CN118081518A - Polishing device with dolphin type mechanical arm - Google Patents
Polishing device with dolphin type mechanical arm Download PDFInfo
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- CN118081518A CN118081518A CN202410529612.3A CN202410529612A CN118081518A CN 118081518 A CN118081518 A CN 118081518A CN 202410529612 A CN202410529612 A CN 202410529612A CN 118081518 A CN118081518 A CN 118081518A
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- 238000005498 polishing Methods 0.000 title claims abstract description 63
- 241001481833 Coryphaena hippurus Species 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 181
- 239000000428 dust Substances 0.000 claims abstract description 20
- 230000033001 locomotion Effects 0.000 claims abstract description 13
- 230000001360 synchronised effect Effects 0.000 claims description 34
- 230000005540 biological transmission Effects 0.000 claims description 27
- 210000000078 claw Anatomy 0.000 claims description 23
- 239000011521 glass Substances 0.000 claims description 3
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 238000007517 polishing process Methods 0.000 abstract description 3
- 230000002457 bidirectional effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 244000137852 Petrea volubilis Species 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 239000004576 sand Substances 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a polishing device with a dolphin type mechanical arm, and relates to the technical field of polishing machines, comprising a working platform, wherein a main control chassis is arranged at the bottom of the working platform, and a working chassis is arranged at the top of the working platform; according to the invention, by arranging the first mechanical arm mechanism and the second mechanical arm mechanism, not only can the parts be polished, but also the parts can be clamped and picked up, so that the full-automatic operation on the polishing process is facilitated; the mechanical arm mechanism with the moving mechanism, the mechanical arm base assembly and the mechanical arm moving assembly is arranged, so that the movement of the mechanical arm mechanism in the X axis, the Y axis and the Z axis can be realized, the moving range of the mechanical arm is enlarged, and the flexibility of the mechanical arm is improved; by arranging the part clamping mechanism, the part can be clamped, and polishing operation can be conveniently carried out on the part; by arranging the part input mechanism and the part output mechanism, the parts can be orderly input and output; dust generated in the grinding operation can be collected as much as possible through the arrangement of the suction fan and the dust collection box.
Description
Technical Field
The invention relates to the technical field of grinding machines, in particular to a grinding device with a dolphin type mechanical arm.
Background
In the preparation process of the product, the surface of the product is polished by a polishing process, namely, the surface of the product is mechanically polished by a tool for fixing sand grains such as a grinding wheel, sand paper and the like, and the purposes can be divided into the following categories: removing burrs of the finished product, treating rust on the surface, polishing and cleaning the surface of the finished product, polishing the surface of the finished product, removing oxidized films and the like. The existing product polishing is performed manually, the consistency of the polished product cannot be ensured by a manual polishing mode, and the efficiency is low; in addition, the polishing is performed manually, so that the polishing has uncertainty, the labor intensity of workers is high, the phenomena of working fatigue, poor polishing quality and the like are easy to occur, the surface burrs of the processed product are not easy to be ensured to be removed completely, and the product is inconsistent; meanwhile, the labor cost of manual polishing is high; with the rapid development of production automation, robot sanders are widely used because of their advantages of time saving, labor cost reduction, product quality improvement, work environment improvement, product difference reduction, etc.; the mechanical arm is an automatic mechanical device which is most widely and practically applied in the technical field of robots, and has a common characteristic that the mechanical arm can receive instructions and accurately position a certain point on a three-dimensional space for operation although the mechanical arm has different forms; however, the flexibility and adaptability of the mechanical arm of the existing polishing device still need to be improved, and when facing complex and changeable tasks and environments, the existing mechanical arm still looks at a great force, and cannot meet the use requirements.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provided by the invention is as follows:
A polishing device with a dolphin type mechanical arm comprises a working platform, wherein a main control cabinet is arranged at the bottom of the working platform, and a working cabinet is arranged at the top of the working platform; the part clamping mechanism is arranged in the middle of the working platform, a first mechanical arm mechanism and a second mechanical arm mechanism are respectively arranged on two sides of the part clamping mechanism, the bottom of the first mechanical arm mechanism is connected with the upper part of the working platform through a moving mechanism, a polishing head assembly is arranged at the moving tail end of the first mechanical arm mechanism, and a clamping claw assembly is arranged at the moving tail end of the second mechanical arm mechanism; the part input mechanism and the part output mechanism are arranged on one side, far away from the first mechanical arm mechanism, of the second mechanical arm mechanism in an end-to-end mode, an input window and an output window corresponding to the part input mechanism and the part output mechanism are arranged on the working machine case, an observation window used for exposing the part clamping mechanism, the first mechanical arm mechanism and the second mechanical arm mechanism is arranged on one side of the working machine case, and a glass opening and closing door is arranged at the observation window; the main control cabinet is internally provided with a PLC controller which is connected with and controls the actions of the part clamping mechanism, the first mechanical arm mechanism, the second mechanical arm mechanism, the polishing head assembly, the clamping claw assembly, the part input mechanism and the part output mechanism.
Preferably, the first mechanical arm mechanism and the second mechanical arm mechanism have the same structure and are oppositely arranged, and the first mechanical arm mechanism comprises a mechanical arm base assembly arranged on the moving mechanism and a mechanical arm movement assembly connected with the mechanical arm base assembly; the mechanical arm base assembly comprises a base shell and a rotating main shaft penetrating out of the mechanical arm base assembly and connected with the mechanical arm movement assembly, wherein the bottom of the rotating main shaft is rotationally connected with the lower part of the base shell through a first deep groove ball bearing, the top of the rotating main shaft is connected with a large synchronous pulley, the large synchronous pulley is rotationally connected with the upper part of the base shell through a second deep groove ball bearing, the large synchronous pulley is in transmission connection with a small synchronous pulley through a synchronous belt, the small synchronous pulley is arranged on an output shaft of a driving motor, and the driving motor is connected with the lower part of the base shell.
Preferably, the mechanical arm movement assembly comprises a rotating base connected with the rotating main shaft, a first moving arm arranged on the rotating base in a swinging way and a second moving arm arranged on the top of the first moving arm in a swinging way, the first moving arm is rotationally connected with the rotating base and driven by a second driving motor, one side, far away from the part clamping mechanism, of the first moving arm is connected with a first rocker, the other end of the first rocker is hinged with a second rocker, the other end of the second rocker is hinged with the second moving arm, and the first rocker is driven by a third driving motor; the other side of the rotating base is hinged with a third rocker, the other end of the third rocker is hinged with a middle plate, the other end of the middle plate is hinged with a fourth rocker, the fourth rocker is arranged in the second moving arm, the fourth rocker is hinged with the top of the mechanical arm moving head, the bottom of the mechanical arm moving head is rotationally connected with the end part of the second moving arm, the lower part of the middle plate is hinged to the joint of the first moving arm and the second moving arm, and the polishing head assembly or the clamping claw assembly is arranged at the bottom of the mechanical arm moving head.
Preferably, the polishing head assembly comprises a driving motor IV embedded at the bottom of the mechanical arm moving head, and the output end of the driving motor IV is connected with the polishing head body.
Preferably, the gripper jaw assembly comprises a driving motor five arranged at the bottom of the mechanical arm moving head, a left jaw arm and a right jaw arm which are arranged on two sides of the bottom of the mechanical arm moving head in a swinging mode, wherein the five output end of the driving motor is connected with a driving gear, a driven gear I meshed with the driving gear and a driven gear II in transmission connection with the left jaw arm are arranged on the right jaw arm, and the left jaw arm is in transmission in a meshed mode with the driven gear II through the driven gear III.
Preferably, the moving mechanism comprises a mechanism base connected with the working platform, guide rails are arranged on two sides of the mechanism base along the length direction of the mechanism base, an electric screw rod is arranged between the guide rails, a sliding table matched with the guide rails and the electric screw rod is arranged on the guide rails and the electric screw rod, and the sliding table is connected with the bottom of the first mechanical arm mechanism.
Preferably, the part clamping mechanism comprises a gear bearing plate rotatably arranged at the upper part of the working platform, one side of the gear bearing plate is meshed with a driven gear IV, and the driven gear IV is driven by a driving motor six arranged at the bottom of the working platform; the gear bearing plate is characterized in that a part bearing plate is arranged on the upper portion of the gear bearing plate, end plates are arranged on the upper portion of the part bearing plate along the two ends of the length direction of the part bearing plate, a movable clamping plate is arranged between the end plates, two ends of the movable clamping plate are respectively connected with a two-way threaded electric screw rod, and two ends of the two-way threaded electric screw rod are connected to the end plates.
Preferably, the part input mechanism and the part output mechanism have the same structure, the part input mechanism comprises a horizontal conveying belt, two ends of the horizontal conveying belt are respectively provided with a transmission shaft, one end of the transmission shaft of the horizontal conveying belt is connected with the upper part of the working platform through an inner transmission shaft bracket, and the other end of the transmission shaft extends out of the working platform and is connected with the side part of the working platform through an outer transmission shaft bracket.
Preferably, a synchronous belt mechanism is connected to a transmission shaft at one end of the part input mechanism and one end of the part output mechanism, which are close to each other, and the synchronous belt mechanism is driven by a driving motor six.
Preferably, the working platform is further provided with a plurality of collecting holes, a dust box corresponding to the collecting holes is arranged in the main control cabinet, a suction fan is arranged on the bottom surface in the dust box, and a box door exposed out of the main control cabinet is arranged at one end of the dust box.
Compared with the prior art, the invention has the advantages that: according to the invention, by arranging the first mechanical arm mechanism and the second mechanical arm mechanism, not only can the parts be polished, but also the parts can be clamped and picked up, so that the full-automatic operation on the polishing process is facilitated; the mechanical arm mechanism with the moving mechanism, the mechanical arm base assembly and the mechanical arm moving assembly is arranged, so that the movement of the mechanical arm mechanism in the X axis, the Y axis and the Z axis can be realized, the moving range of the mechanical arm is enlarged, and the flexibility of the mechanical arm is improved; by arranging the part clamping mechanism, the part can be clamped, and polishing operation can be conveniently carried out on the part; by arranging the part input mechanism and the part output mechanism, the parts can be orderly input and output; dust generated in the grinding operation can be collected as much as possible through the arrangement of the suction fan and the dust collection box, the operation environment is guaranteed, and the cleaning is convenient.
Drawings
Fig. 1 is a schematic view of the front structure of a polishing apparatus with a dolphin-type mechanical arm according to the present invention.
Fig. 2 is a schematic view of the rear structure of a polishing device with a dolphin-type mechanical arm according to the present invention.
Fig. 3 is a schematic view of the internal structure of a polishing device with a dolphin-type mechanical arm according to the present invention.
Fig. 4 is a schematic side structural view of a first mechanical arm mechanism in the polishing device with the dolphin type mechanical arm according to the present invention.
Fig. 5 is a schematic view of a rear structure of a first arm mechanism in a polishing apparatus with a dolphin type arm according to the present invention.
Fig. 6 is a schematic view of the internal structure of a first mechanical arm mechanism in the polishing device with the dolphin type mechanical arm according to the present invention.
Fig. 7 is a schematic structural view of a first rocker in a polishing device with a dolphin-type mechanical arm according to the present invention.
Fig. 8 is a schematic structural view of a gripper assembly in a polishing apparatus with a dolphin-type mechanical arm according to the present invention.
Fig. 9 is a schematic structural view of a polishing head assembly in a polishing apparatus with a dolphin-type mechanical arm according to the present invention.
Fig. 10 is a schematic view showing an internal structure of a swivel base in a polishing apparatus with a dolphin type mechanical arm according to the present invention.
Fig. 11 is a schematic structural view of a second deep groove ball bearing in the polishing device with the dolphin type mechanical arm.
Fig. 12 is a schematic structural view of a moving mechanism in a polishing apparatus with a dolphin-type mechanical arm according to the present invention.
Fig. 13 is a schematic structural view of a part clamping mechanism in a polishing device with a dolphin type mechanical arm.
Fig. 14 is a schematic structural view of a part input mechanism and a part output mechanism in the polishing device with the dolphin type mechanical arm.
Fig. 15 is a schematic view showing an internal structure of a working platform in a polishing apparatus with a dolphin type mechanical arm according to the present invention.
In the accompanying drawings: 1. a working platform; 101. a collection hole;
2. a main control cabinet;
3. A working machine case; 301. an input window; 302. an output window; 303. an observation window;
4. A part clamping mechanism; 401. a gear carrier plate; 402. a driven gear IV; 403. a part bearing plate; 404. an end plate; 405. moving the clamping plate; 406. a two-way threaded electric screw;
5. A first mechanical arm mechanism; 501. a robotic arm base assembly; 501a, a base housing; 501b, rotating the spindle; 501c, a deep groove ball bearing I; 501d, large synchronous pulleys; 501e, deep groove ball bearing II; 501f, synchronous belt; 501g, small synchronous pulleys; 501h, driving a first motor;
502. A robotic arm motion assembly; 502a, a rotating base; 502b, a first moving arm; 502c, a second moving arm; 502d, driving a second motor; 502e, a first rocker; 502f, a second rocker; 502g, driving a motor III; 502h, a third rocker; 502j, fourth rocker; 502m, an intermediate plate; 502k, a mechanical arm moving head;
6. a second mechanical arm mechanism;
7. a moving mechanism; 701. a mechanism base; 702. a guide rail; 703. an electric screw; 704. a sliding table;
8. a sanding head assembly; 801. driving a motor IV; 802. a polishing head body;
9. A gripper jaw assembly; 901. driving a motor V; 902. a left claw arm; 903. a right claw arm; 904. a drive gear; 905. a driven gear I; 906. a driven gear II; 907. a driven gear III;
10. a part input mechanism; 1001. a horizontal conveyor belt; 1002. a transmission shaft; 1003. a synchronous belt mechanism; 1004. a driving motor six;
11. a part output mechanism;
12. a dust collection box;
13. A suction fan;
14. A box door.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
In the description of the embodiments of the present invention, it should be noted that, if the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate an azimuth or a positional relationship based on that shown in the drawings, or an azimuth or a positional relationship in which the product of the present invention is conventionally put when used, it is merely for convenience of describing the present invention and simplifying the description, and it does not indicate or imply that the apparatus or element to be referred to must have a specific azimuth, be configured and operated in a specific azimuth, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
Furthermore, the terms "horizontal," "vertical," "overhang" and the like, if any, do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. As "horizontal" merely means that its direction is more horizontal than "vertical", and does not mean that the structure must be perfectly horizontal, but may be slightly inclined.
In the description of the embodiments of the present invention, "plurality" means at least 2.
In the description of the embodiments of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" should 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 invention can be understood by those of ordinary skill in the art according to the specific circumstances.
Examples:
Referring to fig. 1-15, the embodiment discloses a polishing device with a dolphin type mechanical arm, which comprises a working platform 1, wherein a main control case 2 is arranged at the bottom of the working platform 1, and a working case 3 is arranged at the top of the working platform 1; the middle part of the working platform 1 is provided with a part clamping mechanism 4, two sides of the part clamping mechanism 4 are respectively provided with a first mechanical arm mechanism 5 and a second mechanical arm mechanism 6, the bottom of the first mechanical arm mechanism 5 is connected with the upper part of the working platform 1 through a moving mechanism 7, the moving tail end of the first mechanical arm mechanism 5 is provided with a polishing head assembly 8, and the moving tail end of the second mechanical arm mechanism 6 is provided with a clamping claw assembly 9; the part input mechanism 10 and the part output mechanism 11 are arranged on one side, far away from the first mechanical arm mechanism 5, of the second mechanical arm mechanism 6 in an end-to-end mode, an input window 301 and an output window 302 corresponding to the part input mechanism 10 and the part output mechanism 11 are arranged on the working machine case 3, an observation window 303 for exposing the part clamping mechanism 4, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 is arranged on one side of the working machine case 3, a glass opening and closing door is arranged at the observation window 303, and a PLC controller which is connected with the part clamping mechanism 4, the first mechanical arm mechanism 5, the second mechanical arm mechanism 6, the polishing head assembly 8, the clamping claw assembly 9, the part input mechanism 10 and the part output mechanism 11 and controls the operation of the part input mechanism and the part output mechanism 11 is arranged in the main control machine case 2; when the workpiece is in specific implementation, the workpiece input mechanism inputs the workpiece to be polished into the working machine box, the second mechanical arm mechanism drives the clamping jaw assembly to clamp the workpiece from the workpiece input mechanism and place the workpiece on the clamping mechanism, the clamping mechanism clamps the workpiece, the first mechanical arm mechanism drives the polishing head assembly to polish the workpiece, and then the second mechanical arm mechanism drives the clamping jaw assembly to place the polished workpiece on the workpiece output mechanism, and the workpiece output mechanism moves the workpiece out of the working machine box.
Specifically, the first mechanical arm mechanism 5 and the second mechanical arm mechanism 6 have the same structure and are oppositely arranged, and the first mechanical arm mechanism 5 comprises a mechanical arm base assembly 501 arranged on the moving mechanism 7 and a mechanical arm movement assembly 502 connected with the mechanical arm base assembly 501; the mechanical arm base assembly 501 comprises a base shell 501a and a rotating main shaft 501b penetrating out of the mechanical arm base assembly 501 and connected with the mechanical arm movement assembly 502, wherein the bottom of the rotating main shaft 501b is rotationally connected with the lower part of the base shell 501a through a first deep groove ball bearing 501c, the top of the rotating main shaft is connected with a large synchronous pulley 501d, the large synchronous pulley 501d is rotationally connected with the upper part of the base shell 501a through a second deep groove ball bearing 501e, the large synchronous pulley 501d is in transmission connection with a small synchronous pulley 501g through a synchronous belt 501f, the small synchronous pulley 501g is arranged on the output shaft of a first driving motor 501h, and the first driving motor 501h is connected with the lower part of the base shell 501 a; in the implementation, the first driving motor drives the small synchronous pulley to rotate, and the small synchronous pulley drives the large synchronous pulley to rotate through the synchronous belt, so that the rotating main shaft is driven to rotate, and the rotating main shaft drives the mechanical arm moving assembly on the upper part to rotate, and the mechanical arm mechanism moves on the X axis.
Specifically, the mechanical arm movement assembly 502 includes a rotating base 502a connected to the rotating spindle 501b, a first moving arm 502b swinging on the rotating base 502a, and a second moving arm 502c swinging on the top of the first moving arm 502b, where the first moving arm 502b is rotationally connected to the rotating base 502a and driven by a second driving motor 502d, one side of the first moving arm 502b far away from the part clamping mechanism 4 is connected with a first rocker 502e, the other end of the first rocker 502e is hinged with a second rocker 502f, the other end of the second rocker 502f is hinged with the second moving arm 502c, and the first rocker 502e is driven by a third driving motor 502 g; the other side of the rotating base 502a is hinged with a third rocker 502h, the other end of the third rocker 502h is hinged with a middle plate 502m, the other end of the middle plate 502m is hinged with a fourth rocker 502j, the fourth rocker 502j is arranged in the second moving arm 502c, the fourth rocker 502j is hinged with the top of the mechanical arm moving head 502k, the bottom of the mechanical arm moving head 502k is rotationally connected with the end part of the second moving arm 502c, the lower part of the middle plate 502m is hinged with the connecting part of the first moving arm 502b and the second moving arm 502c, and the polishing head component 8 or the clamping claw component 9 is arranged at the bottom of the mechanical arm moving head 502 k; when the mechanical arm mechanism is in specific implementation, the driving motor II drives the first movable arm to rotate around the hinging point of the first movable arm and the rotating base, so that the mechanical arm mechanism moves on the Y axis, meanwhile, the driving motor III drives the first rocker to rotate around the hinging point of the first movable arm and the rotating base, the first rocker pulls the second movable arm to rotate around the hinging point of the second movable arm and the first movable arm through the second rocker, the mechanical arm mechanism moves on the Z axis, and meanwhile, the mechanical arm moving head is driven to move, and further the polishing head assembly or the clamping claw assembly arranged on the mechanical arm moving head moves.
Specifically, the polishing head assembly 8 comprises a driving motor IV 801 embedded at the bottom of the mechanical arm moving head 502k, and the output end of the driving motor IV 801 is connected with a polishing head body 802; the gripper jaw assembly 9 comprises a driving motor five 901 arranged at the bottom of the mechanical arm moving head 502k, a left jaw arm 902 and a right jaw arm 903 arranged on two sides of the bottom of the mechanical arm moving head 502k in a swinging mode, wherein the output end of the driving motor five 901 is connected with a driving gear 904, a driven gear one 905 meshed with the driving gear 904 and a driven gear two 906 in transmission connection with the left jaw arm 902 are arranged on the right jaw arm 903, and the left jaw arm 902 is meshed and transmitted with the driven gear two 906 through a driven gear three 907; in the specific implementation, the driving electrode rotates to drive the polishing head body to rotate, and when the polishing head body contacts with the surface of the part, the surface of the part can be polished; the driving motor five rotates to drive the driving gear to rotate, the driving gear drives the driven gear one to rotate so that the right claw arm is opened or closed, and meanwhile, the driven gear two on the right claw arm drives the left claw arm through the driven gear three so that the left claw arm and the right claw arm are opened or closed relatively.
Specifically, the moving mechanism 7 comprises a mechanism base 701 connected with the working platform 1, guide rails 702 are arranged on two sides of the mechanism base 701 along the length direction of the mechanism base, an electric screw 703 is arranged between the guide rails 702, a sliding table 704 matched with the electric screw 703 is arranged on the guide rails 702 and the electric screw 703, and the sliding table 704 is connected with the bottom of the first mechanical arm mechanism 5; when the mechanical arm mechanism is in specific implementation, the electric screw rod is started to drive the sliding table arranged on the electric screw rod in a matched mode to move, and then the mechanical arm mechanism on the upper portion integrally moves along the X axis.
Specifically, the part clamping mechanism 4 comprises a gear bearing plate 401 rotatably arranged at the upper part of the working platform 1, a driven gear IV 402 is meshed and transmitted on one side of the gear bearing plate 401, and the driven gear IV 402 is driven by a driving motor six arranged at the bottom of the working platform 1; the upper part of the gear bearing plate 401 is provided with a part bearing plate 403, two ends of the upper part of the part bearing plate 403 along the length direction of the part bearing plate are provided with end plates 404, a movable clamping plate 405 is arranged between the end plates 404, two ends of the movable clamping plate 405 are respectively connected with a bidirectional threaded electric screw 406, and two ends of the bidirectional threaded electric screw 406 are connected to the end plates 404; when the clamping plate is in specific implementation, the two-way threaded electric screw rod is started to drive the clamping plate on the clamping plate to move, and the two-way threads arranged on the two-way threaded electric screw rod, namely the threads at the two ends of the two-way threaded electric screw rod are opposite, so that the clamping plate can move relatively or move in opposite directions, and further the clamping plate can be closed and opened, and the clamping and releasing of parts are realized.
Specifically, the part input mechanism 10 and the part output mechanism 11 have the same structure, the part input mechanism 10 comprises a horizontal conveyor belt 1001, two ends of the horizontal conveyor belt 1001 are respectively provided with a transmission shaft 1002, the transmission shaft 1002 at one end of the horizontal conveyor belt 1001 is connected with the upper part of the working platform 1 through an inner transmission shaft 1002 bracket, and the other end extends out of the working platform 1 and is connected with the side part of the working platform 1 through an outer transmission shaft 1002 bracket; a synchronous belt mechanism 1003 is connected to a transmission shaft 1002 at one end of the part input mechanism 10 and one end of the part output mechanism 11, which are close to each other, and the synchronous belt mechanism 1003 is driven by a driving motor six 1004; in the concrete implementation, the input end of the part input mechanism extends out of the working platform, parts to be polished are placed by other mechanisms or operators, the output end of the part output mechanism extends out of the working platform, and the polished parts are collected by other mechanisms or operators; the second mechanical arm mechanism picks up the part that part input mechanism is close to part output mechanism one end, simultaneously, when the part is placed to second mechanical arm mechanism, also places in the position that part output mechanism is close to part input mechanism one end, and part input mechanism, part output mechanism pass through hold-in range mechanism synchronous rotation, and then make the part synchronous movement on it, increase part input, the order of output.
Specifically, the working platform 1 is also provided with a plurality of collecting holes 101, a dust box 12 corresponding to the collecting holes 101 is arranged in the main control cabinet 2, a suction fan 13 is arranged on the inner bottom surface of the dust box 12, and a cabinet door 14 exposed outside the main control cabinet 2 is arranged at one end of the dust box 12; when the dust collecting device is specifically implemented, negative pressure wind power can be generated through the suction fan, dust generated in the working machine box is absorbed into the dust collecting box, then the dust collecting box is uniformly treated, the bottom of the dust collecting box can be inclined, and dust can be conveniently collected and cleaned.
The invention and its embodiments have been described above with no limitation, and the actual construction is not limited to the embodiments of the invention as shown in the drawings. In summary, if one of ordinary skill in the art is informed by this disclosure, a structural manner and an embodiment similar to the technical solution should not be creatively devised without departing from the gist of the present invention.
Claims (10)
1. The polishing device with the dolphin type mechanical arm is characterized by comprising a working platform, wherein a main control chassis is arranged at the bottom of the working platform, and a working chassis is arranged at the top of the working platform; the part clamping mechanism is arranged in the middle of the working platform, a first mechanical arm mechanism and a second mechanical arm mechanism are respectively arranged on two sides of the part clamping mechanism, the bottom of the first mechanical arm mechanism is connected with the upper part of the working platform through a moving mechanism, a polishing head assembly is arranged at the moving tail end of the first mechanical arm mechanism, and a clamping claw assembly is arranged at the moving tail end of the second mechanical arm mechanism; the part input mechanism and the part output mechanism are arranged on one side, far away from the first mechanical arm mechanism, of the second mechanical arm mechanism in an end-to-end mode, an input window and an output window corresponding to the part input mechanism and the part output mechanism are arranged on the working machine case, an observation window used for exposing the part clamping mechanism, the first mechanical arm mechanism and the second mechanical arm mechanism is arranged on one side of the working machine case, and a glass opening and closing door is arranged at the observation window; the main control cabinet is internally provided with a PLC controller which is connected with and controls the actions of the part clamping mechanism, the first mechanical arm mechanism, the second mechanical arm mechanism, the polishing head assembly, the clamping claw assembly, the part input mechanism and the part output mechanism.
2. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the first mechanical arm mechanism and the second mechanical arm mechanism are identical in structure and are oppositely arranged, and the first mechanical arm mechanism comprises a mechanical arm base assembly arranged on the moving mechanism and a mechanical arm movement assembly connected with the mechanical arm base assembly; the mechanical arm base assembly comprises a base shell and a rotating main shaft penetrating out of the mechanical arm base assembly and connected with the mechanical arm movement assembly, wherein the bottom of the rotating main shaft is rotationally connected with the lower part of the base shell through a first deep groove ball bearing, the top of the rotating main shaft is connected with a large synchronous pulley, the large synchronous pulley is rotationally connected with the upper part of the base shell through a second deep groove ball bearing, the large synchronous pulley is in transmission connection with a small synchronous pulley through a synchronous belt, the small synchronous pulley is arranged on an output shaft of a driving motor, and the driving motor is connected with the lower part of the base shell.
3. The polishing device with the dolphin type mechanical arm according to claim 2, wherein the mechanical arm movement assembly comprises a rotating base connected with a rotating main shaft, a first moving arm arranged on the rotating base in a swinging mode and a second moving arm arranged on the top of the first moving arm in a swinging mode, the first moving arm is connected with the rotating base in a rotating mode and driven by a driving motor II, one side, away from the part clamping mechanism, of the first moving arm is connected with a first rocker, the other end of the first rocker is hinged with a second rocker, the other end of the second rocker is hinged with the second moving arm, and the first rocker is driven by a driving motor III; the other side of the rotating base is hinged with a third rocker, the other end of the third rocker is hinged with a middle plate, the other end of the middle plate is hinged with a fourth rocker, the fourth rocker is arranged in the second moving arm, the fourth rocker is hinged with the top of the mechanical arm moving head, the bottom of the mechanical arm moving head is rotationally connected with the end part of the second moving arm, the lower part of the middle plate is hinged to the joint of the first moving arm and the second moving arm, and the polishing head assembly or the clamping claw assembly is arranged at the bottom of the mechanical arm moving head.
4. The polishing device with the dolphin type mechanical arm according to claim 3, wherein the polishing head assembly comprises a driving motor IV embedded at the bottom of the mechanical arm moving head, and the output end of the driving motor IV is connected with the polishing head body.
5. The polishing device with the dolphin type mechanical arm according to claim 3, wherein the clamping claw assembly comprises a driving motor five arranged at the bottom of the mechanical arm moving head, a left claw arm and a right claw arm which are arranged on two sides of the bottom of the mechanical arm moving head in a swinging mode, the output end of the driving motor five is connected with a driving gear, a driven gear I meshed with the driving gear and a driven gear II in transmission connection with the left claw arm are arranged on the right claw arm, and the left claw arm is in transmission in meshed connection with the driven gear II through the driven gear III.
6. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the moving mechanism comprises a mechanism base connected with the working platform, guide rails are arranged on two sides of the mechanism base along the length direction of the mechanism base, an electric screw rod is arranged between the guide rails, a sliding table matched with the guide rails and the electric screw rod is arranged on the guide rails and the electric screw rod, and the sliding table is connected with the bottom of the first mechanical arm mechanism.
7. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the part clamping mechanism comprises a gear bearing plate rotatably arranged on the upper portion of the working platform, one side of the gear bearing plate is in meshed transmission with a driven gear IV, and the driven gear IV is driven by a driving motor six arranged at the bottom of the working platform; the gear bearing plate is characterized in that a part bearing plate is arranged on the upper portion of the gear bearing plate, end plates are arranged on the upper portion of the part bearing plate along the two ends of the length direction of the part bearing plate, a movable clamping plate is arranged between the end plates, two ends of the movable clamping plate are respectively connected with a two-way threaded electric screw rod, and two ends of the two-way threaded electric screw rod are connected to the end plates.
8. The polishing device with the dolphin type mechanical arm according to claim 1, wherein the part input mechanism and the part output mechanism have the same structure, the part input mechanism comprises a horizontal conveying belt, two ends of the horizontal conveying belt are respectively provided with a transmission shaft, one end of the transmission shaft of the horizontal conveying belt is connected with the upper part of the working platform through an inner transmission shaft bracket, and the other end of the transmission shaft extends out of the working platform and is connected with the side part of the working platform through an outer transmission shaft bracket.
9. The polishing device with the dolphin type mechanical arm according to claim 8, wherein a synchronous belt mechanism is connected to a transmission shaft at one end of the part input mechanism and one end of the part output mechanism, which are close to each other, and the synchronous belt mechanism is driven by a driving motor six.
10. The polishing device with the dolphin type mechanical arm according to claim 1, wherein a plurality of collecting holes are further formed in the working platform, a dust box corresponding to the collecting holes is arranged in the main control cabinet, a suction fan is arranged on the inner bottom surface of the dust box, and a door exposed out of the main control cabinet is arranged at one end of the dust box.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410529612.3A CN118081518A (en) | 2024-04-29 | 2024-04-29 | Polishing device with dolphin type mechanical arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410529612.3A CN118081518A (en) | 2024-04-29 | 2024-04-29 | Polishing device with dolphin type mechanical arm |
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| CN118081518A true CN118081518A (en) | 2024-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410529612.3A Pending CN118081518A (en) | 2024-04-29 | 2024-04-29 | Polishing device with dolphin type mechanical arm |
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| Country | Link |
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| CN (1) | CN118081518A (en) |
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| CN218639090U (en) * | 2022-09-16 | 2023-03-17 | 河南力士特液压科技有限公司 | Hydraulic cylinder part machining tool |
| CN218801336U (en) * | 2022-11-23 | 2023-04-07 | 中建钢构武汉有限公司 | Polishing system |
| CN220179017U (en) * | 2023-08-11 | 2023-12-15 | 广州鼎汉奇辉智能科技有限公司 | Automatic polishing machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104511797A (en) * | 2013-10-08 | 2015-04-15 | 波音公司 | A method and apparatus for sanding a number of surface features on a surface of an object |
| CN108393901A (en) * | 2018-04-28 | 2018-08-14 | 沈阳建筑大学 | A kind of five degree of freedom multi-functional mechanical process equipment |
| CN113618576A (en) * | 2021-07-23 | 2021-11-09 | 东风汽车底盘系统有限公司 | Automatic guide arm polishing system and automatic polishing method |
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