CN207983037U - The robot automatically grinding system integration - Google Patents
The robot automatically grinding system integration Download PDFInfo
- Publication number
- CN207983037U CN207983037U CN201820322665.8U CN201820322665U CN207983037U CN 207983037 U CN207983037 U CN 207983037U CN 201820322665 U CN201820322665 U CN 201820322665U CN 207983037 U CN207983037 U CN 207983037U
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- China
- Prior art keywords
- pipeline
- sanding component
- cabinet
- polishing
- shadow
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- 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.)
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Abstract
The utility model discloses a kind of robot automatically grinding system integrations, include for control electrical cabinet, annular setting pipeline, place workpiece to be polished jig, several sanding components, according to shadow sorting mechanism, it is provided with feeding station on pipeline, shadow sorting mechanism outside is provided with the scrap material slideway being connected with pipeline.By annular setting pipeline, grinding apparatus within loop wire, can effectively avoid it is man-machine mix together, avoid the occurrence of industrial accident；It works at the same time personnel and only needs blowing and rewinding operation at feeding station, reduce labor intensity；Its precision of polishing can be improved after processing is polished for a plurality of times after polishing workpiece, and the polishing operation automated can improve whole grinding efficiency.It also can be by filtering out out according to shadow sorting mechanism when there is waste product, and pushed in scrap material slideway, the process for reducing subsequent artefacts' screening can effectively reduce production cost.
Description
Technical field
The utility model is related to industrial robot application field more particularly to a kind of robot automatically grinding system integrations.
Background technology
Currently, the metal works polishing on the machining production line of most of producers of China still uses manual polishing to complete, labor
Fatigue resistance is big, and low production efficiency, and often production development safety accident, therefore it is impossible to meet modernization industry productions
Demand.Currently, occurring the sander for sanding operation in the market, grinding process is carried out for workpiece surface, it can not
Secondary grinding process is carried out, polishing fineness is inadequate.Several sanders are distributed on each polishing station of production line simultaneously, people
Member shuttles in production line so that scene is chaotic, is susceptible to safety accident.
Utility model content
To overcome disadvantages mentioned above, the purpose of this utility model is to provide a kind of robot automatically grinding system integration, energy
Enough specification polishing production lines, improve the polishing precision of whole grinding efficiency and workpiece.
In order to reach object above, the technical solution adopted in the utility model is：A kind of robot automatically grinding system collection
At, include electrical cabinet for control, annular setting pipeline, be provided on the pipeline and place controlling for workpiece to be polished
Have, several sanding components being connected with electrical cabinet, each sanding component are provided in region made of the pipeline surrounds
Charging one end where pipeline on be provided with alignment sensor, on the pipeline where discharging one end of each sanding component
It is provided with the blocking mechanism for intercepting jig；It is provided with feeding station on the pipeline, is located at feeding station and is passed against pipeline
Defeated direction side is provided with the photograph shadow sorting mechanism being connected with electrical cabinet, and the shadow sorting mechanism that takes includes and electrical cabinet picture
High-definition camera even and pusher cylinder are provided with scraping wings at the mandril of the pusher cylinder, along the extension of pusher cylinder
It is provided with scrap material slideway on the outside of pipeline where direction, one end of the scrap material slideway is connected with pipeline.
The pipeline that the utility model is arranged by annular, grinding apparatus can be avoided effectively man-machine mixed within loop wire
It is miscellaneous together, avoid the occurrence of industrial accident；It works at the same time personnel and only needs blowing and rewinding operation at feeding station, reduce labor
Fatigue resistance；Its precision of polishing can be improved after processing is polished for a plurality of times after polishing workpiece, and the polishing operation automated can
Improve whole grinding efficiency.It also can be by filtering out out according to shadow sorting mechanism when there is waste product, and pushed to
In scrap material slideway, the process for reducing subsequent artefacts' screening can effectively reduce production cost.
Preferably, the quantity of the sanding component is even number, is symmetrically distributed in the both sides of pipeline；Positioned at feeding station
One group of sanding component of side is primary sanding component；One group of sanding component positioned at the feeding station other side is two level polishing group
Part.By the way that sanding component is divided into primary sanding component and two level sanding component, and then polishing workpiece can be treated and carry out secondary beat
Operation is ground, its precision of polishing is improved.Every group of sanding component can handle multiple workpiece to be polished simultaneously simultaneously, improve its polishing
Efficiency.
Preferably, the sanding component includes six-joint robot and sander, the setting of six-joint robot arm end
It is useful for capturing the sucker gripper of workpiece to be polished.By six-joint robot can multi-angle change the polishing angle of workpiece to be polished
Degree meets the needs of difference grinding workpieces angle to be polished is different.
Preferably, the electrical cabinet includes cabinet, be provided in the cabinet programmable logic controller (PLC), I/O terminal blocks,
Ethernet switch and power cabinet, the programmable logic controller (PLC) are connected with I/O terminal blocks and Ethernet switch respectively；Institute
The connector for being additionally provided with teaching-programming pendant on cabinet outer wall, being connected with teaching-programming pendant is stated, the connector may be programmed with described
Logic controller is connected；The pipeline, sanding component, alignment sensor, blocking mechanism, according to shadow sorting mechanism with it is programmable
Logic controller is connected.Remote control can be realized by Ethernet switch, and different types of work to be polished is realized to facilitate
Switch operating between part；And teaching-programming pendant can carry out polishing debugging for each type of workpiece to be polished, raising is beaten
The yields of mill.
Preferably, the touch screen being connected with programmable logic controller (PLC), meter lamp are additionally provided on the cabinet.It is existing
Personnel can by observe meter lamp understand grinding apparatus whether normal operation, can also be convenient when occurring abnormal
It is debugged by touch screen, improves the promptness that failure solves.
Preferably, the pipeline is roller conveyer, and the blocking mechanism includes being arranged below roller bearing and may be programmed
Logic controller connected lifting cylinder is provided with the blocking being inserted at two roller gaps on the mandril of the lifting cylinder
Plate.It places and is positioned after the jig of polishing workpiece is intercepted by barrier plate, facilitate the crawl of follow-up six-joint robot.And it adopts
Change the height and position of barrier plate with lifting cylinder, it is simple in structure, it is easily installed maintenance.
Description of the drawings
Fig. 1 is the schematic top plan view of the utility model embodiment；
Fig. 2 is the stereogram of the six-joint robot of the utility model embodiment；
Fig. 3 is the stereogram of the electrical cabinet of the utility model embodiment；
Fig. 4 is the structural schematic diagram of the blocking mechanism of the utility model embodiment.
In figure：
1- pipelines；2- jigs；3- six-joint robots；4- sanders；5- alignment sensors；6- electrical cabinets；61- cabinets；
62- meter lamps；63- touch screens；64- teaching-programming pendants；65- power switches；7- barrier plates；8- lifting cylinders；9- shines shadow
Sorting mechanism.
Specific implementation mode
The preferred embodiment of the utility model is described in detail below in conjunction with the accompanying drawings, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature, it is apparent clear to be made to the scope of protection of the utility model
Define.
Embodiment
Shown in 1~Fig. 4 of attached drawing, a kind of robot automatically grinding system integration in the present embodiment, including be used to control
The electrical cabinet 6 of system, annular setting pipeline 1, be provided with the jig 2 for placing workpiece polish, the conjunction of pipeline 1 on pipeline 1
Several sanding components being connected with electrical cabinet 6, charging one end place of each sanding component are provided in region made of enclosing
Pipeline 1 on be provided with alignment sensor 5, be provided with and will control on the pipeline 1 where discharging one end of each sanding component
The blocking mechanism that tool 2 intercepts.Jig 2 is positioned by blocking mechanism, polishing operation is carried out convenient for follow-up sanding component.It is defeated
It is provided with feeding station in line sending 1, is provided with against pipeline transmission direction side positioned at feeding station and to be connected with electrical cabinet 6
According to shadow sorting mechanism 9, described according to 9 structure of shadow screening machine includes the high-definition camera being connected with electrical cabinet 6 and pusher cylinder, described
It is provided with scraping wings at the mandril of pusher cylinder, waste material is provided on the outside of the pipeline where the extending direction along pusher cylinder
One end of slideway, the scrap material slideway is connected with pipeline 1.When high-definition camera takes the workpiece to be polished on jig 2
When surface is in the presence of polishing inferior, electrical cabinet 6 can send order-driven pusher cylinder, this jig 2 is pushed in scrap material slideway.
Simultaneously in order to preferably shoot workpiece to be polished, horizontal sliding is can be set in above-mentioned high-definition camera, conducive to being placed
On ball-screw component, the back-and-forth motion of high-definition camera is driven by the driving motor being connected with electrical cabinet 6.
Furthermore, it is understood that the quantity of the sanding component is even number, it is symmetrically distributed in the both sides of pipeline 1.In this reality
The quantity for applying sanding component in example is eight, while will be primary polishing group positioned at the one of feeding station side group of sanding component
Part will be two level sanding component positioned at the one of the feeding station other side group of sanding component.Primary sanding component can wait beating to multiple
Grinder part carries out grinding process, obtains polishing primary product.Then secondary to treating polishing workpiece progress by two level sanding component
Sanding operation, and then obtain the polishing finished product of higher precision.The automatically grinding system integration of entire robot can once be waited for multiple
Polishing workpiece is processed, and improves the grinding efficiency of equipment.In the present embodiment can simultaneously to four workpiece to be polished into
Row polishing working process.
Sanding component used in this implementation includes six-joint robot 3 and sander 4,3 arm of the six-joint robot
End is provided with the sucker gripper for capturing workpiece to be polished.By six-joint robot 3 can multi-angle change work to be polished
The grinding angle of part meets the needs of difference grinding workpieces angle to be polished is different.Start sander 4, six axis machines when use
People 3 will capture workpiece grabbing to be polished by the instruction pre-set and buffed surface needed to be beaten close to sander 4
Grind operation.The control of above-metioned instruction can be debugged and generated by the teaching-programming pendant 64 on electrical cabinet 6.
The electrical cabinet 6 in the present embodiment includes cabinet 61, be provided in the cabinet 61 programmable logic controller (PLC),
I/O terminal blocks, Ethernet switch and power cabinet, the programmable logic controller (PLC) are handed over I/O terminal blocks and Ethernet respectively
It changes planes connected；The connector for being additionally provided with teaching-programming pendant 64 on 61 outer wall of the cabinet, being connected with teaching-programming pendant 64, it is described
Connector is connected with the programmable logic controller (PLC)；The pipeline 1, sanding component, alignment sensor 5, blocking mechanism, according to shadow
Sorting mechanism 9 is connected with programmable logic controller (PLC).Power cabinet is powered to whole system so that above-mentioned electrical equipment energy
Enough normal operations.The present embodiment can realize remote control by Ethernet switch, and different types of wait for is realized to facilitate
Switch operating between polishing workpiece；And teaching-programming pendant can carry out polishing debugging for each type of workpiece to be polished,
Improve the yields of polishing.The power switch 65 being connected with power cabinet and programmable logic are also provided on cabinet 61
The connected touch screen 63 of controller, meter lamp 62.Field Force can be set by observing meter lamp 62 to understand polishing
It is standby whether normal operation, can also easily be debugged by touch screen 63 when occurring abnormal, improve it is that failure solves and
Shi Xing.
Jig 2 is positioned in order to facilitate blocking mechanism, the pipeline 1 is roller conveyer in the present embodiment,
The blocking mechanism includes the lifting cylinder 8 for being arranged below roller bearing, being connected with programmable logic controller (PLC), the lifting cylinder
The barrier plate 7 being inserted at two roller gaps is provided on 8 mandril.The jig 2 for placing workpiece to be polished passes through barrier plate 7
It is positioned after interception, facilitates the crawl of follow-up six-joint robot 3.And change the height position of barrier plate using lifting cylinder 8
It sets, it is simple in structure, it is easily installed maintenance.
In use, processed product is placed on jig by Field Force, by alignment sensor by four jigs 2 successively
The six-joint robot for being placed on four processing stations of primary sanding component, and thus locating captures processed product and is added
Work face, which is moved on corresponding sander, carries out polishing processing, after processed product processes at one time six-joint robot by its
It is reapposed on jig.Corresponding barrier plate moves down simultaneously so that jig moves forward to two level polishing group along pipeline
At part, and the six-joint robot thus located captures and is moved to corresponding sander and carries out grinding process (herein accordingly
Alignment sensor and blocking mechanism can also act auxiliary and position jig accordingly).Wherein primary sanding component, two level are beaten
The operation principle ground at component is the same.Last jig 2 carries the finished product after the completion of polishing and is moved to according to the progress of shadow screening machine
High-definition camera judges whether qualification is (to judge whether polishing trace is smooth, whether there is side for finished product by comparing image information
Horn scraps).Jig is elapsed to scrap material slideway when unqualified.When finished product qualification, then corresponding jig is along pipeline movement
To feeding station.Field Force places new processed product on the jig again again after removing finished product.
The pipeline that the utility model is arranged by annular, grinding apparatus can be avoided effectively man-machine mixed within loop wire
It is miscellaneous together, avoid the occurrence of industrial accident；It works at the same time personnel and only needs blowing and rewinding operation at feeding station, reduce labor
Fatigue resistance；Its precision of polishing can be improved after processing is polished for a plurality of times after polishing workpiece, and the polishing operation automated can
Improve whole grinding efficiency.It also can be by filtering out out according to shadow sorting mechanism when there is waste product, and pushed to
In scrap material slideway, the process for reducing subsequent artefacts' screening can effectively reduce production cost.
Embodiment of above is only the technical concepts and features for illustrating the utility model, and its object is to allow be familiar with this skill
The people of art understands the content of the utility model and is implemented, and can not limit the scope of protection of the utility model with this, all
According to the equivalent change or modification that the spirit of the present invention is substantially done, should all cover within the protection scope of the present utility model.
Claims (6)
1. a kind of robot automatically grinding system integration includes the electrical cabinet (6) for control, it is characterised in that：Including annular
The pipeline (1) of setting, the jig (2) for placing workpiece to be polished is provided on the pipeline (1), and the pipeline (1) is closed
Several sanding components being connected with electrical cabinet (6), charging one end institute of each sanding component are provided in region made of enclosing
Pipeline (1) on be provided with alignment sensor, be provided on the pipeline (1) where discharging one end of each sanding component
The blocking mechanism that jig (2) is intercepted；It is provided with feeding station on the pipeline (1), is located at feeding station and is passed against pipeline
Defeated direction side is provided with the photograph shadow sorting mechanism (9) being connected with electrical cabinet, described to include and electricity according to shadow sorting mechanism (9)
The connected high-definition camera of gas holder (6) and pusher cylinder are provided with scraping wings at the mandril of the pusher cylinder, along pusher gas
It is provided with scrap material slideway, one end and pipeline (1) phase of the scrap material slideway on the outside of pipeline (1) where the extending direction of cylinder
Connection.
2. the robot automatically grinding system integration according to claim 1, it is characterised in that：The quantity of the sanding component
For even number, it is symmetrically distributed in the both sides of pipeline (1)；One group of sanding component positioned at feeding station side is primary polishing group
Part；One group of sanding component positioned at the feeding station other side is two level sanding component.
3. the robot automatically grinding system integration according to claim 1 or 2, it is characterised in that：The sanding component packet
Six-joint robot (3) and sander (4) are included, six-joint robot (3) the arm end is provided with for capturing workpiece to be polished
Sucker gripper.
4. the robot automatically grinding system integration according to claim 1, it is characterised in that：The electrical cabinet (6) includes
Cabinet (61), the cabinet (61) is interior to be provided with programmable logic controller (PLC), I/O terminal blocks, Ethernet switch and power cabinet,
The programmable logic controller (PLC) is connected with I/O terminal blocks and Ethernet switch respectively；It is also set on cabinet (61) outer wall
The connector for being equipped with teaching-programming pendant (64), being connected with teaching-programming pendant (64), the connector and the Programmable logical controller
Device is connected；The pipeline (1), alignment sensor, blocking mechanism, is patrolled with programmable according to shadow sorting mechanism (9) at sanding component
Controller is collected to be connected.
5. the robot automatically grinding system integration according to claim 4, it is characterised in that：It is also set on the cabinet (61)
It is equipped with touch screen (63), the meter lamp being connected with programmable logic controller (PLC).
6. the robot automatically grinding system integration according to claim 5, it is characterised in that：The pipeline (1) is rolling
Axis conveyer, the blocking mechanism include the lifting cylinder (8) for being arranged below roller bearing, being connected with programmable logic controller (PLC),
The barrier plate (7) being inserted at two roller gaps is provided on the mandril of the lifting cylinder (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322665.8U CN207983037U (en) | 2018-03-08 | 2018-03-08 | The robot automatically grinding system integration |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820322665.8U CN207983037U (en) | 2018-03-08 | 2018-03-08 | The robot automatically grinding system integration |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207983037U true CN207983037U (en) | 2018-10-19 |
Family
ID=63826658
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820322665.8U Expired - Fee Related CN207983037U (en) | 2018-03-08 | 2018-03-08 | The robot automatically grinding system integration |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207983037U (en) |
-
2018
- 2018-03-08 CN CN201820322665.8U patent/CN207983037U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181019 Termination date: 20200308 |
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| CF01 | Termination of patent right due to non-payment of annual fee |