CN203817899U - Fully automatic horizontal flat-surface grinding machine mechanical hand - Google Patents

Fully automatic horizontal flat-surface grinding machine mechanical hand Download PDF

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Publication number
CN203817899U
CN203817899U CN201420068673.6U CN201420068673U CN203817899U CN 203817899 U CN203817899 U CN 203817899U CN 201420068673 U CN201420068673 U CN 201420068673U CN 203817899 U CN203817899 U CN 203817899U
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China
Prior art keywords
axis
grinding machine
guide
cylinder
automatic
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Expired - Fee Related
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CN201420068673.6U
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Chinese (zh)
Inventor
汪爱明
涂达亮
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GUANGZHOU HENGWEI ELECTROMECHANICAL EQUIPMENT Co Ltd
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GUANGZHOU HENGWEI ELECTROMECHANICAL EQUIPMENT Co Ltd
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Abstract

The utility model discloses a fully automatic horizontal flat-surface grinding machine mechanical hand, which comprises a machine table, a product carrying table, an automatic detection device, a turnover device, a cleaning device and a grasping mechanical hand, wherein the automatic detection device, the turnover device, the cleaning device and the grasping mechanical hand are arranged on the machine table, the product carrying table and the machine table are in parallel arrangement, the automatic detection device, the turnover device, the cleaning device and the grasping mechanical hand are all arranged on the machine table, and an automatic grinding machine device is connected with the machine table. The fully automatic horizontal flat-surface grinding machine mechanical hand has the advantages that the automatic detection device, the turnover device, the cleaning device, the grasping mechanical hand and the automatic grinding machine device are adopted for realizing the fully automatic feeding, blanking, detection, cleaning and grinding on saw blades, the fully automatic operation of the whole flow process is realized, and the labor cost of enterprises is greatly reduced; the precise numerical control operation is realized, the qualification rate of finished products is improved, and the production loss rate is reduced; the production efficiency is improved, and the work time is shortened; the fully automatic production is realized, and guarantee can be provided for workers in aspects of mechanical bruise, micro dust waste gas suction, human body corrosion by metal sewage and the like.

Description

A kind of full-automatic horizontal surface grinding machine manipulator
[technical field]
The utility model relates to grinding machine field, particularly a kind of full-automatic horizontal surface grinding machine.
[background technology]
When horizontal surface grinder is produced the flat panel products such as saw blade, brake block at present, be all to adopt manual detection thickness, artificial loading, manual operation, artificial feeding, manual cleaning, manual detection grinding, and there is following defect in artificial production:
(1) artificial feeding manually regularly detects thickness, manually inputs feed parameter, manual cleaning saw blade, manually overturns in many operations such as whether saw blade, artificial judgment product be qualified and all need manually to stare in real time, labor intensive, and there is production safety and environmental issue in manual operation.
(2) grinding machine depends on operator's skilled technical ability, and cultivate a skilled operator, needs accumulation for a long time, and human cost is high.
(3) manual detection thickness and adjust thickness and need adjustment grinding machine feed frequently, carries out the detection of two of detection, the grindings of detection before unwrought product, grinding one side, whole these 4 procedures such as detection.And the not accurate enough error of manual detection is large, easily cause bad product, affect production effect.
(4) speed of production is slow, inefficiency.
(5) operate non-enclosed semi-automatic controlling machine, at the processing link of high temperature, high pressure, dust, noise and radioactivity and pollution, people is known from experience and causes certain injury.
Meanwhile, in recent years " recruitment waste " again and again occur, labourer's wage rises steadily, and adds macroeconomy depressed, surface grinding machine enterprise profit is constantly compressed, particularly labor-intensive enterprises are faced with unprecedented pressure.Vice Minister of Industry and Information Technology Su Bo once pointed out, from international environment, in world wide, socio-economic development general layout is constantly changed, and has both bred huge opportunity, also be accompanied by stern challenge, brought profound influence to China's surface grinding machine industrial repositioning upgrading.From Domestic Environment, the basic condition of China's surface grinding machine industrial development, internal motivation and for a long time trend of becoming better do not have radical change, but traditional development model faces lot of challenges, surface grinding machine industrial structure optimize and upgrading transition imperative.
In " 12 " planning, change Economic Development Mode and remain emphasis, improving automated manufacturing level is the approach that realizes, the five-year, automation will welcome great development.Expert points out, prosperity and development along with surface grinding machine industrial automation industry, Industry Structure upgrading and technological progress will have more sufficient power and more polynary selection, thereby acceleration realization is by the Traditional Industrialization road that mainly relies on increase in size, the new road toward industrialization to main dependence technological progress and sustainable development changes.
In sum, for mechanical grinding machine field, strengthen equipment automatization transformation, improve production automation degree, reduce labour intensity, improve operating environment, become widespread consensus in the industry.
[summary of the invention]
The purpose of this utility model is the deficiency existing for the above prior art, provides a kind of production efficiency high, and product percent of pass is high, saves labour, cost-saving, can realize the full-automatic horizontal surface grinding machine manipulator of fully-automatic production.
The technical solution of the utility model is achieved in that a kind of full-automatic horizontal surface grinding machine manipulator, comprise board, product mounting table, automatic detection device, turning device, cleaning device, catching robot and self-acting grinding machine device, described product mounting table and described board are arranged side by side, described automatic detection device, turning device, cleaning device and catching robot are installed on described board, and described self-acting grinding machine device is connected with described board;
Described product mounting table surface is provided with sample and finished product district, and described sample is processed product;
Described automatic detection device comprises detection board, on described detection board, be provided with the first guide rail, one end of described the first guide rail is provided with detection movable plate, on described detection movable plate, electromagnet and first sensor are installed, the other end of described the first guide rail arranges measurement mechanism, described checkout gear comprises measuring head and U-shaped test trough, on described measuring head, laser displacement sensor is installed;
Described turning device comprises oscillating cylinder, flip-arm and turnover disc, and described turnover disc is connected on described oscillating cylinder by flip-arm, is provided with sensor and electromagnet on described turnover disc;
Described cleaning device comprises cleaning case, is provided with cleaning rotating disk in described cleaning case, and the bottom of described cleaning case is provided with air knife, and described cleaning case upper end is provided with tank lid;
Described manipulator comprises the X axis of guide, the Y axis of guide and the Z axis of guide, the described Y axis of guide is arranged on the described X axis of guide, the described Z axis of guide is arranged on the described Y axis of guide, described Z axis of guide lower end is provided with sucker, on described sucker, be provided with electromagnet, in described X-axis, be provided with for the servomotor of power is provided.
On described sample area, be provided with for locating the hold-down bars of sample, described product mounting table surface is also provided with finished product district, and described finished product district comprises certified products district and substandard products treatment region.
Described measurement mechanism also comprises stepper motor, and described stepper motor connects active synchronization wheel, and described active synchronization wheel connects passive and synchronous wheel by Timing Belt.
Described detection movable plate is arranged on movable stand by connecting plate and bearing, and described movable stand is arranged on described the first guide rail.
Described cleaning rotating disk is cross rotating disk, and described cross rotating disk is connected with jacking cylinder by jacking axle, on described jacking axle, is arranged with again synchronizing wheel, and described synchronizing wheel is connected with cleaning case motor by the second conveyer belt.
Described air knife is connected with shower nozzle, and described shower nozzle connects again articulated pipe, conduit assembly successively, and described conduit assembly is connected with water tank.
Described sucker is circular, and described electromagnet is provided with several, and described in several, the circular arrangement of electromagnet arranges on described sucker equably.
The described X axis of guide comprises X-axis crossbeam, tooth bar, upper rail, lower guideway and installing rack, and described tooth bar is arranged in described crossbeam, and described upper rail and lower guideway are separately positioned on the above and below of described tooth bar.
Described installing rack becomes " L " shape to be connected by an installed surface and stationary plane, and described stationary plane top and bottom are fastened on respectively in described upper rail and lower guideway, and the middle part of described stationary plane is arranged on described tooth bar by gear; Described installed surface is arranged on the top of described X-axis crossbeam, described Y-axis guide rails assembling is fixed on described installed surface, on described stationary plane, offer installing hole, described servomotor is connected with decelerator, described decelerator is arranged on flange, and described flange is fixedly mounted in described installing hole by nut.
The described Y axis of guide comprises Y-axis crossbeam, linear guides and the first cylinder, and described Y-axis crossbeam covers on described linear guides, and described the first cylinder is arranged in described linear guides.
The described Z axis of guide comprises the second cylinder, the 3rd cylinder, four-cylinder, fixed head, the first movable block and the second movable block, described fixed head is installed described Y guiding the tip of the axis, on described fixed head, be provided with guide rail, described the first movable block is movably connected on described fixed head by described the second cylinder, described the second movable block is movably connected on described the first portable plate by the 3rd cylinder, on described the second movable block, be provided with sucker disk seat, the bottom of described sucker disk seat connects described sucker, on described sucker, be provided with four-cylinder, the upper end of described cylinder block is arranged with spring.
The utility model employing adopts automatic detection device, turning device, cleaning device, catching robot and self-acting grinding machine device to realize automatic charging blanking, detection automatically, automatic cleaning, the automatic grinding to saw blade, realized the full automatic working of whole flow process, a large amount of saving high-end technology personnel, reduce the human cost of enterprise greatly; Numerical control operating accurately, the qualification rate raising the cost, reduces and produces coefficient of losses; Full machinery automation processing, enhances productivity and the working time; Can carry out 24 hours uninterrupted productions, output is had to very large assurance; Full-automatic production, can dampen at machinery, the each side such as suctions of micronic dust waste gas, metal corrosion in water human body gives workman assurance; More can guarantee producers' production safety, greatly lower unexpected industrial injury.
[accompanying drawing explanation]
Fig. 1 is a kind of full-automatic horizontal surface grinding machine of the utility model manipulator overall structure schematic diagram.
Fig. 2 is the top view of a kind of full-automatic horizontal surface grinding machine of the utility model manipulator.
Fig. 3 is the front view of the utility model automatic detection device.
Fig. 4 is the overall structure schematic diagram of the utility model automatic detection device.
Fig. 5 is the explosive view of the utility model automatic detection device.
Fig. 6 is the overall structure schematic diagram of the utility model turning device.
Fig. 7 is the integrated model schematic diagram of the utility model cleaning device.
Fig. 8 is the explosive view of the utility model cleaning device.
Fig. 9 is the overall structure schematic diagram of the utility model catching robot.
Figure 10 is the overall structure schematic diagram of the utility model catching robot.
Figure 11 is the utility model catching robot X axis of guide overall structure schematic diagram.
Figure 12 is the utility model catching robot X axis of guide explosive view
Figure 11 is the utility model catching robot Y axis of guide overall structure schematic diagram.
Figure 14 is the utility model catching robot Z axis of guide explosive view.
Figure 15 is the utility model catching robot Z axis of guide overall structure schematic diagram.
[specific embodiment]
Below in conjunction with the drawings and specific embodiments, the utility model is described in detail to explanation.
As shown in Figure 1-2, a kind of full-automatic horizontal surface grinding machine manipulator, comprise that (this self-acting grinding machine device is the existing grinding machine equipment in market for board 1, product mounting table 2, automatic detection device 3, turning device 4, cleaning device 5, catching robot 6 and self-acting grinding machine device, therefore structure is not shown in FIG.), described product mounting table 2 is arranged side by side with described board 1, described automatic detection device 3, turning device 4, cleaning device 5 and catching robot 6 are installed on described board 1, and described self-acting grinding machine device is connected with described board 1.During converted products, first product is placed on described product mounting table 2, then by described catching robot 6 grasp handlings, to automatic detection device 3, detect thickness, by described catching robot 6, be transported on described cleaning device 5 and clean again, arrive again the grinding of self-acting grinding machine device, grinding is complete, by catching robot 6, testing product being put into automatic detection device 3 again detects, then through turning device 4, product being delivered to described cleaning device 5 cleans, and then be transported to the grinding of self-acting grinding machine device through manipulator 6, so cycling, until be ground to qualified.
Concrete structure and the course of work of wherein said product mounting table 2, automatic detection device 3, turning device 4, cleaning device 5, catching robot 6 are as follows:
Particularly, described product mounting table 2 surfaces are provided with sample area 21, are provided with the hold-down bars 22 of location sample on described sample area, and sample to be processed is all set on described hold-down bars 22 fixing; Described product mounting table surface is also provided with finished product district 23, and described finished product district 23 comprises certified products district and substandard products treatment region.Described certified products district is used for placing qualified products, and described substandard products treatment region is used for placing substandard product, and wherein substandard product can be divided into again wear down and the thick product of mill, grind thick product and can reclaim and carry out secondary grinding, and the product of wear down can only be disposed.
As shown in Figure 3-Figure 5, described automatic detection device 3 comprises detection board 31, on described detection board, 31 are provided with the first guide rail 32, one end of described the first guide rail 32 is provided with detects movable plate 33, electromagnet 34 and first sensor 35 are installed on described detection movable plate 33, described first sensor 35 is for responding to saw blade, and described electromagnet 34 is for adsorbing saw blade.And described detection movable plate 33 is arranged on movable stand 38 by connecting plate 36 and bearing 37, described movable stand 38 is arranged on described the first guide rail.The other end at described the first guide rail 32 arranges measurement mechanism, described checkout gear comprises measuring head 39 and U-shaped test trough 310, laser displacement sensor 311 is installed on described measuring head, after saw blade is adsorbed on described detection movable plate 33, described detection movable plate 33 moves in U-shaped test trough 39 from described the first guide rail 32, by described laser displacement sensor 312, is responded to and is detected.Described measurement mechanism also comprises stepper motor 313, described stepper motor 313 connects active synchronization wheel 314, described active synchronization wheel 314 is connected and is passive and synchronously taken turns 316 by Timing Belt 315, is mainly used in driving described detection movable plate 33 to move on described the first guide rail 32.
As shown in Figure 6, described turning device 4 comprises oscillating cylinder 41, flip-arm 42 and turnover disc 43, described turnover disc 43 is connected on described oscillating cylinder 41 by flip-arm 42, on described turnover disc 43, be provided with the second sensor 44 and electromagnet, described electromagnet is used for adsorbing saw blade, described the second sensor 44 is for responding to saw blade, when saw blade is adsorbed on described turnover disc 43, described flip-arm 42 can be placed into saw blade in described cleaning device 5 and clean by automatic turning under the effect of described oscillating cylinder 41.
As shown in FIG. 7 and 8, described cleaning device 5 comprises cleaning case 51, is provided with and cleans rotating disk 511 in described cleaning case 51, the bottom of described cleaning case 51 is provided with air knife 52, and described air knife 52 adopts compressed air-driven, is suitable for air blowing and water removing dedusting, moisture blows down dry, the application such as quenching.Described cleaning case 5 upper ends are provided with tank lid 53, tank lid 53 need to be covered in order to avoid surrounding environment is produced and disturbed when saw blade is carried out to polished and cleaned.Preferably, described cleaning rotating disk 511 is cross cleaning rotating disk, described cross cleaning rotating disk is connected with jacking cylinder 55 by jacking axle 54, on described jacking axle 54, is arranged with again synchronizing wheel 55, and described synchronizing wheel 55 is connected with cleaning case motor 57 by the second conveyer belt 56.Below described cross cleaning rotating disk, be provided with shower nozzle 58, described shower nozzle 58 connects again articulated pipe 59, conduit assembly 510 successively, and described conduit assembly 510 is connected with water tank.Here, described shower nozzle 58 can spray high hydraulic pressure water smoke saw blade is carried out to water washing dedust.
As shown in Fig. 9-15, described catching robot 6 comprises the X axis of guide 61, the Y axis of guide 62 and the Z axis of guide 63, is provided with for the servomotor 6111 of power is provided in the described X axis of guide 61; Therefore the described Y axis of guide 62 is arranged on the described X axis of guide 61, and the described Y axis of guide 62 can move along with the X axis of guide 61, the described Y axis of guide 62 in the motion of Y direction by air cylinder driven; The described Z axis of guide 63 is arranged on the described Y axis of guide 62, the described Z axis of guide 63 moves along with the movement of the Y axis of guide 62, the movement of the described Z axis of guide 63 in Z direction is also to drive by cylinder, in the described Z axis of guide 63 lower ends, be also provided with sucker 64, on described sucker 64, be provided with sucker electromagnet 65, after described sucker electromagnet 65 energisings, band is magnetic and can holds metal or stainless saw blade, after absorption saw blade, can detect to saw blade a series of operations such as test and grinding.Preferably, described sucker 64 is circular, described sucker electromagnet 65 is provided with several, and described in several, the circular arrangement of sucker electromagnet 65 arranges on described sucker 64 equably, and the circular arrangement of sucker electromagnet 65 can increase the absorption affinity of saw blade and make saw blade stressed evenly.On the described X axis of guide 61, the Y axis of guide 62, the Z axis of guide 63, be provided with sensor, be also provided with for installing and drive the drag chain 66 of cable simultaneously.On the described X axis of guide 61, be also provided with two feets 67, for supporting whole manipulator.
As shown in FIG. 11 and 12, particularly, the described X axis of guide 61 comprises X-axis crossbeam 611, tooth bar 612, upper rail 613, lower guideway 614 and installing rack 616, described tooth bar 612 is arranged in described crossbeam 611, described upper rail 613 and lower guideway 614 are separately positioned on the above and below of described tooth bar 612, described upper rail 613 and lower guideway 614 are established installing rack 616 for card, and described installing rack 616 can be free to slide along described upper rail 613 and lower guideway 614.Preferably, described installing rack 616 is connected with 618 one-tenth of stationary planes " L " shape by an installed surface 617, described installed surface 617 and stationary plane 618
On be provided with the bayonet socket 615 corresponding with described upper rail 613 and lower guideway 614, described mouthfuls 615 are fastened in described upper rail 613 and lower guideway 614.The middle part of described stationary plane 618 is arranged on described tooth bar 612 by gear 619, described gear 619 can slide along tooth bar 612, the slip of described gear 619 can drive described installing rack 616 to slide, and the described X axis of guide 612 is fixed on described installed surface 617, described installed surface 617 is arranged on the top of described X-axis crossbeam 611, and therefore the described X axis of guide 612 can move along with described installing rack 616 motions.
On described stationary plane 618, offer installing hole 6110 in addition, described servomotor 6111 is connected with decelerator 6112, described decelerator 6112 is arranged on flange 6113, described flange 6113 is fixedly mounted in described installing hole 6110 by nut, servomotor 6111 described here provides power by driving-belt for gear 619, and 6112 pairs of described servomotors 6111 of described decelerator have the function of deceleration.
As shown in figure 13, the described Y axis of guide 62 comprises Y-axis crossbeam 621, linear guides 623, the first cylinder 622, and described Y-axis crossbeam 621 covers on described linear guides 623, and described the first cylinder 622 is arranged in described linear guides 623.Described Y-axis crossbeam 621 moves in Y direction acting on along described linear guides 623 by described the first cylinder 622.
As shown in FIG. 14 and 15, the described Z axis of guide 63 comprises the second cylinder 631, the 3rd cylinder 632, four-cylinder 633, fixed head 634, the first movable block 635 and the second movable block 636, described fixed head 634 is installed the end of the described X axis of guide 632, on described fixed head 634, is provided with guide rail 637.Described the first movable block 635 is movably connected on described fixed head 634 by described the second cylinder 631, under the effect of described the second cylinder, described the first portable plate can slide up and down along described guide rail 637, and described the first movable block 635 can be moved along with described the second the flexible of cylinder 631.Described the second movable block 636 is movably connected on described the first portable plate 635 by the 3rd cylinder 632.On described the second portable plate 636, sucker disk seat 639 is also installed, the bottom of described sucker disk seat 64 connects described sucker 634, on described sucker, be provided with and control the four-cylinder 633 that described suction falls, the length of the second cylinder 631, the three cylinders 632 described here and four-cylinder 633 diminishes successively.Described sucker disk seat upper end is arranged with spring 638 in addition, and when described sucker 634 moves to saw blade surface, described spring 638 can have cushioning effect to described sucker 634.
Described catching robot work is to be mainly the sucker 64 absorption saw blades by the described Z axis of guide 63, then by the movement of the described X axis of guide 61, the Y axis of guide 62 and the Z axis of guide 63, described saw blade is being transferred to the position of setting, and the movement of the absorption of described sucker and the described X axis of guide 61, the Y axis of guide 62 and the Z axis of guide 63 is all to control by corresponding PLC control system, like this, in conjunction with corresponding control system, can automatically realize material loading and the discharge process of saw blade.Improve production efficiency, saved labour.
While using the utility model, first, the product that needs are produced is placed on described product mounting table 2, then whole equipment is carried out the setting of parameter, the parameters such as i.e. artificial size and the margin of tolerance of inputting desired value, and each depth of cut, the artificial grinding position to good first emery wheel; Then by described catching robot 6, test sample is picked up automatically, be put on described automatic detection device 3, described automatic detection device 3 detects thickness automatically, and system is transferred to self-acting grinding machine device by thickness information, and automatically calculates the quantity that needs grinding.
After detection completes, described catching robot 6 is transported to wiper mechanism cleaning by processed product and delivers in self-acting grinding machine device again, and described self-acting grinding machine device starts grinding automatically.
After completing Deng grinding, described catching robot 6 is got product again on described automatic detection device and is again detected thickness, and data are passed to self-acting grinding machine device.
Then described turning device 4 drives described product automatic turning and described product is put in described cleaning device 5,5 pairs of test samples of described cleaning device clean automatically, after cleaning up, described catching robot 6 is delivered to described product again in self-acting grinding machine device upper again, starts the another side of mill test sample.
After grinding completes, described self-acting grinding machine device cleans again automatically, and described catching robot 6 is got test on described automatic detection device 3 again, carries out automatic data-detection, and according to data, judge whether qualified.
Detection completes, described catching robot 6 is again placed the sample after processing in described cleaning device 5 and is cleaned, and then according to testing result, workpiece is put in the finished product district on described product mounting table 2, and return and automatically qualified products are placed on to qualified district, substandard product is placed in defective district.
The utility model employing adopts automatic detection device, turning device, cleaning device, catching robot and self-acting grinding machine device to realize automatic charging blanking, detection automatically, automatic cleaning, the automatic grinding to saw blade, realized the full automatic working of whole flow process, a large amount of saving high-end technology personnel, reduce the human cost of enterprise greatly; Numerical control operating accurately, the qualification rate raising the cost, reduces and produces coefficient of losses; Full machinery automation processing, enhances productivity and the working time; Can carry out 24 hours uninterrupted productions, output is had to very large assurance; Full-automatic production, can dampen at machinery, the each side such as suctions of micronic dust waste gas, metal corrosion in water human body gives workman assurance; More can guarantee producers' production safety, greatly lower unexpected industrial injury.
More than describe preferred embodiment of the present utility model in detail, should be appreciated that the ordinary skill of this area just can be made many modifications and variations according to design of the present utility model without creative work.Therefore, all technical staff in the art according to the utility model design on prior art basis by logic analysis, reasoning or according to the available technical scheme of limited experiment, all should be among the determined protection domain by these claims.

Claims (10)

1. a full-automatic horizontal surface grinding machine manipulator, comprise board and self-acting grinding machine device, it is characterized in that, also comprise product mounting table, automatic detection device, turning device, cleaning device, catching robot, described product mounting table and described board are arranged side by side, described automatic detection device, turning device, cleaning device and catching robot are installed on described board, and described self-acting grinding machine device is connected with described board;
Described product mounting table surface is provided with sample area;
Described automatic detection device comprises detection board, on described detection board, be provided with the first guide rail, one end of described the first guide rail is provided with detection movable plate, on described detection movable plate, electromagnet and first sensor are installed, the other end of described the first guide rail arranges measurement mechanism, described checkout gear comprises measuring head and U-shaped test trough, on described measuring head, laser displacement sensor is installed;
Described turning device comprises oscillating cylinder, flip-arm and turnover disc, and described turnover disc is connected on described oscillating cylinder by flip-arm, is provided with sensor and electromagnet on described turnover disc;
Described cleaning device comprises cleaning case, is provided with cleaning rotating disk in described cleaning case, and the bottom of described cleaning case is provided with air knife, and described cleaning case upper end is provided with tank lid;
Described manipulator comprises the X axis of guide, the Y axis of guide and the Z axis of guide, the described Y axis of guide is arranged on the described X axis of guide, the described Z axis of guide is arranged on the described Y axis of guide, described Z axis of guide lower end is provided with sucker, on described sucker, be provided with electromagnet, in described X-axis, be provided with for the servomotor of power is provided.
2. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, on described sample area, be provided with for locating the hold-down bars of sample, described product mounting table surface is also provided with finished product district, and described finished product district comprises certified products district and substandard products treatment region.
3. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, is characterized in that, described measurement mechanism also comprises stepper motor, and described stepper motor connects active synchronization wheel, and described active synchronization wheel connects passive and synchronous wheel by Timing Belt.
4. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 3, is characterized in that, described detection movable plate is arranged on movable stand by connecting plate and bearing, and described movable stand is arranged on described the first guide rail.
5. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, described cleaning rotating disk is cross rotating disk, described cross rotating disk is connected with jacking cylinder by jacking axle, on described jacking axle, be arranged with again synchronizing wheel, described synchronizing wheel is connected with cleaning case motor by the second conveyer belt.
6. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, is characterized in that, described sucker is circular, and described electromagnet is provided with several, and described in several, the circular arrangement of electromagnet arranges on described sucker equably.
7. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, the described X axis of guide comprises X-axis crossbeam, tooth bar, upper rail, lower guideway and installing rack, described tooth bar is arranged in described crossbeam, and described upper rail and lower guideway are separately positioned on the above and below of described tooth bar.
8. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, described installing rack becomes " L " shape to be connected by an installed surface and stationary plane, described stationary plane top and bottom are fastened on respectively in described upper rail and lower guideway, and the middle part of described stationary plane is arranged on described tooth bar by gear; Described installed surface is arranged on the top of described X-axis crossbeam, described Y-axis guide rails assembling is fixed on described installed surface, on described stationary plane, offer installing hole, described servomotor is connected with decelerator, described decelerator is arranged on flange, and described flange is fixedly mounted in described installing hole by nut.
9. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, the described Y axis of guide comprises Y-axis crossbeam, linear guides and the first cylinder, and described Y-axis crossbeam covers on described linear guides, and described the first cylinder is arranged in described linear guides.
10. a kind of full-automatic horizontal surface grinding machine manipulator as claimed in claim 1, it is characterized in that, the described Z axis of guide comprises the second cylinder, the 3rd cylinder, four-cylinder, fixed head, the first movable block and the second movable block, described fixed head is installed described Y guiding the tip of the axis, on described fixed head, be provided with guide rail, described the first movable block is movably connected on described fixed head by described the second cylinder, described the second movable block is movably connected on described the first portable plate by the 3rd cylinder, on described the second movable block, be provided with sucker disk seat, the bottom of described sucker disk seat connects described sucker, on described sucker, be provided with four-cylinder, the upper end of described cylinder block is arranged with spring.
CN201420068673.6U 2014-02-17 2014-02-17 Fully automatic horizontal flat-surface grinding machine mechanical hand Expired - Fee Related CN203817899U (en)

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104227281A (en) * 2014-09-12 2014-12-24 苏州石丸英合精密机械有限公司 Automatic blanking gripping device of automatic welding machine for lining
CN104259678A (en) * 2014-09-12 2015-01-07 苏州石丸英合精密机械有限公司 Bushing manipulator frontward and backward movement mechanism of bushing automatic welding machine
CN105729453A (en) * 2016-04-30 2016-07-06 临清兴和宏鑫机床有限公司 Detecting and cleaning automatic production line with three-freedom-degree mechanical arm

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104227281A (en) * 2014-09-12 2014-12-24 苏州石丸英合精密机械有限公司 Automatic blanking gripping device of automatic welding machine for lining
CN104259678A (en) * 2014-09-12 2015-01-07 苏州石丸英合精密机械有限公司 Bushing manipulator frontward and backward movement mechanism of bushing automatic welding machine
CN104227281B (en) * 2014-09-12 2015-12-23 苏州石丸英合精密机械有限公司 The automatic blanking grabbing device of lining automatic welding machine
CN105729453A (en) * 2016-04-30 2016-07-06 临清兴和宏鑫机床有限公司 Detecting and cleaning automatic production line with three-freedom-degree mechanical arm

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