CN207656422U - A kind of integrated mould grinding device - Google Patents

Abstract

The utility model discloses a kind of integrated mould grinding devices, including manipulator, sand paper more changing device and polishing workbench；Wherein, the hand clamping of the manipulator has mold core；The sand paper more changing device includes sand paper transfer module for being carried to new sand paper and the sand paper after carrying pastes to sand paper stickup module on mold core；The sand paper stickup module includes scraper for striking off old sand paper, for mold core dispenser for dispensing glue, cavity plate and pressing clamping device with cavity plate cooperation for carrying out pressing clamping to new sand paper；The polishing workbench includes polishing rack, the turntable swing driving mechanism that the turntable rotary drive mechanism and driving disc to rotate for the turntable of placing clamp, driving disc makees pendulum motion is arranged in polishing rack.The device can be automatically performed the sanding and polishing task of mold, and can carry out the replacement task of sand paper automatically during polishing.

Description

A kind of integrated mould grinding device

Technical field

The utility model is related to a kind of grinding-polishing devices, and in particular to a kind of integrated mould grinding device.

Background technology

The sanding and polishing of mold still polishes based on manually or by electric and pneumatic equipment manually at present.This craft is beaten There is many disadvantages for mill mode：(1) noisy sound, spark, the dust generated in bruting process severely impacts polishing worker Health, be easy with the occupational diseases such as pneumoconiosis, Hearing；(2) when working, worker determines product by personal experience Whether machine, therefore processing quality cannot keep consistent, shortage and ensure；(3) because polishing process is single dull , worker is difficult to keep concentrating for a long time to do repetitive operation, and dispersion attention is easy in polishing, is not concentrated, is easy Industrial accident occurs.In addition, with the development of domestic economy, the recruitment cost of coastal area is higher and higher, and enterprise faces huge Equipment transition and upgrade pressure.

And polishing is polished using industrial robot and more can guarantee machining accuracy than common hand polish, so that processing is imitated Rate greatly improves, and equipment investment is few, at low cost, and the working environment of workers is improved well, solves and above-mentioned manually beats The shortcomings that mill, while a more advanced approach is opened for the processing of complex space curved surfaces, therefore designing one kind can be complete It is of great significance at the device of mold automatically grinding task.

Utility model content

The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of integrated mould grinding device, should Device can be automatically performed the sanding and polishing task of mold, and can carry out the replacement times of sand paper automatically during polishing Business.

The utility model solve above-mentioned technical problem technical solution be：

A kind of integrated mould grinding device, including manipulator, sand paper more changing device and polishing workbench；Wherein, institute The hand clamping for stating manipulator has mold core；The sand paper more changing device includes that the sand paper for being carried to new sand paper carries mould Block and the sand paper after carrying is pasted to sand paper stickup module on mold core, wherein the sand paper transfer module include paw, The first level driving that driving paw makees the first clamp drive mechanism of sand paper clamping movement, paw is driven to make horizontal stretching motion The rotary drive mechanism that mechanism and driving paw rotate；The sand paper stickup module includes for striking off old sand paper Scraper, for mold core dispenser for dispensing glue, cavity plate and with cavity plate cooperation for new sand paper carry out pressing clamping by Press clamping device, wherein the cavity plate is equipped with groove；The polishing workbench includes polishing rack, setting in polishing rack The upper turntable rotary drive mechanism to rotate for the turntable of placing clamp, driving disc and driving disc are made to swing fortune Dynamic turntable swing driving mechanism.

Preferably, the turntable rotary drive mechanism is made of the first rotary cylinder, wherein first rotary cylinder The bottom surface of rotary shaft and turntable connects.When work, the rotary shaft of rotary cylinder rotates, and then drives the folder on turntable and turntable Tool and mold rotation, to be adjusted to the posture of mold, with the polishing operation of cooperative mechanical hand.

Preferably, the cylinder body of first rotary cylinder is fixed in rotating box, and the two sides of the rotating box, which are equipped with, to be turned Axis, the polishing rack and shaft are ordinatedly equipped with shaft hole, the turntable swing driving mechanism by the second rotary cylinder or Motor is constituted, wherein the rotary shaft of the second rotary cylinder or the rotary shaft of motor are connect by shaft coupling with the shaft.Work When making, the rotary shaft of the second rotary cylinder or motor rotates, and drives the first rotary cylinder rotation in rotating box and rotating box, And then turntable and the fixture on turntable and mold swing are driven, to be adjusted to the posture of mold, with cooperative mechanical hand Polishing operation.

One preferred embodiment of the utility model, wherein the pressing clamping device includes two pressing pieces, driving two Two pressing pieces of the first vertical driving mechanism and driving that pressing piece makees vertical motion are made close to each other and are located remotely from each other movement The second clamp drive mechanism.When work, pressing clamping device carries out the preliminary fixation of sand paper successively and sand paper pressing pastes two The task of aspect, wherein the preliminary fixed operation of sand paper is：First vertical driving mechanism action, two pressing pieces of driving are downward Movement is contacted with sand paper, and to carry out pine to the both ends of sand paper, fixed (pine fixation refers to can when external force reaches certain value Sand paper is pulled out into pressing piece)；Then the mold core of sander is transported downwards under the driving of mechanical arm from the surface of groove port The dynamic sand paper for carrying out mold core lower part pastes task, wherein during sand paper is moved downward with mold core, the both ends of sand paper can be to Middle shrinkage and progressively disengage pressing piece, after the both ends of sand paper, which move to, completely disengages pressing piece, can itself toughness make It is upturned under, sand paper is between pressing piece and mold core at this time；Then, the first vertical driving mechanism carries out sand paper and presses pressure viscosity Patch task, specifically, under the driving of the second clamp drive mechanism, two pressing pieces are made movement close to each other and are contacted with sand paper, into And continue movement by sand paper pressing on mold core, then the second clamp drive mechanism and the first vertical driving mechanism act simultaneously, Two pressing pieces of driving are moved upwards close to the camber line of mold core, since two pressing pieces apply sand paper during moving upwards There is pressing force, therefore can be from the bottom up gradually by sand paper pressing on mold core；When two pressing pieces move to the top of mold core, Complete the stickup task of entire mold core.

Preferably, the sand paper more changing device further includes cutting module, which includes the sand for placing sand paper Paper guide plate, the upper shearing knife above sand paper guide plate side, shearing knife makees the second vertical driving machine of vertical motion in driving The lower shearing knife of structure, the lower shearing knife below upper shearing knife and driving makees the vertical driving mechanism of third of vertical motion.This The size for the sand paper that the purpose of sample setting is that required size is smaller when being pasted due to sand paper, and supplies is larger, therefore viscous It needs first to cut out required size from the sand paper of supply before patch, specific trimming operation is：When work, paw is first transported It moves to the sand paper on guide plate being clamped at sand paper guide plate, then holds sand paper under the driving of first level driving mechanism Make the direction far from sand paper guide plate and moves certain distance, the size of sand paper after the corresponding cutting of the distance；Then, upper shearing knife is under Ability shearing knife makees the relative motion of vertical direction under the driving of the second vertical driving mechanism and the vertical driving mechanism of third respectively Sand paper is cut, to which the size for cutting out required when sand paper is pasted then is removed by setting after completing cutting task Sand paper after cutting is carried on cavity plate by fortune module.

Preferably, the cutting module further includes hold-down mechanism, which is arranged in the top of sand paper guide plate, including Compact heap and driving compact heap make the 4th vertical driving mechanism of vertical motion.The purpose being arranged in this way is, is cut out when utilizing When shearing machine structure cuts sand paper, since the quality of sand paper is softer, when only one end of sand paper is fixed using paw, When cutting it is possible that the loose one end of swaging clamp phenomenon, i.e. sand paper adapts under the action of shearing knife cuts power Property deformation and be stuck between upper and lower shearing knife, so as to cause cut fail.After above-mentioned hold-down mechanism is set, when work, the Four vertical driving mechanism driving compact heaps, which move downward, realizes being fixed to the other end of sand paper, in this way, due to sand paper Both ends are all fixed, therefore the generation of above-mentioned swaging clamp phenomenon can be avoided when cutting, so that sand paper cuts work More successfully carry out.

One preferred embodiment of the utility model, wherein the paw is made of upper grip block and lower grip block, wherein Upper grip block and lower grip block are rectangular block, and the both ends of the rectangular block extend outward to form clamping part, the sand paper guide plate respectively Upper to be ordinatedly equipped with notch with the clamping part, when paw makees clamping sand paper movement, the clamping part is extend into notch.This The purpose of sample setting is that before above-mentioned notch is not arranged, when carrying out sand paper holding action, sand paper guide plate can be to holding action It causes to hinder, it is therefore necessary to which sand paper, which is stretched out sand paper guide plate a distance (distance forms the clamped portion of sand paper), to carry out Normal holding action；And by above-mentioned setting, sand paper is pressed from both sides when upper grip block and lower grip block make movement close to each other During holding, since notch, the clamping part energy of upper and lower grip block are ordinatedly equipped on sand paper guide plate with the clamping part It is enough to continue to make movement close to each other across sand paper guide plate, and then realize the clamping to sand paper, so that holding action is more square Just it carries out.

Preferably, the sand paper more changing device further includes sand paper separation transhipment module, and sand paper separation transhipment module includes For storing the material-storing box of sand paper, vacuum cup, the 5th vertical driving mechanism for driving vacuum cup to move up and down, driving very Suction disk travels to and fro between the second horizontal drive mechanism between material-storing box and sand paper guide plate, wherein the vacuum cup is filled with negative pressure Set connection.When work, after completing the separation transhipment task of a upper sand paper, under the driving of the 5th vertical driving mechanism, very Suction disk moves upwards, and then under the driving of the second horizontal drive mechanism, vacuum cup moves horizontally, and is led from positioned at sand paper The upper direction of plate is to the top of material-storing box；Then, the 5th vertical driving mechanism of carrying acts again, and vacuum cup moves downward To the top of sand paper, under the action of negative pressure device, vacuum cup picks up sand paper, is then carried to sand paper according to former route Above sand paper guide plate, last vacuum cup disconnects the suction-operated to sand paper, and sand paper drops down onto sand paper guide plate under gravity On, to complete entire sand paper handling process.During being drawn to sand paper by above-mentioned apparatus, on the one hand, due to true Suction disk only has adsorption capacity to the sand paper of top layer, therefore can easily detach the sand paper of top layer with other sand paper, Ensure only to carry a sand paper every time, to meet the carrying demand of individual sand paper.With respect to the mode manually carried Speech, can avoid passing through finger realize sand paper between separation there is a problem of that separation is difficult and separation is slow, to improve handling efficiency； It is carried by way of fixed point location when on the other hand, due to work, sand paper has accurate positioning after carrying The advantages of advantage subsequently cuts and pastes precision since the positioning accuracy of sand paper after carrying directly affects, the accurate positioning It is most important for entire sand paper apparatus for automatic change.

Preferably, the vacuum cup is elastic telescopic pipe.When work, on the one hand, when the drive of the 5th vertical driving mechanism It is dynamic outrange cause vacuum cup to be contacted with sand paper after when continuing to move downward, vacuum cup can carry out the contractile motion of itself It is adjusted, prevents collision phenomenon；On the other hand, can using vacuum cup can the characteristic of elastic shrinkage reduce The variation of dropping distance when being adsorbed to sand paper, specifically, each dropping distance of vacuum cup all immobilizes when work, this Sample, when beginning, when vacuum cup is contacted with sand paper and stops moving downward, the decrement of vacuum cup is maximum, later with The height of vacuum cup is gradually reduced, and the decrement of vacuum cup is also gradually reduced, but can still carry out normally adsorbing work Make, to greatly reduce the adjustment in handling process to dropping distance.

Preferably, the nozzle of the dispenser is arranged along the axis direction of groove, by solid between dispenser and rack Fixed board connects, wherein the fixed plate includes vertically arranged rack interconnecting piece for being fixedly connected between rack, vertically sets Set the dispenser fixed part for being fixedly connected with dispenser and be horizontally installed on rack interconnecting piece and dispenser fixed part it Between transition connection portion.When work, mold core is needed along the horizontal movement of recess axis direction to cavity plate top, due to dispenser Nozzle is arranged along the axis direction of groove, therefore haves no need to change path after mold core completes dispensing task, can continue to edge It primitive axis line movement locus to move along a straight line to the top of cavity plate, and then makees the stickup task of new sand paper.The benefit being arranged in this way exists In, enable to the route that mold core moves after viscose glue most simple, stroke is most short, fastest, to paste when glue energy It is enough to keep preferable viscosity (glue longer when the time of exposure in air, viscosity is poorer) so that the effect that sand paper is pasted is more It is good；In addition, by the way that above-mentioned connecting plate is arranged, it disclosure satisfy that the installation position of dispenser requires so that dispenser can be securely It is fixed on the rack.

The operation principle of the utility model is：

Before being polished mold using manipulator, the clamping for first carrying out mold is fixed and the replacement task of sand paper, tool Body, the clamping fixed operation of mold is：Clamping is carried out to mold to fix, then again pass through the pedestal of fixture first with fixture Bolt is connect with turntable；The replacement operation of sand paper is：It is driven in first level driving mechanism, the first clamp drive mechanism and rotation Under the driving of motivation structure, the feeding point that paw first moves to sand paper carries out feeding to sand paper, and the top for then moving cavity plate again is right Sand paper carries out blowing, and after completing blowing task, sand paper is pressed clamping device pressing and is ready for sand paper on cavity plate upper surface Stickup task；

Specifically, the paste operation of sand paper is：Mechanical hand-motion mold core first moves at old sand paper removal module position, leads to It crosses and carries out the mode of multiple-contact friction between scraper and realize and strike off the old sand paper on mold core；Then manipulator is again with dynamic model Core moves to progress dispensing at dispensing module position, wherein while carrying out dispensing to mold core using dispenser, manipulator drives Moving-mould-core rotates, so that glue can be uniformly distributed on the cylindrical surface of mold core；Last manipulator is again with dynamic model Core moves to the stickup task that new sand paper is carried out at new sand paper stickup module position, and specifically, mold core first moves to the upper of groove Side, is then moved downwardly to by the sand paper pressed against on groove and is bonded with groove, and during the bonding process, mold core presses sand paper application Pressure realizes the stickup with sand paper, to complete the stickup task of mold core lower part, then, pressing clamping device action, by sand The remainder of paper is pressed in the upper part of mold core, so as to complete the stickup task of entire sand paper.

After completing the clamping fixation of mold and the replacement task of sand paper, mechanical hand-motion mold core moves at polishing workbench The polishing task for proceeding by mold, in bruting process, turntable rotary drive mechanism and turntable swing driving mechanism pass through drive Turn disk, which rotates, changes the posture of mold with pendulum motion, is completed so as to cooperative mechanical arm complicated on mold Curved surface sanding and polishing task.

The utility model has advantageous effect below compared with prior art：

1, a kind of integrated mould grinding device of the utility model can be automatically performed Mold polishing polishing task, beat During grinding and polishing light, and the replacement task of sand paper can be carried out during polishing automatically, therefore in entire bruting process When all need not manually participate in, therefore can overcome by being accomplished manually replacement task existing working efficiency it is low, it is bothersome it is laborious, The problems such as safety is poor.

2, a kind of integrated mould grinding device of the utility model can be revolved when polishing mold by turntable Turn driving mechanism and turntable swing driving mechanism driving disc rotate and changes the posture of mold with the mode of pendulum motion, Curved surface sanding and polishing task complicated on mold is completed so as to cooperative mechanical arm, relative to hand-polished mode Speech can greatly improve Mold polishing precision and the consistency of polishing, therefore effect of polishing is good.

3, a kind of integrated mould grinding device of the utility model can carry out fixed point location to the sand paper after cutting Transfer and carrying work, therefore the ideal position when sand paper after carrying can be placed on sand paper stickup is completed, so that Subsequent sand paper sticking effect is more preferable.

4, it when sand paper is pasted, needs to fasten stickup to adhesive surface application pressing force so that sand paper can be realized, due to The adhesive surface of mold core is cylindrical surface, therefore the direction of the pressing force needs constantly to change, so that application work difficulty is big, As the technical barrier of this field.And the sand paper apparatus for automatic change of the utility model by cavity plate and pressing piece co-operatively Apply pressing force step by step, i.e., is only appointed by the way that mold core pressing can be realized as to the stickup of mold core lower part in the groove of recessed film Business only moves upwards the stickup task that can be realized as mold core top, therefore by control pressing piece according to specified route It has well solved cylindrical surface mold core and has pasted difficult problem, and entire paste has the advantages that easy to operate, convenient, therefore design It is ingenious.

5, a kind of integrated mould grinding device of the utility model is during sand paper is pasted, due to pressing piece and recessed Mould is larger to the pressing force of sand paper and pressing is uniform, therefore sand paper can be bonded with mold core well, so that sticking effect It is good.

Description of the drawings

Fig. 1 is a kind of structural representation of a specific implementation mode of integrated mould grinding device of the utility model Figure.

Fig. 2 is a specific implementation mode of sand paper more changing device in a kind of integrated mould grinding device shown in FIG. 1 Dimensional structure diagram.

Fig. 3 is the dimensional structure diagram at another visual angle of sand paper more changing device shown in figure.

Fig. 4 is the dimensional structure diagram that module is cut in Fig. 3.

Fig. 5 is the dimensional structure diagram that module and the second transfer module are cut in Fig. 3.

Fig. 6 is the working state figure when paw carries out sand paper clamping in Fig. 5.

Fig. 7 is the dimensional structure diagram of stickup module in Fig. 1.

Fig. 8 is the working state figure when mold core carries out dispensing in Fig. 7.

Fig. 9 is the stereoscopic mechanism schematic diagram of a specific implementation mode of polishing workbench in Fig. 1.

Figure 10 and Figure 11 is the dimensional structure diagram of sand paper separation transhipment module in Fig. 3, wherein wherein, Figure 10 is to work as Vacuum cup moves to dimensional structure diagram when being ready for sand paper absorption above material-storing box；Figure 11 is when vacuum cup is transported Dimensional structure diagram sand paper removed when being placed on sand paper guide plate is moved to preparation above sand paper guide plate.

Specific implementation mode

The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model Mode is without being limited thereto.

Referring to Fig. 1 and Fig. 8, a kind of integrated mould grinding device of the utility model, including manipulator 1, sand paper are replaced Device 2 and polishing workbench 3, wherein the hand clamping of the manipulator has mold core 1-1；

Referring to Fig. 2-Fig. 9, the sand paper more changing device 2 includes that the sand paper for being carried to new sand paper 7 is carried Module 4 and the sand paper 7 after carrying is pasted to sand paper stickup module 5 on mold core 1-1, wherein the sand paper transfer module 4 It is horizontal to make the first clamp drive mechanism 4-2 of sand paper clamping movement, driving paw 4-1 works including paw 4-1, driving paw 4-1 The rotary drive mechanism 4-4 that the first level driving mechanism 4-3 and driving paw of stretching motion rotate；The sand paper Stickup module 5 includes that the stickup module includes scraper 5-1 for striking off old sand paper 7, is used for point for dispensing glue to mold core 1-1 Glue machine 5-2, cavity plate 5-3 and pressing clamping device 5-4 with cavity plate 5-3 cooperation for carrying out pressing clamping to new sand paper 7, In, the cavity plate 5-3 is equipped with groove 5-31；The polishing workbench 3 includes polishing rack 3-1, setting in polishing rack The turntable rotary drive mechanism 3-3 and drive that turntable 3-2, driving disc 3-2 for fixture 9 to be fixed rotate The turntable swing driving mechanism 3-4 that turn disk 3-2 is swung.

Referring to Fig. 9, the turntable rotary drive mechanism 3-3 is made of the first rotary cylinder, wherein first rotary pneumatic The rotary shaft of cylinder is connect with the bottom surface of turntable 3-2.When work, the rotary shaft of rotary cylinder rotates, so drive turntable 3-2 and Fixture 9 on turntable 3-2 and mold rotation, to be adjusted to the posture of mold, with the polishing operation of cooperative mechanical hand.

Referring to Fig. 9, the cylinder body of first rotary cylinder is fixed in rotating box 3-5, on the two sides of rotating box 3-5 Equipped with shaft, the polishing rack 3-1 is ordinatedly equipped with shaft hole with shaft, and the turntable swing driving mechanism 3-4 is by second Rotary cylinder or motor are constituted, wherein the rotary shaft of the second rotary cylinder or the rotary shaft of motor pass through shaft coupling and institute State shaft connection.When work, the rotary shaft of the second rotary cylinder or motor rotates, and drives in rotating box 3-5 and rotating box 3-5 The rotation of the first rotary cylinder, and then fixture 9 and mold on turntable 3-2 and turntable 3-2 is driven to swing, to mold Posture is adjusted, with the polishing operation of cooperative mechanical hand.

Referring to Fig. 7 and Fig. 8, the pressing clamping device 5-4 includes two two pressing piece 5-41, driving pressing piece 5-41 The two pressing piece 5-41 of the first vertical driving mechanism 5-42 and driving for making vertical motion make close to each other and are located remotely from each other fortune The second dynamic clamp drive mechanism 5-43.When work, pressing clamping device 5-4 carries out preliminary fixation and the sand paper 7 of sand paper 7 successively Pressing paste of both task, wherein the preliminary fixed operation of sand paper 7 is：First vertical driving mechanism 5-42 actions, driving Two pressing piece 5-41 are moved downward to be contacted with sand paper 7, and to be fixed to the both ends of sand paper 7 progress pine, (loose fixation refers to working as Sand paper 7 can be pulled out pressing piece 5-41 by external force when reaching certain value)；Then the mold core 1-1 of sander is in mechanical arm The 7 stickup task of sand paper for carrying out mold core 1-1 lower parts is moved downward right over groove 5-31 under driving, wherein sand paper 7 with During mold core 1-1 is moved downward, the both ends of sand paper 7 can progressively disengage pressing piece 5-41 to middle shrinkage, when sand paper 7 Both ends move to completely disengage pressing piece 5-41 after, can itself toughness effect under be upturned, at this time sand paper 7 be located at pressing Between part 5-41 and mold core 1-1；Then, the first vertical driving mechanism 5-42 carries out sand paper 7 and presses stickup task, specifically, Under the driving of second clamp drive mechanism 5-43, two pressing piece 5-41 make movement close to each other and are contacted with sand paper 7, and then after reforwarding Dynamic to press sand paper 7 on mold core 1-1, then the vertical driving mechanism 5-42 of the second clamp drive mechanism 5-43 and first are moved simultaneously Make, two pressing piece 5-41 of driving are moved upwards close to the camber line of mold core 1-1, due to two pressing piece during moving upwards 5-41 is applied with pressing force to sand paper 7, therefore can be from the bottom up gradually by the pressing of sand paper 7 on mold core 1-1；When two pressing pieces When 5-41 moves to the top of mold core 1-1, that is, complete the stickup task of entire mold core.

Referring to Fig. 4 and Fig. 5, the sand paper more changing device 2 further includes cutting module 6, which includes for placing The sand paper guide plate 6-1 of sand paper 7, the upper shearing knife 6-2 above the sides sand paper guide plate 6-1, shearing knife 6-2 makees vertically in driving The second vertical driving mechanism 6-3, the lower shearing knife 6-4 below upper shearing knife 6-2 of movement and the lower shearing knife 6-4 of driving Make the vertical driving mechanism 6-5 of third of vertical motion.The purpose being arranged in this way is, required size when being pasted due to sand paper 7 It is smaller, and the size of the sand paper 7 supplied is larger, therefore need elder generation to cut out required ruler from the sand paper 7 of supply before stickup Very little size, specific trimming operation are：When work, paw 4-1 first move at sand paper guide plate 6-1 to the sand paper 7 on guide plate into Then row clamping holds sand paper 7 under the driving of first level driving mechanism 4-3 and makees the direction fortune far from sand paper guide plate 6-1 Dynamic certain distance, the size of sand paper 7 after the corresponding cutting of the distance；Then, upper shearing knife 6-2 and lower shearing knife 6-4 is respectively The relative motion for making vertical direction under the driving of two vertical driving mechanism 6-3 and the vertical driving mechanism 6-5 of third carries out sand paper 7 It cuts, it, then will by setting transfer module after completing cutting task to cut out size required when sand paper 7 is pasted Sand paper 7 after cutting is carried on cavity plate 5-3.

Referring to Fig. 6, wherein the paw 4-1 is made of upper grip block 4-11 and lower grip block 4-12, wherein upper clamping Block 4-11 and lower grip block 4-12 is rectangular block, and the both ends of the rectangular block extend outward to form clamping part respectively, and the sand paper is led It is ordinatedly equipped with notch 6-11 with the clamping part on plate 6-1, when paw 4-1, which makees clamping sand paper 7, to be moved, the clamping part is stretched Enter into notch 6-11.The purpose being arranged in this way is, before above-mentioned notch 6-11 is not arranged, when progress 7 holding action of sand paper When, sand paper guide plate 6-1 can be caused to hinder to holding action, it is therefore necessary to which sand paper 7 is stretched out sand paper guide plate 6-1 a distances (should Distance forms the clamped portion of sand paper 7) normal holding action could be carried out；And by above-mentioned setting, as upper grip block 4-11 Make during sand paper 7 is clamped in movement close to each other with lower grip block 4-12, due to sand paper guide plate 6-1 on and the folder It holds portion and is ordinatedly equipped with notch 6-11, therefore the clamping part of upper and lower grip block 4-12 can continue to make phase across sand paper guide plate 6-1 Mutually close to movement, and then the clamping to sand paper 7 is realized, so that the more convenient progress of holding action.

Referring to Fig. 4 and Fig. 5, the cutting module 6 further includes hold-down mechanism, which is arranged in sand paper guide plate 6-1 Top, including compact heap 6-6 and driving compact heap 6-6 make the 4th vertical driving mechanism 6-7 of vertical motion.It is arranged in this way Purpose be, when being cut to sand paper 7 using upper shearing knife and lower shearing knife, since the quality of sand paper 7 is softer, work as profit When only one end of sand paper 7 being fixed with paw 4-1, when cutting it is possible that swaging clamp phenomenon, i.e. sand paper 7 are not fixed One end adaptability deformation occurs under the action of shearing knife cuts power and between being stuck in upper and lower shearing knife 6-4, so as to cause sanction It cuts unsuccessfully.After above-mentioned hold-down mechanism is arranged, when work, the 4th vertical driving mechanism 6-7 drivings compact heap 6-6 is moved downward Realize being fixed to the other end of sand paper 7, in this way, the both ends due to sand paper 7 are all fixed, the energy when cutting The generation of above-mentioned swaging clamp phenomenon is enough avoided, is more successfully carried out so that sand paper 7 cuts work.

Referring to Fig. 3, Figure 10 and Figure 11, the sand paper more changing device 2 further includes sand paper separation transhipment module 8, the sand paper point Include moving up and down for storing the material-storing box 8-1 of sand paper 7, vacuum cup 8-2, driving vacuum cup 8-2 from transhipment module 8 The 5th vertical driving mechanism 8-3, driving vacuum cup 8-2 travel to and fro between the second water between material-storing box 8-1 and sand paper guide plate 6-1 Flat driving mechanism 8-4, wherein the vacuum cup 8-2 is connect with negative pressure device.When work, when point for completing a upper sand paper 7 After transhipment task, under the driving of the 5th vertical driving mechanism 8-3, vacuum cup 8-2 is moved upwards, then in the second level Under the driving of driving mechanism 8-4, vacuum cup 8-2 moves horizontally, from the upper direction positioned at sand paper guide plate 6-1 to material-storing box The top of 8-1；Then, the 5th vertical driving mechanism of carrying acts again, and vacuum cup 8-2 is moved downwardly to the top of sand paper 7, Under the action of negative pressure device, vacuum cup 8-2 picks up sand paper 7, and sand paper 7 is then carried to sand paper guide plate according to former route Above 6-1, last vacuum cup 8-2 disconnects the suction-operated to sand paper 7, and sand paper 7 drops down onto sand paper guide plate under gravity On 6-1, to complete 7 handling process of entire sand paper.During being drawn to sand paper 7 by above-mentioned apparatus, on the one hand, by Only have an adsorption capacity to the sand paper 7 of top layer in vacuum cup 8-2, thus can easily by the sand paper of top layer 7 with it is other Sand paper 7 detaches, and ensures only to carry a sand paper 7 every time, to meet the carrying demand of individual sand paper 7.With respect to artificial For the mode of carrying, can avoid passing through finger realize sand paper 7 between separation there is a problem of that separation is difficult and separation is slow, to carry High handling efficiency；It is carried by way of fixed point location when on the other hand, due to work, sand paper 7 after carrying Have the advantages that accurate positioning, it, should since the positioning accuracy of sand paper 7 after carrying directly affects follow-up cutting and pastes precision The advantages of accurate positioning, is most important for 7 apparatus for automatic change of entire sand paper.

Referring to Figure 10, the vacuum cup 8-2 is elastic telescopic pipe.When work, on the one hand, when the 5th vertical driving mechanism The driving of 8-3 outrange cause vacuum cup 8-2 to be contacted with sand paper 7 after when continuing to move downward, vacuum cup 8-2 can be carried out Itself contractile motion is adjusted, and prevents collision phenomenon；On the other hand, can using vacuum cup 8-2 can bullet Property the variation of characteristic dropping distance when adsorb to sand paper 7 to reduce shunk, specifically, when work vacuum cup 8-2 is every time Dropping distance all immobilizes, in this way, when starting, when vacuum cup 8-2 is contacted with sand paper 7 and stops moving downward, vacuum The decrement of sucker 8-2 is maximum, later as the height of vacuum cup 8-2 is gradually reduced, the decrement of vacuum cup 8-2 also by It is decrescence small, but can still carry out normally adsorbing work, to greatly reduce the adjustment in handling process to dropping distance.

Referring to Fig. 8, the nozzle of the dispenser 5-2 is arranged along the axis direction of groove 5-31, dispenser 5-2 and rack Between connected by fixed plate, wherein the fixed plate includes that vertically arranged rack for being fixedly connected between rack connects Socket part, vertically arranged dispenser 5-2 fixed parts for being fixedly connected with dispenser 5-2 and it is horizontally installed on rack interconnecting piece With the transition connection portion between dispenser 5-2 fixed parts.When work, mold core 1-1 needs horizontal along groove 5-31 axis directions It moves to above cavity plate 5-3, since the nozzle of dispenser 5-2 is arranged along the axis direction of groove 5-31, works as mold core 1-1 Path is had no need to change after completing dispensing task, can continue to move along a straight line along primitive axis line movement locus upper to cavity plate 5-3 Side, and then make the stickup task of new sand paper 7.The advantages of this arrangement are as follows enabling to the road that mold core 1-1 is moved after viscose glue Line is most simple, and stroke is most short, fastest, to which when pasting, glue can keep preferable viscosity (glue is when in air The exposed time is longer, and viscosity is poorer) so that the effect that sand paper 7 is pasted is more preferable；In addition, by the way that above-mentioned connecting plate is arranged, it can The installation position for meeting dispenser 5-2 requires so that dispenser 5-2 can be securely fixed in rack.

Referring to Fig. 1-Figure 11, the operation principle of the utility model is：It is advanced before being polished mold using manipulator The clamping of row mold is fixed and the replacement task of sand paper 7, and specifically, the clamping fixed operation of mold is：First with fixture 9 to mould Tool carries out clamping and fixes, and then again connect the pedestal of fixture 9 with turntable 3-2 by bolt；The replacement operation of sand paper 7 is： Under the driving of first level driving mechanism 4-3, the first clamp drive mechanism 4-2 and rotary drive mechanism 4-4, paw 4-1 is first The feeding point for moving to sand paper 7 carries out feeding to sand paper 7, and the top for then moving cavity plate 5-3 again carries out blowing to sand paper 7, complete After blowing task, sand paper 7 is pressed the stickup times that clamping device 5-4 pressings are ready for sand paper 7 on the upper surfaces cavity plate 5-3 Business；

Specifically, the paste operation of sand paper 7 is：Mechanical hand-motion mold core 1-1 first moves to old sand paper 7 and removes module position Place is realized by way of carrying out multiple-contact friction between scraper 5-1 and strikes off the old sand paper 7 on mold core 1-1；Then machine Band moving-mould-core 1-1 moves at dispensing module position progress dispensing to tool hand again, wherein using dispenser 5-2 to mold core 1-1 into While row dispensing, robot drives mold core 1-1 rotates, so that glue can be uniformly distributed in mold core 1-1's On cylindrical surface；Last manipulator moves to moving-mould-core 1-1 at new 5 position of sand paper stickup module the stickup for carrying out new sand paper 7 again Task, specifically, mold core 1-1 first move to the top of groove 5-31, are then moved downward by the sand paper 7 pressed against on groove 5-31 To being bonded with groove 5-31, during the bonding process, mold core 1-1 applies sand paper 7 stickup of pressing force realization and sand paper 7, from And the stickup task of mold core 1-1 lower parts is completed, then, the 5-4 actions of pressing clamping device exist the remainder pressing of sand paper 7 The upper part of mold core 1-1, so as to complete the stickup task of entire sand paper 7.

After completing the clamping fixation of mold and the replacement task of sand paper 7, mechanical hand-motion mold core 1-1 moves to polishing work The polishing task that mold is proceeded by platform 3, in bruting process, turntable 3-2 rotary drive mechanisms 4-4 and turntable 3-2 are swung Driving mechanism is rotated by driving disc 3-2 changes the posture of mold with pendulum motion, so as to cooperative mechanical Arm completes curved surface sanding and polishing task complicated on mold.

Referring to Fig. 1-Figure 11, first clamping device and the second clamping device are made of finger cylinder, first water Flat driving mechanism, the first vertical driving mechanism, the second vertical driving mechanism, the vertical driving mechanism of third, the 4th vertical driving machine Structure, the 5th vertical driving mechanism are made of telescopic cylinder or electromagnet.

Above-mentioned is the preferable embodiment of the utility model, but the embodiment of the utility model is not by the above Limitation, other any Spirit Essences without departing from the utility model under principle made by changes, modify, substitute, combine, simple Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.

Claims (10)

1. a kind of integrated mould grinding device, which is characterized in that including manipulator, sand paper more changing device and polishing work Platform；Wherein, the hand clamping of the manipulator has mold core；The sand paper more changing device includes for being carried to new sand paper Sand paper transfer module and the sand paper after carrying is pasted to sand paper stickup module on mold core, wherein the sand paper carries mould Block includes paw, driving paw makees the first clamp drive mechanism of sand paper clamping movement, driving paw makees horizontal stretching motion The rotary drive mechanism that first level driving mechanism and driving paw rotate；The sand paper stickup module includes being used for Scraper that old sand paper is struck off, for mold core dispenser for dispensing glue, cavity plate and with cavity plate cooperation for being carried out to new sand paper Press the pressing clamping device of clamping, wherein the cavity plate is equipped with groove；The polishing workbench includes polishing rack, sets Set the turntable rotary drive mechanism to rotate for the turntable of placing clamp, driving disc in polishing rack and driving Turntable makees the turntable swing driving mechanism of pendulum motion.

2. a kind of integrated mould grinding device according to claim 1, which is characterized in that the turntable rotary driving machine Structure is made of the first rotary cylinder, wherein the rotary shaft of first rotary cylinder and the bottom surface of turntable connect.

3. a kind of integrated mould grinding device according to claim 2, which is characterized in that first rotary cylinder Cylinder body is fixed in rotating box, and the two sides of the rotating box are equipped with shaft, and the polishing rack is ordinatedly equipped with shaft to be turned Axis hole, the turntable swing driving mechanism are made of the second rotary cylinder or motor, wherein the rotary shaft of the second rotary cylinder Or the rotary shaft of motor is connect by shaft coupling with the shaft.

4. a kind of integrated mould grinding device according to claim 1, which is characterized in that the pressing clamping device packet Include two pressing pieces, two pressing pieces of driving make the first vertical driving mechanism of vertical motion and two pressing pieces is driven to make phase The second clamp drive mechanism that is mutually close and being located remotely from each other movement.

5. a kind of integrated mould grinding device according to claim 4, which is characterized in that the sand paper more changing device is also Including cutting module, which includes for placing the sand paper guide plate of sand paper, the upper sanction above sand paper guide plate side On scissors, driving shearing knife make the second vertical driving mechanism of vertical motion, the lower shearing knife below upper shearing knife and The lower shearing knife of driving makees the vertical driving mechanism of third of vertical motion.

6. a kind of integrated mould grinding device according to claim 5, which is characterized in that the cutting module further includes Hold-down mechanism, which is arranged makees vertical motion in the top of sand paper guide plate, including compact heap and driving compact heap 4th vertical driving mechanism.

7. a kind of integrated mould grinding device according to claim 6, which is characterized in that the paw is by upper grip block It is constituted with lower grip block, wherein above grip block and lower grip block are rectangular block, and the both ends of the rectangular block extend outward to form respectively Clamping part is ordinatedly equipped with notch on the sand paper guide plate with the clamping part, when paw makees clamping sand paper movement, the folder The portion of holding is extend into notch.

8. a kind of integrated mould grinding device according to claim 7, which is characterized in that the sand paper more changing device is also Transhipment module is detached including sand paper, sand paper separation transhipment module includes the material-storing box, vacuum cup, driving for storing sand paper The 5th vertical driving mechanism that vacuum cup moves up and down, driving vacuum cup are travelled to and fro between material-storing box and sand paper guide plate Second horizontal drive mechanism, wherein the vacuum cup is connect with negative pressure device.

9. a kind of integrated mould grinding device according to claim 8, which is characterized in that the vacuum cup is elasticity Telescoping tube.

10. a kind of integrated mould grinding device according to claim 1, which is characterized in that the nozzle of the dispenser It is arranged along the axis direction of groove, is connected by fixed plate between dispenser and rack, wherein the fixed plate includes vertical It is solid that rack interconnecting piece for being fixedly connected between rack, the vertically arranged dispenser for being fixedly connected with dispenser are set The transition connection portion determined portion and be horizontally installed between rack interconnecting piece and dispenser fixed part.