A kind of robot automatically grinding sole equipment
The utility model is related to grinding apparatus art, refers in particular to a kind of robot automatically grinding sole equipment.
In general shoemaking job shop, the polishing work of sole mainly holds upper of a shoe by sole back and forth manually by workman
Movement is contacted with the sharpening of sander, and sole is polished into smooth but this according to emery wheel of the shape of sole along high-speed rotation
Not only efficiency is low for polishing mode, and working environment is severe, and defect rate is high, and the quality of polishing depends primarily on grinding technology workman
Handicraft, homogeneity of product is poor, and quality can not be guaranteed, and low production efficiency.
The content of the invention
In view of this, in view of the existing deficiencies of the prior art, its main purpose is to provide a kind of robot to the utility model
Automatically grinding sole equipment, its production efficiency is high, and uniformity of polishing product is good.
To achieve the above object, the utility model is using following technical scheme：
A kind of robot automatically grinding sole equipment, including organic frame and six-joint robot；Footwear are provided with the frame
Bottom fixture, the lateral margin of frame is provided with quick-change tool holder；The six-joint robot is arranged at by the side of frame, the freedom of six-joint robot
End, which is provided with magic chuck, magic chuck, is provided with pneumatic grinding mill.
It is preferred that, I-shaped groove is provided with the workbench of the frame, the sole fixture is located in I-shaped groove.
It is preferred that, the sole fixture is removably installed on the workbench of frame.
It is preferred that, the sole fixture includes multipair clamping jaw, every a pair of clamping jaws driven by a cylinder open each other or
It is preferred that, the pneumatic grinding mill installs flexible bistrique.
The utility model has clear advantage and beneficial effect compared with prior art, specifically, by above-mentioned technology
Scheme is understood：
Sole is clamped by using sole fixture, and coordinates six-joint robot to drive pneumatic grinding mill movement and carried out certainly to sole
Dynamic polishing, instead of the mode of the manual polishing of tradition, effectively increases production efficiency, and ensure that the uniformity of product, by
In can rapid changing knife automatically, it is ensured that polishing work is completed in clamped one time, operating efficiency is further increased.
More clearly to illustrate architectural feature of the present utility model and effect, come below in conjunction with the accompanying drawings with specific embodiment pair
The utility model is described in detail.
Brief description of the drawings
Fig. 1 is the schematic perspective view of the preferred embodiment of the utility model；
Fig. 2 is the schematic perspective view of another angle of preferred embodiment of the utility model.
Accompanying drawing identifier declaration：
10th, frame 11, workbench
101st, I-shaped groove 20, six-joint robot
30th, sole fixture 31, clamping jaw
32nd, cylinder 40, quick-change tool holder
50th, magic chuck 60, pneumatic grinding mill
61st, flexible bistrique 70, sole.
It refer to shown in Fig. 1 and Fig. 2, that show the concrete structure of the preferred embodiment of the utility model, include
Frame 10 and six-joint robot 20.
Sole fixture 30 is provided with the frame 10, the lateral margin of frame 10 is provided with quick-change tool holder 40；In the present embodiment,
I-shaped groove 101 is provided with the workbench 11 of the frame 10, the sole fixture 30 is located in I-shaped groove 101, and
And, the sole fixture 30 is removably installed on the workbench 11 of frame 10, specifically, and the sole fixture 30 includes
There is multipair clamping jaw 31, every a pair of clamping jaws 31 drive by a cylinder 32 and open or close each other.
The six-joint robot 20 is arranged at by the side of frame 10, and the free end of six-joint robot 20 is provided with magic chuck
50, pneumatic grinding mill 60 is provided with magic chuck 50, and the pneumatic grinding mill 60 installs flexible bistrique 61.
The operation principle that the present embodiment is described in detail is as follows：
During work, sole fixture 30 positions and clamps the locating piece on the periphery of sole 70 after sole 70, clamping and withdraws, to ensure
It is unobstructed outside the face to be polished.Then, the movement of six-joint robot 20 pneumatic grinding mill 60, pneumatic grinding mill 60 is polished sole 70；
Pneumatic grinding mill 60 installs flexible bistrique 61, and in order to adapt to different shape and position, can rapid changing knife, so as to ensure that once
Polishing work is completed in clamping.
Design focal point of the present utility model is：Sole is clamped by using sole fixture, and coordinates six-joint robot to drive
Pneumatic grinding mill moves and carries out automatically grinding to sole, instead of the mode of the manual polishing of tradition, effectively increases production efficiency,
And ensure that the uniformity of product, due to can rapid changing knife automatically, it is ensured that polishing work is completed in clamped one time, enters one
Step improves operating efficiency.
Technical principle of the present utility model is described above in association with specific embodiment.These descriptions are intended merely to explain this reality
With new principle, and the limitation to the utility model protection domain can not be construed in any way.Based on explanation herein,
Those skilled in the art, which would not require any inventive effort, can associate other embodiments of the present utility model,
These modes are fallen within protection domain of the present utility model.