CN116021386A

CN116021386A - Gate grinding process of full-automatic manipulator gate grinding sand belt machine

Info

Publication number: CN116021386A
Application number: CN202310072920.3A
Authority: CN
Inventors: 邱际明
Original assignee: Jibang Precision Technology Co ltd
Current assignee: Jibang Precision Technology Co ltd
Priority date: 2023-01-31
Filing date: 2023-01-31
Publication date: 2023-04-28

Abstract

The utility model discloses a full-automatic mechanical arm sprue grinding sand belt machine sprue grinding process, which has reasonable design, and (1) a dustproof and explosion-proof servo motor is directly connected with a front grinding wheel, so that the direct connection power is increased, and compared with the market, the front grinding wheel and an abrasive belt close to a product to be ground are driven in a precursor manner, so that the cutting force is increased, the processing speed is high, and the abrasive belt is not easy to break. (2) The buffer function of the spring is utilized, so that the load of the manipulator is small, the manipulator is further protected, and the excessive cutting of the grinding amount of the workpiece is avoided. (3) Because the mechanical automatic gate grinding process is designed by utilizing the precursor driving and spring buffering abrasive belt machine body, the front grinding wheel and the abrasive belt close to the product to be ground in the process have enough cutting force, the machining speed is high, the load on the mechanical arm is small, the mechanical arm is protected, the excessive cutting of the grinding amount of a workpiece is avoided, and the abrasive belt is not easy to break.

Description

Gate grinding process of full-automatic manipulator gate grinding sand belt machine

Technical Field

The utility model relates to the technical field of grinding, in particular to a gate grinding process of a full-automatic manipulator gate grinding sand belt machine.

Background

The traditional gate grinding is performed by hand, the manual operation is performed, and the labor intensity of workers is high when the operation is performed; the operation action is unstable when the product is polished, and the randomness is high; the product precision is not easy to control; the working environment is poor, and there is easy dust inhalation of operating personnel, produces the noise.

The traditional manual gate grinding process flow comprises the following steps: cutting, rough grinding, fine grinding, inspection and shot blasting;

wherein the cutting procedure comprises the following steps: (1) parameters: cutting a product gate by using a manual cutting machine, wherein the thickness of a cutting sheet of the manual cutting machine is phi 400 x 3.0mm, and the rotating speed is 1800-2200r/min; (2) control point: reserving a visual cutting product less than or equal to 3.5mm; the product cannot be cut.

Rough grinding procedure: (1) parameters: the common abrasive belt machine is used for carrying out rough grinding/manual operation/one-man operation, the deer brand abrasive belt is 60#, the abrasive belt is 50mm in width and 2m, the rotating speed is 1800-2200r/min, the feeding is manually controlled, the rubber wheel is 350 mm in width, and the cutting angle is 45 degrees; (2) control point: the surface reservation of the visual product is less than or equal to 0.15mm; the surface of the product cannot be cut and scratched.

Fine grinding: (1) parameters: using a common abrasive belt machine to conduct accurate grinding/manual operation, wherein the deer brand abrasive belt is 180#, the abrasive belt is 50mm in width and 2m, the rotating speed is 1800-2200r/min, the feeding is manually controlled, the rubber wheel is 350 mm in width, and the cutting angle is 45 degrees; (2) control point: visual product surface finishing ensuring size; the surface of the product cannot be cut and scratched.

And (3) checking: (1) parameters: 5W of lamplight and 1.0-1.2 of vision; (2) control point: and (5) manually and visually inspecting.

Shot blasting: (1) parameters: performing rolling and polishing by using a shot blasting machine, wherein the steel shot phi is 3.0, and polishing is performed for 900 seconds; (2) control point: the shot blasting surface roughness is 3.2 grade.

In order to solve the technical problem of manual gate grinding, the prior art provides a Chinese utility model patent with the issued publication number of CN207710498U and the patent name of multifunctional full-automatic mechanical arm abrasive belt machine, and the multifunctional full-automatic mechanical arm abrasive belt machine is used for replacing a common abrasive belt machine in the traditional manual gate grinding process, so that the purpose of mechanically and automatically grinding gates is achieved. Wherein, mechanical automation compares with manual grinding runner: (1) The manual grinding pouring gate is not suitable for different operation methods of raw and cooked workers, the appearance quality of the product has large fluctuation, and the external dimension is not easy to control; and the time and power of the machine is poor, and the working environment of operators is poor, so that dust is easy to inhale. (2) Mechanical automation replaces manual gate grinding, and operation is standardized; the precision of the processed product is high, and the grinding and cutting die is controlled according to the system standardization; when the belt sander is driven, the belt is stable in the running process; the processing of a plurality of devices can be operated by one person, so that the efficiency is improved; improving the working environment of personnel.

The above prior art has the following defects: the abrasive belt machine in the market is driven by a rear drive, that is, the abrasive belt machine in the market is driven by a motor to rotate, the rear drive wheel uses the abrasive belt to move the front abrasive wheel to rotate, and the indirect connection power is reduced, so that the front abrasive wheel close to a product to be ground and the abrasive belt have insufficient cutting force, the processing speed is low, the load on a mechanical arm is high, and the abrasive belt is easy to break. Therefore, even if the multifunctional full-automatic manipulator belt sander is used by the person in the field to achieve the purpose of mechanically and automatically grinding the pouring gate, the mechanical automatic pouring gate grinding process designed by the multifunctional full-automatic manipulator belt sander also has the technical problems that the front grinding wheel close to the product to be ground and the abrasive belt do not have enough cutting force, the processing speed is low, the load on the manipulator is large, and the abrasive belt is easy to break.

Disclosure of Invention

The utility model aims to provide a full-automatic mechanical arm gate grinding sand belt machine gate grinding process, which aims to solve the technical problems that an abrasive belt machine in the market is driven by a rear drive, so that the mechanical automatic gate grinding process designed by the full-automatic mechanical arm gate grinding sand belt machine gate grinding process also has insufficient cutting force near a front grinding wheel and an abrasive belt of a product to be ground, has low processing speed, is high in mechanical arm load and is easy to break.

In order to achieve the above purpose, the technical scheme of the utility model provides a full-automatic mechanical arm gate grinding sand belt machine gate grinding process, which comprises the following steps:

s1, product positioning: positioning the product by using a tooling disc;

s2, picking up a part by a manipulator: the manipulator body automatically grabs the product on the tooling pallet;

s3, coarse/fine grinding: the mechanical arm body moves the grabbed product to an abrasive belt on an abrasive wheel in front of the abrasive belt machine body to perform rough/fine grinding pouring gate; the abrasive belt machine body comprises a frame and an abrasive belt mechanism arranged on the frame, the abrasive belt mechanism comprises a mounting plate and a plurality of abrasive wheels, the abrasive wheels are respectively and rotatably arranged on the front upper side, the front lower side, the rear upper side and the rear lower side of the mounting plate, and an abrasive belt is wound between the abrasive wheels; the mounting plate is also provided with a sliding rail, the sliding rail comprises a fixed part fixed on the mounting plate and a sliding part capable of sliding back and forth relative to the fixed part, a baffle fixed on the mounting plate is arranged at the rear of the sliding rail, and a spring is connected between the sliding part and the baffle; the sliding part is fixedly provided with a connecting rod and a dustproof and explosion-proof servo motor, the grinding wheels on the front upper side, the front lower side and the rear lower side are respectively arranged on the connecting rod in a rotating mode, and the output end of the dustproof and explosion-proof servo motor is in transmission fit with the grinding wheel on the front upper side or the front lower side through a transmission belt; the mounting plate is also provided with an abrasive belt tensioning cylinder, and the grinding wheel at the rear upper side is rotatably arranged at the driving end of the abrasive belt tensioning cylinder;

the front grinding wheel sequentially drives the sliding parts of the connecting rod and the sliding rail to move backwards after being stressed, then the spring is compressed, and then the spring gradually resets forwards in the process of carrying out rough/fine grinding on the product, and finally the rough/fine grinding of the product is finished;

s4, placing the part by the manipulator: the manipulator body automatically loosens products on the tool row disc.

Further, step S0 and the vibration gate are provided before step S1: firstly, vibrating a pouring gate of a product by using a shell vibrating machine, and then placing the product on a tooling pallet;

step S5 and shot blasting are arranged after the step S4: and placing the products on the tool row disc into a shot blasting machine, and carrying out rolling blasting on the products by using the shot blasting machine.

Further, in step S0, the parameters of the shell vibration machine are: the pneumatic pressure is 0.6-1.0Mpa, and the vibration breaking time is 35-50 seconds per tree group;

in step S5, the parameters of the shot blasting machine are as follows: rolling and polishing, wherein the steel shot phi is 3.0mm, and polishing is performed for 900 seconds; the shot blasting surface roughness is 3.2 grade.

Further, the manipulator body and the material conveying frame are arranged in front of the abrasive belt machine body, the material conveying frame is arranged on the left side or the right side of the manipulator body, two sliding rails and driving air cylinders, the lengths of which extend leftwards and rightwards, are arranged on the material conveying frame, the two sliding rails and the driving air cylinders are distributed along the front and rear directions, and the driving air cylinders are arranged between the two sliding rails; the two sliding rails are respectively connected with the front end and the rear end of the tool row disc in a sliding manner, and the driving end of the driving cylinder is fixedly connected with the middle part of the tool row disc;

the operator spot check tool arranges the product surface/product wobble plate on the dish, and the operator has dust absorption room isolation non-contact dust with the abrasive belt machine body.

Further, the tool row disc is set to be a sizing block profiling tool, and the shape of a product placing groove of the tool row disc is matched with the shape of a product;

the movable end of the manipulator body is provided with the finger cylinder, and the horizontal direction of the finger cylinder of the manipulator body can be opened and closed to grasp and release products, so that the grasping direction of the finger cylinder is accurately consistent with the product positioning.

Further, the number of the abrasive belt mechanisms is more than two, the abrasive belt of at least one group of abrasive belt mechanisms is a coarse abrasive belt, and the abrasive belt of at least one group of abrasive belt mechanisms is a fine abrasive belt;

the manipulator body is a six-axis manipulator, a standard motion track is formulated by utilizing the motion principle of the six-axis manipulator to realize gate grinding action, and an abrasive belt is selected;

according to the motion principle compensation of the manipulator and the sand belt loss condition, a plurality of groups of program processing are designed, and incremental compensation is added in a grinding gate to ensure the dimensional quality stability of the product.

Further, the number of the abrasive belt mechanisms is four, and the four groups of abrasive belt mechanisms are respectively arranged on the left upper side, the left lower side, the right upper side and the right lower side of the frame; among the sand belt mechanisms on the left side and the right side, the sand belt of the two groups of sand belt mechanisms on one side is set as a fine grinding sand belt, and the sand belt of the two groups of sand belt mechanisms on the other side is set as a coarse grinding sand belt; the front end of the frame is provided with two waste recovery plates, one waste recovery plate is arranged between the abrasive belt mechanisms on the upper side and the lower side, and the other waste recovery plate is arranged below the abrasive belt mechanism on the lower side.

Further, the parameters of the rough grinding abrasive belt are as follows: 3M abrasive belt 36#, linear speed 26M/s, abrasive belt width 100mm 4.6M; the parameters of the fine grinding abrasive belt are as follows: 3M abrasive belt 120#, linear speed of 26M/s, abrasive belt width of 100mm 4.6M, and mechanical arm feeding control of 0.05-0.2 mm/s is simultaneously used for two abrasive belts; the parameters of the grinding wheel on the front upper side or the front lower side are as follows: phi 350 x 100mm wide, cutting angle 55 deg..

Further, a movable hole penetrating through the middle of the baffle plate from front to back is formed in the middle of the rear end of the sliding part, the middle of the rear end of the sliding part is fixedly connected with the front end of a first screw rod in a threaded mode, the rear end of the first screw rod penetrates through the movable hole and is provided with a first screw head, and the outer diameter of the first screw head is larger than the inner diameter of the movable hole;

the upper side and the lower side of the baffle are respectively provided with a guide hole penetrating front and back, the upper side and the lower side of the rear end of the sliding part are respectively fixed with a guide rod extending backwards, and the guide rods penetrate through the guide holes of the baffle backwards; the guide rods on the upper side and the lower side are respectively sleeved with the springs, and the outer diameters of the springs are larger than the inner diameters of the guide holes of the baffle plates;

the inner side of abrasive band is located to the slide rail, the connecting rod is fixed in the side that the sliding part is close to the mounting panel, dustproof explosion-proof servo motor is fixed in the side that the sliding part kept away from the mounting panel.

Further, the abrasive belt tensioning cylinder is arranged on the inner side of the abrasive belt, the driving end of the abrasive belt tensioning cylinder faces to the rear, and a U-shaped block is arranged behind the driving end of the abrasive belt tensioning cylinder; the U-shaped block comprises a connecting arm and two supporting arms, the two supporting arms are respectively arranged at the left side and the right side of the rear end of the connecting arm, the driving end of the abrasive belt tensioning cylinder is connected with the connecting arm, and the left end and the right end of the grinding wheel at the rear upper side are respectively connected with the connecting arms at the left side and the right side in a rotating way;

an adjusting block fixed on the mounting plate is arranged behind the driving end of the abrasive belt tensioning cylinder, an adjusting opening penetrating through the adjusting block from front to back is formed in the adjusting block, and the connecting arm is arranged in the adjusting opening; the driving end of the abrasive belt tensioning cylinder is rotationally connected with the connecting arm, a second screw rod is vertically arranged on the left upper side, the right upper side, the left lower side and the right lower side of the adjusting block respectively, one end of the second screw rod can extend into the adjusting opening to prop against the U-shaped block, and a second screw head is arranged at the other end of the second screw rod;

the left and right connecting arms are respectively provided with a left and right through rotating hole, the width of the rotating hole in the front and rear direction is larger than the width in the up and down direction, and the left and right ends of the central shaft of the grinding wheel at the rear upper side are respectively connected with the rotating holes at the left and right sides in a rotating way; the U-shaped block is arranged on a supporting arm on one side far away from the mounting plate, the supporting block is arranged in front of the rotating hole, a third screw rod is arranged on the supporting block, a third screw head is arranged at the front end of the third screw rod, and the rear end of the third screw rod is in contact with one end, far away from the mounting plate, of the central shaft; a vertical mounting hole is formed in a supporting arm on one side, close to the mounting plate, of the U-shaped block, a fulcrum shaft penetrating through the rotating hole is arranged in the vertical mounting hole, and the fulcrum shaft is arranged in front of or behind the central shaft.

In summary, the technical scheme of the utility model has the following beneficial effects: the step design of the utility model is reasonable, (1) the mounting plate is also provided with the sliding rail, the sliding rail comprises a fixed part fixed on the mounting plate and a sliding part capable of sliding back and forth relative to the fixed part, the rear part of the sliding rail is provided with a baffle fixed on the mounting plate, and a spring is connected between the sliding part and the baffle; the sliding part is fixedly provided with a connecting rod and a dustproof and explosion-proof servo motor, and grinding wheels on the front upper side, the front lower side and the rear lower side are respectively and rotatably arranged on the connecting rod, and the output end of the dustproof and explosion-proof servo motor is in transmission fit with the grinding wheel on the front upper side or the front lower side through a transmission belt; therefore, the dustproof and explosion-proof servo motor is directly connected with the front grinding wheel, the direct connection power is increased, the front grinding wheel and the abrasive belt close to a product to be ground are subjected to precursor driving in comparison with the market, the cutting force is increased, the processing speed is high, the abrasive belt is not easy to break (because the tensioning of the abrasive belt is not changed under the two conditions of precursor driving and rear driving, but in the gate grinding process, when the cutting power is insufficient, the gate is easy to cut off the abrasive belt by strong pressure. (2) The spring is connected between the sliding part of the sliding rail and the baffle, so that when the manipulator grabs a product to be ground from the tool row disc and polishes the abrasive belt of the product to be ground on the front abrasive wheel, the front abrasive wheel sequentially drives the connecting rod and the sliding part of the sliding rail to move backwards after being stressed, then the spring is compressed, then the spring gradually resets forwards in the continuous process of grinding the pouring gate, and the buffer effect of the spring is utilized, so that the manipulator is small in load, and the manipulator is protected and the excessive cutting of the grinding amount of a workpiece is avoided. (3) Because the mechanical automatic gate grinding process is designed by utilizing the precursor driving and spring buffering abrasive belt machine body, the front grinding wheel and the abrasive belt close to the product to be ground in the process have enough cutting force, the machining speed is high, the load on the mechanical arm is small, the mechanical arm is protected, the excessive cutting of the grinding amount of a workpiece is avoided, and the abrasive belt is not easy to break.

Drawings

FIG. 1 is a schematic perspective view of a full-automatic manipulator belt sander used in the present utility model;

FIG. 2 is a schematic perspective view of a belt sander body used in the present utility model from a first perspective;

FIG. 3 is a schematic perspective view of a belt sander body according to the present utility model from a first perspective with the right side wall removed;

FIG. 4 is a schematic perspective view of a second view of the belt sander body used in the present utility model;

FIG. 5 is a schematic perspective view of a belt sander body according to the present utility model from a second perspective with the left side wall removed;

FIG. 6 is a schematic view of a first partial construction of a belt sander body used in the present utility model;

FIG. 7 is a schematic perspective view of a baffle of the belt sander body used in the present utility model;

FIG. 8 is a schematic view of a second partial construction of a belt sander body used in the present utility model;

FIG. 9 is an enlarged schematic view of area A of FIG. 8;

FIG. 10 is a schematic perspective view of a U-shaped block of the belt sander body used in the present utility model;

reference numerals illustrate: the mechanical arm comprises a mechanical arm body, a 2-material conveying frame, 201-sliding rails, 202-tool tray, a 3-abrasive belt machine body, a 4-frame, a 401-waste recycling plate, a 5-abrasive belt mechanism, 501-mounting plates, 502-abrasive wheels, 5021-central shafts, 503-abrasive belts, 6-sliding rails, 601-fixing parts, 602-sliding parts, 603-connecting rods, 604-dustproof and explosion-proof servo motors, 605-first screw rods, 6051-first screw heads, 7-baffle plates, 701-movable holes, 702-guide holes, 8-springs, 801-guide rods, 9-abrasive belt tensioning cylinders, 900-driving plates, 901-U-shaped blocks, 9011-connecting arms, 9012-supporting arms, 9013-rotating holes, 9014-supporting blocks, 9015-third screw rods, 9016-third screw heads, 9017-vertical mounting holes, 902-adjusting blocks, 9021-adjusting openings, 9022-second screw rods, 9023-second screw heads.

Detailed Description

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the drawings in the embodiments of the present utility model, but the scope of protection of the present utility model is not limited.

In the present utility model, for a clearer description, the following description is made: the observer views fig. 1 with the left side of the observer set to the front and the right side of the observer set to the rear, the front of the observer set to the right, the rear of the observer set to the left, the upper side of the observer set to the upper side, and the lower side of the observer set to the lower side, and it should be noted that the terms "front end", "rear end", "left side", "right side", "middle part", "upper side", "lower side", and the like in this text indicate orientations or positional relationships based on the orientations or positional relationships set in the drawings, and are merely for convenience of clearly describing the present utility model, not for indicating or suggesting that the structure or component to be referred to must have a specific orientation, be constructed in a specific orientation, and therefore should not be construed as limiting the present utility model. Furthermore, the terms "first," "second," "third," "fourth" and the like are used for clarity or to simplify the description, and are not to be construed as indicating or implying a relative importance or quantity.

Referring to fig. 1 to 10, the present embodiment provides a gate grinding process of a full-automatic manipulator gate grinding belt grinding sand belt machine, comprising the following steps:

s1, product positioning: positioning the product by using a tool tray 202;

s2, picking up a part by a manipulator: the manipulator body 1 automatically grabs the product on the tool tray 202;

s3, coarse/fine grinding: the mechanical arm body 1 moves the grabbed product to an abrasive belt 503 on an abrasive wheel 502 in front of the abrasive belt machine body 3 to perform rough/fine grinding pouring gate; the abrasive belt machine body 3 comprises a frame 4 and an abrasive belt mechanism 5 arranged on the frame 4, wherein the abrasive belt mechanism 5 comprises a mounting plate 501 and a plurality of abrasive wheels 502, the plurality of abrasive wheels 502 are respectively and rotatably arranged on the front upper side, the front lower side, the rear upper side and the rear lower side of the mounting plate 501, and abrasive belts 503 are wound between the plurality of abrasive wheels 502; the mounting plate 501 is also provided with a sliding rail 6, the sliding rail 6 comprises a fixing part 601 fixed on the mounting plate 501 and a sliding part 602 capable of sliding back and forth relative to the fixing part 601, a baffle 7 fixed on the mounting plate 501 is arranged at the rear of the sliding rail 6, and a spring 8 is connected between the sliding part 602 and the baffle 7; a connecting rod 603 and a dustproof and explosion-proof servo motor 604 are fixed on the sliding part 602, and the grinding wheels 502 on the front upper side, the front lower side and the rear lower side are respectively and rotatably arranged on the connecting rod 603, and the output end of the dustproof and explosion-proof servo motor 604 is in transmission fit with the grinding wheel 502 on the front upper side or the front lower side through a transmission belt; the mounting plate 501 is also provided with an abrasive belt tensioning cylinder 9, and the grinding wheel 502 at the upper rear side is rotationally arranged at the driving end of the abrasive belt tensioning cylinder 9, which is described in the following: the tensioning of the sand belt can be adjusted through the sand belt tensioning cylinder;

the front grinding wheel 502 is stressed and then drives the connecting rod 603 and the sliding part 602 of the sliding rail 6 to move backwards in sequence, then the spring 8 is compressed, then the spring 8 gradually resets forwards in the process of rough/fine grinding of the product, and finally the rough/fine grinding of the product is finished;

s4, placing the part by the manipulator: the robot body 1 automatically releases the product on the tooling pallet 202.

The function is as follows: (1) The mounting plate is also provided with a sliding rail, the sliding rail comprises a fixed part fixed on the mounting plate and a sliding part capable of sliding back and forth relative to the fixed part, a baffle fixed on the mounting plate is arranged at the rear of the sliding rail, and a spring is connected between the sliding part and the baffle; the sliding part is fixedly provided with a connecting rod and a dustproof and explosion-proof servo motor, and grinding wheels on the front upper side, the front lower side and the rear lower side are respectively and rotatably arranged on the connecting rod, and the output end of the dustproof and explosion-proof servo motor is in transmission fit with the grinding wheel on the front upper side or the front lower side through a transmission belt; therefore, the dustproof and explosion-proof servo motor is directly connected with the front grinding wheel, the direct connection power is increased, the front grinding wheel and the abrasive belt close to a product to be ground are subjected to precursor driving in comparison with the market, the cutting force is increased, the processing speed is high, the abrasive belt is not easy to break (because the tensioning of the abrasive belt is not changed under the two conditions of precursor driving and rear driving, but in the gate grinding process, when the cutting power is insufficient, the gate is easy to cut off the abrasive belt by strong pressure. (2) The spring is connected between the sliding part of the sliding rail and the baffle, so that when the manipulator grabs a product to be ground from the tool row disc and polishes the abrasive belt of the product to be ground on the front abrasive wheel, the front abrasive wheel sequentially drives the connecting rod and the sliding part of the sliding rail to move backwards after being stressed, then the spring is compressed, then the spring gradually resets forwards in the continuous process of grinding the pouring gate, and the buffer effect of the spring is utilized, so that the manipulator is small in load, and the manipulator is protected and the excessive cutting of the grinding amount of a workpiece is avoided. (3) Because the mechanical automatic gate grinding process is designed by utilizing the precursor driving and spring buffering abrasive belt machine body, the front grinding wheel and the abrasive belt close to the product to be ground in the process have enough cutting force, the machining speed is high, the load on the mechanical arm is small, the mechanical arm is protected, the excessive cutting of the grinding amount of a workpiece is avoided, and the abrasive belt is not easy to break.

Specifically, step S0 and the vibration gate are provided before step S1: firstly, vibrating off a pouring gate of a product by using a shell vibrating machine, and then placing the product on a tool tray 202; the function is as follows: the gate is vibrated and broken by the pneumatic impact mode of the shell vibration machine, so that the follow-up coarse/fine grinding is convenient, and the shell vibration machine is the prior art and is not described in detail here.

Step S5 and shot blasting are arranged after the step S4: the products on the tool row disc 202 are placed into a shot blasting machine, and the shot blasting machine is utilized to roll and throw the products. The function is as follows: the rolling and polishing are a procedure, so that the surface of a gate of a product is smooth, and the shot blasting machine is the prior art, so that detailed description thereof is omitted.

Specifically, in step S0, parameters of the shell vibration machine are: the pneumatic pressure is 0.6-1.0Mpa, and the vibration breaking time is 35-50 seconds per tree group; the function is as follows: the vibration breaking effect on the product pouring gate is good when the parameters are used.

In step S5, the parameters of the shot blasting machine are: rolling and polishing, wherein the steel shot phi is 3.0mm, and polishing is performed for 900 seconds; the shot blasting surface roughness is 3.2 grade. The function is as follows: the rolling and polishing effect on the product pouring gate is good when the parameters are used.

Specifically, the manipulator body 1 and the material conveying frame 2 are arranged in front of the abrasive belt machine body 3, the material conveying frame 2 is arranged on the left side or the right side of the manipulator body 1, two sliding rails 201 and driving cylinders with lengths extending left and right are arranged on the material conveying frame 2, the two sliding rails 201 and the driving cylinders are distributed in front of and behind each other, and the driving cylinders are arranged between the two sliding rails 201; the two sliding rails 201 are respectively connected with the front end and the rear end of the tool row disc 202 in a sliding manner, and the driving end of the driving cylinder is fixedly connected with the middle part of the tool row disc 202;

the operator spot checks the product surface/product wobble plate on the tool row plate 202, and the operator is isolated from the belt sander body 3 by a dust collection room without touching dust.

When in actual work: the tool disc is fixed to be flat and horizontal through the two sliding rails, and the driving cylinder is used for driving the tool disc to move left and right. When the products are switched, the tooling disc is switched and fixed, the finger cylinder on the manipulator is switched, the program manipulator is switched to execute the press link, so that the processing can be used, and the device can be suitable for switching different products. The function is as follows: the operator only needs to check the surface of the tool tray/the workpiece product tray; the person and the polishing machine are provided with a dust collection room for isolating dust from contact; one person can operate a plurality of equipment grinding gates.

Specifically, the tooling pallet 202 is set as a sizing block profiling tooling, and the shape of a product placing groove of the tooling pallet 202 is matched with the shape of a product; the function is as follows: the product is positioned by using the sizing block profiling tool, and the grabbing direction of the finger cylinder is accurately consistent with the product positioning due to good shape adaptability of the installation position and the product.

The movable end of the manipulator body 1 is provided with a finger cylinder, and the horizontal direction of the finger cylinder of the manipulator body 1 can be opened and closed to grasp and release products, so that the grasping direction of the finger cylinder is accurately consistent with the positioning of the products. The function is as follows: through increasing finger cylinder horizontal direction in the manipulator and snatch frock, realize that the cylinder horizontal direction is opened and shut and snatch the product.

Specifically, the number of the belt mechanisms 5 is set to two or more, the belt 503 of at least one belt mechanism 5 is set to a rough grinding belt, and the belt 503 of at least one belt mechanism 5 is set to a fine grinding belt; the function is as follows: the rough grinding abrasive belt and the fine grinding abrasive belt are arranged, so that the mechanical arm can carry a product to be ground to finish two procedures of rough grinding and fine grinding on one abrasive belt machine, and the working efficiency is improved.

The manipulator body 1 is set to be a six-axis manipulator, a standard motion track is formulated by utilizing the motion principle of the six-axis manipulator to realize the gate grinding action, and an abrasive belt 503 is selected; the function is as follows: by utilizing the motion principle of the six-axis mechanical arm, a standard motion track can be formulated to realize the action of replacing manual gate grinding.

According to the motion principle compensation of the manipulator and the loss condition of the sand belt 503, a plurality of groups of program processing are designed, and incremental compensation is added in a grinding gate to ensure the dimensional quality stability of the product.

Specifically, the number of the belt mechanisms 5 is set to four, and the four belt mechanisms 5 are respectively arranged on the upper left side, the lower left side, the upper right side and the lower right side of the frame 4; among the belt mechanisms 5 on the left and right sides, the belt 503 of one of the two belt mechanisms 5 is set as a fine grinding belt, and the belt 503 of the other belt mechanism 5 is set as a rough grinding belt, which acts as follows: setting four groups of sand wagons to reduce the frequency of sand wagons; two sand belts can be respectively arranged according to the rough grinding and the fine grinding of the product; when the sand belt is worn, the next group of sand belts can be automatically switched to execute processing, so that the waiting of the process is reduced, the utilization rate of the machine is improved, and meanwhile, the nursing mechanical personnel is reduced, and the operation of one person and multiple machines is realized. The front end of the frame 4 is provided with two waste recovery plates 401, wherein one waste recovery plate 401 is arranged between the abrasive belt mechanisms 5 on the upper side and the lower side, and the other waste recovery plate 401 is arranged below the abrasive belt mechanism 5 on the lower side. The function is as follows: the waste recycling plate can collect waste generated in the pouring gate grinding process, and interference between the upper abrasive belt mechanism and the lower abrasive belt mechanism can be avoided.

Specifically, the parameters of the rough grinding abrasive belt are as follows: 3M abrasive belt 36#, linear speed 26M/s, abrasive belt width 100mm 4.6M; the parameters of the fine grinding abrasive belt are as follows: 3M abrasive belt 120#, linear speed of 26M/s, abrasive belt width of 100mm 4.6M, and mechanical arm feeding control of 0.05-0.2 mm/s is simultaneously used for two abrasive belts; the parameters of the grinding wheel 502 on the front upper side or front lower side are: phi 350 x 100mm wide, cutting angle 55 deg.. The function is as follows: when such parameters are set, the effects of rough grinding and fine grinding are better.

Specifically, a movable hole 701 penetrating from front to back is formed in the middle of the baffle 7, the middle of the rear end of the sliding part 602 is fixedly connected with the front end of the first screw rod 605 in a threaded manner, the rear end of the first screw rod 605 penetrates through the movable hole 701 and is provided with a first screw head 6051, and the outer diameter of the first screw head 6051 is larger than the inner diameter of the movable hole 701; the function is as follows: the mechanical arm grabs the product to be ground on the material conveying frame and moves the abrasive belt on the front grinding wheel to carry out gate grinding treatment, the front grinding wheel sequentially drives the connecting rod and the sliding part of the sliding rail to move backwards after being stressed, then the rear end of the first screw rod passes through the movable hole to move, and in the process that the spring gradually resets forwards, the first screw head limits the forward movement amplitude of the first screw rod, so that the forward movement amplitude of the sliding part of the sliding rail is limited.

Guide holes 702 penetrating through the baffle 7 in the front-rear direction are formed in the upper side and the lower side of the baffle 7 respectively, guide rods 801 extending backwards are fixed on the upper side and the lower side of the rear end of the sliding part 602 respectively, and the guide rods 801 penetrate through the guide holes 702 of the baffle 7 backwards; the guide rods 801 on the upper side and the lower side are respectively sleeved with a spring 8, and the outer diameter of the spring 8 is larger than the inner diameter of the guide hole 702 of the baffle 7; the function is as follows: the mechanical arm grabs the product to be ground on the material conveying frame and moves the product to be ground to the abrasive belt on the front grinding wheel to carry out gate grinding treatment, the front grinding wheel sequentially drives the connecting rod and the sliding part of the sliding rail to move backwards after being stressed, then the guide rod moves in the guide hole, the spring is compressed, the baffle limits the amplitude of the backward movement of the sliding part of the sliding rail, and then the spring gradually resets forwards in the continuous process of gate grinding. Therefore, due to the guiding action of the guide rod and the guide hole, the movement direction of the spring can be prevented from deviating greatly; the upper spring and the lower spring can better enable the stress distribution of the sliding part of the sliding rail to be more balanced.

The slide rail 6 is arranged on the inner side of the abrasive belt 503, the connecting rod 603 is fixed on one side of the sliding part 602 close to the mounting plate 501, and the dustproof and explosion-proof servo motor 604 is fixed on one side of the sliding part 602 far away from the mounting plate 501. The function is as follows: therefore, the dustproof and explosion-proof servo is more convenient to be in transmission fit with the front grinding wheel on the connecting rod through the transmission belt. Preferably, the diameter of the grinding wheel which is in transmission fit with the dustproof and explosion-proof servo through the transmission belt is larger than that of other grinding wheels, so that the abrasive belt is driven better.

Specifically, the abrasive belt tensioning cylinder 9 is arranged on the inner side of the abrasive belt 503, the driving end of the abrasive belt tensioning cylinder 9 faces to the rear, and a U-shaped block 901 is arranged behind the driving end of the abrasive belt tensioning cylinder 9; the U-shaped block 901 comprises a connecting arm 9011 and two supporting arms 9012, wherein the two supporting arms 9012 are respectively arranged at the left side and the right side of the rear end of the connecting arm 9011, the driving end of the abrasive belt tensioning cylinder 9 is connected with the connecting arm 9011, and the left end and the right end of the grinding wheel 502 at the rear upper side are respectively connected with the connecting arms 9011 at the left side and the right side in a rotating way; the function is as follows: through setting up the U type piece to make abrasive band tensioning cylinder's drive end can drive the emery wheel back and forth movement of back upside better.

An adjusting block 902 fixed on the mounting plate 501 is arranged behind the driving end of the abrasive belt tensioning cylinder 9, an adjusting opening 9021 penetrating front and back is arranged on the adjusting block 902, and a connecting arm 9011 is arranged in the adjusting opening 9021; the driving end of the abrasive belt tensioning cylinder 9 is rotationally connected with the connecting arm 9011, a second screw rod 9022 is vertically arranged on the upper left side, the upper right side, the lower left side and the lower right side of the adjusting block 902 respectively, one end of the second screw rod 9022 can extend into the adjusting opening 9021 to prop against the U-shaped block 901, and a second screw head 9023 is arranged at the other end of the second screw rod 9022; the function is as follows: because the drive end and the linking arm of abrasive band tensioning cylinder rotate to be connected, the U type piece is rotatable, therefore, when the second screw pole of upper left side, upper right side, lower left side, lower right side is different to be adjusted, will drive the U type piece and rotate to realize U type piece upper and lower rotation regulation, thereby realize the upper and lower balance adjustment of abrasive band. Preferably, the driving end of the abrasive belt tensioning cylinder is a cuboid driving plate 900, the long edge of the driving plate 900 is in the up-down direction, the short edge is in the left-right direction, and the width of the long edge of the driving plate 900 is larger than the up-down width of the adjusting opening so as to limit the backward movement amplitude of the driving end of the abrasive belt tensioning cylinder.

The connecting arms 9011 on the left and right sides are respectively provided with a rotating hole 9013 penetrating from left to right, the width of the rotating hole 9013 in the front-rear direction is larger than the width in the up-down direction, and the left and right ends of the central shaft 5021 of the grinding wheel 502 on the rear upper side are respectively connected with the rotating holes 9013 on the left and right sides in a rotating way; a supporting block 9014 is arranged on a supporting arm 9012 on one side of the U-shaped block 901, which is far away from the mounting plate 501, the supporting block 9014 is arranged in front of the rotating hole 9013, a third screw rod 9015 is arranged on the supporting block 9014, a third screw head 9016 is arranged at the front end of the third screw rod 9015, and the rear end of the third screw rod 9015 is in contact with one end of the central shaft 5021, which is far away from the mounting plate 501; the U-shaped block 901 is provided with a vertical mounting hole 9017 on a side supporting arm 9012 close to the mounting plate 501, a fulcrum shaft penetrating through the rotating hole 9013 is arranged in the vertical mounting hole 9017, and the fulcrum shaft is arranged in front of or behind the central shaft 5021. The function is as follows: when the fulcrum shaft is arranged in front of or behind one end of the central shaft, the rear end of the third screw rod props against the other end of the central shaft, so that the fulcrum shaft is used as a fulcrum for adjusting the central shaft forwards and backwards, and the central shaft drives the grinding wheel to adjust forwards and backwards through the forward and backward movement of the third screw rod, so that the forward and backward balance adjustment of the abrasive belt is realized.

In actual operation, the full-automatic manipulator gate grinding sand belt machine gate grinding process automatically controls through system programming, processes 15-40 seconds per piece, and controls the product size to be 0.02-0.2mm, so that the product inspection-free is realized. The mechanical arm automatically operates/one person takes care of a plurality of machines, one machine finishes the precise and rough working procedure and simultaneously processes the workpiece, thereby realizing the double improvement of efficiency.

While the foregoing is directed to the preferred embodiments of the present utility model, it will be appreciated by those skilled in the art that changes and modifications may be made without departing from the principles of the utility model, such changes and modifications are also intended to be within the scope of the utility model.

Claims

1. The gate grinding process of the full-automatic manipulator gate grinding sand belt machine is characterized by comprising the following steps of:

s1, product positioning: positioning the product by using a tool tray (202);

s2, picking up a part by a manipulator: the manipulator body (1) automatically grabs products on the tool tray (202);

s3, coarse/fine grinding: the mechanical arm body (1) moves the grabbed product to an abrasive belt (503) on an abrasive wheel (502) in front of the abrasive belt machine body (3) to perform rough/fine grinding pouring gate; the abrasive belt machine comprises an abrasive belt machine body (3) and an abrasive belt mechanism (5) arranged on the machine frame (4), wherein the abrasive belt mechanism (5) comprises a mounting plate (501) and a plurality of abrasive wheels (502), the abrasive wheels (502) are respectively rotatably arranged on the front upper side, the front lower side, the rear upper side and the rear lower side of the mounting plate (501), and abrasive belts (503) are wound between the abrasive wheels (502); the mounting plate (501) is further provided with a sliding rail (6), the sliding rail (6) comprises a fixing part (601) fixed on the mounting plate (501) and a sliding part (602) capable of sliding back and forth relative to the fixing part (601), a baffle (7) fixed on the mounting plate (501) is arranged at the rear of the sliding rail (6), and a spring (8) is connected between the sliding part (602) and the baffle (7); the sliding part (602) is fixedly provided with a connecting rod (603) and a dustproof and explosion-proof servo motor (604), the grinding wheels (502) on the front upper side, the front lower side and the rear lower side are respectively and rotatably arranged on the connecting rod (603), and the output end of the dustproof and explosion-proof servo motor (604) is in transmission fit with the grinding wheel (502) on the front upper side or the front lower side through a transmission belt; the mounting plate (501) is also provided with an abrasive belt tensioning cylinder (9), and the grinding wheel (502) at the rear upper side is rotatably arranged at the driving end of the abrasive belt tensioning cylinder (9);

the front grinding wheel (502) is stressed and then drives the connecting rod (603) and the sliding part (602) of the sliding rail (6) to move backwards in sequence, then the spring (8) is compressed, then the spring (8) gradually returns forwards in the process of carrying out rough/fine grinding on the product, and finally the rough/fine grinding of the product is finished;

s4, placing the part by the manipulator: the manipulator body (1) automatically releases products on the tool row disc (202).

2. The process for grinding the gate sand belt machine by the full-automatic manipulator according to claim 1, wherein the step S0 and the vibration gate are set before the step S1: firstly, vibrating a pouring gate of a product by using a shell vibrating machine, and then placing the product on a tool tray (202);

step S5 and shot blasting are arranged after the step S4: and placing the products on the tooling row disc (202) into a shot blasting machine, and carrying out rolling blasting on the products by using the shot blasting machine.

3. The process for gate grinding by a full-automatic manipulator for gate grinding and sand belt grinding machine according to claim 2, wherein in step S0, the parameters of the shell vibration machine are as follows: the pneumatic pressure is 0.6-1.0Mpa, and the vibration breaking time is 35-50 seconds per tree group;

4. A full-automatic manipulator runner grinding belt grinding machine runner grinding process according to any one of claims 1 to 3, wherein the manipulator body (1) and the material conveying frame (2) are arranged in front of the belt grinding machine body (3), the material conveying frame (2) is arranged on the left side or the right side of the manipulator body (1), two sliding rails (201) with lengths extending left and right and driving cylinders are arranged on the material conveying frame (2), the two sliding rails (201) and the driving cylinders are distributed in front of each other, and the driving cylinders are arranged between the two sliding rails (201); the two sliding rails (201) are respectively connected with the front end and the rear end of the tool row disc (202) in a sliding manner, and the driving end of the driving cylinder is fixedly connected with the middle part of the tool row disc (202);

the surface of the product on the tool row disc (202) is inspected by the operator, the product is arranged on the disc, and the operator is isolated from the abrasive belt machine body (3) by a dust collection room and does not contact dust.

5. A full-automatic manipulator runner grinding and sand belt machine runner grinding process according to any one of claims 1 to 3, wherein the tooling pallet (202) is set as a skid profiling tooling, and the shape of a product placement groove of the tooling pallet (202) is matched with the shape of a product;

the movable end of the manipulator body (1) is provided with a finger cylinder, and the horizontal direction of the finger cylinder of the manipulator body (1) is opened and closed to grasp and release products, so that the grasping direction of the finger cylinder is accurately consistent with the product positioning.

6. A full-automatic manipulator runner belt (ul) runner grinding process as claimed in any one of claims 1 to 3, wherein the number of belt mechanisms (5) is set to two or more, the belt (503) of at least one belt mechanism (5) is set to a rough belt, and the belt (503) of at least one belt mechanism (5) is set to a fine belt;

the manipulator body (1) is a six-axis manipulator, a standard motion track is formulated by utilizing the motion principle of the six-axis manipulator to realize gate grinding action, and an abrasive belt (503) is selected;

and (3) designing a plurality of groups of program processing according to the motion principle compensation of the manipulator and the loss condition of the sand belt (503), and adding incremental compensation in a grinding gate to ensure the dimensional quality stability of the product.

7. The gate grinding process of a full-automatic manipulator gate grinding belt machine according to claim 6, wherein the number of the abrasive belt mechanisms (5) is four, and the four groups of the abrasive belt mechanisms (5) are respectively arranged at the left upper side, the left lower side, the right upper side and the right lower side of the frame (4); among the sand belt mechanisms (5) on the left side and the right side, the sand belts (503) of the two groups of sand belt mechanisms (5) on one side are set as fine grinding sand belts, and the sand belts (503) of the two groups of sand belt mechanisms (5) on the other side are set as coarse grinding sand belts; the front end of the frame (4) is provided with two waste recovery plates (401), one waste recovery plate (401) is arranged between the abrasive belt mechanisms (5) on the upper side and the lower side, and the other waste recovery plate (401) is arranged below the abrasive belt mechanism (5) on the lower side.

8. The full-automatic manipulator gate grinding belt machine gate grinding process according to claim 6, wherein the parameters of the rough grinding belt are as follows: 3M abrasive belt 36#, linear speed 26M/s, abrasive belt width 100mm 4.6M; the parameters of the fine grinding abrasive belt are as follows: 3M abrasive belt 120#, linear speed of 26M/s, abrasive belt width of 100mm 4.6M, and mechanical arm feeding control of 0.05-0.2 mm/s is simultaneously used for two abrasive belts; the parameters of the grinding wheel (502) on the front upper side or the front lower side are as follows: phi 350 x 100mm wide, cutting angle 55 deg..

9. The gate grinding process of the full-automatic manipulator gate grinding sand belt machine according to any one of claims 1 to 3 and 7 to 8, wherein a movable hole (701) penetrating front and back is arranged in the middle of the baffle (7), the middle of the rear end of the sliding part (602) is fixedly connected with the front end of a first screw rod (605) in a threaded manner, the rear end of the first screw rod (605) penetrates through the movable hole (701) and is provided with a first screw head (6051), and the outer diameter of the first screw head (6051) is larger than the inner diameter of the movable hole (701);

guide holes (702) penetrating front and back are formed in the upper side and the lower side of the baffle (7) respectively, guide rods (801) extending backwards are fixed on the upper side and the lower side of the rear end of the sliding part (602) respectively, and the guide rods (801) penetrate through the guide holes (702) of the baffle (7) backwards; the guide rods (801) on the upper side and the lower side are respectively sleeved with the springs (8), and the outer diameter of each spring (8) is larger than the inner diameter of the guide hole (702) of the baffle plate (7);

the sliding rail (6) is arranged on the inner side of the abrasive belt (503), the connecting rod (603) is fixed on one side of the sliding part (602) close to the mounting plate (501), and the dustproof and explosion-proof servo motor (604) is fixed on one side of the sliding part (602) far away from the mounting plate (501).

10. The gate grinding process of the full-automatic manipulator gate grinding belt grinding machine according to any one of claims 1 to 3 and 7 to 8, wherein the abrasive belt tensioning cylinder (9) is arranged on the inner side of the abrasive belt (503), the driving end of the abrasive belt tensioning cylinder (9) faces to the rear, and a U-shaped block (901) is arranged behind the driving end of the abrasive belt tensioning cylinder (9); the U-shaped block (901) comprises a connecting arm (9011) and two supporting arms (9012), wherein the two supporting arms (9012) are respectively arranged on the left side and the right side of the rear end of the connecting arm (9011), the driving end of the abrasive belt tensioning cylinder (9) is connected with the connecting arm (9011), and the left end and the right end of the grinding wheel (502) on the rear upper side are respectively connected with the connecting arms (9011) on the left side and the right side in a rotating mode;

an adjusting block (902) fixed on the mounting plate (501) is arranged behind the driving end of the abrasive belt tensioning cylinder (9), an adjusting opening (9021) penetrating front and back is formed in the adjusting block (902), and the connecting arm (9011) is arranged in the adjusting opening (9021); the driving end of the abrasive belt tensioning cylinder (9) is rotationally connected with the connecting arm (9011), a second screw rod (9022) is vertically arranged on the upper left side, the upper right side, the lower left side and the lower right side of the adjusting block (902), one end of the second screw rod (9022) can extend into the adjusting opening (9021) to prop against the U-shaped block (901), and a second screw head (9023) is arranged at the other end of the second screw rod (9022);

the left and right connecting arms (9011) are respectively provided with a left and right through rotating hole (9013), the width of the rotating hole (9013) in the front and rear direction is larger than the width in the up and down direction, and the left and right ends of a central shaft (5021) of the grinding wheel (502) at the rear upper side are respectively connected with the left and right rotating holes (9013) in a rotating mode; the U-shaped block (901) is provided with a supporting block (9014) on a supporting arm (9012) on one side far away from the mounting plate (501), the supporting block (9014) is arranged in front of a rotating hole (9013), the supporting block (9014) is provided with a third screw rod (9015), the front end of the third screw rod (9015) is provided with a third screw head (9016), and the rear end of the third screw rod (9015) is in contact with one end, far away from the mounting plate (501), of a central shaft (5021); a vertical mounting hole (9017) is formed in a support arm (9012) on one side, close to the mounting plate (501), of the U-shaped block (901), a fulcrum shaft penetrating through the rotating hole (9013) is arranged in the vertical mounting hole (9017), and the fulcrum shaft is arranged in front of or behind the central shaft (5021).