CN113579923A - Robot is polished and is taken system with work piece accuracy - Google Patents
Robot is polished and is taken system with work piece accuracy Download PDFInfo
- Publication number
- CN113579923A CN113579923A CN202110798797.4A CN202110798797A CN113579923A CN 113579923 A CN113579923 A CN 113579923A CN 202110798797 A CN202110798797 A CN 202110798797A CN 113579923 A CN113579923 A CN 113579923A
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- Prior art keywords
- rod
- mounting
- limiting
- sleeve
- workpiece
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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
- B24B19/00—Single-purpose machines or devices for particular grinding operations not covered by any other main group
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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
- B24B41/02—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
- 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
- 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
Abstract
The invention relates to the field of robots, in particular to a workpiece accurate taking system for robot polishing, which comprises a feeding mechanism, a steering mechanism, a feeding mechanism, a position correcting mechanism and a grabbing mechanism, wherein the feeding mechanism is arranged on the workpiece accurate taking system; the limiting protrusions are clamped with the limiting side grooves, so that the base plate and the limiting blocks synchronously rotate, and when the rotary barrel is prevented from rotating, the base plate does not synchronously rotate along with the rotary barrel, and the effect of adjusting the angle of a workpiece cannot be achieved; the short supporting rod adopts a three-section structure, is matched with a camera to acquire picture information and execute an operation instruction, and can ensure the stability and accuracy of the operation on the iron casting workpiece; rigid connection is realized through the clamping action between the clamping block and the clamping groove, so that the stability of the grabbing mechanism in the moving process is ensured; the axostylus axostyle makes to snatch the mechanism and can carry out three hundred sixty degrees rotations on the horizontal plane, with the steering mechanism cooperation, ensures that the square workpiece that snatchs at every turn can both install with the same gesture and position, guarantees to snatch the accuracy nature of mechanism.
Description
Technical Field
The invention relates to the field of robots, in particular to a workpiece accurate taking system for robot polishing.
Background
Through image recognition and programming language, the robot can accurately calculate and recognize a proper grabbing point, so that the grabbing target can be accurately recognized and grabbed, and the grabbing and carrying accuracy and efficiency are improved.
The existing robot workpiece accurate taking system is mainly used for small workpieces (such as thin sheets and cylindrical structures) with obvious structural characteristics, and large workpieces, can realize accurate taking of the workpieces which are mostly in cylindrical or conical structures, and can accurately take the iron casting workpieces with different cuboid shapes and various surface characteristics, manual adjustment and overturning are needed, the required workpiece surfaces are overturned to required positions, the positions and postures of the iron castings can be adjusted, time and labor are wasted, abrasion and damage can be caused to the workpiece surfaces in manual overturning and carrying processes, and cost loss and quality reduction are caused.
Disclosure of Invention
Aiming at the problems in the prior art, the invention provides a system for accurately taking workpieces for robot polishing.
The technical scheme adopted by the invention for solving the technical problems is as follows: a workpiece accurate taking system for robot polishing comprises a feeding mechanism, a steering mechanism, a feeding mechanism, a position correcting mechanism and a grabbing mechanism; the feeding mechanism is arranged on one side of the steering mechanism, the position correcting mechanism is arranged on the other side of the steering mechanism, the feeding mechanism is arranged at the upper end of the steering mechanism, and the grabbing mechanism is arranged at the upper end of the position correcting mechanism; the feeding mechanism comprises an installation high platform, four support frames are arranged above the installation high platform, a transmission belt is arranged on each support frame, and a bearing of each transmission belt is fixedly connected to a first motor; a chute support is arranged on one side of the support frame and is arranged on the mounting high platform, a feeding chute channel is arranged on the chute support, and the upper end of the feeding chute channel is as high as the conveying belt; steering mechanism includes cylindrical commentaries on classics bucket, it is located to change the bucket feeding chute says one side, change the bucket top edge and be less than a little the port under the feeding chute says, change the bucket upper end along setting up the round cushion of borduring, it sets up two spacing spouts to change the symmetry on the bucket wall, change a coaxial fixed pivot of bucket lower extreme center department, pivot lower extreme fixed connection is on the second motor, second motor fixed mounting is in a circular base.
Specifically, a first air cylinder is mounted at the bottom in the rotary barrel, a limiting block is fixedly connected above a first telescopic rod of the first air cylinder, a middle groove is formed in the middle of the limiting block, two limiting edge grooves are symmetrically formed in two sides of the middle groove, two wing supporting plates are symmetrically arranged on the outer side of the limiting block, the wing supporting plates penetrate through the limiting sliding grooves and extend to the outer side of the rotary barrel, the other ends of the two wing supporting plates are fixedly connected to the inner side of an outer collar, and the outer collar is sleeved on the periphery of the rotary barrel; a sliding column is clamped in the middle groove, two limiting bulges are symmetrically arranged on two sides of the sliding column, and the limiting bulges are clamped in the limiting side grooves; the limiting sliding column is sleeved with a supporting spring, the upper end of the limiting sliding column is fixedly connected with a circular base plate, the upper end and the lower end of the supporting spring are respectively abutted to the upper end face of the limiting block and the lower end face of the base plate, and the upper end face of the base plate is attached to a fixed anti-skidding cushion.
Specifically, the feeding mechanism comprises two mounting bracket plates symmetrically arranged on two sides of the rotary barrel, the mounting bracket plates are attached to one side of the mounting high platform, and a fixed base is arranged at the lower end of each mounting bracket plate; a limiting sleeve is arranged on the inner side of the mounting support plate, a movable sliding rod is sleeved in the limiting sleeve, a concave clamping block is fixedly arranged at the lower end of the movable sliding rod, and the outer collar is clamped in a groove of the concave clamping block; the upper end of the movable sliding rod is fixedly provided with a square block, one side of the square block is provided with a linkage support plate, and the front end of the linkage support plate is provided with two mounting holes; two gears in the vertical direction are arranged on the inner side of each mounting support plate, a chain is connected between the two gears, and a synchronous shaft lever is fixedly connected between the gears at the equal-height positions of the two mounting support plates.
Specifically, one side of the gear at the upper end of the mounting bracket plate, which is far away from the rotary barrel, is horizontally provided with a fixed mounting plate, two ends of the fixed mounting plate are fixedly mounted on the two mounting bracket plates, two ends of the fixed mounting plate are symmetrically provided with two cylindrical limiting through holes, a rotary rod is mounted in each limiting through hole, the diameter size of the upper end of the rotary rod is larger than that of the lower end of the rotary rod, and the lower end of the rotary rod is matched with the limiting through holes; a hollow slide way is arranged in the rotating rod, a linkage bolt head is arranged in the hollow slide way, and a first turbine is arranged on the outer side of one rotating rod; the hollow slide way is sleeved with a groove rod, a linkage sliding groove is formed in the groove rod, the linkage bolt head is clamped in the linkage sliding groove, a straight rod is fixedly arranged at the lower end of the groove rod, a blocking rod is fixedly connected between the two straight rods, a linkage supporting plate is arranged on one side, close to the gear, of the straight rod, two mounting holes are formed in the front end of the linkage supporting plate, the linkage supporting plate on one side of the straight rod is fixedly connected to the upper end of one side of the chain, and the linkage supporting plate on one side of the square block is fixedly connected to the lower end of the other side of the chain.
Specifically, the feeding mechanism further comprises a cylindrical loop bar with the same height as the fixed mounting plate, two fixed support columns are arranged on the lower sides of two ends of the loop bar, the fixed support columns are respectively fixed on the inner sides of the two mounting support plates, the loop bar is positioned at the upper end of one side of the rotating barrel, which is far away from the fixed mounting plate, and two identical limiting rotating grooves are arranged at two ends of the loop bar; a sleeve shaft is sleeved in the sleeve rod, a coaxial second turbine is arranged at one end of the sleeve shaft, and the second turbine and the first turbine are positioned on the same side; the sleeve shaft is provided with a long supporting rod and a short supporting rod at the same time at the positions of the two limiting rotary grooves, the long supporting rod is arranged above the short supporting rod, the front ends of the two long supporting rods are fixedly connected to a first push rod, the short supporting rod is divided into three sections, the tail end of the short supporting rod is provided with an electric telescopic rod, the front end of the electric telescopic rod is connected with a hollow sleeve, a movable supporting rod is sleeved in the hollow sleeve, the movable supporting rod is sleeved with a reset spring, and the reset spring is clamped in the hollow sleeve; the front ends of the two movable supporting rods are connected with a second push rod, and a circle of electromagnet is sleeved outside the second push rod.
Specifically, a cross rod is fixedly connected between the fixed mounting plate and the sleeve rod, a vertically through cylindrical sleeve is arranged in the middle of the cross rod, the cylindrical sleeve is positioned right above the rotary barrel, a camera is mounted in the cylindrical sleeve, and a camera lens is opposite to the rotary barrel; one side of the cross rod, which is close to the first turbine, is provided with a mounting sleeve, the mounting sleeve is fixedly mounted on the mounting support plate, a double-headed worm is sleeved in the mounting sleeve, and two ends of the double-headed worm are respectively meshed with the first turbine and the second turbine.
Specifically, the position correcting mechanism comprises a discharging inclined slide way, the discharging inclined slide way is positioned on one side of the rotating barrel, which is far away from the loop bar, and two limiting guard plates are respectively arranged on two sides of the discharging inclined slide way; an L-shaped mounting base is mounted on one side, away from the rotary barrel, of the lower end of the discharging inclined slide way, a limiting cushion is fixedly mounted on one side, close to the discharging inclined slide way, of the mounting base, two limiting plates are symmetrically fixed to two sides of the limiting cushion, and the limiting plates are in abutting connection with the discharging inclined slide way; a grabbing wing groove is formed in one end, close to the mounting base, of the upper edge of the limiting plate, a mounting support plate is arranged at the lower end of the outer side of the limiting plate, the two mounting support plates are fixedly mounted on the inner sides of the two fixed mounting plates, two rolling shafts are arranged at two ends of the lower half portions of the two limiting plates respectively, and one of the rolling shafts is connected with a driving motor; a transmission belt is sleeved between the two rolling shafts, and the height of the transmission belt is slightly lower than the upper edge opening of the rotary barrel.
Specifically, the grabbing mechanism comprises a concave symmetrical grabbing bracket, two horizontal supporting rods are vertically arranged at two ends of the grabbing bracket, and two mounting through holes are formed in two ends of each horizontal supporting rod; a concave bracket is fixedly arranged at the upper end of the grabbing bracket, a second air cylinder is fixedly arranged in the concave bracket, the lower end of the second air cylinder is fixedly connected with a second telescopic rod, the second telescopic rod penetrates through the grabbing bracket, and the front end of the second telescopic rod is provided with the mounting through hole; a first connecting rod is movably mounted on the mounting through hole on the outer side of the horizontal supporting rod, a second connecting rod is movably mounted on the mounting through hole on the inner side of the horizontal supporting rod, the mounting through hole is formed in the middle of the second connecting rod, and a third connecting rod is movably connected between the mounting through hole in the middle of the second connecting rod and the second telescopic rod; the front ends of the first connecting rod and the second connecting rod are connected to a right-angle gripper at the same time.
Specifically, a shaft lever is fixedly connected to the center of the upper end of the concave bracket, the upper end of the shaft lever is fixedly connected to a third motor, the third motor is installed in a cylindrical block, and two cylindrical clamping blocks are symmetrically arranged at the upper end of the cylindrical block; the upper end of the cylindrical block is provided with a rope-collecting box, the middle of the rope-collecting box is provided with a cavity, the lower end of the cavity is symmetrically provided with two clamping grooves, and the clamping grooves are matched with the clamping blocks; two coaxially connected rope wheels are arranged in the cavity, and one side of each rope wheel is coaxially connected with a fourth motor; a lifting rope is wound on the rope wheel, one end of the lifting rope is fixedly connected to the rope wheel, the other end of the lifting rope penetrates through the clamping groove and extends to the lower end of the rope collecting box, and the lower ends of the two lifting ropes are fixedly connected to the clamping block at the upper end of the cylindrical block; receive rope case upper end symmetry and set up two sliders, the slider outside sets up a screens spout, screens spout block is in a slide bar, a fixed branch in the middle of the slide bar, slide bar one end with branch lower extreme fixed mounting be in on the installing support plate, a sliding motor of slidable mounting on the slide bar, sliding motor with slider fixed connection.
The invention has the beneficial effects that:
(1) the bottom surfaces of the square workpieces erected in the rotary barrel are photographed through the camera and compared through the master control computer, so that the rotating angle of the rotating shaft is calculated, the rotary barrel is driven to rotate, the positions of the square workpieces are adjusted, the square workpieces enter the aligning mechanism in the same posture, and the grabbing mechanism can accurately grab the workpieces.
(2) In the square work piece of treating to polish enters into the rotary barrel along the oblique channel of feeding, at first with the non-slip cushion contact of backing plate top, prevent that the work piece from sliding, simultaneously, the weight of work piece self can make the backing plate push down, the traveller glides along the centre sill, and supporting spring compresses, and the work piece sinks, then can guarantee that the work piece enters into the rotary barrel completely, and can not the jamming on the oblique channel of feeding.
(3) Spacing arch and spacing limit groove block for backing plate and stopper rotate in step, prevent to change the bucket and rotate the in-process, because the effect of centrifugal force makes the backing plate not rotate along with changing the bucket in step, thereby can not reach square workpiece angular adjustment's effect.
(4) But opposite direction through the chain makes activity slide bar and grooved bar synchronous motion, through the interact between linkage spout and the linkage tieing head, impels the bull stick to rotate, and then through the interact between the turbine worm, the drive sleeve axle drives short branch and long branch and rotates to realize the stable material loading of work piece.
(5) The electric telescopic handle is adopted at the tail end of the short supporting rod, the height of the workpiece can be collected according to the camera, whether the short supporting rod needs to be prolonged or not is judged, if the short supporting rod needs to be prolonged, the main control computer sends an instruction to the electric telescopic handle to prolong the short supporting rod, the short supporting rod is ensured to be capable of contacting the workpiece, if the workpiece does not need to be contacted, the shortest state of the short supporting rod is kept, and the situation that the workpiece is mistakenly contacted by the short supporting rod in the sleeve shaft rotating process is prevented, so that the workpiece posture is adjusted wrongly.
(6) The mode that short strut front end adopted movable support to cup joint can realize the self-adaptation of short strut length, and reset spring can prevent the movable support slippage, and the second push rod cup joints the round electro-magnet outward, can judge whether need overturn the work piece according to the comparison result of work piece picture: when the work piece needs to be overturned, the main control computer sends an instruction to electrify the electromagnet, when the second push rod is about to contact the work piece, the second push rod is enabled to be in conflict with the work piece under the action of magnetic force between the work piece and the electromagnet, the self-adaptive movable long rod is matched, the work piece overturning process can be guaranteed, the second push rod and the work piece are kept in stable contact relation, the problem that the length of the short supporting rod is insufficient due to rotation is avoided, the work piece is overturned unsuccessfully is solved, and the work piece can be overturned.
(7) According to the iron casting surface picture information comparison result of camera collection, change the bucket and install the short strut combination operation of electro-magnet, can realize the upset of six arbitrary faces of cuboid iron casting, and then realize taking the accuracy of cuboid iron casting.
(8) The extension and the contraction of the grabbing mechanism are realized through the lifting rope, and the lifting rope is of a soft structure, so that the position of the grabbing mechanism can be manually adjusted, and the grabbing mechanism is more adaptive; through the clamping action between the clamping block and the clamping groove, after the lifting rope is tightened, the whole grabbing mechanism is rigidly connected, so that the stability of the grabbing mechanism in the moving process is ensured; the axostylus axostyle makes to snatch the mechanism and can carry out three hundred sixty degrees rotations on the horizontal plane, with the steering mechanism cooperation, ensures that the square workpiece that snatchs at every turn can both install with the same gesture and position, guarantees to snatch the accuracy nature of mechanism.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a front cross-sectional view of the overall structure provided by the present invention;
FIG. 2 is an enlarged view of the structure at A in FIG. 1;
FIG. 3 is a schematic view of the structural connection between the steering mechanism and the feeding mechanism provided by the present invention;
FIG. 4 is a side cross-sectional view of a steering mechanism provided by the present invention;
FIG. 5 is a schematic view of the grooved bar and turning bar connection provided by the present invention;
FIG. 6 is a schematic view of a part of the structure of the position correction mechanism provided by the present invention;
FIG. 7 is a front cross-sectional view of the structure of FIG. 5;
fig. 8 is a front cross-sectional view of a grasping mechanism provided by the present invention.
In the figure: 1. a feeding mechanism; 11. installing a high platform; 12. a support frame; 13. a conveyor belt; 14. a first motor; 15. a chute support; 16. a feed chute; 2. a steering mechanism; 21. rotating the barrel; 211. edge-covered cushion; 212. a limiting chute; 22. a rotating shaft; 23. a second motor; 24. a base; 25. a first cylinder; 251. a first telescopic rod; 26. a limiting block; 261. a middle groove; 262. a limit side groove; 263. a wing support plate; 27. an outer collar; 28. a traveler; 281. a limiting bulge; 282. a support spring; 29. a base plate; 291. an anti-slip soft cushion; 3. a feeding mechanism; 31. mounting a support plate; 311. a fixed base; 32. a limiting sleeve; 33. a movable slide bar; 331. a concave fixture block; 332. a square block; 34. a linkage support plate; 341. mounting holes; 35. a gear; 36. a chain; 37. a synchronizing shaft lever; 38. fixing the mounting plate; 381. a limiting through hole; 39. a rotating rod; 391. a first turbine; 392. a hollow slideway; 393. a linkage bolt head; 310. a slot bar; 312. a linkage chute; 313. a straight rod; 314. a loop bar; 315. a limiting rotary groove; 316. fixing a strut; 317. a sleeve shaft; 318. a second turbine; 319. a long strut; 320. a first push rod; 321. a short strut; 323. an electric telescopic rod; 324. a hollow sleeve; 325. a movable strut; 326. a second push rod; 327. a cross bar; 328. a cylindrical sleeve; 329. a camera; 330. installing a sleeve; 333. a double-headed worm; 334. a return spring; 335. an electromagnet; 4. a position correcting mechanism; 41. a discharging inclined slideway; 411. limiting the guard plate; 42. mounting a base; 43. a limit cushion; 44. a limiting plate; 441. grabbing a wing groove; 45. mounting a support plate; 46. a roller; 47. a conveyor belt; 48. a drive motor; 5. a grabbing mechanism; 51. grabbing the bracket; 52. a horizontal strut; 53. mounting a through hole; 54. a concave support; 55. a second cylinder; 551. a second telescopic rod; 56. a first link; 57. a second link; 58. a third link; 59. a right-angle gripper; 510. a shaft lever; 511. a third motor; 512. a cylindrical block; 513. a clamping block; 514. a rope retracting box; 515. a cavity; 516. a card slot; 517. a sheave; 518. a lifting rope; 519. a slider; 520. a clamping chute; 521. a slide bar; 522. a strut; 523. a fourth motor; 524. a slide motor.
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. 1-8, the system for accurately taking workpieces for robot polishing comprises a feeding mechanism 1, a steering mechanism 2, a feeding mechanism 3, a position correcting mechanism 4 and a grabbing mechanism 5; the feeding mechanism 1 is arranged on one side of the steering mechanism 2, the position correcting mechanism 4 is arranged on the other side of the steering mechanism 2, the feeding mechanism 3 is arranged at the upper end of the steering mechanism 2, and the grabbing mechanism 5 is arranged at the upper end of the position correcting mechanism 4; the feeding mechanism 1 comprises an installation high platform 11, four support frames 12 are arranged above the installation high platform 11, a transmission belt 13 is arranged on each support frame 12, and a bearing of each transmission belt 13 is fixedly connected to a first motor 14; a chute bracket 15 is arranged on one side of the support frame 12, the chute bracket 15 is arranged on the mounting high platform 11, a feeding inclined channel 16 is arranged on the chute bracket 15, and the upper end of the feeding inclined channel 16 is as high as the conveying belt 13; the steering mechanism 2 comprises a cylindrical rotating barrel 21, the rotating barrel 21 is positioned on one side of the feeding inclined channel 16, the upper edge of the rotating barrel 21 is slightly lower than the lower port of the feeding inclined channel 16, a circle of edge-covering soft cushion 211 is arranged on the upper edge of the rotating barrel 21, two limiting sliding grooves 212 are symmetrically arranged on the barrel wall of the rotating barrel 21, a rotating shaft 22 is coaxially fixed at the center of the lower end of the rotating barrel 21, the lower end of the rotating shaft 22 is fixedly connected to a second motor 23, and the second motor 23 is fixedly arranged in a circular base 24; the square workpieces to be polished sequentially flow from the conveying belt 13 of the feeding mechanism 1 in an arrayed mode, slide down from the feeding inclined channel 16 and enter the rotary barrel 21, a certain distance is kept between the workpieces, and the first motor 14 is stopped after one workpiece slides down, so that only one workpiece enters the rotary barrel 21 each time; the edge covering soft cushion 211 can protect the workpiece and prevent the surface of the workpiece from rubbing with the edge of the rotary barrel 21 to generate scratches; the second motor 23 is connected with a main control computer, and the main control computer sends an instruction to drive the start, stop and rotation angle of the rotating shaft 22 through the second motor 23, so as to control the rotation angle of the rotating barrel 21.
Specifically, a first cylinder 25 is installed at the bottom in the rotary barrel 21, a limit block 26 is fixedly connected above a first telescopic rod 251 of the first cylinder 25, a middle groove 261 is arranged in the middle of the limit block 26, two limit side grooves 262 are symmetrically arranged on two sides of the middle groove 261, two wing support plates 263 are symmetrically arranged on the outer side of the limit block 26, the wing support plates 263 pass through the limit sliding groove 212 and extend to the outer side of the rotary barrel 21, the other ends of the two wing support plates 263 are fixedly connected to the inner side of an outer collar 27, and the outer collar 27 is sleeved on the periphery of the rotary barrel 21; a sliding column 28 is clamped in the middle groove 261, two limiting protrusions 281 are symmetrically arranged on two sides of the sliding column 28, and the limiting protrusions 281 are clamped in the limiting side grooves 262; a supporting spring 282 is sleeved on the limiting sliding column 28, the upper end of the limiting sliding column 28 is fixedly connected with a circular cushion plate 29, the upper end and the lower end of the supporting spring 282 are respectively abutted against the upper end face of the limiting block 26 and the lower end face of the cushion plate 29, and an anti-skid cushion 291 is fixedly attached to the upper end face of the cushion plate 29; when a workpiece slides into the rotary barrel 21, the workpiece is firstly contacted with the anti-slip soft pad 291, the anti-slip soft pad 291 can prevent the workpiece from sliding, so that the bottom surface of the workpiece can be contacted with the anti-slip soft pad 291 after sliding, the backing plate 29 is pressed down under the action of the gravity of the workpiece, the sliding column 28 is embedded into the limiting block 26 along the middle groove 261, the supporting spring 282 contracts, the backing plate 29 moves downwards, the workpiece can be ensured to completely enter the rotary barrel 21 and not be clamped on the feeding inclined channel 16, the square workpiece can be converted into an upright state from a horizontal placing state, and one bottom surface of the square workpiece is just opposite to the upper part of the rotary barrel 21; the wing support plates 263 connect the limiting blocks 26 with the outer collar 27, so that the movement tracks of the outer collar 27 and the limiting blocks 26 are synchronous; the limiting protrusion 281 is clamped with the limiting side groove 262, so that the sliding column 28 can be guided, the sliding column 28 and the limiting block 26 can rotate synchronously, and when the rotary barrel 21 is prevented from rotating, the base plate 29 above the sliding column 28 cannot rotate synchronously due to centrifugal effect.
Specifically, the feeding mechanism 3 comprises two mounting bracket plates 31 symmetrically arranged at two sides of the rotary barrel 21, the mounting bracket plates 31 are attached to one side of the mounting high platform 11, and a fixed base 311 is arranged at the lower end of the mounting bracket plates 31; a limiting sleeve 32 is arranged on the inner side of the mounting support plate 31, a movable slide bar 33 is sleeved in the limiting sleeve 32, a concave clamping block 331 is fixedly arranged at the lower end of the movable slide bar 33, and the outer sleeve 27 is clamped in a groove of the concave clamping block 331; the upper end of the movable sliding rod 33 is fixedly provided with a square block 332, one side of the square block 332 is provided with a linkage support plate 34, and the front end of the linkage support plate 34 is provided with two mounting holes 341; two gears 35 in the vertical direction are arranged on the inner side of each mounting bracket plate 31, a chain 36 is connected between the two gears 35, and a synchronous shaft lever 37 is fixedly connected between the gears 35 at the equal-height positions of the two mounting bracket plates 31; the mounting bracket plate 31 provides a mounting space and a fulcrum, and the fixed base 311 ensures the stability of the mounting bracket plate 31; the limiting sleeve 32 limits and guides the movable sliding rod 33; the outer collar 27 is clamped in the groove of the concave fixture block 331, and can drive the movable slide bar 33 to move up and down; the linkage support plate 34 is connected with the chain 36, and when the movable slide bar 33 moves up and down, the chain 36 is also pushed to rotate along the gear 35.
Specifically, one side of the gear 35 at the upper end of the mounting bracket plate 31, which is far away from the rotary barrel 21, is horizontally provided with a fixed mounting plate 38, two ends of the fixed mounting plate 38 are fixedly mounted on the two mounting bracket plates 31, two ends of the fixed mounting plate 38 are symmetrically provided with two cylindrical limiting through holes 381, a rotary rod 39 is mounted in each limiting through hole 381, the diameter size of the upper end of the rotary rod 39 is larger than that of the lower end of the rotary rod 39, and the lower end of the rotary rod 39 is matched with the limiting through holes 381; a hollow slideway 392 is arranged in the rotating rod 39, a linkage bolt head 393 is arranged in the hollow slideway 392, and a first worm wheel 391 is arranged outside one rotating rod 39; a groove rod 310 is sleeved in the hollow slide channel 392, a linkage sliding groove 312 is arranged on the groove rod 310, a linkage bolt head 393 is clamped in the linkage sliding groove 312, a straight rod 313 is fixedly arranged at the lower end of the groove rod 310, a linkage support plate 34 is arranged on one side of the straight rod 313 close to the gear 35, two mounting holes 341 are arranged at the front end of the linkage support plate 34, the linkage support plate 34 on one side of the straight rod 313 is fixedly connected to the upper end of one side of the chain 36, and the linkage support plate 34 on one side of the block 332 is fixedly connected to the lower end of the other side of the chain 36; the fixed mounting plate 38 limits the rotating rod 39, the linkage bolt heads 393 are clamped with the linkage sliding grooves 312 on the slot rods 310, the straight rods 313 at the lower ends of the two slot rods 310 are connected with the chain 36 through the linkage support plate 34, and the slot rods 310 cannot rotate in the up-and-down translation process of the slot rods 310, so that the rotating rod 39 rotates due to the sliding of the linkage bolt heads 393 along the linkage sliding grooves 312; a linkage brace 34 on the straight bar 313 connects the slotted bar 310 to the chain 36 so that the slotted bar 310 moves in synchronism with, but in the opposite direction to, the movable sliding bar 33.
Specifically, the feeding mechanism 3 further includes a cylindrical loop bar 314 having the same height as the fixed mounting plate 38, two fixed pillars 316 are disposed at lower sides of two ends of the loop bar 314, the fixed pillars 316 are respectively fixed at inner sides of the two mounting bracket plates 31, the loop bar 314 is located at an upper end of the rotary barrel 21 away from the fixed mounting plate 38, and two identical limiting rotary slots 315 are disposed at two ends of the loop bar 314; a sleeve shaft 317 is sleeved in the sleeve rod 314, a coaxial second turbine 318 is arranged at one end of the sleeve shaft 317, and the second turbine 318 is positioned on the same side as the first turbine 391; the sleeve shaft 317 is positioned at the two limiting rotary grooves 315 and is simultaneously provided with a long supporting rod 319 and a short supporting rod 321, the long supporting rod 319 is arranged above the short supporting rod 321, the front ends of the two long supporting rods 319 are fixedly connected to a first push rod 320, the short supporting rod 321 is divided into three sections, the tail end of the short supporting rod 321 is provided with an electric telescopic rod 323, the front end of the electric telescopic rod 323 is connected with a hollow sleeve 324, a movable supporting rod 325 is sleeved in the hollow sleeve 324, a reset spring 334 is sleeved on the movable supporting rod 325, and the reset spring 334 is clamped in the hollow sleeve 324; the front ends of the two movable supporting rods 325 are connected with a second push rod 326, and a circle of electromagnet 335 is sleeved outside the second push rod 326; the fixed struts 316 at the two ends of the loop bar 314 fix the loop bar on the two mounting bracket plates 31, the loop shaft 317 is sleeved inside the loop bar 314, the limiting rotary groove 315 limits the loop shaft 317 and provides a rotary space for the long support bar 319 and the short support bar 321; after the angle adjustment of the workpiece is completed, the workpiece is pushed up by the first cylinder 25, the groove rod 310 is driven by the chain 36 to move down in the process of moving the movable slide rod 33 up, the rotating rod 39 rotates, the first worm gear 391 on the rotating rod 39 rotates, the second worm gear 318 is driven by the double-headed worm 328 to rotate along with the first worm gear, so that the sleeve shaft 317 is driven to rotate, the second push rod 326 firstly collides with the upper end of the workpiece to push the workpiece down, the stop rod 314 catches the workpiece to ensure that the workpiece slowly topples down along with the rising of the stop block 26, and when the workpiece approaches the horizontal level, the first push rod 320 collides with the bottom of the workpiece to push the workpiece out of the rotating barrel 21.
Specifically, a cross rod 324 is fixedly connected between the fixed mounting plate 38 and the loop bar 314, a through cylindrical sleeve 325 is arranged in the middle of the cross rod 324, the cylindrical sleeve 325 is positioned right above the rotary barrel 21, a camera 326 is arranged in the cylindrical sleeve 325, and the lens of the camera 326 is opposite to the rotary barrel 21; a mounting sleeve 327 is arranged on one side of the cross bar 324 close to the first worm wheel 391, the mounting sleeve 327 is fixedly mounted on the mounting bracket plate 31, a double-headed worm 328 is sleeved in the mounting sleeve 327, and two ends of the double-headed worm 328 are respectively meshed with the first worm wheel 391 and the second worm wheel 318; the camera 326 is connected with the main control computer, and the camera 326 takes a picture of the bottom surface of the workpiece in the rotary barrel 21 and transmits the picture information to the main control computer for comparison, so that the angle of the rotary barrel 21 which needs to be adjusted is calculated.
Specifically, the position correcting mechanism 4 comprises a discharging inclined slideway 41, the discharging inclined slideway 41 is positioned on one side of the rotary barrel 21 far away from the loop bar 314, and two sides of the discharging inclined slideway 41 are respectively provided with a limit guard plate 411; an L-shaped mounting base 42 is mounted on one side of the lower end of the discharging inclined slide way 41, which is far away from the rotary barrel 21, a limiting cushion 43 is fixedly mounted on one side of the mounting base 42, which is close to the discharging inclined slide way 41, two limiting plates 44 are symmetrically fixed on two sides of the limiting cushion 43, and the limiting plates 44 are in abutting connection with the discharging inclined slide way 41; a grabbing wing groove 441 is arranged at one end, close to the mounting base 42, of the upper edge of the limiting plate 44, a mounting support plate 45 is arranged at the lower end of the outer side of the limiting plate 44, the two mounting support plates 45 are fixedly mounted on the inner sides of the two fixed mounting plates 38, two rollers 46 are respectively arranged at two ends of the lower half of the two limiting plates 44, and one roller 46 is connected with a driving motor 48; a transmission belt is sleeved between the two rollers 46, and the height of the transmission belt 47 is slightly lower than the upper edge of the rotary barrel 21; after being pushed out of the range of the rotary barrel 21 by the first push rod 320, the workpiece enters the discharging inclined slideway 41, and the limiting protection plate 411 has a protection effect and prevents the workpiece from rotating and falling off in the sliding process; the workpiece slides onto the conveyor belt 47 through the discharging inclined slide way 41 and is abutted against the limiting cushion 43, and the limiting cushion 43 plays a role in positioning, prevents the workpiece from continuously sliding along with the conveyor belt 47 and can protect the workpiece; the installation support plate 45 has a limiting effect, the workpiece is prevented from deviating, the grabbing wing groove 441 provides a grabbing space for the grabbing mechanism 5, and after the workpiece moves to the position of the limiting cushion 43, the grabbing mechanism 5 can accurately grab the same position of the workpiece at the grabbing wing groove 441 position.
Specifically, the grabbing mechanism 5 comprises a concave symmetrical grabbing bracket 51, two horizontal supporting rods 52 are vertically arranged at two ends of the grabbing bracket 51, and two mounting through holes 53 are respectively arranged at two ends of each horizontal supporting rod 52; a concave bracket 54 is fixedly arranged at the upper end of the grabbing bracket 51, a second air cylinder 55 is fixedly arranged in the concave bracket 54, a second telescopic rod 551 is fixedly connected to the lower end of the second air cylinder 55, the second telescopic rod 551 penetrates through the grabbing bracket 51, and a mounting through hole 53 is formed in the front end of the second telescopic rod 551; a first connecting rod 56 is movably arranged on the mounting through hole 53 at the outer side of the horizontal strut 52, a second connecting rod 57 is movably arranged on the mounting through hole 53 at the inner side of the horizontal strut 52, a mounting through hole 53 is arranged in the middle of the second connecting rod 57, and a third connecting rod 58 is movably connected between the mounting through hole 53 in the middle of the second connecting rod 57 and a second telescopic rod 551; the front ends of the first connecting rod 56 and the second connecting rod 57 are simultaneously connected to a right-angle hand grip 59; the second air cylinder 55 controls the extension and contraction of the second telescopic rod 551, and during the extension process of the second telescopic rod 551, the third connecting rod 58 pushes the second connecting rods 57 away, and the angle of the two second connecting rods 57 is widened, so that the right-angle gripper 59 is opened; when the second telescopic rod 551 is contracted, the right-angle hand grip 59 is closed and tightened to realize the gripping.
Specifically, a shaft rod 510 is fixedly connected to the center of the upper end of the concave bracket 54, the upper end of the shaft rod 510 is fixedly connected to a third motor 511, the third motor 511 is installed in a cylindrical block 512, and two cylindrical fixture blocks 513 are symmetrically arranged at the upper end of the cylindrical block 512; the upper end of the cylindrical block 512 is provided with a rope collecting box 514, the middle of the rope collecting box 514 is provided with a cavity 515, the lower end of the cavity 515 is symmetrically provided with two clamping grooves 516, and the clamping grooves 516 are matched with the clamping blocks 513; two coaxially connected rope wheels 517 are arranged in the cavity 515, and one side of each rope wheel 517 is coaxially connected with a fourth motor 523; a lifting rope 518 is wound on the rope pulley 517, one end of the lifting rope 518 is fixedly connected to the rope pulley 517, the other end of the lifting rope 518 penetrates through the clamping groove 516 and extends to the lower end of the rope collecting box 514, and the lower ends of the two lifting ropes 518 are fixedly connected to a clamping block 513 at the upper end of the cylindrical block 512; two sliding blocks 519 are symmetrically arranged at the upper end of the rope collecting box 514, a clamping sliding groove 520 is arranged at the outer side of the sliding block 519, the clamping sliding groove 520 is clamped in a sliding rod 521, a supporting rod 522 is fixed in the middle of the sliding rod 521, one end of the sliding rod 521 and the lower end of the supporting rod 522 are fixedly arranged on the mounting support plate 31, a sliding motor 524 is arranged on the sliding rod 521 in a sliding manner, and the sliding motor 524 is fixedly connected with the sliding block 519; the third motor 511 is capable of driving the shaft 510 to rotate three hundred and sixty degrees, thereby driving the right-angled hand grip 59 to rotate; the lifting rope 518 can provide vertical distance extension and retraction for the grabbing mechanism 5, and the position of the grabbing mechanism 5 can be manually adjusted by adopting a rope mode, so that the grabbing mechanism 5 can meet more scene requirements; the clamping block 513 is matched with the clamping groove 516, when the lifting rope 518 is tightened, the cylindrical block 512 is clamped with the rope collecting box 514, and the grabbing mechanism 5 becomes a stable moving body at the moment, so that the shaking in the moving process can be reduced, and the stability of the grabbing mechanism 5 is improved; a beam rod is connected between the two sliding blocks 519 to ensure stability and synchronism, and the sliding motor 524 can drive the sliding blocks 519 to slide on the sliding rods 521, namely drive the grabbing mechanism 5 to slide.
When the multifunctional electric telescopic rod is used, the main control computer and the camera 329 are connected with an external power supply to be electrified, the main control computer and the camera 329 are connected by a data line, and the main control computer is simultaneously electrically connected with the electric telescopic rod 323, the electromagnet 335, the second motor 23 and the third motor 511 for signal transmission; after the system is built, the picture information of six surfaces of the cuboid iron casting workpiece to be polished is collected and loaded into a data comparison database of a main control computer, so that the later-stage picture data comparison and system operation are facilitated.
The square workpieces to be polished are sequentially placed on the conveying belt 13, the first motor 14 is started to drive the conveying belt 13, the conveying belt 13 conveys the workpieces to be polished into the inclined feeding channel 16, the switch of the first motor 14 is controlled, after one workpiece enters the inclined feeding channel 16, the first motor 14 is stopped, and the workpieces entering the inclined feeding channel 16 slide down into the rotary barrel 21.
The lower end of a workpiece to be polished abuts against the anti-skidding cushion 291, the backing plate 29 slides downwards under the action of the gravity of the workpiece, the sliding column 28 slides into the middle groove 261, the supporting spring 282 is compressed, the workpiece enters the rotary barrel 21, at the moment, the workpiece to be polished is in an upright shape, the camera 329 collects pictures of the upper bottom surface of the workpiece and transmits the pictures to the main control computer for data comparison, so that the angle of the rotary barrel 21 needing to be rotated and whether the workpiece needs to be turned over are calculated, an instruction is sent to start the second motor 23 to drive the rotary barrel 21 to rotate for a specified angle, if the workpiece needs to be turned over, an instruction is sent to the second push rod 326 to electrify the electromagnet 335, the electromagnet 335 is promoted to generate magnetic force, if the workpiece does not need to be turned over, and at the moment, the electromagnet 335 is in a power-off and non-magnetic force state; meanwhile, the camera 329 calculates the height of the workpiece and judges whether the length of the short supporting rod 321 needs to be extended, if the short supporting rod 321 needs to be extended, an instruction is sent to the electric telescopic rod 323 to drive the electric telescopic rod 323 to extend the length of the short supporting rod 321, if the short supporting rod 321 does not need to be extended, the instruction does not need to be sent, and at this moment, the short supporting rod 321 keeps the current length.
After the position of the workpiece to be polished is adjusted, the first air cylinder 25 is started to jack up the workpiece on the limiting block 26, the movable sliding rod 33 drives the slot rod 310 to move downwards, the rotating rod 39 rotates due to the interaction between the linkage sliding slot 312 on the slot rod 310 and the linkage bolt head 393, and the double-headed worm 333 drives the sleeve rod 314 to rotate, namely the short supporting rod 321 and the long supporting rod 319 to rotate; when the upper half part of the workpiece is higher than the barrel edge of the rotating barrel 21, the short supporting rod 321 rotates to the position to be contacted with the workpiece, if the workpiece does not need to be turned over, the short supporting rod is in the shortest length and can rotate from the upper part of the workpiece without being contacted with the workpiece, the workpiece continues to rise, when the anti-skid cushion 291 is higher than the barrel edge of the rotating barrel 21, the long supporting rod 319 rotates to the position to be contacted with the workpiece, along with the continuous rise of the movable sliding rod 33, the long supporting rod 319 continues to rotate, the first push rod 320 can abut against the side face of the workpiece close to the feeding inclined channel 16 and push the workpiece to enter the discharging inclined slideway 41; if the workpiece needs to be turned over, after the main control computer finishes the picture comparison, the main control computer sends an instruction to start the electric telescopic rod 323 to extend the short supporting rod 321, and simultaneously sends an instruction to electrify the electromagnet 335 on the second push rod 326, when the short supporting rod 321 rotates to a position to be in contact with the workpiece, the second push rod 326 is enabled to be attached to the side face, close to the feeding inclined chute 16, of the workpiece due to the magnetic force between the iron workpiece and the electromagnet 335, and in the continuous rotation process of the short supporting rod 321, the movable supporting rod 325 can be adaptively extended and contracted due to the rising and turning over of the workpiece to ensure the smooth turning over of the workpiece, after the turning over is finished, the short supporting rod 321 is positioned on the face right above the turned over workpiece and can be separated from the workpiece as the short supporting rod 321 continues to rotate to abut against the workpiece, and the workpiece is pushed to enter the discharging inclined chute 41; when the workpiece rises to the highest point in the rotary barrel 21, the camera 329 collects the picture of the upper surface of the workpiece once again and sends the picture to the main control computer for comparison, the main control computer calculates and judges whether the grabbing mechanism 5 needs to be rotationally adjusted, if the grabbing mechanism needs to be rotationally adjusted, an instruction is sent to the third motor 511, and after the grabbing of the workpiece is completed, the grabbing bracket 51 is driven to rotate by one hundred eighty degrees to adjust the position of the workpiece; if the rotation adjustment is not needed, the instruction does not need to be sent, and the current state of the default grabbing device is correct.
During the ascending process of the limiting block 26, the wing support plate 263 drives the outer collar 27 to ascend, the outer collar 27 pushes the movable sliding rod 33 to ascend along the limiting sleeve 32, the linkage support plate 34 on one side of the block 332 at the upper end of the movable sliding rod 33 ascends to drive the chain 36 to rotate, the right-angle support rod 313 connected with the upper end of the chain 36 moves downwards, the slot rod 310 at the upper end of the right-angle support rod 313 slides downwards, the linkage bolt head 393 in the rotating rod 39 is clamped in the linkage sliding slot 312, during the sliding down process of the slot rod 310, the linkage bolt head 393 slides along the linkage sliding slot 312 to drive the rotating rod 39 to rotate, the first turbine 391 outside the rotating rod 39 rotates to drive the double-headed worm 328 meshed therewith to rotate, and the second turbine 318 meshed with the other end of the double-headed worm 328 also rotates along with the same, so as to drive the sleeve shaft 317 to rotate; at this moment, the second push rod 326 firstly pushes against the upper end of the workpiece, and pushes the workpiece, and the stop lever 314 receives the workpiece, so that the workpiece slowly falls along with the upper end of the limit block 26, when the workpiece is close to a horizontal state, the first push rod 320 pushes against the bottom of the workpiece, and pushes the workpiece to enter the discharging inclined slideway 41, and then the first cylinder 25 is driven to reset the limit block 26, in the process, the groove rod 310 and the sleeve shaft 317 are reset along with the workpiece, so that the next workpiece can be transported to the rotating barrel 21 for next adjustment, and the previous workpiece entering the position correcting mechanism 4 can be grabbed.
The workpiece slides into the conveyor belt 47 along the discharging inclined slide way 41, the driving motor 48 is started, the workpiece moves along with the conveyor belt 47 until the workpiece is abutted against the limit cushion 43, the driving motor 48 is stopped, at the moment, the fourth motor 523 is started, the lifting rope 518 is extended, the second cylinder 55 is driven to extend the second telescopic rod 551, the third connecting rod 58 expands the angle between the two second connecting rods 57, so that the right-angle hand grip 59 is opened, the right-angle hand grip 59 is lowered to the two sides of the grabbing wing groove 441, the fourth motor 523 is stopped, then the second cylinder 55 is driven to retract the second telescopic rod 551, the two right-angle hand grips 59 are driven to be mutually folded, and the workpiece in the position correcting mechanism 4 is grabbed, in the process, the position of the right-angle hand grip 59 can be manually adjusted due to the existence of the lifting rope 518, and stable grabbing is guaranteed; the third motor 511 judges whether the grabbing bracket 51 needs to be driven to rotate and execute according to the information fed back by the camera 329, then drives the fourth motor 523 to tighten the lifting rope 518 until the clamping block 513 is clamped with the clamping groove 516, and stops the fourth motor 523, so that the shaking of the grabbing mechanism 5 is reduced, and the stability of the workpiece moving process is ensured; starting a sliding motor 524, driving a sliding block 519 to slide to a preset position along a sliding rod 521, stopping the sliding motor 524, starting a fourth motor 523, extending a lifting rope 518, and lowering the workpiece to a proper height for installation; after the installation is completed, the second cylinder 55 can be started, the second telescopic rod 551 is extended to open the right-angle gripper 59, then the fourth motor 523 is driven to tighten the lifting rope 518, and the sliding motor 524 is driven to reset the grabbing mechanism 5 to the position correcting mechanism 4 for the next grabbing.
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 (9)
1. A workpiece accurate taking system for robot polishing comprises a feeding mechanism (1), a steering mechanism (2), a feeding mechanism (3), a position correcting mechanism (4) and a grabbing mechanism (5); the method is characterized in that: the feeding mechanism (1) is installed on one side of the steering mechanism (2), the position correcting mechanism (4) is installed on the other side of the steering mechanism (2), the feeding mechanism (3) is installed at the upper end of the steering mechanism (2), and the grabbing mechanism (5) is installed at the upper end of the position correcting mechanism (4);
the feeding mechanism (1) comprises an installation high table (11), four support frames (12) are arranged above the installation high table (11), a transmission belt (13) is installed on each support frame (12), and a bearing of each transmission belt (13) is fixedly connected to a first motor (14); a chute support (15) is installed on one side of the support frame (12), the chute support (15) is installed on the installation high platform (11), a feeding chute channel (16) is installed on the chute support (15), and the upper end of the feeding chute channel (16) is as high as the conveying belt (13); steering mechanism (2) include cylindrical commentaries on classics bucket (21), commentaries on classics bucket (21) are located oblique channel way of feeding (16) one side, the border is slightly less than on commentaries on classics bucket (21) the oblique channel way of feeding (16) port down, commentaries on classics bucket (21) upper end is along setting up round cushion (211) of borduring, the symmetry sets up two spacing spouts (212) on commentaries on classics bucket (21) bucket wall, change coaxial fixed pivot (22) of bucket (21) lower extreme center department, pivot (22) lower extreme fixed connection is on second motor (23), second motor (23) fixed mounting is in a circular base (24).
2. The system of claim 1 for accurate picking of workpieces for robotic polishing, wherein: a first air cylinder (25) is installed at the bottom in the rotary barrel (21), a limiting block (26) is fixedly connected above a first telescopic rod (251) of the first air cylinder (25), a middle groove (261) is formed in the middle of the limiting block (26), two limiting side grooves (262) are symmetrically formed in two sides of the middle groove (261), two wing supporting plates (263) are symmetrically formed in the outer side of the limiting block (26), the wing supporting plates (263) penetrate through the limiting sliding groove (212) and extend to the outer side of the rotary barrel (21), the other ends of the two wing supporting plates (263) are fixedly connected to the inner side of an outer collar (27), and the outer collar (27) is sleeved on the periphery of the rotary barrel (21); a sliding column (28) is clamped in the middle groove (261), two limiting protrusions (281) are symmetrically arranged on two sides of the sliding column (28), and the limiting protrusions (281) are clamped in the limiting side grooves (262); connect a supporting spring (282) on spacing traveller (28), a circular backing plate (29) of spacing traveller (28) upper end fixed connection, both ends respectively with stopper (26) up end with terminal surface is inconsistent under backing plate (29) about supporting spring (282), backing plate (29) up end laminating fixed anti-skidding cushion (291).
3. The system of claim 2 for accurate picking of workpieces for robotic polishing, wherein: the feeding mechanism (3) comprises two mounting support plates (31) which are symmetrically arranged on two sides of the rotary barrel (21), the mounting support plates (31) are attached to one side of the mounting high platform (11), and a fixed base (311) is arranged at the lower end of each mounting support plate (31); a limiting sleeve (32) is arranged on the inner side of the mounting support plate (31), a movable slide rod (33) is sleeved in the limiting sleeve (32), a concave clamping block (331) is fixedly arranged at the lower end of the movable slide rod (33), and the outer sleeve ring (27) is clamped in a groove of the concave clamping block (331); a square block (332) is fixedly arranged at the upper end of the movable sliding rod (33), a linkage support plate (34) is arranged on one side of the square block (332), and two mounting holes (341) are formed in the front end of the linkage support plate (34); two gears (35) in the vertical direction are arranged on the inner side of each mounting support plate (31), a chain (36) is connected between the two gears (35), and a synchronous shaft lever (37) is fixedly connected between the gears (35) at the equal-height positions of the two mounting support plates (31).
4. The system of claim 3 for accurate picking of workpieces for robotic polishing, wherein: one side, deviating from the rotary barrel (21), of the gear (35) at the upper end of the mounting support plate (31) is horizontally provided with a fixed mounting plate (38), two ends of the fixed mounting plate (38) are fixedly mounted on the two mounting support plates (31), two ends of the fixed mounting plate (38) are symmetrically provided with two cylindrical limiting through holes (381), a rotary rod (39) is mounted in each limiting through hole (381), the diameter size of the upper end of the rotary rod (39) is larger than that of the lower end of the rotary rod (39), and the lower end of the rotary rod (39) is matched with the limiting through holes (381); a hollow slideway (392) is arranged in the rotating rod (39), a linkage bolt head (393) is arranged in the hollow slideway (392), and a first turbine (391) is arranged outside one rotating rod (39); the hollow slide way (392) is connected with a groove rod (310) in a sleeved mode, a linkage sliding groove (312) is formed in the groove rod (310), the linkage bolt head (393) is clamped in the linkage sliding groove (312), a straight rod (313) is fixedly arranged at the lower end of the groove rod (310), a linkage supporting plate (34) is arranged on one side, close to the gear (35), of the straight rod (313), two mounting holes (341) are formed in the front end of the linkage supporting plate (34), the linkage supporting plate (34) on one side of the straight rod (313) is fixedly connected to the upper end of one side of the chain (36), and the linkage supporting plate (34) on one side of the square block (332) is fixedly connected to the lower end of the other side of the chain (36).
5. The system of claim 4 for accurate picking of workpieces for robotic polishing, wherein: the feeding mechanism (3) further comprises a cylindrical loop bar (314) which is equal in height to the fixed mounting plate (38), two fixed support columns (316) are arranged on the lower sides of two ends of the loop bar (314), the fixed support columns (316) are respectively fixed on the inner sides of the two mounting bracket plates (31), the loop bar (314) is positioned at the upper end of one side, away from the fixed mounting plate (38), of the rotary barrel (21), and two identical limiting rotary grooves (315) are arranged at two ends of the loop bar (314); a sleeve shaft (317) is sleeved in the sleeve rod (314), a second coaxial turbine (318) is arranged at one end of the sleeve shaft (317), and the second turbine (318) is positioned on the same side as the first turbine (391); the sleeve shaft (317) is positioned at the two limiting rotary grooves (315) and is simultaneously provided with a long supporting rod (319) and a short supporting rod (321), the long supporting rod (319) is arranged above the short supporting rod (321), the front ends of the two long supporting rods (319) are fixedly connected to a first push rod (320), the short supporting rod (321) is divided into three sections, the tail end of the short supporting rod (321) is provided with an electric telescopic rod (323), the front end of the electric telescopic rod (323) is connected with a hollow sleeve (324), a movable supporting rod (325) is sleeved in the hollow sleeve (324), a reset spring (334) is sleeved on the movable supporting rod (325), and the reset spring (334) is clamped in the hollow sleeve (324); the front ends of the two movable supporting rods (325) are connected with a second push rod (326), and a circle of cylindrical electromagnet (335) is sleeved outside the second push rod (326).
6. The system of claim 5 for accurate picking of workpieces for robotic polishing, wherein: a cross rod (327) is fixedly connected between the fixed mounting plate (38) and the loop bar (314), an up-and-down through cylindrical sleeve (328) is arranged in the middle of the cross rod (327), the cylindrical sleeve (328) is positioned right above the rotary barrel (21), a camera (329) is installed in the cylindrical sleeve (328), and the lens of the camera (329) is right opposite to the rotary barrel (21); one side of the cross rod (327) close to the first turbine (391) is provided with a mounting sleeve (330), the mounting sleeve (330) is fixedly mounted on the mounting support plate (31), a double-headed worm (333) is sleeved in the mounting sleeve (330), and two ends of the double-headed worm (333) are respectively meshed with the first turbine (391) and the second turbine (318).
7. The system of claim 6, wherein the system comprises: the position correcting mechanism (4) comprises a discharging inclined slide way (41), the discharging inclined slide way (41) is positioned on one side of the rotary barrel (21) far away from the loop bar (314), and two sides of the discharging inclined slide way (41) are respectively provided with a limiting guard plate (411); an L-shaped mounting base (42) is mounted on one side, away from the rotary barrel (21), of the lower end of the discharging inclined slide way (41), a limiting cushion (43) is fixedly mounted on one side, close to the discharging inclined slide way (41), of the mounting base (42), two limiting plates (44) are symmetrically fixed on two sides of the limiting cushion (43), and the limiting plates (44) are in abutting connection with the discharging inclined slide way (41); a grabbing wing groove (441) is arranged at one end, close to the mounting base (42), of the upper edge of the limiting plate (44), a mounting support plate (45) is arranged at the lower end of the outer side of the limiting plate (44), the two mounting support plates (45) are fixedly mounted on the inner sides of the two fixed mounting plates (38), two rollers (46) are respectively arranged at two ends of the lower half portions of the two limiting plates (44), and one roller (46) is connected with a driving motor (48); a transmission belt is sleeved between the two rollers (46), and the height of the transmission belt (47) is slightly lower than the upper edge of the rotary barrel (21).
8. The system of claim 7 for accurate picking of workpieces for robotic polishing, wherein: the grabbing mechanism (5) comprises a concave symmetrical grabbing bracket (51), two horizontal supporting rods (52) are vertically arranged at two ends of the grabbing bracket (51), and two mounting through holes (53) are respectively arranged at two ends of each horizontal supporting rod (52); a concave bracket (54) is fixedly arranged at the upper end of the grabbing bracket (51), a second air cylinder (55) is fixedly arranged in the concave bracket (54), the lower end of the second air cylinder (55) is fixedly connected with a second telescopic rod (551), the second telescopic rod (551) penetrates through the grabbing bracket (51), and the front end of the second telescopic rod (551) is provided with the mounting through hole (53); a first connecting rod (56) is movably mounted on the mounting through hole (53) on the outer side of the horizontal supporting rod (52), a second connecting rod (57) is movably mounted on the mounting through hole (53) on the inner side of the horizontal supporting rod (52), the mounting through hole (53) is formed in the middle of the second connecting rod (57), and a third connecting rod (58) is movably connected between the mounting through hole (53) in the middle of the second connecting rod (57) and the second telescopic rod (551); the front ends of the first connecting rod (56) and the second connecting rod (57) are simultaneously connected to a right-angle hand grip (59).
9. The system of claim 8, wherein the system comprises: the center of the upper end of the concave bracket (54) is fixedly connected with a shaft rod (510), the upper end of the shaft rod (510) is fixedly connected to a third motor (511), the third motor (511) is installed in a cylindrical block (512), and two cylindrical fixture blocks (513) are symmetrically arranged at the upper end of the cylindrical block (512); the upper end of the cylindrical block (512) is provided with a rope-collecting box (514), the middle of the rope-collecting box (514) is provided with a cavity (515), the lower end of the cavity (515) is symmetrically provided with two clamping grooves (516), and the clamping grooves (516) are matched with the clamping blocks (513); two coaxially connected rope wheels (517) are installed in the cavity (515), and one side of each rope wheel (517) is coaxially connected with a fourth motor (523); a lifting rope (518) is wound on the rope wheel (517), one end of the lifting rope (518) is fixedly connected to the rope wheel (517), the other end of the lifting rope (518) penetrates through the clamping groove (516) and extends to the lower end of the rope collecting box (514), and the lower ends of the two lifting ropes (518) are fixedly connected to the clamping block (513) at the upper end of the cylindrical block (512); receive rope case (514) upper end symmetry and set up two slider (519), slider (519) outside sets up a screens spout (520), screens spout (520) block is in a slide bar (521), a fixed branch (522) in the middle of slide bar (521), slide bar (521) one end with branch (522) lower extreme fixed mounting be in on installation mounting panel (31), a sliding motor (524) of slidable mounting on slide bar (521), sliding motor (524) with slider (519) fixed connection.
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| CN113579923B (en) | 2022-07-01 |
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Denomination of invention: A Precise Picking System for Workpieces Used in Robot Polishing Effective date of registration: 20230613 Granted publication date: 20220701 Pledgee: Huaxia Bank Co.,Ltd. Hefei high tech Zone sub branch Pledgor: ANHUI XINJINGJIE AUTOMATION TECHNOLOGY Co.,Ltd. Registration number: Y2023980043765 |