is mounted on the lifter plate 2010 of lifting device
On, it can be moved together with lifter plate 2010, the socket adjusts the other end connection abrasive band 201 of mast and and synergic adjustment
Device is tensioned or is relaxed to abrasive band 201；The sleeve joint device includes that the first socket socket of adjustable column bar 205, second is adjusted
Mast 206, third socket adjust the socket of mast the 207, the 4th and adjust mast 208, the first socket adjustable column bar 205, second
The socket adjusting socket adjusting mast 208 of mast the 206, the 4th is located in the circumferential direction of bearing plate 209 and the shape surrounded and abrasive band are ground
One end shape of polishing apparatus regulating device that matches includes slidable adjustment component, elbow 2016, sliding slot guide rod 2017, sliding slot
Part 2018, bent plate 2020, one end of one end connecting bend 2016 of the slidable adjustment component, the other end connection of elbow 2016
One end of sliding slot guide rod 2017, the other end of sliding slot guide rod 2017 connect spout 2018, and spout 2018 connects bent plate 2020
Side, the other side of bent plate 2020 connects upper plate 204, spring built in the spout 2018, and spout 2018 passes through spring
Sliding slot guide rod 2017 is connected, can make sliding slot guide rod 2017 with slidable adjustment component in sliding slot guide rod 2017 by adjustment spring
It is moved back and forth on the direction of extension, the other end connection abrasive band 201 of the slidable adjustment component simultaneously cooperates with sleeve joint device to abrasive band
201 are tensioned or are relaxed；The slidable adjustment component includes one or more slidable adjustment mast；The spout 2018 is logical
Cross the side that adjustment ring 2019 connects bent plate 2020.
The one kind provided according to the present invention is suitable for robot grinding and polishing grinding tool and replaces system, as shown in fig. 7, comprises robot
10, grinding and polishing grinding tool 11, grinding and polishing grinding tool repository 12, control system 13, the grinding and polishing grinding tool 11 are mounted on the end of robot 10,
Robot 10, grinding and polishing grinding tool 11, grinding and polishing grinding tool repository 12 are connected to control system 13, and the grinding and polishing grinding tool repository 12 is adopted
It is suitable for robot grinding and polishing grinding tool repository with described.The control system 13 includes robot control cabinet, grinding and polishing grinding tool control
Cabinet processed, grinding and polishing grinding tool repository control cabinet, the robot control cabinet, grinding and polishing grinding tool control cabinet, the control of grinding and polishing grinding tool repository
It can mutually be communicated between cabinet, the robot control cabinet controls 10 travel speed of robot, carries out grinding and polishing rhythm control, simultaneously
Robot control cabinet is also mutually communicated with grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet；The grinding and polishing grinding tool control
Cabinet include it is following any one or appoint multiple modules: active exposure flange power output control module, motor control module, cylinder control
Module；Grinding and polishing grinding tool control cabinet controls grinding and polishing grinding tool 11 and carries out polishing processing to workpiece to be processed；The grinding and polishing grinding tool repository
Control cabinet connects grinding and polishing grinding tool repository 12, controls and detect the folding of rolling screen door 1, while the state of the grinding and polishing grinding tool 11 to storage
Information is detected.The control system 13 can receive and process robot control cabinet, grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool
The information of repository control cabinet transmitting needs to control robot 10 according to actual processing and carries out grinding and polishing to grinding and polishing grinding tool repository 12
The replacement of grinding tool 11.
Preferably, a kind of robot grinding and polishing grinding tool replacement system that is suitable for includes robot 10, grinding and polishing grinding tool 11, grinding and polishing mill
It is most of to have repository 12, control system 13 4；It is linked by robot 10 and grinding and polishing grinding tool repository 12, realizes robot mill
The automatic replacement of rubbing down tool, realizes grinding and polishing grinding tool 11, robot grinding and polishing grinding tool repository 12 and robot 10 by control system 13
Between communication, pass through robot real-time control power tool and robot grinding and polishing grinding tool repository 11, realize replacement grinding and polishing mill
The robot of tool controls.
Control system 13 is mainly made of robot control cabinet, grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet.
Robot control cabinet controls the parameters such as robot travel speed, carries out grinding and polishing rhythm control, at the same robot control cabinet also with mill
Rubbing down tool control cabinet, grinding and polishing grinding tool repository mutually communicate, and control its running.Grinding and polishing grinding tool control cabinet mainly includes active exposure
The control of flange power output, motor control, cylinder control etc. can control grinding and polishing grinding tool and carries out polishing processing to workpiece to be processed.
Whether grinding and polishing grinding tool repository can control and detect rolling screen door folding, while examining in place to the grinding and polishing grinding tool 11 of storage
It surveys.
When robot control cabinet receives the replacement grinding and polishing grinding tool command signal that grinding and polishing grinding tool control cabinet transmits, robot
Control cabinet controls robot close to grinding and polishing grinding tool repository, meanwhile, robot control cabinet controls grinding and polishing grinding tool repository control cabinet,
And then control rolling screen door and open, roller shutter door sensor 7 detects rolling screen door and opens and closes situation, and will test feedback signal back to grinding and polishing
Grinding tool repository control cabinet sends robot control cabinet in turn, can just carry out grinding and polishing grinding tool after rolling screen door 1 opens and closes in place
Automatic replacement.
When being polishing grinding and polishing grinding tool clamped by six shaft end of robot, burnishing device 4 is needed to change.At this point, grinding and polishing is ground
Tool repository detects whether current knife position has burnishing device 4 and current burnishing device 4 is by the knife handle sensor on the base of tool 5
No satisfaction polishing requires, and then passes to robot control cabinet and decision making, to decide whether that burnishing device 4 can be normally carried out
Automatic replacement.When on grinding and polishing grinding tool repository 12 without burnishing device 4 can be used to be replaced automatically, knife handle sensor will be believed
Breath feeds back to robot control cabinet, and robot control cabinet control robot 10 stops working and sounds an alarm, prompts to be polished
The artificial replacement of device 4.
When the grinding and polishing grinding and polishing grinding tool of the 6th shaft end of robot is Flexible grinding and polishing apparatus, robot is in floor piece
Abrasive band is replaced automatically on fixed grinding and polishing abrasive band more changing device 8 on 9.At this point, robot control Flexible grinding and polishing apparatus is close
Grinding and polishing abrasive band more changing device 8.Pressure of the bearing plate of grinding and polishing abrasive band more changing device 8 by the tensioning wheel of Flexible grinding and polishing apparatus
Power drives lifter plate 2010 to move down, and the socket of the first socket adjustable column bar 205, second is made to adjust mast 206, third socket
It adjusts the socket of mast the 207, the 4th and adjusts the abrasive band 201 being in contact with it that is pressed downward contracing of mast 208 and separate, abrasive band 201 after separation
Mast coupling part is adjusted with socket to be socketed on Flexible grinding and polishing assembling device；Pass through the first slidable adjustment mast 202 again, the
Two slidable adjustment masts 203 adjust the tensioned shape in abrasive band 201, so that the part set that abrasive band 201 is connect with slidable adjustment mast
It connects on Flexible grinding and polishing apparatus, then, cylinder drives tensioning wheel tensioning on the upside of flexible grinding and polishing apparatus, by abrasive band 201 and slides
It is dynamic to adjust mast separation, to realize that abrasive band 201 is replaced automatically.
A robot grinding and polishing is formed by robot 10, grinding and polishing grinding tool 11, grinding and polishing grinding tool repository 12, control system 13
Grinding tool replaces system, and control system 13 ensure that all control is all controlled by robot, to guarantee entire robot mill
Rubbing down tool replacement system parameter is controllable whole, promotes the intellectually and automatically of whole system.
Specific embodiments of the present invention are described above.It is to be appreciated that the invention is not limited to above-mentioned
Particular implementation, those skilled in the art can make a variety of changes or modify within the scope of the claims, this not shadow
Ring substantive content of the invention.In the absence of conflict, the feature in embodiments herein and embodiment can any phase
Mutually combination.
Claims (10)
1. one kind is suitable for robot grinding and polishing grinding tool repository, which is characterized in that including rolling screen door (1), shield (2), grinding tool library
Frame (3), the base of tool (5), frame member (6), floor piece (9), grinding and polishing grinding tool (11), the shield (2) are mounted on grinding tool library frame
Around frame (3), the floor piece (9) is mounted on grinding tool library frame (3) bottom, and the rolling screen door (1) is mounted on grinding tool library frame
(3) on, rolling screen door (1), shield (2), grinding tool library frame (3), floor piece (9) collectively define an accommodation space, the branch
Frame member (6) is arranged on grinding tool library frame (3) and is located in the accommodation space, and the base of tool (5) is arranged on frame member (6),
Grinding and polishing grinding tool (11) is placed on the base of tool (5), and the rolling screen door (1), which has, opens and closes two states, under opening state,
Accommodation space and exterior space are interconnected；Under the closed state, accommodation space is mutually isolated with exterior space；
The grinding and polishing grinding tool (11) includes burnishing device (4) and/or grinding and polishing abrasive band more changing device (8).
2. according to claim 1 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the base of tool (5)
On be provided with knife handle sensor, the knife handle sensor is able to detect the status information of grinding and polishing grinding tool (11).
3. according to claim 1 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the rolling screen door (1)
Including rolling screen door crossbeam, roller shutter door sensor (7), the rolling screen door slides fixed cross beam and is arranged in grinding tool library frame (3) upper end,
The roller shutter door sensor (7) includes upper end sensor, lower end sensor, and the rolling screen door crossbeam connects motor, passes through electricity
Motivation rotation drives the folding of rolling screen door crossbeam rotation control rolling screen door (1).
4. according to claim 1 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the burnishing device
It (4) include polishing wheel system, polishing casing component, the polishing wheel system includes flexible force control assembly, polishing assembly, described
Polishing casing component includes housing bracket (1011), housing, cylinder assembly, polishing auxiliary member, the flexible force control component difference
Polishing assembly, housing bracket (1011) are connected, the throwing auxiliary member connects cylinder assembly, and polishing auxiliary member is arranged in housing
Portion, the housing, cylinder assembly are mounted on housing bracket (1011)；The polishing auxiliary member auxiliary polishing assembly is to polished
Workpiece is polished；The side that the polishing casing component is mounted on polishing assembly forms hemi-closure space.
5. according to claim 4 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the flexible force control
Component includes active exposure flange mounting plate (101), active exposure flange (108), active exposure flange (108) one end peace
On active exposure flange mounting plate (101), the active exposure flange mounting plate (101) connects housing bracket (101), institute
State active exposure flange (108) other end connection robot end；
The polishing assembly includes polishing wheel (107), motor (109), polishing machine knife handle (1010), and the motor (1010) passes through
Polishing machine knife handle (1010) connects polishing wheel (107), the active exposure flange peace of motor (109) the connection flexible force control component
Loading board (101) and/or housing bracket (1011), the polishing wheel (107) are located in housing；
The housing includes polishing wheel housing main body (105), housing baffle (106), and the housing baffle (106), which is flexibly connected, throws
Halo housing main body (105)；The polishing wheel (107) of installation polishing assembly, polishes wheel cover in the polishing wheel housing main body (105)
Shell main body (105) at least covers half of polishing wheel (107)；
The cylinder assembly includes air cylinder support (102), cylinder mounting plate (103), cylinder housing (104), cylinder, the cylinder
It is mounted on cylinder mounting plate (103) and is located at the inside of cylinder housing (104), the cylinder mounting plate (103) passes through cylinder
Bracket (102) connects housing bracket (1011), and the cylinder is separately connected polishing auxiliary member, housing；
The polishing auxiliary member includes antiscuffing paste, antiscuffing paste fixture block, and the antiscuffing paste connects cylinder assembly by antiscuffing paste fixture block
Cylinder, the antiscuffing paste by antiscuffing paste fixture block connect housing housing main body.
6. according to claim 1 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the grinding and polishing abrasive band is more
Changing device (8) includes support device, lifting device, sleeve joint device, regulating device, abrasive band (201), and the support device includes upper
Plate (204), bottom plate (2011), bracket (2012), above bracket (2012), bottom plate (2011) setting exists for upper plate (204) setting
Below bracket (2012), the lifting device is mounted on bottom plate (2011), and the socket connects lifting device, the adjusting dress
It sets and is mounted on upper plate (204), the abrasive band (201) is supported by regulating device, sleeve joint device tensioning, the lifting device,
Sleeve joint device being capable of relative motion or perpendicular to upper on perpendicular to abrasive band (1) length extending direction relative to support device
On the direction of plate (4) can relative motion, the regulating device can relative to upper plate (204) slide to adjust abrasive band (201)
Tensioning degree；The sleeve joint device, regulating device grind the abrasive band of shape and abrasive band to be replaced after abrasive band (201) tensioning support
The shape in abrasive band matches on polishing apparatus.
7. according to claim 6 be suitable for robot grinding and polishing grinding tool repository, which is characterized in that the lifting device packet
Include bearing plate (209), lifter plate (2010), moving leader (2014), spring pedestal (2015), the spring pedestal (2015) point
It is not mounted on bottom plate (2011), on upper plate (204), the both ends of moving leader (2014) pass through spring pedestal (2015) even respectively
Bottom plate (2011) and upper plate (204) are connect, lifter plate (2010) is located between bottom plate (2011) and upper plate (204), lifter plate
(2010) moving leader (2014) are connected and can be slid up and down relative to moving leader (2014), lifter plate (2010) connection is held
Pressing plate (209), bearing plate (209) are located above lifter plate (2010)；
Between the moving leader (2014) and spring pedestal (2015) junction, spring pedestal (2015) and upper plate (204) even
Spring washer is provided between connecing, between spring pedestal (2015) and bottom plate (2011) junction；
The sleeve joint device includes that one or more socket adjusts mast, and one end that the socket adjusts mast is mounted on lifting dress
It on the lifter plate (2010) set, can be moved together with lifter plate (2010), the socket adjusts the other end connection of mast
Abrasive band (201) is simultaneously tensioned or is relaxed to abrasive band (201) with collaborative regulating device；
The sleeve joint device includes the first socket adjustable column bar (205), the second socket adjusts mast (206), third socket is adjusted
Mast (207), the 4th socket adjust mast (208), and first socket adjustable column bar (205), the second socket adjust mast
(206), the 4th socket adjusting mast (208) is located at the shape in the circumferential direction of bearing plate (209) and surrounded and abrasive band grinding and polishing apparatus
One end shape match；
The regulating device includes slidable adjustment component, elbow (2016), sliding slot guide rod (2017), spout (2018), bent plate
(2020), the other end of one end of one end connecting bend (2016) of the slidable adjustment component, elbow (2016) connects sliding slot
The other end of one end of guide rod (2017), sliding slot guide rod (2017) connects spout (2018), and spout (2018) connects bent plate
(2020) other side of side, bent plate (2020) connects upper plate (204), spring built in the spout (2018), spout
(2018) sliding slot guide rod (2017) are connected by spring, sliding slot guide rod (2017) can be made with slidable adjustment by adjustment spring
Component moves back and forth on the direction that sliding slot guide rod (2017) extends, and the other end of the slidable adjustment component connects abrasive band
(201) and sleeve joint device is cooperateed with to be tensioned or relax abrasive band (201)；
The slidable adjustment component includes one or more slidable adjustment mast；The spout (2018) is by adjusting ring
(2019) side of bent plate (2020) is connected.
8. one kind, which is suitable for robot grinding and polishing grinding tool, replaces system, which is characterized in that including robot (10), grinding and polishing grinding tool
(11), grinding and polishing grinding tool repository (12), control system (13), the grinding and polishing grinding tool (11) are mounted on the end of robot (10),
Robot (10), grinding and polishing grinding tool (11), grinding and polishing grinding tool repository (12) are connected to control system (13), and the grinding and polishing grinding tool is deposited
Storage cavern (12) is suitable for robot grinding and polishing grinding tool repository using claim 1 to 7 is described in any item.
9. the robot grinding and polishing grinding tool according to claim 8 that is suitable for replaces system, which is characterized in that the control system
It (13) include robot control cabinet, grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet, the robot control cabinet, mill
It can mutually be communicated between rubbing down tool control cabinet, grinding and polishing grinding tool repository control cabinet,
The robot control cabinet controls robot (10) travel speed, carries out grinding and polishing rhythm control, while robot control cabinet
Also mutually communicated with grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet；
The grinding and polishing grinding tool control cabinet include it is following any one or appoint multiple modules: active exposure flange power output control module,
Motor control module, cylinder control module；Grinding and polishing grinding tool control cabinet controls grinding and polishing grinding tool (11) and carries out grinding and polishing to workpiece to be processed
Processing；
The grinding and polishing grinding tool repository control cabinet connects grinding and polishing grinding tool repository (12), controls and detects rolling screen door (1) folding, together
When the status information of the grinding and polishing grinding tool (11) of storage is detected.
10. the robot grinding and polishing grinding tool according to claim 9 that is suitable for replaces system, which is characterized in that the control system
System (13) can receive and process the letter that robot control cabinet, grinding and polishing grinding tool control cabinet, grinding and polishing grinding tool repository control cabinet transmit
Breath needs to control the replacement of robot (10) to grinding and polishing grinding tool repository (12) progress grinding and polishing grinding tool (11) according to actual processing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910530276.3A CN110328587B (en) | 2019-06-19 | 2019-06-19 | Be applicable to robot grinds throwing grinding apparatus repository and change system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530276.3A CN110328587B (en) | 2019-06-19 | 2019-06-19 | Be applicable to robot grinds throwing grinding apparatus repository and change system |
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| CN110328587B CN110328587B (en) | 2024-02-06 |
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| CN114571356A (en) * | 2020-12-01 | 2022-06-03 | Hb技术有限公司 | Grinding belt box replacing device |
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