CN112318286A

CN112318286A - Grinding device based on six robots

Info

Publication number: CN112318286A
Application number: CN202011153185.1A
Authority: CN
Inventors: 蒋凯
Original assignee: Guangdong Horbao Robot Technology Co ltd
Current assignee: Guangdong Horbao Robot Technology Co ltd
Priority date: 2020-10-26
Filing date: 2020-10-26
Publication date: 2021-02-05

Abstract

The invention discloses a polishing device based on a six-axis robot, which belongs to the technical field of polishing devices and comprises a supporting table, the six-axis robot and a mounting seat, wherein the six-axis robot is fixedly mounted at the top of the supporting table, the mounting seat is mounted on the six-axis robot, two vertical plates are fixedly mounted at the top of the supporting table, a straight rod is arranged in each vertical plate in a sliding manner, an inner plate is fixedly mounted at one end of the straight rod, an outer plate is fixedly mounted at the other end of the straight rod, and a first limiting groove is formed in the top of the supporting table along the width direction. According to the invention, when the polishing machine is used, an object can be fed into the clamping position, synchronous clamping of the object is realized, after polishing is completed, clamping positioning can be removed, the object can be synchronously fed out, the labor intensity of workers is reduced, the polishing machine is convenient to use, when the polishing machine is installed, the polishing machine can be stably fixed better through the arranged third spring, bolt loosening is avoided, and safety is improved.

Description

Grinding device based on six robots

Technical Field

The invention belongs to the technical field of polishing devices, and particularly relates to a polishing device based on a six-axis robot.

Background

Robots are the common name for automatic control machines, which include all machines that simulate human behavior or thought and other creatures. There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In modern industry, a robot refers to a man-made machine capable of automatically performing tasks, and is used to replace or assist human work, and when polishing an object, the robot is used, wherein a six-axis robot is an important robot and is widely used.

The patent publication No. CN107825290A discloses a robot automatic grinding device, which comprises a frame, wherein the upper end part of the frame is provided with a robot grinding component; the robot polishing assembly comprises a robot mounting seat arranged at the upper end part of the rack, six robots are arranged at the upper end part of the robot mounting seat, a polishing clamping mechanism is arranged at the driving end of each robot, and the polishing clamping mechanism comprises a movable mounting seat arranged at the driving end of each robot, a product sucker arranged on the movable mounting seat, and an electric polishing head arranged on the movable mounting seat and positioned beside the product sucker; the automatic polishing machine has the advantages that the automatic polishing machine can realize automatic polishing operation, namely the automatic polishing machine has novel structural design, high automation degree and high working efficiency, and can effectively save labor cost.

The above patents suffer from the following disadvantages: this patent can not realize accomplishing in step with pushing the centre gripping of object, also can not accomplish to relieve the centre gripping of object and release in step to can increase operating procedure, increase the intensity of labour of processing personnel, the polishing motor of installation, when long-term, very easily takes place to become flexible, has the potential safety hazard.

Disclosure of Invention

The invention aims to solve the problems that in the prior art, clamping and pushing of an object cannot be synchronously completed, and clamping and pushing of the object cannot be synchronously released, so that operation steps can be increased, the labor intensity of processing personnel is increased, and a grinding motor is installed, so that looseness is easily caused in a long-term process, and potential safety hazards exist.

In order to achieve the purpose, the invention adopts the following technical scheme:

a polishing device based on a six-axis robot comprises a supporting table, the six-axis robot and a mounting seat, wherein the six-axis robot is fixedly mounted at the top of the supporting table, the mounting seat is mounted on the six-axis robot, two vertical plates are fixedly mounted at the top of the supporting table, a straight rod is arranged in each vertical plate in a sliding manner, an inner plate is fixedly mounted at one end of the straight rod, an outer plate is fixedly mounted at the other end of the straight rod, a first limiting groove is formed in the top of the supporting table in the width direction, a second limiting groove is formed in the top of the supporting table in the horizontal direction, a driving motor is fixedly mounted at one side of the supporting table, a bidirectional screw rod is fixedly mounted at the output end of the driving motor, a smooth section of the bidirectional screw rod is rotatably connected with the supporting table, a gear is fixedly mounted on the outer wall of the bidirectional screw rod, and, the vertical rod is positioned in the second limiting groove, and the top of the vertical rod is fixedly connected with the outer plate;

two the track groove has all been seted up to the side that corresponds of riser, it is provided with the slide to slide in the track groove, the bottom fixed mounting of slide has the locating piece, the locating piece is located first spacing inslot, and the bottom fixed mounting of locating piece has rectangular piece, the bottom fixed mounting of rectangular piece has the ratch, the ratch is connected with gear engagement, the bottom of rectangular piece is close to front side fixed mounting and has the lug, supporting bench's bottom is close to rear side fixed mounting and has the baffle, fixed mounting has first spring between baffle and the lug.

Further, one side fixed mounting that the planking was kept away from to the inner panel has the telescopic link, the one end fixed mounting that the inner panel was kept away from to the telescopic link has splint, the cover is equipped with the second spring on the outer wall of telescopic link, and the both ends of second spring respectively with inner panel and splint fixed connection.

Further, a rubber block is bonded on the inner side of the clamping plate.

Furthermore, a connecting piece is fixedly installed at the bottom of the installation seat, a polishing motor is fixedly installed at the center of the bottom of the connecting piece, and a polishing piece is fixedly installed at the output end of the polishing motor.

Further, the connecting piece includes the disk, the inner chamber has been seted up at the top of disk, the inner wall bottom fixed mounting of inner chamber has the third spring, the inner chamber is embedded to be equipped with the plectane, and the bottom and the third spring laminating of plectane.

Further, the sum of the initial length of the third spring and the thickness of the circular plate is larger than the depth of the inner cavity.

Furthermore, the top of the round block is provided with mounting holes uniformly, and the mounting holes are positioned on the outer side of the inner cavity.

Furthermore, rod holes are formed in the two vertical plates and are matched with the straight rods.

Further, the vertical section of the supporting platform is of a concave structure, and the notch faces downwards.

Furthermore, the length of the track groove is smaller than the width of the vertical plate, and the track groove is arranged on the front surface of the vertical plate.

In summary, due to the adoption of the technical scheme, the invention has the beneficial effects that:

in the invention, when in use, an object to be polished can be placed on the sliding plate, the driving motor can drive the bidirectional screw rod to rotate, so that the two vertical rods move in the second limiting groove and drive the two outer plates to approach each other, the two outer plates can drive the straight rod to move in the vertical plate and drive the two inner plates to approach each other, when the driving motor drives the bidirectional screw rod to rotate, the gear can drive the toothed rod to move, so that the strip block drives the positioning block to move in the first limiting groove, the sliding plate is pulled to move in the track groove to push the object, the two clamping plates can clamp the object along with the approach of the two inner plates, when the object is clamped, the arranged second spring can stretch and contract, so that the object can be better clamped and fixed, the six-axis robot moves the polishing piece to the polishing position, and the polishing piece is driven by the polishing motor to polish the object, accomplish the back of polishing, driving motor drives two-way lead screw antiport, removes the object centre gripping, simultaneously, drives the outside removal of slide, realizes the effect that shifts out the object, when installation polishing motor, can be so that the former board is in the inner chamber, and the third spring can be in compression state, and realization that can be better is fixed to polishing motor's stability, avoids long-term the use, and the bolt that causes fixed polishing motor is not hard up, promotes the security when using.

Drawings

FIG. 1 is a top perspective view of the present invention;

FIG. 2 is a bottom perspective view of the present invention;

FIG. 3 is a front view of the present invention;

FIG. 4 is an enlarged view taken at A of FIG. 3 in accordance with the present invention;

FIG. 5 is a top view of the present invention;

fig. 6 is a schematic structural view of the connector of the present invention.

The labels in the figure are: 1. a support table; 101. a first limit groove; 102. a second limit groove; 2. a six-axis robot; 3. a mounting seat; 4. a connecting member; 401. a round block; 402. an inner cavity; 403. a third spring; 404. a circular plate; 405. mounting holes; 5. polishing the motor; 6. grinding the sheets; 7. a vertical plate; 8. an outer plate; 9. a drive motor; 10. a splint; 11. a slide plate; 12. a gear; 13. a bidirectional screw rod; 14. a long bar block; 15. a vertical rod; 16. a rack bar; 17. a bump; 18. a first spring; 19. a baffle plate; 20. positioning blocks; 21. a straight rod; 22. a telescopic rod; 23. a second spring; 24. an inner panel.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention; it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work are within the scope of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "inner", "outer", "top/bottom", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplification of description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "disposed," "sleeved/connected," "connected," and the like are to be construed broadly, e.g., "connected," which may be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; the two components can be directly connected or indirectly connected through an intermediate medium, and the two components can be communicated with each other; the specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

Example one, see fig. 1-5: a polishing device based on a six-axis robot comprises a supporting table 1, a six-axis robot 2 and an installation seat 3, wherein the six-axis robot 2 is fixedly installed at the top of the supporting table 1, the installation seat 3 is installed on the six-axis robot 2, two vertical plates 7 are fixedly installed at the top of the supporting table 1, a straight rod 21 is arranged in each vertical plate 7 in a sliding mode, an inner plate 24 is fixedly installed at one end of each straight rod 21, an outer plate 8 is fixedly installed at the other end of each straight rod 21, a first limiting groove 101 is formed in the top of the supporting table 1 in the width direction, a second limiting groove 102 is formed in the top of the supporting table 1 in the horizontal direction, a driving motor 9 is fixedly installed at one side of the supporting table 1, a two-way screw rod 13 is fixedly installed at the output end of the driving motor 9, the smooth section of the two-way screw rod 13 is rotatably connected with the supporting table 1, a gear 12 is, the vertical rod 15 is positioned in the second limiting groove 102, the top of the vertical rod 15 is fixedly connected with the outer plate 8, track grooves are formed in the corresponding sides of the two vertical plates 7, a sliding plate 11 is slidably arranged in the track grooves, a positioning block 20 is fixedly arranged at the bottom of the sliding plate 11, the positioning block 20 is positioned in the first limiting groove 101, a strip block 14 is fixedly arranged at the bottom of the positioning block 20, a toothed bar 16 is fixedly arranged at the bottom of the strip block 14, the toothed bar 16 is meshed with the gear 12, a convex block 17 is fixedly arranged at the bottom of the strip block 14 close to the front side, a baffle 19 is fixedly arranged at the bottom of the supporting table 1 close to the rear side, a first spring 18 is fixedly arranged between the baffle 19 and the convex block 17, a telescopic rod 22 is fixedly arranged at one side of the inner plate 24 far away from the outer plate 8, a clamping plate 10 is fixedly arranged at one end of the telescopic rod, for a wide application, the corresponding model can be selected according to the requirement, which is not described herein again, the outer wall of the telescopic rod 22 is sleeved with the second spring 23, and both ends of the second spring 23 are fixedly connected with the inner plate 24 and the clamping plate 10, respectively, the inner side of the clamping plate 10 is bonded with a rubber block, when in use, a user can place an object to be processed on the sliding plate 11, the driving motor 9 can drive the two-way screw 13 to rotate, the two vertical rods 15 on the two-way screw 13 move in the second limiting groove 102 under the action of the two-way screw 13, the two outer plates 8 drive the straight rod 21 to move in the vertical plate 7, the two inner plates 24 are close to each other, when the driving motor 9 drives the two-way screw 13 to rotate, the gear 12 can drive the toothed rod 16 to move, and the long rod 14 drives the positioning block 20 to move in the first limiting groove 101, the sliding plate 11 is pulled to move in the track groove, the object on the sliding plate 11 enters the clamping area along with the sliding plate 11, the object is pushed in, as the two inner plates 24 approach during the process of clamping an object, the two clamping plates 10 are caused to clamp the object, when an object is clamped, the arranged second spring 23 can stretch and retract to better clamp and fix the object, the six-axis robot 2 moves the polishing sheet 6 to the polishing position, the polishing sheet 6 is driven by the polishing motor 5 to polish the object, after polishing is completed, the driving motor 9 drives the bidirectional screw 13 to rotate reversely, so that the two vertical rods 15 are far away from each other in the second limiting groove 102, and the clamping plate 10 releases the clamping of the object, and simultaneously, the gear 12 rotates reversely along with the bidirectional screw rod 13, pulls the rack bar 16 to move, and further drives the sliding plate 11 to move outwards, so that the effect of removing the object is achieved.

Example two, with reference to fig. 1 and 6: the bottom of the mounting seat 3 is fixedly provided with a connecting piece 4, the bottom center of the connecting piece 4 is fixedly provided with a grinding motor 5, the output end of the grinding motor 5 is fixedly provided with a grinding plate 6, the connecting piece 4 comprises a round block 401, the top of the round block 401 is provided with an inner cavity 402, the bottom of the inner wall of the inner cavity 402 is fixedly provided with a third spring 403, the inner cavity 402 is embedded with a round plate 404, the bottom of the round plate 404 is attached to the third spring 403, the sum of the initial length of the third spring 403 and the thickness of the round plate 404 is greater than the depth of the inner cavity 402, the top of the round block 401 is uniformly provided with mounting holes 405, the mounting holes 405 are positioned on the outer side of the inner cavity 402, two risers 7 are respectively provided with rod holes, the rod holes are matched with straight rods 21, the vertical section of the supporting platform 1 is of a concave structure, the notch is downward, the, when the grinding motor 5 is installed, the circular plate 404 can be positioned in the inner cavity 402 and attached to one end of the third spring 403, the connecting piece 4 is attached to the installation seat 3 and fixed through the bolt, the third spring 403 can be compressed by the circular plate 404 through tightening of the bolt at any time, the connecting piece 4 can be stably fixed to the installation seat 3, bolt looseness caused by long-term use can be effectively avoided, the use of the grinding motor 5 is affected, and safety can be improved.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the equivalent replacement or change according to the technical solution and the modified concept of the present invention should be covered by the scope of the present invention.

Claims

1. The utility model provides a grinding device based on six robots, includes brace table (1), six robots (2) and mount pad (3), six robots (2) fixed mounting are in the top of brace table (1), install on six robots (2) mount pad (3), its characterized in that: the top of the supporting table (1) is fixedly provided with two vertical plates (7), the two vertical plates (7) are both internally provided with a straight rod (21) in a sliding manner, one end of the straight rod (21) is fixedly provided with an inner plate (24), the other end of the straight rod (21) is fixedly provided with an outer plate (8), the top of the supporting table (1) is provided with a first limit groove (101) along the width direction, the top of the supporting table (1) is provided with a second limit groove (102) along the horizontal direction, one side of the supporting table (1) is fixedly provided with a driving motor (9), the output end of the driving motor (9) is fixedly provided with a bidirectional screw rod (13), the smooth section of the bidirectional screw rod (13) is rotatably connected with the supporting table (1), the outer wall of the bidirectional screw rod (13) is fixedly provided with a gear (12), and the thread sections of the bidirectional screw rod (13) are positioned on, the vertical rod (15) is positioned in the second limiting groove (102), and the top of the vertical rod (15) is fixedly connected with the outer plate (8);

two the track groove has all been seted up to the side that corresponds of riser (7), it is provided with slide (11) to slide in the track groove, the bottom fixed mounting of slide (11) has locating piece (20), locating piece (20) are located first spacing groove (101), and the bottom fixed mounting of locating piece (20) has rectangular piece (14), the bottom fixed mounting of rectangular piece (14) has ratch (16), ratch (16) are connected with gear (12) meshing, the bottom of rectangular piece (14) is close to front side fixed mounting and has lug (17), the bottom of brace table (1) is close to rear side fixed mounting and has baffle (19), fixed mounting has first spring (18) between baffle (19) and lug (17).

2. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: one side fixed mounting that planking (8) were kept away from in inner panel (24) has telescopic link (22), the one end fixed mounting that inner panel (24) were kept away from in telescopic link (22) has splint (10), the cover is equipped with second spring (23) on the outer wall of telescopic link (22), and the both ends of second spring (23) respectively with inner panel (24) and splint (10) fixed connection.

3. A six-axis robot-based grinding apparatus as defined in claim 2, wherein: the inner side of the clamping plate (10) is bonded with a rubber block.

4. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: the polishing machine is characterized in that a connecting piece (4) is fixedly mounted at the bottom of the mounting seat (3), a polishing motor (5) is fixedly mounted at the center of the bottom of the connecting piece (4), and a polishing sheet (6) is fixedly mounted at the output end of the polishing motor (5).

5. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: the connecting piece (4) comprises a round block (401), an inner cavity (402) is formed in the top of the round block (401), a third spring (403) is fixedly mounted at the bottom of the inner wall of the inner cavity (402), a round plate (404) is embedded in the inner cavity (402), and the bottom of the round plate (404) is attached to the third spring (403).

6. A six-axis robot-based grinding apparatus as defined in claim 5, wherein: the sum of the initial length of the third spring (403) and the thickness of the circular plate (404) is greater than the depth of the inner cavity (402).

7. A six-axis robot-based grinding apparatus as defined in claim 5, wherein: the top of the round block (401) is provided with mounting holes (405) uniformly, and the mounting holes (405) are located on the outer side of the inner cavity (402).

8. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: two all seted up the pole hole in riser (7), and pole hole and straight-bar (21) phase-match.

9. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: the vertical section of the supporting table (1) is of a concave structure, and the notch is downward.

10. A six-axis robot-based grinding apparatus as defined in claim 1, wherein: the length of the track groove is smaller than the width of the vertical plate (7), and the track groove is arranged on the front surface of the vertical plate (7).