CN113601372A - Wheeled burnishing device of robot - Google Patents
Wheeled burnishing device of robot Download PDFInfo
- Publication number
- CN113601372A CN113601372A CN202110870206.XA CN202110870206A CN113601372A CN 113601372 A CN113601372 A CN 113601372A CN 202110870206 A CN202110870206 A CN 202110870206A CN 113601372 A CN113601372 A CN 113601372A
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- China
- Prior art keywords
- shaft
- mechanism mounting
- autorotation
- mounting seat
- polishing
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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
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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
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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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
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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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 relates to a robot wheel type polishing device, wherein a robot mounting plate is arranged on a six-axis robot, a revolution mechanism mounting seat is arranged on the robot mounting plate, a speed reducer and a low-friction cylinder are arranged on the revolution mechanism mounting seat, a servo motor is arranged on the speed reducer, a spline shaft sleeve is arranged on the speed reducer, a spline shaft is in sliding fit with the spline shaft sleeve, a cylinder push plate is arranged on the low-friction cylinder, the cylinder push plate is connected with a lifting sleeve, an upper bevel gear is connected with an autorotation mechanism mounting shaft, the autorotation mechanism mounting shaft is arranged on the spline shaft, the autorotation mechanism mounting seat is arranged on the autorotation mechanism mounting shaft, a driven shaft is connected with a lower bevel gear, the autorotation shaft is connected with an autorotation shaft synchronous wheel, the autorotation shaft is connected with a polishing inner wheel, and a flexible polishing outer wheel is arranged on the outer ring of the polishing inner wheel; the invention has high rotating speed and high processing efficiency; the processing beam diameter is small; mitigating edge effects of polishing; the six-axis robot is adopted to replace a traditional machine tool, the displacement is flexible, and the aspheric surface with higher processing difficulty can be processed.
Description
Technical Field
The invention relates to a polishing device, in particular to a robot wheel type polishing device which is suitable for high-precision optical polishing and surface finishing of glass materials.
Background
At present, the polishing can be finished by small tool polishing and air bag polishing, but firstly, the rotating speed is limited, the linear speed is also limited, and the processing efficiency is not enough; secondly, the processing beam diameter is not small enough, and the edge effect of polishing cannot be reduced.
Disclosure of Invention
The invention aims to provide a robot wheel type polishing device which is higher in rotating speed, higher in linear speed and higher in processing efficiency compared with small tool polishing and air bag polishing; the processing beam diameter is small; mitigating edge effects of polishing; the polishing wheel adopts a spherical design and is more fit with a machined workpiece; compared with small tool polishing, the structure is more stable; the six-axis robot is adopted to replace a traditional machine tool, so that the displacement is more flexible, and the aspheric surface with higher processing difficulty can be processed.
In order to achieve the purpose, the invention has the following technical scheme:
the invention relates to a robot wheel type polishing device, which comprises a six-axis robot, a wheel type polishing clamp, a robot mounting plate, a servo motor, a speed reducer, a revolution mechanism mounting seat, a spline shaft sleeve, a spline shaft, a low-friction cylinder, a cylinder push plate, a lifting sleeve, an upper bevel gear, a lower bevel gear, an autorotation mechanism mounting shaft, an autorotation mechanism mounting seat, a driven shaft, an autorotation shaft, a driven shaft synchronizing wheel, an autorotation shaft synchronizing wheel, a synchronous toothed belt, a polishing inner wheel, a flexible polishing outer wheel, a robot mounting plate mounted on the six-axis robot, a revolution mechanism mounting seat mounted on the robot mounting plate, the speed reducer and the low-friction cylinder mounted on the revolution mechanism mounting seat, the servo motor mounted on the speed reducer, the spline shaft sleeve mounted on the speed reducer, the spline shaft connected with the spline shaft sleeve in a sliding fit manner, the cylinder push plate mounted on the low-friction cylinder, the cylinder push plate connected with the lifting sleeve, the upper bevel gear is connected with an installation shaft of the autorotation mechanism, the installation shaft of the autorotation mechanism is installed on the spline shaft, an installation seat of the autorotation mechanism is installed on the installation shaft of the autorotation mechanism, the lower bevel gear is meshed with the upper bevel gear, the driven shaft is connected with the lower bevel gear, the driven shaft synchronizing wheel is connected with the driven shaft, the synchronous toothed belt is connected with the driven shaft synchronizing wheel, the autorotation shaft synchronizing wheel is connected with the synchronous toothed belt, the autorotation shaft is connected with the autorotation shaft synchronizing wheel, penetrates through the lower end of the installation seat of the autorotation mechanism to be connected with the polishing inner wheel, and the flexible polishing outer wheel is installed on the outer ring of the polishing inner wheel.
The low-friction cylinders are symmetrically arranged on two sides of the revolution mechanism mounting seat; the middle of the cylinder push plate is polygonal, so that the cylinder push plate can be conveniently connected with the revolution mechanism mounting seat and the lifting sleeve, and two ends of the cylinder push plate are protruded rectangles, so that the low-friction cylinder can be conveniently accepted.
The automatic rotating mechanism comprises a spline shaft, a lifting sleeve, a self-rotating mechanism mounting seat, a driven shaft, a self-rotating mechanism mounting seat, a deep groove ball bearing and a deep groove ball bearing, wherein the deep groove ball bearing is arranged between the spline shaft and the revolution mechanism mounting seat, the deep groove ball bearing is arranged between the spline shaft and the lifting sleeve, the deep groove ball bearing is arranged between the driven shaft and the upper end of the self-rotating mechanism mounting seat, and the deep groove ball bearing is arranged between the self-rotating shaft and the lower end of the self-rotating mechanism mounting seat.
Wherein the flexible polishing outer wheel and the polishing inner wheel are combined together through bonding; the surface of the flexible polishing outer wheel is spherical.
And a pin seat are arranged between the revolution mechanism mounting seat and the cylinder push plate, wherein one end of the pin is connected to the bottom of the revolution mechanism mounting seat, the other end of the pin is inserted into the pin seat, and the pin seat is connected with the cylinder push plate.
Due to the adoption of the technical scheme, the invention has the advantages that:
1. compared with small tool polishing and air bag polishing, the rotary speed is higher, the linear speed is faster, and the machining efficiency is higher;
2. the processing beam diameter is small, and the edge effect of polishing is reduced;
3. the polishing wheel adopts a spherical design and is more fit with a machined workpiece;
4. compared with small tool polishing, the structure is more stable;
5. the six-axis robot is adopted to replace a traditional machine tool, so that the displacement is more flexible, and the aspheric surface with higher processing difficulty can be processed.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is an enlarged schematic view of the wheel burnishing apparatus of the present invention;
fig. 3 is an enlarged schematic view of the cross-sectional view of fig. 2.
In the figure, 1, a six-axis robot; 2. a wheel type polishing device; 3. a robot mounting plate; 4. a servo motor; 5. a speed reducer; 6. a revolution mechanism mounting base; 7. a spline shaft sleeve; 8. a spline shaft; 9. a low friction cylinder; 10. a cylinder push plate; 11. lifting the sleeve; 12. an upper bevel gear; 13. a lower bevel gear; 14. an axis is mounted by the autorotation mechanism; 15. a self-rotation mechanism mounting base; 16. a driven shaft; 17. a rotation shaft; 18. a driven shaft synchronizing wheel; 19. a self-rotating shaft synchronizing wheel; 20. a synchronous toothed belt; 21. polishing the inner wheel; 22. a flexible polishing outer wheel; 23. a deep groove ball bearing; 24. a pin; 25 pin bosses.
Detailed Description
The following examples are intended to illustrate the invention but are not intended to limit the scope of the invention.
The invention relates to a robot wheel type polishing device, which comprises a six-axis robot, a wheel type polishing clamp, a robot mounting plate, a servo motor, a speed reducer, a revolution mechanism mounting seat, a spline shaft sleeve, a spline shaft, a low-friction cylinder, a cylinder push plate, a lifting sleeve, an upper bevel gear, a lower bevel gear, an autorotation mechanism mounting shaft, an autorotation mechanism mounting seat, a driven shaft, an autorotation shaft, a driven shaft synchronizing wheel, an autorotation shaft synchronizing wheel, a synchronous toothed belt, a polishing inner wheel and a flexible polishing outer wheel, wherein the robot mounting plate is mounted on the six-axis robot, the revolution mechanism mounting seat is mounted on the robot mounting plate, the speed reducer and the low-friction cylinder are mounted on the revolution mechanism mounting seat, the servo motor is mounted on the speed reducer, the spline shaft sleeve is connected with the spline shaft sleeve in a sliding fit manner, and the cylinder push plate is mounted on the low-friction cylinder, the cylinder push plate is connected with the lifting sleeve, the upper bevel gear is connected with an autorotation mechanism mounting shaft, the autorotation mechanism mounting shaft is mounted on the spline shaft, an autorotation mechanism mounting seat is mounted on the autorotation mechanism mounting shaft, the lower bevel gear is meshed with the upper bevel gear, the driven shaft is connected with the lower bevel gear, a driven shaft synchronizing wheel is connected with the driven shaft, a synchronous toothed belt is connected with a driven shaft synchronizing wheel, an autorotation shaft synchronizing wheel is connected with a synchronous toothed belt, an autorotation shaft is connected with an autorotation shaft synchronizing wheel, the autorotation shaft penetrates through the lower end of the autorotation mechanism mounting seat and is connected with a polishing inner wheel, and a flexible polishing outer wheel is mounted on the outer ring of the polishing inner wheel.
The robot mounting plate is rectangular, the lower part of the robot mounting plate is tightly attached to the mounting seat of the revolution mechanism and is fixedly connected, the upper part of the robot mounting plate is provided with a plurality of mounting holes, and the robot mounting plate is stably connected with the six-axis robot through the plurality of mounting holes; the revolution mechanism mounting seat is a hollow cuboid.
The low-friction cylinders are symmetrically arranged on two sides of the revolution mechanism mounting seat; the middle of the cylinder push plate is polygonal, so that the cylinder push plate can be conveniently connected with the revolution mechanism mounting seat and the lifting sleeve, and two ends of the cylinder push plate are protruded rectangles, so that the low-friction cylinder can be conveniently accepted.
The deep groove ball bearing is arranged between the spline shaft and the revolution mechanism mounting seat, the deep groove ball bearing is arranged between the spline shaft and the lifting sleeve, the deep groove ball bearing is arranged between the rotation mechanism mounting shaft and the lifting sleeve, the deep groove ball bearing is arranged between the driven shaft and the upper end of the rotation mechanism mounting seat, and the deep groove ball bearing is arranged between the rotation shaft and the lower end of the rotation mechanism mounting seat.
The flexible polishing outer wheel is combined with the polishing inner wheel through bonding; the surface of the flexible polishing outer wheel is spherical.
And a pin seat are arranged between the revolution mechanism mounting seat and the cylinder push plate, wherein one end of the pin is connected to the bottom of the revolution mechanism mounting seat, the other end of the pin is inserted into the pin seat, and the pin seat is connected with the cylinder push plate.
The working process of the invention is as follows:
1) the six-axis robot 1 drives the wheel type polishing device 2 to move;
2) the servo motor 4 drives the spline shaft sleeve 7 to rotate through the speed reducer 5 and sequentially transmits the spline shaft sleeve, the rotation mechanism mounting shaft 14 and the rotation mechanism mounting seat to enable the subsequent polishing inner wheel and the flexible polishing outer wheel to revolve along the output shaft of the servo motor;
3) the spline shaft sleeve 7 is in sliding fit with the spline shaft 8;
4) the low-friction cylinder 9 drives mechanisms such as a cylinder push plate 10, a lifting sleeve 11 and the like to extend out, and the integral wheel type polishing device can stably output constant pressure by utilizing the guidance of the spline shaft, the spline shaft sleeve and the pin 24; the flexible polishing outer wheel can be pressed on a workpiece at constant pressure to carry out polishing;
5) the upper conical gear and the lower conical gear are driven at the same time, so that the polishing inner wheel and the flexible polishing outer wheel can rotate automatically;
the manufacturer and the model of the servo motor are as follows: fuji GYB401D5-RG2, but is not limited to this product;
the six-axis robot is manufactured and modeled as follows: KUKA KR 70R2100, but not limited to this product;
the manufacturer and the model of the speed reducer are as follows: NEUGART PLE60-10, but is not limited to this product;
manufacturer and model of low friction cylinder: SMC MQQTB10-20D, but is not limited to this product;
it should be understood that the above-described embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. Other variations and modifications will be apparent to persons skilled in the art in light of the above description. Not all embodiments are exhaustive. All obvious changes and modifications which are obvious to the technical scheme of the invention are covered by the protection scope of the invention.
Claims (5)
1. A wheeled burnishing device of robot which characterized in that: comprises a six-axis robot, a wheel type polishing clamp, a robot mounting plate, a servo motor, a speed reducer, a revolution mechanism mounting seat, a spline shaft sleeve, a spline shaft, a low friction cylinder, a cylinder push plate, a lifting sleeve, an upper bevel gear, a lower bevel gear, an autorotation mechanism mounting shaft, an autorotation mechanism mounting seat, a driven shaft, an autorotation shaft, a driven shaft synchronizing wheel, an autorotation shaft synchronizing wheel, a synchronous cog belt, a polishing inner wheel and a flexible polishing outer wheel, wherein the robot mounting plate is mounted on the six-axis robot, the revolution mechanism mounting seat is mounted on the robot mounting plate, the speed reducer and the low friction cylinder are mounted on the revolution mechanism mounting seat, the servo motor is mounted on the speed reducer, the spline shaft sleeve is mounted on the speed reducer, the spline shaft is connected with the spline shaft sleeve in a sliding fit manner, the cylinder push plate is mounted on the low friction cylinder, the cylinder push plate is connected with the lifting sleeve, the upper bevel gear is connected with the autorotation mechanism mounting shaft, the automatic polishing device comprises an automatic rotation mechanism installation shaft, an automatic rotation mechanism installation seat, a driven shaft synchronizing wheel, a synchronous toothed belt, a self-rotation shaft synchronizing wheel, a self-rotation shaft outer wheel and a flexible polishing outer wheel.
2. A robotic wheel burnishing apparatus as defined in claim 1, wherein: the low-friction cylinders are symmetrically arranged on two sides of the revolution mechanism mounting seat; the middle of the cylinder push plate is polygonal, so that the cylinder push plate can be conveniently connected with the revolution mechanism mounting seat and the lifting sleeve, and two ends of the cylinder push plate are protruded rectangles, so that the low-friction cylinder can be conveniently accepted.
3. A robotic balloon polishing device according to claim 1, wherein: the deep groove ball bearing is arranged between the spline shaft and the revolution mechanism mounting seat, the deep groove ball bearing is arranged between the spline shaft and the lifting sleeve, the deep groove ball bearing is arranged between the rotation mechanism mounting shaft and the lifting sleeve, the deep groove ball bearing is arranged between the driven shaft and the upper end of the rotation mechanism mounting seat, and the deep groove ball bearing is arranged between the rotation shaft and the lower end of the rotation mechanism mounting seat.
4. A robotic balloon polishing device according to claim 1, wherein: the flexible polishing outer wheel is combined with the polishing inner wheel through bonding; the surface of the flexible polishing outer wheel is spherical.
5. A robotic balloon polishing device according to claim 1, wherein: and a pin seat are arranged between the revolution mechanism mounting seat and the cylinder push plate, wherein one end of the pin is connected to the bottom of the revolution mechanism mounting seat, the other end of the pin is inserted into the pin seat, and the pin seat is connected with the cylinder push plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110870206.XA CN113601372A (en) | 2021-07-30 | 2021-07-30 | Wheeled burnishing device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110870206.XA CN113601372A (en) | 2021-07-30 | 2021-07-30 | Wheeled burnishing device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113601372A true CN113601372A (en) | 2021-11-05 |
Family
ID=78338660
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110870206.XA Pending CN113601372A (en) | 2021-07-30 | 2021-07-30 | Wheeled burnishing device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113601372A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009172692A (en) * | 2008-01-22 | 2009-08-06 | Yaskawa Electric Corp | Robot with deburring tool |
| CN105345640A (en) * | 2015-10-14 | 2016-02-24 | 中国人民解放军国防科学技术大学 | Double-turning-wheel type elastic emission machining device used for obtaining super-smooth surface |
| CN109129177A (en) * | 2018-07-20 | 2019-01-04 | 中国科学院西安光学精密机械研究所 | A kind of wheeled end burnishing device of public affairs rotation |
| CN110091235A (en) * | 2019-04-23 | 2019-08-06 | 天津大学 | A kind of public affairs rotation spherical shape polishing tool |
| CN110497287A (en) * | 2019-09-09 | 2019-11-26 | 吉林大学 | A kind of wheeled air bag polishing device of single-motor double freedom degree speed change |
-
2021
- 2021-07-30 CN CN202110870206.XA patent/CN113601372A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009172692A (en) * | 2008-01-22 | 2009-08-06 | Yaskawa Electric Corp | Robot with deburring tool |
| CN105345640A (en) * | 2015-10-14 | 2016-02-24 | 中国人民解放军国防科学技术大学 | Double-turning-wheel type elastic emission machining device used for obtaining super-smooth surface |
| CN109129177A (en) * | 2018-07-20 | 2019-01-04 | 中国科学院西安光学精密机械研究所 | A kind of wheeled end burnishing device of public affairs rotation |
| CN110091235A (en) * | 2019-04-23 | 2019-08-06 | 天津大学 | A kind of public affairs rotation spherical shape polishing tool |
| CN110497287A (en) * | 2019-09-09 | 2019-11-26 | 吉林大学 | A kind of wheeled air bag polishing device of single-motor double freedom degree speed change |
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