CN207326664U - Robot for polishing - Google Patents

Robot for polishing Download PDF

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Publication number
CN207326664U
CN207326664U CN201721376764.6U CN201721376764U CN207326664U CN 207326664 U CN207326664 U CN 207326664U CN 201721376764 U CN201721376764 U CN 201721376764U CN 207326664 U CN207326664 U CN 207326664U
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CN
China
Prior art keywords
polishing
output terminal
servomotor
fixture
sanding
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Active
Application number
CN201721376764.6U
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Chinese (zh)
Inventor
陈根起
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Chen Xu Industrial Automation Equipment Co Ltd
Original Assignee
Zhejiang Chen Xu Industrial Automation Equipment Co Ltd
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Filing date
Publication date
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Priority to CN201721376764.6U priority Critical patent/CN207326664U/en
Application granted granted Critical
Publication of CN207326664U publication Critical patent/CN207326664U/en
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Abstract

The utility model discloses the robot for being used to polish based on milling robot technical field,Including base of polishing,The top of the polishing base is sequentially installed with manipulator base from right to left,Plane sanding apparatus and corner sanding apparatus,RV gear reducers are installed in the inner cavity of the manipulator base,Run through the top exterior walls of manipulator base at the top of the output terminal of the RV gear reducers,Stent is installed at the top of the output terminal of the RV gear reducers,The hinged place of the stent and extensible arm is provided with the second servomotor,The utility model passes through long-term experiment,Selection uses four groups of four axis robots of motor,Positive and negative 185 degree of range of movement and the movement velocity of 370 degree per seconds can be achieved,While improving area coverage,Switching performance is preferable,And by being provided with fixture,Directly workpiece is driven to polish on plane sanding apparatus and corner sanding apparatus,While improving grinding efficiency,Improve polishing accuracy.

Description

Robot for polishing
Technical field
It the utility model is related to and be based on milling robot technical field, particularly for the robot of polishing.
Background technology
It is frequently necessary to polish to the outer wall of part in part production process at present, but manual polishing efficiency is slow Meanwhile polishing degree differs, part is set the situation that width differs occur, and such case is in the production for having high request to precision Can not be qualified in journey, so needing a kind of robot for being used to polish to improve grinding efficiency and improve polishing precision.
Utility model content
The purpose of this utility model is to provide the robot for polishing, to solve people proposed in the above background technology The problem of work grinding efficiency is low low with precision.
To achieve the above object, the utility model provides following technical solution:For the robot of polishing, including polishing bottom Seat, the top of the polishing base are sequentially installed with manipulator base, plane sanding apparatus and corner sanding apparatus from right to left, RV gear reducers are installed in the inner cavity of the manipulator base, run through manipulator base at the top of the output terminal of the RV gear reducers Top exterior walls, the output terminal top of the RV gear reducers are provided with stent, extensible arm, the branch are hinged with the top of the stent The hinged place of frame and extensible arm is provided with the second servomotor, runs through stent and expansion on rear side of the output terminal of second servomotor Swing arm, is hinged with installing arm at the top of the extensible arm, and the hinged place of the extensible arm and installing arm is provided with the 3rd servo electricity Machine, the output terminal rear side of the 3rd servomotor run through extensible arm and installing arm, the 4th are provided with the top of the installing arm Servomotor, the output terminal left side of the 4th servomotor are provided with fixture mounting cylinder, the left side peace of the fixture mounting cylinder Equipped with fixture strut, part clamping apparatus, the bottom of the fixture strut are installed on the right side of the bottom outer wall of the fixture strut Clamping cylinder is installed on the left of portion's outer wall, polishing servomotor, the polishing servo electricity are installed in the inner cavity for clamping cylinder The output terminal bottom of machine is provided with clamping dress through the bottom outer wall for clamping cylinder, the output terminal bottom of the polishing servomotor Put.
Preferably, the junction of the fixture mounting cylinder and fixture strut is provided with harmonic wave drive speed reducer, and the folder Tool strut is plugged in the inner ring of harmonic wave drive speed reducer.
Preferably, the clamping device is elastic rubber fixture.
Preferably, the bottom of the plane sanding apparatus and corner sanding apparatus is mounted on polishing motor, and electricity of polishing Polishing emery wheel is installed at the top of the output terminal of machine.
Compared with prior art, the beneficial effects of the utility model are:The utility model is used by long-term experiment, selection The robots of four axis robots of four groups of motors, it can be achieved that the movement velocity of positive and negative 185 degree of range of movement and 370 degree per seconds, While improving area coverage, switching performance is preferable, and by being provided with fixture, directly drive workpiece plane sanding apparatus with Polish on the sanding apparatus of corner, while improving grinding efficiency, improve polishing accuracy.
Brief description of the drawings
Fig. 1 is the utility model structure diagram;
Fig. 2 is the utility model fixture branching rod structure schematic diagram.
In figure:1 polishing base, 2 manipulator bases, 3 plane sanding apparatus, 4 corner sanding apparatus, 5RV gear reducers, 6 Frame, 7 extensible arms, 8 second servomotors, 9 installing arms, 10 the 3rd servomotors, 11 the 4th servomotors, 12 fixture mounting cylinders, 13 fixture struts, 14 part clamping apparatus, 15 clamp cylinder, 16 polishing servomotors, 17 clamping devices.
Embodiment
The following is a combination of the drawings in the embodiments of the present utility model, and the technical scheme in the embodiment of the utility model is carried out Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole Embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are without making creative work All other embodiments obtained, shall fall within the protection scope of the present invention.
- 2 are please referred to Fig.1, the utility model provides a kind of technical solution:For the robot of polishing, including polishing base 1, the top of the polishing base 1 is sequentially installed with manipulator base 2, plane sanding apparatus 3 and corner polishing dress from right to left 4 are put, RV gear reducers 5 are installed in the inner cavity of the manipulator base 2, run through machinery at the top of the output terminal of the RV gear reducers 5 The at hand top exterior walls of seat 2, the output terminal top of the RV gear reducers 5 are provided with stent 6, and the top of the stent 6 is hinged with Extensible arm 7, the hinged place of the stent 6 and extensible arm 7 are provided with the second servomotor 8, the output of second servomotor 8 End rear side runs through stent 6 and extensible arm 7, and the top of the extensible arm 7 is hinged with installing arm 9, the extensible arm 7 and installing arm 9 Hinged place the 3rd servomotor 10 is installed, through extensible arm 7 and installation on rear side of the output terminal of the 3rd servomotor 10 Arm 9, the top of the installing arm 9 are provided with the 4th servomotor 11, are installed on the left of the output terminal of the 4th servomotor 11 There is a fixture mounting cylinder 12, the left side of the fixture mounting cylinder 12 is provided with fixture strut 13, outside the bottom of the fixture strut 13 Part clamping apparatus 14 is installed on the right side of wall, is provided with the left of the bottom outer wall of the fixture strut 13 and clamps cylinder 15, institute State and polishing servomotor 16 is installed in the inner cavity for clamping cylinder 15, the output terminal bottom of the polishing servomotor 16 is through clamping The bottom outer wall of cylinder 15, the output terminal bottom of the polishing servomotor 16 are provided with clamping device 17.
Wherein, the junction of the fixture mounting cylinder 12 and fixture strut 13 is provided with harmonic wave drive speed reducer, and described Fixture strut 13 is plugged in the inner ring of harmonic wave drive speed reducer, the convenient stopping speed for accelerating fixture strut 13, the clamping Device 17 is elastic rubber fixture, convenient directly to grip workpiece, the bottom of the plane sanding apparatus 3 and corner sanding apparatus 4 Polishing motor is mounted on, and polishing emery wheel is installed at the top of the output terminal for motor of polishing, polishing sand is driven by motor of polishing Wheel polishes workpiece, is carefully polished, and improves accuracy.
Operation principle:The utility model drives branch by selecting the robot using four axis robots, by RV gear reducers 5 Frame 6 rotates, and the second servomotor 8 drives 7 adjustable range of extensible arm, and then the 3rd servomotor 10 drives and moved down in installing arm 9 It is dynamic, drive dedicated part clamping apparatus 14 and clamping device 17 to clamp workpiece, then transport on plane sanding apparatus 3, first The workpiece on clamping device 17 is driven to carry out quickly thick polishing on plane sanding apparatus 3 by servomotor 16 of polishing, so Afterwards by only opening plane sanding apparatus 3, polishing servomotor 16 is closed, carries out careful polishing, accuracy is improved, then passes through The drive of manipulator in itself realizes the polishing to workpiece corner at corner sanding apparatus 4, then repeats above-mentioned unlatching polishing and watches Take after polishing servomotor 16 is slightly polished and closed to motor 16 and carefully polished by corner sanding apparatus 4 itself, improved Grinding efficiency and polishing precision.
While there has been shown and described that the embodiment of the utility model, for the ordinary skill in the art, It is appreciated that these embodiments can be carried out with a variety of changes in the case where not departing from the principle of the utility model and spirit, repaiied Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.

Claims (4)

1. for the robot polished, including polishing base (1), it is characterised in that:It is described polishing base (1) top from the right side to A left side is sequentially installed with manipulator base (2), plane sanding apparatus (3) and corner sanding apparatus (4), the manipulator base (2) Inner cavity in RV gear reducers (5) are installed, the top of manipulator base (2) is run through at the top of the output terminal of the RV gear reducers (5) Outer wall, the output terminal top of the RV gear reducers (5) are provided with stent (6), extensible arm are hinged with the top of the stent (6) (7), the stent (6) and the hinged place of extensible arm (7) are provided with the second servomotor (8), second servomotor (8) Run through stent (6) and extensible arm (7) on rear side of output terminal, installing arm (9), the extension are hinged with the top of the extensible arm (7) The hinged place of arm (7) and installing arm (9) is provided with the 3rd servomotor (10), after the output terminal of the 3rd servomotor (10) Extensible arm (7) and installing arm (9) are run through in side, are provided with the 4th servomotor (11) at the top of the installing arm (9), and the described 4th Fixture mounting cylinder (12) is installed on the left of the output terminal of servomotor (11), folder is installed on the left of the fixture mounting cylinder (12) Have strut (13), part clamping apparatus (14), the fixture branch are installed on the right side of the bottom outer wall of the fixture strut (13) It is provided with the left of the bottom outer wall of bar (13) and clamps cylinder (15), polishing servo electricity is installed in the inner cavity for clamping cylinder (15) Machine (16), the output terminal bottom of the polishing servomotor (16) is through the bottom outer wall for clamping cylinder (15), the polishing servo The output terminal bottom of motor (16) is provided with clamping device (17).
2. the robot according to claim 1 for being used to polish, it is characterised in that:The fixture mounting cylinder (12) and fixture The junction of strut (13) is provided with harmonic wave drive speed reducer, and the fixture strut (13) is plugged on harmonic wave drive speed reducer In inner ring.
3. the robot according to claim 1 for being used to polish, it is characterised in that:The clamping device (17) is elastic rubber Plastic clip has.
4. the robot according to claim 1 for being used to polish, it is characterised in that:The plane sanding apparatus (3) and side The bottom of angle sanding apparatus (4) is mounted on polishing motor, and is provided with polishing emery wheel at the top of the output terminal for motor of polishing.
CN201721376764.6U 2017-10-24 2017-10-24 Robot for polishing Active CN207326664U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201721376764.6U CN207326664U (en) 2017-10-24 2017-10-24 Robot for polishing

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201721376764.6U CN207326664U (en) 2017-10-24 2017-10-24 Robot for polishing

Publications (1)

Publication Number Publication Date
CN207326664U true CN207326664U (en) 2018-05-08

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Family Applications (1)

Application Number Title Priority Date Filing Date
CN201721376764.6U Active CN207326664U (en) 2017-10-24 2017-10-24 Robot for polishing

Country Status (1)

Country Link
CN (1) CN207326664U (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109759922A (en) * 2019-03-22 2019-05-17 安徽新境界自动化技术有限公司 A kind of full-automatic linkage robot grinding apparatus

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109759922A (en) * 2019-03-22 2019-05-17 安徽新境界自动化技术有限公司 A kind of full-automatic linkage robot grinding apparatus

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