CN112139944B - Flexible grinding device of two robotic arm robots - Google Patents
Flexible grinding device of two robotic arm robots Download PDFInfo
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- CN112139944B CN112139944B CN202011027677.6A CN202011027677A CN112139944B CN 112139944 B CN112139944 B CN 112139944B CN 202011027677 A CN202011027677 A CN 202011027677A CN 112139944 B CN112139944 B CN 112139944B
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- output shaft
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/0076—Other grinding machines or devices grinding machines comprising two or more grinding tools
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/02—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables
- B24B47/08—Drives or gearings; Equipment therefor for performing a reciprocating movement of carriages or work- tables by mechanical gearing combined with fluid systems
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- 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
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- 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
- B24B51/00—Arrangements for automatic control of a series of individual steps in grinding a workpiece
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Grinding Of Cylindrical And Plane Surfaces (AREA)
Abstract
The invention relates to the technical field of polishing tools, in particular to a flexible polishing device of a double-mechanical-arm robot, which comprises a supporting platform, a transverse sleeve disc, a rotary-loading disc and two mechanical arms, wherein the top of the supporting platform is horizontally provided with the transverse sleeve disc, two sides of the upper end surface of the transverse sleeve disc are respectively provided with a first sliding rail, and a first toothed plate is horizontally arranged between the two first sliding rails. The invention has the beneficial effects that: the polishing assembly bottom two mechanical arms respectively and simultaneously polishes the article, the device is higher to the efficiency that the article was polished and is handled, and the polishing assembly is fixed in the trepanning through two nut spiro unions, when guaranteeing that the polishing assembly installation is used or dismantle more convenient, can be more nimble again, quick regulation polishing assembly is by the fixed position of installation in the trepanning, and can be according to the needs of polishing to different articles, the adjustment loads the number of polishing assembly on the mounting panel, it is higher to guarantee that this polishing device polishes the precision of handling different articles, and efficiency is faster.
Description
Technical Field
The invention relates to the technical field of polishing tools, in particular to a flexible polishing device of a double-mechanical-arm robot.
Background
The flexible polishing device is indispensable when a lot of machine parts processing production, and the built-in PLC controller of flexible polishing device, intelligent degree is high, can imitate artifical dynamics of polishing, automatically regulated dynamics of polishing, and is nimble efficient relatively.
The existing flexible polishing device still has great defects when in use, the existing flexible polishing device is often only provided with one mechanical arm to polish an object, the efficiency of polishing the object is very low, and the speed of the polishing device for adjusting the polishing position of a polishing head on the object is very low; the prior flexible polishing device has poor precision in polishing the object; the range of the grinding head which can be adjusted by the conventional flexible grinding device is very small, so that the grinding device cannot completely grind and cover the object and cannot thoroughly grind the object; the existing flexible polishing device has poor stability when the polishing head moves and adjusts work, and the polishing quality of the polishing head on an object is seriously influenced; and the automation degree of the prior flexible polishing device for polishing the object is very low.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a flexible polishing device of a double-mechanical-arm robot.
The technical scheme adopted by the invention for solving the technical problems is as follows: a flexible polishing device for a double-mechanical-arm robot comprises a supporting platform, a transverse sleeve disc, a rotary load disc and two mechanical arms, wherein the top of the supporting platform is horizontally provided with the transverse sleeve disc, two sides of the upper end face of the transverse sleeve disc are respectively provided with a first sliding rail, a first toothed plate is horizontally arranged between the first sliding rails, a first sliding frame is sleeved on each of the two sliding rails, a first bottom sliding frame is arranged above each of the two sliding frames, a second motor is sleeved at the middle part of the first bottom sliding frame, the upper part of the second motor is rotatably connected with a transfer platform through an output shaft, one end of the inner part of the transfer platform is sleeved with a first motor, one end of the first motor is rotatably connected with the rotary load disc through an output shaft, a second toothed plate is horizontally arranged above the side wall of one side of the rotary load disc, two second sliding rails are arranged below the second toothed plate in parallel, the two sliding rails are sleeved with the two mechanical arms, a third motor is arranged below the bottom sliding frame, and a first gear is rotatably connected below the third motor through the output shaft, the two mechanical arms are vertically provided with side mounting plates, a motor IV is vertically arranged above the side mounting plates, a gear II is connected below the motor IV through an output shaft in a rotating manner, a motor VII is arranged in the middle of the outer wall of the side mounting plates, one end of the motor VII is connected with a hydraulic cylinder I through an output shaft in a rotating manner, a motor V is connected below the hydraulic cylinder through a hydraulic rod I in a stretching manner, the hydraulic cylinder I and the polishing assembly are driven by the motor VII to turn and adjust, the working position of the polishing assembly can be flexibly and rapidly adjusted by the device, the moving platform is driven by an output shaft to rotate above the motor II, the two mechanical arms can rapidly move to different positions around the supporting platform, the two mechanical arms can be respectively adjusted and moved, the movable adjusting range of the polishing assembly is ensured to be larger, the polishing efficiency of the device on an object is greatly improved, and a motor VI is connected below the motor V through the output shaft in a rotating manner, six both ends of motor all are connected with through output shaft rotation and turn over the arm, and turn over the arm and keep away from the one end vertical welding that motor six and have the carrier to grind the seat, carry and be provided with the mounting panel that the cross-section is square structure on grinding the seat, and circumference is provided with four cover grooves on the mounting panel, run through in the cover groove and install the subassembly of polishing, wherein, be provided with pneumatic cylinder two on the subassembly of polishing, and pneumatic cylinder two below stretch through hydraulic stem two and move and be connected with motor eight, motor eight below is connected with the grindstone through output shaft rotation.
Specifically, the bottom of the supporting platform is horizontally arranged, the upper end of the supporting platform is of a trapezoidal structure, and the supporting platform is more stable and firm to mount and fix.
Specifically, the moving platform is of a cuboid structure, the area of the bottom of the moving platform is equal to the area of the upper end face of the bottom sliding frame, and the moving platform is connected with the bottom sliding frame more stably and firmly.
Specifically, a plurality of first hobbing gears are arranged on one side of the first toothed plate at equal intervals, the first gear is meshed with the first hobbing gear, and the third motor drives the first gear to be movably connected with the bottom sliding frame on the first toothed plate.
Specifically, the middle parts of two sliding frames are arranged in a hollow mode, two convex strips I with arc-shaped sections are arranged on two sides of the middle part of each sliding frame, two grooves I are arranged in the middle parts of two sides of each sliding rail I, the convex strips on two sides of each sliding frame I are respectively embedded into the grooves I on two sides of each sliding rail I, the two sliding frames I are respectively sleeved on the sliding buckets on the two sliding rails I, and the two convex strips on the sliding frames I are embedded into the grooves I on the sliding rails I, so that the bottom sliding frame and the moving assembly table are guaranteed to be moved more stably and firmly.
Specifically, two one sides of pinion rack equidistant set up a plurality of hobbing two, and gear two is connected with the meshing of hobbing two, and motor four drive gear two is swing joint at pinion rack two and arm, and motor four drive gear one on the arm meshes the hobbing two rolls on the pinion rack two, drives and removes the regulation about the arm to it is rotatory to move the dress platform through the output shaft drive above the motor two, changes the polishing position of the subassembly of arm below to the article.
The middle parts of the two sliding frames are arranged in a hollow mode, two convex strips II which are of arc-shaped structures are arranged on two sides of the middle parts of the two sliding frames, two grooves II are formed in the middle parts of two sides of the two sliding rails, two convex strips on the two sliding frames are embedded into the two grooves II on the two sliding rails respectively, the two sliding frames are sleeved on the two sliding rails respectively, two convex strips on the two sliding frames are embedded into the two grooves II of the two sliding rails, the mechanical arm and the polishing assembly are guaranteed to move more stably and smoothly, and when the working stability of the device is improved, the precision and the quality of polishing work of the device for the object are greatly improved.
Specifically, pneumatic cylinder two is cylindrical structure, and the pneumatic cylinder external surface is provided with the screw thread, pneumatic cylinder two runs through the cover groove, and the spiro union has two nuts on the pneumatic cylinder two, the subassembly of polishing is fixed in the cover groove through two nut spiro unions, when guaranteeing that the subassembly installation of polishing uses or dismantles more convenient, can be more nimble again, quick regulation polishing subassembly is by the fixed position of installation in the cover groove, and can be according to the needs of polishing different articles, the adjustment loads the number of the subassembly of polishing on the mounting panel, it is higher to guarantee that this grinding device polishes the precision of handling different articles, and efficiency is faster.
Specifically, the mounting panel bottom is provided with infrared sensor, is provided with distance sensor on the side dress board, and infrared sensor, distance sensor seven and move the equal communication connection of PLC controller that the platform is inside to be set up, treat the position of article through infrared sensor scanning identification, detect the interval between two arms of discernment through distance sensor, avoid the collision damage when avoiding two arms to remove.
Specifically, the angle range that the motor six can drive the arm that turns over, carry the seat upset of grinding is 0-270 degrees, and motor six drives the arm that turns over and carry the seat upset regulation of grinding through the output shaft, very big improvement the precision that the grindstone on the subassembly of polishing was polished to the article, guarantee that the device is more comprehensive to the scope that the processing covered of polishing the article, polish the processing more thoroughly.
The working method of the polishing device specifically comprises the following steps:
the method comprises the following steps: a third motor on the bottom sliding frame drives a first gear on a first meshing toothed plate to roll, the working positions of the moving and installing table and the two mechanical arms are adjusted in a front-and-back moving mode, a fourth motor on the mechanical arms drives a second gear on a first meshing toothed plate to roll, the mechanical arms are driven to move left and right to adjust, the moving and installing table is driven to rotate above the second motor through an output shaft, and the polishing position of a polishing assembly below the mechanical arms on an object is changed;
step two: one end of the motor I drives the rotary loading disc and the mechanical arm to rotate and adjust through an output shaft, the working position and the angle of the polishing assembly are changed, and the motor VII drives the hydraulic cylinder I and the polishing assembly to turn over and adjust;
step three: the first hydraulic cylinders on the two mechanical arms push the motor five and the grinding bearing to adjust the movement through the hydraulic rod one, the working position of the grinding assembly is changed, the motor five drives the motor six through the output shaft and the grinding bearing to rotate and adjust, the working position of the grinding assembly is changed, the motor six drives the turnover arm through the output shaft and the grinding bearing to turn over and adjust, and the grinding stone is driven to rotate through the motor eight on the grinding assembly to polish the object.
The invention has the beneficial effects that:
(1) according to the flexible polishing device for the double-mechanical-arm robot, the motor on the polishing assembly drives the grinding stone to rotate to polish objects, the polishing assemblies at the bottoms of the two mechanical arms are used for polishing the objects simultaneously, the polishing efficiency of the device for polishing the objects is higher, the polishing assemblies are fixed in the sleeve groove through the two nuts in a screwed mode, the positions, where the polishing assemblies are installed and fixed, in the sleeve groove can be adjusted flexibly and quickly while the polishing assemblies are guaranteed to be installed and used or detached more conveniently, the number of the polishing assemblies loaded on the mounting plate can be adjusted according to the requirements for polishing different objects, and the polishing device is guaranteed to polish different objects more accurately and more efficiently.
(2) The invention relates to a flexible polishing device of a double-mechanical-arm robot, a motor III on a bottom sliding frame drives a gear I to roll on a meshing toothed plate I, the working positions of a moving and installing platform and two mechanical arms are adjusted back and forth, a motor IV on the mechanical arms drives a gear II on the meshing toothed plate I to roll, the mechanical arms are driven to move left and right for adjustment, the upper part of the motor II drives the moving and installing platform to rotate through an output shaft, the polishing position of a polishing assembly below the mechanical arms on an object is changed, one end of the motor I drives a rotary loading disc and the mechanical arms to rotate and adjust through the output shaft, the working positions and angles of polishing assemblies are changed, a motor VII drives a hydraulic cylinder I and the polishing assemblies to turn over and adjust, the device can be ensured to flexibly and rapidly adjust the working positions of the polishing assemblies, and the upper part of the motor II drives the moving and installing platform to rotate through the output shaft, make two arms can be quick remove to the different positions around the propping platform, and two arms can adjust respectively and remove, guarantee that the subassembly of polishing can be by the removal scope of adjusting bigger, and very big improvement the device to the efficiency of polishing of article.
(3) The invention relates to a flexible polishing device of a double-mechanical-arm robot, in the process of driving a bottom sliding frame and a moving and installing platform to move by a motor III, two sliding frames are respectively sleeved on upper sliding buckets of two sliding rails I, two circular convex strips I moved by the sliding frames are embedded in grooves I of the sliding rails I, so that the bottom sliding frame and the moving and installing platform are ensured to be more stable and firm to move, in the process of moving a four-motor arm leftwards and rightwards, two sliding frames II are respectively sleeved on two sliding rails II, and convex strips II on the sliding frames II are embedded in grooves II of the sliding rails II, so that a mechanical arm and a polishing assembly are ensured to move more stably and smoothly, the working stability of the device is improved, the precision and the quality of the device for polishing the object are greatly improved, in the process of polishing assembly on an installation plate for the object, a hydraulic cylinder II on the polishing assembly drives a motor V and a grinding stone to stretch and adjust through a hydraulic rod II, guarantee that the different assemblies of polishing can not influence each other to the in-process that the article was polished, and can be nimble, efficient control adjust the position of polishing of stone to the article, the degree of automation of this grinding device work is high.
(4) According to the flexible polishing device for the double-mechanical-arm robot, the first hydraulic cylinders on the two mechanical arms push the motor five and the grinding bearing seat to adjust through the hydraulic rod one, so that the working position of the polishing assembly is changed, the motor five drives the motor six and the grinding bearing seat to rotate and adjust through the output shaft, the working position of the polishing assembly is changed, the motor six drives the turnover arm and the grinding bearing seat to turn over and adjust through the output shaft, the precision of polishing the object by the grinding stones on the polishing assembly is greatly improved, and the device is guaranteed to cover a more comprehensive range for polishing the object and polish the object more thoroughly.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of an overall structure of a dual-arm robot flexible polishing apparatus according to a preferred embodiment of the present invention;
FIG. 2 is a schematic diagram of a transfer table according to the present invention.
Fig. 3 is a schematic structural diagram of the bottom slide frame of the present invention.
FIG. 4 is a front view of the bottom slide frame of the present invention.
FIG. 5 is an enlarged view of the area A in FIG. 1 according to the present invention.
FIG. 6 is a schematic view of a robotic arm according to the present invention.
FIG. 7 is an enlarged view of the detail of the area C in FIG. 6 according to the present invention.
Fig. 8 is a four-side elevational view of the motor of the present invention.
Fig. 9 is a seventh front view of the motor of the present invention.
FIG. 10 is a schematic view of a wear seat of the present invention.
FIG. 11 is an enlarged view of the detail of the area B in FIG. 1 according to the present invention.
In the figure: 1. supporting the platform; 2. a horizontal sleeve disc; 3. a toothed plate I; 4. a first slide rail; 5. a transferring and mounting table; 6. a spinning disc; 7. a toothed plate II; 8. a second slide rail; 9. a mechanical arm; 10. a first motor; 11. a bottom slide frame; 12. a second motor; 13. a third motor; 14. a first gear; 15. a first sliding frame; 16. a first convex strip; 17. a first groove; 18. hobbing one; 19. laterally installing a plate; 20. a fourth motor; 21. a first hydraulic cylinder; 22. a first hydraulic rod; 23. a fifth motor; 24. a sixth motor; 25. turning over the arm; 26. a grinding carrier; 27. a seventh motor; 28. a second sliding frame; 29. a convex strip II; 30. a second gear; 31. mounting a plate; 32. sleeving a groove; 33. polishing the assembly; 34. a second hydraulic cylinder; 35. a nut; 36. a second hydraulic rod; 37. a motor eight; 38. grinding stone; 39. hobbing two; 40. and a second groove.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
As shown in fig. 1-11, the flexible polishing device for a double-mechanical-arm robot of the invention comprises a supporting platform 1, a transverse sleeve disc 2, a rotary load disc 6 and two mechanical arms 9, wherein the top of the supporting platform 1 is horizontally provided with the transverse sleeve disc 2, two sides of the upper end surface of the transverse sleeve disc 2 are respectively provided with a first sliding rail 4, a first toothed plate 3 is horizontally arranged between the two first sliding rails 4, the two first sliding rails 4 are respectively sleeved with a first sliding frame 15, a bottom sliding frame 11 is arranged above the two first sliding frames 15, a second motor 12 is sleeved in the middle of the bottom sliding frame 11, the upper part of the second motor 12 is rotatably connected with a moving platform 5 through an output shaft, one end of the inside of the moving platform 5 is sleeved with a first motor 10, one end of the first motor 10 is rotatably connected with the rotary load disc 6 through the output shaft, a second toothed plate 7 is horizontally arranged above the side wall of the rotary load disc 6, two sliding rails 8 are arranged below the second toothed plate 7 in parallel, and the two sliding rails 8 are sleeved with the two mechanical arms 9, wherein, a third motor 13 is arranged below the bottom sliding frame 11, a first gear 14 is rotatably connected below the third motor 13 through an output shaft, a side mounting plate 19 is vertically arranged on each of the two mechanical arms 9, a fourth motor 20 is vertically arranged above the side mounting plate 19, a second gear 30 is rotatably connected below the fourth motor 20 through an output shaft, a seventh motor 27 is arranged in the middle of the outer wall of the side mounting plate 19, one end of the seventh motor 27 is rotatably connected with a first hydraulic cylinder 21 through an output shaft, a fifth motor 23 is extendedly connected below the first hydraulic cylinder 21 through a first hydraulic rod 22, the seventh motor 27 drives the first hydraulic cylinder 21 and the polishing assembly 33 to turn and adjust, the device can flexibly and rapidly adjust the working position of the polishing assembly 33, the second motor 12 drives the moving platform 5 to rotate through an output shaft, so that the two mechanical arms 9 can rapidly move to different positions around the supporting platform, and the two mechanical arms 9 can be adjusted and moved respectively, guarantee that the subassembly 33 of polishing can be moved the scope of adjusting bigger, and very big improvement the device efficiency of polishing to the article, and motor five 23 below is connected with motor six 24 through output shaft rotation, motor six 24 both ends all are connected with tilting arm 25 through output shaft rotation, and tilting arm 25 keeps away from the one end vertical welding of motor six 24 and has carried the mill seat 26, it is provided with mounting panel 31 that the cross-section is square structure on the mill seat 26 to carry, and circumference is provided with four cover grooves 32 on the mounting panel 31, it installs the subassembly 33 of polishing to run through in the cover groove 32, wherein, be provided with hydraulic cylinder two 34 on the subassembly 33 of polishing, and stretch to move through hydraulic stem two 36 below the hydraulic cylinder two 34 and be connected with motor eight 37, motor eight 37 below is connected with grindstone 38 through output shaft rotation.
The bottom of the supporting platform 1 is horizontally arranged, the upper end of the supporting platform 1 is of a trapezoidal structure, and the supporting platform 1 is more stable and firm to install and fix.
The moving platform 5 is in a cuboid structure, the area of the bottom of the moving platform 5 is equal to the area of the upper end face of the bottom sliding frame 11, and the moving platform 5 is connected with the bottom sliding frame 11 more stably and firmly.
A plurality of first gear hobbing machines 18 are arranged on one side of the first toothed plate 3 at equal intervals, the first gear 14 is meshed with the first gear hobbing machines 18, and the third motor 13 drives the first gear 14 to be movably connected with the bottom sliding frame 11 on the first toothed plate 3.
The middle parts of the two first sliding frames 15 are arranged in a hollow mode, convex strips 16 with arc-shaped cross sections are arranged on two sides of the middle parts of the two first sliding frames 15, grooves 17 are arranged in the middle parts of two sides of the two first sliding rails 4, the convex strips 16 on two sides of the two first sliding frames 15 are respectively embedded into the grooves 17 on two sides of the two first sliding rails 4, the two first sliding frames 15 are respectively sleeved on the sliding buckets on the two first sliding rails 4, the two convex strips 16 on the sliding frames 15 are embedded into the grooves 17 of the first sliding rails 4, and it is guaranteed that the bottom sliding frame 11 and the moving assembly table 5 are moved more stably and firmly.
A plurality of hobbing two 39 are arranged on one side of the toothed plate two 7 at equal intervals, the gear two 30 is meshed with the hobbing two 39, the motor four 20 drives the gear two 30 to be movably connected with the mechanical arm 9 at the toothed plate two 7, the motor four 20 on the mechanical arm 9 drives the gear one 30 to be meshed with the hobbing two 39 on the toothed plate two 7 to roll, the mechanical arm 9 is driven to move left and right to adjust, the moving and installing table 5 is driven to rotate through the output shaft above the motor two 12, and the polishing position of the polishing assembly 33 below the mechanical arm 9 to the object is changed.
The middle parts of the two sliding frames 28 are arranged in a hollow mode, two convex strips 29 which are of circular arc structures are arranged on two sides of the middle parts of the two sliding frames 28, two grooves 40 are arranged in the middle parts of two sides of two sliding rails 8, the two convex strips 29 on the two sliding frames 28 are respectively embedded into the two grooves 40 on the two sliding rails 8, the two sliding frames 28 are respectively sleeved on the two sliding rails 8, the convex strips 29 on the sliding frames 28 are embedded into the grooves 40 of the two sliding rails 8, it is guaranteed that the mechanical arm 9 and the polishing assembly 33 move more stably and smoothly, and when the working stability of the device is improved, the precision and the quality of polishing work of the device on the object are greatly improved.
Two 34 of pneumatic cylinder are cylindrical structure, and two 34 surfaces of pneumatic cylinder are provided with the screw thread, two 34 of pneumatic cylinder run through cover groove 32, and the spiro union has two nuts 35 on two 34 of pneumatic cylinder, polishing subassembly 33 is fixed in cover groove 32 through two nuts 35 spiro unions, when guaranteeing that polishing subassembly 33 installation is used or dismantle more convenient, again more nimble, quick regulation polishing subassembly 33 is by the fixed position of installation in cover groove 32, and can be according to the needs of polishing different articles, the adjustment loads the number of polishing subassembly 33 on mounting panel 31, it is higher to guarantee that this grinding device polishes the precision of handling to different articles, and efficiency is faster.
The bottom of the mounting plate 31 is provided with an infrared sensor, a distance sensor is arranged on the side mounting plate 19, the infrared sensor, seven distance sensors are in communication connection with a PLC controller arranged inside the moving and mounting table 5, the position of an object is to be scanned and identified through the infrared sensor with the model of OS137-3, the distance between two mechanical arms is detected and identified through the distance sensor with the model of EZ-30M, collision damage is avoided when the two mechanical arms 9 are prevented from moving, the part on the device is controlled to move through the PLC controller with the model of CPM1A, polishing treatment is carried out on the object, the force of the PLC controller can be adjusted when the grinding stone 38 is in polishing contact with the object, namely, the object is flexibly polished, and the polishing quality of the device to the object is improved.
The angle range that six 24 motors can drive the turnover arm 25 and carry the seat 26 of grinding and overturn is 0-270 degrees, and six 24 motors drive the turnover arm 25 and carry the seat 26 of grinding and overturn through the output shaft and adjust, very big improvement the precision that the grindstone 38 on the subassembly 33 of polishing was polished to the article, guarantee that the device is more comprehensive to the scope that article polishing treatment covered, polishing treatment is more thorough.
The working method of the polishing device specifically comprises the following steps:
the method comprises the following steps: a third motor 13 on the bottom sliding frame 11 drives a first gear 14 to be meshed with a first hobbing gear 18 on a first toothed plate 3 to roll, the working positions of the moving and assembling table 4 and the two mechanical arms 9 are adjusted in a front-and-back moving mode, a fourth motor 20 on the mechanical arms 9 drives a first gear 30 to be meshed with a second hobbing gear 39 on a second toothed plate 7 to roll, the mechanical arms 9 are driven to adjust in a left-and-right moving mode, the moving and assembling table 5 is driven to rotate above a second motor 12 through an output shaft, and the polishing position of a polishing assembly 33 below the mechanical arms 9 on an object is changed;
step two: one end of a motor I10 drives the rotary loading disc 6 and the mechanical arm 9 to rotate and adjust through an output shaft, the working position and the angle of the polishing assembly 33 are changed, and a motor seven 27 drives a hydraulic cylinder I21 and the polishing assembly 33 to turn and adjust;
step three: the hydraulic cylinders 21 on the two mechanical arms 9 push the motor five 23 and the grinding bearing seat 26 to adjust the movement through the hydraulic rod one 22, the working position of the grinding component 33 is changed, the motor five 23 drives the motor six 24 and the grinding bearing seat 26 to rotate and adjust through the output shaft, the working position of the grinding component 33 is changed, the motor six 24 drives the overturning arm 25 and the grinding bearing seat 26 to overturn and adjust through the output shaft, and the motor eight 37 on the grinding component 33 drives the grinding stone 38 to rotate to grind the object
When the device is used, the motor eight 37 on the polishing assembly 33 drives the grinding stone 38 to rotate to polish objects, and the polishing assemblies 33 at the bottoms of the two mechanical arms are used for polishing the objects simultaneously, so that the device has higher efficiency in polishing the objects, the polishing assemblies 33 are fixed in the sleeve groove 32 through the two nuts 35 in a screwed manner, the positions of the polishing assemblies 33 in the sleeve groove 32 can be adjusted more flexibly and rapidly while the polishing assemblies 33 are ensured to be more conveniently mounted and used or dismounted, and the number of the polishing assemblies 33 loaded on the mounting plate 31 can be adjusted according to the requirements for polishing different objects, so that the polishing device can be used for polishing different objects with higher precision and higher efficiency;
a third motor 13 on the bottom sliding frame 11 drives a first gear 14 to be meshed with a first hobbing gear 18 on a first toothed plate 3 to roll, the moving platform 4 and the two mechanical arms 9 are adjusted to move back and forth, a fourth motor 20 on the mechanical arms 9 drives a first gear 30 to be meshed with a second hobbing gear 39 on a second toothed plate 7 to roll, the mechanical arms 9 are driven to move left and right to adjust, the moving platform 5 is driven to rotate by an output shaft above a second motor 12, the polishing position of a polishing assembly 33 below the mechanical arms 9 on an object is changed, a rotary loading disc 6 and the mechanical arms 9 are driven to rotate and adjust by one end of a first motor 10 through the output shaft, the working position and the angle of the polishing assembly 33 are changed, a seventh motor 27 drives a first hydraulic cylinder 21 and the polishing assembly 33 to turn over and adjust, the device can flexibly and quickly adjust the working position of the polishing assembly 33, and the moving platform 5 is driven to rotate by the output shaft above the second motor 12, the two mechanical arms 9 can be rapidly moved to different positions around the supporting platform, and the two mechanical arms 9 can be respectively adjusted and moved, so that the polishing assembly 33 can be moved and adjusted in a wider range, and the polishing efficiency of the device on the object is greatly improved;
in the process that the motor III 13 drives the bottom sliding frame 11 and the moving and installing platform 5 to move, the two sliding frames I15 are respectively sleeved on the sliding buckets on the two sliding rails I4, the two circular arc-shaped convex strips I16 on the sliding frame I15 are embedded in the grooves I17 of the sliding rails I4, so that the bottom sliding frame 11 and the moving and installing platform 5 are ensured to be moved more stably and firmly, in the process that the motor IV 20 drives the mechanical arm 9 to move leftwards and rightwards, the two sliding frames II 28 are respectively sleeved on the two sliding rails II 8, the convex strips II 29 on the sliding frames II 28 are embedded in the grooves II 40 of the sliding rails II 8, so that the mechanical arm 9 and the polishing assembly 33 are ensured to move more stably and smoothly, the working stability of the device is improved, the precision and the quality of the device for polishing work on the object are greatly improved, in the process that the polishing assembly 33 on the installing plate 31 polishes the object, the hydraulic cylinders II 34 on the polishing assembly 33 drive the motor VIII and the grinding stone 38 to extend and adjust through the hydraulic rods II 36, the grinding positions of the grinding stones 38 on the objects can be flexibly and efficiently controlled and adjusted;
the first 21 hydraulic cylinders on the two mechanical arms 9 push the fifth motor 23 and the grinding bearing 26 to adjust the movement through the first 22 hydraulic rod, the working position of the grinding component 33 is changed, the fifth motor 23 drives the sixth motor 24 and the grinding bearing 26 to rotate through the output shaft, the working position of the grinding component 33 is changed, the sixth motor 24 drives the turning arm 25 and the grinding bearing 26 to turn over and adjust through the output shaft, the grinding stone 38 on the grinding component 33 is greatly improved, the grinding precision of the object is improved, and the device is guaranteed to more comprehensively cover the object in grinding treatment and more thoroughly grind the object.
The foregoing illustrates and describes the principles, general features, and advantages of the present invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and the embodiments and descriptions given above are only illustrative of the principles of the present invention, and various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a flexible grinding device of two robotic arm robots, includes supporting platform (1), horizontal cover dish (2), carries dish (6) and two arms (9) soon, its characterized in that: a transverse sleeve plate (2) is horizontally arranged at the top of the supporting platform (1), two sides of the upper end surface of the transverse sleeve plate (2) are respectively provided with a first sliding rail (4), a first toothed plate (3) is horizontally arranged between the two first sliding rails (4), and the two first sliding rails (4) are sleeved with a first sliding frame (15), a bottom sliding frame (11) is arranged above the two first sliding frames (15), a second motor (12) is sleeved in the middle of the bottom sliding frame (11), a moving and installing platform (5) is rotatably connected above the second motor (12) through an output shaft, one end of the interior of the moving and loading platform (5) is sleeved with a first motor (10), one end of the first motor (10) is rotatably connected with a rotary disc (6) through an output shaft, a toothed plate II (7) is horizontally arranged above the side wall at one side of the rotary loading disc (6), two sliding rails II (8) are arranged below the toothed plate II (7) in parallel, and two mechanical arms (9) are hung on the two sliding rails II (8);
a third motor (13) is arranged below the bottom sliding frame (11), and a first gear (14) is rotatably connected below the third motor (13) through an output shaft;
side mounting plates (19) are vertically arranged on the two mechanical arms (9), a motor four (20) is vertically arranged above the side mounting plates (19), a gear two (30) is rotatably connected below the motor four (20) through an output shaft, a motor seven (27) is arranged in the middle of the outer wall of the side mounting plates (19), one end of the motor seven (27) is rotatably connected with a hydraulic cylinder one (21) through the output shaft, a motor five (23) is connected below the hydraulic cylinder one (21) in an extending mode through a hydraulic rod one (22), a motor six (24) is rotatably connected below the motor five (23) through the output shaft, two ends of the motor six (24) are rotatably connected with turning arms (25) through the output shaft, and one ends, far away from the motor six (24), of the turning arms (25) are vertically welded with load grinding seats (26);
the grinding carrier seat (26) is provided with an installation plate (31) with a square-shaped cross section, four sleeve grooves (32) are circumferentially arranged on the installation plate (31), and grinding assemblies (33) penetrate through the sleeve grooves (32);
a second hydraulic cylinder (34) is arranged on the polishing assembly (33), a motor eight (37) is connected below the second hydraulic cylinder (34) through a second hydraulic rod (36) in an extending manner, and a grinding stone (38) is rotatably connected below the motor eight (37) through an output shaft;
the second hydraulic cylinder (34) is of a cylindrical structure, threads are arranged on the outer surface of the second hydraulic cylinder (34), the second hydraulic cylinder (34) penetrates through the sleeve groove (32), and two nuts (35) are screwed on the second hydraulic cylinder (34);
a plurality of first gear hobbing machines (18) are arranged on one side of the first toothed plate (3) at equal intervals, the first gear (14) is meshed with the first gear hobbing machines (18), and the third motor (13) drives the first gear (14) to be movably connected with the bottom sliding frame (11) on the first toothed plate (3).
2. The dual-arm robotic flexible grinding device of claim 1, wherein: the bottom of the supporting platform (1) is horizontally arranged, and the upper end of the supporting platform (1) is of a trapezoidal structure.
3. The dual-arm robotic flexible grinding device of claim 2, wherein: the transfer platform (5) is of a cuboid structure, and the area of the bottom of the transfer platform (5) is equal to the area of the upper end face of the bottom sliding frame (11).
4. The dual-arm robotic flexible grinding device of claim 3, wherein: the middle parts of the two sliding frames I (15) are arranged in a hollow mode, convex strips I (16) with arc-shaped sections are arranged on two sides of the middle parts of the two sliding frames I (15), grooves I (17) are arranged in the middle parts of two sides of the two sliding rails I (4), and the convex strips I (16) on two sides of the two sliding frames I (15) are respectively embedded into the grooves I (17) on two sides of the two sliding rails I (4).
5. A dual-arm robotic flexible grinding device according to claim 1 or 3, wherein: a plurality of second hobbing gears (39) are arranged on one side of the second toothed plate (7) at equal intervals, the second gear (30) is meshed with the second hobbing gears (39), and the fourth motor (20) drives the second gear (30) to be movably connected with the mechanical arm (9) on the second toothed plate (7).
6. The dual-arm robotic flexible grinding device of claim 2, wherein: the middle parts of the two sliding frames II (28) are arranged in a hollow mode, convex strips II (29) in arc-shaped structures are arranged on two sides of the middle parts of the two sliding frames II (28), grooves II (40) are arranged in the middle parts of two sides of the two sliding rails II (8), and the two convex strips II (29) on the two sliding frames II (28) are respectively embedded into the two grooves II (40) on the two sliding rails II (8).
7. The dual-arm robotic flexible grinding device of claim 2, wherein: the bottom of the mounting plate (31) is provided with an infrared sensor, a side mounting plate (19) is provided with a distance sensor, and the infrared sensor and the distance sensor are in communication connection with a PLC (programmable logic controller) arranged inside the moving mounting table (5).
8. The dual-arm robotic flexible grinding device of claim 1, wherein: the motor six (24) can drive the overturning arm (25) and the grinding bearing seat (26) to overturn within the angle range of 0-270 degrees.
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| CN202011027677.6A CN112139944B (en) | 2020-09-25 | 2020-09-25 | Flexible grinding device of two robotic arm robots |
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| CN202011027677.6A CN112139944B (en) | 2020-09-25 | 2020-09-25 | Flexible grinding device of two robotic arm robots |
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| CN112139944B true CN112139944B (en) | 2021-09-17 |
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| CN113579964B (en) * | 2021-08-05 | 2022-09-16 | 青岛理工大学 | Grinding wheel polishing control device and closed-loop control system comprising same |
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| CN210616160U (en) * | 2019-09-25 | 2020-05-26 | 扬州市德林内燃机配件有限公司 | Internal combustion engine body polishing device |
| CN111216027A (en) * | 2020-01-20 | 2020-06-02 | 江苏扬阳化工设备制造有限公司 | Adjusting and polishing device for inner wall of glass lining equipment |
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| EP0444657A1 (en) * | 1990-02-27 | 1991-09-04 | Kabushiki Kaisha Toshiba | Control robot |
| US6988434B1 (en) * | 2003-12-03 | 2006-01-24 | Elk Premium Building Products, Inc. | Multi-axis tool positioner and related methods |
| CN203046175U (en) * | 2013-01-18 | 2013-07-10 | 中山市钜通机电技术有限公司 | Horizontal five-shaft servo double-arm double-cutting mechanical arm |
| CN107584386A (en) * | 2017-10-16 | 2018-01-16 | 王彩英 | Outer fire cover processing unit (plant) in a kind of household electrical appliance gas-cooker |
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| CN112139944A (en) | 2020-12-29 |
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Denomination of invention: A Flexible Polishing Device for Double Manipulator Robot Effective date of registration: 20230613 Granted publication date: 20210917 Pledgee: Huaxia Bank Co.,Ltd. Hefei high tech Zone sub branch Pledgor: ANHUI XINJINGJIE AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2023980043765 |