CN115781457A - Gyration is supported soft area and is polished equipment - Google Patents

Abstract

The invention discloses a rotary support soft belt grinding equipment, which relates to the technical field of rotary support soft belt grinding, which includes a robot for grinding soft belts, and also includes a fixed support mechanism and a mobile support mechanism; the mobile support mechanism is used to support the soft belt And it can drive the soft belt to perform rotary motion; the fixed support mechanism is arranged beside the robot, which is used to support the soft belt and can clamp and position the soft belt so that the robot can polish the soft belt.

Description

A rotary support soft belt grinding equipment

technical field

The invention relates to the technical field of rotary support soft belt grinding, in particular to a rotary support soft belt grinding equipment.

Background technique

The slewing support of large-scale wind power equipment needs to be polished into qualified parts before assembly, and at present, in addition to manual grinding, there is also a slewing bearing grinding production line provided by the patent number CN217800109U, and a portable slewing support for wind power generation provided by CN114102349A Soft belt grinding equipment.

Wherein the slewing bearing grinding production line that CN217800109U provides is applicable to most slewing bearings grinding, but what the equipment supporting system adopts is that the cross-shaped distribution is adopted, and there is no force control compensator.

What the patent No. CN114102349A provides is only that the portable soft belt grinding cannot adapt to the slewing support of large-scale wind power equipment, especially the quality standard after grinding is not uniform.

Contents of the invention

In view of the defects existing in the prior art, the object of the present invention is to provide a rotary support soft belt grinding equipment, which improves the grinding accuracy and is applicable to soft belts of different specifications.

In order to achieve the above object, the technical solution adopted by the present invention is: a rotary support soft belt grinding equipment, including a robot for grinding soft belt, and also includes a fixed support mechanism and a mobile support mechanism; the mobile support mechanism is used to support the soft belt. The belt can drive the soft belt to perform rotary motion; the fixed support mechanism is arranged next to the robot to support the soft belt and can clamp and position the soft belt so that the robot can polish the soft belt.

On the basis of the above technical solution, the robot includes a base, a grinding head, a laser displacement sensor and a force control compensator; the base is sequentially connected with a large arm, a small arm and a wrist; the grinding head is installed on the wrist , used to polish the soft belt; the laser displacement sensor is installed on the wrist to measure the distance between the grinding head and the soft belt; the force control compensator is installed on the wrist to control the grinding force of the grinding head.

On the basis of the above technical solution, the fixed support mechanism includes a fixed support frame, a driven roller and a clamping oil cylinder; a chute is provided on the top of the fixed support frame, and a slider is provided in the chute; the One end of the driven roller is hinged with the fixed support frame through the connecting seat, and the other end of the driven roller is connected with the slider; The cylinder body of the oil cylinder is provided with a fixed positioning block, and the piston rod of the clamping oil cylinder is provided with a movable positioning block.

On the basis of the above technical solution, two driven rollers are oppositely arranged on the top of the fixed support frame, and a notch is provided at the position between the two driven rollers; the fixed support frame The bottom is provided with several first anchor plates.

On the basis of the above technical solution, a first jacking plate is arranged on the side of the clamping cylinder, a first jacking cylinder and a first jacking guide column are arranged in the fixed support frame, and the first jacking The lifting oil cylinder and the first lifting guide column are respectively connected with the first lifting plate.

On the basis of the above technical solution, the mobile support mechanism includes a mobile support frame and a mobile support unit; slide rails and screw rods are arranged on the mobile support frame, and the side of the mobile support frame is provided with a screw rod for driving The first drive motor for movement; the bottom of the mobile support frame is provided with several second anchor plates; the mobile support unit is slidably arranged on the slide rail and connected with the screw rod.

On the basis of the above technical solution, there are two mobile supporting frames, which are distributed in a herringbone shape.

On the basis of the above technical solution, the mobile support unit includes a slide plate, a housing, a driving roller, a second drive motor, a positioning roller and a second lifting plate; the slide plate is slidably arranged on a slide rail and connected with a screw rod, And the bottom of the slide plate is provided with a dustproof plate; the bottom of the housing is connected to the slide plate through a rotating shaft, and one side of the housing is provided with an angle adjustment handle, and the other side of the housing is hinged to the slide plate through an angle adjustment connecting rod; The driving roller is arranged on the top of the housing, and one end of the driving roller is provided with a gear box; the driving gear, the transition gear and the driven gear which are meshed in sequence are arranged in the said gear box; the end of the driven gear and the driving roller connection; the second driving motor is arranged in the housing, and the driving rod of the second driving motor is connected with the driving gear; the positioning roller is vertically arranged on one side of the driving roller; the second lifting plate is arranged on the driving roller On the other side of the roller, a second jacking cylinder and a second jacking guide post are arranged in the housing, and the second jacking cylinder and the second jacking guide post are respectively connected to the second jacking plate.

On the basis of the above technical solution, it also includes a safety fence for surrounding the robot. A dust collector, a hydraulic workstation and a tool magazine frame are arranged inside the safety fence, and a robot control cabinet and an equipment control cabinet are arranged outside the safety fence.

On the basis of the above technical solution, the tool magazine rack includes a support column, a disc is provided at the upper end of the support column, and a plurality of tool holders for placing grinding heads are provided at the edge of the disc.

The beneficial effects of the present invention are:

1. In the present invention, by fixing the driven roller and the clamping oil cylinder on the supporting mechanism, the clamping and positioning of the soft belt can be realized, and the grinding precision is improved.

2. In the present invention, through the mobile support frame and the mobile support unit of the mobile support mechanism, corresponding adjustments can be made for soft belts of different specifications, which improves the flexibility of the product.

3. In the present invention, the inclination angle of the mobile support unit can be adjusted by moving the angle adjustment handle and the angle adjustment connecting rod of the support mechanism; the inclination angle of the driven roller can be adjusted through the chute and the slider, which can be more suitable for different specifications The soft belt further improves the flexibility of the product.

4. In the present invention, both the mobile support mechanism and the mobile support mechanism are provided with lifting plates to facilitate loading and unloading of the soft belt.

5. In the present invention, the robot is equipped with a displacement sensor and a force control compensator, which improves the grinding accuracy.

Description of drawings

Fig. 1 is the working status diagram of the rotary support soft belt grinding equipment in the embodiment of the present invention;

Fig. 2 is the perspective view of robot in the embodiment of the present invention;

Fig. 3 is the front view of robot in the embodiment of the present invention;

Fig. 4 is the top view of robot in the embodiment of the present invention;

Fig. 5 is the front view of the fixed support mechanism in the embodiment of the present invention;

Fig. 6 is a side view of the fixed support mechanism in the embodiment of the present invention;

Fig. 7 is a top view of the fixed support mechanism in the embodiment of the present invention;

Fig. 8 is a schematic diagram of connection between a fixed support mechanism and a mobile support mechanism in an embodiment of the present invention;

Fig. 9 is the front view of the mobile support frame in the embodiment of the present invention;

Figure 10 is a top view of the mobile support frame in the embodiment of the present invention;

Fig. 11 is a perspective view of a mobile support unit in an embodiment of the present invention;

Fig. 12 is the front view of the mobile support unit in the embodiment of the present invention;

Fig. 13 is a side view of the mobile support unit in the embodiment of the present invention;

Fig. 14 is a top view of the mobile support unit in the embodiment of the present invention;

Fig. 15 is a schematic structural view of a gearbox in an embodiment of the present invention;

Fig. 16 is a schematic structural view of the tool magazine rack in the embodiment of the present invention.

Reference signs:

1-robot; 101-base; 102-arm; 103-arm; 104-wrist; 105-grinding head; 106-force control compensator; 107-laser displacement sensor;

2-fixed support mechanism; 201-fixed support frame; 202-chute; 203-first anchor plate; 204-notch; 205-driven roller; 206-connecting seat; 207-slider; 208-clamping Oil cylinder; 209-fixed positioning block; 210-movable positioning block; 211-the first jacking plate; 212-the first jacking cylinder; 213-the first jacking guide column;

3-Mobile support mechanism; 31-Mobile support frame; 3101-Slide rail; 3102-Screw rod; 3103-First drive motor; Body; 3203-positioning roller; 3204-the second jacking plate; 3205-the second jacking cylinder; 3206-the second jacking guide column; 3207-rotating shaft; 3208-angle adjustment handle; -dust plate; 3211-driving roller; 3212-gear box; 3213-second drive motor; 3214-driving gear; 3215-transition gear; 3216-driven gear;

4 - Dust collector;

5-tool magazine rack; 51-support column; 52-disc; 53-knife holder;

6-safety fence; 7-hydraulic workstation; 8-robot control cabinet; 9-equipment control cabinet.

Detailed ways

Embodiments of the present invention are described in detail below, examples of which are shown in the drawings, wherein the same or similar reference numerals represent the same or similar elements or elements having the same or similar functions throughout.

In the description of the present invention, it should be noted that for orientation words, such as the term "center", "horizontal (X)", "longitudinal (Y)", "vertical (Z)", "length", " Width", "Thickness", "Top", "Bottom", "Front", "Back", "Left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner ", "outside", "clockwise", "counterclockwise" and other indication orientations and positional relationships are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying the Means that a device or element must have a specific orientation, be constructed and operated in a specific orientation should not be construed as limiting the specific protection scope of the present invention.

In addition, terms such as "first" and "second" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of technical features. Therefore, the definition of "first" and "second" features may explicitly or implicitly include one or more of these features. In the description of the present invention, the meanings of "several" and "several" are two or two above, unless otherwise expressly and specifically defined.

The technical solutions and beneficial effects of the present invention will be clearer and more definite by further describing the specific implementation manners of the present invention in conjunction with the accompanying drawings of the specification below. The embodiments described below by referring to the figures are exemplary for the purpose of explaining the present invention and should not be construed as limiting the present invention.

Referring to Fig. 1, an embodiment of the present invention provides a rotary support soft belt grinding equipment, including a robot 1 for grinding soft belts, and also includes a fixed support mechanism 2 and a mobile support mechanism 3; the mobile support mechanism 3 is used to support The soft belt can also drive the soft belt to perform rotary motion; the fixed support mechanism 2 is arranged beside the robot 1 to support the soft belt and can clamp and position the soft belt so that the robot 1 can polish the soft belt.

Referring to Figures 2 to 4, the robot 1 includes a base 101, a grinding head 105, a laser displacement sensor 107 and a force control compensator 106; the base 101 is sequentially connected with a large arm 102, a small arm 103 and a wrist 104; the grinding head 105 is installed on the wrist 104 for grinding the soft belt; the laser displacement sensor 107 is installed on the wrist 104 for measuring the distance between the grinding head 105 and the soft belt; the force control compensator 106 is installed on the wrist 104 for The grinding force of the grinding head 105 is controlled. In this embodiment, the grinding head uses a high-speed spindle head, a BT30 standard handle, a pneumatically locked handle, and automatic tool change. The speed of the spindle head can reach 12000 rpm to ensure the grinding efficiency. The robot wrist consists of three axes. One of the axis motors is mounted directly on the manipulator inside the arm. The motor directly drives the manipulator, while the other two axes are driven by the motor installed on the back of the forearm through the connecting shaft. The robot wrist has a connecting flange for attaching a tool. The arm is the link between the robot wrist and the arm. It is used to hold the motor of the wrist axis. The arm is driven by a shaft motor. The maximum permissible swivel angle is mechanically limited by a positive and a negative overrun protection respectively. There is an interface on the arm for securing additional loads. The boom is the component that sits between the turntable and the small arm. The maximum permissible swivel angle is mechanically limited by a positive and a negative overrun protection respectively. There is an interface on the boom for securing additional loads. The base is the base of the robot. It is bolted to the foundation. Electrical equipment is fixed on the base. In addition, the interfaces for the motor and data cables and the energy chain system are mounted on the base. In this embodiment, the force control compensator adopts A-FDC (Axial Force Displace compliance) axial force and position compliance compensator, also called constant force compliance flange, which is a constant force compliance output based on the principle of pneumatics and installed at the end of the mechanical arm. device. The structure of the product is highly integrated with the three parts of the perception, control and execution system, which can compensate the gravity of the end tool according to the work needs and accurately output the contact force parallel to the axial direction of the mechanical arm. The self-adaptive expansion and contraction of the corridor features solves the automation problem between the process of sensitive features of the contact surface and the rapid contact movement. Widely used in robot grinding, polishing, deburring, welding seam removal, chamfering and other surface treatment operations.

Referring to Figures 5 to 7, the fixed support mechanism 2 includes a fixed support frame 201, a driven roller 205 and a clamping oil cylinder 208; Block 207; one end of the driven roller 205 is hinged with the fixed support frame 201 through the connecting seat 206, and the other end of the driven roller 205 is connected with the slide block 207; the clamping oil cylinder 208 is arranged on the fixed support frame 201 and is positioned at the driven Next to the roller 205, a fixed positioning block 209 is arranged on the cylinder body of the clamping oil cylinder 208, and a moving positioning block 210 is arranged on the piston rod of the clamping oil cylinder 208. Specifically, the top of the fixed support frame 201 is oppositely provided with two driven rollers 205, and the fixed support frame 201 is provided with a notch 204 at a position between the two driven rollers 205; the bottom of the fixed support frame 201 is provided with Several first foundation plates 203. The side of the clamping cylinder 208 is provided with a first jacking plate 211, and the fixed support frame 201 is provided with a first jacking cylinder 212 and a first jacking guide column 213, and the first jacking cylinder 212 and the first jacking The rising guide pillars 213 are respectively connected to the first lifting plates 211 .

Referring to Figures 8 to 10, the mobile support mechanism 3 includes a mobile support frame 31 and a mobile support unit 32; The first drive motor 3103 that drives the screw rod 3102 moves; the bottom of the mobile support frame 31 is provided with a plurality of second anchor plates 3104 ; Specifically, there are two mobile support frames 31, which are distributed in a herringbone shape.

Referring to Figures 11 to 15, the mobile support unit 32 includes a slide plate 3201, a housing 3202, a driving roller 3211, a second driving motor 3213, a positioning roller 3203 and a second lifting plate 3204; the slide plate 3201 is slidably arranged on the slide rail 3101 And connected with screw rod 3102, and the bottom of slide plate 3201 is provided with dustproof plate 3210; The other side is hinged with the slide plate 3201 through an angle adjustment connecting rod 3209; the driving roller 3211 is arranged on the top of the housing 3202, and one end of the driving roller 3211 is provided with a gear box 3212; the gear box 3212 is provided with a driving gear 3214, a transition Gear 3215 and driven gear 3216; driven gear 3216 is connected with the end of driving roller 3211; second driving motor 3213 is arranged in the housing 3202, and the driving rod of second driving motor 3213 is connected with driving gear 3214; positioning roller 3203 is vertically arranged on one side of the driving roller 3211; the second jacking plate 3204 is arranged on the other side of the driving roller 3211, and the second jacking cylinder 3205 and the second jacking guide column 3206 are arranged in the casing 3202, and The second jacking cylinder 3205 and the second jacking guide post 3206 are respectively connected with the second jacking plate 3204 .

Referring to Fig. 1, the slewing support soft belt grinding equipment also includes a safety fence 6 for surrounding the robot 1, a dust collector 4, a hydraulic workstation 7 and a tool magazine frame 5 are arranged inside the safety fence 6, and a robot is arranged outside the safety fence 6 Control cabinet 8 and equipment control cabinet 9. The dust collector uses industrial vacuum cleaners to complete the vacuuming, and all pipes are fireproof to prevent fires. Ensure that the grinding process is pollution-free.

As shown in FIG. 16 , the tool magazine rack 5 includes a support column 51 , a disc 52 is provided on the upper end of the support column 51 , and a plurality of tool holders 53 for placing the grinding head 105 are provided on the edge of the disc 52 . Grinding heads with different particle sizes and different shapes are installed on the tool magazine frame 5, and the tool is automatically changed when the robot is grinding, and the maximum amount of knives in the tool magazine is 10.

Working principle of the present invention:

The fixed support mechanism and the mobile support mechanism are used to support and position the workpiece to be polished. They are supported by four support points. The workpiece is lifted manually, and the soft belt is placed on the station to be polished, and then hydraulically clamped and positioned.

Among the four supports, two movable supporting mechanisms are movable and can be adjusted to meet products of different specifications, and two of the fixed supporting mechanisms are fixed and distributed on both sides of the grinding head.

In the description of the specification, descriptions referring to terms such as "one embodiment", "preferably", "example", "specific examples" or "some examples" mean specific features, structures, Materials or features are included in at least one embodiment or example of the present invention, and schematic representations of the above terms in this specification do not necessarily refer to the same embodiment or example. Furthermore, the described specific features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

The present invention is not limited to the above-mentioned embodiments. For those of ordinary skill in the art, without departing from the principle of the present invention, some improvements and modifications can also be made, and these improvements and modifications are also considered protection of the present invention. within range. The content not described in detail in this specification belongs to the prior art known to those skilled in the art.

Claims (10)

1. The utility model provides a soft area of gyration support equipment of polishing, includes robot (1) that is used for polishing soft area, its characterized in that: the device also comprises a fixed supporting mechanism (2) and a movable supporting mechanism (3);

the movable supporting mechanism (3) is used for supporting the soft belt and driving the soft belt to rotate;

the fixed supporting mechanism (2) is arranged beside the robot (1) and is used for supporting the soft belt and clamping and positioning the soft belt, so that the robot (1) can polish the soft belt.

2. A gyratory support soft belt sharpening apparatus as defined in claim 1, wherein: the robot (1) comprises a base (101), a polishing head (105), a laser displacement sensor (107) and a force control compensator (106); the base (101) is sequentially connected with a large arm (102), a small arm (103) and a wrist (104); the polishing head (105) is arranged on the wrist part (104) and is used for polishing the soft belt; the laser displacement sensor (107) is arranged on the wrist (104) and used for measuring the distance between the polishing head (105) and the soft belt; the force control compensator (106) is arranged on the wrist (104) and used for controlling the grinding force of the grinding head (105).

3. The gyratory support soft belt sander apparatus as set forth in claim 1, wherein: the fixed supporting mechanism (2) comprises a fixed supporting rack (201), a driven roller (205) and a clamping oil cylinder (208); the top of the fixed support frame (201) is provided with a sliding chute (202), and a sliding block (207) is arranged in the sliding chute (202); one end of the driven roller (205) is hinged with the fixed supporting rack (201) through a connecting seat (206), and the other end of the driven roller (205) is connected with the sliding block (207); the clamping oil cylinder (208) is arranged on the fixed supporting rack (201) and located beside the driven roller (205), a fixed positioning block (209) is arranged on a cylinder body of the clamping oil cylinder (208), and a movable positioning block (210) is arranged on a piston rod of the clamping oil cylinder (208).

4. A gyratory support soft belt sharpening apparatus as defined in claim 3, wherein: the top of the fixed support frame (201) is oppositely provided with two driven rollers (205), and a notch (204) is arranged at the position, between the two driven rollers (205), of the fixed support frame (201); the bottom of the fixed support frame (201) is provided with a plurality of first base plates (203).

5. A gyratory support soft belt sharpening apparatus as defined in claim 3, wherein: the side of the clamping oil cylinder (208) is provided with a first jacking plate (211), the fixed support frame (201) is internally provided with a first jacking oil cylinder (212) and a first jacking guide pillar (213), and the first jacking oil cylinder (212) and the first jacking guide pillar (213) are respectively connected with the first jacking plate (211).

6. The gyratory support soft belt sander apparatus as set forth in claim 1, wherein: the movable support mechanism (3) comprises a movable support rack (31) and a movable support unit (32); a sliding rail (3101) and a screw rod (3102) are arranged on the movable supporting rack (31), and a first driving motor (3103) for driving the screw rod (3102) to move is arranged on the side surface of the movable supporting rack (31); a plurality of second base boards (3104) are arranged at the bottom of the movable support frame (31); the movable support unit (32) is slidably disposed on the slide rail (3101) and is connected to the screw (3102).

7. The gyratory support soft belt sander apparatus as set forth in claim 6, wherein: two movable supporting racks (31) are arranged and distributed in a herringbone shape.

8. The gyratory support soft belt sander apparatus as set forth in claim 6, wherein: the moving supporting unit (32) comprises a sliding plate (3201), a shell (3202), a driving roller (3211), a second driving motor (3213), a positioning roller (3203) and a second jacking plate (3204); the sliding plate (3201) is arranged on the sliding rail (3101) in a sliding manner and connected with the screw rod (3102), and the bottom of the sliding plate (3201) is provided with a dust guard (3210); the bottom of the shell (3202) is connected with the sliding plate (3201) through a rotating shaft (3207), an angle adjusting handle (3208) is arranged on one side of the shell (3202), and the other side of the shell (3202) is hinged with the sliding plate (3201) through an angle adjusting connecting rod (3209); the driving roller (3211) is arranged at the top of the shell (3202), and one end of the driving roller (3211) is provided with a gear box (3212); a driving gear (3214), a transition gear (3215) and a driven gear (3216) which are sequentially meshed are arranged in the gear box (3212); the driven gear (3216) is connected with the end part of the driving roller (3211); the second driving motor (3213) is arranged in the housing (3202), and a driving rod of the second driving motor (3213) is connected with the driving gear (3214); the positioning roller (3203) is vertically arranged on one side of the driving roller (3211); the second jacking plate (3204) is arranged on the other side of the driving roll (3211), a second jacking cylinder (3205) and a second jacking guide column (3206) are arranged in the shell (3202), and the second jacking cylinder (3205) and the second jacking guide column (3206) are respectively connected with the second jacking plate (3204).

9. The gyratory support soft belt sander apparatus as set forth in claim 1, wherein: the robot is characterized by further comprising a safety fence (6) used for surrounding the robot (1), wherein a dust remover (4), a hydraulic workstation (7) and a tool magazine rack (5) are arranged in the safety fence (6), and a robot control cabinet (8) and an equipment control cabinet (9) are arranged outside the safety fence (6).

10. The gyratory support soft belt sander apparatus as set forth in claim 9, wherein: the tool magazine rack (5) comprises a supporting column (51), a disc (52) is arranged at the upper end of the supporting column (51), and a plurality of tool holders (53) used for placing polishing heads (105) are arranged at the edge of the disc (52).

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