CN206326477U - A kind of die casting multirobot cooperates with sanding apparatus - Google Patents

Abstract

A kind of die casting multirobot cooperates with sanding apparatus, sanding apparatus includes mounting platform, it is arranged at the polishing platform on mounting platform, grinding machine hand positioned at polishing platform both sides, and the automatic loading and unloading manipulator above polishing platform, automatic loading and unloading manipulator is used to die casting being moved to polishing platform, the first fixture and the second fixture being arranged side by side are fixed with polishing platform, it is respectively used to clamp die casting, the end of each grinding machine hand is provided with milling tools, the milling tools of both sides is used for the opposite sides of the first fixture of polishing simultaneously or the die casting of the second fixture clamping.Two grinding machine hands are in workpiece both sides collaboration polishing die casting, polishing work is efficiently carried out in order, the working space for making full use of mechanical arm to reach, grinding efficiency is significantly improved, automatic loading and unloading manipulator make it that above-mentioned sanding apparatus is more suitable for automatic production line continuous productive process.

Description

A multi-robot collaborative grinding device for die-casting parts

technical field

The utility model relates to the technical field of parts automatic grinding, in particular to a multi-robot collaborative grinding device for die castings.

Background technique

In the traditional manufacturing industry, polishing and grinding is the most basic process. A considerable part of the grinding work is done manually by skilled workers, and its cost accounts for 30% of the total cost. With the hardware and bathroom industry, IT industry, auto parts, industrial The demand for grinding in parts and other industries is increasing day by day, and the cost of labor is getting higher and higher. Manual grinding not only has poor working conditions and is easy to be injured, but the dust generated during the grinding process seriously affects the health of workers, and the efficiency of manual grinding is relatively low, time-consuming and laborious. , and the accuracy is difficult to control. At present, industrial robots have been widely used in various fields of industrial production, and gradually began to use robots to polish workpieces. Conventional methods, such as the mechanical arm clamping the workpiece and moving to the high-speed rotating grinding wheel at a fixed position for grinding, that is, the grinding wheel is fixed, and the workpiece moves with the robot. This grinding method is not ideal for grinding workpieces with large volume and complicated processes.

In order to solve various problems in the above-mentioned grinding field, it is necessary to develop a new grinding method, which is suitable for the development of intelligent and automatic production line processing technology.

Utility model content

Aiming at the problems existing in the prior art, the utility model provides a multi-robot collaborative grinding device for die-casting parts with reasonable structure, wide application range, high production efficiency and high degree of automation.

In order to achieve the above object, the utility model adopts the following technical solutions:

A multi-robot cooperative grinding device for die castings, comprising an installation platform, a grinding platform arranged on the installation platform, grinding manipulators located on both sides of the grinding platform, and an automatic loading and unloading manipulator located above the grinding platform, the The automatic loading and unloading manipulator is used to move the die casting to the grinding platform, and the first clamp and the second clamp arranged side by side are fixed on the grinding platform, which are respectively used to clamp the die casting. One end of the grinding manipulator It is fixed on the installation platform, and the other end extends to the grinding platform. A grinding tool is installed at the end of each grinding manipulator, and the grinding tools on both sides are used to simultaneously grind the first clamp or the The second clamp clamps opposite sides of the die casting.

Further, the two grinding manipulators are respectively arranged on both sides of the grinding platform, perpendicular to and symmetrical to the plane where the first jig or the second jig is located.

Further, the grinding manipulator has a base fixed on the installation platform, a support base is provided on the base, an arm base is fixedly installed on the support base, a rotating shaft arm is movably installed on the arm base, and the The rotating shaft arm includes a first shaft arm, a second shaft arm and a third shaft arm connected in sequence, the first shaft arm is connected to the arm base through a circumferential rotation shaft, and can rotate 360° relative to the arm base, The second shaft arm is movably connected to the extension end of the first shaft arm, one end of the third shaft arm is connected to the extension end of the second shaft arm through a movable joint, and the other end is connected to the extension end of the second shaft arm through a movable joint As for the grinding tool, the grinding tool can rotate 180° around a direction perpendicular to the axis of the third shaft arm.

Further, the grinding tool is installed on the end of the third shaft arm through a grinding spindle, the grinding spindle is an electric spindle or a pneumatic spindle, so as to adjust the distance between the grinding tool and the die casting.

Further, a hollow groove is provided under the grinding platform, and a conveyor belt is arranged in the hollow groove for transferring the die-casting parts to the grinding platform.

Further, the first clamp and the second clamp are arranged side by side in the vertical direction.

Further, the first fixture includes a bottom plate fixed on the grinding platform, a first side plate and a second side plate are vertically installed on the bottom plate, and a plurality of first cylinders are protruded on the first side plate The pin is matched with the round hole at one end of the die casting, the crank-link slider mechanism is fixed on the second side plate, and the crank-link slider mechanism is fixed with a clamping plate facing the direction of the first side plate, The clamping plate is provided with a second cylindrical pin and a clamping block, and the clamping plate is pushed toward the first side plate by driving the crank-link slider mechanism, and the second cylindrical pin is inserted into the die-casting In the circular hole on the end face of the die casting, the clamping block clamps the boss on the end face of the die casting to clamp and position the die casting.

Further, the second clamp includes a clamp body for installing die-casting parts, a clamping device is provided on one side of the clamp body, and the clamping device has a push rod, and the push rod faces one end of the clamp body A clamp block is provided, and a handle is provided at the other end. When the handle is turned, the push rod pushes the clamp block to move toward the clamp body to clamp the die casting.

Further, the automatic loading and unloading manipulator is set on the installation plate above the grinding platform, the bottom of the installation plate is installed on the installation platform through columns, and the four columns are distributed on the grinding platform in pairs On both sides of the motor, the mounting plate is provided with a motor and a chain driven by the motor, and the automatic loading and unloading manipulator is driven by the motor and the chain to move the loading or unloading.

A grinding method based on the above-mentioned multi-robot collaborative grinding device for die-casting parts, comprising: first opening the automatic loading and unloading manipulator to sequentially send two die-casting parts to the grinding platform, and passing through the first clamp and the The second fixture positions and clamps the die casting, and then starts the grinding manipulator. The two grinding manipulators move from both sides of the workpiece to the grinding area according to the planned path, and the grinding tool at the end of the first fixture simultaneously The clamped die-casting is polished, and after the grinding is completed, the polished die-casting is removed from the first fixture, and the grinding manipulator moves to the die-casting held by the second fixture to perform another die-casting. At the same time, the automatic loading and unloading manipulator grabs the next die-casting and installs it on the first fixture. When the die-casting held by the second fixture is finished, the grinding manipulator moves to the second Grinding on the die-casting parts clamped by a fixture is carried out in a cycle.

The beneficial effects of the utility model:

The two grinding manipulators work together to grind the die casting on both sides of the workpiece, so that the grinding work can be carried out in an orderly and efficient manner. The two grinding manipulators can install two different grinding tools at the same time, making the grinding process more compact and saving time and cost. The first fixture and the second fixture are set on the grinding platform, which are used to clamp two different workpieces. Combined with the grinding manipulators on both sides, both sides of each workpiece are polished at the same time, making full use of the working space that the robotic arm can reach. The polishing efficiency is significantly improved, and at the same time, the automatic loading and unloading manipulator makes the above-mentioned polishing device and method more suitable for automatic production line flow operations.

Description of drawings

Fig. 1 is a structural schematic diagram of a multi-robot collaborative grinding device for die castings of the present invention;

Fig. 2 is a schematic structural view of the grinding platform in the multi-robot collaborative grinding device for die castings of the present invention;

Fig. 3 is a schematic structural view of the first clamp in Fig. 2;

Fig. 4 is the structural representation of the second fixture in Fig. 2;

Fig. 5 is a structural schematic diagram of a grinding manipulator in a multi-robot cooperative grinding device for die castings of the present invention;

Fig. 6 is a structural schematic diagram of an automatic loading and unloading manipulator in a multi-robot collaborative grinding device for die castings of the present invention;

In the figure, 1—installation platform, 2—grinding platform, 20—first fixture, 201—bottom plate, 202—first side plate, 203—first straight pin, 204—second side plate, 205—support block, 206 - first screw, 207 - first connecting plate, 208 - second connecting plate, 209 - movable screw, 2010 - second screw, 2011 - push plate, 2012 - slider, 2013 - guide rail, 2014 - clamping plate, 2015—second cylindrical pin, 2016—clamping block, 2017—right angle support plate, 21—second fixture, 211—clamp body, 212—push rod, 213—clamping block, 214—handle, 22—hollow groove, 23 —conveyor belt, 3—grinding manipulator, 30—base, 31—support seat, 32—arm base, 33—first shaft arm, 34—second shaft arm, 35—third shaft arm, 36—grinding spindle, 37— Grinding tool, 4—automatic loading and unloading manipulator, 40—installation plate, 41—column, 42—beam, 43—motor, 44—chain.

detailed description

The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Example. Based on the embodiments of the present utility model, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present utility model are only used to explain the relationship between the components in a certain posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly. In addition, the descriptions related to "first", "second" and so on in the present application are only for the purpose of description, and should not be understood as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include at least one of these features.

As shown in Figure 1, the utility model provides a multi-robot collaborative grinding device for die castings, including an installation platform 1, a grinding platform 2 arranged on the installation platform 1, a grinding robot 3 located on both sides of the grinding platform 2, and a grinding platform 2 The automatic loading and unloading manipulator 4 above.

As shown in Fig. 1 and Fig. 2, a first clamp 20 and a second clamp 21 arranged side by side are fixed on the grinding platform 2, and are respectively used for clamping the die casting. In this embodiment, the first clamp 20 and the second clamp 21 are in the They are arranged side by side in the vertical direction. In other embodiments, the first clamp 20 and the second clamp 21 may also be arranged side by side horizontally. There is a hollow groove 22 under the grinding platform 2, and a conveyor belt 23 is arranged in the hollow groove 22, which is used to transport the die-casting parts from the previous process to the grinding platform 2, for the automatic loading and unloading manipulator 4 to grab, and is suitable for the flow operation of the production line .

1 to 3 , the first fixture 20 includes a base plate 201 fixed to the grinding platform 2, the base plate 201 is fixed directly above the hollow groove 22, and the four corners of the base plate 201 are respectively fixed to the grinding platform 2 by bolts. A first side plate 202 and a second side plate 204 are vertically installed on the bottom plate 201, and the first side plate 202 and the second side plate 204 are fixed on the bottom plate 201 by bolts, and the first side plate 202 and the second side plate 204 The space between them is used for accommodating die-casting parts, and a right-angled support plate 2017 is provided at the corner between the first side plate 202 and the bottom plate 201 to strengthen the support for the first side plate 202 . The second side plate 204 is L-shaped, the horizontal part of its bottom is fixedly installed on the base plate 201, the vertical part is opposite to the first side plate 202, and the board surface direction of the vertical part is opposite to the board surface direction of the first side board 202. vertical.

Three first cylindrical pins 203 protrude laterally from the first side plate 202 toward the second side plate 204 , corresponding to the three circular holes on the left end surface of the die-casting part. The second side plate 204 is provided with a first connecting plate 207, a second connecting plate 208, a push plate 2011 and a clamping plate 2014, and the first connecting plate 207, the second connecting plate 208 and the pushing plate 2011 constitute a crank connecting rod slider The mechanism uses the principle of dead point to realize locking. One end of the first connecting plate 208 is connected to the second side plate 204 through the first screw 206, and the other end is connected to one end of the second connecting plate 208 through the movable screw 209. In this embodiment, the second side plate 204 and the first A support block 205 is provided at the position where the screw 206 is connected. One end of the first screw 206 passes through the support block 205 and is fixed to the second side plate 204, and the other end is socketed by the first connecting plate 207. Screws 206 are used for support, which can improve the strength and ensure the reliability of the connection. The movable screw 209 at the connecting end of the first connecting plate 207 and the second connecting plate 208 is longer, and the end of the movable screw 209 away from the second side plate 204 stretches out from the first connecting plate 207 or/and the second connecting plate 208 for a length of for operation. The other end of the second connecting plate 208 away from the first connecting plate 207 is connected to the push plate 2011 through a second screw 2010 , one end of the second screw 2010 is fixed on the pushing plate 2011 , and the other end is socketed by the second connecting plate 208 . A sliding block 2012 is fixed on the surface of the push plate 2011 close to the second side plate 204 , and a guide rail 2013 is arranged laterally on the second side plate 204 , and the sliding block 2012 is mounted on the guide rail 2013 . In this embodiment, two laterally extending guide rails 2013 are vertically arranged on the second side plate 204, and two sliders 2012 are fixed on the push plate 2011 to correspond to the guide rails 2013 respectively, so as to ensure the smoothness of the push plate 2011. Movement is along the sideways, not skewed. The clamping plate 2014 is fixed on the left side of the push plate 2011 by bolts. The clamping plate 2014 protrudes laterally toward the first side plate 202 with a second cylindrical pin 2015 and a clamping block 2016. The position of the second cylindrical pin 2015 is consistent with that of the die-casting part. The positions of the circular holes on the right end face correspond to each other, and the two match. The clamping block 2016 corresponds to the position of the boss on the right side of the die-casting, and both have the same shape. Preferably, the end of the clamping block 2016 facing the die-casting is provided with an arc-shaped groove, which is aligned with the arc-shaped Corresponding to the boss.

When the first clamp 20 clamps the die casting, the movable screw 209 is manually or automatically driven to rotate counterclockwise, and the end of the second connecting plate 208 connected to the first connecting plate 207 rotates clockwise, and the left side of the second connecting plate 208 Drive the push plate 2011 to move laterally to the left along the guide rail 2013 through the second screw 2010, and the clamping plate 2014 is fixedly connected with the push plate 2011, so the clamping plate 2014 moves laterally to the left along with the push plate 2011, when it reaches the dead point position , that is, when the first screw 206, the movable screw 209 and the second screw 2010 are on the same straight line, the first clamp 20 is in a locked state. At this time, the clamping block 2016 at the end of the clamping plate 2014 and the right end of the die casting contact with the boss on the surface, the second cylindrical pin 2015 is inserted into the round hole at the corresponding position on the right end of the die-casting, and then the first cylindrical pin 203 is inserted into the round hole on the left end of the die-casting to realize the positioning and clamping of the die-casting.

The first fixture 20 of the utility model restricts the rotation and up-and-down translation of the left end surface of the die casting through the three first positioning pins 203 of the first side plate 202, and the combination of the second cylindrical pin 2015 and the first cylindrical pin 203 limits the The left and right translation and rotation of the die-casting parts realize complete positioning, and the clamping support of the clamping block 2016 improves the positioning accuracy of the die-casting parts.

As shown in Fig. 1, Fig. 2 and Fig. 4, the second clamp 21 is arranged in the space below the first clamp 20, and its bottom is fixed on the bottom plate 201, and the second clamp 21 includes a clamp body 211 for installing die castings, the clamp body 211 One side of the clamping device is provided with a clamping device. The clamping device has a push rod 212. One end of the push rod 212 facing the clamping body 211 is provided with a clamp block 213, and the other end is provided with a handle 214. The handle 214 is hinged to the end of the push rod 212. When the die casting needs to be clamped, turn the handle 214 clockwise in the horizontal direction, the handle 214 will drive the push rod 212 to move to the left, and the push rod 212 will push the clamp block 213 to move towards the clamp body 211, so as to clamp and install on the clamp body 211 on die castings. The second clamp 21 and the first clamp 20 are respectively used to clamp different types of die castings.

As shown in FIG. 1 and FIG. 5 , one end of the grinding robot 3 is fixed on the installation platform 1 , and the other end extends to the grinding platform 2 . Two grinding manipulators 3 are respectively arranged on both sides of the grinding platform 2 , perpendicular to and symmetrical to the plane where the first clamp 20 or the second clamp 21 is located. Each grinding manipulator 3 has a base 30 fixed on the installation platform 1. The base 30 is provided with a support seat 31. The height setting standard of the support seat 31 is to ensure that the grinding tool 37 can reach the grinding area of the die casting. An arm base 32 is fixedly installed on the support seat 31, and a rotating shaft arm is movably installed on the arm base 32. The rotating shaft arm includes a first shaft arm 33, a second shaft arm 34, and a third shaft arm 35 connected in sequence. The arm 33 extends upward from the arm base 32, is connected to the arm base 32 through a circumferential rotation axis, and can rotate 360° relative to the arm base 32, and the second shaft arm 34 is movably connected to the extended end of the first shaft arm 33, One end of the third shaft arm 35 is connected to the extended end of the second shaft arm 34 through a movable joint, and the other end is connected to the grinding tool 37 through a movable joint, and the grinding tool 37 can rotate 180° in a direction perpendicular to the axis of the third shaft arm 35 rotate. Preferably, the grinding tool 37 is mounted on the end of the third shaft arm 35 through the grinding spindle 36, the grinding spindle 36 is an electric spindle or a pneumatic spindle, so as to adjust the distance between the grinding tool 37 and the die casting. The types of grinding tools 37 installed at the ends of the grinding manipulators 3 on both sides are not limited, and the same or different grinding tools 37 can be selected according to workpiece requirements. When in use, the grinding tools 37 on both sides simultaneously grind the opposite sides of the die casting held by the first clamp 20 or the second clamp 21 .

As shown in Fig. 1 and Fig. 6, the automatic loading and unloading manipulator 4 is used to move the die casting onto the grinding platform 2, and the beam 42 of the automatic loading and unloading manipulator 4 is fixed on the mounting plate 40 above the grinding platform 2, and the bottom of the mounting plate 40 The surroundings are installed on the installation platform 1 through the columns 41, and the four columns 41 are distributed in pairs on both sides of the grinding platform 2. The installation plate 40 is provided with a motor 43 and a chain 44 driven by the motor 43, which is driven by the motor 43 and the chain 44. The loading and unloading manipulator 4 moves to grab or remove the die casting.

The utility model uses two grinding manipulators 3 to coordinately grind the die-casting parts on both sides of the workpiece, so that the grinding work can be carried out in an orderly and efficient manner. The two grinding manipulators 3 can be equipped with two different grinding tools 37 at the same time, making the grinding process more compact. , save time and cost, and set the first fixture 20 and the second fixture 21 on the grinding platform 2, which are used to clamp two different workpieces, and then combine the grinding manipulators 3 on both sides to simultaneously grind on both sides of each workpiece , make full use of the working space that the mechanical arm can reach, significantly improve the grinding efficiency, and use the automatic loading and unloading manipulator 4 to make the above grinding device and method more suitable for automatic production line flow operations.

The utility model also provides a grinding method based on the above-mentioned multi-robot collaborative grinding device for die-casting parts, which includes: first opening the automatic loading and unloading manipulator 4 to send two die-casting parts to the grinding platform 2 in turn, and manually or automatically driving the first clamp 20 One type of die casting is clamped and positioned, and the second clamp 21 is clamped and positioned to another type of die casting. Then turn on the grinding manipulator 3, and the two grinding manipulators 3 move to the grinding area from both sides of the workpiece according to the planned path, and the grinding tool 37 at the end of the third shaft arm 35 simultaneously grinds the die-casting piece clamped by the first clamp 20, After the grinding is completed, the polished die-casting is removed from the first fixture 20, and the grinding manipulator 3 moves to the die-casting held by the second fixture 21 to polish another die-casting. At the same time, the automatic loading and unloading manipulator 4 Grab the next die-casting and install it on the first fixture 20. When the die-casting held by the second fixture 21 is finished grinding, the grinding manipulator 3 moves to the die-casting held by the first fixture 20 again for grinding. Therefore, the grinding manipulator 3 can continuously grind the die-casting parts in a continuous cycle, and cooperate with multi-robot collaborative grinding to greatly improve the grinding efficiency. The grinding device of the utility model has the advantages of reasonable structure, wide application range, high production efficiency and high degree of automation, and is suitable for the automatic production line flow operation of large batches of die castings.

The above embodiments are only used to illustrate the technical solution of the utility model without limitation. Although the utility model has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the utility model can be modified or equivalently replaced , without departing from the purpose and scope of the technical solution, which should be covered by the scope of the claims of the present utility model.

Claims (9)

1. A multi-robot collaborative grinding device for die castings, characterized in that it comprises: an installation platform, a grinding platform arranged on the installation platform, a grinding manipulator positioned at both sides of the grinding platform, and a grinding robot located above the grinding platform The automatic loading and unloading manipulator, the automatic loading and unloading manipulator is used to move the die casting to the grinding platform, and the first clamp and the second clamp arranged side by side are fixed on the grinding platform, which are respectively used to clamp the die casting , one end of the grinding manipulator is fixed on the installation platform, and the other end extends to the grinding platform, each end of the grinding manipulator is equipped with a grinding tool, and the grinding tools on both sides are used to simultaneously polish the The opposite sides of the die casting clamped by the first clamp or the second clamp. 2. The multi-robot collaborative grinding device for die-casting parts according to claim 1, characterized in that: the two grinding manipulators are respectively arranged on both sides of the grinding platform, and are connected with the first clamp or the second clamp The plane where it is located is vertical and symmetrically arranged. 3. The multi-robot collaborative grinding device for die-casting parts according to claim 1, characterized in that: the grinding manipulator has a base fixed on the installation platform, a support seat is provided on the support base, and a support base is fixed on the support base. An arm base is installed, and a rotating shaft arm is movably installed on the arm base, and the rotating shaft arm includes a first shaft arm, a second shaft arm and a third shaft arm connected in sequence, and the first shaft arm passes through the circumferential The rotation shaft is connected to the arm base and can rotate 360° relative to the arm base. The second axis arm is movably connected to the extension end of the first axis arm, and one end of the third axis arm passes through a movable joint It is connected to the protruding end of the second shaft arm, and the other end is connected to the grinding tool through a movable joint, and the grinding tool can rotate 180° around a direction perpendicular to the axis of the third shaft arm. 4. The multi-robot collaborative grinding device for die-casting parts according to claim 3, characterized in that: the grinding tool is mounted on the end of the third shaft arm through a grinding spindle, and the grinding spindle is an electric spindle or a pneumatic spindle, to adjust the distance between the grinding tool and the die casting. 5. The multi-robot collaborative grinding device for die-casting parts according to claim 1, characterized in that: a hollow groove is provided under the grinding platform, and a conveyor belt is arranged in the hollow groove for transferring the die-casting parts to The grinding platform. 6 . The multi-robot collaborative grinding device for die castings according to claim 1 , wherein the first clamp and the second clamp are vertically arranged side by side. 7 . 7. The multi-robot cooperative grinding device for die-casting parts according to claim 1, wherein the first fixture includes a bottom plate fixed on the grinding platform, and the first side plate and the second side plate are vertically installed on the bottom plate. Two side plates, the first side plate is protruded with a plurality of first cylindrical pins to cooperate with the round hole at one end of the die-casting, the second side plate is fixed with a crank-link slider mechanism, and the crank-link slider mechanism is fixed on the second side plate. The rod slider mechanism is fixed with a clamping plate towards the direction of the first side plate, and the second cylindrical pin and a clamping block are arranged on the clamping plate, and the clamping plate is pushed by driving the crank connecting rod slider mechanism. The clamping plate moves toward the first side plate, the second cylindrical pin is inserted into the circular hole on the end face of the die casting, and the clamping block clamps the boss on the end face of the die casting to clamp and position the die casting. 8. The multi-robot collaborative grinding device for die-casting parts according to claim 1, characterized in that: the second fixture includes a clamping body for installing die-casting parts, and one side of the clamping body is provided with a clamping device, so that The clamping device has a push rod, one end of the push rod facing the clamp body is provided with a clamp block, and the other end is provided with a handle, when the handle is turned, the push rod pushes the clamp block toward the clamp Concrete movement to clamp die castings. 9. The multi-robot collaborative grinding device for die-casting parts according to claim 1, characterized in that: the automatic loading and unloading manipulator is set on the mounting plate above the grinding platform, and the bottom of the mounting plate is installed by columns around the bottom On the installation platform, the four columns are distributed in pairs on both sides of the grinding platform, and the installation board is provided with a motor and a chain driven by the motor, and the motor and the chain drive the The automatic loading and unloading manipulator moves the loading or unloading.