CN112388409A

CN112388409A - Magnetic suction type polishing robot

Info

Publication number: CN112388409A
Application number: CN202011251196.3A
Authority: CN
Inventors: 李弈谋; 邵兵; 衡兵; 霍子伟; 成旭钊; 黄年庆
Original assignee: Shanghai Dianji University
Current assignee: Shanghai Dianji University
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2021-02-23

Abstract

The invention discloses a magnetic type robot, which is characterized in that: comprises an H-shaped section, a base, a plurality of groups of electromagnets and a polishing mechanism; the grinding mechanism is connected to a certain vertical section bar of the H section bar, the transverse section bar of the H section bar is provided with a transverse movement mechanism, the transverse movement mechanism is connected with a downward vertical movement mechanism, and the output end of the vertical movement mechanism is provided with a second group of electromagnets.

Description

Magnetic suction type polishing robot

The technical field is as follows:

the invention relates to the technical field of automatic robot production, in particular to a robot which realizes the adsorption and polishing on the surface of a crankshaft by applying an electromagnetic technology.

Background art:

at present, the grinding process of the large marine crankshaft commonly used in China is to grind and deburr the surface of the large marine crankshaft by a non-automatic means, namely, a grinding machine is manually held to grind the crankshaft surface. In addition, the existing polishing machine utilizes mechanical arms to work in a combined mode, and polishing of workpieces is achieved.

In addition, in the current stage, most of the work depends on workers to hold grinding tools, the surfaces of shafts are ground one by one, however, the manual operation is long in time consumption and quite labor-consuming, and the workers work in the environment for a long time, so that great harm is caused to the life safety and the occupational health of the workers; moreover, the pollution of dust to the environment is contradictory to the environment-friendly production mode advocated in China.

Moreover, the demand of China for oversize marine crankshafts is increasing, for example: the large butt joint type marine crankshaft 12S90ME-C, the large crankshaft with the total length of 23.06 meters and the weight of 458.7 tons, the weight and the volume of a single crankshaft crank throw are very large, both turning and manual grinding are quite time-consuming and labor-consuming, and if manual grinding fails, the crankshaft needs to be ground again, so that the cost is increased for the manufacturing process of the large marine crankshaft.

The existing vertical side surface grinding machine for large castings comprises a frame, a grinding mechanism and a cylinder, wherein the frame comprises two bottom beams, a roller, a conveying plate, a support column and a slide rail; the polishing mechanism comprises a sliding block, a motor, a rotating shaft and a polishing roller; the polishing device has the advantages of reasonable structure, simple structure, convenience in use and strong environment adaptability, and effectively solves the problem of difficulty in polishing large castings. However, the volume is large, and the corner part cannot be fully polished and deburred; moreover, it can only grind vertical planes, with strong limitations.

The invention content is as follows:

the invention aims to design and develop a polishing robot which integrates a mechanical design technology, a linkage technology and a PLC control technology, is used for deburring the non-working surface of a large marine crankshaft, uses program control, is suitable for polishing crankshafts with various sizes and realizes program control automatic deburring; the manual use is reduced, and the efficiency is 5-10 times higher than that of the traditional polishing mode; the dust pollution is small, the physical health of workers is greatly guaranteed, the operation is carried out in a closed space, and the pollution to the environment is reduced; the robot polishes through program control, and the parameter of polishing of ability accurate control is few to the consumption of emery wheel, effectively reduces 30% -50% than the manual work.

In order to solve the problems, the invention adopts the following novel technical scheme: the utility model provides a formula robot is inhaled to magnetism which characterized in that: comprises an H-shaped section, a base, a plurality of groups of electromagnets and a polishing mechanism; the grinding mechanism is connected to a certain vertical section bar of the H section bar, the transverse section bar of the H section bar is provided with a transverse movement mechanism, the transverse movement mechanism is connected with a downward vertical movement mechanism, and the output end of the vertical movement mechanism is provided with a second group of electromagnets.

In one embodiment, the grinding mechanism comprises a grinding machine, a grinding head, a first set of lead screws and a first set of motors; wherein, first set of motor and first set of lead screw are vertically installed through first adapting unit on certain vertical section bar of H section bar, the output at the polisher is installed to the head of polishing, the polisher passes through second adapting unit and installs on the lead screw, by the rotatory output of polisher drive head, drive the polisher by first set of motor drive lead screw and reciprocate.

In one embodiment, the lateral movement mechanism comprises a second set of motors and a second set of lead screws; the second group of motors and the second group of screw rods are transversely arranged on the transverse section bar of the H-shaped bar through a third group of connecting parts, and the second group of motors drive the second group of screw rods to transversely move.

In one embodiment, the vertical motion mechanism comprises a push rod motor and a push rod; the output end of the push rod motor drives the push rod to move up and down, an electromagnet connecting plate is installed at one end, far away from the push rod motor, of the push rod, and the second group of electromagnets are installed on the electromagnet connecting plate.

In one embodiment, the device further comprises a stepping motor, the stepping motor is connected with the second group of screw rods through a motor bracket and a screw nut, the stepping motor is also connected with the vertical movement mechanism through another motor bracket, and the horizontal movement mechanism and the H-shaped section rotate under the driving of the stepping motor.

In one embodiment, the electromagnet connecting plate is a disc, and the second group of electromagnets are uniformly distributed on the disc in the circumferential direction.

In one embodiment, the screw nut is connected with an electrode flange through a screw nut connecting plate and a flange sleeve, and the electrode flange is installed at the output end of the stepping motor.

In one embodiment, the second connecting member includes an optical axis support and an optical axis support connecting plate, a through hole matching with the outer diameter of the polishing machine is formed in the optical axis support, the optical axis support is connected with the first group of lead screws through the optical axis support connecting plate and the first group of lead screw connecting plate, and the polishing machine is installed in the through hole formed in the optical axis support.

In one embodiment, the various components are controlled integrally by a PLC.

Compared with the prior art, the invention has the main advantages or positive effects that:

1) program control automatic deburring and polishing can be realized only by 1-2 persons for assistance. And the crankshaft grinding machine is suitable for grinding various crankshafts and realizes program-controlled automatic grinding and polishing.

2) The efficiency is extremely high, 5-10 times of that of manual grinding, and 5-10 individuals can be replaced. The ingenious design ensures that the robot arm is highly flexible and can be ground more quickly; the off-line programming can be realized, the idle time of the robot is reduced, and sufficient technical support and conditions are established for high-efficiency polishing.

3) Crankshafts of various sizes can be ground and polished. The design has an electromagnetic system, and the robot can remove along with the slide, realizes the polishing to large-scale bent axle.

4) The dust pollution is small, the operation is carried out in a closed space, the pollution to the environment is reduced, and the physical health of workshop personnel is guaranteed.

5) The cutter loss is few, and emery wheel and cutter long service life, and single bent axle is polished with low costs. The robot polishes through program control, and the parameter of polishing of ability accurate control is few to the consumption of emery wheel, effectively reduces 30% -50% than the manual work. The service life of the diamond grinding wheel and the cutter is averagely 3-6 months, and the crankshaft can be ground in batches under the high-speed condition, so that the deburring and grinding cost of a single crankshaft is greatly reduced.

6) The service life is long, and the service life can be used for decades. The main parts are standard parts, the quality and the performance can be guaranteed, and ten-year service life of the robot can be guaranteed as long as proper maintenance is realized.

7) The system integration and linkage are good. The intelligent production line can realize seamless connection with communication between other devices, thereby improving the efficiency and saving the cost.

The whole device is controlled by a program, before working, the robot is placed on the surface of a crankshaft to be polished, the maximum length and width of the crankshaft is input, and the device can be operated, is small and exquisite, is light and convenient, and is easy to install and work; the structure is simple, and the crankshaft crank plane surface for the large ship can be moved and polished freely.

Description of the drawings:

fig. 1 is a schematic diagram illustrating an overall structure of a magnetic attraction type polishing robot according to an embodiment of the present invention;

fig. 2 is an exploded view illustrating the assembly of a lateral motion mechanism and a vertical motion mechanism in a magnetic attraction type grinding robot according to an embodiment of the present invention;

FIG. 3 is an exploded view of an assembly of a sander, a first set of lead screws, and a first set of motors in a magnetic attraction type sanding robot according to an embodiment of the present invention;

fig. 4 is an exploded view illustrating the assembly of a vertical movement mechanism in a magnetic attraction type grinding robot according to an embodiment of the present invention.

In the illustration:

1H of a section bar, wherein the section bar comprises a plurality of sections,

2 the electromagnetic iron is arranged on the upper surface of the shell,

3 a push rod motor flange is arranged on the upper portion of the frame,

4 an electromagnet connecting plate is arranged on the upper surface of the frame,

5 a motor for pushing a rod is arranged on the frame,

6 a step motor is arranged on the upper portion of the frame,

7 a step motor bracket is arranged on the bracket,

8, a flange sleeve is arranged on the upper end of the sleeve,

9 a lead screw and a nut are connected with each other,

10 a screw nut, a nut and a nut,

11 a lead screw stepping motor, wherein the lead screw stepping motor,

12 big lead screw connecting plates are arranged on the lead screw,

13 a small screw rod connecting plate which is provided with a screw rod,

a 14-screw motor is arranged on the upper portion of the screw rod,

15 a connecting plate of a grinding machine,

a 16-optical-axis bracket is arranged on the bracket,

17 a grinding machine is used for grinding the workpiece,

18 a grinding head is arranged at the front end of the grinding head,

19 an electromagnet, and a power supply device,

20 a screw nut is arranged on the screw rod,

21 a lead screw, and a screw rod,

a lead screw 22 is arranged on the upper portion of the screw,

23 the flange of the electrode is connected with the electrode,

a grinding head is arranged at the position of 24,

25 a base plate and a plurality of grooves are arranged on the base plate,

26 pushing the rod.

The specific implementation mode is as follows:

the following description of the embodiments of the present invention is provided for illustrative purposes, and other advantages and effects of the present invention will become apparent to those skilled in the art from the present disclosure. While the invention will be described in conjunction with the preferred embodiments, it is not intended that features of the invention be limited to these embodiments. On the contrary, the invention is described in connection with the embodiments for the purpose of covering alternatives or modifications that may be extended based on the claims of the present invention. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. The invention may be practiced without these particulars. Moreover, some of the specific details have been left out of the description in order to avoid obscuring or obscuring the focus of the present invention. It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict.

In the description of the present embodiment, it should be noted that the terms "upper", "lower", "inner", "bottom", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings or orientations or positional relationships that are conventionally placed when the products of the present invention are used, and are only used for convenience in describing the present invention and simplifying the description, but do not indicate or imply that the devices or elements indicated must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention.

The terms "first," "second," and the like are used solely to distinguish one from another and are not to be construed as indicating or implying relative importance.

In the description of the present embodiment, it should be further noted that, unless explicitly stated or limited otherwise, the terms "disposed," "connected," and "connected" are to be interpreted broadly, e.g., as a fixed connection, a detachable connection, or an integral connection; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present embodiment can be understood in specific cases by those of ordinary skill in the art.

Referring to fig. 1 in conjunction with fig. 2-4, in the illustrated embodiment, a magnetic-attraction type robot includes an H-shaped member, a base, a plurality of sets of electromagnets, and a grinding mechanism; the two bottom surfaces of the H-shaped section bar 1 are respectively provided with a group of bases 25, the bottom surface of each group of bases 25 is provided with a first group of electromagnets 19, the polishing mechanism is connected to a certain vertical section bar of the H-shaped section bar 1, the transverse section bar of the H-shaped section bar is provided with a transverse movement mechanism, the transverse movement mechanism is connected with a vertical movement mechanism which is installed downwards, and the output end of the vertical movement mechanism is provided with a second group of electromagnets 2.

Further, the grinding mechanism includes a grinding machine 17, a grinding head 18, a lead screw, and a lead screw motor 14; wherein, lead screw motor 14 and lead screw pass through first adapting unit and vertically install on a certain vertical section bar of H section bar 1, and the output at polisher 17 is installed to polishing head 18, and polisher 17 passes through the second adapting unit and installs on the lead screw, and polisher 17 drives the rotatory output of polishing head 18, and lead screw motor 13 drive lead screw drives polisher 17 and reciprocates.

Further, the transverse movement mechanism comprises a lead screw stepping motor 11 and a lead screw; the lead screw stepping motor 11 and the lead screw are transversely installed on the transverse section of the H-shaped section 1 through a third group of connecting components, and the lead screw stepping motor 11 drives a second group of lead screws to transversely move.

Further, the vertical movement mechanism comprises a push rod motor 5 and a push rod 26; the output end of the push rod motor 5 drives the push rod 26 to move up and down, the electromagnet connecting plate 4 is installed at one end, far away from the push rod motor, of the push rod 26, and the electromagnet 2 is installed on the electromagnet connecting plate 4.

Further, the H-shaped section bar device further comprises a stepping motor 6, the stepping motor 6 is connected with a lead screw through a motor support 7 and a lead screw nut 10, the stepping motor 6 is also connected with the vertical movement mechanism through the stepping motor support 7, and the horizontal movement mechanism and the H-shaped section bar 1 rotate under the driving of the stepping motor 6.

Furthermore, the electromagnet connecting plate 4 is a disk, and the electromagnets 2 are uniformly distributed on the disk in the circumferential direction.

Further, referring to fig. 2, the screw nut 10 is connected to an electrode flange 23 through a screw nut connecting plate 9 and a flange sleeve 8, and the electrode flange 23 is installed at an output end of the stepping motor 6.

Further, the second connecting member includes an optical axis holder 16 and an optical axis holder connecting plate 15, a through hole matching the size of the outer circle of the polishing machine 17 is formed in the optical axis holder 16, the optical axis holder 16 is connected to the lead screw 22 through the optical axis holder connecting plate 15 and the first lead screw connecting plate 13, and the polishing machine is mounted in the through hole formed in the optical axis holder 16.

In one embodiment, the various components are controlled integrally by a PLC.

In order to make the technical means, the creation features, the achievement purposes and the effects of the invention easy to understand, the working principle of the invention is further explained below by combining the specific embodiments.

I. Standby state: the electromagnet 19 is electrified and is adsorbed on the plane of the crank throw, and at the moment, the push rod motor 5 is in a retraction state, namely, the electromagnet 2 is positioned above the plane and is not electrified. The sander 17 carried by the lead screw nut 20 is also above the plane.

II. The working state is as follows: on the basis of the I working state, the feed screw motor 14 works, the screw nut 20 moves downwards to drive the grinding machine 17 to descend to a plane, and therefore the plane is ground.

III, straight movement: on the basis of the I standby state, the push rod motor 5 stretches out, the electromagnet 2 is driven to move downwards, when the push rod motor 5 falls to a crank plane, the power is absorbed on the plane, meanwhile, the electromagnet 19 is powered off, the push rod motor 5 continues to stretch out, the whole device is jacked to a certain distance away from the plane, the lead screw stepping motor 11 works, the lead screw nut 10 moves forwards, the whole device is driven to move forwards, after the push rod motor 5 retracts after the specified distance is moved, the whole device descends, when the electromagnet 19 falls to the plane, the power is absorbed on the surface, meanwhile, the electromagnet 2 is powered off, the push rod motor 5 continues to retract, and the push rod motor returns to the initial state.

IV, rotating movement: on the basis of I standby state, push rod motor 5 stretches out, drive electro-magnet 2 downstream, when falling to the bell crank plane, the circular telegram adsorbs in the plane, 19 outage of electro-magnet simultaneously, push rod motor 5 continues to stretch out, push up whole device certain distance from the plane, step motor 6 works, the motor flange of cooperation connection on screw nut connecting plate 9, it is rotatory to drive whole device, after rotatory to the assigned position, push rod motor 5 retracts, whole device descends, when electro-magnet 19 falls to the plane, the circular telegram is adsorbed on the surface, electro-magnet 2 outage simultaneously, push rod motor 5 continues to retract, push rod motor 5 gets back to initial state, step motor 7 counter rotation, step motor 7 gets back to initial state.

The invention breaks through the traditional manual deburring and polishing mode for the first time, realizes the all-dimensional motion of the whole device by using the cooperation of the motor, and is convenient for polishing the surface of the large marine crankshaft.

Meanwhile, the device is based on a mechanical theory and a PLC control technology, the adsorption of the electromagnet on the surface of the crankshaft is creatively designed, and the device can polish the surface of the crankshaft in all directions. The surface of the large marine crankshaft is polished manually for the first time, and the technical gap in the field is made up; on the other hand, the reasonable design structure enables the grinding work on the surface of the large marine crankshaft to be more efficient and simpler, and meanwhile, the harm to the environment is reduced.

The pollution of the work to the environment is greatly reduced, and the system integration and the linkage are good. The intelligent production line can realize seamless connection with communication between other devices, and improves efficiency.

It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. The utility model provides a formula robot is inhaled to magnetism which characterized in that: comprises an H-shaped section, a base, a plurality of groups of electromagnets and a polishing mechanism; wherein the content of the first and second substances,

two bottom surfaces of the H-shaped section are respectively provided with a group of bases, a first group of electromagnets are installed on the bottom surfaces of each group of bases, the polishing mechanism is connected to a certain vertical section of the H-shaped section, a transverse moving mechanism is installed on the transverse section of the H-shaped section, a vertical moving mechanism installed downwards is connected to the transverse moving mechanism, and a second group of electromagnets are installed at the output end of the vertical moving mechanism.

2. The magnetic-type robot as claimed in claim 1, wherein: the polishing mechanism comprises a polishing machine, a polishing head, a first group of lead screws and a first group of motors; wherein the content of the first and second substances,

first set of motor and first set of lead screw pass through the vertical installation of first adapting unit on certain vertical section bar of H section bar, the output at the polisher is installed to the head of polishing, and the polisher passes through the second adapting unit to be installed on the lead screw, by the rotatory output of polisher drive head of polishing, drives the polisher by first set of motor drive lead screw and reciprocates.

3. The magnetic-type robot as claimed in claim 1, wherein: the transverse movement mechanism comprises a second group of motors and a second group of lead screws; wherein the content of the first and second substances,

and the second group of motors and the second group of screw rods are transversely arranged on the transverse section of the H-shaped section through a third group of connecting parts, and the second group of motors drive the second group of screw rods to transversely move.

4. A magnetic-type robot as claimed in claim 3, wherein: the vertical movement mechanism comprises a push rod motor and a push rod; wherein the content of the first and second substances,

the output end of the push rod motor drives the push rod to move up and down, an electromagnet connecting plate is installed at one end, far away from the push rod motor, of the push rod, and the second group of electromagnets are installed on the electromagnet connecting plate.

5. A magnetic-type robot as claimed in claim 4, wherein: still include step motor, step motor through a motor support and screw nut with the lead screw connection of second group, step motor also through another motor support with vertical motion connects, under step motor's drive, horizontal motion with the H section bar takes place to rotate.

6. A magnetic-type robot as claimed in claim 4, wherein: the electromagnet connecting plate is a disc, and the second group of electromagnets are uniformly distributed on the disc in the circumferential direction.

7. A magnetic-type robot as claimed in claim 5, wherein: the lead screw nut is connected with an electrode flange through a lead screw nut connecting plate and a flange sleeve, and the electrode flange is installed at the output end of the stepping motor.

8. A magnetic-type robot as claimed in claim 2, wherein: second adapting unit includes optical axis support and optical axis leg joint board, offers the perforating hole that matches with polisher excircle size at the optical axis support, the optical axis support pass through optical axis leg joint board and first group lead screw connecting plate with first group screw connection, the polisher is installed in the perforating hole that the optical axis support was offered.

9. A magnetic-type robot as claimed in any one of claims 1 to 8, wherein: and the PLC is used for integrally controlling each component.