CN110385688A - Suitable for robot grinding and polishing power tool repository and replacement system - Google Patents
Suitable for robot grinding and polishing power tool repository and replacement system Download PDFInfo
- Publication number
- CN110385688A CN110385688A CN201910530253.2A CN201910530253A CN110385688A CN 110385688 A CN110385688 A CN 110385688A CN 201910530253 A CN201910530253 A CN 201910530253A CN 110385688 A CN110385688 A CN 110385688A
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- Prior art keywords
- grinding
- power tool
- polishing power
- polishing
- robot
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- 238000005498 polishing Methods 0.000 title claims abstract description 191
- 238000005096 rolling process Methods 0.000 claims abstract description 52
- 230000009975 flexible effect Effects 0.000 claims abstract description 32
- 238000003860 storage Methods 0.000 claims abstract description 32
- 230000004308 accommodation Effects 0.000 claims abstract description 23
- 238000009940 knitting Methods 0.000 claims abstract description 9
- 230000007246 mechanism Effects 0.000 claims description 49
- 230000033001 locomotion Effects 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 19
- 230000008859 change Effects 0.000 claims description 8
- 238000000034 method Methods 0.000 claims description 7
- 239000004576 sand Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 6
- 230000008450 motivation Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 4
- 230000033764 rhythmic process Effects 0.000 claims description 4
- 230000007704 transition Effects 0.000 description 9
- 229910000975 Carbon steel Inorganic materials 0.000 description 8
- 239000010962 carbon steel Substances 0.000 description 8
- PVCRZXZVBSCCHH-UHFFFAOYSA-N ethyl n-[4-[benzyl(2-phenylethyl)amino]-2-(4-phenoxyphenyl)-1h-imidazo[4,5-c]pyridin-6-yl]carbamate Chemical compound N=1C(NC(=O)OCC)=CC=2NC(C=3C=CC(OC=4C=CC=CC=4)=CC=3)=NC=2C=1N(CC=1C=CC=CC=1)CCC1=CC=CC=C1 PVCRZXZVBSCCHH-UHFFFAOYSA-N 0.000 description 6
- 238000009434 installation Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000004891 communication Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000007789 sealing 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
- 239000003082 abrasive agent Substances 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 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
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000007667 floating Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000007517 polishing process Methods 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 239000002699 waste material Substances 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
-
- 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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25H—WORKSHOP EQUIPMENT, e.g. FOR MARKING-OUT WORK; STORAGE MEANS FOR WORKSHOPS
- B25H3/00—Storage means or arrangements for workshops facilitating access to, or handling of, work tools or instruments
- B25H3/04—Racks
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides one kind to be suitable for robot grinding and polishing power tool repository and replacement system, including rolling screen door (1), tool storage room frame (2), shield (3), the base of tool (4), frame member (5), grinding and polishing power tool (7), rolling screen door (1), tool storage room frame (2), shield (3) collectively defines an accommodation space, the frame member (5) is arranged on tool storage room frame (2) and is located in the accommodation space, the base of tool (4) is arranged on frame member (5), grinding and polishing power tool (7) is placed on the base of tool (4), the rolling screen door (1), which has, opens and closes two states, the grinding and polishing power tool (7) includes following any or appoints various structures: drawing circular knitting machine structure, reciprocator, Flexible grinding and polishing apparatus.The present invention realizes the automatic replacement of power tool in robot, improves entire station or pipeline automation and intelligent level.
Description
Technical field
The present invention relates to grinding and polishing technologies, are suitable for robot grinding and polishing power tool repository and replacement more particularly to one kind
System.
Background technique
Current complex part (such as stamping die) grinding and polishing relies primarily on manually to be carried out by hand, is difficult to realize industry certainly
Dynamicization one of the main reasons is exactly grinding and polishing complex procedures, need to frequently replace different power tool and grinding tool abrasive material, instantly for
Robot automation's grinding and polishing is slowly realized in complex part grinding and polishing, but robot grinding and polishing power tool relies on artificial progress mostly
Replacement, due to robot grinding and polishing station bad environments, the replacement cycle is long, serious to artificial damage.Secondly there is week in artificial replacement
Phase is long, and station or assembly line need to shut down, and reduces station or pipeline automation and intelligent level.
The patent document of Publication No. CN 106625137A discloses a kind of sand of belt sander in automatic polishing line
Band apparatus for automatic change, is mainly used for the automatic polishing line containing belt sander.The belt sander moves abrasive belt device certainly
It is made of welding stand, tape swapping module, belt sander module, storage band module and electronic control module.It is equipped at the top of welding stand
One horizontal guide rail has the slide unit moved left and right under motor driven on guide rail, installs tape swapping module, the weldering of lower-left rear thereon
Empty van out is as control cabinet for installing electronic control module, and left anterior for installing storage band module, install abrasive band and throw by lower right
Bare engine module.Motion control by control unit in electric cabinet to each component of the device is realized and throws waste sand band from abrasive band
It is removed on ray machine, and quickly loads onto the purpose of fresh sand band, this scenario-frame is complicated, and component is various, and device is huge, generally not
Enough simplicity, and it is only able to achieve the replacement in abrasive band, it can not achieve the replacement between different polishing tools.
Summary of the invention
For the defects in the prior art, it is suitable for robot grinding and polishing power tool the object of the present invention is to provide one kind to deposit
Storage cavern and replacement system.
According to an aspect of the present invention, it provides a kind of suitable for robot grinding and polishing power tool repository, including roller shutter
Door, tool storage room frame, shield, the base of tool, frame member, grinding and polishing power tool, the shield are mounted on around tool storage room frame,
The rolling screen door is mounted on tool storage room frame, and rolling screen door, tool storage room frame, shield collectively define an accommodation space, institute
It states frame member to be arranged on tool storage room frame and be located in the accommodation space, the base of tool is arranged on frame member, grinding and polishing power
Tool is placed on the base of tool, and the rolling screen door, which has, opens and closes two states, under opening state, accommodation space and outer
Portion space is interconnected；Under the closed state, accommodation space is mutually isolated with exterior space；
The grinding and polishing power tool includes following any or appoints various structures: drawing circular knitting machine structure, reciprocator, flexible sand
Band grinding and polishing apparatus.
Preferably, knife handle sensor is provided on the base of tool, the knife handle sensor is able to detect grinding and polishing power work
The status information of tool；
The rolling screen door includes rolling screen door crossbeam, roller shutter door sensor, and the rolling screen door slides fixed cross beam and is arranged in work
Has library frame upper end, the roller shutter door sensor includes upper end sensor, lower end sensor, the rolling screen door crossbeam connection electricity
Motivation drives the folding of rolling screen door crossbeam rotation control rolling screen door by motor rotation.
Preferably, the picture circular knitting machine structure includes flexible beat oilstone grinding and polishing apparatus, three axis beat oilstone grinding and polishing equipment；
The flexibility beat oilstone grinding and polishing apparatus includes main part, flexible crank rocker device, oilstone clamping device, oil
Stone A, the main part include mounting flange A, active exposure flange A, the first housing A, connecting plate A, the second housing A, servo electricity
Machine, the mounting flange A, active exposure flange A, the first housing A, connecting plate A, the second housing A are sequentially connected, the servo
Motor A is located in accommodation space defined by the first housing A, and the flexible crank rocker device is located at the second housing A and is limited
Accommodation space in, the servo motor A connection flexible crank rocker device, flexible crank rocker device connection connection
Plate A, oilstone clamping device, oilstone clamping device clamp oilstone A.
Preferably, the three axis beat oilstone grinding and polishing equipment, including main part, double-crank mechanism, oilstone clamping device,
Oilstone B, the main part include mounting flange B, active exposure flange B, the first housing B, connecting plate B, the second housing B, servo
Motor B, the mounting flange B, active exposure flange B, the first housing B, connecting plate B, the second housing B are sequentially connected, described to watch
It takes motor B to be located in accommodation space defined by the first housing B, the double-crank mechanism is located at defined by the second housing B and holds
It receives in space, the servo motor B connects double-crank mechanism, and the double-crank mechanism connects connecting plate B, oilstone clamping device,
Oilstone clamping device clamps oilstone B.
Preferably, the reciprocator includes main part, float portion, and the main part includes mounting flange C, actively connects
Flange C, pneumatic polisher, mounting plate, mounting bracket are touched, the float portion includes oilstone mounting blocks, oilstone C, the Method for Installation
Blue C, active exposure flange C, pneumatic polisher, mounting plate, mounting bracket are sequentially connected, the mounting bracket connection oilstone peace
Block is filled, oilstone C is arranged on oilstone mounting blocks；The oilstone C can float relative to main part.
Preferably, the Flexible grinding and polishing apparatus includes abrasive band movement mechanism, reciprocation module, moves up and down dress
It sets, support device, the abrasive band movement mechanism, reciprocation module move up and down device and be installed in support device, institute
It states abrasive band movement mechanism connection reciprocation module, move up and down device；The abrasive band movement mechanism realizes that abrasive band is at the uniform velocity transported
Dynamic, the reciprocation module provides abrasive band grinding and polishing power, and the device that moves up and down realizes abrasive band replacement.
Preferably, the support device includes tensioning wheel mounting plate, telescopic cylinder mounting plate, driving wheel mounting plate, motor
Mounting plate, the driving wheel mounting plate, tensioning wheel mounting plate are separately connected telescopic cylinder mounting plate, the telescopic cylinder installation
Plate connects motor mounting plate；
The abrasive band movement mechanism includes by driving wheel, active exposure flange D, abrasive band driving motor, abrasive band, the master
Driving wheel is mounted on front side of the foreboard of driving wheel mounting plate, and the active exposure flange D is mounted on motor mounting plate, the sand
It is mounted on driving motor on rear side of the foreboard of driving wheel mounting plate, the transmission shaft of abrasive band driving motor passes through driving wheel mounting plate
Foreboard connect driving wheel, the abrasive band connects driving wheel, and the abrasive band moves under the driving of abrasive band driving motor, described
Active exposure flange D connection robot；
The reciprocation module includes the second tensioning wheel, pressure mill fixed column, pressure nog plate, third tensioning wheel, nog plate is pressed to drive
Dynamic motor, crank block transmission mechanism, second tensioning wheel, third tensioning wheel are mounted on tensioning wheel mounting plate and connect
The abrasive band of abrasive band movement mechanism, the pressure nog plate driving motor are mounted on motor mounting plate, press the transmission of nog plate driving motor
Axis connection crank block transmission mechanism, crank block transmission mechanism connection pressure nog plate fixed column, pressure nog plate fixed column connection pressure mill
Plate, the abrasive band of pressure nog plate connection abrasive belt drive mechanism；
The device that moves up and down includes driving wheel, the first tensioning wheel, the first telescopic cylinder, slide bar, the second flexible gas
Cylinder, first tensioning wheel are mounted on tensioning wheel mounting plate, and first telescopic cylinder, the second telescopic cylinder are installed respectively
At the both ends of telescopic cylinder mounting plate, the lower plate or tensioning wheel mounting plate of slide bar one end connection driving wheel mounting plate are sliding
The other end of bar, which connects the first telescopic cylinder or the second telescopic cylinder, the slide bar, to be stretched in the first telescopic cylinder or second
Sliding in the slideway of contracting cylinder changes between driving wheel and the second telescopic cylinder, between the first tensioning wheel and the first telescopic cylinder
Distance, so that the abrasive band of abrasive band movement mechanism is in tensioning or the state loosened.
According to another aspect of the present invention, one kind is provided and is suitable for robot grinding and polishing power tool replacement system, including
Robot, grinding and polishing power tool, grinding and polishing power tool repository, control system, the grinding and polishing power tool are mounted on robot
End, robot, grinding and polishing power tool, grinding and polishing power tool repository are connected to control system, the grinding and polishing power work
Have repository and robot grinding and polishing power tool repository is suitable for described in any item using claim.
Preferably, the control system includes robot control cabinet, grinding and polishing power tool control cabinet, grinding and polishing power tool
Repository control cabinet, the robot control cabinet, grinding and polishing power tool control cabinet, grinding and polishing power tool repository control cabinet it
Between can mutually communicate,
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 power tool control cabinet, grinding and polishing power tool repository control cabinet；
The grinding and polishing power 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 power tool control cabinet controls grinding and polishing power tool to be added
Work workpiece carries out polishing processing；
The grinding and polishing power tool repository control cabinet connects grinding and polishing power tool repository, controls and detects rolling screen door
Folding, while the status information of the grinding and polishing power tool of storage is detected.
Preferably, the control system can receive and process robot control cabinet, grinding and polishing power tool control cabinet, mill
The information for throwing the transmitting of power tool repository control cabinet, needs to control robot according to actual processing and deposits to grinding and polishing power tool
The replacement of storage cavern progress grinding and polishing power tool.
Compared with prior art, the present invention have it is following the utility model has the advantages that
1, the automatic replacement for realizing power tool in robot, improves entire station or pipeline automation and intelligence
Change horizontal.
2, it is not necessarily to manual intervention, grinding and polishing adverse circumstances is reduced and human body is damaged.
3, the automatic replacement cycle is fast, and the artificial replacement cycle is long, and the robot automatic replacement cycle is fast, improves grinding and polishing efficiency.
4, intelligent, robot can be according to the further intelligent decision making grinding and polishing power tool of grinding and polishing environment, and intelligence carries out more
It changes, promotes enterprise core competence, improve station intelligent level.
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 structural schematic diagram that the present invention is suitable for robot grinding and polishing power tool repository.
Fig. 2 is the structural schematic diagram of the flexible beat oilstone grinding and polishing apparatus of the present invention.
Fig. 3 is the structural schematic diagram of three axis beat oilstone grinding and polishing equipment of the invention.
Fig. 4 is reciprocator's structural schematic diagram of the present invention.
Fig. 5 is the schematic perspective view of Flexible grinding and polishing apparatus of the present invention.
Fig. 6 is the schematic elevation view of Flexible grinding and polishing apparatus of the present invention.
Fig. 7 is cross section view of the Fig. 6 at Section A-A.
Fig. 8 is that the present invention is suitable for robot grinding and polishing power tool replacement system schematic.
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 common skill of this field
For art personnel, without departing from the inventive concept of the premise, several changes and improvements can also be made.These belong to this
The protection scope of invention.
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 is suitable for robot grinding and polishing power tool repository, as shown in Figure 1, including roller shutter
Door 1, tool storage room frame 2, shield 3, the base of tool 4, frame member 5, grinding and polishing power tool 7, the shield 3 are mounted on tool storage room frame
Around frame 2, the rolling screen door 1 is mounted on tool storage room frame 2, and rolling screen door 1, tool storage room frame 2, shield 3 collectively define one
A accommodation space, the frame member 5 are arranged on tool storage room frame 2 and are located in the accommodation space, and the setting of the base of tool 4 exists
On frame member 5, grinding and polishing power tool 7 is placed on the base of tool 4, and the rolling screen door 1, which has, opens and closes two states, is beaten
Under open state, accommodation space and exterior space are interconnected；Under the closed state, accommodation space and exterior space mutually every
From；The grinding and polishing power tool 7 includes following any or appoints various structures: drawing circular knitting machine structure, reciprocator, Flexible mill
Polishing apparatus.
Knife handle sensor is provided on the base of tool 4, the knife handle sensor is able to detect the shape of grinding and polishing power tool 7
State information；The rolling screen door 1 includes rolling screen door crossbeam, roller shutter door sensor, and the rolling screen door slides fixed cross beam and is arranged in work
Has 3 upper end of library frame, the roller shutter door sensor includes upper end sensor, lower end sensor, the rolling screen door crossbeam connection electricity
Motivation drives the folding of rolling screen door crossbeam rotation control rolling screen door 1 by motor rotation.
The picture circular knitting machine structure includes flexible beat oilstone grinding and polishing apparatus, three axis beat oilstone grinding and polishing equipment；
As shown in Fig. 2, the flexibility beat oilstone grinding and polishing apparatus includes main part, flexible crank rocker device, oil stone clip
Mechanism, oilstone A106 are held, the main part includes mounting flange A101, active exposure flange A102, the first housing A103, connects
Fishplate bar A104, the second housing A105, servo motor 7, the mounting flange A101, active exposure flange A102, the first housing
A103, connecting plate A104, the second housing A105 are sequentially connected, and the servo motor A107 is located at the first housing A103 and is limited
Accommodation space in, the flexible crank rocker device is located in accommodation space defined by the second housing A105, the servo
Motor A107 connection flexible crank rocker device, the flexible crank rocker device connect connecting plate A104, oilstone clamping machine
Structure, oilstone clamping device clamp oilstone A106.
The flexible crank rocker device includes pairs of deep groove ball bearing 1011, the first circlip A1012, eccentric shaft
1013, rubber bar 1014, disc spring 1016, pairs of angular contact bearing 1017, the second circlip A1018, transmission shaft 1019, gas
Cylinder mounting plate 1020, the pairs of deep groove ball bearing 1011 pass through the first circlip A1012 connection connecting plate 4, the bias
One end of axis 1013 passes through the axis of pairs of deep groove ball bearing 1011 connection servo motor 7, and the other end of eccentric shaft 1013 passed through
It crosses cooperation to connect with pairs of angular contact bearing 1017 and fix by the second circlip A1018, the setting of disc spring 1016 exists
Between pairs of angular contact bearing 1017 and eccentric shaft 1013, the pretightning force of pairs of angular contact bearing 1017 is adjusted by disc spring 1016
Section is connected between one end and pairs of angular contact bearing 1017 of the transmission shaft 1019 by interference fit, transmission shaft 1019
The other end connects cylinder mounting plate 1020, and 1014 both ends of rubber bar are separately connected connecting plate A104, cylinder mounting plate
1020。
The flexible crank rocker device includes four rubber bars 1014, and four rubber bars 1014 are evenly distributed on biography
Around moving axis 1019.Embedded metal internal screw thread is provided on the rubber bar 1014.The rubber bar 1014 has flexible
Property, elastic deformation occurs under the action of eccentric shaft 1013, cylinder mounting plate 1020 is driven to do picture circular motion for rubber bar 1014.
The pairs of deep groove ball bearing 1011 connects connecting plate A104 by transition fit and carries out radial positioning.The servo motor 7
Rotary motion by flexible crank rocker device be converted to oilstone A106 draw circular motion, it is described draw circular motion radius pass through
The eccentricity of eccentric shaft 1013 is adjusted.
The active exposure flange A102 can export constant force, and the contact force of oilstone A106 and workpiece surface is made to keep permanent
It is fixed.By active exposure flange A102 accurately technology controlling and process, it can be obviously improved oilstone service life, reduce cost.
The oilstone clamping device includes finger cylinder A108, the first clamping jaw A109, the second clamping jaw A1010, the finger
Cylinder 8 is mounted on connection mounting blocks 1023, and the first clamping jaw A109, the second clamping jaw A1010 are both connected to finger cylinder
On A108, and oilstone A106 can be clamped.Through-hole, first clamping jaw are provided on the second housing A105
A109 or the second clamping jaw A1010 can pass through the through-hole on the second housing A105 to oilstone under the action of finger cylinder A108
A106 is clamped；By replacing different clamping jaws, different size oilstone A106 is clamped.
As shown in figure 3, the three axis beat oilstone grinding and polishing equipment, including main part, double-crank mechanism, oilstone clamping machine
Structure, oilstone B206, the main part include mounting flange B201, active exposure flange B202, the first housing B203, connecting plate
B204, the second housing B205, servo motor B 207, the mounting flange B201, active exposure flange B202, the first housing
B203, connecting plate B204, the second housing B205 are sequentially connected, and the servo motor B 207 is located at the first housing B203 and is limited
Accommodation space in, the double-crank mechanism is located in accommodation space defined by the second housing B205, the servo motor
B207 connection double-crank mechanism, the double-crank mechanism connect connecting plate B204, oilstone clamping device, oilstone clamping device pair
Oilstone B206 is clamped.
The double-crank mechanism includes eccentric, driven eccentric, connection mounting blocks 2023；The eccentric,
Driven eccentric passes through connection mounting blocks 2023 and connects oilstone clamping device.
The driven eccentric includes two offset assemblies, and the offset assembly includes the first locking nut 2011, the
One pairs of angular contact bearing 2016, driven eccentric shaft 2018, the second pairs of angular contact bearing 2020, the second locking nut 2022,
One end of the driven eccentric shaft 2018 is connect by transition fit with the first pairs of angular contact ball bearing 2016, and first in pairs
Angular contact ball bearing 2016 is locked by the first locking nut 2011, and the other end of the driven eccentric shaft 2018 passes through transition
Cooperation is connect with the second pairs of angular contact ball bearing 2020, and the second pairs of connection of angular contact ball bearing 2020 passes through the second locking
Nut 2022 is locked.The offset assembly further include the first disc spring 2015, the first circlip B2017, the second disc spring 2021,
Second circlip B2019, first disc spring 2015 are arranged in the first locking nut 2011 and the first pairs of angular contact bearing
Between 2016, the first pairs of angular contact bearing 2016 and driven eccentric shaft 2018 is arranged in the first circlip B2017
Between one end, it is connected between the first pairs of angular contact bearing 2016 and connecting plate B204 by transition fit and passes through
One circlip B2017 is fixed, and the pretightning force of the first pairs of angular contact bearing 2016 is adjusted by the first disc spring 2015；It is described
Second disc spring 2021 is arranged between the second pairs of angular contact bearing 2020 and the second locking nut 2022, second elasticity
Retaining ring B2019 is arranged between the other end of driven eccentric shaft 2018 and the second pairs of angular contact bearing 2020, the second one-tenth described
It is connected between diagonal contact ball bearing 2020 and connection mounting blocks 2023 by transition fit and passes through the second circlip
B2019 is fixed, and the pretightning force of the second pairs of angular contact ball bearing 2020 is adjusted by the second disc spring 2021.
The eccentric includes deep groove ball bearing 2012, the 4th circlip 2013, eccentric shaft 2014, third locking
The pairs of angular contact bearing 2026 of nut 2024, third, the deep groove ball bearing 2012 are connected by the connection of the 4th circlip 2013
Fishplate bar B204 simultaneously carries out radial positioning by transition fit, and one end of the eccentric shaft 2014 is matched by interference is connected to servo
On the axis of motor 7, the other end of eccentric shaft 2014 is connect by transition fit with the pairs of angular contact bearing 2026 of third, third
Pairs of angular contact bearing 2026 is locked by third locking nut 2024.The eccentric further includes third disc spring 2025,
Three circlips 2027, the third disc spring 2025 are arranged in third locking nut 2024 and the pairs of angular contact bearing of third
Between 2026, the other end and the pairs of angular contact bearing of third of eccentric shaft 2014 is arranged in the third circlip 2027
Between 2026；It is connected and leads to by transition fit between the pairs of angular contact bearing 2026 of third and connection mounting blocks 2023
It crosses third circlip 2027 to fix, the pretightning force of the pairs of angular contact bearing 2026 of third passes through third disc spring 2025 and adjusts.
The rotary motion of the servo motor 7 is converted to oilstone B206 by double-crank mechanism and draws circular motion, the picture circle
The radius of movement by the eccentricity of the driven eccentric shaft 2018 of driven eccentric, the eccentric shaft 2014 of eccentric it is inclined
The heart is away from adjusting.The eccentricity of the driven eccentric shaft 2018 of two of the driven eccentric and the eccentric shaft 2014 of eccentric
Eccentricity it is equal.The oilstone B206 carries out rubbing down to workpiece by constantly doing picture circular motion in workpiece surface.
The oilstone clamping device includes finger cylinder B208, the first clamping jaw B209, the second clamping jaw B2010, the finger
Cylinder B208 is mounted on connection mounting blocks 2023, and the first clamping jaw B209, the second clamping jaw B2010 are both connected to finger gas
On cylinder B208, and oilstone B206 can be clamped.Through-hole, first clamping jaw are provided on the second housing B205
B209 or the second clamping jaw B2010 can pass through the through-hole on the second housing B205 to oilstone under the action of finger cylinder B208
B206 is clamped；By replacing different clamping jaws, different size oilstone B206 is clamped.
As shown in figure 4, the reciprocator includes main part, float portion, the main part include mounting flange C301,
Active exposure flange C302, pneumatic polisher 304, mounting plate 305, mounting bracket 306, the float portion include oilstone installation
Block 307, oilstone C308, the mounting flange C301, active exposure flange C302, pneumatic polisher 304, mounting plate 305, peace
Dress bracket 306 is sequentially connected, and the mounting bracket 306 connects oilstone mounting blocks 307, and oilstone C308 is arranged in oilstone mounting blocks
On 307；The oilstone C308 can float relative to main part.
It is provided with split pin 309, pin hole in the mounting bracket 306, is provided with pin on the oilstone mounting blocks 307
Nail hole passes through the pin hole in mounting bracket 306 using pin shaft 3010 with holes, pin hole connects installation on oilstone mounting blocks 307
Bracket 306 and oilstone mounting blocks 307, the both ends of the pin shaft 3010 with holes pass through the split pin in mounting bracket 306 respectively
309 fix.It can be that axis is mutual with pin shaft 3010 with holes between the oilstone mounting blocks 307 and mounting bracket 306
Rotation.It is provided with positioning inclined-plane 3014 in the mounting bracket 306, is provided with positioning plane on the oilstone mounting blocks 307
3015, the positioning inclined-plane 3014 is mutually matched with positioning plane 3015.The oilstone mounting blocks 307 can be on positioning inclined-plane
It rotates and floats in the range of angle between 3014 and positioning plane 3015.It is provided in the mounting bracket 306 two adjacent
Position inclined-plane 3014.The floating range of the oilstone C308 can be set according to the curved surface of practical workpiece to be processed, change positioning
Angle between inclined-plane 3014 and positioning plane 3015 is the float angle range of changeable oilstone C308.
The oilstone C308 connects oilstone mounting blocks 307 by fastener 3012, and is prevented by locking nut 3011
Pine processing.It is machined with boss 3013 on the mounting plate 305, and pneumatic polisher 304 is connected by boss.It further include transition
Flange 303, the counter flange 303 are arranged between active exposure flange C302 and pneumatic polisher 304.The oilstone
C308 can float in the range of 20 degree.
As illustrated in figs. 5-7, the Flexible grinding and polishing apparatus include abrasive band movement mechanism, reciprocation module, on move down
Dynamic device, support device, the abrasive band movement mechanism, reciprocation module move up and down device and are installed in support device
On, the abrasive band movement mechanism connection reciprocation module moves up and down device；The abrasive band movement mechanism realizes that abrasive band is even
Speed movement, the reciprocation module provide abrasive band grinding and polishing power, and the device that moves up and down realizes abrasive band replacement.The branch
Support arrangement includes tensioning wheel mounting plate 403, telescopic cylinder mounting plate 405, driving wheel mounting plate 4011, motor mounting plate 4018,
The driving wheel mounting plate 4011, tensioning wheel mounting plate 403 are separately connected telescopic cylinder mounting plate 405, the telescopic cylinder peace
Loading board 405 connects motor mounting plate 4018；The abrasive band movement mechanism include by driving wheel 401, active exposure flange D4012,
Abrasive band driving motor 4016, abrasive band, the driving wheel 401 are mounted on front side of the foreboard of driving wheel mounting plate 4011, the active
Engagement flange D4012 is mounted on motor mounting plate 4018, and the abrasive band driving motor 4016 is mounted on driving wheel mounting plate
On rear side of 4011 foreboard, the foreboard that the transmission shaft of abrasive band driving motor 4016 passes through driving wheel mounting plate 4011 connects driving wheel
401, the abrasive band connects driving wheel 401, and the abrasive band moves under the driving of abrasive band driving motor 4016, and the active connects
Touch flange D4012 connection robot；The reciprocation module includes the second tensioning wheel 408, pressure mill fixed column 409, pressure nog plate
4010, third tensioning wheel 4015, pressure nog plate driving motor 4017, crank block transmission mechanism 4019, second tensioning wheel
408, third tensioning wheel 4015 is mounted on tensioning wheel mounting plate 403 and connects the abrasive band of abrasive band movement mechanism, the pressure nog plate
Driving motor 4017 is mounted on motor mounting plate 4018, and the transmission shaft connecting crank sliding block of pressure nog plate driving motor 4017 passes
Motivation structure 4019, the connection pressure nog plate fixed column 409 of crank block transmission mechanism 4019, the pressure connection pressure nog plate of nog plate fixed column 409
4010, pressure nog plate 4010 connects the abrasive band of abrasive belt drive mechanism；The crank block transmission mechanism 4019 is mounted on crank block
Inside housing 7, crank block transmission mechanism 4019 passes through the connection pressure nog plate fixed column 409 of crank block housing 407.Described
Two tensioning wheels 408, third tensioning wheel 4015 are separately positioned on the two sides of pressure nog plate fixed column 409, can be tensioned pressure nog plate and fix
The abrasive band of the abrasive band movement mechanism of the two sides of column 409；Second tensioning wheel 408, third tensioning wheel 4015 are mounted on tensioning wheel
On mounting plate 403 or crank block housing 407.The pressure nog plate driving motor 4017 is provided with motor housing 404, the electricity
Hood shell 404 is fastenedly connected or is integrally formed on telescopic cylinder mounting plate 405, in telescopic cylinder mounting plate 405
Portion, the motor housing 404 connect motor mounting plate 4018, the pressure nog plate driving motor 4017 be located at motor housing 404 and
In the accommodation space that motor mounting plate 4018 limits, protection and dustproof effect are played to pressure nog plate driving motor 4017.Nog plate is pressed to drive
Dynamic motor 4017 by transmission shaft driving makes that nog plate 4010 is pressed to move back and forth on perpendicular to the abrasive band direction of motion, presses nog plate
4010 can contact in its direction of motion with abrasive band, provide abrasive band grinding and polishing apparatus grinding and polishing power, guarantee the effect of abrasive band grinding and polishing
Rate.The device that moves up and down includes driving wheel 401, the first tensioning wheel 402, the first telescopic cylinder 406, slide bar 4013, second
Telescopic cylinder 4014, first tensioning wheel 402 are mounted on tensioning wheel mounting plate 403, first telescopic cylinder 406,
Two telescopic cylinders 4014 are separately mounted to the both ends of telescopic cylinder mounting plate 405, and described 4013 one end of slide bar connects driving wheel
The other end of the lower plate or tensioning wheel mounting plate 403 of mounting plate 4011, slide bar 4013 connects the first telescopic cylinder 406 or the second
Telescopic cylinder 4014, the slide bar can slide in the slideway of the first telescopic cylinder 406 or the second telescopic cylinder 4014, change
Become between driving wheel 401 and the second telescopic cylinder 4014, the distance between the first tensioning wheel 402 and the first telescopic cylinder 406,
The state for making the abrasive band of abrasive band movement mechanism be in tensioning or loosen, abrasive band are convenient for changing when being in relaxation state, slide bar 4013
It can slide to be tensioned driving wheel 401, guarantee between abrasive band and driving wheel 401 in the slideway of the second telescopic cylinder 4014
Frictional force, slide bar 4013 can the first telescopic cylinder 406 slip it is interior sliding to be tensioned abrasive band.When needing replacing sand
When band, slide bar 4013 moves down in the slideway of telescopic cylinder, drives driving wheel 401, and the first tensioning wheel 402 moves down therewith,
Abrasive band relaxation, to realize that abrasive band is replaced.The device that moves up and down further includes one or more tensioning wheels, each tensioning wheel
It is correspondingly arranged a telescopic cylinder, is connected between tensioning wheel and telescopic cylinder by slide bar 4013, one or more of tensionings
Wheel is arranged between driving wheel 401, the first tensioning wheel 402；Or one or more corresponding telescopic cylinders of tensioning wheel, it stretches
Contracting cylinder connects one or more slide bar 4013 by slide bar connecting plate, and slide bar 4013 connects one to one with tensioning wheel.
The one kind provided according to the present invention is suitable for robot grinding and polishing power tool and replaces system, as shown in figure 8, including machine
Device people 6, grinding and polishing power tool 7, grinding and polishing power tool repository 8, control system 9, the grinding and polishing power tool 7 are mounted on machine
The end of device people 6, robot 6, grinding and polishing power tool 7, grinding and polishing power tool repository 8 are connected to control system 9, described
Grinding and polishing power tool repository 8 is stored using the described in any item robot grinding and polishing power tools that are suitable for of claim 1 to 7
Library.The control system 9 includes robot control cabinet, grinding and polishing power tool control cabinet, the control of grinding and polishing power tool repository
Cabinet, the robot control cabinet, grinding and polishing power tool control cabinet, can be mutual between grinding and polishing power tool repository control cabinet
Communication, the robot control cabinet control 6 travel speed of robot, carry out grinding and polishing rhythm control, while robot control cabinet is also
It is mutually communicated with grinding and polishing power tool control cabinet, grinding and polishing power tool repository control cabinet；The grinding and polishing power tool control cabinet
Comprising 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 power tool control cabinet controls grinding and polishing power tool 7 and carries out polishing processing to workpiece to be processed；The grinding and polishing is dynamic
Power tool repository control cabinet connects grinding and polishing power tool repository 8, controls and detects the folding of rolling screen door 1, while to storage
The status information of grinding and polishing power tool 7 is detected.The control system 9 can receive and process robot control cabinet, grinding and polishing
The information that power tool control cabinet, grinding and polishing power tool repository control cabinet transmit, needs to control robot according to actual processing
6 carry out the replacement of grinding and polishing power tool 7 to grinding and polishing power tool repository 8.
Preferred embodiment:
The robot grinding and polishing power tool library of the present invention that is used for is mainly by rolling screen door 1, tool storage room frame 2, shield 3, knife
Has seat 4, bracket 5 forms.The outer layer support in robot grinding and polishing power tool library is the cuboid-type work that carbon steel section combination is built
Has library frame 2；Shield 3 is disposed in upper and lower, the rear, left and right side of tool storage room frame 2；In the installed in front of tool storage room frame 2
Rolling screen door 1；The rolling screen door 1, tool storage room frame 2, shield 3 form a sealing space, when robot polishes and works normally
Rolling screen door 1 is in close state, and accomplishes the effect for sealing dedusting, and when robot needs to change grinding tool, rolling screen door 1 is opened, and is realized
The automatic replacement of grinding tool.Inside tool storage room frame 2, the frame member 5 made of two layers of drum carbon steel profile separates, and forms three layers
Memory structure.On the first layer beam of drum carbon steel section bar support part 5, it is equidistantly placed three base of tools 4；Drum carbon steel profile branch
On the second layer beam of frame member 5, two base of tools 4 are equidistantly placed to store and are used for robot grinding and polishing power tool: drawing circular knitting machine
Structure, reciprocator, Flexible grinding and polishing apparatus.According to program set in figure, the flexible beat oilstone grinding and polishing dress of circular knitting machine structure is drawn
Setting in the first layer first position of drum carbon steel section bar support part 5, reciprocator is located at drum carbon steel section bar support part 5
The first layer second position, Flexible grinding and polishing apparatus are located at the second layer first position of drum carbon steel section bar support part 5, draw circle
Three axis beat oilstone grinding and polishing equipment of mechanism are located at the second layer second position of drum carbon steel section bar support part 5.If robot
It executes command program to change, the grinding and polishing power tool position for robot can change therewith.
The rolling screen door 1 includes that rolling screen door slides fixed cross beam, upper end roller shutter door sensor, lower end roller shutter door sensor.
By rolling screen door slide fixed cross beam guarantee rolling screen door 1 rises in the vertical direction with decline, by upper end roller shutter door sensor with
Lower end roller shutter door sensor guarantees the folding of rolling screen door 1 in place, and preventing rolling screen door 1 to be not closed completely causes dust to enter and rolling screen door 1
It opens and closes when robot not in place replaces grinding tool automatically and impact event occurs.When rolling screen door needs to open and close, motor rotation drives electricity
The rotation of machine belt pulley, motor pulley drive rolling screen door crossbeam to rotate by driving belt, and rolling screen door crossbeam drives runner disk
To drive the rise and fall of rolling screen door, grinding tool is may be implemented by the positive and negative rotation of motor in the folding in realization grinding tool library for rotation
The folding in library controls the start-stop time of motor by upper end roller shutter door sensor and lower end roller shutter door sensor.
Robot grinding and polishing power tool library is used in actual production.The system includes: robot 6, grinding and polishing power tool
7, grinding and polishing power tool library 8, control system 9 four are most of.It is linked by robot 6 and grinding and polishing power tool library 8, realizes mill
The automatic replacement for throwing power tool 7 realizes grinding and polishing power tool 7, grinding and polishing power tool library 8 and robot by control system 9
Communication between 6 realizes grinding and polishing process by robot real-time control grinding and polishing power tool 7 and grinding and polishing power tool library 8
Robot control.
Control system 9 is mainly made of robot control cabinet, power tool control cabinet, power tool library control cabinet.Machine
People's 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 power work
Tool control cabinet, power tool library control cabinet mutually communicate, and control its running.Power tool control cabinet mainly includes active exposure
The control of flange power output, motor control, cylinder control etc. can control power tool and carries out polishing processing to workpiece to be processed.
Whether power tool library control cabinet can control the folding of power tool rolling screen door, and examine in place to the power tool of storage
It surveys
When robot 6 is controlled the order of replacement grinding and polishing power tool 7 of the robot control cabinet of system 9, automatically
Close to grinding and polishing power tool library 8, the rolling screen door 1 that grinding and polishing power tool library control cabinet controls grinding and polishing power tool library 8 is opened, side
Just the placement of robot 6 or selection grinding and polishing power tool 7.For guarantee grinding and polishing power tool can fast accurate replacement, device use
The cooperation positioning of base of tool sliding slot.Robot control cabinet calculates equipment position of centre of gravity, guarantees that equipment is automatically positioned along guide rail sliding chute,
Power tool is facilitated to fall off with equipment, meanwhile, preset clearance between guide rail sliding chute and power tool, it is fixed to avoid repeating because of robot
When position low precision causes robot 6 to replace grinding and polishing power tool 7 by changing rifle disk, grinding and polishing power tool 7 and guide rail sliding chute are stuck
And cause to grab the failure of grinding and polishing power tool 7.
When robot replaces grinding and polishing power tool 7 automatically, whether have on more emat sensor detection 4 position of the base of tool automatically
Power tool 7.If the 6th shaft end of robot has been equipped with a grinding and polishing power tool, robot first carries out the base of tool free time
The grinding and polishing power tool, is placed on the order of clear position by detection, then by its six shaft ends ring flange and active exposure flange
The grinding and polishing power tool 7 that need to be installed is installed in connection, should if the 6th shaft end of robot does not install grinding and polishing power tool 7
Robot directly executes the grinding and polishing power tool 7 that installation need to install.
A machine is formed by robot 6, grinding and polishing power tool 7, grinding and polishing power tool repository 8, control system 9
People's grinding and polishing power tool replaces system, and control system 9 ensure that all control is all controlled by robot, to guarantee whole
A robot grinding and polishing motivation tool changing 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 power tool repository, which is characterized in that including rolling screen door (1), tool storage room frame
(2), shield (3), the base of tool (4), frame member (5), grinding and polishing power tool (7), the shield (3) are mounted on tool storage room frame
(2) around, the rolling screen door (1) is mounted on tool storage room frame (2), and rolling screen door (1), tool storage room frame (2), shield (3) are altogether
With an accommodation space is defined, the frame member (5) is arranged on tool storage room frame (2) and is located in the accommodation space,
The base of tool (4) is arranged on frame member (5), and grinding and polishing power tool (7) is placed on the base of tool (4), and the rolling screen door (1) has
Open and close two states, under opening state, accommodation space and exterior space are interconnected；Under the closed state, accommodate
Space is mutually isolated with exterior space；
The grinding and polishing power tool (7) includes following any or appoints various structures: drawing circular knitting machine structure, reciprocator, Flexible
Grinding and polishing apparatus.
2. according to claim 1 be suitable for robot grinding and polishing power tool repository, which is characterized in that the base of tool
(4) knife handle sensor is provided on, the knife handle sensor is able to detect the status information of grinding and polishing power tool (7)；
The rolling screen door (1) includes rolling screen door crossbeam, roller shutter door sensor, and the rolling screen door slides fixed cross beam and is arranged in tool
Library frame (3) upper end, the roller shutter door sensor include upper end sensor, lower end sensor, the rolling screen door crossbeam connection electricity
Motivation drives the folding of rolling screen door crossbeam rotation control rolling screen door (1) by motor rotation.
3. according to claim 1 be suitable for robot grinding and polishing power tool repository, which is characterized in that the picture circular knitting machine
Structure includes flexible beat oilstone grinding and polishing apparatus, three axis beat oilstone grinding and polishing equipment；
The flexibility beat oilstone grinding and polishing apparatus includes main part, flexible crank rocker device, oilstone clamping device, oilstone A
(106), the main part includes mounting flange A (101), active exposure flange A (102), the first housing A (103), connecting plate A
(104), the second housing A (105), servo motor 7, the mounting flange A (101), active exposure flange A (102), the first housing
A (103), connecting plate A (104), the second housing A (105) are sequentially connected, and the servo motor A (107) is located at the first housing A
(103) in accommodation space defined by, the flexible crank rocker device, which is located at, accommodates sky defined by the second housing A (105)
In, the servo motor A (107) connects flexible crank rocker device, and the flexible crank rocker device connects connecting plate A
(104), oilstone clamping device, oilstone clamping device clamp oilstone A (106).
4. according to claim 3 be suitable for robot grinding and polishing power tool repository, which is characterized in that three axis is inclined
Oilstone grinding and polishing equipment, including main part, double-crank mechanism, oilstone clamping device, oilstone B (206) are put, the main part includes peace
Dress flange B (201), the first housing B (203), connecting plate B (204), the second housing B (205), is watched active exposure flange B (202)
It takes motor B (207), the mounting flange B (201), active exposure flange B (202), the first housing B (203), connecting plate B
(204), the second housing B (205) is sequentially connected, and the servo motor B (207), which is located at defined by the first housing B (203), to be accommodated
In space, the double-crank mechanism is located in accommodation space defined by the second housing B (205), the servo motor B (207)
Double-crank mechanism is connected, the double-crank mechanism connects connecting plate B (204), oilstone clamping device, and oilstone clamping device is to oilstone
B (206) is clamped.
5. according to claim 1 be suitable for robot grinding and polishing power tool repository, which is characterized in that the reciprocating engine
Structure includes main part, float portion, and the main part includes mounting flange C (301), active exposure flange C (302), Pneumatic polishing
Machine (304), mounting plate (305), mounting bracket (306), the float portion include oilstone mounting blocks (307), oilstone C (308), institute
State mounting flange C (301), active exposure flange C (302), pneumatic polisher (304), mounting plate (305), mounting bracket (306)
It is sequentially connected, the mounting bracket (306) connects oilstone mounting blocks (307), and oilstone C (308) is arranged in oilstone mounting blocks (307)
On；The oilstone C (308) can be floated relative to main part.
6. according to claim 1 be suitable for robot grinding and polishing power tool repository, which is characterized in that the flexibility sand
Band grinding and polishing apparatus includes abrasive band movement mechanism, reciprocation module, moves up and down device, support device, the abrasive band fitness machine
Structure, reciprocation module move up and down device and are installed in support device, and the abrasive band movement mechanism connects reciprocating mould
Block moves up and down device；The abrasive band movement mechanism realizes that abrasive band uniform motion, the reciprocation module provide abrasive band grinding and polishing
Power, the device that moves up and down realize abrasive band replacement.
7. according to claim 6 be suitable for robot grinding and polishing power tool repository, which is characterized in that the support dress
It sets including tensioning wheel mounting plate (403), telescopic cylinder mounting plate (405), driving wheel mounting plate (4011), motor mounting plate
(4018), the driving wheel mounting plate (4011), tensioning wheel mounting plate (403) are separately connected telescopic cylinder mounting plate (405), institute
State telescopic cylinder mounting plate (405) connection motor mounting plate (4018)；
The abrasive band movement mechanism include by driving wheel (401), active exposure flange D (4012), abrasive band driving motor (4016),
Abrasive band, the driving wheel (401) are mounted on front side of the foreboard of driving wheel mounting plate (4011), the active exposure flange D
(4012) it is mounted on motor mounting plate (4018), the abrasive band driving motor (4016) is mounted on driving wheel mounting plate (4011)
Foreboard on rear side of, the foreboard that the transmission shaft of abrasive band driving motor (4016) passes through driving wheel mounting plate (4011) connects driving wheel
(401), abrasive band connection driving wheel (401), the abrasive band move under the driving of abrasive band driving motor (4016), the master
Dynamic engagement flange D (4012) connect robot；
The reciprocation module includes the second tensioning wheel (408), pressure mill fixed column (409), pressure nog plate (4010), third tensioning
Take turns (4015), pressure nog plate driving motor (4017), crank block transmission mechanism (4019), second tensioning wheel (408), third
Tensioning wheel (4015) is mounted on tensioning wheel mounting plate (403) and connects the abrasive band of abrasive band movement mechanism, the pressure nog plate driving
Motor (4017) is mounted on motor mounting plate (4018), and the transmission shaft connecting crank sliding block of pressure nog plate driving motor (4017) passes
Motivation structure (4019), crank block transmission mechanism (4019) connection pressure nog plate fixed column (409), pressure nog plate fixed column (409) is even
Connect pressure nog plate (4010), the abrasive band of pressure nog plate (4010) connection abrasive belt drive mechanism；
The device that moves up and down includes driving wheel (401), the first tensioning wheel (402), the first telescopic cylinder (406), slide bar
(4013), the second telescopic cylinder (4014), first tensioning wheel (402) are mounted on tensioning wheel mounting plate (403), and described
One telescopic cylinder (406), the second telescopic cylinder (4014) are separately mounted to the both ends of telescopic cylinder mounting plate (405), described
Slide bar (4013) one end connect driving wheel mounting plate (4011) lower plate or tensioning wheel mounting plate (403), slide bar (4013) it is another
One end connects the first telescopic cylinder (406) or the second telescopic cylinder (4014), the slide bar can be in the first telescopic cylinder (406)
Or second telescopic cylinder (4014) slideway in sliding, change between driving wheel (401) and the second telescopic cylinder (4014), first
The distance between tensioning wheel (402) and the first telescopic cylinder (406) make the abrasive band of abrasive band movement mechanism be in tensioning or loosen
State.
8. one kind, which is suitable for robot grinding and polishing power tool, replaces system, which is characterized in that including robot (6), grinding and polishing power
Tool (7), grinding and polishing power tool repository (8), control system (9), the grinding and polishing power tool (7) are mounted on robot (6)
End, robot (6), grinding and polishing power tool (7), grinding and polishing power tool repository (8) are connected to control system (9), institute
Grinding and polishing power tool repository (8) is stated to deposit using the described in any item robot grinding and polishing power tools that are suitable for of claim 1 to 7
Storage cavern.
9. the robot grinding and polishing power tool according to claim 8 that is suitable for replaces system, which is characterized in that the control
System (9) includes robot control cabinet, grinding and polishing power tool control cabinet, grinding and polishing power tool repository control cabinet, the machine
People's control cabinet, grinding and polishing power tool control cabinet can be communicated mutually between grinding and polishing power tool repository control cabinet,
The robot control cabinet controls robot (6) travel speed, carries out grinding and polishing rhythm control, while robot control cabinet is also
It is mutually communicated with grinding and polishing power tool control cabinet, grinding and polishing power tool repository control cabinet；
The grinding and polishing power 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 power tool control cabinet controls grinding and polishing power tool (7) to work to be processed
Part carries out polishing processing；
The grinding and polishing power tool repository control cabinet connects grinding and polishing power tool repository (8), controls and detects rolling screen door (1)
Folding, while the status information of the grinding and polishing power tool (7) of storage is detected.
10. the robot grinding and polishing power tool according to claim 9 that is suitable for replaces system, which is characterized in that the control
System (9) processed can receive and process robot control cabinet, grinding and polishing power tool control cabinet, the control of grinding and polishing power tool repository
The information of cabinet transmitting needs to control robot (6) according to actual processing and carries out grinding and polishing power to grinding and polishing power tool repository (8)
The replacement of tool (7).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530253.2A CN110385688A (en) | 2019-06-19 | 2019-06-19 | Suitable for robot grinding and polishing power tool repository and replacement system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910530253.2A CN110385688A (en) | 2019-06-19 | 2019-06-19 | Suitable for robot grinding and polishing power tool repository and replacement system |
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| CN110385688A true CN110385688A (en) | 2019-10-29 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN115056096A (en) * | 2022-08-16 | 2022-09-16 | 睢宁盛浩金属工具有限公司 | Polishing equipment suitable for processing curved metal workpiece |
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