CN110394730A - A kind of industrial robot sanding and polishing equipment and its application method - Google Patents
A kind of industrial robot sanding and polishing equipment and its application method Download PDFInfo
- Publication number
- CN110394730A CN110394730A CN201910685319.5A CN201910685319A CN110394730A CN 110394730 A CN110394730 A CN 110394730A CN 201910685319 A CN201910685319 A CN 201910685319A CN 110394730 A CN110394730 A CN 110394730A
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- Prior art keywords
- polishing
- axis
- metalwork
- sanding
- fixed
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/008—Machines comprising two or more tools or having several working posts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
-
- 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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/04—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing only
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention belongs to Industrial Robot Technology field, in particular a kind of industrial robot sanding and polishing equipment, comprising: workbench；Workpiece polishing mechanism, the workpiece polishing mechanism are fixed on the top of workbench, for polishing metalwork；Polishing mechanism, the polishing mechanism is fixed on the top of workbench and is located at the right side of workpiece polishing mechanism, for polishing to metalwork；Feed mechanism, the feed mechanism are fixed on the top of workbench, for metalwork to be placed and fixed.The present invention is compared with existing artificial loading carries out sanding and polishing, the present invention uses the mode of operation of industrial robot, the cuboid metalwork of sanding and polishing is needed to be moved between workpiece polishing mechanism and polishing mechanism by Material moving device drive, complete the grinding and buffing operation to metalwork, it can not artificially be held, the efficiency that can not only guarantee grinding and buffing has certain packaging similarly for the grinding and buffing quality of metalwork, reduces product defect rate.
Description
Technical field
The present invention relates to Industrial Robot Technology field, specially a kind of industrial robot sanding and polishing equipment machine is used
Method.
Background technique
In the process of manufacture of metalwork, need to metalwork carry out sanding and polishing work, be on the one hand aspect after
The progress of the operations such as continuous japanning, on the one hand can be improved the glossiness of metalwork, at present the shape of metalwork by sanding and polishing
Type is cumbersome, and common metalwork mainly has cuboid, cylindrical body and triangle body or some irregular body metalworks, some big
In type factory, there are special large scale equipments to carry out sanding and polishing work to the metalwork produced, but current midget plant
There is also deficiencies below for the interior sanding and polishing equipment for cuboid metalwork:
1, sanding and polishing equipment is simple, needs artificial continuous progress loading and unloading, sanding and polishing low efficiency；
2, man-hour manually hand-held metalwork is needed to carry out grinding and buffing operation on sander and polishing machine during sanding and polishing, this
The quality of sample grinding and buffing is influenced by worker operation proficiency, be easy to cause the consistency of product low, and product defect rate is high.
Summary of the invention
(1) the technical issues of solving
In view of the deficiencies of the prior art, the present invention provides a kind of industrial robot sanding and polishing equipment and its application method, solutions
It has determined the problems mentioned above in the background art.
(2) technical solution
To achieve the above object, the invention provides the following technical scheme: a kind of industrial robot sanding and polishing equipment, comprising: work
Make platform；Workpiece polishing mechanism, the workpiece polishing mechanism are fixed on the top of workbench, for polishing metalwork；Polishing mechanism,
The polishing mechanism is fixed on the top of workbench and is located at the right side of workpiece polishing mechanism, for polishing to metalwork；On
Expect mechanism, the feed mechanism is fixed on the top of workbench, for metalwork to be placed and fixed；Material moving device,
The Material moving device is fixed on the top of workbench, for driving metalwork in workpiece polishing mechanism, polishing mechanism and feed mechanism
Between moved.
As a preferred technical solution of the present invention, the workpiece polishing mechanism includes fixing seat, and the fixing seat is fixed on
The top of workbench, polishing motor is fixedly installed at the top of the fixing seat, and the output shaft of the polishing motor is fixedly mounted
There is driving wheel, bracket is fixedly installed on the right side of the fixing seat, fixing axle, the fixing axle are fixedly installed on the bracket
Outer surface driving wheel is rotatably connected to by bearing, abrasive band, the driving wheel are provided between the driving wheel and driving wheel
It is sequentially connected between driving wheel by abrasive band.
As a preferred technical solution of the present invention, the polishing mechanism includes polishing motor, and the polishing motor is solid
It is scheduled on the top of workbench, the output shaft of the polishing motor is fixedly installed with polishing wheel.
As a preferred technical solution of the present invention, the feed mechanism includes two T-shaped slide rails, two T-types
Sliding rail is each attached to the top of workbench, and the inside of each T-shaped slide rail is slidably connected, and there are two T-type draw runner, four institutes
The top for stating T-type draw runner is fixedly installed with placement plate, several limit assemblies are fixedly installed at the top of the placement plate.
As a preferred technical solution of the present invention, the limit assembly is made of four L-type limited blocks.
As a preferred technical solution of the present invention, the Material moving device includes X-axis mobile mechanism, Y-axis moving mechanism
With Z axis mobile mechanism, the X-axis mobile mechanism is fixed on the table, and the Y-axis moving mechanism is fixed on X-axis mobile mechanism
On, the Z axis mobile mechanism is fixed in Y-axis moving mechanism.
As a preferred technical solution of the present invention, the X-axis mobile mechanism includes four supporting legs, four supporting legs
Being each attached to the top of workbench and two is one group, and the top of supporting leg described in two groups is fixedly installed with mounting plate, wherein one
It is fixedly installed with slide bar at the top of a mounting plate, the top of another mounting plate is fixedly connected with X by bearing block
Axial filament bar passes through shaft coupling and the one of X-axis screw rod with X-axis servo motor, the output shaft of the X-axis servo motor is fixedly installed with
End is fixedly connected, and X-axis thread barrel is threaded on the X-axis screw rod, and slide cartridge, the X-axis are slidably connected on the slide bar
Connecting plate is fixedly installed at the top of thread barrel and slide cartridge.
As a preferred technical solution of the present invention, the Y-axis moving mechanism includes two line slide rails, Y-axis servo
Motor and Y-axis screw rod, the top for being each attached to connecting plate of two line slide rails and a Y-axis servo motor, the Y-axis
For screw rod by being fixedly connected at the top of two bearing blocks and connecting plate, the output shaft of the Y-axis servo motor passes through shaft coupling and Y
One end of axial filament bar is fixedly connected, and linear slider, equal spiral shell on the Y-axis screw rod are slidably connected on two line slide rails
Line is connected with Y-axis thread barrel, is fixedly installed with fixed plate, the fixation at the top of the Y-axis thread barrel and two linear sliders
There are two set squares for the top fixed installation of plate, and the side of two set squares is fixedly installed with riser.
As a preferred technical solution of the present invention, the Z axis mobile mechanism includes cylinder supporting plate and guiding supporting plate, institute
It states cylinder supporting plate and is oriented to the side that supporting plate is each attached to riser, be fixedly installed with cylinder push-rod at the top of the cylinder supporting plate,
The output shaft of the cylinder push-rod is fixedly installed with link block, and there are two guiding axis, institutes for the bottom fixed installation of the link block
The inside for stating guiding supporting plate is inlayed there are two slip pipe is oriented to, and corresponding guiding slip pipe is run through in one end of two guiding axis
And be slidably connected with it, one end that two guiding axis are located at the lower section of guiding supporting plate is fixedly installed with fixed block, described solid
The bottom for determining block is fixedly mounted there are four vacuum chuck.
A kind of application method of industrial robot sanding and polishing equipment, comprising the following steps:
S1: the metalwork for needing sanding and polishing is put into the limit assembly in placement plate, then passes through placement plate by feeding
Four T-type draw runners are put into two T-shaped slide rails, and the metalwork of sanding and polishing will be needed to place on the table；
S2: suction drives four vacuum chucks to carry out X by starting X-axis servo motor, Y-axis servo motor and cylinder push-rod
Axis, Y-axis and Z-direction are mobile, and specific moving step is as follows:
1. X-axis is mobile, starting X-axis servo motor drives X-axis screw rod to carry out forward or reverse, so that X-axis thread barrel is with X-axis silk
Bar moves forward or reverse, drives connecting plate to be moved, while slide cartridge slides on slide bar, and four vacuum has both been driven to inhale
The adjusting of disk progress X-direction；
2. Y-axis is mobile, starting Y-axis servo motor drives Y-axis screw rod to carry out forward or reverse, driving fixed plate to be moved, together
When two linear sliders slided on two line slide rails, both driven four vacuum chucks to carry out the adjusting of Y direction；
3. Z axis is mobile, starting cylinder push-rod drives link block down or up, at this point, two guiding axis are in two guiding slip pipes
It inside slides, four vacuum chucks is driven to adsorb metalwork.
S3: feeding, metalwork shifting principle is with step S, and the metalwork driven by Material moving device is successively in workpiece polishing mechanism
Into movement between polishing mechanism；
S4: polishing, metalwork shifting principle are moved to the abrasive band of workpiece polishing mechanism by Material moving device drive metalwork with step S
On, motor of polishing at this time drives driving wheel rotation, so that abrasive band rotates under the cooperation of driving wheel, the sand both constantly rotated
Band carries out sanding operation to the surface of metalwork；
S5: polishing, metalwork shifting principle drive the metalwork polished to be moved to polishing wheel with step S, by Material moving device
On, polishing wheel constantly rotates under the drive of polishing motor, is polished using continuous polishing wheel to the metalwork after polishing
Operation；
S6: polished metalwork is put back to original position with step S, by Material moving device, then inhaled by blanking, metalwork shifting principle
The metalwork of attached next non-sanding and polishing, and so on, complete the sanding and polishing work of whole metalworks；
S7: reloading, and after metalwork whole sanding and polishing in placement plate, is replaced placement plate by four T-type draw runners,
Change the placement plate equipped with non-sanding and polishing metalwork.
(3) beneficial effect
Compared with prior art, the present invention provides a kind of industrial robot sanding and polishing equipment and its application method, have with
It is lower the utility model has the advantages that
1, the industrial robot sanding and polishing equipment and its application method, compared with existing artificial loading carries out sanding and polishing, this
Invention uses the mode of operation of industrial robot, needs the cuboid metalwork of sanding and polishing polishing by Material moving device drive
It is moved between mechanism and polishing mechanism, completes the grinding and buffing operation to metalwork, can not artificially be held, no
The efficiency that can only guarantee grinding and buffing has certain packaging similarly for the grinding and buffing quality of metalwork, reduces
Product defect rate.
2, the industrial robot sanding and polishing equipment and its application method, largely reduce the labour of staff
Intensity, operator only need the metalwork that constantly addition needs are polished in feed mechanism.
Detailed description of the invention
Fig. 1 is structure of the invention perspective view；
Fig. 2 is structure of the invention side view；
Fig. 3 is structure of the invention front view.
In figure: 1, workbench；2, workpiece polishing mechanism；21, fixing seat；22, polishing motor；23, driving wheel；24, bracket；25,
Fixing axle；26, driving wheel；27, abrasive band；3, polishing mechanism；31, polishing motor；32, polishing wheel；4, feed mechanism；41, T-type is sliding
Rail；42, T-type draw runner；43, placement plate；44, limit assembly；5, Material moving device；51, X-axis mobile mechanism；5101, supporting leg；5102,
Mounting plate；5103, slide bar；5104, X-axis screw rod；5105, X-axis servo motor；5106, X-axis thread barrel；5107, slide cartridge；5108,
Connecting plate；52, Y-axis moving mechanism；5201, line slide rail；5202, Y-axis servo motor；5203, Y-axis screw rod；5204, straight line is sliding
Block；5205, Y-axis thread barrel；5206, fixed plate；5207, set square；5208, riser；53, Z axis mobile mechanism；5301, cylinder
Supporting plate；5302, it is oriented to supporting plate；5303, cylinder push-rod；5304, link block；5305, guiding axis；5306, it is oriented to slip pipe；5307,
Fixed block；5308, vacuum chuck.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment
Fig. 1-3 is please referred to, the present invention is the following technical schemes are provided: a kind of industrial robot sanding and polishing equipment, comprising: work
Make platform 1；Workpiece polishing mechanism 2, workpiece polishing mechanism 2 are fixed on the top of workbench 1, for polishing metalwork；Polishing mechanism
3, polishing mechanism 3 is fixed on the top of workbench 1 and is located at the right side of workpiece polishing mechanism 2, for polishing to metalwork；On
Expect mechanism 4, feed mechanism 4 is fixed on the top of workbench 1, for metalwork to be placed and fixed；Material moving device 5,
Material moving device 5 is fixed on the top of workbench 1, for driving metalwork in workpiece polishing mechanism 2, polishing mechanism 3 and feed mechanism 4
Between moved.
In the present embodiment, compared with existing artificial loading carries out sanding and polishing, the present invention uses the behaviour of industrial robot
Make mode, needs the cuboid metalwork of sanding and polishing between workpiece polishing mechanism 2 and polishing mechanism 3 by the drive of Material moving device 5
It is moved, completes the grinding and buffing operation to metalwork, can not artificially be held, can not only guarantee to polish and throw
The efficiency of light has certain packaging similarly for the grinding and buffing quality of metalwork, reduces product defect rate；Very big journey
The labor intensity of staff is reduced on degree, operator only needs constantly to add what needs were polished in feed mechanism 4
Metalwork.
Specifically, workpiece polishing mechanism 2 includes fixing seat 21, fixing seat 21 is fixed on the top of workbench 1, the top of fixing seat 21
Portion is fixedly installed with polishing motor 22, and the output shaft of polishing motor 22 is fixedly installed with driving wheel 23, and the right side of fixing seat 21 is solid
Dingan County is equipped with bracket 24, is fixedly installed with fixing axle 25 on bracket 24, the outer surface of fixing axle 25 is rotatably connected to by bearing
Driving wheel 26 is provided with abrasive band 27 between driving wheel 23 and driving wheel 26, pass through abrasive band 27 between driving wheel 23 and driving wheel 26
Transmission connection.
In the present embodiment, driving wheel 23 is driven to rotate by polishing motor 22, due between driving wheel 23 and driving wheel 26
It is sequentially connected by abrasive band 27, with the rotation of driving wheel 23, abrasive band 27 and driving wheel 26 equally rotate, and work as Material moving device
When 5 cuboid metalworks are moved to the surface in abrasive band 27, polished by constantly rotating abrasive band 27 surface of metalwork
Work.
Specifically, polishing mechanism 3 includes polishing motor 31, polishing motor 31 is fixed on the top of workbench 1, polishing motor
31 output shaft is fixedly installed with polishing wheel 32.
In the present embodiment, by polishing motor 31 drive polishing wheel 32 rotate, when metalwork by abrasive band 27 polish after, then
It is secondary to drive metalwork to be moved at the position of polishing wheel 32 by Material moving device 5, pass through 32 pairs of the polishing wheel polishings constantly rotated
Metalwork afterwards carries out polishing operation.
Specifically, feed mechanism 4 includes two T-shaped slide rails 41, two T-shaped slide rails 41 are each attached to the top of workbench 1,
The inside of each T-shaped slide rail 41 is slidably connected, and there are two T-type draw runners 42, and the top of four T-type draw runners 42 is fixedly installed with
Placement plate 43, the top of placement plate 43 are fixedly installed with several limit assemblies 44.
In the present embodiment, is slided, mainly facilitated placement plate 43 in two T-shaped slide rails 41 by four T-type draw runners 42
It is placed on workbench 1, the metalwork for needing sanding and polishing is placed on inside the limit assembly 44 in placement plate 43, is then put
The inside that plate 43 is placed on T-shaped slide rail 41 by T-type draw runner 42 is set, it is convenient so as to which metalwork to be placed on workbench 1
Material moving device 5 drives metalwork to be moved, while conveniently replacing to placement plate 43.
Specifically, limit assembly 44 is made of four L-type limited blocks.
In the present embodiment, by being put into cuboid metalwork in the space formed into four L-type limited blocks, metal at this time
Four turnings of part are contacted with the inner wall of corresponding L-type limited block, thus by metalwork it is stable be placed on placement plate 43
On.
Specifically, Material moving device 5 includes X-axis mobile mechanism 51, Y-axis moving mechanism 52 and Z axis mobile mechanism 53, X-axis is moved
Motivation structure 51 is fixed on workbench 1, and Y-axis moving mechanism 52 is fixed in X-axis mobile mechanism 51, and Z axis mobile mechanism 53 is fixed
In Y-axis moving mechanism 52.
In the present embodiment, cooperated by X-axis mobile mechanism 51, Y-axis moving mechanism 52 and Z axis mobile mechanism 53, it can band
Dynamic metalwork carries out the movement of X-axis, Y-axis and X-direction.
Specifically, X-axis mobile mechanism 51 includes four supporting legs 5101, four supporting legs 5101 are each attached to the top of workbench 1
Portion and two are one group, and the top of two groups of supporting legs 5101 is fixedly installed with mounting plate 5102, one of mounting plate 5102
Top is fixedly installed with slide bar 5103, and the top of another mounting plate 5102 is fixedly connected with X-axis screw rod 5104 by bearing block
Be fixedly installed with X-axis servo motor 5105, the output shaft of X-axis servo motor 5105 passes through shaft coupling and X-axis screw rod 5104
One end is fixedly connected, and X-axis thread barrel 5106 is threaded on X-axis screw rod 5104, slidably connects slide cartridge on slide bar 5103
5107, the top of X-axis thread barrel 5106 and slide cartridge 5107 is fixedly installed with connecting plate 5108.
In the present embodiment, starting X-axis servo motor 5105 drives X-axis screw rod 5104 to carry out forward or reverse, thus X-axis spiral shell
Line cylinder 5106 moves forward or reverse with X-axis screw rod 5104, drives connecting plate 5108 to be moved, while slide cartridge 5107
It is slided on slide bar 5103, so as to drive Y-axis moving mechanism 52 to be moved.
Specifically, Y-axis moving mechanism 52 includes two line slide rails 5201, Y-axis servo motor 5202 and Y-axis screw rod
5203, the top for being each attached to connecting plate 5108 of two line slide rails 5201 and a Y-axis servo motor 5202, Y-axis screw rod
5203 are fixedly connected by two bearing blocks with the top of connecting plate 5108, and the output shaft of Y-axis servo motor 5202 passes through shaft coupling
Device is fixedly connected with one end of Y-axis screw rod 5203, slidably connects linear slider 5204, Y-axis on two line slide rails 5201
It is threaded with Y-axis thread barrel 5205 on screw rod 5203, the top of Y-axis thread barrel 5205 and two linear sliders 5204 is fixed
Fixed plate 5206 is installed, the top of fixed plate 5206 is fixedly mounted there are two set square 5207, and the one of two set squares 5207
Side is fixedly installed with riser 5208.
In the present embodiment, starting Y-axis servo motor 5202 drives Y-axis screw rod 5203 forward or reverse, drive and fix
Plate 5206 is moved, while two linear sliders 5204 slide on two line slide rails 5201, so as to drive Z axis to move
Motivation structure 53 is moved.
Specifically, Z axis mobile mechanism 53 includes cylinder supporting plate 5301 and guiding supporting plate 5302, cylinder supporting plate 5301 and guiding
Supporting plate 5302 is each attached to the side of riser 5208, and the top of cylinder supporting plate 5301 is fixedly installed with cylinder push-rod 5303, cylinder
The output shaft of push rod 5303 is fixedly installed with link block 5304, and there are two guiding axis for the bottom fixed installation of link block 5304
5305, the inside of guiding supporting plate 5302 is inlayed there are two slip pipe 5306 is oriented to, and one end of two guiding axis 5305 runs through opposite
The guiding slip pipe 5306 answered simultaneously is slidably connected with it, and one end that two guiding axis 5305 are located at the lower section of guiding supporting plate 5302 is fixed
Fixed block 5307 is installed, there are four vacuum chucks 5308 for the bottom fixed installation of fixed block 5307.
In the present embodiment, four vacuum chucks 5308 are adjusted position by X-axis mobile mechanism 51 and Y-axis moving mechanism 52
After good, starting cylinder push-rod 5303 drives link block 5304 to decline, at this point, two guiding axis 5305 are in two guiding slip pipes 5306
It inside slides, then adsorbs metalwork by vacuum chuck 5308, then carry out movement by Material moving device 5, and
Four vacuum chucks 5308 are connected by pipeline with air pump (not shown), are carried out by air pump (not shown) to silk
Bar vacuum chuck 5308 carries out air-breathing and exhaust work, so as to be fixed metalwork using four vacuum chucks 5308.
A kind of application method of industrial robot sanding and polishing equipment, comprising the following steps:
S1: the metalwork for needing sanding and polishing is put into the limit assembly 44 in placement plate 43, then by placement plate by feeding
43 are put by four T-type draw runners 42 into two T-shaped slide rails 41, and the metalwork for needing sanding and polishing is placed on workbench 1
On；
S2: suction, by starting X-axis servo motor 5105, Y-axis servo motor 5202 and cylinder push-rod 5303, drive four true
It is as follows that suction disk 5308 carries out X-axis, Y-axis and Z-direction movement, specific moving step:
1. X-axis is mobile, starting X-axis servo motor 5105 drives X-axis screw rod 5104 to carry out forward or reverse, thus X-axis thread barrel
5106 move forward or reverse with X-axis screw rod 5104, drive connecting plate 5108 to be moved, while slide cartridge 5107 is in cunning
It is slided on bar 5103, four vacuum chucks 5308 has both been driven to carry out the adjusting of X-direction；
2. Y-axis is mobile, starting Y-axis servo motor 5202 drives Y-axis screw rod 5203 to carry out forward or reverse, driving fixed plate 5206
It is moved, while two linear sliders 5204 slide on two line slide rails 5201, has both driven four vacuum chucks 5308
Carry out the adjusting of Y direction；
3. Z axis is mobile, starting cylinder push-rod 5303 drives link block 5304 down or up, at this point, two guiding axis 5305 exist
It is slided in two guiding slip pipes 5306, four vacuum chucks 5308 is driven to adsorb metalwork.
S3: feeding, metalwork shifting principle is with step S2, and the metalwork driven by Material moving device 5 is successively in sander
Into movement between structure 2 and polishing mechanism 3；
S4: polishing, metalwork shifting principle are moved to the sand of workpiece polishing mechanism 2 by the drive metalwork of Material moving device 5 with step S2
It takes, motor 22 of polishing at this time drives driving wheel 23 to rotate, so that abrasive band 27 rotates under the cooperation of driving wheel 26, neither
The abrasive band 27 of disconnected rotation carries out sanding operation to the surface of metalwork；
S5: polishing, metalwork shifting principle drive the metalwork polished to be moved to polishing with step S2, by Material moving device 5
On wheel, polishing wheel constantly rotates under the drive of polishing motor, is thrown using continuous polishing wheel to the metalwork after polishing
Light operation；
S6: polished metalwork is put back to original position with step S2, by Material moving device 5 by blanking, metalwork shifting principle, then
The metalwork of next non-sanding and polishing is adsorbed, and so on, complete the sanding and polishing work of whole metalworks；
S7: reloading, after metalwork whole sanding and polishing in placement plate 43, by four T-type draw runners 42 by placement plate 43 into
Row replacement, changes the placement plate 43 equipped with non-sanding and polishing metalwork.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (10)
1. a kind of industrial robot sanding and polishing equipment, it is characterised in that: include:
Workbench (1)；
Workpiece polishing mechanism (2), the workpiece polishing mechanism (2) are fixed on the top of workbench (1), for polishing metalwork；
Polishing mechanism (3), the polishing mechanism (3) are fixed on the top of workbench (1) and are located at the right side of workpiece polishing mechanism (2),
For being polished to metalwork；
Feed mechanism (4), the feed mechanism (4) are fixed on the top of workbench (1), with for metalwork carry out place and
It is fixed；
Material moving device (5), the Material moving device (5) are fixed on the top of workbench (1), for driving metalwork in sander
It is moved between structure (2), polishing mechanism (3) and feed mechanism (4).
2. a kind of industrial robot sanding and polishing equipment according to claim 1, it is characterised in that: the workpiece polishing mechanism
It (2) include fixing seat (21), the fixing seat (21) is fixed on the top of workbench (1), and the top of the fixing seat (21) is solid
Dingan County is fixedly installed with driving wheel (23), the fixing seat equipped with polishing motor (22), the output shaft of polishing motor (22)
(21) it is fixedly installed on the right side of bracket (24), is fixedly installed with fixing axle (25), the fixing axle on the bracket (24)
(25) outer surface is rotatably connected to driving wheel (26) by bearing, is provided between the driving wheel (23) and driving wheel (26)
Abrasive band (27) is sequentially connected between the driving wheel (23) and driving wheel (26) by abrasive band (27).
3. a kind of industrial robot sanding and polishing equipment according to claim 1, it is characterised in that: the polishing mechanism
It (3) include polishing motor (31), the polishing motor (31) is fixed on the top of workbench (1), the polishing motor (31)
Output shaft is fixedly installed with polishing wheel (32).
4. a kind of industrial robot sanding and polishing equipment according to claim 1, it is characterised in that: the feed mechanism
It (4) include two T-shaped slide rails (41), two T-shaped slide rails (41) are each attached to the top of workbench (1), each T-type
The inside of sliding rail (41) is slidably connected, and there are two T-type draw runner (42), and the top of four T-type draw runners (42) is fixedly mounted
Have placement plate (43), several limit assemblies (44) are fixedly installed at the top of the placement plate (43).
5. a kind of industrial robot sanding and polishing equipment according to claim 4, it is characterised in that: the limit assembly
(44) it is made of four L-type limited blocks.
6. a kind of industrial robot sanding and polishing equipment according to claim 1, it is characterised in that: the Material moving device
It (5) include X-axis mobile mechanism (51), Y-axis moving mechanism (52) and Z axis mobile mechanism (53), the X-axis mobile mechanism (51) is solid
It is scheduled on workbench (1), the Y-axis moving mechanism (52) is fixed on X-axis mobile mechanism (51), the Z axis mobile mechanism
(53) it is fixed on Y-axis moving mechanism (52).
7. a kind of industrial robot sanding and polishing equipment according to claim 6, it is characterised in that: the X-axis moving machine
Structure (51) includes four supporting legs (5101), and it is one that four supporting legs (5101), which are each attached to the top of workbench (1) and two,
Group, the top of supporting leg described in two groups (5101) are fixedly installed with mounting plate (5102), one of them described mounting plate (5102)
Top be fixedly installed with slide bar (5103), the top of another mounting plate (5102) is fixedly connected with X by bearing block
It axial filament bar (5104) and is fixedly installed with X-axis servo motor (5105), the output shaft of the X-axis servo motor (5105) passes through connection
Axis device is fixedly connected with the one end of X-axis screw rod (5104), is threaded with X-axis thread barrel on the X-axis screw rod (5104)
(5106), it is slidably connected slide cartridge (5107) on the slide bar (5103), the X-axis thread barrel (5106) and slide cartridge (5107)
Top is fixedly installed with connecting plate (5108).
8. a kind of industrial robot sanding and polishing equipment according to claim 6, it is characterised in that: the Y-axis moving machine
Structure (52) includes two line slide rails (5201), Y-axis servo motor (5202) and Y-axis screw rod (5203), and two straight lines are sliding
The top for being each attached to connecting plate (5108) of rail (5201) and a Y-axis servo motor (5202), the Y-axis screw rod (5203)
By being fixedly connected at the top of two bearing blocks and connecting plate (5108), the output shaft of the Y-axis servo motor (5202) passes through
Shaft coupling is fixedly connected with the one end of Y-axis screw rod (5203), slidably connects straight line on two line slide rails (5201)
Sliding block (5204) is threaded with Y-axis thread barrel (5205) on the Y-axis screw rod (5203), the Y-axis thread barrel (5205)
It is fixedly installed with fixed plate (5206) at the top of two linear sliders (5204), the fixed peace in the top of the fixed plate (5206)
There are two set square (5207) for dress, and the side of two set squares (5207) is fixedly installed with riser (5208).
9. a kind of industrial robot sanding and polishing equipment according to claim 6, it is characterised in that: the Z axis moving machine
Structure (53) includes cylinder supporting plate (5301) and guiding supporting plate (5302), and the cylinder supporting plate (5301) and guiding supporting plate (5302) are equal
It is fixed on the side of riser (5208), is fixedly installed with cylinder push-rod (5303) at the top of the cylinder supporting plate (5301), it is described
The output shaft of cylinder push-rod (5303) is fixedly installed with link block (5304), and the bottom of the link block (5304) is fixedly installed with
Two guiding axis (5305), the inside of guiding supporting plate (5302) are inlayed there are two slip pipe (5306) are oriented to, are led described in two
Run through corresponding guiding slip pipe (5306) to one end of axis (5305) and is slidably connected with it, two guiding axis
(5305) one end for being located at the lower section of guiding supporting plate (5302) is fixedly installed with fixed block (5307), the fixed block (5307)
There are four vacuum chuck (5308) for bottom fixed installation.
10. the application method of -9 described in any item industrial robot sanding and polishing equipments, feature exist according to claim 1
In: the following steps are included:
S1: the metalwork for needing sanding and polishing is put into the limit assembly (44) on placement plate (43), then will put by feeding
It sets plate (43) to be put by four T-type draw runners (42) into two T-shaped slide rails (41), the metalwork of sanding and polishing will be needed to place
On workbench (1)；
S2: suction is driven by starting X-axis servo motor (5105), Y-axis servo motor (5202) and cylinder push-rod (5303)
It is as follows that four vacuum chucks (5308) carry out X-axis, Y-axis and Z-direction movement, specific moving step:
1. X-axis is mobile, starting X-axis servo motor (5105) drives X-axis screw rod (5104) to carry out forward or reverse, thus X-axis spiral shell
Line cylinder (5106) moves forward or reverse with X-axis screw rod (5104), and connecting plate (5108) is driven to be moved, sliding simultaneously
Cylinder (5107) slides on slide bar (5103), and four vacuum chucks (5308) has both been driven to carry out the adjusting of X-direction；
2. Y-axis is mobile, starting Y-axis servo motor (5202) drives Y-axis screw rod (5203) to carry out forward or reverse, driving fixed plate
(5206) moved, while two linear sliders (5204) are slided on two line slide rails (5201), both driven four it is true
The adjusting of suction disk (5308) progress Y direction；
3. Z axis is mobile, starting cylinder push-rod (5303) drives link block (5304) down or up, at this point, two guiding axis
(5305) it is slided in two guiding slip pipes (5306), four vacuum chucks (5308) is driven to adsorb metalwork；
S3: feeding, metalwork shifting principle is with step S2, and the metalwork driven by Material moving device (5) is successively in workpiece polishing mechanism
(2) into movement between polishing mechanism (3)；
S4: polishing, metalwork shifting principle drive metalwork to be moved to workpiece polishing mechanism (2) with step S2, by Material moving device (5)
Abrasive band on, at this time polish motor (22) drive driving wheel (23) rotation, so that abrasive band (27) are under the cooperation of driving wheel (26)
It rotates, the abrasive band (27) both constantly rotated carries out sanding operation to the surface of metalwork；
S5: polishing, metalwork shifting principle drive the metalwork polished to be moved to throwing with step S2, by Material moving device (5)
On halo, polishing wheel constantly rotates under the drive of polishing motor, is carried out using continuous polishing wheel to the metalwork after polishing
Polishing operation；
S6: polished metalwork is put back to original position with step S2, by Material moving device (5) by blanking, metalwork shifting principle, so
The metalwork of next non-sanding and polishing is adsorbed afterwards, and so on, complete the sanding and polishing work of whole metalworks；
S7: reloading, after metalwork whole sanding and polishing on placement plate (43), by four T-type draw runners (42) by placement plate
(43) it is replaced, changes the placement plate (43) equipped with non-sanding and polishing metalwork.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685319.5A CN110394730A (en) | 2019-07-27 | 2019-07-27 | A kind of industrial robot sanding and polishing equipment and its application method |
| PCT/CN2019/103558 WO2021017086A1 (en) | 2019-07-27 | 2019-08-30 | Industrial robot grinding and polishing device and method for use thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685319.5A CN110394730A (en) | 2019-07-27 | 2019-07-27 | A kind of industrial robot sanding and polishing equipment and its application method |
Publications (1)
| Publication Number | Publication Date |
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| CN110394730A true CN110394730A (en) | 2019-11-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910685319.5A Pending CN110394730A (en) | 2019-07-27 | 2019-07-27 | A kind of industrial robot sanding and polishing equipment and its application method |
Country Status (2)
| Country | Link |
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| CN (1) | CN110394730A (en) |
| WO (1) | WO2021017086A1 (en) |
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| CN114536142A (en) * | 2022-04-25 | 2022-05-27 | 徐州中矿汇弘矿山设备有限公司 | Casing equipment of polishing is used in cutterhead production |
| CN115042072A (en) * | 2022-07-01 | 2022-09-13 | 深圳市悦目光学器件有限公司 | Polishing device and polishing process for optical cover plate glass |
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| WO2021017086A1 (en) | 2021-02-04 |
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Application publication date: 20191101 |