CN116175369B - Flexible automatic polishing robot system - Google Patents
Flexible automatic polishing robot system Download PDFInfo
- Publication number
- CN116175369B CN116175369B CN202310440209.9A CN202310440209A CN116175369B CN 116175369 B CN116175369 B CN 116175369B CN 202310440209 A CN202310440209 A CN 202310440209A CN 116175369 B CN116175369 B CN 116175369B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B27/00—Other grinding machines or devices
- B24B27/02—Bench grinders
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/10—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
- B24B47/12—Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
Abstract
The invention discloses a flexible automatic polishing robot system, and relates to the technical field of automatic polishing equipment. The middle part of the grinder frame is provided with a robot, the robot is provided with a workpiece grabbing clamp, one side of the working platform is provided with a part tray assembly, the other side of the working platform is provided with a workpiece dust removing device, and the working platform is positioned right in front of the robot and is provided with a flexible grinding mechanism; a plurality of workpiece positioning devices are arranged on a workpiece fixing tool table of the flexible polishing mechanism, a workpiece floating pressing device presses the top of a workpiece, a motor lifting device drives a polishing motor group to move up and down, the polishing motor group comprises a plurality of groups of polishing motors which are arranged in parallel and have different polishing precision, and a horizontal moving device drives the polishing motor group to move horizontally. Through the fixed tool table of work piece put and spacing a plurality of work pieces, the work piece floats closing device and compresses tightly it, and motor elevating gear drive polishing motor carries out rough grinding, finish grinding and polishing to the work piece surface in proper order, once polishes a plurality of work pieces, improves polishing efficiency.
Description
Technical Field
The invention relates to the technical field of automatic polishing equipment, in particular to a flexible automatic polishing robot system.
Background
The existing workpieces are required to be polished and polished on the surfaces due to positioning or assembly requirements, and particularly, in the case that a plurality of surfaces of some workpieces are required to be treated. If polishing is performed manually by using a polisher, time and labor are wasted, and quality consistency is poor. The polishing can also be performed by a machine, but the existing machine usually only performs complete fine grinding, rough grinding and polishing on one surface of a workpiece when polishing, and then polishes the next workpiece after all the surfaces are treated, so that the polishing efficiency is low, and particularly when the workpiece is a basic piece and the volume is small and the number is large. Therefore, there is a need to develop a flexible automatic sander that can simultaneously polish multiple surfaces of multiple workpieces.
Disclosure of Invention
The invention aims to provide a flexible automatic polishing robot system which solves the problems of time and labor waste and low efficiency of the existing polishing method.
In order to solve the technical problems, the invention adopts the following technical scheme: a flexible automatic grinding robot system, characterized in that: the device comprises a frame, wherein a robot is arranged in the middle of the frame, a workpiece grabbing clamp is arranged on the robot, a working platform is arranged on the frame, a part tray assembly is arranged on one side of the working platform, a workpiece dust removing device is arranged on the other side of the working platform, and a flexible polishing mechanism is arranged right in front of the robot on the working platform; the flexible polishing mechanism comprises a workpiece fixing tool table, a workpiece floating pressing device, a polishing motor set, a motor lifting device and a horizontal moving device, wherein a plurality of workpiece positioning devices are arranged on the workpiece fixing tool table, the workpiece floating pressing device presses the top of a workpiece, the motor lifting device drives the polishing motor set to move up and down, the polishing motor set comprises polishing motors with different polishing precision, and the horizontal moving device drives the polishing motor set to move horizontally.
Still further technical scheme is that work piece fixed tooling platform includes fixed base plate, and fixed base plate both sides are provided with the backup pad relatively, and the backup pad top is connected through fixed roof, is provided with a plurality of work piece spacing seats on the fixed roof, is provided with a plurality of holes of stepping down that can supply the motor to stretch out on the fixed roof.
The horizontal moving device comprises a guide rod cylinder group and a moving seat plate, wherein the fixed end of the guide rod cylinder group is connected with the fixed substrate, the moving end of the guide rod cylinder group is connected with the moving seat plate, and a sliding block at the bottom of the moving seat plate is matched with a guide rail at the top of the fixed substrate.
Still further technical scheme is that the motor unit of polishing includes the motor fixed plate, has set gradually coarse grinding motor unit, finish grinding motor unit, polishing motor unit along the horizontal direction on the motor fixed plate, and the head of polishing of each motor of polishing passes the motor fixed plate and is located the work piece below, and motor elevating gear includes lift cylinder and deflector, and the deflector bottom is fixed on removing the bedplate, and the guide rail of deflector side and the slider looks adaptation of motor fixed plate side.
Still further technical scheme is that work piece floating hold-down device includes the swing cylinder, and the swing cylinder rotates with fixed roof to be connected, and the swing cylinder tip is connected with rotation support one end through rod end bearing, rotates the support bottom and rotates with fixed roof through fixed axle and bearing to be connected, rotates the support other end and is provided with the clamp plate, is provided with many spinal branchs bars on the clamp plate, and the swing cylinder drives rotation support and rotates for the clamp bar compresses tightly or loosens the work piece.
Still further technical scheme is be provided with the spray tube fixed plate on the lower surface of rotating support near clamp plate one side, be provided with the compressed air pipe in the spray tube fixed plate, spray tube fixed plate bottom is provided with many pairs of spray tube group, and the spray tube group is two spray tubes of setting up relatively, and the spray tube tip is towards the polishing head of polisher.
According to a further technical scheme, a zero positioning chuck is oppositely arranged on the working platform, and a positioning column matched with the zero positioning chuck is arranged at the bottom of the fixed substrate.
The workpiece dust removing device comprises a square guide pipe, wherein the bottom of the square guide pipe is fixed on a working platform, a yielding groove is formed in the top of the side wall of the square guide pipe, an air guide pipe is arranged outside the square guide pipe, an air outlet hole is formed in the air guide pipe, the air guide pipe is connected with a compressed gas providing device, and the air outlet hole is positioned in the yielding groove; the bottom of the square conduit is connected with the dust collector through a dust collecting pipe, and the dust collecting pipe and the dust collector are arranged below the working platform.
Still further technical scheme is that part tray subassembly top is provided with high definition digtal camera, high definition digtal camera and robot signal connection.
The workpiece grabbing clamp comprises a connecting flange plate, a gas dividing block is arranged below the connecting flange plate, and a plurality of expansion clamps are arranged on the side wall of the gas dividing block.
Working principle: and placing the workpiece to be polished in the part tray assembly, and starting the flexible automatic polisher. The high-definition camera collects position coordinate information of a workpiece and transmits the position coordinate information to a control system of the robot, an expansion clamp of a workpiece grabbing clamp of the robot fixes and grabs the workpiece and is placed in a workpiece limiting seat of a workpiece fixing tool table, after the workpiece is placed, a swinging cylinder of a workpiece floating pressing device drives a rotating support to rotate, so that a pressing rod presses the workpiece, and the workpiece grabbing clamp releases the workpiece. The motor lifting device lifts the polishing motor set until the polishing head of the motor lifting device contacts with the surface to be polished of the workpiece, the polishing motor is started to conduct rough polishing, after rough polishing is completed, the motor lifting device lowers the polishing motor set, the horizontal moving device pushes the polishing motor set to move forward horizontally, the fine grinding motor set is located below the workpiece, the motor lifting device lifts the polishing motor set until the polishing head of the motor lifting device contacts with the surface to be polished of the workpiece, and the polishing motor is started to conduct fine grinding. After the rough grinding, fine grinding and polishing are sequentially completed, the pressing rod releases the workpiece, the workpiece grabbing clamp takes down the workpiece with one ground surface, the workpiece grabbing clamp is placed in the other workpiece limiting seat, the other surface to be ground is subjected to rough grinding, fine grinding and polishing until all the surfaces to be ground are processed, the workpiece is taken down and placed in the workpiece dust removing device, the surface is purged through compressed gas, the workpiece after dust removal is placed in the part tray assembly, and dust in the purging process is collected by the dust collector.
Compared with the prior art, the invention has the beneficial effects that:
through the fixed tool table of work piece put and spacing a plurality of work pieces, the work piece floats closing device and compresses tightly it, and motor elevating gear drive is not through the motor of polishing precision carries out coarse grinding, finish grinding and polishing to the work piece surface in proper order, and rethread work piece snatchs anchor clamps and changes another face of polishing, once polishes a plurality of work pieces, improves polishing efficiency.
The motor lifting device realizes lifting and lowering of the polishing motor, polishes the surface of the workpiece from the lower part of the workpiece, avoids dust accumulation on the surface of the workpiece in the polishing process, and is convenient to process; the grinding motors with different grinding precision are combined with the horizontal moving device to respectively perform rough grinding, fine grinding and polishing, so that the consistency of the grinding quality is controlled conveniently.
Through the setting of swing pneumatics, rotation support and depression bar, be convenient for further compress tightly the work piece from the top, conveniently polish the motor and polish.
The compressed air is discharged from the air outlet hole of the air duct to sweep the surface of the workpiece, the workpiece is cleaned, and blown dust is collected by the dust collector, so that the workpiece is cleaned conveniently, and the influence of dust escape on the environment is avoided.
Drawings
Fig. 1 is a schematic view of an angle structure of the present invention.
Fig. 2 is a schematic view of another angle of the present invention (each door panel on the frame is omitted).
Fig. 3 is a schematic structural view of the flexible polishing mechanism in the present invention.
Fig. 4 is a schematic structural view of the flexible polishing mechanism of the present invention, omitting a workpiece floating hold-down device.
Fig. 5 is a schematic structural view of a workpiece gripping jig according to the present invention.
Fig. 6 is a schematic structural diagram of a workpiece dust removing device in the present invention.
FIG. 7 is a schematic view of the installation of the floating compression device of the present invention.
In the figure: the device comprises a 1-frame, a 2-workpiece grabbing clamp, a 201-connecting flange plate, a 202-air dividing block, a 203-expansion clamp, a 3-working platform, a 4-part tray assembly, a 5-workpiece fixing tool table, a 501-fixing base plate, a 502-supporting plate, a 503-fixing top plate, a 504-workpiece limiting seat, a 6-workpiece floating pressing device, a 601-rotating support, a 602-pressing plate, a 603-pressing rod, a 7-polishing motor unit, a 701-motor fixing plate, an 8-motor lifting device, a 801-guiding plate, a 9-horizontal moving device, a 901-moving seat plate, a 10-workpiece, a 11-guiding rod cylinder group, a 12-lifting cylinder, a 13-swinging cylinder, a 14-spraying pipe fixing plate, a 15-workpiece dust removing device, a 151-square guide pipe, a 152-air guide pipe, a 153-dust collecting pipe, a 154-dust collector, a 16-zero positioning chuck and a 17-rod end bearing.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Fig. 1 and 2 show a flexible automatic polishing robot system, which comprises a frame 1, wherein the frame 1 is formed by assembling aluminum profiles, the whole frame is a cabinet body, cabinet doors capable of being opened and closed are arranged on the periphery of the frame, the working platform 3 divides the frame into an upper layer and a lower layer, a robot is arranged in the middle of the frame 1, and the robot can adopt a De-national library card robot and is matched with an RC5 robot control system. The robot control system, the polisher air supply system and the like can be integrated below the working platform 3, and the air supply system can be externally connected. One side above the working platform 3 is provided with a part tray assembly 4, the part tray assembly 4 is provided with a tray, a workpiece limiting part is arranged on the tray, and the workpiece limiting part is fixed on the tray through a locating pin. The workpieces 10 to be processed are placed on the part tray assembly 4 in sequence by manual operation and placed on the designated positions of the working platform 3. The high-definition camera is arranged above the part tray assembly 4, belongs to visual detection equipment, can be matched with a light source for use, and can upload workpiece position coordinates in the tray and the polishing state of the workpiece to a robot control system through image capturing and analysis by the control system. For facilitating grabbing the workpiece, a workpiece grabbing clamp 2 is arranged on the robot, as shown in fig. 5, the workpiece grabbing clamp 2 comprises a connecting flange plate 201, a gas dividing block 202 is arranged below the connecting flange plate 201, and a plurality of expansion clamps 203 are arranged on the side wall of the gas dividing block 202. The number of expansion jigs 203 may be set according to actual use, and 3 are provided in the embodiment and located on different sides of the air dividing block 202.
The middle part of work platform 3 is provided with flexible grinding machanism, as shown in fig. 3, and flexible grinding machanism is located the robot in front of, flexible grinding machanism includes work piece fixed tooling platform 5, work piece floating hold-down device 6, motor elevating gear 8 and horizontal migration device 9, is provided with a plurality of work piece positioner on the work piece fixed tooling platform 5, and work piece floating hold-down device 6 compresses tightly work piece 10 top, and motor elevating gear 8 drive grinding motor group 7 reciprocates, and grinding motor group 7 includes the different grinding motor of precision of multiunit parallel arrangement, and horizontal migration device 9 drive grinding motor group 7 horizontal migration.
As shown in fig. 4, the workpiece fixing tool table 5 includes a fixing substrate 501, support plates 502 are disposed on two sides of the fixing substrate 501, the support plates 502 are vertically disposed, and L-shaped positioning angle irons are disposed at bottoms of the support plates 502, so that the fixing is more firm. The top of the supporting plate 502 is connected through a fixed top plate 503, a plurality of workpiece limiting seats 504 are arranged on one side of the fixed top plate 503, which is close to the robot, and a plurality of abdication holes which can be used for extending out of a polishing head of a polishing motor are arranged on the fixed top plate 503. In the embodiment, the number of workpiece limiting seats 504 is 3, the number of workpiece limiting seats 504 can be kept consistent with the number of surfaces of the workpiece 10 to be polished, and the number of abdicating holes is 9.
The horizontal moving device 9 comprises a guide rod cylinder set 11 and a moving seat plate 901, wherein the guide rod cylinder set 11 is formed by two guide rod cylinders which are oppositely arranged, one of the guide rod cylinders is connected with the fixed substrate 501 as a fixed end, the other guide rod cylinder is connected with the moving seat plate 901 as a moving end, and a sliding block at the bottom of the moving seat plate 901 is matched with a guide rail at the top of the fixed substrate 501. The guide rod cylinder group 11 pushes the moving seat plate 901 to horizontally move along the fixed base plate 501.
The polishing motor set 7 comprises a motor fixing plate 701, a coarse polishing motor set, a fine polishing motor set and a polishing motor set are sequentially arranged on the motor fixing plate 701 along the horizontal direction, each set of polishing machine is 3, polishing heads of all polishing motors penetrate through the motor fixing plate 701 and also can penetrate through yielding holes in the fixing top plate 503, and the polishing heads are located under the workpiece 10. The motor lifting device 8 comprises a lifting cylinder 12 and a guide plate 801, wherein the guide plate 801 is vertically fixed on one side of the movable seat plate 901, and an L-shaped positioning angle iron is arranged at the bottom of the guide plate, so that the fixing is firmer. The guide rail on the side of the guide plate 801 is matched with the slide block on the side of the motor fixing plate 701.
The lifting cylinder 12 pushes the polisher to move upwards to the surface of the workpiece 10 to be polished, and polishes the surface; the guide rod cylinder group 11 pushes the movable seat plate 901 to move horizontally, so that different polishing motor groups polish the surface of a workpiece.
The workpiece floating pressing device 6, as shown in fig. 7, comprises a swinging cylinder 13, the swinging cylinder 13 is rotationally connected with a fixed top plate 503, the end part of the swinging cylinder 13 is connected with one end of a rotating support 601 through a rod end bearing 17, the bottom of the rotating support 601 is rotationally connected with the fixed top plate 503 through a fixed shaft and a bearing, a pressing plate 602 is arranged at the other end of the rotating support 601, a plurality of pressing rods 603 are arranged on the pressing plate 602, and the swinging cylinder 13 drives the rotating support 601 to rotate, so that the pressing rods 603 press or loosen the workpiece 10. Wherein, the rotating bracket 601 comprises two parallel support rods, the bottoms of the support rods are provided with triangular support structures, one ends of the support rods are respectively connected with the bottoms of the triangular support structures through fixing shafts, and the other ends of the support rods are connected through pressing plates 602. The fixed shaft at the end of the support rod is connected with a rod end bearing 17, and the two ends of the fixed shaft at the bottom of the triangular support structure are rotatably connected with a bearing seat on the fixed top plate 503 through bearings.
The rotary support 601 is provided with a spray pipe fixing plate 14 on the lower surface of one side close to the pressing plate 602, a compressed air pipe is arranged in the spray pipe fixing plate 14, a plurality of pairs of spray pipe groups are arranged at the bottom of the spray pipe fixing plate 14, the spray pipe groups are two spray pipes which are oppositely arranged, the end parts of the spray pipes face to a polishing head of the polishing machine, the spray pipes are connected with the compressed air pipe, a plurality of air distribution structures are arranged in the spray pipe fixing plate 14, and compressed air is conveyed to each spray pipe group. And the spraying pipe group sweeps dust on the surface of a polishing head of the polishing motor to be operated in the next stage. And for the polishing head being polished, the side surface of the polishing head is also provided with a spray pipe, and the air distribution structure of the spray pipe is fixed on the fixed top plate 503.
The work piece dust collector 15 is provided with to work platform 3 top opposite side, as shown in fig. 6, work piece dust collector 15 includes square pipe 151, and square pipe 151 bottom is fixed on work platform 3, and the groove of stepping down has been seted up at square pipe 151 lateral wall top, all is provided with air duct 152 on four lateral walls of square pipe 151, is provided with the venthole on the air duct 152, and air duct 152 is connected with compressed gas providing device, and the venthole is located the inslot of stepping down. The bottom of the square conduit 151 is connected with a dust collector 154 through a dust collecting pipe 153, and the dust collecting pipe 153 and the dust collector 154 are arranged below the working platform 3. The polished workpiece 10 is placed in the square guide tube 151 after being grabbed by the robot by using the workpiece grabbing clamp 2, compressed gas is discharged from the air outlet hole of the air duct 152 to sweep the surface of the workpiece 10, and dust in the process is sucked into the dust collector 154 through the dust collecting tube 153 under the action of the dust collector 154, so that dust cleaning on the surface of the workpiece 10 is completed. The cleaned workpiece 10 can also be processed and analyzed by using a high-definition camera to analyze the surface image of the workpiece, so as to analyze whether the workpiece meets the polishing precision requirement.
For the quick replacement of the flexible grinding mechanism of being convenient for, be provided with zero point location chuck 16 relatively on the work platform 3, fixed baseplate 501 bottom is provided with zero point location chuck 16 assorted reference column, realizes the quick replacement of the flexible grinding mechanism through pneumatic zero point positioning system, can set up different flexible grinding mechanisms according to the difference of polishing object for the application scope of this polisher is wider.
In use, the workpiece 10 to be polished is placed in the parts pallet assembly 4 and the flexible automatic polisher is started. The high-definition camera collects position coordinate information of a workpiece and transmits the position coordinate information to a control system of the robot, an expansion clamp 203 of a workpiece grabbing clamp 2 of the robot fixes and grabs a workpiece 10 and is placed in a workpiece limiting seat 504 of a workpiece fixing tool table 5, after the workpiece is placed, a swinging cylinder 13 of a workpiece floating pressing device 6 drives a rotating bracket 601 to rotate, a pressing rod 603 presses the workpiece, and the workpiece grabbing clamp 2 releases the workpiece. The motor lifting device 8 lifts the polishing motor set 7 until the polishing head of the motor lifting device contacts with the surface to be polished of the workpiece 10, the polishing motor is started to perform rough polishing, after rough polishing is completed, the motor lifting device 8 lowers the polishing motor set 7, the horizontal moving device 9 pushes the polishing motor set 7 to move horizontally forward, the fine polishing motor set is located below the workpiece 10, the motor lifting device 8 lifts the polishing motor set 7 until the polishing head of the fine polishing motor set contacts with the surface to be polished of the workpiece 10, and the polishing motor is started to perform fine polishing. After the rough grinding, fine grinding and polishing are sequentially completed according to the steps, the pressing rod 603 releases the workpiece 10, the workpiece 10 with one ground surface is taken down by the workpiece grabbing clamp 2, the workpiece 10 is placed into the other workpiece limiting seat 504, the other surface to be ground is subjected to rough grinding, fine grinding and polishing, the steps are repeated until the three surfaces to be ground are all processed, the workpiece 10 is taken down and placed into the workpiece dust removing device 15, the surface is purged through compressed gas, the workpiece 10 after dust removal is placed into the part tray assembly 4, and dust in the purging process is collected by the dust collector 154. During processing, the three workpiece stop blocks 504 just meet the positioning requirements of different grinding surfaces.
Although the invention has been described herein with reference to a number of illustrative embodiments thereof, it should be understood that numerous other modifications and embodiments can be devised by those skilled in the art that will fall within the scope and spirit of the principles of this disclosure. More specifically, various variations and modifications may be made to the component parts or arrangements of the subject combination arrangement within the scope of the disclosure, drawings and claims of this application. In addition to variations and modifications in the component parts or arrangements, other uses will be apparent to those skilled in the art.
Claims (6)
1. A flexible automatic grinding robot system, characterized in that: the device comprises a frame (1), wherein a robot is arranged in the middle of the frame (1), a workpiece grabbing clamp (2) is arranged on the robot, a working platform (3) is arranged on the frame (1), a part tray assembly (4) is arranged on one side of the working platform (3), a workpiece dust removing device (15) is arranged on the other side of the working platform, and a flexible polishing mechanism is arranged right in front of the robot and positioned in the working platform (3); the flexible polishing mechanism comprises a workpiece fixing tool table (5), a workpiece floating pressing device (6), a polishing motor set (7), a motor lifting device (8) and a horizontal moving device (9), wherein a plurality of workpiece positioning devices are arranged on the workpiece fixing tool table (5), the workpiece floating pressing device (6) presses the top of a workpiece (10), the motor lifting device (8) drives the polishing motor set (7) to move up and down, the polishing motor set (7) comprises a plurality of groups of polishing motors which are arranged in parallel and have different polishing precision, and the horizontal moving device (9) drives the polishing motor set (7) to move horizontally;
the workpiece fixing tool table (5) comprises a fixing base plate (501), support plates (502) are oppositely arranged on two sides of the fixing base plate (501), the tops of the support plates (502) are connected through a fixing top plate (503), a plurality of workpiece limiting seats (504) are arranged on the fixing top plate (503), and a plurality of abdication holes which can be used for a polishing motor to extend out are formed in the fixing top plate (503); a zero positioning chuck (16) is oppositely arranged on the working platform (3), and a positioning column matched with the zero positioning chuck (16) is arranged at the bottom of the fixed substrate (501);
the horizontal moving device (9) comprises a guide rod cylinder group (11) and a moving seat plate (901), wherein the fixed end of the guide rod cylinder group (11) is connected with the fixed substrate (501), the moving end of the guide rod cylinder group (11) is connected with the moving seat plate (901), and a sliding block at the bottom of the moving seat plate (901) is matched with a guide rail at the top of the fixed substrate (501);
the workpiece floating pressing device (6) comprises a swinging cylinder (13), the swinging cylinder (13) is rotationally connected with a fixed top plate (503), the end part of the swinging cylinder (13) is connected with one end of a rotating support (601) through a rod end bearing (17), the bottom of the rotating support (601) is rotationally connected with the fixed top plate (503) through a fixed shaft and a bearing, a pressing plate (602) is arranged at the other end of the rotating support (601), a plurality of pressing rods (603) are arranged on the pressing plate (602), and the swinging cylinder (13) drives the rotating support (601) to rotate, so that the pressing rods (603) press or loosen a workpiece (10).
2. A flexible automatic sanding robot system as defined in claim 1, wherein: the motor unit (7) of polishing includes motor fixed plate (701), has set gradually coarse grinding motor unit, finish grinding motor unit, polishing motor unit along the horizontal direction on motor fixed plate (701), and the head of polishing of each motor of polishing passes motor fixed plate (701) and is located work piece (10) below, and motor elevating gear (8) are including lift cylinder (12) and deflector (801), and deflector (801) bottom is fixed on removal bedplate (901), and the guide rail of deflector (801) side and the slider looks adaptation of motor fixed plate (701) side.
3. A flexible automatic sanding robot system as defined in claim 1, wherein: the rotary support (601) is provided with a spray pipe fixing plate (14) on the lower surface of one side, close to the pressing plate (602), a compressed air pipe is arranged in the spray pipe fixing plate (14), a plurality of pairs of spray pipe groups are arranged at the bottom of the spray pipe fixing plate (14), the spray pipe groups are two spray pipes which are oppositely arranged, and the end parts of the spray pipes face to a polishing head of the polishing machine.
4. A flexible automatic sanding robot system as defined in claim 1, wherein: the workpiece dust removing device (15) comprises a square guide pipe (151), the bottom of the square guide pipe (151) is fixed above the working platform (3), a yielding groove is formed in the top of the side wall of the square guide pipe (151), an air guide pipe (152) is arranged outside the square guide pipe (151), an air outlet hole is formed in the air guide pipe (152), the air guide pipe (152) is connected with the compressed gas supply device, and the air outlet hole is located in the yielding groove; the bottom of the square conduit (151) is connected with the dust collector (154) through a dust collecting pipe (153), and the dust collecting pipe (153) and the dust collector (154) are arranged below the working platform (3).
5. A flexible automatic sanding robot system as defined in claim 1, wherein: high-definition cameras are arranged above the part tray assembly (4), and are connected with the robot through signals.
6. A flexible automatic sanding robot system as defined in claim 1, wherein: the workpiece grabbing clamp (2) comprises a connecting flange plate (201), a gas dividing block (202) is arranged below the connecting flange plate (201), and a plurality of expansion clamps (203) are arranged on the side wall of the gas dividing block (202).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310440209.9A CN116175369B (en) | 2023-04-23 | 2023-04-23 | Flexible automatic polishing robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310440209.9A CN116175369B (en) | 2023-04-23 | 2023-04-23 | Flexible automatic polishing robot system |
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| Publication Number | Publication Date |
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| CN116175369A CN116175369A (en) | 2023-05-30 |
| CN116175369B true CN116175369B (en) | 2023-07-18 |
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| WO2022016737A1 (en) * | 2020-07-23 | 2022-01-27 | 上海裕洪环保科技有限公司 | Section grinding and post-grinding treatment device for plate or sheet |
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| CN201895253U (en) * | 2010-04-23 | 2011-07-13 | 张星龙 | Automatic multi-station machine tool for grinding multi-angle/surface glass decoration |
| US20180021916A1 (en) * | 2016-07-19 | 2018-01-25 | Actuant Corporation | Surface finishing assembly |
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| CN113933197A (en) * | 2021-08-27 | 2022-01-14 | 西安航天发动机有限公司 | Automatic polishing and hardness detection system for fasteners |
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| WO2021068234A1 (en) * | 2019-10-08 | 2021-04-15 | 上海福赛特自动化设备有限公司 | Complete set of equipment for shoe sole grinding |
| WO2022016737A1 (en) * | 2020-07-23 | 2022-01-27 | 上海裕洪环保科技有限公司 | Section grinding and post-grinding treatment device for plate or sheet |
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