CN206869608U - A kind of manipulator for the polishing of hexahedron surface - Google Patents

Abstract

The utility model discloses a kind of manipulator for the polishing of hexahedron surface, including workpiece, first position controlling organization, second place controlling organization, the first rotary joint, the second rotary joint and Pneumatic paw mechanism；Put outside first rotary joint and be fixed with the second rotary joint pedestal, the second rotary joint bonnet, lid and the second rotary joint side cover on the second rotary joint, the hollow cavity of the second rotary joint is surrounded jointly, second rotary joint quill shaft is hinged with rotary joint bearing block, F synchronous pulleys are fixed on the second rotary joint quill shaft, coordinated by D timing belts and E synchronous pulleys, the hollow the tip of the axis of second rotary joint fixes force sensor, force snesor opposite side is fixed with double-acting cylinder, and pawl disk block is fixed with double-acting cylinder end.The utility model is polished it by belt grinding machine using Pneumatic paw mechanism grabbing workpiece, using toothed belt transmission can avoid polishing powder dust lane come influence.

Description

A Manipulator for Grinding Hexahedral Surface

technical field

The utility model relates to the technical field of grinding automation, in particular to a manipulator used for grinding the surface of a hexahedron.

Background technique

The cost of labor in China is rising rapidly, and the grinding and polishing industry deploys automation equipment to offset the rising cost. In order to replace manual labor, industrial robots with six degrees of freedom are currently used for grinding operations. These robots are standardized industrial robots and are characterized by a short development cycle. However, in the face of large-scale grinding production lines, the cost of deploying such robots is high and the input and output are relatively low. Therefore, a simplified robot system solution is required for large-scale grinding operations, which can reduce the deployment cost of the automation system while meeting the grinding requirements.

Utility model content

The purpose of the utility model is to solve the shortcomings in the prior art, and propose a manipulator for grinding the surface of a hexahedron.

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

A manipulator for grinding the surface of a hexahedron, comprising a workpiece, a first position control mechanism, a second position control mechanism, a first rotary joint, a second rotary joint, and a pneumatic gripper mechanism; the workpiece is a hexahedral cavity structure, and the first A position control mechanism is composed of A linear motion unit and B linear motion unit, wherein the A linear motion unit is composed of the main body of the A motion unit, the Aa slider and the Ab slider, and the gap between the Aa slider, the Ab slider and the A motion unit body Connected by A synchronous belt; B linear motion unit is composed of B motion unit body, Ba slider and Bb slider; A linear motion unit and B linear motion unit as well as the first base plate and the second base plate form a square shape Structure, the synchronous pulley base is fixed on the first base plate, there is a freely rotating A synchronous pulley on the synchronous pulley base and A servo motor seat fixed on the synchronous pulley base, and the A servo motor is fixed on On the A servo motor base, the B synchronous belt is sleeved on the A synchronous pulley and the B synchronous pulley. The other end of the drive shaft and the second coupling drive shaft is connected to the input shaft of the main body of the B motion unit and the main body of the A motion unit; the second position control mechanism consists of the main body of the C motion unit, the main body of the D motion unit, and the C slider and the D slider Composition, the transmission shaft of the third coupling connects the input shafts of the C motion unit body and the D motion unit body, the B servo motor is connected with the input shaft of the C motion unit body, and the C slider and the D slider are connected through the first rotary joint base integrated; the first rotary joint is: the first rotary joint base and the B servo motor seat and C servo motor fixed on the first rotary joint base, the C synchronous pulley is fixed on the output shaft of the C servo motor and The C synchronous belt cooperates with the D synchronous pulley, and the D synchronous pulley is fixed on the hollow shaft of the first rotary joint, and the hollow shaft of the first rotary joint is hinged with the outer casing of the first rotary joint through bearings; the second rotary joint is: The second revolving joint base, the second revolving joint rear cover, the second revolving joint upper cover and the second revolving joint side cover are fixed on the first revolving joint jacket, which together form the hollow cavity of the second revolving joint. The bearing seat of the rotary joint is fixed, the hollow shaft of the second rotary joint is hinged with the bearing seat of the rotary joint, the F synchronous pulley is fixed on the hollow shaft of the second rotary joint, and the D synchronous belt cooperates with the E synchronous pulley, and the D servo motor is fixed on On the base of the second rotary joint, the output shaft is fixed with an E synchronous pulley, the end of the hollow shaft of the second rotary joint is fixed with a force sensor, the other side of the force sensor is fixed with a double-acting cylinder, and a claw block is fixed at the end of the double-acting cylinder ; The pneumatic claw mechanism is: a piston head is fixed at the end of the piston rod of the double-acting cylinder, the piston is embedded in the claw plate block, and the piston head can slide in the piston sleeve, on the diagonal line of the claw plate block There is a round hole inlaid with a telescopic rod sleeve. A telescopic rod and a spring are placed in the telescopic rod sleeve. The cover plate is fixed on the claw block. One end of the telescopic rod is hinged with a bearing and the other end is fixed with a rubberized clamping block.

Preferably, the output shafts of A servo motor and B servo motor transmit power and motion through A synchronous belt and B synchronous belt; the output shafts of C servo motor and D servo motor transmit motion and power through C synchronous belt and D synchronous belt, A Synchronous belt, B synchronous belt, C synchronous belt and D synchronous belt are all synchronous toothed belts.

Preferably, the first rotary joint has a first rotary joint hollow shaft and its hollow cavity, and the second rotary joint has a second rotary joint hollow shaft and its hollow cavity.

Preferably, the hollow shaft of the second rotary joint is fixed with a force sensor between the double-acting cylinders.

Preferably, a telescopic rod, a sleeve, a spring, a bearing, and a rubberized clamping block are arranged with the diagonal of the claw block as the axis, and the piston head can push the four diagonal rubberized clamping blocks simultaneously. out.

Preferably, the outer surface of the piston head has a first conical surface, a second conical surface and a cylindrical surface, and there is a transition arc between the first conical surface and the second conical surface and between the second conical surface and the cylindrical surface; the piston sleeve has Concave-convex shape with grooves on the cylindrical surface.

Preferably, the A tightening screw can adjust the center distance between the A synchronous pulley and the B synchronous pulley; the B adjusting screw can adjust the center distance between the C synchronous pulley and the D synchronous pulley.

The utility model proposes a manipulator for grinding hexahedral surfaces, which is used to replace manual grinding; this manipulator is customized for grinding hexahedral workpieces and simple circular arc surfaces, and can meet large batches of grinding operations; compared with industrial manipulators with six degrees of freedom In contrast, the system structure is simple, the requirements for environmental cleanliness are not high, and the manufacturing cost is low; it is suitable for the deployment of large-scale grinding production lines, saves manual labor, and is also conducive to reducing the occurrence of pneumoconiosis among grinding workers.

When the manipulator of the utility model grabs a hexahedron workpiece, it uses its own plane movement freedom to move the workpiece to the grinding unit, uses the first rotary joint and the second rotary joint to adjust the posture of the workpiece, and aligns it with the abrasive belt of the grinding unit , use the translational joint to press the workpiece on the grinding belt for grinding. Reciprocating in this way, the outer surface of the workpiece is polished sequentially.

The manipulator of the utility model has the freedom of horizontal movement and the degree of freedom of rotation to change the position and attitude of the polished workpiece, and can use the pneumatic claw mechanism to grab the workpiece and press it on the abrasive belt grinder for grinding, and put the workpiece back after grinding. The manipulator is driven by a synchronous belt to avoid the impact of grinding dust. The application of the grinding manipulator can significantly improve the grinding efficiency and quality.

Description of drawings

Fig. 1 is a general structural diagram of a manipulator used for grinding the surface of a hexahedron according to the present invention.

Fig. 2 is a structural diagram of the first rotary joint of a manipulator used for grinding hexahedral surfaces according to the present invention.

Fig. 3 is a structure diagram of a second rotary joint of a manipulator used for grinding hexahedral surfaces of the present invention.

Fig. 4 is a mechanism diagram of a pneumatic gripper of a manipulator used for grinding a hexahedron surface according to the present invention.

Fig. 5 is a structure diagram of a gripper piston of a manipulator used for grinding a hexahedral surface according to the present invention.

Fig. 6 is an example diagram of a grinding operation of a manipulator used for grinding the surface of a hexahedron according to the present invention.

Description of drawings: 1-workpiece; 2-first base plate; 3-second base plate; 4-A motion unit main body; 5-Aa slider; 6-Ab slider; 7-A timing belt; 8 -B motion unit body; 9-Ba slider; 10-Bb slider; 11-C motion unit body; 12-D motion unit body; 13-C slider; 14-D slider; 15-synchronous pulley base Seat; 16-A servo motor seat; 17-first coupling drive shaft; 18-second coupling drive shaft; 19-A synchronous pulley; 20-B synchronous pulley; 21-B synchronous belt; 22 -A servo motor; 23-A tightening screw; 24-third coupling drive shaft; 25-B servo motor; 26-first rotary joint base; 27-B servo motor seat; 28-C synchronous pulley ;29-D synchronous pulley; 30-C synchronous belt; 31-hollow shaft of the first rotary joint; 32-B tightening screw; 33-C servo motor; 34-coat of the first rotary joint; 35-second rotary joint Base; 36-the rear cover of the second revolving joint; 37-the upper cover of the second revolving joint; 38-the side cover of the second revolving joint; 39-the bearing seat of the revolving joint; 40-E timing belt pulley; 41-F timing belt pulley ;42-D synchronous belt; 43-D servo motor; 44-second rotary joint hollow shaft; 45-force sensor; 46-double-acting cylinder; 47-A air valve; 48-B air valve; 49-piston head; 50-piston sleeve; 51-claw plate block; 52-telescopic rod sleeve; 53-cover plate; 54-telescopic rod; 55-bearing; 56-spring; ;59-the second cone surface; 60-cylindrical surface; 61-transition arc; 62-cylindrical groove; 63-A linear motion unit; 64-B linear motion unit; 65-C linear motion unit; 66-D straight line Motion unit; 67-first rotary joint; 68-second rotary joint; 69-abrasive belt grinding unit.

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.

Referring to Fig. 1, a manipulator for grinding a hexahedron surface according to the present invention is composed of a position control structure, an attitude adjustment mechanism and a pneumatic gripper mechanism, wherein the position control mechanism consists of A linear motion unit 63 and B linear motion unit 64 Constitute the first position control mechanism; the C linear motion unit 65 and D linear motion unit 66 constitute the second position control mechanism; wherein the A linear motion unit 63 is composed of the A motion unit main body 4, the Aa slider 5 and the Ab slider 6, The Aa slider 5, Ab slider 6 and the A motion unit main body 4 are connected through the A timing belt 7, and the Aa slider 5 and Ab slider 6 are driven to move in A through the movement of the timing pulleys at both ends of the A motion unit main body 4 The unit main body 4 runs linearly. The B linear motion unit 64 is composed of the B motion unit main body 8 , the Ba slider 9 and the Bb slider 10 . A linear motion unit 63 and B linear motion unit 64 and the first base plate 2 and the second base plate 3 form a square structure, the synchronous pulley base 15 is fixed on the first base plate 2, and the synchronous pulley The A synchronous pulley 19 that rotates freely on the base 15 and the A servo motor seat 16 fixed on the synchronous pulley base 15, the A servo motor 22 is fixed on the A servo motor seat 16, and the A servo motor 22 output shaft is fixed There is a B synchronous pulley 20, and the B synchronous belt 21 is set on the A synchronous pulley 19 and the B synchronous pulley 20 to transmit the motion of the A servo motor 22, and the output shaft at both ends of the A synchronous pulley 19 is connected to the first coupling The transmission shaft 17 and the second coupling transmission shaft 18, the other ends of the first coupling transmission shaft 17 and the second coupling transmission shaft 18 are respectively connected to the input shafts of the B motion unit main body 8 and the A motion unit main body 4, A tightening screw 23 can adjust the tension of B synchronous belt 21. The second position control mechanism is composed of C motion unit main body 11, D motion unit main body 12, C slider 13 and D slider 14, and the third coupling drive shaft 24 connects the C motion unit main body 11 and D motion unit main body The input shaft of 12 and the output shaft of the B servo motor 25 are fixedly connected with the input shaft of the C motion unit main body 11 through a coupling, and the C slider 13 and the D slider 14 are connected as one through the first rotary joint base 26 . The A servo motor 22 and the B servo motor 25 can drive the first rotary joint base 26 to any position within the range of motion through synchronous belt transmission.

Referring to Fig. 2, a B servo motor base 27 is fixed on the first rotary joint base 26, a C servo motor 33 is fixed on the B servo motor base 27, a C synchronous pulley 28 is fixed on the output shaft of the C servo motor 33 and The C synchronous belt 30 drives the D synchronous pulley 29 to rotate, and the D synchronous pulley 29 is fixed on the hollow shaft 31 of the first revolving joint. The hollow shaft 31 of the first revolving joint is hinged with the outer casing 34 of the first revolving joint through a bearing, and B is tightened. Screw 32 can adjust the tightness of C synchronous belt 30. The C servo motor 33 drives the first rotary joint 67 to rotate in the entire circumference through the C synchronous belt 30 .

Referring to Fig. 3, the second swivel joint base 35 is fixed on the first swivel joint outer cover 34, the second swivel joint base 35 is connected with the second swivel joint rear cover 36, the second swivel joint upper cover 37 and the second swivel joint side cover 38 jointly enclose the hollow cavity structure of the second rotary joint 68 . The revolving joint bearing seat 39 is fixed in the cavity structure, the second revolving joint hollow shaft 44 is hinged with the revolving joint bearing seat 39 through the bearing, and the F synchronous pulley 41 is fixed on the second revolving joint hollow shaft 44, and is synchronized by D The belt 42 and the E synchronous pulley 40 form a transmission chain, the D servo motor 43 is fixed on the second rotary joint base 35 and is fixedly connected to the E synchronous pulley 40 on the output shaft, and is fixed at the end of the second rotary joint hollow shaft 44 There is a force sensor 45, and the other side of the force sensor 45 is fixed with a double-acting cylinder 46, and a claw plate block 51 is fixed at the end of the cylinder body. The D servo motor 43 drives the hollow shaft 44 of the second rotary joint, the force sensor 45 and the double-acting cylinder 46 to rotate through belt transmission.

Referring to Fig. 4, piston head 49 is fixed at the end of the piston rod of double-acting cylinder 46, and piston head 49 can reciprocate in piston sleeve 50, and piston sleeve 50 is fixed on the claw plate block 51; There is a circular hole on the corner line and is inlaid with a telescoping rod sleeve 52. A telescoping rod 54 and a spring 56 are placed in the sleeve, and the cover plate 53 is fixed on the claw disc block 51. One end of the telescopic rod 54 is hinged with a bearing 55 and the other end is fixed with a rubber-coated clamping block 57. This structure has the same structure at the four diagonals of the claw plate block 51. A air valve 47 takes in air, and B air valve 48 exhaust, the piston head 49 stretches out under the action of the double-acting cylinder 46 and contacts the bearing 55, and the four telescopic rods 54 are ejected, and the four stretched out rubber-coated clamping blocks 57 clamp the inner cavity of the workpiece 1 Hold it up, and the grabbing action of the manipulator is completed.

With reference to Fig. 5, there is a fixed piston head 49 at the end of the piston rod of the double-acting cylinder 46, and its structural feature is to have a first conical surface 58 and a second conical surface 59, below the second conical surface 59 is a cylindrical surface 60, The cylindrical surface 60 cooperates with the piston sleeve 50 and can slide in the piston sleeve 50 . There is a transition arc 61 between the first tapered surface 58 and the second tapered surface 59 and between the second tapered surface 59 and the cylindrical surface 60 . The surface of the piston sleeve 50 in contact with the piston head 49 has a cylindrical surface groove 62 .

Referring to Fig. 6, the working process of the utility model and the abrasive belt grinding unit, the manipulator grasps the workpiece 1 from the inside through the double-acting cylinder 46 and the rubber clamping block 57, and then uses the first position control mechanism and the second position control mechanism to The mechanism positions the workpiece in front of the abrasive belt grinding unit 69, and moves the first rotary joint and the second rotary joint to adjust the grinding surface parallel to the abrasive belt, and finally uses the second position control mechanism to press the workpiece on the abrasive belt for grinding. cutting work. Reciprocating in this way, each outer surface of the workpiece 1 is polished.

The above is only a preferred embodiment of the utility model, but the scope of protection of the utility model is not limited thereto. The equivalent replacement or change of the new technical solution and the concept of the utility model shall be covered by the protection scope of the utility model.

Claims (7)

1. A manipulator for grinding the surface of a hexahedron, comprising a workpiece (1), a first position control mechanism, a second position control mechanism, a first rotary joint, a second rotary joint, and a pneumatic gripper mechanism; it is characterized in that the workpiece (1) is a hexahedral cavity structure, the first position control mechanism is composed of A linear motion unit (63) and B linear motion unit (64), wherein the A linear motion unit (63) is composed of the A motion unit body (4) , Aa slider (5) and Ab slider (6), the Aa slider (5), Ab slider (6) and the main body of the A motion unit (4) are connected by the A timing belt (7); B straight line The motion unit (64) is composed of the main body of the B motion unit (8), the Ba slider (9) and the Bb slider (10); the A linear motion unit (63) and the B linear motion unit (64) and the first base plate (2) and the second base plate (3) form a mouth-shaped structure, the synchronous pulley base (15) is fixed on the first base plate (2), and the synchronous pulley base (15) is free to rotate The A synchronous pulley (19) and the A servo motor seat (16) fixed on the synchronous pulley base (15), the A servo motor (22) is fixed on the A servo motor seat (16), the B synchronous belt ( 21) Put it on the A synchronous pulley (19) and the B synchronous pulley (20), and the two ends of the A synchronous pulley (19) are connected to the first coupling drive shaft (17) and the second coupling drive shaft ( 18), the other ends of the first coupling transmission shaft (17) and the second coupling transmission shaft (18) are connected to the input shafts of the main body of the B motion unit (8) and the main body of the A motion unit (4); the second position The control mechanism is composed of the main body of the C motion unit (11), the main body of the D motion unit (12), the C slider (13) and the D slider (14), and the third coupling drive shaft (24) is connected to the C motion unit body ( 11) and the input shaft of the main body of the D motion unit (12), the B servo motor (25) is connected with the input shaft of the main body of the C motion unit (11), and the C slider (13) and the D slider (14) pass through the first rotary joint The base (26) is connected into one; the first rotary joint is: the first rotary joint base (26) and the B servo motor seat (27) and C servo motor base (27) fixed on the first rotary joint base (26) The motor (33), the C synchronous pulley (28) are fixed on the output shaft of the C servo motor (33) and cooperate with the D synchronous pulley (29) through the C synchronous belt (30), and the D synchronous pulley (29) is fixed on On the first revolving joint hollow shaft (31), the first revolving joint hollow shaft (31) is hinged to the first revolving joint cover (34) through a bearing; the second revolving joint is: on the first revolving joint cover (34) The second revolving joint base (35), the second revolving joint rear cover (36), the second revolving joint upper cover (37) and the second revolving joint side cover (38) are fixed to form the second revolving joint Hollow cavity, the revolving joint bearing seat (39) is fixed in the cavity, the second revolving joint hollow shaft (44) is hinged with the revolving joint bearing seat (39), and the F synchronous pulley (41 ) is fixed on the hollow shaft of the second rotary joint (44), cooperates with the E synchronous pulley (40) through the D timing belt (42), and the D servo motor (43) is fixed on the second rotary joint base (35), The output shaft is fixed with an E synchronous pulley (40), the end of the second rotary joint hollow shaft (44) is fixed with a force sensor (45), and the other side of the force sensor (45) is fixed with a double-acting cylinder (46). Claw block (51) is fixed at the end of cylinder (46); the pneumatic gripper mechanism is: piston head (49) is fixed at the end of piston rod of double-acting cylinder (46), and piston sleeve (50) is embedded in the claw In the disc block (51), the piston head (49) can slide in the piston sleeve (50), and there is a round hole inlaid with the telescopic rod sleeve (52) on the diagonal of the claw disc block (51), and the telescopic rod sleeve A telescopic rod (54) and a spring (56) are placed in the tube (52), the cover plate (53) is fixed on the claw block (51), and one end of the telescopic rod (54) is hinged with a bearing (55) and the other end is fixed with a Lagging clamp block (57). 2. A manipulator for grinding hexahedral surfaces according to claim 1, characterized in that the output shafts of the A servo motor (22) and the B servo motor (25) pass through the A synchronous belt (7) and the B synchronous belt (21) Transmission of power and motion; the output shafts of C servo motor (33) and D servo motor (43) transmit motion and power through C synchronous belt (30) and D synchronous belt (42), A synchronous belt (7), B synchronous belt (21), C synchronous belt (30) and D synchronous belt (42) are all synchronous toothed belts. 3. A manipulator for grinding hexahedral surfaces according to claim 1, characterized in that the first rotary joint has a first rotary joint hollow shaft (31) and its hollow cavity, and the second rotary joint has a second rotary joint Two rotary joint hollow shafts (44) and hollow cavities thereof. 4 . The manipulator for grinding hexahedral surfaces according to claim 1 , characterized in that a force sensor ( 45 ) is fixed between the second rotary joint hollow shaft ( 44 ) and the double-acting cylinder ( 46 ). 5. A manipulator for grinding a hexahedral surface according to claim 1, characterized in that, with the diagonal of the claw block (51) as the axis, a telescopic rod (54) and a sleeve (52) are arranged , spring (56), bearing (55) and rubberized clamping block (57), and the piston head (49) can push out four diagonal rubberized clamping blocks (57) simultaneously. 6. A manipulator for grinding hexahedral surfaces according to claim 1, characterized in that the outer surface of the piston head (49) has a first conical surface (58) and a second conical surface (59) and a cylindrical surface ( 60), and there is a transition arc (61) between the first conical surface (58) and the second conical surface (59) and between the second conical surface (59) and the cylindrical surface (60); the piston sleeve (50) has Concave-convex shape of cylindrical surface groove (62). 7. A manipulator for grinding hexahedral surfaces according to claim 1, characterized in that the A tightening screw (23) can adjust the distance between the A synchronous pulley (19) and the B synchronous pulley (20). Center distance; B adjusting screw (32) can adjust the center distance between C synchronous pulley (28) and D synchronous pulley (29).