CN110814966A

CN110814966A - Finger ring grinding device of SCARA robot collaborative operation

Info

Publication number: CN110814966A
Application number: CN201911239481.0A
Authority: CN
Inventors: 李耀斌
Original assignee: Shenzhen City Long Dragon Wisdom Control Co Ltd
Current assignee: Shenzhen City Long Dragon Wisdom Control Co Ltd
Priority date: 2019-12-06
Filing date: 2019-12-06
Publication date: 2020-02-21

Abstract

The invention discloses a finger ring polishing device for cooperative operation of a SCARA robot, which comprises the SCARA robot, an abrasive belt machine, a product tool and a finger ring grabbing clamp; the ring grabbing clamp is connected with the SCARA robot; the SCARA robot grabs anchor clamps through the ring and gets the ring from getting in the product frock, then moves to the position of polishing and polishes the ring of getting through the abrasive band machine to the clamp. According to the invention, the ring grabbing fixture is fixed on the SCARA robot, so that the ring can be quickly and accurately polished under the synergistic action of the SCARA robot and the belt sander, the polishing effect is better, the efficiency is higher, the production benefit is effectively improved, and the labor cost is reduced.

Description

Finger ring grinding device of SCARA robot collaborative operation

Technical Field

The invention relates to a ring processing device, in particular to a ring polishing device for cooperative operation of an SCARA robot.

Background

With the automatic transformation and upgrading of the manufacturing industry in China, a large number of suitable assembly robots are urgently needed in the production and manufacturing process to improve the production efficiency and quality and reduce the production cost. More and more enterprises improve the equipment level through technical transformation, and the production efficiency is improved through realizing automation.

The work efficiency through artifical ring of polishing is lower now, and artifical dynamics control of polishing is inhomogeneous, and the effect of polishing is not good enough.

Disclosure of Invention

The invention aims to overcome the defects of the prior art and provides a finger ring polishing device for cooperative operation of a SCARA robot.

In order to achieve the purpose, the invention adopts the following technical scheme: a finger ring polishing device for cooperative operation of a SCARA robot comprises the SCARA robot, an abrasive belt machine, a product tool and a finger ring grabbing clamp; the ring grabbing clamp is connected with the SCARA robot; the SCARA robot grabs anchor clamps through the ring and gets the ring from getting in the product frock, then moves to the position of polishing and polishes the ring of getting through the abrasive band machine to the ring of getting.

The further technical scheme is as follows: the device also comprises a linear module; the product frock is connected on sharp module, and accessible sharp module makes its motion to getting the material level of SCARA robot.

The further technical scheme is as follows: the device also comprises a supporting frame; the SCARA robot and the linear module are arranged on the upper surface of the support frame, and the linear module and the abrasive belt machine are respectively positioned in different directions of the SCARA robot.

The further technical scheme is as follows: the SCARA robot is a multi-axis SCARA robot.

The further technical scheme is as follows: the SCARA robot is a four-axis SCARA robot.

The further technical scheme is as follows: the four-axis SCARA robot comprises a base, a first connecting arm, a second connecting arm, a movable connecting rod, a first driving piece, a second driving piece, a third driving piece and a fourth driving piece; one end of the first connecting arm is movably connected with the base, the other end of the first connecting arm is connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the movable connecting rod, and the ring grabbing clamp is connected to the lower end of the movable connecting rod; the first driving piece is arranged at the joint of the first connecting arm and the base so as to drive the first connecting arm to horizontally rotate relative to the base in the horizontal direction, and the second driving piece is arranged at the joint of the first connecting arm and the second connecting arm so as to drive the second connecting arm to horizontally rotate relative to the first connecting arm in the horizontal direction; the third driving piece and the fourth driving piece are arranged at the connecting position of the movable connecting rod and the second connecting arm, so that the third driving piece drives the movable connecting rod to move up and down in the vertical direction, and the fourth driving piece drives the movable connecting rod to rotate around the vertical axis of the movable connecting rod.

The further technical scheme is as follows: the first driving piece, the second driving piece, the third driving piece and the fourth driving piece are all servo motors.

The further technical scheme is as follows: the belt sander comprises a supporting seat, an abrasive belt, a driving motor, a driving wheel, a first driven wheel, a second driven wheel and a third driven wheel; the driving motor is fixed on the supporting seat, the output end of the driving motor is connected with the driving wheel, and the abrasive belt is sleeved on the outer sides of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel to form a quadrangle; the abrasive belt rotates clockwise or anticlockwise under the action of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel so as to polish the ring.

The further technical scheme is as follows: the belt sander also comprises a driven wheel angle adjusting mechanism; the driven wheel angle adjusting mechanism comprises a fixed block fixedly connected with the supporting seat; the fixed block is provided with a connecting shaft, a connecting plate is sleeved on the periphery of the connecting shaft, and a limiting block for limiting the connecting plate to rotate relative to the connecting shaft is arranged at the joint of the connecting plate and the connecting shaft; the connecting plate is provided with a first extending part and a second extending part in horizontal extension in two different directions, the first driven wheel is connected to the first extending part, and the second driven wheel is connected to the second extending part.

Compared with the prior art, the invention has the beneficial effects that: according to the ring polishing device for the collaborative operation of the SCARA robot, the ring grabbing clamp is fixed on the SCARA robot, the ring can be rapidly and accurately polished under the synergistic effect of the SCARA robot and the belt sander, the polishing effect is better, the efficiency is higher, the production benefit is effectively improved, and the labor cost is reduced.

The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical means of the present invention more clearly understood, the present invention may be implemented according to the content of the description, and in order to make the above and other objects, features, and advantages of the present invention more apparent, the following detailed description will be given of preferred embodiments.

Drawings

FIG. 1 is a schematic structural view of a ring grinding device cooperatively operated by a SCARA robot according to an embodiment of the present invention;

fig. 2 is a partially enlarged view of a portion a in fig. 1.

Reference numerals

1. A support frame; 2. a linear module; 3. product tooling; 4. a SCARA robot; 5. a ring grabbing clamp; 6. an abrasive belt machine; 61. a supporting seat; 62. a driving wheel; 63. a third driven wheel; 64. a second driven wheel; 65. a first driven wheel; 66. an abrasive belt; 67. a driven wheel angle adjusting mechanism; 671. a fixed block; 672. a connecting plate; 6721. a second extension portion; 6722. a first extension portion; 673. and (7) connecting the shafts.

Detailed Description

In order to more fully understand the technical content of the present invention, the technical solution of the present invention will be further described and illustrated with reference to the following specific embodiments, but not limited thereto.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", and the like, indicate orientations and positional relationships based on those shown in the drawings, and are used only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be considered as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be connected or detachably connected or integrated; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

The invention provides a ring polishing device for cooperative operation of a SCARA robot 4, and please refer to fig. 1, wherein the polishing device comprises the SCARA robot 4, an abrasive belt machine 6, a product tool 3 and a ring grabbing clamp 5; the ring grabbing clamp 5 is connected with the SCARA robot 4; the SCARA robot 4 snatchs anchor clamps 5 through the ring and gets from getting in the product frock 3 and press from both sides and get the ring, then moves to the position of polishing and polishes the ring of getting through abrasive band machine 6 pair clamp. The grinding device also comprises a support frame 1; SCARA robot 4 and sharp module 2 install in the upper surface of support frame 1, and sharp module 2 and abrasive band machine 6 are located the different position of SCARA robot 4 respectively. Because the removal through control SCARA robot 4 makes the ring snatch anchor clamps 5 and press from both sides from product frock 3 and get the ring, then moves to the position of polishing and polishes through abrasive band machine 6 and polish the ring of pressing from both sides the clamp, consequently, need not the manual work and polish, the effect of polishing is better, and efficiency is higher, and then the effectual productivity effect that has improved has reduced the cost of labor.

Further, referring to fig. 1, in order to reduce the range of motion of the SCARA robot 4 and facilitate grasping of rings in the product fixture 3, the polishing device further includes a linear module 2; the product tooling 3 is connected to the linear module 2, and can move to the material taking position of the SCARA robot 4 through the linear module 2. Can remove the product frock 3 that is equipped with the ring to the position that is close to SCARA robot 4 through sharp module 2 to be convenient for the ring on the SCARA robot 4 snatch anchor clamps 5 and snatch the ring in the product frock 3, shortened greatly and got the time that the process consumes. Since the linear module 2 is a conventional mechanism, the detailed structure thereof will not be described herein.

Referring to fig. 1, in order to facilitate the SCARA robot 4 to grip the ring at an angle, preferably, the SCARA robot 4 is a four-axis SCARA robot. Specifically, the four-axis SCARA robot comprises a base, a first connecting arm, a second connecting arm, a movable connecting rod, a first driving piece, a second driving piece, a third driving piece and a fourth driving piece; one end of the first connecting arm is movably connected with the base, the other end of the first connecting arm is connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the movable connecting rod, and the ring grabbing clamp 5 is connected to the lower end of the movable connecting rod; the first driving piece is arranged at the joint of the first connecting arm and the base so as to drive the first connecting arm to horizontally rotate relative to the base in the horizontal direction, and the second driving piece is arranged at the joint of the first connecting arm and the second connecting arm so as to drive the second connecting arm to horizontally rotate relative to the first connecting arm in the horizontal direction; the third driving piece and the fourth driving piece are arranged at the connecting position of the movable connecting rod and the second connecting arm, so that the third driving piece drives the movable connecting rod to move up and down in the vertical direction, and the fourth driving piece drives the movable connecting rod to rotate around the vertical axis of the movable connecting rod. In this embodiment, the first driving element, the second driving element, the third driving element and the fourth driving element are all servo motors.

Further, referring to fig. 1 and 2, the belt sander 6 includes a support base 61, a sanding belt 66, a driving motor, a driving wheel 62, a first driven wheel 65, a second driven wheel 64, and a third driven wheel 63; the driving motor is fixed on the supporting seat 61, the output end of the driving motor is connected with the driving wheel 62, and the abrasive belt 66 is sleeved outside the driving wheel 62, the first driven wheel 65, the second driven wheel 64 and the third driven wheel 63 to form a quadrangle; the abrasive belt 66 is rotated clockwise or counterclockwise by the driving wheel 62, the first driven wheel 65, the second driven wheel 64 and the third driven wheel 63 to realize the grinding of the ring.

Further, the belt sander 6 further comprises a driven wheel angle adjusting mechanism 67; the driven wheel angle adjusting mechanism 67 comprises a fixing block 671 fixedly connected with the supporting seat 61; the fixing block 671 is provided with a connecting shaft 673, a connecting plate 672 is sleeved on the periphery of the connecting shaft 673, and a limiting block for limiting the rotation of the connecting plate 672 relative to the connecting shaft 673 is arranged at the joint of the connecting plate 672 and the connecting shaft 673; the connecting plate 672 is provided with a first extension 6722 and a second extension 6721 extending horizontally in two different directions, the first driven wheel 65 is connected to the first extension 6722, and the second driven wheel 64 is connected to the second extension 6721. The driven wheel angle adjusting mechanism 67 is arranged to adjust the angles of the first driven wheel 65 and the second driven wheel 64, so that the grinding angle of the abrasive belt 66 can be adjusted. The angle of polishing can be adjusted according to actual need, adjusts after accomplishing, locks through the stopper, prevents that connecting plate 672 from rotating automatically.

In some embodiments, the grinding device further comprises a controller, the controller can control the server, and the ring grabbing fixture, the SCARA robot, the belt sander and the linear module are all electrically connected with the controller. Through under the control action at the controller, anchor clamps, SCARA robot, abrasive band machine and sharp module are snatched to the ring can the collaborative operation to improve the precision of polishing and the efficiency of polishing.

In some embodiments, the first driving member, the second driving member, the third driving member and the fourth driving member are all speed reducing motors.

In some embodiments, in order to improve the safety performance of the polishing device, an infrared sensor and an alarm for detecting a human body are arranged on the support frame, the infrared sensor covers the whole motion range of the SCARA robot, and when a person enters the motion range, the alarm can give an alarm sound to remind the person entering the range and the safety management person managing the polishing device.

In some embodiments, the belt sander forms a quadrangle through the driving wheel, the first driven wheel, the second driven wheel, the third driven wheel and the abrasive belt, and four polishing edges can be formed, so that a plurality of SCARA robots can be arranged to simultaneously polish a plurality of rings. Specifically, set up two SCARA robots at the support frame upper surface, two SCARA robots are located the different sides of abrasive band machine respectively to satisfy and polish two rings in the edging of difference simultaneously, mutual noninterference when polishing moreover simultaneously.

The technical contents of the present invention are further illustrated by the examples only for the convenience of the reader, but the embodiments of the present invention are not limited thereto, and any technical extension or re-creation based on the present invention is protected by the present invention. The protection scope of the invention is subject to the claims.

Claims

1. A finger ring polishing device cooperatively operated by a SCARA robot is characterized by comprising the SCARA robot, an abrasive belt machine, a product tool and a finger ring grabbing clamp; the ring grabbing clamp is connected with the SCARA robot; the SCARA robot grabs anchor clamps through the ring and gets the ring from getting in the product frock, then moves to the position of polishing and polishes the ring of getting through the abrasive band machine to the ring of getting.

2. The SCARA robot-assisted ring grinding device of claim 1, further comprising a linear module; the product frock is connected on sharp module, and accessible sharp module makes its motion to getting the material level of SCARA robot.

3. The SCARA robot-assisted ring grinding device of claim 2, further comprising a support frame; the SCARA robot and the linear module are arranged on the upper surface of the support frame, and the linear module and the abrasive belt machine are respectively positioned in different directions of the SCARA robot.

4. The SCARA robot-interoperable ring grinding apparatus of claim 1, wherein the SCARA robot is a multi-axis SCARA robot.

5. The device of claim 4, wherein the SCARA robot is a four-axis SCARA robot.

6. The device of claim 5, wherein the four-axis SCARA robot comprises a base, a first connecting arm, a second connecting arm, a movable connecting rod, a first driving member, a second driving member, a third driving member, and a fourth driving member; one end of the first connecting arm is movably connected with the base, the other end of the first connecting arm is connected with one end of the second connecting arm, the other end of the second connecting arm is connected with the movable connecting rod, and the ring grabbing clamp is connected to the lower end of the movable connecting rod; the first driving piece is arranged at the joint of the first connecting arm and the base so as to drive the first connecting arm to horizontally rotate relative to the base in the horizontal direction, and the second driving piece is arranged at the joint of the first connecting arm and the second connecting arm so as to drive the second connecting arm to horizontally rotate relative to the first connecting arm in the horizontal direction; the third driving piece and the fourth driving piece are arranged at the connecting position of the movable connecting rod and the second connecting arm, so that the third driving piece drives the movable connecting rod to move up and down in the vertical direction, and the fourth driving piece drives the movable connecting rod to rotate around the vertical axis of the movable connecting rod.

7. The SCARA robot-assisted ring grinding device of claim 6, wherein the first, second, third and fourth drives are all servo motors.

8. The SCARA robot-assisted ring grinding device of claim 3, wherein the belt sander comprises a support base, a sanding belt, a driving motor, a driving wheel, a first driven wheel, a second driven wheel and a third driven wheel; the driving motor is fixed on the supporting seat, the output end of the driving motor is connected with the driving wheel, and the abrasive belt is sleeved on the outer sides of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel to form a quadrangle; the abrasive belt rotates clockwise or anticlockwise under the action of the driving wheel, the first driven wheel, the second driven wheel and the third driven wheel so as to polish the ring.

9. The SCARA robot-assisted ring grinding device of claim 8, wherein the belt sander further comprises a driven wheel angle adjustment mechanism; the driven wheel angle adjusting mechanism comprises a fixed block fixedly connected with the supporting seat; the fixed block is provided with a connecting shaft, a connecting plate is sleeved on the periphery of the connecting shaft, and a limiting block for limiting the connecting plate to rotate relative to the connecting shaft is arranged at the joint of the connecting plate and the connecting shaft; the connecting plate is provided with a first extending part and a second extending part in horizontal extension in two different directions, the first driven wheel is connected to the first extending part, and the second driven wheel is connected to the second extending part.