CN114603401A - Milling and polishing robot - Google Patents
Milling and polishing robot Download PDFInfo
- Publication number
- CN114603401A CN114603401A CN202210347226.3A CN202210347226A CN114603401A CN 114603401 A CN114603401 A CN 114603401A CN 202210347226 A CN202210347226 A CN 202210347226A CN 114603401 A CN114603401 A CN 114603401A
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- China
- Prior art keywords
- milling
- guide rail
- robot
- workbench
- safety protection
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- 238000003801 milling Methods 0.000 title claims abstract description 40
- 238000005498 polishing Methods 0.000 title claims abstract description 22
- 238000000227 grinding Methods 0.000 claims abstract description 26
- 238000012545 processing Methods 0.000 claims abstract description 11
- 239000000428 dust Substances 0.000 claims abstract description 10
- 238000005520 cutting process Methods 0.000 claims description 9
- 238000001514 detection method Methods 0.000 claims description 8
- 230000000007 visual effect Effects 0.000 claims description 8
- 230000000875 corresponding effect Effects 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 239000011521 glass Substances 0.000 claims description 3
- 238000003754 machining Methods 0.000 claims description 3
- 238000005259 measurement Methods 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 238000003860 storage Methods 0.000 claims description 3
- 230000008859 change Effects 0.000 claims description 2
- 238000011179 visual inspection Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 208000027418 Wounds and injury Diseases 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000006378 damage Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000036541 health Effects 0.000 description 1
- 230000000977 initiatory effect Effects 0.000 description 1
- 208000014674 injury Diseases 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000007781 pre-processing Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q41/00—Combinations or associations of metal-working machines not directed to a particular result according to classes B21, B23, or B24
- B23Q41/06—Features relating to organisation of working of machines
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q11/00—Accessories fitted to machine tools for keeping tools or parts of the machine in good working condition or for cooling work; Safety devices specially combined with or arranged in, or specially adapted for use in connection with, machine tools
- B23Q11/0042—Devices for removing chips
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q7/00—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting
- B23Q7/08—Arrangements for handling work specially combined with or arranged in, or specially adapted for use in connection with, machine tools, e.g. for conveying, loading, positioning, discharging, sorting by means of slides or chutes
Abstract
The invention relates to the technical field of robots and discloses a milling and polishing robot, which comprises a workbench, a safety protection frame, six-axis robot arms, a milling assembly, a polishing device, a guide rail and a station platform, wherein the workbench is arranged on the workbench; the guide rail is installed on the workstation, the station platform is installed on the slip table of guide rail, six robotic arms are installed on the workstation, safety protection frame installs on the workstation, and six robotic arm top ends install and adjust the seat. This milling grinding robot, at first the manual work will be preprocessed and handle the work piece and place the station bench by, move it to safety protection frame in through the guide rail, then mill subassembly and grinding device on it by six robotic arm drive, carry out milling and grinding to the work piece, start dust collector simultaneously and produce dust collection processing work to the course of working in, export it by the guide rail again after the work piece processing is accomplished, the manual work takes off the work piece, work cycle so.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a milling and polishing robot.
Background
In recent years, with the continuous release of industrial automation requirements and the continuous decline of population dividends, the robot industry in China is rapidly developed. Since 2013, the domestic industrial robot market enters the rapid development stage under the double pulling of requirements and applications, the market sales volume exceeds one third of the world, and the annual average growth rate is maintained to be more than two digits for a long time. By far, china has been the largest industrial robot demand and application market worldwide for eight consecutive years. Polishing and grinding are one of important processes in a plurality of industries such as machine manufacturing industry, processing industry, die industry and the like. The robot has extremely wide application in the manufacturing process, and no matter the robot is ground, polished or deburred, the busy figure of the robot can be seen at present. Along with the increase of the demand of domestic automobile parts and industrial product processing enterprises and industrial enterprises such as hardware on polishing and grinding robots, the installation amount of domestic polishing and grinding robots is rapidly increased in recent years.
Cutting, polishing and grinding are indispensable basic processes in the manufacturing industry. In the manufacturing process, the robot has extremely wide application, namely no matter cutting, grinding, polishing or deburring, the busy figure of the robot can be seen at present. As one of a great variety of industrial robots, the existing robot is mainly used for work such as cutting forming, surface grinding, corner deburring, weld joint grinding, inner cavity inner hole deburring and the like of workpieces.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a milling and grinding robot.
The invention provides the following technical scheme: a milling and polishing robot comprises a workbench, a safety protection frame, six-axis robot arms, a milling assembly, a polishing device, a guide rail and a station table;
the guide rail is installed on the workbench, the station table is installed on a sliding table of the guide rail, the six-axis robot arm is installed on the workbench, the safety protection frame is installed on the workbench, an adjusting seat is installed at the upper end head of the six-axis robot arm, the milling assembly and the polishing device are respectively installed on the adjusting seat, and a control cabinet is arranged on the outer side of the workbench;
the station platform is guided into the tail end of the guide rail from a feeding hole of the safety protection frame through the guide rail;
the worktable is provided with a camera for visual detection, and the worktable is provided with a dust removal device positioned at the tail end of the guide rail.
Preferably, a visual detection system is arranged in the control cabinet, a camera on the workbench completes the functions of identification, measurement and positioning, and the visual detection system selects an image acquisition processing mode based on DSP + CPLD to realize system acquisition control.
Preferably, the adjusting seat is composed of a rotating head and a bracket, the rotating head is installed on the end head of the six-axis robot arm, the bracket is provided with two heads installed on the rotating head, and the milling assembly and the grinding device are respectively installed on the two brackets.
Preferably, the control cabinet is used as an upper computer of the six-axis robot arm, the six-axis robot arm is controlled by the PLC and mainly responsible for real-time control of the multi-axis speed and position of the mechanical arm, the upper computer generates intersecting line track moving point data, the generated data tables of the six axes are transmitted to the six-axis robot arm through serial communication and stored in corresponding storage areas, and the PLC executes corresponding actions according to the data tables, so that servo control of all axes of the six-axis robot arm is realized, and the six axes are coordinated to complete space curve cutting.
Preferably, the safety protection frame is built by steel and glass.
Preferably, the milling assembly adopts a milling head consisting of a milling power head, a power box, a cutting head, a boring head and a power sliding table.
Preferably, the grinding device is a robot polishing power head which carries out automatic tool changing and multi-process machining through a quick-change interface.
Compared with the prior art, the invention has the following beneficial effects:
this milling grinding robot, at first the manual work will be preprocessed and handle the work piece and place the station bench by, move it to safety protection frame in through the guide rail, then mill subassembly and grinding device on it by six robotic arm drive, carry out milling and grinding to the work piece, start dust collector simultaneously and produce dust collection processing work to the course of working in, export it by the guide rail again after the work piece processing is accomplished, the manual work takes off the work piece, work cycle so.
Drawings
FIG. 1 is a schematic structural view of the present invention;
fig. 2 is a schematic structural diagram of an adjusting seat of the present invention.
In the figure: 1. a work table; 2. a safety protection frame; 3. a six-axis robotic arm; 4. a milling assembly; 5. a polishing device; 6. a guide rail; 7. a station platform; 8. a control cabinet; 9. rotating the head; 10. and (4) a bracket.
Detailed Description
To make the objects, technical solutions and advantages of the embodiments of the present disclosure clearer, technical solutions of the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present disclosure, and in order to keep the following description of the embodiments of the present disclosure clear and concise, detailed descriptions of known functions and known parts of the disclosure are omitted to avoid unnecessarily obscuring the concepts of the present disclosure.
Referring to fig. 1-2, a milling and polishing robot comprises a workbench 1, a safety protection frame 2, a six-axis robot arm 3, a milling assembly 4, a polishing device 5, a guide rail 6 and a station table 7;
The working table 1 is provided with a camera for visual detection, the control cabinet 8 is internally provided with a visual detection system, the camera on the working table 1 completes the functions of identification, measurement and positioning, and the visual detection system selects an image acquisition processing mode based on DSP + CPLD to realize system acquisition control.
And the dust removal device positioned at the tail end of the guide rail 6 is arranged on the workbench 1, and dust generated by milling and polishing is collected and processed by the dust removal device, so that the environment is maintained.
The adjusting seat is composed of a rotating head 9 and a support 10, the rotating head 9 is installed on the end head of the six-axis robot arm 3, the supports 10 are provided with two heads installed on the rotating head 9, the milling assembly 4 and the grinding device 5 are respectively installed on the two supports 10, the positions of the two supports 10 are adjusted through the rotating head 9, the positions of the milling assembly 4 and the grinding device 5 are changed, and the workpiece is ground and milled.
The control cabinet 8 is used as an upper computer of the six-axis robot arm 3, the six-axis robot arm 3 is controlled by the PLC, the PLC is mainly responsible for real-time control of multi-axis speed and position of the mechanical arm, the upper computer generates intersecting line track moving point data, the generated data tables of the six axes are transmitted to the six-axis robot arm 3 through serial communication and stored in a corresponding storage area, the PLC executes corresponding actions according to the data tables, servo control of all axes of the six-axis robot arm 3 is achieved, and space curve cutting is completed by coordinating the six axes.
The milling component 4 adopts a milling head consisting of a milling power head, a power box, a cutting head, a boring head and a power sliding table.
The grinding device 5 is a robot polishing power head which can automatically change tools through a quick-change interface and perform multi-process machining.
The above embodiments are only exemplary embodiments of the present invention, and are not intended to limit the present invention, and the scope of the present invention is defined by the claims. Various modifications and equivalents may be made by those skilled in the art within the spirit and scope of the present invention, and such modifications and equivalents should also be considered as falling within the scope of the present invention.
Claims (7)
1. The utility model provides a mill machine people that polishes which characterized in that: comprises a workbench (1), a safety protection frame (2), a six-axis robot arm (3), a milling assembly (4), a grinding device (5), a guide rail (6) and a station table (7);
the automatic milling machine is characterized in that the guide rail (6) is installed on the workbench (1), the station table (7) is installed on a sliding table of the guide rail (6), the six-axis robot arm (3) is installed on the workbench (1), the safety protection frame (2) is installed on the workbench (1), an adjusting seat is installed at the upper end of the six-axis robot arm (3), the milling assembly (4) and the grinding device (5) are installed on the adjusting seat respectively, and a control cabinet (8) is arranged on the outer side of the workbench (1);
the station platform (7) is guided into the tail end of the guide rail (6) from a feed inlet of the safety protection frame (2) through the guide rail (6);
install the camera that is used for visual inspection on workstation (1), and install the dust collector who is located guide rail (6) end on workstation (1).
2. A milling sanding robot as defined in claim 1, wherein: a visual detection system is arranged in the control cabinet (8), a camera on the workbench (1) completes the functions of identification, measurement and positioning, and the visual detection system selects an image acquisition processing mode based on DSP + CPLD to realize system acquisition control.
3. A milling sanding robot as defined in claim 1, wherein: the adjusting seat is composed of a rotating head (9) and supports (10), the rotating head (9) is installed on the end of the six-axis robot arm (3), the supports (10) are provided with two heads which are installed on the rotating head (9), and the milling assembly (4) and the grinding device (5) are installed on the two supports (10) respectively.
4. The milling grinding robot of claim 1, wherein: the control cabinet (8) is as the host computer of six robotic arm (3) to six robotic arm (3) of PLC control, mainly be responsible for the real time control to arm multiaxis speed and position, the host computer generates intersecting line orbit and removes some data, the data list of six axles that will generate transmits six robotic arm (3) and saves corresponding storage area through serial communication, PLC carries out corresponding action according to the data list, the realization is to the servo control of each axle of six robotic arm (3), coordinate six and accomplish space curve cutting.
5. A milling sanding robot as defined in claim 1, wherein: the safety protection frame (2) is constructed by steel and glass.
6. A milling sanding robot as defined in claim 1, wherein: the milling assembly (4) adopts a milling head consisting of a milling power head, a power box, a cutting head, a boring head and a power sliding table.
7. A milling sanding robot as defined in claim 1, wherein: the grinding device (5) is a robot polishing power head which can automatically change tools through a quick-change interface and perform multi-process machining.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210347226.3A CN114603401A (en) | 2022-04-01 | 2022-04-01 | Milling and polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210347226.3A CN114603401A (en) | 2022-04-01 | 2022-04-01 | Milling and polishing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114603401A true CN114603401A (en) | 2022-06-10 |
Family
ID=81867776
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210347226.3A Pending CN114603401A (en) | 2022-04-01 | 2022-04-01 | Milling and polishing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114603401A (en) |
Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427391A (en) * | 2018-05-02 | 2018-08-21 | 南京航空航天大学 | The intelligent flexible production line and its operation method of mobile robot automatic drill milling |
| CN109746928A (en) * | 2019-01-30 | 2019-05-14 | 南京航空航天大学 | A kind of the intelligent flexible production line and its operation method of removable dual robot milling automatic |
| CN210524668U (en) * | 2020-04-13 | 2020-05-15 | 宁波市法莱欣科技有限公司 | Foundry goods burring device |
| CN111805247A (en) * | 2020-06-22 | 2020-10-23 | 无锡中车时代智能装备有限公司 | Automatic milling, grinding and polishing combined machining system and method for large workpiece |
| CN112317821A (en) * | 2020-11-26 | 2021-02-05 | 济南威林明德机器有限公司 | Novel milling device and method |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| WO2021114855A1 (en) * | 2019-12-14 | 2021-06-17 | 上海航翼高新技术发展研究院有限公司 | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
| CN214264650U (en) * | 2021-01-29 | 2021-09-24 | 天津宏基伟业科技发展有限公司 | Groove grinding and milling robot |
| CN214292475U (en) * | 2020-10-22 | 2021-09-28 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system based on 3D vision camera |
| CN113706993A (en) * | 2020-05-21 | 2021-11-26 | 上海大界机器人科技有限公司 | Integrated multifunctional mechanical arm process demonstration platform |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
-
2022
- 2022-04-01 CN CN202210347226.3A patent/CN114603401A/en active Pending
Patent Citations (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108427391A (en) * | 2018-05-02 | 2018-08-21 | 南京航空航天大学 | The intelligent flexible production line and its operation method of mobile robot automatic drill milling |
| CN109746928A (en) * | 2019-01-30 | 2019-05-14 | 南京航空航天大学 | A kind of the intelligent flexible production line and its operation method of removable dual robot milling automatic |
| WO2021114855A1 (en) * | 2019-12-14 | 2021-06-17 | 上海航翼高新技术发展研究院有限公司 | Flexible automatic grinding device and grinding method for aircraft repairing composite material |
| CN210524668U (en) * | 2020-04-13 | 2020-05-15 | 宁波市法莱欣科技有限公司 | Foundry goods burring device |
| CN113706993A (en) * | 2020-05-21 | 2021-11-26 | 上海大界机器人科技有限公司 | Integrated multifunctional mechanical arm process demonstration platform |
| CN111805247A (en) * | 2020-06-22 | 2020-10-23 | 无锡中车时代智能装备有限公司 | Automatic milling, grinding and polishing combined machining system and method for large workpiece |
| CN214292475U (en) * | 2020-10-22 | 2021-09-28 | 广州瑞松智能科技股份有限公司 | Workpiece polishing system based on 3D vision camera |
| CN112317821A (en) * | 2020-11-26 | 2021-02-05 | 济南威林明德机器有限公司 | Novel milling device and method |
| CN112894377A (en) * | 2021-01-15 | 2021-06-04 | 廊坊市亿创科技有限公司 | Flexible polishing system of robot with instrument automatic switch-over function |
| CN214264650U (en) * | 2021-01-29 | 2021-09-24 | 天津宏基伟业科技发展有限公司 | Groove grinding and milling robot |
| CN113714820A (en) * | 2021-09-09 | 2021-11-30 | 孚坤智能科技(上海)有限公司 | Force-controlled floating milling and polishing integrated device and operation method thereof |
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