CN110814940B

CN110814940B - Bottom grinding robot for processing bottom of crystal glass cup

Info

Publication number: CN110814940B
Application number: CN201911129272.0A
Authority: CN
Inventors: 陈剑江
Original assignee: Zhuji Kaiang Technology Co Ltd
Current assignee: Zhuji Kaiang Technology Co ltd
Priority date: 2019-11-18
Filing date: 2019-11-18
Publication date: 2020-07-31
Anticipated expiration: 2039-11-18
Also published as: CN110814940A

Abstract

The invention discloses a bottom grinding robot for processing the bottom of a crystal glass cup, which comprises a robot arm which is symmetrical up and down, wherein the upper end surface of the robot arm at the lower side is provided with a grinding box, the grinding box is internally provided with a processing cavity with an upward opening and a through front and back, and the processing cavity is internally provided with a clamping device which is symmetrical left and right, the invention utilizes a grinding mechanism arranged on the robot arm to prevent manual work from entering a processing site, the robot can control the left and right swinging up and down adjustment of the arm by a program language, utilizes left and right supporting claws with adjustable length to clamp and fix the inner ring of the crystal glass cup, is convenient for filling process without damaging the surface of the cup, simultaneously, adopts friction plates which are symmetrical left and right at the bottom of the crystal glass cup, and slides back and forth to make the bottoms at the left and right sides of the cup be ground by the rotation of a clamping and, so that the cup rotates to polish the bottom of the cup in all directions.

Description

Bottom grinding robot for processing bottom of crystal glass cup

Technical Field

The invention relates to the technical field of crystal processing, in particular to a bottom grinding robot for processing the bottom of a crystal glass cup.

Background

The crystal glass cup is popular with users due to the characteristics of transparency and brightness. But the smooth crystal glass bottom has small friction force, and the glass is dangerous to slide when being placed on a table top. Therefore, the final procedure of processing the crystal glass cup is to polish the bottom of the glass cup and increase the roughness.

However, the cup bottom is polished by manually holding the grinding wheel in the traditional processing mode. The method has the advantages that firstly, the precision is low, the polishing depth deviates due to the trembling of the hand, and secondly, a large amount of dust is sucked when the hand enters a processing field, so that the body health is influenced. The present invention sets forth a device that solves the above problems.

Disclosure of Invention

The technical problem is as follows:

the manual handheld grinding wheel cup bottom grinding accuracy is not high, the grinding depth is shifted due to the shaking of the manual hand, and moreover, a large amount of dust can be sucked when the manual hand enters a processing field, so that the body health is influenced.

In order to solve the problems, the present embodiment designs a bottom grinding robot for processing a crystal glass bottom, the bottom grinding robot for processing a crystal glass bottom of the present embodiment comprises robot arms which are symmetrical up and down, a grinding box is arranged on the upper end surface of the robot arm on the lower side, a processing cavity with an upward opening and a front-back through opening is arranged in the grinding box, a bilateral symmetrical clamping device is arranged in the processing cavity, the clamping device comprises a sliding rod which is connected to the inner wall of the processing cavity in a sliding manner, a trapezoidal block which is fixed on the sliding rod, and a rough block which is embedded in the side end surface of the trapezoidal block close to the symmetrical center, the sliding rod adjusts the distance between the trapezoidal blocks in a sliding manner, the rough block is utilized to increase the roughness of the fixed cup, the bottom end of the processing cavity is connected with a transmission shaft in a rotating manner, a connecting box is connected to the transmission shaft in a rotating manner, and, the oscillation device comprises an extension rod which is connected to the connection box in a sliding mode and is bilaterally symmetrical, a track block which is fixed to the extension rod, a sliding cavity which is arranged in the track block, a friction claw which is connected to the sliding cavity in a sliding mode, the connection box rotates to sequentially pass through the extension rod and the track block to drive the friction claw to slide and rub against the bottom of the cup, a measuring device which controls the sliding distance of the track block is arranged at the upper end of the connection box, the measuring device comprises a bearing plate which can be abutted against the bottom of the cup and a pull rod which is hinged to the lower side of the bearing plate and hinged to the track block, the bearing plate can be pushed by a cup to move the track block through the pull rod, a driving shaft is rotatably connected to the lower end face of the robot arm at the upper side of the robot arm, an oil tank is connected to a spline on the driving shaft, a, Bilateral symmetry set up in reposition of redundant personnel chamber on the fluid intracavity wall, sliding connection in support claw on the reposition of redundant personnel chamber, through the fluid change promotion in the reposition of redundant personnel intracavity support claw and cup inner circle butt, and through the drive shaft drives the oil tank is rotatory, polishes the bottom of a cup comprehensively.

Preferably, the inner wall of the bottom end of the processing cavity is embedded with an electric motor which is in power connection with the lower end of the transmission shaft, and the lower end face of the robot arm on the upper side is embedded with a motor which is in power connection with the upper end of the driving shaft.

Wherein, the clamping device further comprises a resistance spring connected between the trapezoidal block and the inner wall of the processing cavity.

The oscillating device further comprises a limiting rod arranged on the friction claw and connected with the trapezoidal block in a sliding mode, a torque spring is connected between the lower side of the linking box and the inner wall of the bottom end of the machining cavity, a linking cavity is arranged in the linking box, a shifting wheel located in the linking cavity is arranged on the transmission shaft, a clamping rod capable of being abutted to the shifting wheel is connected to the inner wall of the bottom end of the linking cavity in a sliding mode, a ball is connected to the lower end of the clamping rod in a sliding mode, and an arc-shaped cushion block connected with the ball in a sliding mode is arranged on the inner wall of the bottom end of the machining.

The measuring device further comprises a lifting frame arranged on the end face of the upper side of the connecting box, a lifting rod fixedly connected with the bearing plate is connected in the lifting frame in a sliding mode, and a first compression spring is connected between the bearing plate and the lifting frame.

Wherein, rotary device still including connect in support claw with buffer spring between the fluid chamber outside terminal surface, be equipped with in the drive shaft and be located the piston of fluid intracavity, the piston with be connected with second compression spring between the fluid chamber upper end inner wall, second compression spring's elasticity is greater than oil tank gravity can by second compression spring supports and shifts up, fluid chamber bottom inner wall sliding connection has bilateral symmetry's valve, be equipped with on the valve can with the through-hole that the reposition of redundant personnel chamber communicates with each other and is connected, the valve lower extreme is fixed and is equipped with reset spring, reset spring with be connected with reset spring between the fluid chamber lower extreme outside, fluid chamber left side inner wall is equipped with the communicating solenoid valve with external fluid pipe.

The invention has the beneficial effects that: the invention utilizes the grinding mechanism arranged on the arm of the robot to avoid manual work entering a processing site, the robot can control the left-right swing of the arm to adjust up and down by a program language, the left-right supporting claws with adjustable length are utilized to clamp and fix the inner ring of the crystal glass cup, the surface of the cup is not damaged, meanwhile, the filling process is convenient, meanwhile, friction plates which are bilaterally symmetrical at the bottom of the crystal glass cup are adopted, the bottoms at the left side and the right side of the cup can be ground by the back-and-forth reciprocating sliding, and the cup can rotate to grind the bottom of the cup in an omnibearing way by the rotation of the clamping and fixing part.

Drawings

For ease of illustration, the invention is described in detail by the following specific examples and figures.

FIG. 1 is a schematic overall structure diagram of a bottom grinding robot for processing the bottom of a crystal glass cup according to the present invention;

FIG. 2 is an enlarged schematic view of FIG. 1 at "A";

FIG. 3 is a schematic structural view of the arc-shaped spacer block of FIG. 2;

FIG. 4 is a schematic structural view of the rotating apparatus of FIG. 1;

FIG. 5 is a schematic view of the structure in the direction "B-B" of FIG. 1.

Detailed Description

The invention will now be described in detail with reference to fig. 1-5, for ease of description, the orientations described below will now be defined as follows: the up, down, left, right, and front-back directions described below correspond to the up, down, left, right, and front-back directions in the projection relationship of fig. 1 itself.

The invention relates to a bottom grinding robot for processing a crystal glass cup bottom, which is mainly applied to the process of automatically grinding the crystal glass cup bottom, and the invention is further explained by combining the attached drawings of the invention:

the invention relates to a bottom grinding robot for processing the bottom of a crystal glass cup, which comprises a robot arm 11 which is symmetrical up and down, wherein the upper end surface of the robot arm 11 at the lower side is provided with a grinding box 15, the grinding box 15 is internally provided with a processing cavity 16 which is provided with an upward opening and is through front and back, the processing cavity 16 is internally provided with a clamping device 901 which is symmetrical left and right, the clamping device 901 comprises a sliding rod 17 which is connected with the inner wall of the processing cavity 16 in a sliding way, a trapezoidal block 20 which is fixed on the sliding rod 17, and a rough block 19 which is embedded in the side end surface of the trapezoidal block 20 close to the symmetrical center, the sliding rod 17 adjusts the distance between the trapezoidal blocks 20 in a sliding way, the rough block 19 is utilized to increase the roughness to fix the cup, the bottom end of the processing cavity 16 is connected with a transmission shaft 37 in a rotating way, the transmission shaft 37 is connected with a connecting, the oscillating device 902 comprises an extending rod 31 which is connected to the joining box 21 in a sliding manner and is bilaterally symmetrical, a track block 25 fixed on the extending rod 31, a sliding cavity 23 arranged in the track block 25, and a friction claw 24 connected to the sliding cavity 23 in a sliding manner, the joining box 21 rotates to sequentially pass through the extending rod 31 and the track block 25 to drive the friction claw 24 to slide and rub the bottom of the cup, the upper end of the joining box 21 is provided with a measuring device 903 for controlling the sliding distance of the track block 25, the measuring device 903 comprises a bearing plate 26 which can be abutted against the bottom of the cup, and a pull rod 29 which is hinged to the lower side of the bearing plate 26 and hinged to the track block 25, the bearing plate 26 can be pushed by the cup and moves the track block 25 through the pull rod 29, the lower end face of the robot arm 11 on the upper side is rotatably connected with a driving shaft 13, and the driving shaft 13 is connected with an oil tank 12 through, the oil tank 12 is internally provided with a rotating device 904, the rotating device 904 comprises an oil liquid cavity 42 arranged in the oil tank 12, a flow distribution cavity 50 which is arranged on the inner wall of the oil liquid cavity 42 in a bilateral symmetry manner, and a supporting claw 48 which is connected to the flow distribution cavity 50 in a sliding manner, the supporting claw 48 is pushed to abut against the inner ring of the cup by the change of oil liquid in the flow distribution cavity 50, the driving shaft 13 drives the oil tank 12 to rotate, and the bottom of the cup is polished comprehensively.

Advantageously, an electric motor 35 is embedded in the inner wall of the bottom end of the processing chamber 16 and is in power connection with the lower end of the transmission shaft 37, a motor 14 is embedded in the lower end face of the robot arm 11 on the upper side and is in power connection with the upper end of the driving shaft 13, and the electric motor 35 and the motor 14 respectively provide power for the oscillating device 902 and the rotation 904.

According to an embodiment, the following detailed description is provided for the clamping device 901, and the clamping device 901 further includes a resistance spring 18 connected between the trapezoidal block 20 and the inner wall of the processing cavity 16, and the sliding return power of the slide rod 17 is provided by the elastic force recovery of the resistance spring 18.

According to the embodiment, the oscillation device 902 is described in detail below, the oscillation device 902 further includes a limiting rod 22 disposed on the friction claw 24 and slidably connected to the trapezoid block 20, a torque spring 36 is connected between a lower side of the connecting box 21 and an inner wall of a bottom end of the processing cavity 16, a connecting cavity 39 is disposed in the connecting box 21, a dial wheel 38 is disposed on the transmission shaft 37 and located in the connecting cavity 39, a catch rod 32 capable of abutting against the dial wheel 38 is slidably connected to an inner wall of a bottom end of the connecting cavity 39, a ball 33 is slidably connected to a lower end of the catch rod 32, an arc-shaped pad 34 slidably connected to the ball 33 is disposed on an inner wall of a bottom end of the processing cavity 16, the connecting box 21 can be driven by the dial wheel 38 and the catch rod 32 to synchronously rotate by the arc length of the arc-shaped pad 34 and the thickness of the arc-shaped pad is decreased progressively, and the torque spring 36 accumulates elastic potential energy, when the clamping rod 32 is separated from the contact with the thumb wheel 38, the connecting box 21 can reversely rotate and reset under the elastic recovery of the torque spring 36, so as to realize the back and forth swinging motion.

According to an embodiment, the measuring device 903 is described in detail below, the measuring device 903 further includes an elevating frame 28 disposed on an upper end surface of the connection box 21, an elevating rod 30 fixedly connected to the support plate 26 is slidably connected to the elevating frame 28, and a first compression spring 27 is connected between the support plate 26 and the elevating frame 28.

According to the embodiment, the following detailed description will be made on the rotating device 904, the rotating device 904 further includes a buffer spring 49 connected between the support claw 48 and the outer end face of the oil-liquid chamber 42, the driving shaft 13 is provided with a piston 41 located in the oil-liquid chamber 42, a second compression spring 40 is connected between the piston 41 and the inner wall of the upper end of the oil-liquid chamber 42, the elastic force of the second compression spring 40 is greater than the gravity of the oil tank 12, so as to ensure that the oil-liquid chamber 42 can be supported by the second compression spring 40 to move upwards when no oil is filled, the inner wall of the bottom end of the oil-liquid chamber 42 is slidably connected with a bilaterally symmetrical valve 44, the valve 44 is provided with a through hole 46 capable of communicating with the diversion chamber 50, the lower end of the valve 44 is fixedly provided with a return spring 45, the return spring 45 is connected between the return spring 45 and the outer side of the lower, the inner wall of the left side of the oil liquid cavity 42 is provided with an electromagnetic valve 43 communicated with an external oil liquid pipe, and the sliding of the supporting claw 48 is controlled by adjusting the oil liquid content in the oil liquid cavity 42 through the electromagnetic valve 43.

The following describes in detail the use steps of a bottom grinding robot for processing the bottom of a crystal glass cup with reference to fig. 1 to 5:

initially, the supporting claws 48 are mostly slid into the branch chambers 50, the positions of the through holes 46 and the branch chambers 50 are staggered, the oil chamber 42 is filled with oil, the second compression spring 40 is compressed, and the extension rod 31 is located in the connecting box 21.

When the robot arms 11 at the upper end and the lower end are staggered under the control of a robot, the robot arm 11 at the upper end is positioned above a glass with a polishing function, the glass is moved upwards by an external conveying mechanism, at the moment, the electromagnetic valve 43 fills oil into the oil cavity 42, oil in the oil cavity 42 is increased, the total weight of the oil tank 12 is increased, so that the oil tank moves downwards, when the abutting plate 47 is in contact with the bottom wall of the inner ring of the cup, the valve 44 is pushed to move upwards, the through hole 46 is communicated with the shunting cavity 50, the oil enters the shunting cavity 50 to push the supporting claw 48 to move outwards, the buffer spring 49 is stretched, and the supporting claw 48 abuts against a clamping column of the inner ring of;

when the robot arms 11 at the upper end and the lower end are overlapped by means of control of the robot, the robot arm 11 at the upper end moves downwards, at the moment, the outer ring of the cup is abutted with the trapezoidal block 20 and pushes the trapezoidal block 20 to slide outwards, the resistance spring 18 is extruded until the cup is abutted with the rough block 19 and limited, at the moment, the cup is abutted with the bearing plate 26 and pushes the bearing plate 26 to move downwards, the track block 25 slides outwards through the pull rod 29 until the limiting rod 22 is abutted with the trapezoidal block 20;

during grinding, the starting motor 35 rotates the transmission shaft 37 to shift the clamping rod 32 through the shifting wheel 38, so that the connecting box 21 rotates in a small range and the torque spring 36 accumulates elastic potential energy, when the balls 33 slide to the thinnest part of the arc-shaped cushion block 34, the clamping rod 32 is separated from the abutting joint with the shifting wheel 38, the connecting box 21 rotates reversely under the elastic recovery of the torque spring 36, the shifting wheel 38 rotates for a circle and then abuts against the clamping rod 32 again, the process is repeated, in the rotating process of the connecting box 21, the friction claws 24 rub at the bottoms of the left side and the right side of the glass in a reciprocating mode through the extension rod 31 and the track block 25 sequentially, meanwhile, the motor 14 starts to rotate the oil tank 12 through the driving shaft 13, and the oil tank 12 rotates the glass through the abutting joint of the support claw 48 and the glass, so that the grinding work of the bottom of the glass is realized.

In the above manner, a person skilled in the art can make various changes depending on the operation mode within the scope of the present invention.

Claims

1. The utility model provides a grind end robot for processing crystal glass bottom of cup, includes the robot arm of longitudinal symmetry, its characterized in that: a grinding box is arranged on the upper end surface of the robot arm on the lower side;

the grinding box is internally provided with a processing cavity with an upward opening and a through front and back, the processing cavity is internally provided with bilateral symmetrical clamping devices, each clamping device comprises a sliding rod connected to the inner wall of the processing cavity in a sliding manner, a trapezoidal block fixed on the sliding rod and a rough block embedded in the side end face, close to the symmetrical center, of the trapezoidal block, the sliding rods slide to adjust the distance between the trapezoidal blocks and utilize the rough block to increase the roughness to fix the cup;

the bottom end of the processing cavity is rotatably connected with a transmission shaft, the transmission shaft is rotatably connected with a linking box, an oscillating device is arranged on the linking box, the oscillating device comprises an extending rod which is connected to the linking box in a sliding mode and is bilaterally symmetrical, a track block fixed on the extending rod, a sliding cavity arranged in the track block and a friction claw which is connected in the sliding cavity in a sliding mode, the linking box rotates to drive the friction claw to slide and rub the cup bottom sequentially through the extending rod and the track block, a measuring device for controlling the sliding distance of the track block is arranged at the upper end of the linking box, the measuring device comprises a bearing plate which can be abutted against the cup bottom and a pull rod which is hinged to the lower side of the bearing plate and is hinged to the track block, and the bearing plate can be pushed by a cup and can move the track block through the pull;

the upside robot arm terminal surface rotates down and is connected with the drive shaft, splined connection has the oil tank on the drive shaft, be equipped with rotary device in the oil tank, rotary device including set up in oil liquid chamber in the oil tank, bilateral symmetry set up in reposition of redundant personnel chamber, sliding connection in on the fluid intracavity wall support claw in the reposition of redundant personnel chamber, through the fluid change promotion in the reposition of redundant personnel intracavity supports claw and cup inner circle butt, and passes through the drive shaft drives the oil tank is rotatory, polishes the bottom of a cup comprehensively.

2. A bottom grinding robot for processing the bottom of a crystal glass cup according to claim 1, wherein: the inner wall of the bottom end of the processing cavity is embedded with an electric motor which is in power connection with the lower end of the transmission shaft, and the lower end face of the robot arm at the upper side is embedded with a motor which is in power connection with the upper end of the driving shaft.

3. A bottom grinding robot for processing the bottom of a crystal glass cup according to claim 1, wherein: the clamping device further comprises a resistance spring connected between the trapezoidal block and the inner wall of the machining cavity.

4. A bottom grinding robot for processing the bottom of a crystal glass cup according to claim 1, wherein: the oscillating device further comprises a limiting rod arranged on the friction claw and capable of being in sliding connection with the trapezoidal block, a torque spring is connected between the lower side of the linking box and the inner wall of the bottom end of the machining cavity, a linking cavity is arranged in the linking box, a shifting wheel located in the linking cavity is arranged on the transmission shaft, a clamping rod capable of being abutted to the shifting wheel is connected to the inner wall of the bottom end of the linking cavity in a sliding mode, a ball is connected to the lower end of the clamping rod in a sliding mode, and an arc-shaped cushion block in sliding connection with the ball is arranged on the inner wall of the bottom end of the.

5. A bottom grinding robot for processing the bottom of a crystal glass cup according to claim 1, wherein: the measuring device further comprises a lifting frame arranged on the end face of the upper side of the connecting box, a lifting rod fixedly connected with the bearing plate is connected in the lifting frame in a sliding mode, and a first compression spring is connected between the bearing plate and the lifting frame.

6. A bottom grinding robot for processing the bottom of a crystal glass cup according to claim 1, wherein: the rotary device is characterized in that the rotary device further comprises a buffer spring connected between the supporting claw and the end face of the outer side of the oil cavity, a piston located in the oil cavity is arranged on the driving shaft, a second compression spring is connected between the piston and the inner wall of the upper end of the oil cavity, the elastic force of the second compression spring is larger than the gravity of the oil tank, the second compression spring supports the oil tank to move upwards, the inner wall of the bottom end of the oil cavity is slidably connected with a valve in bilateral symmetry, a through hole connected with the shunt cavity is formed in the valve, a reset spring is fixedly arranged at the lower end of the valve, a reset spring is connected between the outer sides of the lower end of the oil cavity, and a solenoid valve communicated with an external oil pipe is arranged on the inner wall.