CN111805361A - Electric iron polishing equipment and polishing method thereof - Google Patents

Electric iron polishing equipment and polishing method thereof Download PDF

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Publication number
CN111805361A
CN111805361A CN202010891666.6A CN202010891666A CN111805361A CN 111805361 A CN111805361 A CN 111805361A CN 202010891666 A CN202010891666 A CN 202010891666A CN 111805361 A CN111805361 A CN 111805361A
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CN
China
Prior art keywords
assembly
clamp
electric iron
fixture
dustproof cover
Prior art date
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Granted
Application number
CN202010891666.6A
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Chinese (zh)
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CN111805361B (en
Inventor
刘思文
肖龙锦
张洋根
李胜辉
陈学轩
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Foshan Longshen Robot Co Ltd
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Foshan Longshen Robot Co Ltd
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Priority to CN202010891666.6A priority Critical patent/CN111805361B/en
Publication of CN111805361A publication Critical patent/CN111805361A/en
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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
    • B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
    • 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
    • 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
    • B24B41/06—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
    • B24B47/10—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
    • 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
    • B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
    • B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
    • 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
    • B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
    • B24B55/06—Dust extraction equipment on grinding or polishing machines

Abstract

The invention provides an electric iron polishing device and a polishing method thereof; the equipment comprises a polishing device, a transmission device, a visual detection module, a clamp library and a clamping robot; the clamping robot comprises a robot body and a clamp; the tail end of the robot body is connected with the clamp through a quick change structure; when the electric iron assembly clamping device works, the transmission device transmits the electric iron assembly to the clamping position, and the visual detection module acquires an image of the electric iron assembly; judging whether the machining of the electric iron assembly needs fixture model changing or not; when the fixture needs to be replaced, the robot body puts the original fixture into a fixture library, and then the robot body installs the fixture to be installed; the robot body clamps the electric iron assembly through the clamp and moves the electric iron assembly to the polishing device for polishing. The automatic polishing device can automatically polish the electric iron assembly and automatically change the shape of the clamp, and realizes the full-automatic production of the electric iron polishing production line; the operation personnel can be reduced, the labor cost is saved and the working efficiency is improved.

Description

Electric iron polishing equipment and polishing method thereof
Technical Field
The invention relates to the technical field of polishing, in particular to electric iron polishing equipment and a polishing method thereof.
Background
With the development of automatic production technology, the development trend of processing field is to adopt automatic production equipment to replace manual production.
In the polishing processing of the electric iron, automatic polishing equipment for the electric iron is available at the present stage, so that the automatic polishing processing of the electric iron is realized, the labor cost can be saved, the production efficiency and the process quality are improved, and the operation safety degree is improved. The existing automatic polishing equipment adopts a robot to clamp an electric iron through a clamp, and the electric iron is moved to a polishing device for polishing.
In order to realize stable clamping of the electric iron, different clamps may be equipped for different types of electric irons, so that if the type of the electric iron is changed in the automatic production process, the clamp may need to be changed. The current common fixture model changing mode is as follows: stopping the machine, and manually replacing the clamp; the electric iron can not be made into a full-automatic production line during polishing, and production personnel are required to participate in production operation. The automatic model changing technology is an ideal scheme, but at present, no equipment is available for realizing automatic model changing of the clamp.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention aims to provide electric iron polishing equipment and a polishing method thereof; the automatic polishing device can automatically polish the electric iron assembly and automatically change the shape of the clamp, and realizes the full-automatic production of the electric iron polishing production line; the operation personnel can be reduced, the labor cost is saved and the working efficiency is improved.
In order to achieve the purpose, the invention is realized by the following technical scheme: the utility model provides an electric iron equipment of polishing which characterized in that: the method comprises the following steps:
the polishing device is used for polishing the electric iron assembly;
the transmission device is used for transmitting the electric iron assembly;
the visual detection module is used for acquiring an image of the electric iron assembly on the transmission device;
a jig magazine for storing a plurality of jigs;
the clamping robot is used for clamping the electric iron assembly and moving the electric iron assembly;
the clamping robot comprises a robot body and a clamp; the tail end of the robot body is connected with the clamp through a quick change structure; when the electric iron assembly polishing device works, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished; judging whether the machining of the electric iron assembly needs clamp remodeling according to the image of the electric iron assembly; when the fixture is required to be replaced, the robot body moves the original fixture to the fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library, then the tail end of the robot body moves to the position above the fixture to be installed in the fixture library, the fixture to be installed is installed at the tail end of the robot body through the quick-change structure, and fixture replacement is completed; then, the robot body clamps the electric iron assembly through the clamp, and moves the electric iron assembly onto a polishing device for polishing; after polishing, the robot body moves the electric iron assembly to the conveying device for blanking.
The polishing equipment can automatically polish the electric iron assembly and automatically change the shape of the clamp, so that the full-automatic production of the electric iron polishing production line is realized; can save human resources and improve the production efficiency.
Preferably, the fixture warehouse comprises a warehouse box body, a dustproof cover assembly and a dustproof cover translation component; the warehouse box body is provided with a clamp storage cavity; a plurality of clamp placing positions are arranged in the clamp storing cavity; the dustproof cover assembly is slidably arranged on the cavity opening of the clamp storage cavity, and a stretchable or contractible dustproof cover is connected to the outer side of the dustproof cover assembly so as to seal the cavity opening of the clamp storage cavity; the dustproof cover assembly is connected with the dustproof cover translation component to realize the movement of the dustproof cover assembly; the dustproof cover assembly is provided with a taking and placing opening; the taking and placing opening is provided with a cover body which can be opened or closed; the cover body is connected with the opening and closing driving assembly so as to open or close the cover body.
The working principle of the fixture library is as follows: the clamp can be placed in the clamp placing position, and the associated information of the clamp and the clamp placing position is recorded; firstly, according to a clamp placing position where a clamp to be placed in or taken out is located, the dustproof cover translation component moves the dustproof cover assembly to move, so that a placing and taking opening of the dustproof cover assembly moves to the position above the clamp placing position; in the moving process of the dustproof cover assembly, the dustproof cover positioned in the advancing direction of the dustproof cover assembly is contracted, and the dustproof cover positioned at the rear side of the advancing direction of the dustproof cover assembly is stretched, so that the clamp storage cavity is always kept in a closed state; the opening and closing driving component opens the cover body; the external clamp taking and placing device can extend into the clamp storage cavity to place the clamp into the clamp placing position or take the clamp out of the clamp placing position; then open and shut drive assembly and close the lid, make anchor clamps deposit the chamber and seal to avoid impurity such as the piece that the processing of polishing produced, dust, granule to enter into anchor clamps and deposit the chamber, keep anchor clamps to deposit the cleanness in chamber. The jig magazine can provide jig storage space and keep the jigs clean. Compared with the traditional mode of completely opening the cavity opening of the clamp storage cavity, the clamp storage cavity can be flexibly moved to the position above the clamp placement position, so that the cover body does not need to be too large in size, the space required by opening and closing the cover body can be saved, and the driving force required by opening and closing the cover body can be saved.
Preferably, the cover body is hinged with the dust cover assembly; the opening and closing driving assembly comprises a cover body cylinder; the cylinder barrel of the cover body cylinder is rotatably arranged on the dustproof cover assembly; the telescopic rod of the cover body cylinder is hinged with the cover body; during operation, the telescopic link of lid cylinder is flexible, promotes the lid and opens or close.
Preferably, a first hinge seat and two second hinge seats are arranged on the dust cover assembly; the first hinge seat is positioned on the left side or the right side of the cover body, and a cylinder barrel of the cover body cylinder is hinged to the first hinge seat; the two hinge seats II are respectively positioned on the left side and the right side of the cover body; the cover body is respectively hinged with the two hinge bases II through the cover body connecting piece; the telescopic rod of the cover body cylinder is hinged with the cover body connecting piece; the hinge point of the cover body connecting piece and the hinge base II, the hinge point of the cover body connecting piece and the telescopic rod of the cover body air cylinder and the hinge point of the cylinder barrel of the cover body air cylinder and the hinge base I are respectively positioned at three corners of a triangle.
The cover body opening and closing mechanism is positioned above the dustproof cover assembly, so that the space of the clamp storage cavity is not occupied, and the effective utilization rate of the clamp storage cavity can be improved; and the cover body opening and closing mechanism occupies small space, so that the opening area of the taking and placing opening is as large as possible. The opening angle of the cover body can be larger than 90 degrees, and the external clamp taking and placing device is convenient to take and place the clamp.
Preferably, the cover connecting member includes two connecting member sides and a connecting beam connected between the two connecting member sides; the side parts of the two connecting pieces are respectively connected with the left side and the right side of the cover body; the connecting beam is connected with the cover surface of the cover body. The mechanical strength of lid can effectively be strengthened to the lid connecting piece of this design, is favorable to effectively transmitting the opposite side of lid with the driving force of lid cylinder simultaneously.
Preferably, the quick-change structure comprises a quick-change main disc arranged at the tail end of the robot body and a quick-change tool disc connected with the clamp; an expansion and contraction part is arranged in the quick-change main disc; the outer side of the quick-change main disc is also provided with a joint communicated with the expansion and contraction part; the joint is connected with an external inflating device; the quick-change working disc is provided with a positioning cavity matched with the expansion and contraction part;
the clamp comprises a clamp body and at least two clamping jaws; each clamping jaw is connected with the clamp main body through a clamp cylinder; one surface of the clamp main body, which is close to the electric iron assembly, is provided with a positioning pin; when the electric iron assembly positioning device works, the positioning pin is clamped into the concave position of the electric iron assembly to position the electric iron assembly. The quick-change structure can realize quick and automatic fixture change.
Preferably, the grinding device comprises a grinding wheel assembly and a nylon wheel assembly; the grinding wheel assembly and the nylon wheel assembly are arranged up and down.
Preferably, the grinding device further comprises two force control transmission mechanisms and two small contact wheels; the rotating shafts of the grinding wheel assembly and the nylon wheel assembly are respectively arranged on the force control transmission mechanism; a first transmission belt is arranged on the outer side of the grinding wheel assembly and one of the small contact wheels; a second transmission belt is arranged on the outer sides of the nylon wheel assembly and the other small contact wheel; the first transmission belt and the second transmission belt are respectively tensioned through a tensioning and leveling mechanism.
When the contact force between the electric iron assembly grabbed by the robot body and the grinding wheel assembly/nylon wheel assembly is greater than a preset value, the grinding wheel assembly/nylon wheel assembly retreats backwards under the action of the force control transmission mechanism to prevent the electric iron assembly from being over-ground; when the contact force between the electric iron assembly grabbed by the robot body and the grinding wheel assembly/nylon wheel assembly is smaller than a preset value, the grinding wheel assembly/nylon wheel assembly is pushed forwards under the action of the force control transmission mechanism to keep the grinding force control uniform; the tensioning and leveling mechanism is arranged, so that the grinding wheel assembly/nylon wheel assembly can be conveniently replaced, and meanwhile, the grinding wheel assembly/nylon wheel assembly can be conveniently adjusted to prevent deviation; the small contact wheel can ensure the polishing contact of the concave part of the electric iron assembly.
A polishing method is characterized in that: the electric iron polishing equipment is used for polishing the electric iron; the method comprises the following steps:
s1, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished;
and S2, judging whether the electric iron assembly needs to be processed by the fixture for changing the shape according to the electric iron assembly image: if the fixture is required to be replaced, the robot body moves the original fixture to a fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library, then the tail end of the robot body moves to the position above the fixture to be installed in the fixture library, the fixture to be installed is installed at the tail end of the robot body through the quick-change structure, fixture replacement is completed, and then the step S3 is skipped; if the clamp is not needed to be changed, directly jumping to the step S3;
s3, the robot body clamps the electric iron assembly through the clamp and moves the electric iron assembly onto a polishing device for polishing;
and S4, moving the electric iron assembly to a conveying device by the robot body for blanking.
Preferably, the fixture warehouse comprises a warehouse box body, a dustproof cover assembly and a dustproof cover translation component; the warehouse box body is provided with a clamp storage cavity; a plurality of clamp placing positions are arranged in the clamp storing cavity; the dustproof cover assembly is slidably arranged on the cavity opening of the clamp storage cavity, and a stretchable or contractible dustproof cover is connected to the outer side of the dustproof cover assembly so as to seal the cavity opening of the clamp storage cavity; the dustproof cover assembly is connected with the dustproof cover translation component to realize the movement of the dustproof cover assembly; the dustproof cover assembly is provided with a taking and placing opening; the taking and placing opening is provided with a cover body which can be opened or closed; the cover body is connected with the opening and closing driving assembly to realize the opening or closing of the cover body;
in the step S2, when the original fixture is put into the fixture library or the fixture to be installed is taken out from the fixture library, the working method of the fixture library is as follows: according to the clamp placing position where the clamp to be placed in or taken out is located, the dustproof cover translation component moves the dustproof cover assembly to move, so that the placing and taking opening of the dustproof cover assembly moves to the position above the clamp placing position; in the moving process of the dustproof cover assembly, the dustproof cover positioned in the advancing direction of the dustproof cover assembly is contracted, and the dustproof cover positioned at the rear side of the advancing direction of the dustproof cover assembly is stretched, so that the clamp storage cavity is always kept in a closed state; the opening and closing driving component opens the cover body; the tail end of the robot body extends into the clamp storage cavity to place the clamp into the clamp placing position or take the clamp out of the clamp placing position; then the opening and closing driving assembly closes the cover body, so that the clamp storage cavity is closed.
Compared with the prior art, the invention has the following advantages and beneficial effects:
1. the automatic polishing device can automatically polish the electric iron assembly and automatically change the shape of the clamp, and realizes the full-automatic production of the electric iron polishing production line; the operating personnel can be reduced, the labor cost is saved, and the working efficiency is improved;
2. according to the invention, the clamp warehouse can be used for storing the clamps in a closed manner, and the cover body is automatically opened when the clamps are taken and placed, so that the entering of debris particles or dust and the like generated by processing is avoided, and the storage position and the clamps are kept clean;
3. according to the invention, the taking and placing opening can be flexibly moved to the position above the clamp placing position, so that the size of the cover body is not required to be too large, the space required by opening and closing the cover body can be saved, and the driving force required by opening and closing the cover body can be saved;
4. according to the invention, the cover body opening angle of the dustproof cover assembly can be larger than 90 degrees, so that the external clamp taking and placing device can take and place the clamp conveniently.
Drawings
FIG. 1 is a schematic view of the construction of the sanding apparatus of the present invention;
FIG. 2 is a schematic view of a jig magazine of the polishing apparatus of the present invention;
FIG. 3 is an enlarged view of portion A of FIG. 2;
FIG. 4 is a second schematic view of the structure of the fixture magazine of the polishing apparatus according to the present invention;
FIG. 5 is a third schematic view of the structure of the jig magazine of the polishing apparatus according to the present invention;
FIG. 6 is a schematic structural view of a dust cap translation assembly of a tool magazine in the sanding apparatus of the present invention;
FIG. 7 is a schematic view of the structure of a clamp in the sanding apparatus of the present invention;
FIG. 8 is a cross-sectional view of a clamp in the sanding apparatus of the present invention;
FIG. 9 is a schematic view of the construction of the polishing device of the polishing apparatus of the present invention;
FIG. 10 is a schematic view of the installation of the tension leveling mechanism, force control drive mechanism and grinding wheel assembly of the grinding apparatus of the present invention;
the device comprises a fixture warehouse 1, a warehouse box 11, a fixture storage cavity 111, a fixture placement position 112, a dust cover assembly 12, a dust cover 13, a cover 14, a cover cylinder 15, a hinge seat I16, a hinge seat II 17, a cover connecting piece 18, a connecting piece side part 181, a connecting beam 182, a dust cover translation component 19, a synchronizing wheel 191, a synchronizing belt 192, a robot body 2, a fixture 3, a quick-change main disc 31, an expansion and contraction component 311, a quick-change tool disc 32, a joint 33, a fixture main body 34, a clamping jaw 35, a positioning pin 36, an electric iron component 4, a polishing device 5, a polishing wheel component 51, a nylon wheel component 52, a tensioning and leveling mechanism 53, a force control transmission mechanism 54, a transmission belt I55 and a small contact wheel 56, wherein the fixture storage cavity is a fixture storage cavity, the fixture storage cavity is a storage cavity 14, the quick-change tool disc 3, the fixture main body 31.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Example one
As shown in fig. 1 to 10, an electric iron grinding apparatus of the present embodiment includes:
a polishing device 5 for polishing the electric iron assembly;
a transfer device (not shown) for transferring the electric iron assembly;
a visual inspection module (not shown) for acquiring an image of the iron assembly on the conveyor;
a jig magazine 1 for storing a plurality of jigs;
the clamping robot is used for clamping the electric iron assembly and moving the electric iron assembly;
the clamping robot comprises a robot body 2 and a clamp 3; the tail end of the robot body 2 is connected with the clamp 3 through a quick change structure; when the electric iron assembly polishing device works, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished; judging whether the machining of the electric iron assembly needs clamp remodeling according to the image of the electric iron assembly; when the fixture is required to be replaced, the robot body 2 moves the original fixture to the fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library 1, then the tail end of the robot body 2 moves to the position above the fixture to be installed in the fixture library 1, the fixture to be installed is installed at the tail end of the robot body 2 through the quick-change structure, and fixture replacement is completed; then, the robot body 2 clamps the electric iron assembly through the clamp and moves the electric iron assembly onto the polishing device 5 for polishing; after polishing, the robot body 2 moves the electric iron assembly to the conveying device for blanking.
The polishing equipment can automatically polish the electric iron assembly and automatically change the shape of the clamp, so that the full-automatic production of the electric iron polishing production line is realized; can save human resources and improve the production efficiency.
The fixture warehouse 1 comprises a warehouse box body 11, a dustproof cover assembly 12 and a dustproof cover translation component 19; the warehouse box body 11 is provided with a clamp storage cavity 111; a plurality of clamp placing positions 112 are arranged in the clamp storing cavity 111; the dustproof cover assembly 12 is slidably arranged on the opening of the clamp storage cavity 111, and the outer side of the dustproof cover assembly 12 is connected with a stretchable or contractible dustproof cover 13 so as to seal the opening of the clamp storage cavity 111; the dust cover 13 is preferably a concertina type shield.
The dust cover assembly 12 is connected with the dust cover translation component 19 to realize the movement of the dust cover assembly 12; the dust cover translation assembly 19 is preferably a synchronous pulley mechanism; the timing belt pulley mechanism includes a timing pulley 191 and a timing belt 192. The synchronous pulley mechanism is disposed in the jig storage chamber 111 and connected to the dust cap assembly 12.
The dustproof cover assembly 12 is provided with a taking and placing opening; a cover body 14 which can be opened or closed is arranged on the access opening; the cover 14 is connected to an opening/closing driving assembly to open or close the cover 14.
Specifically, the opening and closing drive assembly includes a cover cylinder 15; the dust cover assembly 12 is provided with a first hinge seat 16 and two second hinge seats 17; the first hinge base 16 is positioned on the left side or the right side of the cover body 14, and the cylinder barrel of the cover body cylinder 15 is hinged on the first hinge base 16; the two second hinge seats 17 are respectively positioned on the left side and the right side of the cover body 14; the cover body 14 is respectively hinged with the two hinge seats II 17 through a cover body connecting piece 18; the telescopic rod of the cover body cylinder 15 is hinged with the cover body connecting piece 18; the hinge point of the cover body connecting piece 18 and the hinge base II 17, the hinge point of the cover body connecting piece 18 and the telescopic rod of the cover body air cylinder 15 and the hinge point of the cylinder barrel of the cover body air cylinder 15 and the hinge base I16 are respectively positioned at three corners of the triangle. When the device works, the telescopic rod of the cover body air cylinder 15 stretches and retracts to push the cover body 14 to open or close.
The working principle of the fixture library 1 is as follows: a clamp can be placed in the clamp placing position 112, and the associated information of the clamp and the clamp placing position 112 is recorded; firstly, according to a clamp placing position 112 where a clamp to be placed in or taken out is located, the dustproof cover translation component 19 moves the dustproof cover assembly 12 to move, so that a placing and taking opening of the dustproof cover assembly 12 moves to be above the clamp placing position 112; in the moving process of the dustproof cover assembly 12, the dustproof cover 13 positioned in the advancing direction of the dustproof cover assembly 12 is contracted, and the dustproof cover 13 positioned at the rear side in the advancing direction of the dustproof cover assembly 12 is stretched, so that the clamp storage cavity 111 is kept in a closed state all the time; the opening and closing drive assembly opens the cover 14; the external clamp taking and placing device can extend into the clamp storage cavity 111 to place the clamp into the clamp placing position 112 or take the clamp out of the clamp placing position 112; then, the opening and closing driving assembly closes the cover 14 to seal the clamp storage cavity 111, so as to prevent the debris particles or dust generated by processing from entering the clamp storage cavity 111 and keep the clamp storage cavity 111 clean. The fixture warehouse 1 can be matched with an external fixture taking and placing device to realize automatic fixture model changing, and plays roles in providing fixture storage space and keeping the fixtures clean. Compared with the traditional mode of completely opening the cavity opening of the clamp storage cavity 111, the taking and placing opening can be flexibly moved above each clamp placing position 112, so that the size of the cover body 14 does not need to be too large, the space required by opening and closing the cover body 14 can be saved, and the driving force required by opening and closing the cover body 14 can be saved.
The cover body opening and closing mechanism is positioned above the dustproof cover assembly 12, does not occupy the space of the clamp storage cavity 111, and can improve the effective utilization rate of the clamp storage cavity 111; and the cover body opening and closing mechanism occupies small space, so that the opening area of the taking and placing opening is as large as possible. The opening angle of the cover 14 may be greater than 90 ° to facilitate access of the clamp by an external clamp access device.
The cover connecting member 18 includes two connecting member side portions 181 and a connecting beam 182 connected between the two connecting member side portions 181; the two connecting piece side portions 181 are connected to the left and right sides of the cover 14, respectively; the connecting beam 182 is connected to the cover surface of the cover 14. The cover connecting member 18 of this design can effectively reinforce the mechanical strength of the cover 14, and at the same time, is favorable for effectively transmitting the pushing force of the cover cylinder 15 to the other side of the cover 14.
Sealing strips are preferably respectively arranged at the covering position between the cover body 14 and the access opening and the connecting position between the dust cover 13 and the clamp storage cavity 111.
The quick-change structure comprises a quick-change main disc 31 arranged at the tail end of the robot body 2 and a quick-change tool disc 32 connected with the clamp 3; the quick-change main disc 31 is internally provided with an expansion and contraction part 311; the outer side of the quick-change main disc 31 is also provided with a joint 33 communicated with the collapsible part 311; the joint 33 is connected with an external inflating device; the quick-change working disc is provided with a positioning cavity matched with the collapsible part 311. The quick-change structure can realize quick and automatic fixture change.
The clamp 3 comprises a clamp body 34 and at least two clamping jaws 35; the respective holding jaws 35 are connected to the clamp body 34 by clamp cylinders. The clamp main body 34 is provided with a positioning pin 36, and the position of the positioning pin 36 is matched with the concave position of the electric iron assembly 4 so as to position the electric iron assembly.
The grinding device 5 comprises a grinding wheel component 51 and a nylon wheel component 52; the grinding wheel assembly 51 and the nylon wheel assembly 52 are arranged up and down.
The grinding device 5 also comprises two force-controlled transmission mechanisms 54 and two small contact wheels 56; the rotating shafts of the grinding wheel assembly 51 and the nylon wheel assembly 52 are respectively arranged on the force control transmission mechanism 54; a first transmission belt 55 is arranged on the outer side of the grinding wheel assembly 51 and one small contact wheel 56; a second transmission belt is arranged on the outer sides of the nylon wheel component 52 and the other small contact wheel; the first transmission belt 55 and the second transmission belt are respectively tensioned by the tensioning and leveling mechanism 53.
When the contact force between the electric iron assembly grabbed by the robot body and the grinding wheel assembly 51/nylon wheel assembly 52 is greater than a preset value, the grinding wheel assembly 51/nylon wheel assembly 52 moves backwards under the action of the force control transmission mechanism 54, so that the electric iron assembly is prevented from being over-ground; when the contact force between the electric iron assembly grabbed by the robot body 2 and the grinding wheel assembly 51/nylon wheel assembly 52 is smaller than a preset value, the grinding wheel assembly 51/nylon wheel assembly 52 is pushed forwards under the action of the force control transmission mechanism 54, so that the grinding force is kept uniform; the tensioning and leveling mechanism 53 is arranged, so that the grinding wheel assembly 51/nylon wheel assembly 52 can be conveniently replaced, and meanwhile, the grinding wheel assembly 51/nylon wheel assembly 52 can be conveniently adjusted to prevent deviation.
Example two
The polishing method is used for the electric iron polishing equipment in the first embodiment; the method comprises the following steps:
s1, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished;
and S2, judging whether the electric iron assembly needs to be processed by the fixture for changing the shape according to the electric iron assembly image: if the fixture is required to be replaced, the robot body moves the original fixture to a fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library, then the tail end of the robot body moves to the position above the fixture to be installed in the fixture library, the fixture to be installed is installed at the tail end of the robot body through the quick-change structure, fixture replacement is completed, and then the step S3 is skipped; if the clamp is not needed to be changed, directly jumping to the step S3;
s3, the robot body clamps the electric iron assembly through the clamp and moves the electric iron assembly onto a polishing device for polishing;
and S4, moving the electric iron assembly to a conveying device by the robot body for blanking.
In step S2, when the original fixture is placed in the fixture library or the fixture to be installed is taken out from the fixture library, the working method of the fixture library is as follows: according to the clamp placing position where the clamp to be placed in or taken out is located, the dustproof cover translation component moves the dustproof cover assembly to move, so that the placing and taking opening of the dustproof cover assembly moves to the position above the clamp placing position; in the moving process of the dustproof cover assembly, the dustproof cover positioned in the advancing direction of the dustproof cover assembly is contracted, and the dustproof cover positioned at the rear side of the advancing direction of the dustproof cover assembly is stretched, so that the clamp storage cavity is always kept in a closed state; the opening and closing driving component opens the cover body; the tail end of the robot body extends into the clamp storage cavity to place the clamp into the clamp placing position or take the clamp out of the clamp placing position; then the opening and closing driving assembly closes the cover body, so that the clamp storage cavity is closed.
The above embodiments are preferred embodiments of the present invention, but the present invention is not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be construed as equivalents thereof, and all such changes, modifications, substitutions, combinations, and simplifications are intended to be included in the scope of the present invention.

Claims (10)

1. The utility model provides an electric iron equipment of polishing which characterized in that: the method comprises the following steps:
the polishing device is used for polishing the electric iron assembly;
the transmission device is used for transmitting the electric iron assembly;
the visual detection module is used for acquiring an image of the electric iron assembly on the transmission device;
a jig magazine for storing a plurality of jigs;
the clamping robot is used for clamping the electric iron assembly and moving the electric iron assembly;
the clamping robot comprises a robot body and a clamp; the tail end of the robot body is connected with the clamp through a quick change structure; when the electric iron assembly polishing device works, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished; judging whether the machining of the electric iron assembly needs clamp remodeling according to the image of the electric iron assembly; when the fixture is required to be replaced, the robot body moves the original fixture to the fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library, then the tail end of the robot body moves to the position above the fixture to be installed in the fixture library, the fixture to be installed is installed at the tail end of the robot body through the quick-change structure, and fixture replacement is completed; then, the robot body clamps the electric iron assembly through the clamp, and moves the electric iron assembly onto a polishing device for polishing; after polishing, the robot body moves the electric iron assembly to the conveying device for blanking.
2. The electric iron grinding apparatus according to claim 1, wherein: the fixture warehouse comprises a warehouse box body, a dustproof cover assembly and a dustproof cover translation component; the warehouse box body is provided with a clamp storage cavity; a plurality of clamp placing positions are arranged in the clamp storing cavity; the dustproof cover assembly is slidably arranged on the cavity opening of the clamp storage cavity, and a stretchable or contractible dustproof cover is connected to the outer side of the dustproof cover assembly so as to seal the cavity opening of the clamp storage cavity; the dustproof cover assembly is connected with the dustproof cover translation component to realize the movement of the dustproof cover assembly; the dustproof cover assembly is provided with a taking and placing opening; the taking and placing opening is provided with a cover body which can be opened or closed; the cover body is connected with the opening and closing driving assembly so as to open or close the cover body.
3. The electric iron grinding apparatus according to claim 2, wherein: the cover body is hinged with the dustproof cover assembly; the opening and closing driving assembly comprises a cover body cylinder; the cylinder barrel of the cover body cylinder is rotatably arranged on the dustproof cover assembly; the telescopic rod of the cover body cylinder is hinged with the cover body; during operation, the telescopic link of lid cylinder is flexible, promotes the lid and opens or close.
4. The electric iron grinding apparatus of claim 3, wherein: the dustproof cover assembly is provided with a first hinge seat and two second hinge seats; the first hinge seat is positioned on the left side or the right side of the cover body, and a cylinder barrel of the cover body cylinder is hinged to the first hinge seat; the two hinge seats II are respectively positioned on the left side and the right side of the cover body; the cover body is respectively hinged with the two hinge bases II through the cover body connecting piece; the telescopic rod of the cover body cylinder is hinged with the cover body connecting piece; the hinge point of the cover body connecting piece and the hinge base II, the hinge point of the cover body connecting piece and the telescopic rod of the cover body air cylinder and the hinge point of the cylinder barrel of the cover body air cylinder and the hinge base I are respectively positioned at three corners of a triangle.
5. The electric iron grinding apparatus according to claim 4, wherein: the cover body connecting piece comprises two connecting piece side parts and a connecting beam connected between the two connecting piece side parts; the side parts of the two connecting pieces are respectively connected with the left side and the right side of the cover body; the connecting beam is connected with the cover surface of the cover body.
6. The electric iron grinding apparatus according to claim 1, wherein: the quick-change structure comprises a quick-change main disc arranged at the tail end of the robot body and a quick-change tool disc connected with the clamp; an expansion and contraction part is arranged in the quick-change main disc; the outer side of the quick-change main disc is also provided with a joint communicated with the expansion and contraction part; the joint is connected with an external inflating device; the quick-change working disc is provided with a positioning cavity matched with the expansion and contraction part;
the clamp comprises a clamp body and at least two clamping jaws; each clamping jaw is connected with the clamp main body through a clamp cylinder; one surface of the clamp main body, which is close to the electric iron assembly, is provided with a positioning pin; when the electric iron assembly positioning device works, the positioning pin is clamped into the concave position of the electric iron assembly to position the electric iron assembly.
7. The electric iron grinding apparatus according to claim 1, wherein: the polishing device comprises a polishing wheel assembly and a nylon wheel assembly; the grinding wheel assembly and the nylon wheel assembly are arranged up and down.
8. The electric iron grinding apparatus of claim 7, wherein: the polishing device also comprises two force control transmission mechanisms and two small contact wheels; the rotating shafts of the grinding wheel assembly and the nylon wheel assembly are respectively arranged on the force control transmission mechanism; a first transmission belt is arranged on the outer side of the grinding wheel assembly and one of the small contact wheels; a second transmission belt is arranged on the outer sides of the nylon wheel assembly and the other small contact wheel; the first transmission belt and the second transmission belt are respectively tensioned through a tensioning and leveling mechanism.
9. A polishing method is characterized in that: for an electric iron grinding apparatus as claimed in any one of claims 1 to 8; the method comprises the following steps:
s1, the transmission device transmits the electric iron assembly to be polished to the clamping position, and the visual detection module acquires an image of the electric iron assembly to be polished;
and S2, judging whether the electric iron assembly needs to be processed by the fixture for changing the shape according to the electric iron assembly image: if the fixture is required to be replaced, the robot body moves the original fixture to a fixture library, the quick-change structure loosens the original fixture to enable the original fixture to be placed in the fixture library, then the tail end of the robot body moves to the position above the fixture to be installed in the fixture library, the fixture to be installed is installed at the tail end of the robot body through the quick-change structure, fixture replacement is completed, and then the step S3 is skipped; if the clamp is not needed to be changed, directly jumping to the step S3;
s3, the robot body clamps the electric iron assembly through the clamp and moves the electric iron assembly onto a polishing device for polishing;
and S4, moving the electric iron assembly to a conveying device by the robot body for blanking.
10. The grinding method as claimed in claim 9, wherein: the fixture warehouse comprises a warehouse box body, a dustproof cover assembly and a dustproof cover translation component; the warehouse box body is provided with a clamp storage cavity; a plurality of clamp placing positions are arranged in the clamp storing cavity; the dustproof cover assembly is slidably arranged on the cavity opening of the clamp storage cavity, and a stretchable or contractible dustproof cover is connected to the outer side of the dustproof cover assembly so as to seal the cavity opening of the clamp storage cavity; the dustproof cover assembly is connected with the dustproof cover translation component to realize the movement of the dustproof cover assembly; the dustproof cover assembly is provided with a taking and placing opening; the taking and placing opening is provided with a cover body which can be opened or closed; the cover body is connected with the opening and closing driving assembly to realize the opening or closing of the cover body;
in the step S2, when the original fixture is put into the fixture library or the fixture to be installed is taken out from the fixture library, the working method of the fixture library is as follows: according to the clamp placing position where the clamp to be placed in or taken out is located, the dustproof cover translation component moves the dustproof cover assembly to move, so that the placing and taking opening of the dustproof cover assembly moves to the position above the clamp placing position; in the moving process of the dustproof cover assembly, the dustproof cover positioned in the advancing direction of the dustproof cover assembly is contracted, and the dustproof cover positioned at the rear side of the advancing direction of the dustproof cover assembly is stretched, so that the clamp storage cavity is always kept in a closed state; the opening and closing driving component opens the cover body; the tail end of the robot body extends into the clamp storage cavity to place the clamp into the clamp placing position or take the clamp out of the clamp placing position; then the opening and closing driving assembly closes the cover body, so that the clamp storage cavity is closed.
CN202010891666.6A 2020-08-31 2020-08-31 Electric iron polishing equipment and polishing method thereof Active CN111805361B (en)

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CN202010891666.6A CN111805361B (en) 2020-08-31 2020-08-31 Electric iron polishing equipment and polishing method thereof

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Application Number Priority Date Filing Date Title
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US20010003861A1 (en) * 1998-07-31 2001-06-21 Georg Mayr Flexible work station and operating method
CN203390938U (en) * 2013-08-01 2014-01-15 南通准信自动化科技有限公司 Robot clamp automatic switching device
CN206839462U (en) * 2017-02-24 2018-01-05 上海晓奥享荣汽车工业装备有限公司 Intelligent flexible fixture switching storage and positioner
CN109176305A (en) * 2018-09-29 2019-01-11 东莞市照亮智能装备科技有限公司 A kind of robot three-dimensional correction positioning device and method
CN208746868U (en) * 2018-07-31 2019-04-16 武汉吉森智能技术有限公司 A kind of fixture storehouse realizing manipulator fixture and taking automatically
CN109648432A (en) * 2018-12-29 2019-04-19 聚享机器人（中山）有限公司 A kind of electric iron clamping fixture of robot
CN209140576U (en) * 2018-08-29 2019-07-23 重庆摩西机器人有限公司 The automatically grinding system of compatible a variety of cylinder caps
CN209175434U (en) * 2018-08-29 2019-07-30 重庆摩西机器人有限公司 A kind of polishing tool of die casting is stored automatically and automatic-exchanging system

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20010003861A1 (en) * 1998-07-31 2001-06-21 Georg Mayr Flexible work station and operating method
CN203390938U (en) * 2013-08-01 2014-01-15 南通准信自动化科技有限公司 Robot clamp automatic switching device
CN206839462U (en) * 2017-02-24 2018-01-05 上海晓奥享荣汽车工业装备有限公司 Intelligent flexible fixture switching storage and positioner
CN208746868U (en) * 2018-07-31 2019-04-16 武汉吉森智能技术有限公司 A kind of fixture storehouse realizing manipulator fixture and taking automatically
CN209140576U (en) * 2018-08-29 2019-07-23 重庆摩西机器人有限公司 The automatically grinding system of compatible a variety of cylinder caps
CN209175434U (en) * 2018-08-29 2019-07-30 重庆摩西机器人有限公司 A kind of polishing tool of die casting is stored automatically and automatic-exchanging system
CN109176305A (en) * 2018-09-29 2019-01-11 东莞市照亮智能装备科技有限公司 A kind of robot three-dimensional correction positioning device and method
CN109648432A (en) * 2018-12-29 2019-04-19 聚享机器人（中山）有限公司 A kind of electric iron clamping fixture of robot

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