CN206588749U - A kind of intelligent polishing system for being used to process chair leg - Google Patents
A kind of intelligent polishing system for being used to process chair leg Download PDFInfo
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- CN206588749U CN206588749U CN201720244279.7U CN201720244279U CN206588749U CN 206588749 U CN206588749 U CN 206588749U CN 201720244279 U CN201720244279 U CN 201720244279U CN 206588749 U CN206588749 U CN 206588749U
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- chair
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Abstract
The utility model discloses a kind of intelligent polishing system for being used to process chair leg, including robot and sander, the sander is arranged in the working region of robot, the robot includes robot body and chair leg grabber, and the chair leg grabber includes clamping drive cylinder, clamping brace bar, chuck and guiding connector.The intelligent polishing system for being used to process chair leg is polished by robot crawl foot of office chair in the sander.The robot sets the chair leg grabber, for clamping foot of office chair.The chair leg grabber controls the expanding-contracting action of clamping brace bar by clamping drive cylinder, regulation clamps the outer support degree of outside support piece, so as to control the clamping degree to clamping foot of office chair, to adapt to the deformation of foot of office chair, influence with reduction clearance issues to crawl foot of office chair, operation more convenient quickly.
Description
Technical field
The utility model is related to hardware process equipment field, more particularly to a kind of intelligence polishing system for being used to process chair leg
System.
Background technology
Foot of office chair is generally made up of a pedestal and multiple support feets, as shown in figure 1, one end and the seat of support feet 72
Body 71 is connected, overall radial；The pedestal 71 is provided with chair bar mounting hole 711.Because the structure of foot of office chair is more multiple
It is miscellaneous, when robot crawl foot of office chair is processed, very high is required to the clearance control between fixture and foot of office chair：
If the gap of fixture and foot of office chair is excessive, fixture can not clamp foot of office chair, loosen foot of office chair, plus
Man-hour causes displacement, influences crudy；If the gap of fixture and foot of office chair is too small, the increase of clamping difficulty, robot
Clamped position, which need to be accurately directed at, could successfully capture foot of office chair, and control difficulty is improved.Even moreover, the office of same model
Chair chair leg, there is also certain deformation, geomery can not be identical, and existing foot of office chair fixture can not be with
The deformation of foot of office chair and adjust, exist part foot of office chair can not line-up jig clamping position, fixture adaptability compared with
Difference.
It is additionally, since office chair chair leg structure various, there is large amount of complex curved surface, polishing difficulty is big, at present using artificial
Polishing, inefficiency, product interindividual variation is larger, and quality stability is poor.Furthermore, existing sander is tensioned levelling gear
Manufacture processing, using and change consumptive material when have following deficiency：First, complicated, high to matching requirements, structure space is big,
Part is more；2nd, processing purchase cost is high；3rd, when changing abrasive band, operating procedure is more, need to be again to abrasive band leveling.
Utility model content
The purpose of this utility model is to propose that one kind can reduce clearance issues and do on capturing foot of office chair influence, realization
Public chair chair leg polishing automation, it is easy to change the intelligent polishing system for being used to process chair leg in polishing abrasive band.
For up to this purpose, the utility model uses following technical scheme：
A kind of intelligent polishing system for being used to process chair leg, including robot and sander, the sander are arranged at machine
In the working region of device people；
The robot includes robot body and chair leg grabber, and the chair leg grabber is installed on robot body
Output shaft；The chair leg grabber includes clamping drive cylinder, clamping brace bar, chuck and guiding connector, and the guiding connects
Fitting includes support bar guide pipe, and the clamping drive cylinder is arranged at one end of support bar guide pipe；
The clamping brace bar is arranged at the inside of support bar guide pipe, and one end and the clamping of the clamping brace bar
The output shaft connection of drive cylinder, the clamping drive cylinder drives clamping brace bar to be oriented to in-pipe in support bar；It is described
Chuck includes at least two and clamps outside support piece, and the clamping outside support piece includes support bar sliding groove, and the support bar sliding groove is set
It is placed in the inner side of the one end for clamping outside support piece；The chuck is arranged at the other end of support bar guide pipe, the clamping outside support piece
Support bar sliding groove fit to form chuck movable sleeve hole；
When clamping brace bar stretches out and inserts the chuck movable sleeve hole of the chuck, the clamping outside support piece is outwards supportted
Open；
The sander includes abrasive band tension mechanism and abrasive belt wheel, and the abrasive band tension mechanism includes the tensioning axis of guide, opened
Tight cylinder, tensioning turbine and tensioning worm screw, the abrasive belt wheel are installed on one end of the tensioning axis of guide, the tensioning Cover For A Turbine
The tensioning axis of guide is inserted in, the tensioning turbine is connected with the tensioning worm engaging, and the tensioning cylinder is connected to described
It is tensioned the other end of the axis of guide.
Preferably, the sander also includes polishing frame, polishing abrasive band, grinding wheel and polishing motor, described to beat
Grind motor to be arranged in polishing frame, the output shaft connection of the grinding wheel and polishing motor, the polishing driving
Motor drives grinding wheel to rotate；
The abrasive band tension mechanism is arranged in polishing frame, and in the abrasive belt wheel, tensioning cylinder and grinding wheel
The heart is in the same horizontal line；
The polishing abrasive band is centered around in the abrasive belt wheel and grinding wheel.
Preferably, the clamping outside support piece also includes support bar locating slot, chuck convex edge and lasso installation groove, institute
The inner side that support bar locating slot is arranged at the other end for clamping outside support piece is stated, one end of the support bar locating slot and support bar are slided
One end connection of dynamic groove；
The outside of the close end of one end that the chuck convex clamps outside support piece along being arranged at；The lasso installs groove
The outside of the one end for clamping outside support piece is arranged at, and the lasso installs the top that groove sets chuck convex edge；
Also include closing tight lasso, the tight lasso of conjunction is sleeved on the lasso and installs groove；
The support bar locating slot for clamping outside support piece fits to form chuck stop collar hole, the hole in the chuck stop collar hole
Footpath is less than the aperture in chuck movable sleeve hole.
Preferably, the guiding connector includes driver adpting flange and at least two chuck installing plates；
The cylinder adpting flange is arranged at one end of support bar guide pipe, the cylinder body of the clamping drive cylinder with it is described
Cylinder adpting flange is connected, and one end connection of the piston rod for clamping drive cylinder and clamping brace bar, described to clamp
Drive cylinder drives clamping brace bar to be oriented to in-pipe in support bar；
The chuck installing plate is symmetrically disposed on the other end of support bar guide pipe, and the guiding connector is also included extremely
Few two chuck mounting pins, two pieces of relative chuck installing plates install pin connection by chuck；
The clamping outside support piece also includes chuck installation through-hole, and the chuck installation through-hole, which is arranged at, clamps the one of outside support piece
The outside at end, one end of the clamping outside support piece is placed on chuck mounting pin by chuck installation through-hole.
Preferably, the support bar guide pipe includes bearing accommodating chamber and support bar limit chamber, and the bearing accommodating chamber is set
One end of support bar guide pipe is placed in, the support bar limit chamber is arranged at the other end of support bar guide pipe, and the bearing holds
Chamber of receiving is connected with support bar limit chamber；
The guiding connector also includes support bar guide bearing, and the support bar guide bearing is socketed on the clamping branch
The strut and support bar guide bearing is placed in bearing accommodating chamber, the clamping brace bar successively through bearing accommodating chamber and
Support bar limit chamber.
Preferably, in addition to feeding device, the feeding device is arranged at the side in the working region of robot, described
Sander is arranged at the opposite side in the working region of robot；
It is solid that the feeding device includes feeding pedestal, feeding delivery board, loading guide, multiple feeding limited blocks, delivery board
Determine mechanism and multiple chair leg position-limit mechanisms；The loading guide is provided on feeding pedestal, and the feeding delivery board activity is supported
In the loading guide, the conveying plate fixation mechanism is arranged at one end of the close robot of feeding pedestal, it is described on
Material limited block is installed on the two ends of feeding pedestal；
Multiple chair leg position-limit mechanisms are arranged on feeding delivery board evenly and at intervals, and the two neighboring chair leg
Intersect the axis of position-limit mechanism；
The chair leg position-limit mechanism includes chair leg limiting plate, the spacing vertical rod of multiple chair legs and the spacing cross bar of multiple chair legs,
The two ends for being installed on chair leg limiting plate are erect in the spacing vertical rod of chair leg, and two relative spacing vertical rods of chair leg are limited by chair leg
Position cross bar connection.
Preferably, the chair leg grabber also includes spacing extension bar and electronic gag lever post, the one of the spacing extension bar
End and the outside of support bar guide pipe are connected, and the electronic gag lever post is installed on the other end of the spacing extension bar；
The spacing extension bar is to set motor to drive the electronic gag lever post in L font structures, the spacing extension bar
Lifting.
Preferably, in addition to positioning table, the positioning table is set close to the side of feeding device；
The positioning table includes chair leg positioning disc, multiple chair leg spacers and multiple chair leg locating pieces, multiple chairs
Pin spacer is circumferentially arranged at the edge of the chair leg positioning disc evenly and at intervals；
The chair leg locating piece is installed on the chair leg spacer, and the top of the chair leg locating piece is radially provided with chair
Pin detent.
Preferably, in addition to blanking device, the blanking device is set close to the side of positioning table, the blanking device
Top is provided with blanking conveyer belt；
The robot body includes mechanical arm and turntable, and the mechanical arm is installed on turntable, and the chair leg is grabbed
Device is taken to be installed on the end of mechanical arm.
The intelligent polishing system for being used to process chair leg is entered by robot crawl foot of office chair in the sander
Row polishing.The robot sets the chair leg grabber, for clamping foot of office chair.The chair leg grabber is by clamping
Drive cylinder controls the expanding-contracting action of clamping brace bar, and regulation clamps the outer support degree of outside support piece, so as to control to clamping office
The clamping degree of chair chair leg, to adapt to the deformation of foot of office chair, and influence of the reduction clearance issues to crawl foot of office chair,
Operation more convenient quickly.The abrasive band tension mechanism also sets up intermeshing tensioning turbine and tensioning worm screw, for fighting each other
Flatness is adjusted in frosted tape, prevents abrasive band sideslip of polishing.The tensioning worm screw is rotated, and then drives the tensioning turbine
Rotate, realize appropriate adjustment flatness and Aligning degree, prevent abrasive band sideslip of polishing, it is convenient and swift so as to abrasive band work of polishing.
Brief description of the drawings
Accompanying drawing is described further to the utility model, but the content in accompanying drawing is not constituted to any limit of the present utility model
System.
Fig. 1 is the existing office chair chair leg structure schematic diagram of the one of embodiment of the utility model；
Fig. 2 is the intelligent polishing system front view of the one of embodiment of the utility model；
Fig. 3 is the intelligent polishing system top view of the one of embodiment of the utility model；
Fig. 4 is the chair leg gripper configuration schematic diagram of the one of embodiment of the utility model；
Fig. 5 is the chair leg grabber front view of the one of embodiment of the utility model；
Fig. 6 is the outer support member assembled state schematic diagram of clamping of the one of embodiment of the utility model；
Fig. 7 is the outer support member inside structure figure of clamping of the one of embodiment of the utility model；
Fig. 8 is the outer support member outboard structure figure of clamping of the one of embodiment of the utility model；
Fig. 9 is the clamping brace bar structure chart of the one of embodiment of the utility model；
Figure 10 is the guiding connector structure chart of the one of embodiment of the utility model；
Figure 11 is the sander structure schematic diagram of the one of embodiment of the utility model；
Figure 12 is the abrasive band tension mechanism structure chart of the one of embodiment of the utility model；
Figure 13 is the feeding device structure chart of the one of embodiment of the utility model；
Figure 14 is the positioning table structure chart of the one of embodiment of the utility model；
Figure 15 is robot architecture's figure of the one of embodiment of the utility model.
Wherein：Robot 1；Sander 2；Robot body 11；Chair leg grabber 12；Clamp drive cylinder 13；Clamp branch
Strut 17；Chuck 18；Guiding connector 14；Support bar guide pipe 142；Clamp outside support piece 181；Support bar sliding groove 191；Chuck
Movable sleeve hole 197；Abrasive band tension mechanism 25；Abrasive belt wheel 24；It is tensioned the axis of guide 26；Tensioning cylinder 27；It is tensioned turbine 28；It is tensioned snail
Bar 29；Pedestal 71；Support feet 72；Chair bar mounting hole 711；Polishing frame 21；Polishing abrasive band 22；Grinding wheel 23；Support bar is positioned
Groove 192；Chuck convex is along 196；Lasso installs groove 195；Close tight lasso 182；Chuck stop collar hole 198；Driver is connected
Flange 141；Chuck installing plate 143；Chuck mounting pin 145；Chuck installation through-hole 194；Bearing accommodating chamber 146；Support bar is spacing
Chamber 147；Support bar guide bearing 144；Feeding device 3；Feeding pedestal 31；Feeding delivery board 32；Loading guide 33；Feeding is spacing
Block 34；Convey plate fixation mechanism 35；Chair leg position-limit mechanism 36；Chair leg limiting plate 363；The spacing vertical rod 361 of chair leg；Chair leg is spacing
Cross bar 362；Spacing extension bar 15；Electronic gag lever post 16；Positioning table 4；Chair leg positioning disc 41；Chair leg spacer 42；Chair leg is determined
Position block 43；Chair leg detent 44；Blanking device 5；Blanking conveyer belt 51；Mechanical arm 111；Turntable 112.
Embodiment
Further illustrate the technical solution of the utility model below in conjunction with the accompanying drawings and by embodiment.
The intelligent polishing system for being used to process chair leg of the present embodiment, as shown in Fig. 2 including robot 1 and sander 2,
The sander 2 is arranged in the working region of robot 1；
The robot 1 includes robot body 11 and chair leg grabber 12, and the chair leg grabber 12 is installed on machine
The output shaft of human body 11；As shown in figure 4, the chair leg grabber 12 includes clamping drive cylinder 13, clamping brace bar 17, folder
First 18 and guiding connector 14, the guiding connector 14 includes support bar guide pipe 142, and the clamping drive cylinder 13 is set
In one end of support bar guide pipe 142；
The clamping brace bar 17 is arranged at the inside of support bar guide pipe 142, and the one of the clamping brace bar 17
End and the output shaft connection for clamping drive cylinder 13, the clamping drive cylinder 13 drive clamping brace bar 17 to be oriented in support bar
Moved in pipe 142；The chuck 18 includes at least two and clamps outside support piece 181, as shown in fig. 7, the clamping outside support piece 181 is wrapped
Support bar sliding groove 191 is included, the support bar sliding groove 191 is arranged at the inner side of the one end for clamping outside support piece 181；The folder
First 18 are arranged at the other end of support bar guide pipe 142, and the laminating of support bar sliding groove 191 of the clamping outside support piece 181 is formed
Chuck movable sleeve hole 197, as shown in Figure 6；
When clamping brace bar 17 stretches out and inserts the chuck movable sleeve hole 197 of the chuck 18, the clamping outside support piece
181 outwards strut；
As shown in figure 11, the sander 2 includes abrasive band tension mechanism 25 and abrasive belt wheel 24, as shown in figure 12, the sand
Band strainer 25 includes the tensioning axis of guide 26, tensioning cylinder 27, tensioning turbine 28 and tensioning worm screw 29, and the abrasive belt wheel 24 is pacified
One end loaded on the tensioning axis of guide 26,28 sets of the tensioning turbine inserts in the tensioning axis of guide 26, the tensioning turbine
28 are connected with tensioning worm screw 29 engagement, and the tensioning cylinder 27 is connected to the other end of the tensioning axis of guide 26.
The intelligent polishing system for being used to process chair leg captures foot of office chair in the sander 2 by robot 1
Polished.The robot 1 sets the chair leg grabber 12, for clamping foot of office chair.Foot of office chair generally by
One pedestal 71 and multiple support feets 72 are constituted, and one end of support feet 72 and pedestal 71 are connected, overall radial；The seat
Body 71 is provided with chair bar mounting hole 711.Because the structure of foot of office chair is complex, in robot 1, crawl foot of office chair enters
During row processing, very high is required to the clearance control between fixture and foot of office chair：If the gap mistake of fixture and foot of office chair
Greatly, then fixture can not clamp foot of office chair, loosen foot of office chair, and displacement is caused during processing, influence crudy；
If the gap of fixture and foot of office chair is too small, the increase of clamping difficulty, robot 1, which need to accurately be directed at clamped position, to succeed
Foot of office chair is captured, control difficulty is improved.Even moreover, the foot of office chair of same model, there is also certain deformation, shape
Shape size can not be identical, and existing foot of office chair fixture can not be adjusted with the deformation of foot of office chair, deposits
In part foot of office chair can not line-up jig clamping position, fixture adaptability is poor.
The chair bar mounting hole 711 of foot of office chair is inserted when the chuck 18 is processed, by with support bar guide pipe 142
Interaction, clamps the pedestal 71 of foot of office chair.The chuck 18 includes at least two and clamps outside support piece 181, to set two
Exemplified by individual clamping outside support piece 181：Two clamp the other end that outside support piece 181 is symmetrically disposed on support bar guide pipe 142, i.e., two
The individual support bar sliding groove 191 for clamping outside support piece 181 is fitted, and forms chuck movable sleeve hole 197.The clamping He of outside support piece 181
To be flexibly connected between support bar guide pipe 142, the outside support piece 181 that clamps can be rotated around the one end of its own.
During work, the robot 1 drives the chuck 18 of the chair leg grabber 12 to insert the chair bar mounting hole of pedestal 71
In 711.Clamping brace bar 17 continues in chuck movable sleeve hole 197 immediately after being stretched out from the other end of support bar guide pipe 142
Slide, now the clamping brace bar 17 will extrude the clamping outside support piece 181 of both sides, make the clamping outside support piece 181 of both sides outside
Strut, so that the hole wall of the clamping outside support piece 181 and chair bar mounting hole 711 is mutually extruded, realize described 18 pairs of offices of chuck
The effect of being fixedly clamped of the pedestal 71 of chair chair leg.The chair leg grabber 12 controls clamping brace bar by clamping drive cylinder 13
17 expanding-contracting action, regulation clamps the outer support degree of outside support piece 181, so that the clamping degree to clamping foot of office chair is controlled,
To adapt to the deformation of foot of office chair, and reduce influence of the clearance issues to crawl foot of office chair, operation more convenient quickly.
The sander 2 is provided with abrasive band tension mechanism 25, and to fight each other, frosted tape 22 is adjusted tensioning state.The tensioning
The abrasive belt wheel 24 that cylinder 27 was driven and be tensioned the connection of the axis of guide 26 by telescopic piston rod is moved forward and backward, to adjust polishing abrasive band
22 rate of tension.The tensioning cylinder 27 is big stroke cylinder, with existing small stroke cylinder and manual long range guide rail mechanism
Cooperate, so that abrasive band tension mechanism 25 has advantages below：First, simplify tensioning to be oriented to, assembling process is simple, institute
The relative reduction of part is needed, tension structure is compact, reduces movable part, reduces vibrations point, makes structure more stable；2nd, polishing is changed
Telescoping, tensioning cylinder 27 is only needed during abrasive band 22, the step of making replacing polishing abrasive band 22 reduces, while reducing processing cost.
The abrasive band tension mechanism 25 also sets up intermeshing tensioning turbine 28 and tensioning worm screw 29, for frosted of fighting each other
Flatness is adjusted in band 22, prevents the sideslip of abrasive band 22 of polishing.The tensioning worm screw 29 is rotated, and then drives the tensioning turbine
28 rotation, realizes appropriate adjustment flatness and Aligning degree, prevents the sideslip of abrasive band 22 of polishing, abrasive band 22 works to polish,
It is convenient and swift.Compared with existing screw thread and rotation shaft regulated collaborative work, so that abrasive band tension mechanism 25 is with following
Advantage：First, tensioning turbine 28 and the cooperation back clearance of tensioning worm screw 29 are small, reduce diastema to greatest extent, reduce vibrations；2nd,
The speed between turbine 28 and tensioning worm screw 29 is tensioned than big, it is possible to achieve fine setting, makes the balance adjustment of polishing abrasive band 22 more accurate；3rd,
It is tensioned turbine 28 and tensioning worm screw 29 can be with reverse self-locking, when sander 2 is run, balance will not be destroyed.
Preferably, as shown in figure 11, the sander 2 also includes polishing frame 21, polishing abrasive band 22, grinding wheel 23 and beaten
Motor is ground, the polishing motor is arranged in polishing frame 21, the grinding wheel 23 and the defeated of motor of polishing
Shaft is connected, and the polishing motor drives grinding wheel 23 to rotate；The abrasive band tension mechanism 25 is arranged on polishing frame 21
On, and the abrasive belt wheel 24, tensioning cylinder 27 and grinding wheel 23 center in the same horizontal line；The polishing abrasive band 22
It is centered around in the abrasive belt wheel 24 and grinding wheel 23.
The sander 2 drives grinding wheel 23 to rotate as driving wheel by grinding wheel 23 by abrasive band 22 of polishing.The sand
Band strainer 25 is arranged in polishing frame 21, and the center of the abrasive belt wheel 24, tensioning cylinder 27 and grinding wheel 23 exists
In same horizontal line, the abrasive belt wheel 24 is both driven polishing power and passed, again the regulation polishing rate of tension of abrasive band 22；Tensioning is simplified to lead
To assembling process is simple, and required part is relative to be reduced, and tension structure is compact, reduces movable part, is reduced vibrations point, is made structure
It is more stable.
Preferably, as shown in Figure 7, Figure 8, the clamping outside support piece 181 also includes support bar locating slot 192, chuck positioning
Convex edge 196 and lasso install groove 195, and the support bar locating slot 192 is arranged at the interior of the other end of clamping outside support piece 181
Side, one end of the support bar locating slot 192 and one end connection of support bar sliding groove 191；
Outside of the chuck convex along 196 close ends for being arranged at the one end for clamping outside support piece 181；The lasso peace
Dress groove 195 is arranged at the outside of the one end for clamping outside support piece 181, and the lasso installs groove 195 and sets chuck to position
The top of convex edge 196；
As shown in figure 5, also including closing tight lasso 182, the tight lasso 182 of conjunction is sleeved on the lasso and installs groove 195；
As shown in fig. 6, the laminating of support bar locating slot 192 for clamping outside support piece 181 forms chuck stop collar hole 198,
The aperture in the chuck stop collar hole 198 is less than the aperture in chuck movable sleeve hole 197.
The lasso, which installs groove 195, is used to fix the tight lasso 182 of conjunction described in support, the tight lasso 182 of conjunction is sleeved on institute
The outside of the one end for clamping outside support piece 181 is stated, the clamping outside support piece 181 of the extruding of clamping brace bar 17 both sides makes the folder of both sides
When tight outside support piece 181 is outwards strutted, due to closing the fit effect of tight lasso 182, the clamping outside support piece 181 of both sides is not easy outwards
Strut and have squeezing action to clamping brace bar 17, so as to when the pedestal 71 to foot of office chair is clamped, be supportted outside the clamping
Piece 181 keeps outer support angle constant, prevents that clamping outside support piece 181 loosens and can not clamp pedestal 71, the tight lasso 182 of conjunction can
Strengthen the clamping reliability of the chuck 18.The lasso, which installs groove 195 and is also prevented from closing tight lasso 182, to be shifted and shadow
Ring clamping effect.
The inner side of the other end for clamping outside support piece 181 sets support bar locating slot 192, two clamping outside support pieces
181 laminating of support bar locating slot 192 forms chuck stop collar hole 198, and the aperture in the chuck stop collar hole 198 is less than folder
The aperture in head movable sleeve hole 197, so that the clamping brace bar 17 can not be after because can not insert the chuck stop collar hole 198
It is continuous protruding, therefore the support bar locating slot 192 can play position-limiting action to clamping brace bar 17, prevent clamping brace bar
17 overhang exceedes permissible value, and then clamping outside support piece 181 is spent greatly the external support force of the pedestal 71 of foot of office chair, right
Foot of office chair causes to damage, and influences crudy.The chuck convex plays position-limiting action along 196, prevents the chuck
18 are excessively inserting the chair bar mounting hole 711 of foot of office chair, and foot of office chair is caused to damage.
Preferably, as shown in figure 4, the guiding connector 14 includes the chuck of driver adpting flange 141 and at least two
Installing plate 143；
The cylinder adpting flange 141 is arranged at one end of support bar guide pipe 142, the cylinder of the clamping drive cylinder 13
Body is connected with the cylinder adpting flange 141, and it is described clamp drive cylinder 13 piston rod and clamping brace bar 17 one
End connection, the clamping drive cylinder 13 drives clamping brace bar 17 to be moved in support bar guide pipe 142；
The chuck installing plate 143 is symmetrically disposed on the other end of support bar guide pipe 142, the guiding connector 14
Also include at least two chuck mounting pins 145, two pieces of relative chuck installing plates 143 are connected by chuck mounting pin 145；
As shown in figure 8, the clamping outside support piece 181 also includes chuck installation through-hole 194, the chuck installation through-hole 194
It is arranged at the outside of the one end for clamping outside support piece 181, one end of the clamping outside support piece 181 passes through 194 sets of chuck installation through-hole
In chuck mounting pin 145.
The clamping drive cylinder 13 drives clamping brace bar 17 to be moved in support bar guide pipe 142, and described clamp is driven
Cylinder 13 of taking offence output is stable, so that clamping brace bar 17 keeps stable when clamping foot of office chair, clamping reliability is good.Institute
The one end for stating clamping outside support piece 181 is placed in the chuck mounting pin 145 between two chuck installing plates 143, so as to clamp
Outside support piece 181 can be rotated around the one end of its own, and the clamping outside support piece 181 can be under the squeezing action of clamping brace bar 17
Strut outside.
Preferably, as shown in Figure 10, the support bar guide pipe 142 includes bearing accommodating chamber 146 and support bar limit chamber
147, the bearing accommodating chamber 146 is arranged at one end of support bar guide pipe 142, and the support bar limit chamber 147 is arranged at branch
The other end of strut guide pipe 142, the bearing accommodating chamber 146 is connected with support bar limit chamber 147；
As shown in figure 9, the guiding connector 14 also includes support bar guide bearing 144, the support bar guide bearing
144 are socketed on the clamping brace bar 17 and the support bar guide bearing 144 is placed in bearing accommodating chamber 146, the folder
The priority of compact schemes bar 17 passes through bearing accommodating chamber 146 and support bar limit chamber 147.
The telescopic moving of the bearing accommodating chamber 146 and 147 pairs of the support bar limit chamber clamping brace bar 17, which is played, to be led
To effect, the support bar guide bearing 144 is set and is socketed on the clamping brace bar 17, further support guide can pressed from both sides
Compact schemes bar 17, and the friction between clamping brace bar 17 and support bar guide pipe 142 is reduced, reduce energy consumption.
Preferably, as shown in Fig. 2 also including feeding device 3, the feeding device 3 is arranged at the workspace of robot 1
Side in domain, the sander 2 is arranged at the opposite side in the working region of robot 1；
As shown in figure 3, the feeding device 3 includes feeding pedestal 31, feeding delivery board 32, loading guide 33, Duo Geshang
Expect limited block 34, conveying plate fixation mechanism 35 and multiple chair leg position-limit mechanisms 36；The loading guide 33 is provided for feeding base
On seat 31, the activity of feeding delivery board 32 is against the loading guide 33, and the conveying plate fixation mechanism 35 is arranged at feeding
One end of the close robot 1 of pedestal 31, the feeding limited block 34 is installed on the two ends of feeding pedestal 31；
Multiple chair leg position-limit mechanisms 36 are arranged on feeding delivery board 32 evenly and at intervals, and two neighboring described
Intersect the axis of chair leg position-limit mechanism 36；
As shown in figure 13, the chair leg position-limit mechanism 36 includes chair leg limiting plate 363, the spacing vertical rod 361 of multiple chair legs
With the spacing cross bar of multiple chair legs 362, the two ends for being installed on chair leg limiting plate 363 are erect in the spacing vertical rod 361 of chair leg, relatively
The spacing vertical rod 361 of two chair legs connected by the spacing cross bar 362 of chair leg.
The feeding device 3 is provided with feeding delivery board 32 for carrying foot of office chair to be polished, and passes through feeding
Foot of office chair to be polished is delivered in the working region of robot 1 by guide rail 33, is inserted in order to the chuck 18 of robot 1
The chair bar mounting hole 711 of foot of office chair, captures foot of office chair to be polished.The two ends of the feeding pedestal 31 are provided with feeding
Limited block 34, carries out spacing to feeding delivery board 32, prevents feeding delivery board 32 from being slid from feeding pedestal 31.Preferably, institute
State and pressure sensor is provided with feeding limited block 34, loading guide 33 stops when feeding delivery board 32 touches feeding limited block 34
Feeding delivery board 32 is only conveyed, so as to realize that feeding is automated.The conveying plate fixation mechanism 35 is used to fix feeding delivery board
32, when feeding delivery board 32 is moved to one end of the feeding pedestal 31, the conveying plate fixation mechanism 35 is locked on described
Expect delivery board 32, prevent that the feeding delivery board 32 is shifted over when robot 1 captures polished foot of office chair, influence
Effect is captured, is eliminated safe hidden trouble.
The feeding delivery board 32 is provided with multiple chair leg position-limit mechanisms 36, and the chair leg position-limit mechanism 36 is used for
Support feet 72 to the foot of office chair of carrying is fixed, and foot of office chair is moved during preventing feeding and crawl
Position, is easy to robot to capture foot of office chair.Because multiple support feets 72 of foot of office chair are installed radially in pedestal 71,
Therefore multiple chair leg position-limit mechanisms 36 are arranged on feeding delivery board 32 evenly and at intervals, and the two neighboring chair leg
The axis of position-limit mechanism 36 is intersected, so that support feet 72 is fixed in the space of the two neighboring chair leg position-limit mechanism 36.
Moreover, the angle between two adjacent supports pin 72 in the angle and foot of office chair of the two neighboring chair leg position-limit mechanism 36
It is identical, it is right exemplified by being 108 ° of foot of office chair provided with the angle between five support feets 72 and two adjacent supports pin 72
Ying Di, feeding delivery board 32 sets three chair leg position-limit mechanisms 36, and the angle of the two neighboring chair leg position-limit mechanism 36 is
108 °, so as to be fitted with support feet 72；And three chair leg position-limit mechanisms 36 are in the same side of feeding delivery board 32, so as to
In quickly placement foot of office chair.Two multiple spacing vertical rods 361 of chair leg of the chair leg position-limit mechanism 36 are used for support feet
72 progress are spacing, and the spacing vertical rod 361 of chair leg has certain altitude, and realization once carries multiple foot of office chair, during feeding
Foot of office chair answers bottom surface upwards in order to which robot 1 is captured and is polished；The spacing cross bar 362 of chair leg is set, can both improve relative
The spacing vertical rod 361 of two chair legs structural strength, also act as the effect of handle, be easy to operating personnel extract carry feeding it is defeated
Send plate 32.
Preferably, as shown in figure 5, the chair leg grabber 12 also includes spacing extension bar 15 and electronic gag lever post 16, institute
One end of spacing extension bar 15 and the outside connection of support bar guide pipe 142 are stated, the electronic gag lever post 16 is installed on the limit
The other end of position extension bar 15；The spacing extension bar 15 is to set motor to drive in L font structures, the spacing extension bar 15
The lifting of the electronic gag lever post 16.
One end of the spacing extension bar 15 and the outside connection of support bar guide pipe 142, the spacing extension bar 15 is in L
Font, by the position being aligned between spacing extension bar 15 and support feet 72, the spacing extension bar 15 can and foot of office chair
Support feet 72 be adjacent to；Then, then by declining electronic gag lever post 16 make the support feet 72 and spacing extension bar of foot of office chair
15 connections, so that the support feet 72 for the foot of office chair that is fixedly clamped, prevents the support feet 72 of foot of office chair when processing
Rotate and damage process equipment.
Preferably, as shown in Figure 2 and Figure 3, in addition to positioning table 4, the positioning table 4 is set close to the side of feeding device 3
Put；The positioning table 4 includes chair leg positioning disc 41, multiple chair leg spacers 42 and multiple chair leg locating pieces 43, multiple described
Chair leg spacer 42 is circumferentially arranged at the edge of the chair leg positioning disc 41 evenly and at intervals；As shown in figure 14, institute
State chair leg locating piece 43 to be installed on the chair leg spacer 42, the top of the chair leg locating piece 43 is radially provided with chair leg
Detent 44.
Robot clamps office chair simply by the interaction of chuck 18 and support bar guide pipe 142 during due to feeding
Spacing extension bar 15 and wherein one support feet 72, are not aligned by the pedestal 71 of chair leg.Therefore, the positioning table 4 is set
Foot of office chair is positioned, so that spacing extension bar 15 and wherein one support feet 72 are aligned.The positioning table 4 sets many
Individual chair leg spacer 42, is positioned for each support feet 72 to foot of office chair；The chair leg locating piece 43 is provided with chair
Pin detent 44, it is spacing to be carried out to support feet 72, prevent robot 1 from declining electronic gag lever post 16 with fixed supporting foot 72
When fail to be completely fixed because being offset support feet 72.Position sensor is provided with the chair leg rotating circular disk 41, to detect each
The position of support feet 72, so as to rotate chair leg locating piece 43 so that chair leg locating piece 43 and support feet 72 are corresponded.Specifically,
Robot 1 is grabbed after foot of office chair from feeding device 3, carries foot of office chair to the surface of positioning table 4, the chair leg
Rotating circular disk 41 is rotated so that chair leg locating piece 43 and support feet 72 are corresponded；Then, foot of office chair is placed by robot 1
On positioning table 4, chair leg grabber 12 and foot of office chair separation；Then, the chair leg rotating circular disk 41, which is returned back to, makes chair leg
Locating piece 43 returns to home position, and robot 1 prestores the home position of chair leg locating piece 43, and the driving of robot body 11 chair leg is grabbed
Device 12 is taken to rotate so that spacing extension bar 15 and wherein one support feet 72 are aligned；Finally, robot 1 captures office chair again
Pin, and declining electronic gag lever post 16 connects the support feet 72 and spacing extension bar 15 of foot of office chair, is done so as to be fixedly clamped
The support feet 72 of public chair chair leg.
By setting the positioning table 4, without setting, accurate sensor and complicated algorithm go detection to support for robot 1
The position of pin 72, realizes spacing extension bar 15 and the rapid alignment of support feet 72, while reduction control difficulty, and can improve alignment
Precision.
Preferably, as shown in figure 15, in addition to blanking device 5, the blanking device 5 is set close to the side of positioning table 4
Put, the top of the blanking device 5 is provided with blanking conveyer belt 51；The robot body 11 includes mechanical arm 111 and turntable
112, the mechanical arm 111 is installed on turntable 112, and the chair leg grabber 12 is installed on the end of mechanical arm 111.It is described
The driving mechanical arm 111 of turntable 112 rotates, and the mechanical arm 111 drives the chair leg grabber 12 to lift and rotate, so that machine
Device people 1 can capture foot of office chair and be moved between feeding device 3, sander 2, positioning table 4 and blanking device 5.The machine
People 1 captures foot of office chair by chair leg grabber 12 in feeding device 3, is then transported to positioning table 4 and is positioned and fixed
Support feet 72, is then moved to sander 2 and carries out polishing operation, and foot of office chair is placed on blanking dress by robot 1 after polishing
Put on 5 blanking conveyer belt 51, finished product is exported by blanking conveyer belt 51.
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.
Claims (9)
1. a kind of intelligent polishing system for being used to process chair leg, including robot and sander, the sander are arranged at machine
In the working region of people, it is characterised in that：
The robot includes robot body and chair leg grabber, and the chair leg grabber is installed on the output of robot body
Axle；The chair leg grabber includes clamping drive cylinder, clamping brace bar, chuck and guiding connector, the guiding connector
Including support bar guide pipe, the clamping drive cylinder is arranged at one end of support bar guide pipe；
The clamping brace bar is arranged at the inside of support bar guide pipe, and one end of the clamping brace bar and clamping drive
The output shaft connection of cylinder, the clamping drive cylinder drives clamping brace bar to be oriented to in-pipe in support bar；The chuck
Outside support piece is clamped including at least two, the clamping outside support piece includes support bar sliding groove, and the support bar sliding groove is arranged at
Clamp the inner side of one end of outside support piece；The chuck is arranged at the other end of support bar guide pipe, the branch of the clamping outside support piece
Strut sliding groove fits to form chuck movable sleeve hole；
When clamping brace bar stretches out and inserts the chuck movable sleeve hole of the chuck, the clamping outside support piece is outwards strutted；
The sander includes abrasive band tension mechanism and abrasive belt wheel, and the abrasive band tension mechanism includes the tensioning axis of guide, tensioning gas
Cylinder, tensioning turbine and tensioning worm screw, the abrasive belt wheel are installed on one end of the tensioning axis of guide, and the tensioning Cover For A Turbine is inserted in
The tensioning axis of guide, the tensioning turbine is connected with the tensioning worm engaging, and the tensioning cylinder is connected to the tensioning
The other end of the axis of guide.
2. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：The sander is also wrapped
Polishing frame, polishing abrasive band, grinding wheel and polishing motor are included, the polishing motor is arranged in polishing frame, institute
The output shaft connection of grinding wheel and polishing motor is stated, the polishing motor drives grinding wheel to rotate；
The abrasive band tension mechanism is arranged in polishing frame, and the center of the abrasive belt wheel, tensioning cylinder and grinding wheel exists
In same horizontal line；
The polishing abrasive band is centered around in the abrasive belt wheel and grinding wheel.
3. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：The clamping outside support piece
Also include support bar locating slot, chuck convex edge and lasso and groove is installed, the support bar locating slot is arranged at the outer support of clamping
The inner side of the other end of piece, one end of the support bar locating slot and one end connection of support bar sliding groove；
The outside of the close end of one end that the chuck convex clamps outside support piece along being arranged at；The lasso is installed groove and set
Outside in the one end for clamping outside support piece, and the lasso installs the top that groove sets chuck convex edge；
Also include closing tight lasso, the tight lasso of conjunction is sleeved on the lasso and installs groove；
The support bar locating slot for clamping outside support piece fits to form chuck stop collar hole, and the aperture in the chuck stop collar hole is small
Aperture in chuck movable sleeve hole.
4. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：The guiding connector
Including driver adpting flange and at least two chuck installing plates；
The cylinder adpting flange is arranged at one end of support bar guide pipe, cylinder body and the cylinder of the clamping drive cylinder
Adpting flange is connected, and one end connection of the piston rod for clamping drive cylinder and clamping brace bar, described to clamp driving
Cylinder drives clamping brace bar to be oriented to in-pipe in support bar；
The chuck installing plate is symmetrically disposed on the other end of support bar guide pipe, and the guiding connector also includes at least two
Individual chuck mounting pin, two pieces of relative chuck installing plates install pin connection by chuck；
The clamping outside support piece also includes chuck installation through-hole, and the chuck installation through-hole is arranged at one end of clamping outside support piece
Outside, one end of the clamping outside support piece is placed on chuck mounting pin by chuck installation through-hole.
5. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：The support bar is oriented to
Pipe includes bearing accommodating chamber and support bar limit chamber, and the bearing accommodating chamber is arranged at one end of support bar guide pipe, the branch
Strut limit chamber is arranged at the other end of support bar guide pipe, and the bearing accommodating chamber is connected with support bar limit chamber；
The guiding connector also includes support bar guide bearing, and the support bar guide bearing is socketed on the clamping brace bar
And the support bar guide bearing is placed in bearing accommodating chamber, the clamping brace bar successively passes through bearing accommodating chamber and support
Bar limit chamber.
6. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：Also include feeding to fill
Put, the feeding device is arranged at the side in the working region of robot, the sander is arranged at the workspace of robot
Opposite side in domain；
The feeding device includes feeding pedestal, feeding delivery board, loading guide, multiple feeding limited blocks, delivery board and fixes machine
Structure and multiple chair leg position-limit mechanisms；The loading guide is provided on feeding pedestal, and the feeding delivery board activity is against institute
Loading guide is stated, the conveying plate fixation mechanism is arranged at one end of the close robot of feeding pedestal, the feeding limit
Position block is installed on the two ends of feeding pedestal；
Multiple chair leg position-limit mechanisms are arranged on feeding delivery board evenly and at intervals, and the two neighboring chair leg is spacing
Intersect the axis of mechanism；
The chair leg position-limit mechanism includes chair leg limiting plate, the spacing vertical rod of multiple chair legs and the spacing cross bar of multiple chair legs, described
The two ends for being installed on chair leg limiting plate are erect in the spacing vertical rod of chair leg, and two relative spacing vertical rods of chair leg pass through the spacing horizontal stroke of chair leg
Bar is connected.
7. the intelligent polishing system according to claim 1 for being used to process chair leg, it is characterised in that：The chair leg grabber
Also include spacing extension bar and electronic gag lever post, one end of the spacing extension bar and the outside connection of support bar guide pipe, institute
State the other end that electronic gag lever post is installed on the spacing extension bar；
The spacing extension bar is to set motor to drive the liter of the electronic gag lever post in L font structures, the spacing extension bar
Drop.
8. the intelligent polishing system according to claim 6 for being used to process chair leg, it is characterised in that：Also include positioning table,
The positioning table is set close to the side of feeding device；
The positioning table includes chair leg positioning disc, multiple chair leg spacers and multiple chair leg locating pieces, and multiple chair legs are determined
Bit slice is circumferentially arranged at the edge of the chair leg positioning disc evenly and at intervals；
The chair leg locating piece is installed on the chair leg spacer, and the top of the chair leg locating piece is radially fixed provided with chair leg
Position groove.
9. the intelligent polishing system according to claim 8 for being used to process chair leg, it is characterised in that：Also include blanking to fill
Put, the blanking device is set close to the side of positioning table, the top of the blanking device is provided with blanking conveyer belt；
The robot body includes mechanical arm and turntable, and the mechanical arm is installed on turntable, the chair leg grabber
It is installed on the end of mechanical arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720244279.7U CN206588749U (en) | 2017-03-14 | 2017-03-14 | A kind of intelligent polishing system for being used to process chair leg |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720244279.7U CN206588749U (en) | 2017-03-14 | 2017-03-14 | A kind of intelligent polishing system for being used to process chair leg |
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| Publication Number | Publication Date |
|---|---|
| CN206588749U true CN206588749U (en) | 2017-10-27 |
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ID=60124979
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720244279.7U Active CN206588749U (en) | 2017-03-14 | 2017-03-14 | A kind of intelligent polishing system for being used to process chair leg |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109894974A (en) * | 2019-03-25 | 2019-06-18 | 安徽商贸职业技术学院 | A kind of teaching grinding device of chair |
| WO2019140592A1 (en) * | 2018-01-18 | 2019-07-25 | 常州恒联机械五金有限公司 | Automatic handle-polishing apparatus |
| CN110238738A (en) * | 2019-07-29 | 2019-09-17 | 杭州浅影文化创意有限公司 | A kind of foot of office chair polishing process |
| CN110948345A (en) * | 2019-11-26 | 2020-04-03 | 福尼斯智能装备(珠海)有限公司 | Force-control abrasive belt grinding machine |
-
2017
- 2017-03-14 CN CN201720244279.7U patent/CN206588749U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2019140592A1 (en) * | 2018-01-18 | 2019-07-25 | 常州恒联机械五金有限公司 | Automatic handle-polishing apparatus |
| CN109894974A (en) * | 2019-03-25 | 2019-06-18 | 安徽商贸职业技术学院 | A kind of teaching grinding device of chair |
| CN110238738A (en) * | 2019-07-29 | 2019-09-17 | 杭州浅影文化创意有限公司 | A kind of foot of office chair polishing process |
| CN110238738B (en) * | 2019-07-29 | 2020-02-14 | 广东柯瑞达智能家具有限公司 | Office chair foot polishing method |
| CN110948345A (en) * | 2019-11-26 | 2020-04-03 | 福尼斯智能装备(珠海)有限公司 | Force-control abrasive belt grinding machine |
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