CN113500510A - Robot is polishing system in coordination - Google Patents
Robot is polishing system in coordination Download PDFInfo
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- CN113500510A CN113500510A CN202110835464.4A CN202110835464A CN113500510A CN 113500510 A CN113500510 A CN 113500510A CN 202110835464 A CN202110835464 A CN 202110835464A CN 113500510 A CN113500510 A CN 113500510A
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- polishing
- transmission gear
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- supporting
- rotating shaft
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Classifications
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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
- B24B29/00—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
- B24B29/02—Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
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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
- B24B27/0023—Other grinding machines or devices grinding machines with a plurality of working posts
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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
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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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
- B24B41/06—Work supports, e.g. adjustable steadies
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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
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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
Abstract
The invention provides a robot collaborative polishing system in the technical field of polishing, which comprises a frame, wherein at least two groups of working mechanisms are arranged on the frame at intervals, each working mechanism comprises a wheel diameter measuring component, a robot component and a polishing component, each polishing component comprises a fixed box, the front side and the rear side of each fixed box are respectively and rotatably connected with a first rotating shaft and a second rotating shaft, each first rotating shaft is provided with at least one first polishing wheel, each second rotating shaft is provided with at least one second polishing wheel, each wheel diameter measuring component comprises a fixed seat, the fixed seats are arranged above the polishing wheels, the fixed seats are provided with a first supporting frame and a second supporting frame at intervals, each second supporting frame is provided with a measuring unit, each measuring unit comprises a shell which can be inserted on the corresponding second supporting frame, a distance measuring sensor is arranged in each shell, each robot component comprises a joint mechanical arm, each joint mechanical arm is detachably connected with a clamping jaw, and the clamping jaws can be inserted on the corresponding first supporting frame, the clamping jaw can be opened and closed; the invention has high production efficiency and high safety.
Description
Technical Field
The invention belongs to the technical field of polishing, and particularly relates to a robot collaborative polishing system.
Background
Polishing is a processing method for reducing the surface roughness of a workpiece to obtain a smooth and bright surface, is generally used as the last processing procedure of the workpiece, and is widely applied to the field of mechanical manufacturing. At present, small metal castings such as watchcases and water faucets are still mainly subjected to manual operation due to complex shape curved surfaces, so that the processing efficiency is low, and the polishing environment is severe.
At present, robots, polishing machine tools and other automatic special polishing equipment are mainly adopted to polish complex curved surfaces internationally. Since the japan researchers used the industrial robot for the polishing process in the last 70 th century, the countries of the united states, spain, germany, etc. have also developed robot polishing apparatuses in succession, and the actual automatic polishing is an industry development trend. At present, automatic polishing equipment for production is generally composed of different mechanical units such as a robot, a polishing machine, an upper material loading platform and a lower material loading platform, the robot is generally only provided with one polishing wheel, the number of the polishing wheels is only three or less, the number of the polishing wheels is limited by a single robot, and the system cannot deal with workpieces with excessively complex polishing processes.
For complex workpieces, a polishing process needs to complete dozens of or even more working procedures, the polishing of the workpieces is finished manually at present, and the problems of low production efficiency, high cost, severe working environment of workers, poor safety and the like exist.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the defects in the prior art, solve the technical problems of low production efficiency and poor safety in the prior art, and provide the robot collaborative polishing system which is high in production efficiency and high in safety.
The purpose of the invention is realized as follows: a robot collaborative polishing system comprises a rack, wherein at least two groups of working mechanisms are arranged on the rack at intervals, each working mechanism comprises a wheel diameter measuring component, a robot component and a polishing component, each polishing component comprises a fixed box, the front side and the rear side of the fixed box are respectively and rotatably connected with a first rotating shaft and a second rotating shaft, the first rotating shaft is provided with at least one first polishing wheel, the second rotating shaft is provided with at least one second polishing wheel, each wheel diameter measuring component comprises a fixed seat, the fixed seat is arranged above the polishing wheels, a first supporting frame and a second supporting frame are arranged on the fixed seat at intervals, a measuring unit is arranged on the second supporting frame and comprises a shell which can be inserted on the second supporting frame, a distance measuring sensor is arranged in the shell, each robot component comprises a joint mechanical arm, and clamping jaws are detachably connected on the joint mechanical arms, the clamping jaw can be inserted on the first support frame, and the clamping jaw can be opened and closed.
When the polishing wheel device works, firstly, the wheel diameter of a first polishing wheel and a second polishing wheel is measured, a joint mechanical arm drives a clamping jaw to move to a first supporting frame to enable the clamping jaw to be supported on the first supporting frame, the clamping jaw is loosened, then the joint mechanical arm moves to a measuring unit to clamp the measuring unit, the joint mechanical arm drives the measuring unit to reach a specified position near the first polishing wheel, a distance measuring sensor emits light to the first polishing wheel to measure the wheel diameter, then measured data are transmitted to a control system, the control system calculates and generates a motion track according to the measured data, the motion track is the work track when a robot assembly clamps a sample to the first polishing wheel to perform polishing treatment, similarly, the joint mechanical arm drives the measuring unit to reach the specified position near the second polishing wheel, the distance measuring sensor performs position measurement on the second polishing wheel to obtain the motion track when the robot assembly clamps the sample to the second polishing wheel, after the motion trail is generated, the joint mechanical arm drives the measuring unit to reach a second support frame, the measuring unit is loosened, the measuring unit is just placed on the second support frame, then the joint mechanical arm moves to the first support frame to clamp the clamping jaw, finally, the robot assembly moves to a specified sample position according to the generated motion trail, and the clamping jaw clamps the sample to perform polishing treatment on the first polishing wheel or the second polishing wheel; compared with the prior art, the invention has the beneficial effects that: the polishing wheels of various types and specifications such as cloth wheels, grinding wheels, grass wheels, hemp wheels, wool wheels and the like are needed to finish the complete polishing process, the robot assembly, the wheel diameter measuring assembly and the polishing assembly are jointly arranged, only when the polishing wheel I or the polishing wheel II is changed for different polishing wheels, the wheel diameter measuring unit only needs to detect the wheel diameter data of the polishing wheels, the motion track of the robot assembly is generated according to the detected data, the robot assembly clamps a sample to a polishing assembly station according to the motion track to perform polishing treatment, and the robot can finish a plurality of polishing process steps at one time due to the multi-station design, so that the intelligent and automatic degree is high, the working efficiency is high, and the safety is high; can be applied to the automatic polishing work of materials.
In order to realize automatic feeding and unloading, still including going up the unloading subassembly, go up the unloading subassembly including fixing the mount pad in the frame, be connected with on the mount pad and can be in front and back direction pivoted supporting seat, the supporting seat includes connecting portion, and the upper end of connecting portion is equipped with the supporting part, the upper portion of mount pad is equipped with the connecting axle, both ends are equipped with the bearing end seat respectively about connecting portion, the both ends of connecting axle are connected in the bearing end seat through the bearing.
But in order to realize the supporting seat luffing motion, still be equipped with the work motor on the mount pad, be equipped with the motor swing arm on the output shaft of work motor, it has the actuating lever to articulate in the motor swing arm, is equipped with the articulated elements on the supporting seat of actuating lever top, the upper portion of actuating lever articulates on the articulated elements.
In order to realize spacing supporting seat rotation angle, prevent the overtravel, the one end of mount pad is equipped with down spacing, and the other end of mount pad is equipped with spacing, go up spacing forward and tilt up and extend, go up spacing top at locating part down, when the mount pad overturns backward, connecting portion can just contradict under on the locating part, when the mount pad overturns forward, the supporting part can just contradict on last locating part.
In order to realize the rotation of the first polishing wheel and the second polishing wheel, a first transmission gear and a second transmission gear are arranged on a first rotating shaft in the fixed box at intervals, a driving motor is arranged on the fixed box, a driving gear is arranged at the output end of the driving motor extending into the fixed box, the driving gear is meshed with the first transmission gear, a fixed shaft is further arranged in the fixed box, a third transmission gear is rotatably connected to the fixed shaft, the third transmission gear is meshed with a second transmission gear, a fourth transmission gear is arranged on a second rotating shaft in the fixed box, and the fourth transmission gear is meshed with a third transmission gear.
In order to realize dust collection and facilitate installation of the wax spraying device, the fixed box is further provided with two dust collection covers which are respectively arranged under the first polishing wheel and the second polishing wheel, the upper end of the fixed box is further provided with a wax spraying support, and a plurality of mounting holes are distributed in the wax spraying support.
In order to realize that the protection box can open and shut, wheel footpath measuring subassembly still includes the protection box, the rotatable rotation axis that is connected with in lower part of fixing base, the lower part of protection box is fixed on the rotation axis, is equipped with connecting rod one between support frame one and the support frame two, rotatable connecting rod two that is connected with on the connecting rod one, be equipped with sharp driver on the fixing base of connecting rod two below, the last telescopic link that is equipped with of sharp driver, the one end that sharp driver was kept away from to the telescopic link is articulated with connecting rod two, it has connecting rod three to articulate on the inner wall of protection casing, the one end that the protection casing was kept away from to connecting rod three articulates on connecting rod two.
In order to realize that the first support frame is connected to the fixed seat, two groups of support units are arranged on the fixed seat, each support unit is composed of two support rods which are arranged in parallel, the first support frame is fixed to the corresponding two support rods, a first plug-in port which can be matched with the clamping jaw is arranged on the first support frame, and a second plug-in port which can be matched with the shell is arranged on the second support frame.
In order to realize the work of the robot assembly, a connector is arranged on the joint mechanical arm, a first connecting piece is detachably connected to the connector, the clamping jaw is arranged on the first connecting piece, a second connecting piece is further arranged on the shell, the second connecting piece is the same as the first connecting piece in structure, and when the shell is inserted into the second insertion port, the second connecting piece just supports the second support frame.
As a further improvement of the invention, the intelligent alarm system further comprises a control box, wherein a processor is arranged in the control box, a display screen and an alarm are also arranged on the control box, and the display screen and the alarm are respectively and electrically connected with the processor.
Drawings
Fig. 1 is a front view of the present invention.
Fig. 2 is a perspective view of the present invention.
Fig. 3 is a partially enlarged view of a portion a in fig. 2.
Fig. 4 is a first structural schematic diagram of the wheel diameter measuring assembly of the present invention.
Fig. 5 is a second structural schematic diagram of the wheel diameter measuring assembly of the present invention.
FIG. 6 is a schematic view of the structure of the measuring unit of the present invention.
Fig. 7 is a partially enlarged view of fig. 2 at B.
Fig. 8 is a schematic structural view of a loading and unloading assembly in the present invention.
FIG. 9 is a schematic view showing the internal structure of a holding tank in the polishing assembly of the present invention.
In the figure: 1, 2 wheel diameter measuring components, a 201 fixed seat, a 202 support frame I, a 202a socket I, a 203 support frame II, a 203a socket II, a 204 measuring unit, a 204a shell, a 204b distance measuring sensor, a 204c connecting piece II, a 204d opening, a 205 protection box, a 206 rotating shaft, a 207 connecting rod I, a 208 connecting rod II, a 209 linear driver, a 210 telescopic rod, a 211 connecting rod III, a 212 supporting unit, a 212a supporting rod, a 3 robot component, a 301 joint mechanical arm, a 302 clamping jaw, a 303 connector, a 304 connecting piece I, a 4 polishing component, a 401 fixed box, a 402 rotating shaft I, a 403 rotating shaft II, a 404 polishing wheel I, a 405 polishing wheel II, a 406 transmission gear I, a 407 transmission gear II, a 408 driving motor, a fixed shaft, a 410 transmission gear III and 411 transmission gear IV, 412 dust cage, 413 driving gear, 5 last unloading subassembly, 501 mount pad, 502 supporting seat, 502a connecting portion, 502b supporting part, 503 connecting axle, 504 bearing end seat, 505 driving motor, 506 motor swing arm, 507 actuating lever, 508 articulated elements, spacing piece under 509, spacing piece on 510, 6 wax spraying support, 7 mounting holes, 8 control box, 9 treater, 10 display screens, 11 alarms.
Detailed Description
The invention will be further described with reference to the accompanying drawings.
As shown in fig. 1 to 9, a robot collaborative polishing system includes a frame 1, at least two sets of working mechanisms are provided at intervals on the frame 1, the working mechanisms include a wheel diameter measuring assembly 2, a robot assembly 3 and a polishing assembly 4, the polishing assembly 4 includes a fixed box 401, a first rotating shaft 402 and a second rotating shaft 403 are respectively rotatably connected to the front and rear sides of the fixed box 401, the first rotating shaft 402 is provided with at least one first polishing wheel 404, the second rotating shaft 403 is provided with at least one second polishing wheel 405, the first rotating shaft 402 in the fixed box 401 is provided with a first transmission gear 406 and a second transmission gear 407 at intervals, the fixed box 401 is provided with a driving motor 408505, the output end of the driving motor 408505 extending into the fixed box 401 is provided with a driving gear 413, the driving gear 413 is engaged with the first transmission gear 406, a fixed shaft 409 is further provided in the fixed box 401, and a third transmission gear 410 is rotatably connected to the fixed shaft 409, a third transmission gear 410 is meshed with a second transmission gear 407, a fourth transmission gear 411 is arranged on a second rotating shaft 403 in the fixed box 401, and the fourth transmission gear 411 is meshed with the third transmission gear 410; the fixed box 401 is also provided with two dust collection hoods 412, the two dust collection hoods 412 are respectively arranged right below the first polishing wheel 404 and the second polishing wheel 405, the upper end of the fixed box 401 is also provided with a wax spraying bracket 6, and a plurality of mounting holes 7 are distributed on the wax spraying bracket 6; the wheel diameter measuring assembly 2 comprises a fixed seat 201, the fixed seat 201 is arranged above the polishing wheel, a first support frame 202 and a second support frame 203 are arranged on the fixed seat 201 at intervals, a measuring unit 204 is arranged on the second support frame 203, the measuring unit 204 comprises a shell 204a capable of being inserted on the second support frame 203, a distance measuring sensor 204b is installed in the shell 204a, an opening 204d is formed in the position, corresponding to the output end of the distance measuring sensor 204b, of the shell 204a, the robot assembly 3 comprises a joint mechanical arm 301, a clamping jaw 302 is detachably connected to the joint mechanical arm 301, a connector 303 is arranged on the joint mechanical arm 301, a first connecting piece 304 is detachably connected to the connector 303, the clamping jaw 302 is arranged on the first connecting piece 304, a second connecting piece 204c is further arranged on the shell 204a, the second connecting piece 204c has the same structure as the first connecting piece 304, and when the shell 204a is inserted on the second insertion port 203a, the second connecting piece 204c is just supported on the second support frame 203; the clamping jaw 302 can be inserted on the first support frame 202, and the clamping jaw 302 can be opened and closed; the feeding and discharging device further comprises a feeding and discharging assembly 5, the feeding and discharging assembly 5 comprises a mounting seat 501 fixed on the frame 1, a supporting seat 502 capable of rotating in the front-back direction is connected to the mounting seat 501, the supporting seat 502 comprises a connecting portion 502a, a supporting portion 502b is arranged at the upper end of the connecting portion 502a, a connecting shaft 503 is arranged at the upper portion of the mounting seat 501, bearing end seats 504 are respectively arranged at the left end and the right end of the connecting portion 502a, two ends of the connecting shaft 503 are connected in the bearing end seats 504 through bearings, a working motor is further arranged on the mounting seat 501, a motor swing arm 506 is arranged on an output shaft of the working motor, a driving rod 507 is hinged on the motor swing arm 506, a hinge piece 508 is arranged on the supporting seat 502 above the driving rod 507, the upper portion of the driving rod 507 is hinged on the hinge piece 508, a lower limiting piece 509 is arranged at one end of the mounting seat 501, an upper limiting piece 510 is arranged at the other end of the mounting seat 501, the upper limiting piece 510 extends obliquely forwards and upwards, the upper limiting member 510 is above the lower limiting member 509, when the mounting base 501 is turned backwards, the connecting portion 502a can just abut against the lower limiting member 509, and when the mounting base 501 is turned forwards, the supporting portion 502b can just abut against the upper limiting member 510.
In order to prevent dust of the wheel diameter measuring assembly 2, the wheel diameter measuring assembly 2 further comprises a protective box 205, a rotating shaft 206 is rotatably connected to the lower portion of the fixed seat 201, the lower portion of the protective box 205 is fixed on the rotating shaft 206, a first connecting rod 207 is arranged between the first supporting frame 202 and the second supporting frame 203, a second connecting rod 208 is rotatably connected to the first connecting rod 207, a linear driver 209 is arranged on the fixed seat 201 below the second connecting rod 208, a telescopic rod 210 is arranged on the linear driver 209, one end, away from the linear driver 209, of the telescopic rod 210 is hinged to the second connecting rod 208, a third connecting rod 211 is hinged to the inner wall of the protective cover, one end, away from the protective cover, of the third connecting rod 211 is hinged to the second connecting rod 208, two groups of supporting units 212 are arranged on the fixed seat 201, each supporting unit 212 is composed of two supporting rods 212a which are arranged in parallel, the first supporting frame 202 is fixed on the corresponding two supporting rods 212a, a first inserting port 202a capable of being matched with the clamping jaw 302 is arranged on the first supporting frame 202, the second support frame 203 is provided with a second socket 203a which can be matched with the housing 204 a.
In order to improve the safety, the intelligent alarm system further comprises a control box 8, a processor 9 is arranged in the control box 8, a display screen 10 and an alarm 11 are further arranged on the control box 8, and the display screen 10 and the alarm 11 are respectively and electrically connected with the processor 9.
In the invention, the first connecting piece 304 and the second connecting piece 204c are preferably SMC type standard tool connecting pieces, the connector 303 is preferably an AHC type standard connector 303, the joint mechanical arm 301 is a six-axis joint mechanical arm, the clamping jaw 302 is a pneumatic clamping jaw 302 (the detachable connection between the connector 303 and the first connecting piece 304 is the prior art, the invention on how to realize the connection or the detachment of the first connecting piece 304 by the connector 303 is not repeated, the joint mechanical arm 301 and the clamping jaw 302 are the prior art, and the invention on how to move the joint mechanical arm 301, control the loosening and tensioning of the clamping jaw 302 and connect the joint mechanical arm 301 and the clamping jaw 302 is also not repeated), the connector 303 releases the first connecting piece 304, the clamping jaw 302 is released by the joint mechanical arm 301, then the joint mechanical arm 301 moves to the measuring unit 204, the connector 303 clamps the second connecting piece 204c, the measuring unit 204 is connected by the joint mechanical arm 301, the joint mechanical arm 301 drives the measuring unit 204 to reach a specified position near the first polishing wheel 404, the distance measuring sensor 204b emits light to the first polishing wheel 404 for wheel diameter measurement, then the measured data is transmitted to the processor 9, the processor 9 calculates and generates a motion track according to the measured data, the motion track is a working track when the robot assembly 3 clamps a sample to the first polishing wheel 404 for polishing treatment, similarly, the joint mechanical arm 301 drives the measuring unit 204 to reach a specified position near the second polishing wheel 405, the distance measuring sensor 204b carries out position measurement on the second polishing wheel 405, and a motion track when the robot assembly 3 clamps the sample to the second polishing wheel 405 can be obtained, after the motion trail is generated, the joint mechanical arm 301 drives the measuring unit 204 to reach the second support frame 203, the measuring unit 204 is released, the measuring unit 204 is just placed on the second support frame 203, then the joint mechanical arm 301 moves to the first support frame 202 to clamp the clamping jaw 302, finally, the robot assembly 3 moves to the loading and unloading assembly 5 according to the generated motion trail, the sample is clamped by the clamping jaw 302 from the supporting seat 502, the driving motor 408505 drives the driving gear 413 to rotate, the driving gear 413 drives the first transmission gear 406, the first transmission gear 406 drives the first rotating shaft 402, the first rotating shaft 402 drives the first polishing wheel 404, the second transmission gear 407 drives the third transmission gear 410, the third transmission gear 410 drives the fourth transmission gear 411, the fourth transmission gear 411 drives the second rotating shaft 411, the second rotating shaft 403 drives the second polishing wheel 405, the rotation of the first polishing wheel 404 and the second polishing wheel 405 is realized, the clamping jaw 302 clamps the sample to reach the first polishing wheel 404 for rough polishing, then the clamping jaw 302 clamps the sample to the second polishing wheel 405 for fine polishing, after the polishing operation is finished, the robot assembly 3 drives the sample to move to the supporting seat 502, the clamping jaw 302 releases the sample, the sample is placed on the supporting seat 502, the working motor drives the motor swing arm 506 to rotate, the motor swing arm 506 drives the driving rod 507 to push the supporting seat 502 upwards, the supporting seat 502 rotates forwards, when the supporting part 502b abuts against the upper limiting piece 510, the working motor stops working, the sample is automatically discharged, the worker can place the next group of samples to be polished at the designated position of the supporting seat 502, the working motor works in reverse direction, the driving rod 507 drives the supporting seat 502 to turn backwards, when the connecting portion 502a abuts against the lower stopper 509, the supporting seat 502 is restored to the proper position, and the next polishing operation is continued, if the working mechanism breaks down, the alarm 11 gives an alarm to remind workers to check; according to the invention, as various types and specifications of polishing wheels such as cloth wheels, grinding wheels, grass wheels, hemp wheels, wool wheels and the like are required to be used for finishing a complete polishing process, the combination of the robot component 3, the wheel diameter measuring component 2, the feeding and discharging component 5 and the polishing component 4 is arranged, when different polishing wheels are replaced by the polishing wheel I404 or the polishing wheel II 405, the wheel diameter measuring unit 204 only needs to detect the wheel diameter data of the polishing wheel, the motion track of the robot component 3 is generated according to the detection data, the robot component 3 clamps a sample to the polishing component 4 to perform polishing treatment according to the motion track, and the robot can finish multiple polishing process steps at one time due to the multi-station design, so that the intelligent and automatic degree is high; due to the arrangement of the feeding and discharging assembly 5, in a working state, only the blank placement and finished product retrieval are manually completed, other processes are automated, the labor cost is saved, the turning function of the supporting seat 502 enables hands not to enter the equipment, and the production safety is greatly improved; the arrangement of the plurality of working mechanisms enables the working mechanisms to work cooperatively, so that a complex polishing process of a workpiece is completed together, the time for replacing the polishing wheel is reduced, and the production efficiency is also improved; can be applied to the automatic polishing work of materials.
The present invention is not limited to the above-mentioned examples, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts based on the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (10)
1. A robot collaborative polishing system comprises a frame, and is characterized in that: at least two groups of working mechanisms are arranged on the frame at intervals, each working mechanism comprises a wheel diameter measuring component, a robot component and a polishing component, the polishing component comprises a fixed box, the front side and the rear side of the fixed box are respectively and rotatably connected with a first rotating shaft and a second rotating shaft, the first rotating shaft is provided with at least one first polishing wheel, the second rotating shaft is provided with at least one second polishing wheel, the wheel diameter measuring component comprises a fixed seat, the fixed seat is arranged above the polishing wheel, a first support frame and a second support frame are arranged on the fixed seat at intervals, the second support frame is provided with a measuring unit which comprises a shell body capable of being inserted on the second support frame, install range sensor in the casing, the robot assembly includes joint arm, detachable is connected with the clamping jaw on the joint arm, the clamping jaw can peg graft on support frame one, the clamping jaw can open and shut.
2. A robotic collaborative polishing system according to claim 1, wherein: still including going up the unloading subassembly, go up the unloading subassembly including fixing the mount pad in the frame, be connected with on the mount pad and can be in front and back direction pivoted supporting seat, the supporting seat includes connecting portion, and the upper end of connecting portion is equipped with the supporting part, the upper portion of mount pad is equipped with the connecting axle, both ends are equipped with the bearing end seat respectively about connecting portion, the both ends of connecting axle are connected in the bearing end seat through the bearing.
3. A robotic collaborative polishing system according to claim 2, wherein: still be equipped with the work motor on the mount pad, be equipped with the motor swing arm on the output shaft of work motor, it has the actuating lever to articulate in the motor swing arm, is equipped with the articulated elements on the supporting seat of actuating lever top, the upper portion of actuating lever articulates on the articulated elements.
4. A robotic collaborative polishing system according to claim 3, wherein: the one end of mount pad is equipped with down spacing, and the other end of mount pad is equipped with spacing, go up spacing forward and tilt up and extend, go up spacing top at locating part down, when the mount pad overturns backward, connecting portion can just contradict under on the locating part, and when the mount pad overturns forward, the supporting part can just contradict on last locating part.
5. A robotic collaborative polishing system according to claim 1, wherein: the transmission gear box comprises a fixed box and is characterized in that a first transmission gear and a second transmission gear are arranged on a first rotating shaft in the fixed box at intervals, a driving motor is arranged on the fixed box, a driving gear is arranged at the output end of the driving motor extending into the fixed box, the driving gear is meshed with the first transmission gear, a fixed shaft is further arranged in the fixed box, a third transmission gear is rotatably connected onto the fixed shaft, the third transmission gear is meshed with the second transmission gear, a fourth transmission gear is arranged on the second rotating shaft in the fixed box, and the fourth transmission gear is meshed with the third transmission gear.
6. A robotic collaborative polishing system according to claim 5, wherein: the polishing machine is characterized in that the fixed box is further provided with two dust hoods which are respectively arranged under the first polishing wheel and the second polishing wheel, the upper end of the fixed box is further provided with a wax spraying support, and a plurality of mounting holes are distributed in the wax spraying support.
7. A robotic collaborative polishing system according to claim 6, wherein: the wheel footpath measuring subassembly still includes the protection box, the rotatable rotation axis that is connected with in lower part of fixing base, the lower part of protection box is fixed on the rotation axis, is equipped with connecting rod one between support frame one and the support frame two, rotatable connecting rod two that is connected with on the connecting rod one, be equipped with the sharp driver on the fixing base of connecting rod two below, be equipped with the telescopic link on the sharp driver, the one end that the sharp driver was kept away from to the telescopic link is articulated with connecting rod two, it has connecting rod three to articulate on the inner wall of protection casing, the one end that the protection casing was kept away from to connecting rod three articulates on connecting rod two.
8. A robotic collaborative polishing system according to claim 7, wherein: the clamping jaw clamping device is characterized in that two groups of supporting units are arranged on the fixing seat, each supporting unit is composed of two supporting rods arranged in parallel, the first supporting frame is fixed on the corresponding two supporting rods, a first inserting port matched with the clamping jaw is formed in the first supporting frame, and a second inserting port matched with the shell is formed in the second supporting frame.
9. A robotic collaborative polishing system according to claim 8, wherein: the joint mechanical arm is provided with a connector, the connector is detachably connected with a first connecting piece, the clamping jaw is arranged on the first connecting piece, the shell is further provided with a second connecting piece, the second connecting piece is the same as the first connecting piece in structure, and when the shell is inserted into the second insertion port, the second connecting piece is just supported on the second support frame.
10. A robotic collaborative polishing system according to any of claims 1-9, wherein: the intelligent control system is characterized by further comprising a control box, a processor is arranged in the control box, a display screen and an alarm are further arranged on the control box, and the display screen and the alarm are respectively electrically connected with the processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835464.4A CN113500510B (en) | 2021-07-23 | 2021-07-23 | Robot is polishing system in coordination |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110835464.4A CN113500510B (en) | 2021-07-23 | 2021-07-23 | Robot is polishing system in coordination |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113500510A true CN113500510A (en) | 2021-10-15 |
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| JPH10329017A (en) * | 1997-05-26 | 1998-12-15 | Seiko Seiki Co Ltd | Working articulated robot, polishing of workpiece using such robot and forming method for polishing wheel |
| CN103406915A (en) * | 2013-07-18 | 2013-11-27 | 北京航空航天大学 | Chuck-type quick independent-replacement device of space mechanical arm tail-end manipulators |
| CN103737417A (en) * | 2013-12-19 | 2014-04-23 | 中山市加贝五金模具有限公司 | Automatic blanking device for large steel cutting |
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| CN113500510B (en) | 2022-10-11 |
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