CN116833859A

CN116833859A - Ceramic core intelligent robot equipment of polishing and polishing system

Info

Publication number: CN116833859A
Application number: CN202311114975.2A
Authority: CN
Inventors: 崔国辉; 李长春; 冯文刚; 董一鸣; 韩红鹏
Original assignee: Liaoning Hanwen Power Technology Co ltd; Liaoning Shenyang Herui Intelligent Manufacturing Co ltd; Shenyang Minghe Quartz Products Co ltd
Current assignee: Shenyang Minghe Quartz Products Co ltd
Priority date: 2023-08-31
Filing date: 2023-08-31
Publication date: 2023-10-03
Anticipated expiration: 2043-08-31
Also published as: CN116833859B

Abstract

The application provides ceramic core intelligent robot polishing equipment and a polishing system, which relate to the technical field of grinding equipment and comprise a rack, a feeding and discharging device, a clamp, a mechanical arm, a tool magazine, a clamping jaw placing device, a dust removing device and an electric control device; the feeding and discharging port of the feeding and discharging device can extend out of the frame along the first direction, and at least one part of the feeding and discharging device can move on the frame so as to carry the ceramic core; the feeding and discharging device, the clamp and the tool magazine are sequentially arranged along a first direction; at least part of the mechanical arms and the clamp are oppositely arranged in the second direction, and at least part of the mechanical arms are positioned between the feeding and discharging device and the tool magazine in the first direction; the clamping jaw placing device and the tool magazine are oppositely arranged in the second direction, and the clamping jaw placing device and the mechanical arm are oppositely arranged in the first direction; the dust inlet of the dust removing device is arranged below the clamp; the electric control device is respectively and electrically connected with the feeding and discharging device, the clamp, the mechanical arm, the tool magazine and the dust removing device. The equipment optimizes the structure and improves the polishing efficiency.

Description

Ceramic core intelligent robot equipment of polishing and polishing system

Technical Field

The application belongs to the technical field of grinding equipment, and particularly relates to ceramic core intelligent robot grinding equipment and a grinding system.

Background

The ceramic core has higher high-temperature stability, corrosion resistance and mechanical strength, and is gradually applied to the fields of aerospace, automobile manufacturing, energy sources and the like.

The need to polish ceramic cores during machining, while the small size and fragility of ceramic cores, and the large tolerance range of ceramic core parts, i.e., the large size differences between different ceramic cores prior to polishing, are also one of the key difficulties in the art. In the prior art, a polishing step aiming at a ceramic core is always performed by a manually operated polishing head, the technical scheme of realizing full-process polishing by adopting the whole equipment is not adopted at present, and intelligent polishing equipment for the ceramic core with strong adaptability is needed to fill the gap.

Disclosure of Invention

Therefore, the technical problem to be solved by the application is to provide the ceramic core intelligent robot polishing equipment and the polishing system, which can optimize the structural layout and improve the polishing work efficiency.

In order to solve the problems, the application provides ceramic core intelligent robot polishing equipment, which comprises a rack, and a loading and unloading device, a clamp, a mechanical arm, a tool magazine, a clamping jaw placing device, a dust removing device and an electric control device which are arranged on the rack;

The feeding and discharging port of the feeding and discharging device can extend out of the frame along a first direction, and at least one part of the feeding and discharging device can move on the frame so as to carry the ceramic core;

the feeding and discharging device, the clamp and the tool magazine are sequentially arranged along the first direction;

at least part of the mechanical arms and the clamp are oppositely arranged in the second direction, and at least part of the mechanical arms are positioned between the feeding and discharging device and the tool magazine in the first direction;

the clamping jaw placing device and the tool magazine are oppositely arranged in the second direction, and the clamping jaw placing device and the mechanical arm are oppositely arranged in the first direction;

the dust inlet of the dust removing device is arranged below the clamp;

the electric control device is respectively and electrically connected with the feeding and discharging device, the clamp, the mechanical arm, the tool magazine and the dust removing device.

Optionally, the first direction is perpendicular to the second direction.

Optionally, the feeding and discharging device comprises a first bracket, a second bracket and a first driving part, the first bracket is used for receiving a tray, the tray is used for placing the ceramic core, the first bracket extends along the first direction, the feeding and discharging port is positioned at one end of the first bracket extending out of the rack, the second bracket is arranged on the top surface of the rack and extends along the second direction, the first bracket is arranged on the second bracket, and the first driving part is connected with the first bracket so as to drive the first bracket to move along the second direction on the second bracket;

The bottom of the tray is provided with a first label, the second bracket is provided with a first sensor, and the first sensor is positioned on a moving path of the first label along the second direction and used for acquiring in-place information of the first label moving to a limit position from the first end of the second bracket along the second direction;

the first bracket comprises a supporting plate, a bottom plate and a second driving part, the bottom plate is arranged on the second bracket, the supporting plate is arranged on the bottom plate, the second driving part is used for driving the supporting plate to move on the bottom plate along the first direction, a second sensor is arranged on the bottom plate, and the second sensor is used for detecting whether the tray exists on the supporting plate or not;

the first bracket is also provided with a third sensor and a fourth sensor, the third sensor and the fourth sensor are arranged along the first direction, the material tray is provided with a second label, and the third sensor and the fourth sensor are positioned on a path along which the second label moves along the first direction so as to acquire in-place information of the material tray;

a fifth sensor is arranged on the second bracket, a third tag is arranged on the first bracket, and the fifth sensor is positioned on a moving path of the third tag along the second direction and is used for acquiring in-place information of the first tag moving to the limit position along the second direction towards the second end of the second bracket;

A sixth sensor is arranged on the rack, a plurality of fourth tags are sequentially arranged on the tray along the second direction, and the sixth sensor is positioned on the moving paths of the fourth tags and used for acquiring the in-place information of each fourth tag;

the first sensor, the second sensor, the third sensor, the fourth sensor, the fifth sensor, the first driving part and the second driving part are electrically connected with the electric control device.

Optionally, the fixture comprises a frame, a setting up portion and a clamping portion, the setting up portion is arranged at the end of the frame, the clamping portion is arranged at the middle of the frame, the ceramic core is set up on the setting up portion, and at least a part of the clamping portion can move to clamp the ceramic core.

Optionally, the mechanical arm is detachably provided with a gripper claw and a cutter, the gripper claw is used for gripping the ceramic core, and the cutter can rotate on the mechanical arm so as to polish the ceramic core.

Optionally, the tool magazine includes guiding component and blade disc, be provided with at least one cutter storage area on the blade disc, guiding component includes third drive portion, drive portion and connecting piece, drive portion pass through the connecting piece with the blade disc is connected, drive portion still with third drive portion is connected, third drive portion is used for the drive portion moves, so that pass through the connecting piece drives the blade disc is followed the second direction removes.

Optionally, grab a claw is a plurality of, clamping jaw placer includes connecting plate, support column and fixed plate, the one end of support column connect in the connecting plate, the other end connect in the fixed plate, be formed with arch and through-hole on the fixed plate, bellied terminal surface is formed with first inclined plane, grab a claw and place on the fixed plate, the through-hole is used for accomodating and is used for grabbing a claw, grab a claw with protruding butt.

Optionally, the dust collector includes air-supply line, fan, exhaust pipe and dust collection box, the air-supply line with the exhaust pipe respectively with the fan is connected, the dust inlet setting of air-supply line is in under the anchor clamps, the play dirt outlet intercommunication of exhaust pipe the dust collection box.

Optionally, the electric control device comprises an electric control box and a control part, wherein the electric control box is arranged in the rack, and the control part is arranged in the electric control box.

In another aspect of the present application, a ceramic core intelligent robot polishing system is provided, including the ceramic core intelligent robot polishing apparatus as described above, the ceramic core intelligent robot polishing system further includes a shelf for storing the ceramic core and a handling robot for handling the ceramic core.

The beneficial effects are that:

according to the ceramic core intelligent robot polishing equipment and the polishing system provided by the embodiment of the invention, automatic feeding and discharging can be realized by arranging the feeding and discharging device. By providing the jig, the ceramic core can be firmly clamped. Through setting up the arm, can realize polishing ceramic core. Through setting up the tool magazine, can realize storing the cutter, and then realize changing suitable cutter according to the polishing requirement of different ceramic cores, improved the application scope of polishing equipment. Through setting up clamping jaw placer, can provide the position of placing for the clamping jaw, and then can realize changing suitable anchor clamps according to the shape and the size of different ceramic core, improved the application scope of polishing equipment. Through setting up dust collector, the dust that forms when can reducing to polish, clean working environment, guarantee operation personnel's personal health also can reduce the influence that the dust caused equipment simultaneously. Through setting up the feed inlet and discharge outlet of unloader into can follow the first direction and stretch out the frame, can make the operation of going up the unloading more simple convenient, improve the efficiency of going up the unloading. Meanwhile, the feeding and discharging device is arranged to be at least partially movable in the frame, so that the ceramic core can be carried, the ceramic core is positioned at a position which is easier to process, and the working efficiency is further improved. Through arranging unloader, anchor clamps and tool magazine in proper order along first direction to make at least part arm and anchor clamps set up relatively in the second direction, can be convenient for the arm to process the ceramic core on the anchor clamps, improve machining efficiency. At least part of the mechanical arm is positioned between the feeding and discharging device and the tool magazine in the first direction, so that the movement track of the mechanical arm during feeding and discharging operation and tool changing operation can be shortened, and meanwhile, the distance between the feeding and discharging device and the clamp is shortened, so that feeding and discharging are facilitated. Through setting up clamping jaw placer and tool magazine to set up relatively in the second direction, and clamping jaw placer sets up relatively with the arm in first direction, can realize quick replacement cutter and clamping jaw according to the processing requirement of different ceramic cores, also improved work efficiency. Through setting up dust collector's dust inlet in the below of anchor clamps, can guarantee good dust collecting effect for the dust that produces of polishing falls fast and enters into dust collector in. Through setting up electrically controlled device to make electrically controlled device respectively with last unloader, anchor clamps, arm, tool magazine and dust collector electric connection, can realize polishing the automation mechanized operation of equipping, reduce manual operation, improve intelligent level, when having guaranteed good processingquality, also can improve machining efficiency greatly.

Drawings

FIG. 1 is a schematic view of a first perspective structure of a ceramic core intelligent robot polishing apparatus according to an embodiment of the present application;

FIG. 2 is a schematic diagram of a second perspective view of a ceramic core intelligent robot polishing apparatus according to an embodiment of the present application;

fig. 3 is a schematic perspective view of a loading and unloading device according to an embodiment of the present application;

FIG. 4 is a schematic perspective view of a tray according to an embodiment of the present application;

FIG. 5 is a schematic perspective view of a fixture according to an embodiment of the present application;

FIG. 6 is a schematic perspective view of a mechanical arm according to an embodiment of the present application;

fig. 7 is a schematic perspective view of a tool magazine according to an embodiment of the present application;

fig. 8 is a schematic perspective view of a jaw placement device according to an embodiment of the application.

The reference numerals are expressed as:

1. feeding and discharging devices; 2. a first bracket; 3. a material inlet and a material outlet; 4. a second bracket; 5. a first driving section; 6. a material tray; 7. a first label; 8. a first sensor; 9. a supporting plate; 10. a bottom plate; 11. a second driving section; 12. a third sensor; 13. a fourth sensor; 14. a second label; 15. a fifth sensor; 16. a third tag; 17. a sixth sensor; 18. a fourth tag; 19. a clamp; 20. a frame; 21. a setting-up part; 22. a clamping part; 23. a mechanical arm; 24. a gripper jaw; 25. a cutter; 26. a tool magazine; 27. a cutterhead; 28. a knife rest plate; 29. a third driving section; 30. a transmission part; 31. a tool storage area; 32. a jaw placement device; 33. a connecting plate; 34. a support column; 35. a fixing plate; 36. a protrusion; 37. a dust removal device; 38. a dust inlet; 39. an electric control device; 40. a frame; 41. and a second sensor.

Detailed Description

In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present application and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present application.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present application, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.

The preferred embodiments of the present application will be described below with reference to the accompanying drawings, it being understood that the preferred embodiments described herein are for illustration and explanation of the present application only, and are not intended to limit the present application.

Referring to fig. 1 to 8 in combination, according to an embodiment of the present application, there is provided a ceramic core intelligent robot polishing apparatus, including a frame 40, and a loading and unloading device 1, a clamp 19, a mechanical arm 23, a tool magazine 26, a jaw placement device 32, a dust removal device 37, and an electronic control device 39 provided on the frame 40;

the feeding and discharging port 3 of the feeding and discharging device 1 can extend out of the frame 40 along the first direction, and at least one part of the feeding and discharging device 1 can move on the frame 40 so as to carry the ceramic core;

The feeding and discharging device 1, the clamp 19 and the tool magazine 26 are sequentially arranged along the first direction;

at least part of the mechanical arms 23 are arranged opposite to the clamp 19 in the second direction, and at least part of the mechanical arms 23 are positioned between the feeding and discharging device 1 and the tool magazine 26 in the first direction;

the clamping jaw placing device 32 is opposite to the tool magazine 26 in the second direction, and the clamping jaw placing device 32 is opposite to the mechanical arm 23 in the first direction;

the dust inlet 38 of the dust removing device 37 is arranged below the clamp 19;

the electric control device 39 is electrically connected with the feeding and discharging device 1, the clamp 19, the mechanical arm 23, the tool magazine 26 and the dust removing device 37 respectively.

The ceramic core intelligent robot polishing equipment in the embodiment can realize automatic feeding and discharging by arranging the feeding and discharging device 1. By providing the jig 19, firm clamping of the ceramic core can be achieved. By providing the mechanical arm 23, polishing of the ceramic core can be achieved. Through setting up tool magazine 26, can realize storing cutter 25, and then realize changing suitable cutter 25 according to the polishing requirement of different ceramic cores, improved the application scope of polishing equipment. By providing the jaw placement device 32, a placement position can be provided for the jaws, and then the replacement of the suitable clamp 19 according to the shape and the size of different ceramic cores can be realized, so that the application range of the polishing equipment is improved. Through setting up dust collector 37, the dust that forms when can reducing to polish, the clean working environment, the personal health of guarantee operation personnel also can reduce the influence that the dust caused equipment simultaneously. Through setting up the feed inlet 3 of unloader 1 to can follow the first direction and stretch out frame 40, can make the unloading operation more simple convenient, improve the efficiency of unloading. Meanwhile, by arranging the loading and unloading device 1 to be at least partially movable on the frame 40, the ceramic core can be carried, so that the ceramic core is positioned at a position easier to process, and the working efficiency is further improved. Through arranging the feeding and discharging device 1, the clamp 19 and the tool magazine 26 in sequence along the first direction, and enabling at least part of the mechanical arms 23 and the clamp 19 to be arranged oppositely in the second direction, the mechanical arms 23 can conveniently process ceramic cores on the clamp 19, and machining efficiency is improved. At least part of the mechanical arm 23 is positioned between the feeding and discharging device 1 and the tool magazine 26 in the first direction, so that the movement track of the mechanical arm 23 during feeding and discharging operation and tool changing operation can be shortened, and meanwhile, the distance between the feeding and discharging device 1 and the clamp 19 is shortened, so that feeding and discharging are facilitated. Through setting up clamping jaw placer 32 and tool magazine 26 to set up relatively in the second direction, and clamping jaw placer 32 sets up relatively with arm 23 in the first direction, can realize quick replacement cutter 25 and clamping jaw according to the processing requirement of different ceramic cores, also improved work efficiency. By arranging the dust inlet 38 of the dust removing device 37 below the clamp 19, a good dust collection effect can be ensured, so that dust generated by polishing can be quickly reduced into the dust collecting device. Through setting up electric control device 39 to make electric control device 39 respectively with last unloader 1, anchor clamps 19, arm 23, tool magazine 26 and dust collector 37 electric connection, can realize polishing the automation mechanized operation of equipping, reduce manual operation, improve intelligent level, when having guaranteed good processingquality, also can improve machining efficiency greatly.

The first direction and the second direction are two different directions in a horizontal plane, the first direction and the second direction are arranged at an angle, and the angle between the first direction and the second direction is more than 0 degrees and less than 180 degrees.

Specifically, the first direction is perpendicular to the second direction.

More specifically, in the present embodiment, the frame 40 has a substantially rectangular structure, the top surface of the frame 40 is rectangular, the first direction is the width direction of the top surface of the frame 40, and the second direction is the length direction of the top surface of the frame 40.

Wherein, go up unloader 1 and be used for ceramic core intelligent robot to polish the last unloading operation of equipping, will wait to polish ceramic core transport preset position for arm 23 can be through the ceramic core transport of clamping jaw on the preset position to polishing the station and polish ceramic core on the station through cutter 25, after polishing, arm 23 carries the ceramic core after polishing to the preset position on unloader 1, after collecting all ceramic cores after polishing, goes up unloader 1 and carries ceramic core back to carry out the unloading.

Specifically, the ceramic core can be conveyed to the feeding and discharging device 1 through an external conveying robot.

More specifically, the ceramic core is placed in the tray 6, and the external conveying robot is communicated with the tray 6 and the ceramic core to be conveyed to the loading and unloading device 1 together, and the polished ceramic core and the tray 6 are conveyed to the external conveying robot through the loading and unloading device 1.

The robot arm 23 is a multi-axis robot arm 23 robot, and has a plurality of degrees of freedom.

At least part of the mechanical arms 23 and the clamp 19 are oppositely arranged in the second direction, at least part of the mechanical arms 23 are positioned between the loading and unloading device 1 and the tool magazine 26 in the first direction, the clamping jaw placing device 32 and the tool magazine 26 are oppositely arranged in the second direction, the clamping jaw placing device 32 is oppositely arranged with the mechanical arms 23 in the first direction, the space on the top surface of the rack 40 can be fully utilized, meanwhile, the layout is rationalized, the running track of the movable layout can be reduced, and the working efficiency is further improved.

Wherein, electric control unit 39 respectively with last unloader 1, anchor clamps 19, arm 23, tool magazine 26 and dust collector 37 electric connection, and then realize going up unloader 1, anchor clamps 19, arm 23, tool magazine 26 and dust collector 37's automated control, realize automatic polishing, reduce manual operation, avoid the manual work to avoid the work mistake that causes because of concentration etc. simultaneously compare in manual polishing, also improved work efficiency.

The feeding and discharging device 1 comprises a first bracket 2, a second bracket 4 and a first driving part 5, wherein the first bracket 2 is used for receiving a material tray 6, the material tray 6 is used for placing a ceramic core, the first bracket 2 extends along a first direction, a material inlet and outlet 3 is positioned at one end of the first bracket 2 extending out of a rack 40, the second bracket 4 is arranged on the top surface of the rack 40 and extends along a second direction, the first bracket 2 is arranged on the second bracket 4, and the first driving part 5 is connected with the first bracket 2 so as to drive the first bracket 2 to move along the second direction on the second bracket 4;

the bottom of tray 6 is provided with first label 7, is provided with first sensor 8 on the second bracket 4, and first sensor 8 is located on the removal route of first label 7 along the second direction for obtain the first label 7 along the second direction and remove the information of putting in place to extreme position to the first end of second bracket 4.

Wherein, tray 6 is placed on first bracket 2, and first bracket 2 and second bracket 4 swing joint to make first drive portion 5 and first bracket 2 be connected, can realize driving tray 6 and follow the second direction and remove on second bracket 4, and then transport the ceramic core to the preset position.

Wherein, first sensor 8 sets up on first label 7 moves extreme position to the first end of second bracket 4 along the second direction, and then can respond to the information of putting in place of first label 7 on the charging tray 6, when charging tray 6 removes extreme position, first sensor 8 is triggered, control charging tray 6 stops moving this moment, through setting up the information of putting in place of first label 7 of first sensor 8 response, the positioning accuracy of charging tray 6 has been improved, thereby can guarantee that the work of polishing can go on smoothly, the stability of work has been improved.

Wherein the second bracket 4 is arranged on the top surface of the frame 40 and the first bracket 2 is arranged on the side of the second bracket 4 remote from the console. Specifically, the first bracket 2 is slidably disposed at the top of the second bracket 4, the tray 6 is disposed at the top of the first bracket 2, the first bracket 2 can drive the tray 6 to move along the first direction, and the second bracket 4 drives the first bracket 2 and the tray 6 to move along the second direction.

Wherein, the through hole has been seted up at the middle part of first bracket 2, and first label 7 sets up the center department that is close to first bracket 2 one side at charging tray 6, and first sensor 8 sets up the one side that keeps away from frame 40 at second bracket 4, and when the bracket was along the extreme position of first direction internal movement, first sensor 8 was relative from top to bottom with first label 7 through the through hole.

The first driving part 5 may be a belt mechanism.

Wherein the second carriage 4 comprises a guide rail on which the first carriage 2 is arranged.

The first bracket 2 comprises a supporting plate 9, a bottom plate 10 and a second driving part 11, the bottom plate 10 is arranged on the second bracket 4, the supporting plate 9 is arranged on the bottom plate 10, the second driving part 11 is used for driving the supporting plate 9 to move on the bottom plate 10 along a first direction, a second sensor 41 is arranged on the bottom plate 10, and the second sensor 41 is used for detecting whether a tray 6 exists on the supporting plate 9.

By providing the second sensor 41, it is possible to accurately detect whether the tray 6 is present on the pallet 9, and if so, to automatically perform the corresponding next operation.

Wherein the pallet 9 extends in a first direction, the tray 6 is placed on the pallet 9, the pallet 9 is slidably arranged on the bottom plate 10 in the first direction, and the bottom plate 10 is slidably arranged on the second bracket 4 in the second direction.

The first driving part 5 is connected with the bottom plate 10, and drives the bottom plate 10 to slide on the second bracket 4. The second driving part 11 is connected with the supporting plate 9, and drives the supporting plate 9 to slide on the bottom plate 10 along the first direction.

Wherein, a sliding rail is arranged between the bottom plate 10 and the supporting plate 9.

Wherein the second sensor 41 is arranged on the base plate 10 and is located directly below the pallet 9 when it extends out of the frame 40 in the first direction. If the second sensor 41 is triggered, it is determined that the presence of the tray 6 is detected. If the second sensor 41 is not triggered, it is determined that the tray 6 is not detected.

The first bracket 2 is also provided with a third sensor 12 and a fourth sensor 13, the third sensor 12 and the fourth sensor 13 are arranged along the first direction, the tray 6 is provided with a second label 14, and the third sensor 12 and the fourth sensor 13 are positioned on a path along which the second label 14 moves along the first direction so as to acquire the in-place information of the tray 6.

The third sensor 12 and the fourth sensor 13 are disposed on a side of the first bracket 2 far from the second bracket 4 along a moving direction of the tray 6, the second tag 14 is disposed on a side of the tray 6 near the first bracket 2, and the third sensor 12 and the fourth sensor 13 are used for sensing position information of the second tag 14 to obtain in-place information of the tray 6, so as to further judge in-place information of the tray 6.

The third sensor 12 is disposed in the middle of the path along which the second tag 14 moves along the first direction, and is used for detecting in-place information during the movement of the second tag 14 along the first direction.

The fourth sensor 13 is disposed at one end of the first bracket 2 far from the feeding and discharging port 3, and the second label 14 triggers the fourth sensor 13 when moving to a limit position along the first direction toward one end far from the feeding and discharging port 3, so that the electric control device 39 controls the second driving part 11 to stop running, that is, determines that the tray 6 is in place.

The second bracket 4 is provided with a fifth sensor 15, the first bracket 2 is provided with a third label 16, and the fifth sensor 15 is positioned on a moving path of the third label 16 along the second direction and is used for acquiring in-place information of the first label 7 moving to the second end of the second bracket 4 along the second direction to the limit position.

Wherein the fifth sensor 15 is arranged on the side of the second carrier 4 close to the first carrier 2 and the third tag 16 is arranged on the side of the first carrier 2 close to the second carrier 4.

Specifically, a third tag 16 is disposed on a side of the first bracket 2 near the second bracket 4, and the fifth sensor 15 is used for sensing position information of the third tag 16. In the embodiment of the present application, before the first bracket 2 moves, the fifth sensor 15 is in a triggered state, and when the first bracket 2 moves on the second bracket 4, the fifth sensor 15 is in a no-signal state, and by setting the fifth sensor 15, the working state of the first bracket 2 can be determined.

The frame 40 is provided with a sixth sensor 17, the tray 6 is sequentially provided with a plurality of fourth labels 18 along the second direction, and the sixth sensor 17 is located on a moving path of the fourth labels 18 and is used for acquiring in-place information of each fourth label 18.

Wherein, the sixth sensor 17 is disposed at one side of the frame 40 near the tray 6, a plurality of fourth labels 18 are disposed on the peripheral wall of the tray 6, and a plurality of fourth labels 18 are located in the same plane.

Specifically, the number of the fourth tags 18 is at least five, and in this embodiment, the number of the fourth tags 18 is five.

More specifically, the five fourth labels 18 are uniformly arranged along the second direction of the tray 6, and when any fourth label 18 moves to the opposite side of the sixth sensor 17, the sixth sensor 17 can be triggered, so that five-station array positioning can be realized.

The first sensor 8, the second sensor 41, the third sensor 12, the fourth sensor 13, the fifth sensor 15, the first driving part 5 and the second driving part 11 are electrically connected with the electric control device 39, so that the electric control device 39 can accurately acquire the position information of the tray 6 according to each sensor, and further realize automatic control according to the position information of the tray 6.

The first label 7, the second label 14, the third label 16 and the fourth label 18 are each outwardly protruding tabs on the tray 6, and the first sensor 8, the second sensor 41, the third sensor 12, the fourth sensor 13 and the fifth sensor 15 are sensors capable of detecting metal tabs, such as position sensors.

The jig 19 includes a frame 20, a setting portion 21, and a clamping portion 22, the setting portion 21 being provided at an end portion of the frame 20, the clamping portion 22 being provided at a middle portion of the frame 20, the ceramic core being set on the setting portion 21, at least a portion of the clamping portion 22 being movable to clamp the ceramic core.

The setting up portion 21 comprises a molded surface supporting plate, a molded surface fixing plate 35 and a plurality of molded surface limiting columns, wherein the molded surface supporting plate is used for being connected to the frame 20, the molded surface fixing plate 35 is connected to the molded surface supporting plate, the plurality of molded surface limiting columns are connected to the molded surface fixing plate 35, and a ceramic core to be processed is set up on the plurality of molded surface limiting columns.

The clamping portion 22 includes a connecting piece, a first cylinder, a first push plate, a second push plate, a swinging piece and a butt post, the connecting piece is used for being connected to the frame 20, the first push plate is slidably connected to the connecting piece, the swinging piece is rotatably connected to the connecting piece, the swinging piece is located on one side of the first push plate facing the setting portion 21, the butt post is arranged on the second push plate, the second push plate is connected with the first push plate, the output end of the first cylinder is connected to the second push plate, under the condition that the first cylinder is elongated, the second push plate is used for driving the butt post to butt on the ceramic core to be processed, the second push plate drives the first push plate to move and touches the swinging piece to swing, so that the swinging piece is pressed on the ceramic core to be processed.

In the use process, the ceramic core in the aircraft can be arranged between the erection part 21 and the clamping part 22, the ceramic core can be grabbed through the mechanical arm 23, one end of the ceramic core is then erected on the erection part 21, specifically, the profile support plate provides mounting positions for a plurality of profile limiting columns, the profile fixing plate 35 is arranged at the end parts of the plurality of profile limiting columns, the functions of fixing and limiting the plurality of profile limiting columns are started, the dislocation or deformation probability of the plurality of profile limiting columns can be reduced, gaps of the ceramic core can be erected on the plurality of profile limiting columns, and the plurality of profile limiting columns and the profile fixing plate 35 can perform the primary fixing function on the ceramic core; after the ceramic core is preliminarily fixed, the ceramic core can be locked through the clamping part 22, specifically, the clamping part 22 can be fixed on the frame 20 by the connecting piece, the extension of the first air cylinder can be controlled in the clamping process, the first air cylinder drives the second push plate to move towards the direction close to the ceramic core, the second push plate drives the abutting column to abut on the ceramic core to perform preliminary clamping, meanwhile, the second push plate can also drive the first push plate to move, the first push plate can trigger the swinging piece to swing, and the swinging piece can be pressed on the ceramic core.

The swinging piece is V-shaped, part of the first push plate is positioned between two folds of the swinging piece, and the swinging piece is rotatably connected to the connecting piece through the rotating shaft. Through setting up swinging member 11 into the V font, then with first push pedal setting between two hem, drive first push pedal through first cylinder and remove to being close to the direction of ceramic core, then swinging member can swing towards the direction that ceramic core is located, and swinging member can the butt on ceramic core, so set up the compactness of being convenient for fix ceramic core, can improve anchor clamps 19 simultaneously.

The mechanical arm 23 is detachably provided with a gripper claw 24 and a cutter 25, the gripper claw 24 is used for gripping the ceramic core, and the cutter 25 can rotate on the mechanical arm 23 to polish the ceramic core.

Wherein the gripper jaw 24 is detachably connected with the robot arm 23.

Specifically, the gripper jaw 24 includes a jaw body and a jaw connector, the jaw body being connected to the jaw connector for connection to the robotic arm 23 or abutment against the boss 36.

The clamping jaw connecting piece is provided with a second inclined plane on one side, which is away from the mechanical arm 23, and the second inclined plane is used for being abutted against the first inclined plane.

Wherein the knife 25 is arranged on one side of the gripper jaw 24.

Specifically, the mechanical arm 23 is further provided with a first mounting plate and a second mounting plate, the first mounting plate is connected to a force control system of the mechanical arm 23, and the gripper claw 24 and the cutter 25 are connected to the first mounting plate. The second mounting panel is L shape, and the one end of second mounting panel is connected in first mounting panel, dodges with cutter 25 through the hem of L shape, and image acquisition system is connected in the second mounting panel.

Wherein the tool 25 may also be referred to as a grinding spindle.

In the use, can snatch the ceramic core that needs to polish through grabbing piece claw 24, then can polish ceramic core through cutter 25, after accomplishing the polishing of ceramic core of a batch, can put back to charging tray 6 through grabbing piece claw 24 with the ceramic core after accomplishing polishing, snatch other ceramic cores that need polish afterwards again, so can snatch, polish and put back ceramic core reciprocally.

The tool magazine 26 comprises a guiding component and a tool disk 27, at least one tool storage area 31 is arranged on the tool disk 27, the guiding component comprises a third driving part 29, a transmission part 30 and a connecting piece, the transmission part 30 is connected with the tool disk 27 through the connecting piece, the transmission part 30 is further connected with the third driving part 29, and the third driving part 29 is used for driving the transmission part 30 to move so as to drive the tool disk 27 to move along the second direction through the connecting piece.

The cutter head 27 may have a rectangular parallelepiped structure, and the cutter head 27 is used for placing the polishing tool 25.

Specifically, the cutter head 27 is provided with a plurality of cutter storage areas 31. Different cutter 25 storage areas are used for storing different cutters 25, for example are used for storing cutters 25 with different models, and further processing requirements on different ceramic cores can be met, and the application range of the device is enlarged.

The cutter head 27 comprises a plurality of cutter rest plates 28, the cutter rest plates 28 are uniformly arranged along the length direction of the cutter head 27, openings are formed in the cutter rest plates 28, and cutters 25 are clamped in the openings.

In the embodiment of the present application, the cutter rest plates 28 are arranged in two rows along the width direction of the cutter disc 27, so that more cutters 25 can be carried while the strength of the cutter disc 27 is satisfied.

Specifically, openings are formed in the tool rest plates 28, the openings are approximately C-shaped, in the embodiment of the application, three openings are formed in one tool rest plate 28, the three openings are uniformly distributed along the length direction of the tool rest plate 28, and the tools 25 are arranged in the openings in a one-to-one correspondence manner, so that the tools 25 are clamped on the tool rest plates 28, and stable mounting positions are provided for the tools 25 by arranging the tool rest plates 28.

Wherein, guide component is connected with blade disc 27, and guide component is used for driving blade disc 27 and removes on polishing platform, and then can remove blade disc 27 to the position of predetermineeing to avoid polishing robot unable clamp to get cutter 25, improved polishing robot job stabilization nature.

The preset position can be a clamping position set by a polishing robot control program.

The guide assembly includes a third driving portion 29, and the third driving portion 29 may be a motor, etc., which is not limited in the present application.

Specifically, the driving end of the third driving portion 29 is connected to the transmission portion 30, and the driving end of the third driving portion 29 may be understood as a motor shaft of a motor, specifically, a motor shaft of a stepper motor. It will be appreciated that the transmission 30 is a reduction mechanism capable of reducing speed and transmitting torque. In the embodiment of the present application, the transmission part 30 may be a gear reduction mechanism, a worm reduction mechanism, a pulley group reduction mechanism, etc.

In this embodiment, when the third driving portion 29 is a stepper motor, the rotational speed of the stepper motor is relatively high, and the step angle pause time of the stepper motor can be reduced by the speed reduction effect of the transmission portion 30, so as to reduce the jamming when the cutterhead 27 moves, so that the moving speed of the cutterhead 27 is more close to a uniform speed, and the cutterhead 27 is positioned more accurately. At the same time, the running resistance of the third driving part 29 is reduced, and the service life of the third driving part 29 is prolonged.

Wherein, the direction subassembly still includes the connecting piece, and the connecting piece can be the rectangle, and the connecting piece sets up on drive portion 30 and is connected with blade disc 27, and drive portion 30 can drive connecting piece synchronous movement to can drive the blade disc 27 through the connecting piece and remove, can improve the stability that blade disc 27 removed through setting up the connecting piece.

The gripper jaw (24) is a plurality of, the gripper jaw (24) comprises a connecting plate (33), a supporting column (34) and a fixing plate (35), one end of the supporting column (34) is connected to the connecting plate (33), the other end is connected to the fixing plate (35), a protrusion (36) and a through hole are formed on the fixing plate (35), a first inclined plane is formed on the end face of the protrusion (36), the gripper jaw (24) is placed on the fixing plate (35), the through hole is used for accommodating the gripper jaw (24) to be used, and the gripper jaw (24) is abutted to the protrusion (36).

Wherein the connection plate 33 is connected to the top surface of the frame body.

The gripper jaw 24 includes a jaw body and a jaw connector, the jaw connector being connected to the jaw connector for connection to the robot arm 23 or abutment on the projection 36. The side of the jaw connection facing away from the robot arm 23 is formed with a second bevel for abutment against the first bevel. The mechanical arm 23 is facilitated by a jaw connection to be quickly connected to the gripper jaw 24 or quickly disconnected from the gripper jaw 24.

Specifically, the clamping jaw connecting piece deviates from in one side of arm 23 and is formed with the second inclined plane, and the second inclined plane is used for the butt on first inclined plane, so set up also can form the second inclined plane on the clamping jaw connecting piece, cooperate with first inclined plane through the second inclined plane, can make the clamping jaw connecting piece laminating location better on fixed plate 35, can avoid grabbing piece claw 24 and appear rotating when placing, be convenient for arm 23 again assemble grab piece claw 24, can reduce manual intervention, do benefit to the intelligent polishing that realizes the ceramic core.

The dust removing device 37 comprises an air inlet pipe, a fan, an exhaust pipe and a dust collecting box, wherein the air inlet pipe and the exhaust pipe are respectively connected with the fan, a dust inlet 38 of the air inlet pipe is arranged right below the clamp 19, and a dust outlet of the exhaust pipe is communicated with the dust collecting box.

Wherein, the export of air-supply line is linked together with the import of fan, and the export of fan is linked together with the import of exhaust pipe, and the export of exhaust pipe is linked together with the import of dust collection box, and then moves the air current through the fan, and the air current is inhaled the dust that drops when polishing through the inlet 38 of air-supply line, then enters into the dust collection box through air-supply line, fan, exhaust pipe in proper order.

Wherein, when ceramic core intelligent robot is polished and is equipped to be at least two, at least two ceramic core intelligent robot are polished and are equipped can share a dust collection box, and the export of the exhaust pipe that all ceramic core intelligent robot polished and are equipped all communicates in same dust collection box.

It will be appreciated that when the ceramic core intelligent robot is equipped with at least two polishing devices, a fan, an exhaust duct and a dust box may be shared. The outlets of the air inlet pipes of the ceramic core intelligent robot polishing equipment are communicated with the same fan, and the outlets of the fan are communicated with the dust collection box through an exhaust pipe.

The fan can be a variable frequency fan, and the rotating speed can be adjusted according to the dust amount generated during polishing.

The dust inlet 38 of the air inlet pipe may have a funnel-shaped structure, and the dust inlet 38 of the air inlet pipe is disposed below the table top of the frame 40.

The electric control device 39 includes an electric control box provided in the frame 40 and a control section provided in the electric control box.

Wherein, the electric cabinet sets up the side at the air-supply line.

Specifically, the electric cabinet and the air inlet pipe may be arranged in the frame 40 left and right, and both are located below the table top of the frame 40.

The control part is electrically connected with each driving part and each sensor of the ceramic core intelligent robot polishing equipment, and is used for controlling the driving parts to operate and also used for acquiring signals received by each sensor.

On the other hand of this embodiment, provide a ceramic core intelligent robot polishing system, including ceramic core intelligent robot polishing equipment as above, ceramic core intelligent robot polishing system still includes goods shelves and transfer robot, and goods shelves are used for storing ceramic core, and transfer robot is used for carrying ceramic core.

Wherein, ceramic core intelligent robot polishing system can include a plurality of ceramic core intelligent robot polishing equipment.

It will be readily appreciated by those skilled in the art that the above advantageous ways can be freely combined and superimposed without conflict.

The foregoing description of the preferred embodiments of the application is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the application. The foregoing is merely a preferred embodiment of the present application, and it should be noted that it will be apparent to those skilled in the art that modifications and variations can be made without departing from the technical principles of the present application, and these modifications and variations should also be regarded as the scope of the application.

Claims

1. The ceramic core intelligent robot polishing device is characterized by comprising a rack (40), and a loading and unloading device (1), a clamp (19), a mechanical arm (23), a tool magazine (26), a clamping jaw placing device (32), a dust removing device (37) and an electric control device (39) which are arranged on the rack (40);

the feeding and discharging opening (3) of the feeding and discharging device (1) can extend out of the frame (40) along a first direction, and at least one part of the feeding and discharging device (1) is movable on the frame (40) so as to carry the ceramic core;

The feeding and discharging device (1), the clamp (19) and the tool magazine (26) are sequentially arranged along the first direction;

at least part of the mechanical arms (23) and the clamp (19) are oppositely arranged in the second direction, and at least part of the mechanical arms (23) are positioned between the feeding and discharging device (1) and the tool magazine (26) in the first direction;

the clamping jaw placing device (32) is opposite to the tool magazine (26) in the second direction, and the clamping jaw placing device (32) is opposite to the mechanical arm (23) in the first direction;

the dust inlet (38) of the dust removing device (37) is arranged below the clamp (19);

the electric control device (39) is electrically connected with the feeding and discharging device (1), the clamp (19), the mechanical arm (23), the tool magazine (26) and the dust removing device (37) respectively.

2. The ceramic core intelligent robotic polishing apparatus of claim 1, wherein the first direction is perpendicular to the second direction.

3. The ceramic core intelligent robot polishing equipment according to claim 1, wherein the loading and unloading device (1) comprises a first bracket (2), a second bracket (4) and a first driving part (5), the first bracket (2) is used for receiving a tray (6), the tray (6) is used for placing the ceramic core, the first bracket (2) extends along the first direction, the material inlet and outlet opening (3) is positioned at one end of the first bracket (2) extending out of the rack (40), the second bracket (4) is arranged on the top surface of the rack (40) and extends along the second direction, the first bracket (2) is arranged on the second bracket (4), and the first driving part (5) is connected with the first bracket (2) so as to drive the first bracket (2) to move along the second direction on the second bracket (4);

The bottom of the tray (6) is provided with a first label (7), the second bracket (4) is provided with a first sensor (8), and the first sensor (8) is positioned on a moving path of the first label (7) along the second direction and used for acquiring in-place information of the first label (7) moving to a limit position along the second direction towards the first end of the second bracket (4);

the first bracket (2) comprises a supporting plate (9), a bottom plate (10) and a second driving part (11), the bottom plate (10) is arranged on the second bracket (4), the supporting plate (9) is arranged on the bottom plate (10), the second driving part (11) is used for driving the supporting plate (9) to move on the bottom plate (10) along the first direction, a second sensor (41) is arranged on the bottom plate (10), and the second sensor (41) is used for detecting whether the tray (6) exists on the supporting plate (9);

the first bracket (2) is further provided with a third sensor (12) and a fourth sensor (13), the third sensor (12) and the fourth sensor (13) are arranged along the first direction, the tray (6) is provided with a second label (14), and the third sensor (12) and the fourth sensor (13) are positioned on a path along which the second label (14) moves along the first direction so as to acquire in-place information of the tray (6);

A fifth sensor (15) is arranged on the second bracket (4), a third tag (16) is arranged on the first bracket (2), and the fifth sensor (15) is positioned on a moving path of the third tag (16) along the second direction and is used for acquiring in-place information of the first tag (7) moving to an extreme position along the second direction towards the second end of the second bracket (4);

a sixth sensor (17) is arranged on the frame (40), a plurality of fourth labels (18) are sequentially arranged on the tray (6) along the second direction, and the sixth sensor (17) is positioned on the moving paths of the fourth labels (18) and is used for acquiring the in-place information of each fourth label (18);

the first sensor (8), the second sensor (41), the third sensor (12), the fourth sensor (13), the fifth sensor (15), the first driving part (5) and the second driving part (11) are electrically connected with the electric control device (39).

4. The ceramic core intelligent robot polishing equipment according to claim 1, wherein the clamp (19) comprises a frame (20), a setting-up part (21) and a clamping part (22), the setting-up part (21) is arranged at the end part of the frame (20), the clamping part (22) is arranged at the middle part of the frame (20), the ceramic core is set up on the setting-up part (21), and at least one part of the clamping part (22) is movable to clamp the ceramic core.

5. The ceramic core intelligent robot polishing equipment according to claim 1, wherein a gripper claw (24) and a cutter (25) are detachably arranged on the mechanical arm (23), the gripper claw (24) is used for gripping the ceramic core, and the cutter (25) can rotate on the mechanical arm (23) to polish the ceramic core.

6. The ceramic core intelligent robot polishing equipment according to claim 1, wherein the tool magazine (26) comprises a guide assembly and a cutter disc (27), at least one cutter storage area (31) is arranged on the cutter disc (27), the guide assembly comprises a third driving part (29), a transmission part (30) and a connecting piece, the transmission part (30) is connected with the cutter disc (27) through the connecting piece, the transmission part (30) is further connected with the third driving part (29), and the third driving part (29) is used for driving the transmission part (30) to move so as to drive the cutter disc (27) to move along the second direction through the connecting piece.

7. The ceramic core intelligent robot polishing equipment according to claim 5, wherein the number of the gripper claws (24) is plural, the jaw placement device (32) comprises a connecting plate (33), a supporting column (34) and a fixing plate (35), one end of the supporting column (34) is connected to the connecting plate (33), the other end is connected to the fixing plate (35), a protrusion (36) and a through hole are formed on the fixing plate (35), a first inclined plane is formed on an end face of the protrusion (36), the gripper claws (24) are placed on the fixing plate (35), the through hole is used for accommodating the gripper claws (24) to be used, and the gripper claws (24) are abutted to the protrusion (36).

8. The ceramic core intelligent robot polishing equipment according to claim 1, wherein the dust removing device (37) comprises an air inlet pipe, a fan, an exhaust pipe and a dust collecting box, the air inlet pipe and the exhaust pipe are respectively connected with the fan, a dust inlet (38) of the air inlet pipe is arranged under the clamp (19), and a dust outlet of the exhaust pipe is communicated with the dust collecting box.

9. The ceramic core intelligent robot polishing equipment according to claim 1, wherein the electric control device (39) comprises an electric control box and a control part, the electric control box is arranged in the frame (40), and the control part is arranged in the electric control box.

10. A ceramic core intelligent robot grinding system comprising a ceramic core intelligent robot grinding apparatus as claimed in any one of claims 1-9.