CN208179225U - A kind of tup grinding apparatus of carrying machine people - Google Patents

A kind of tup grinding apparatus of carrying machine people Download PDF

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Publication number
CN208179225U
CN208179225U CN201820568822.3U CN201820568822U CN208179225U CN 208179225 U CN208179225 U CN 208179225U CN 201820568822 U CN201820568822 U CN 201820568822U CN 208179225 U CN208179225 U CN 208179225U
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loading
unloading
tup
fixture
processed
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朱觉荣
袁锐强
蒋小双
胡尕磊
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Guangdong LXD Robotics Co Ltd
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Guangdong LXD Robotics Co Ltd
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Abstract

一种带机器人的锤头打磨设备,包括系统底板,系统底板上设置有砂带机、上下料台和六轴上下料机器人,砂带机为双工位浮动式、设置有至少一个,上下料台为双工位式、且位于砂带机的一侧,其上放置有待加工锤头,六轴上下料机器人位于砂带机和上下料台之间、且上设置有夹具;所述的六轴上下料机器人通过夹具从上下料台上夹取待加工锤头、且运输至砂带机的工位上,砂带机的工位对待加工锤头进行打磨加工,六轴上下料机器人通过夹具将打磨加工后的待加工锤头运输至上下料台、且完成下料操作。本实用新型通过上述结构的改良,具有结构简单合理,性能优异,操作方便,制造成本低,易生产,易实现,全自动化、智能化,生产效率高且安全可靠等特点,实用性强。

A hammer head grinding equipment with a robot, including a system base plate, a belt machine, a loading and unloading table, and a six-axis loading and unloading robot are arranged on the system base plate. The platform is double-station type and is located on one side of the belt machine, on which the hammer head to be processed is placed, and the six-axis loading and unloading robot is located between the belt machine and the loading and unloading table, and a fixture is arranged on it; the six The shaft loading and unloading robot grabs the hammer head to be processed from the loading and unloading table through the fixture and transports it to the station of the belt machine. The station of the belt machine grinds the hammer head to be processed. The six-axis loading and unloading robot passes the fixture Transport the hammer head to be processed after grinding to the loading and unloading table, and complete the unloading operation. Through the improvement of the above structure, the utility model has the characteristics of simple and reasonable structure, excellent performance, convenient operation, low manufacturing cost, easy production, easy realization, full automation, intelligence, high production efficiency, safety and reliability, etc., and has strong practicability.

Description

一种带机器人的锤头打磨设备A kind of hammer grinding equipment with robot

技术领域technical field

本实用新型涉及一种带机器人的锤头打磨设备。The utility model relates to a hammer grinding equipment with a robot.

背景技术Background technique

目前行业内大部分的锤头打磨还是采用传统人工打磨的方式。此方式由于全程是由人力进行,工人每天需要频繁的弯腰进行操作,其劳动强度大,同时使得在打磨加工过程中存在着一定的安全隐患,其表现为打磨环境粉尘多,噪音大,工人长期在此环境下工作对健康有伤害,另外每个工人的打磨经验与手艺,打磨出来的锤头品质也不一样,造成批次产品打磨出品质差异的锤头,稳定性较差,工作效率低,难以实现大批量生产需求,同时人工需求量大,生产效率低,而且工人在工作时非常单调枯燥,随着国内的劳动力成本越来越高,愿意干这种工作的人越来越少,工厂请工用工困难,不能满足厂家的生产需求。因此,有必要进一步改进。At present, most of the hammerhead grinding in the industry still adopts the traditional manual grinding method. Since this method is carried out by manpower throughout the process, workers need to bend over frequently to operate every day, which is labor-intensive. At the same time, there are certain safety hazards in the grinding process. Working in this environment for a long time is harmful to health. In addition, each worker’s grinding experience and craftsmanship are different, and the quality of the polished hammers is different, resulting in batches of hammers with different quality, poor stability and low work efficiency. Low, it is difficult to meet the demand for mass production. At the same time, the demand for labor is large, the production efficiency is low, and the workers are very monotonous and boring at work. As the domestic labor cost is getting higher and higher, fewer and fewer people are willing to do this kind of work , It is difficult for the factory to hire workers, which cannot meet the production needs of the manufacturer. Therefore, further improvement is necessary.

实用新型内容Utility model content

本实用新型的目的旨在提供一种结构简单合理,性能优异,操作方便,制造成本低,易生产,易实现,全自动化、智能化,生产效率高且安全可靠的带机器人的锤头打磨设备,以克服现有技术中的不足之处。The purpose of this utility model is to provide a hammer head grinding equipment with a robot with simple and reasonable structure, excellent performance, convenient operation, low manufacturing cost, easy production, easy realization, full automation, intelligence, high production efficiency, safety and reliability , to overcome the deficiencies in the prior art.

按此目的设计的一种带机器人的锤头打磨设备,包括系统底板,系统底板上设置有砂带机、上下料台和六轴上下料机器人,其特征在于:砂带机为双工位浮动式、设置有至少一个,上下料台为双工位式、且位于砂带机的一侧,其上放置有待加工锤头,六轴上下料机器人位于砂带机和上下料台之间、且上设置有夹具;所述的六轴上下料机器人通过夹具从上下料台上夹取待加工锤头、且运输至砂带机的工位上,砂带机的工位对待加工锤头进行打磨加工,六轴上下料机器人通过夹具将打磨加工后的待加工锤头运输至上下料台、且完成下料操作。A kind of hammer head grinding equipment with a robot designed according to this purpose, including a system base plate, which is equipped with an abrasive belt machine, a loading and unloading table and a six-axis loading and unloading robot. It is characterized in that: the abrasive belt machine is double-station floating type, at least one is provided, the loading and unloading table is double-station type, and is located on one side of the belt machine, on which the hammer head to be processed is placed, and the six-axis loading and unloading robot is located between the belt machine and the loading and unloading table, and There is a fixture on the top; the six-axis loading and unloading robot clamps the hammer to be processed from the loading and unloading table through the fixture, and transports it to the station of the belt machine, and the station of the belt machine grinds the hammer to be processed Processing, the six-axis loading and unloading robot transports the hammer head to be processed after grinding to the loading and unloading table through the fixture, and completes the unloading operation.

所述砂带机包括机箱体,机箱体上设置有双工位打磨加工装置,双工位打磨加工装置呈上下分布或左右分布,并分别包括机箱体、电机支架、打磨驱动电机、转动轮、辅助轮、砂带和张紧轮组件;其中,电机支架浮动式设置在机箱体内,打磨驱动电机设置在电机支架一侧,转动轮与打磨驱动电机驱动连接、且通过打磨驱动电机的驱动转动设置在电机支架另一侧,辅助轮转动设置在电机支架上,张紧轮组件活动式设置在电机支架端部,砂带绕设在转动轮、辅助轮和张紧轮组件上。The abrasive belt machine includes a case body, on which a double-station grinding device is arranged, and the double-station grinding device is distributed up and down or left and right, and includes a case body, a motor bracket, a grinding drive motor, a rotating wheel, Auxiliary wheel, abrasive belt and tensioning wheel assembly; wherein, the motor bracket is floatingly arranged in the chassis body, the grinding drive motor is arranged on one side of the motor bracket, the rotating wheel is drivingly connected with the grinding drive motor, and is set through the driving rotation of the grinding drive motor On the other side of the motor support, the auxiliary wheel is rotatably arranged on the motor support, the tensioning wheel assembly is movably arranged at the end of the motor support, and the abrasive belt is wound on the rotating wheel, the auxiliary wheel and the tensioning wheel assembly.

所述张紧轮组件包括张紧支架、张紧气缸和张紧轮,其中,张紧支架设置在电机支架端部,张紧气缸设置在张紧支架上,张紧轮与张紧气缸驱动连接、且通过张紧气缸的驱动前后式活动设置在张紧支架上。The tensioning wheel assembly includes a tensioning bracket, a tensioning cylinder and a tensioning wheel, wherein the tensioning bracket is arranged at the end of the motor bracket, the tensioning cylinder is arranged on the tensioning bracket, and the tensioning wheel is driven and connected to the tensioning cylinder , and is arranged on the tension bracket through the front and rear movement driven by the tension cylinder.

所述转动轮、辅助轮和张紧轮位于电机支架的同一侧;所述的砂带绕设在转动轮、辅助轮和张紧轮上,并围成三角形。The rotating wheel, the auxiliary wheel and the tensioning wheel are located on the same side of the motor bracket; the abrasive belt is wound on the rotating wheel, the auxiliary wheel and the tensioning wheel and forms a triangle.

所述机箱体的底部还设置有用于回收打磨加式碎屑的回收箱。The bottom of the cabinet body is also provided with a recovery box for recovering grinding debris.

所述夹具为内撑式,并包括夹具支架、连接法兰、夹具气缸、摆动件和内撑件;其中,连接法兰设置在夹具支架一侧,夹具支架通过连接法兰与六轴上下料机器人配合连接,夹具气缸设置在夹具支架另一侧,摆动件呈L字形、且其一侧与夹具气缸驱动连接,摆动件通过夹具气缸的驱动摆动设置在夹具支架上,摆动件另一端与内撑件一端驱动连接,内撑件另一端通过摆动件活动在夹具支架上,并分别从上下料台和砂带机上夹取待加工锤头、打磨加工后的待加工锤头。The fixture is an inner support type, and includes a fixture bracket, a connecting flange, a fixture cylinder, a swing piece and an inner supporting piece; wherein, the connecting flange is arranged on one side of the fixture bracket, and the fixture bracket is connected to the six-axis loading and unloading through the connecting flange. The robot is matched and connected, the fixture cylinder is set on the other side of the fixture bracket, the swing piece is L-shaped, and one side is driven and connected to the fixture cylinder, the swing piece is set on the fixture bracket through the drive swing of the fixture cylinder, the other end of the swing piece is connected One end of the support is driven and connected, and the other end of the inner support is moved on the fixture bracket through the swinging member, and the hammer to be processed and the hammer to be processed after grinding are respectively clamped from the loading and unloading table and the belt machine.

所述上下料台上设置有双工位滑动装置,双工位滑动装置呈左右分布或上下分布并分别包括滑动支架、上下料气缸和滑轨组件;其中,滑动支架与上下料气缸驱动连接,滑轨组件设置在上下料台和滑动支架之间,滑动支架通过上下料气缸和滑轨组件的配合滑动设置在上下料台上;所述的六轴上下料机器人通过夹具从滑动支架上夹取待加工锤头、且运输至砂带机,砂带机通过砂带对待加工锤头进行打磨加工,六轴上下料机器人通过夹具将打磨加工后的待加工锤头运输至滑动支架、且完成下料操作。The loading and unloading table is provided with a double-station sliding device, and the double-station sliding device is distributed left and right or up and down and includes a sliding bracket, a loading and unloading cylinder and a slide rail assembly respectively; wherein, the sliding bracket is driven and connected to the loading and unloading cylinder, The slide rail assembly is arranged between the loading and unloading table and the sliding bracket, and the sliding bracket is set on the loading and unloading table through the cooperative sliding of the loading and unloading cylinder and the slide rail assembly; the six-axis loading and unloading robot is clamped from the sliding bracket by a clamp The hammerhead to be processed is transported to the abrasive belt machine. The abrasive belt machine grinds the hammerhead to be processed through the abrasive belt. The six-axis loading and unloading robot transports the polished hammerhead to the sliding bracket through the fixture, and completes material operation.

所述上下料台的外侧还设置有护栏。Guardrails are also provided on the outside of the loading and unloading platform.

本设备还包括机器人控制柜和主电控柜;其中,机器人控制柜与六轴上下料机器人电控连接,主电控柜分别与砂带机、上下料台和机器人控制柜电控连接,主电控柜上还设置有用于控制上下料台的上料确认按钮。The equipment also includes a robot control cabinet and a main electric control cabinet. Among them, the robot control cabinet is electrically connected with the six-axis loading and unloading robot, and the main electric control cabinet is respectively connected with the belt machine, the loading and unloading table and the robot control cabinet. The electric control cabinet is also provided with a material loading confirmation button for controlling the loading and unloading table.

本实用新型通过上述结构的改良,采用六轴上下料机器人的夹具,从上下料台上夹取待加工锤头、且运输至砂带机的工位上,通过编程实现打磨加工动作,打磨加工后的待加工锤头又通过六轴上下料机器人的夹具运输至上下料台、且完成下料操作,全程自动化操作。本设备的上下料台为自动推送上下料台,工人只需将待加工锤头放置在上下料台上,按上料确认按钮即可完成上料工序,上料治具紧凑、且一次性可以放料160PCS,整个设备3-4小时上下料一次,其它时间不用工人干预,大大节省人力,降低工人劳动强度,同时有效地提高生产安全性;而且,夹具采用内撑式,不同款式的待加工锤头采用不同形状的夹具,从而提高设备的兼容性;并且,砂带机为双工位浮动式,双工位可同时进行打磨加工,节省加工时间,同时砂带机带有浮动功能,可以调节砂带与待加工锤头之间的贴合力度,与现有技术相比,成品合格率更高,可控性更好;同时,机箱体的底部还设置有用于回收打磨加式碎屑的回收箱,可有效地避免工人直接接触恶劣环境。Through the improvement of the above-mentioned structure, the utility model adopts the fixture of the six-axis loading and unloading robot, clamps the hammer head to be processed from the loading and unloading table, and transports it to the station of the abrasive belt machine, and realizes the grinding and processing action through programming. The final hammer head to be processed is transported to the loading and unloading table through the fixture of the six-axis loading and unloading robot, and the unloading operation is completed, and the whole process is fully automated. The loading and unloading table of this equipment is an automatic push loading and unloading table. The worker only needs to place the hammer head to be processed on the loading and unloading table, and press the feeding confirmation button to complete the feeding process. The feeding fixture is compact and can be used at one time. Unloading 160PCS, the entire equipment is loaded and unloaded once every 3-4 hours, and workers do not need to intervene at other times, which greatly saves manpower, reduces the labor intensity of workers, and effectively improves production safety; moreover, the fixture adopts the internal support type, and different styles of workpieces to be processed The hammer head adopts fixtures of different shapes to improve the compatibility of the equipment; moreover, the belt sander is a double-station floating type, which can perform grinding at the same time, saving processing time. At the same time, the belt sander has a floating function, which can Adjust the bonding strength between the abrasive belt and the hammer head to be processed. Compared with the existing technology, the qualified rate of finished products is higher and the controllability is better. The recycling bin can effectively prevent workers from directly contacting the harsh environment.

综合而言,其具有结构简单合理,性能优异,操作方便,制造成本低,易生产,易实现,全自动化、智能化,生产效率高且安全可靠等特点,实用性强。In general, it has the characteristics of simple and reasonable structure, excellent performance, convenient operation, low manufacturing cost, easy production, easy realization, full automation, intelligence, high production efficiency, safety and reliability, etc., and has strong practicability.

附图说明Description of drawings

图1为本实用新型第一实施例的结构示意图。Fig. 1 is a schematic structural view of the first embodiment of the utility model.

图2为本实用新型第一实施例的夹具结构示意图。Fig. 2 is a schematic diagram of the structure of the clamp according to the first embodiment of the present invention.

图3为本实用新型第上实施例的砂带机结构示意图。Fig. 3 is a structural schematic diagram of the belt sander of the first embodiment of the present invention.

图4、图5为本实用新型第一实施例的电机支架、打磨驱动电机、转动轮、辅助轮、砂带和张紧轮组件结构示意图。Fig. 4 and Fig. 5 are structural schematic diagrams of the motor bracket, grinding drive motor, running wheel, auxiliary wheel, abrasive belt and tensioning wheel assembly of the first embodiment of the present invention.

图6、图7为本实用新型第一实施例的上下料台结构示意图。Fig. 6 and Fig. 7 are structural schematic diagrams of the loading and unloading platform of the first embodiment of the present invention.

图8为为本实用新型第一实施例的打磨加工流程图。Fig. 8 is a flow chart of the grinding process of the first embodiment of the present invention.

具体实施方式Detailed ways

下面结合附图及实施例对本实用新型作进一步描述。Below in conjunction with accompanying drawing and embodiment the utility model is described further.

参见图1-图8,本带机器人的锤头打磨设备,包括系统底板30,系统底板30上设置有砂带机1、上下料台2和六轴上下料机器人3,砂带机1为双工位浮动式、设置有至少一个,上下料台2为双工位式、且位于砂带机1的一侧,其上放置有待加工锤头4,六轴上下料机器人3位于砂带机1和上下料台2之间、且上设置有夹具5;所述的六轴上下料机器人3通过夹具5从上下料台2上夹取待加工锤头4、且运输至砂带机1的工位上,砂带机1的工位对待加工锤头4进行打磨加工,六轴上下料机器人3通过夹具5将打磨加工后的待加工锤头4运输至上下料台2、且完成下料操作。Referring to Fig. 1-Fig. 8, the hammer head grinding equipment with robot includes a system base plate 30, on which a belt machine 1, a loading and unloading table 2 and a six-axis loading and unloading robot 3 are arranged, and the belt machine 1 is a double Floating station, at least one is provided, the loading and unloading table 2 is a double-station type, and is located on one side of the belt machine 1, on which the hammer head 4 to be processed is placed, and the six-axis loading and unloading robot 3 is located on the belt machine 1 Between and on the loading and unloading table 2, and on which a clamp 5 is arranged; the six-axis loading and unloading robot 3 clamps the hammer head 4 to be processed from the loading and unloading table 2 through the clamp 5, and transports it to the work of the belt machine 1. In terms of position, the station of the abrasive belt machine 1 grinds the hammer head 4 to be processed, and the six-axis loading and unloading robot 3 transports the hammer head 4 to be processed after grinding to the loading and unloading table 2 through the fixture 5, and completes the unloading operation .

进一步地讲,砂带机1包括机箱体6,机箱体6上设置有双工位打磨加工装置,双工位打磨加工装置呈上下分布或左右分布,并分别包括电机支架7、打磨驱动电机8、转动轮9、辅助轮10、砂带11和张紧轮组件;其中,电机支架7浮动式设置在机箱体6内,打磨驱动电机8设置在电机支架7一侧,转动轮9与打磨驱动电机8驱动连接、且通过打磨驱动电机8的驱动转动设置在电机支架7另一侧,辅助轮10转动设置在电机支架7上,张紧轮组件活动式设置在电机支架7端部,砂带11绕设在转动轮9、辅助轮10和张紧轮组件上。Further, the abrasive belt machine 1 includes a case body 6, on which a double-station grinding device is arranged, and the double-station grinding device is distributed up and down or left and right, and includes a motor bracket 7 and a grinding drive motor 8 respectively. , rotating wheel 9, auxiliary wheel 10, abrasive belt 11 and tensioning wheel assembly; wherein, the motor support 7 is floatingly arranged in the cabinet body 6, the grinding drive motor 8 is arranged on one side of the motor support 7, the rotating wheel 9 and the grinding drive The motor 8 is driven and connected, and the driving rotation of the driving motor 8 is set on the other side of the motor bracket 7 by grinding, the auxiliary wheel 10 is rotated and arranged on the motor bracket 7, the tension wheel assembly is movably arranged at the end of the motor bracket 7, and the abrasive belt 11 is wound on the running wheel 9, the auxiliary wheel 10 and the idler wheel assembly.

进一步地讲,张紧轮组件包括张紧支架12、张紧气缸13和张紧轮14,其中,张紧支架12设置在电机支架7端部,张紧气缸13设置在张紧支架12上,张紧轮14与张紧气缸13驱动连接、且通过张紧气缸13的驱动前后式活动设置在张紧支架12上。Further, the tensioning wheel assembly includes a tensioning bracket 12, a tensioning cylinder 13 and a tensioning wheel 14, wherein the tensioning bracket 12 is arranged at the end of the motor bracket 7, and the tensioning cylinder 13 is arranged on the tensioning bracket 12, The tensioning wheel 14 is drivingly connected with the tensioning cylinder 13 , and is arranged on the tensioning bracket 12 in a forward and backward manner driven by the tensioning cylinder 13 .

进一步地讲,转动轮9、辅助轮10和张紧轮14位于电机支架7的同一侧;所述的砂带11绕设在转动轮9、辅助轮10和张紧轮14上,并围成三角形。Further speaking, the rotating wheel 9, the auxiliary wheel 10 and the tensioning wheel 14 are located on the same side of the motor support 7; triangle.

进一步地讲,机箱体6的底部还设置有用于回收打磨加式碎屑的回收箱15。Further speaking, the bottom of the cabinet body 6 is also provided with a recovery box 15 for recovering grinding debris.

进一步地讲,夹具5为内撑式,并包括夹具支架16、连接法兰17、夹具气缸18、摆动件19和内撑件20;其中,连接法兰17设置在夹具支架16一侧,夹具支架16通过连接法兰17与六轴上下料机器人3配合连接,夹具气缸18设置在夹具支架16另一侧,摆动件19呈L字形、且其一侧与夹具气缸18驱动连接,摆动件19通过夹具气缸18的驱动摆动设置在夹具支架16上,摆动件19另一端与内撑件20一端驱动连接,内撑件20另一端通过摆动件19活动在夹具支架16上,并分别从上下料台2和砂带机1上夹取待加工锤头4、打磨加工后的待加工锤头4。Further, the clamp 5 is an inner support type, and includes a clamp bracket 16, a connecting flange 17, a clamp cylinder 18, a swing member 19 and an inner support 20; wherein, the connecting flange 17 is arranged on one side of the clamp bracket 16, and the clamp The bracket 16 is connected with the six-axis loading and unloading robot 3 through the connecting flange 17. The clamp cylinder 18 is arranged on the other side of the clamp bracket 16. The swing member 19 is L-shaped, and one side thereof is driven and connected to the clamp cylinder 18. The swing member 19 The driving and swinging of the clamp cylinder 18 is arranged on the clamp bracket 16. The other end of the swing piece 19 is driven and connected to one end of the inner support piece 20. The hammerhead 4 to be processed is clamped on the table 2 and the abrasive belt machine 1, and the hammerhead 4 to be processed after grinding is processed.

进一步地讲,上下料台2上设置有双工位滑动装置,双工位滑动装置呈左右分布或上下分布并分别包括滑动支架21、上下料气缸22和滑轨组件23;其中,滑动支架21与上下料气缸22驱动连接,滑轨组件23设置在上下料台2和滑动支架21之间,滑动支架21通过上下料气缸22和滑轨组件23的配合滑动设置在上下料台2上;所述的六轴上下料机器人3通过夹具5从滑动支架21上夹取待加工锤头4、且运输至砂带机1,砂带机1通过砂带11对待加工锤头4进行打磨加工,六轴上下料机器人3通过夹具5将打磨加工后的待加工锤头4运输至滑动支架21、且完成下料操作。Further, the loading and unloading table 2 is provided with a double-station sliding device, which is distributed left and right or up and down and includes a sliding bracket 21, a loading and unloading cylinder 22 and a slide rail assembly 23; wherein the sliding bracket 21 Drive connection with the loading and unloading cylinder 22, the slide rail assembly 23 is arranged between the loading and unloading table 2 and the sliding bracket 21, and the sliding bracket 21 is arranged on the loading and unloading table 2 through the cooperative sliding of the loading and unloading cylinder 22 and the slide rail assembly 23; The above-mentioned six-axis loading and unloading robot 3 clamps the hammerhead 4 to be processed from the sliding bracket 21 through the clamp 5, and transports it to the belt machine 1, and the belt machine 1 grinds the hammerhead 4 to be processed through the abrasive belt 11. The shaft loading and unloading robot 3 transports the polished hammerhead 4 to be processed to the sliding bracket 21 through the clamp 5, and completes the unloading operation.

进一步地讲,上下料台2的外侧还设置有护栏27。Furthermore, guardrails 27 are also provided on the outside of the loading and unloading platform 2 .

具体地讲,本设备还包括机器人控制柜25和主电控柜26;其中,机器人控制柜25与六轴上下料机器人3电控连接,主电控柜26分别与砂带机1、上下料台2和机器人控制柜25电控连接,主电控柜26上还设置有用于控制上下料台2的上料确认按钮24。Specifically, the equipment also includes a robot control cabinet 25 and a main electric control cabinet 26; wherein, the robot control cabinet 25 is electronically connected to the six-axis loading and unloading robot 3, and the main electric control cabinet 26 is connected to the abrasive belt machine 1 and the loading and unloading robot respectively. The table 2 is electrically connected to the robot control cabinet 25, and the main electric control cabinet 26 is also provided with a feeding confirmation button 24 for controlling the loading and unloading table 2.

参见图8,其打磨加工流程如下:Referring to Figure 8, the grinding process is as follows:

人工往上下料台2的滑动支架21上料,按下上料确认按钮24,滑动支架21通过上下料气缸22和滑轨组件23的配合滑动设置在上下料台2上、且滑动至上料的预定位置,随后六轴上下料机器人3通过夹具5从滑动支架21上夹取待加工锤头4、且运输至砂带机1的砂带11工位上,砂带11通过编程实现打磨加工动作;打磨加工完成后,六轴上下料机器人3再通过夹具5将打磨加工后的待加工锤头4运输至滑动支架21、且完成下料操作。Manually load the sliding bracket 21 of the loading and unloading table 2, press the loading confirmation button 24, the sliding bracket 21 is set on the loading and unloading table 2 through the cooperation of the loading and unloading cylinder 22 and the slide rail assembly 23, and slides to the loading area. Predetermined position, then the six-axis loading and unloading robot 3 clamps the hammer head 4 to be processed from the sliding bracket 21 through the clamp 5, and transports it to the abrasive belt 11 station of the abrasive belt machine 1, and the abrasive belt 11 realizes the grinding process through programming After the grinding process is completed, the six-axis loading and unloading robot 3 transports the hammer head 4 to be processed after grinding to the sliding bracket 21 through the clamp 5, and completes the unloading operation.

以上显示和描述了本实用新型的基本原理、主要特征和本实用新型的优点。本领域的技术人员应该了解本实用新型不受上述实施例的限制,上述实施例和说明书中描述的只是说明本实用新型的原理,在不脱离本实用新型精神和范围的前提下本实用新型还会有各种变化和改进,这些变化和改进都落入要求保护的本实用新型范围内。本实用新型要求保护范围由所附的权利要求书及其等同物界定。The basic principles, main features and advantages of the present utility model have been shown and described above. Those skilled in the art should understand that the utility model is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the utility model. There will be various changes and improvements, and these changes and improvements all fall within the scope of the claimed utility model. The scope of protection required by the utility model is defined by the appended claims and their equivalents.

Claims (9)

1. a kind of tup grinding apparatus of carrying machine people, including system backplane (30), system backplane are provided with belt sander on (30) (1), loading and unloading platform (2) and six axis loading and unloading robots (3), it is characterised in that: belt sander (1) is that double-station is floating type, is arranged There is at least one, loading and unloading platform (2) is Double-station type and the side for being located at belt sander (1), is placed with tup to be processed thereon (4), six axis loading and unloading robots (3) be located between belt sander (1) and loading and unloading platform (2) and on be provided with fixture (5);It is described Six axis loading and unloading robots (3) tup to be processed (4) and transport are clamped from loading and unloading platform (2) to abrasive band by fixture (5) On the station of machine (1), the station of belt sander (1) carries out polishing processing, six axis loading and unloading robots (3) to tup to be processed (4) The tup to be processed (4) after polishing processing is transported into supreme blanking bench (2) by fixture (5) and completes blanking operation.
2. the tup grinding apparatus of carrying machine people according to claim 1, it is characterised in that: the belt sander (1) includes machine Cabinet (6), is provided with double-station polishing processing unit (plant) on box body (6), and double-station polishes processing unit (plant) in distribution up and down or left Right distribution, and respectively include electric machine support (7), polishing driving motor (8), rotating wheel (9), auxiliary wheel (10), abrasive band (11) and Tensioning wheel assembly;Wherein, in box body (6), polishing driving motor (8) is arranged in motor the floating type setting of electric machine support (7) Bracket (7) side, rotating wheel (9) and polishing driving motor (8) are drivingly connected and are turned by the driving of polishing driving motor (8) Dynamic to be arranged in electric machine support (7) other side, auxiliary wheel (10) is rotatably arranged on electric machine support (7), and tensioning wheel assembly is movable It is arranged in electric machine support (7) end, abrasive band (11) are wound around on rotating wheel (9), auxiliary wheel (10) and tensioning wheel assembly.
3. the tup grinding apparatus of carrying machine people according to claim 2, it is characterised in that: the tensioning wheel assembly includes Locking bracket (12), tensioning cylinder (13) and tensioning wheel (14), wherein tensioning bracket (12) setting is opened in electric machine support (7) end In tensioning bracket (12), tensioning wheel (14) and tensioning cylinder (13) are drivingly connected and by tensioning gas for tight cylinder (13) setting Formula is movably arranged in tensioning bracket (12) before and after the driving of cylinder (13).
4. the tup grinding apparatus of carrying machine people according to claim 3, it is characterised in that: the rotating wheel (9), auxiliary wheel (10) and tensioning wheel (14) is located at the same side of electric machine support (7);The abrasive band (11) is wound around rotating wheel (9), auxiliary wheel (10) and on tensioning wheel (14), and triangle is surrounded.
5. the tup grinding apparatus of carrying machine people according to claim 4, it is characterised in that: the bottom of the box body (6) It is additionally provided with the recycling bins (15) for recycling polishing plus formula clast.
6. the tup grinding apparatus of carrying machine people according to claim 5, it is characterised in that: the fixture (5) is inner bearing type, And including fixture mount (16), connecting flange (17), clamp cylinder (18), swing component (19) and inner supporting member (20);Wherein, it connects Flange (17) setting passes through connecting flange (17) and six axis loading and unloading robots in fixture mount (16) side, fixture mount (16) (3) be cooperatively connected, clamp cylinder (18) setting in fixture mount (16) other side, swing component (19) in L-shaped and one side with Clamp cylinder (18) is drivingly connected, and swing component (19) is swung by the driving of clamp cylinder (18) to be arranged in fixture mount (16) On, swing component (19) other end and inner supporting member (20) one end are drivingly connected, and inner supporting member (20) other end is living by swing component (19) It moves on fixture mount (16), and clamps tup to be processed (4), polishing processing from loading and unloading platform (2) and belt sander (1) respectively Tup to be processed (4) afterwards.
7. the tup grinding apparatus of carrying machine people according to claim 6, it is characterised in that: set on the loading and unloading platform (2) Be equipped with double-station carriage, double-station carriage be distributed and respectively include in left and right distribution or up and down sliding support (21), Loading and unloading cylinder (22) and slide track component (23);Wherein, sliding support (21) and loading and unloading cylinder (22) are drivingly connected, slide rail group Part (23) is arranged between loading and unloading platform (2) and sliding support (21), and sliding support (21) passes through loading and unloading cylinder (22) and sliding The cooperation of rail assembly (23) is slidably arranged on loading and unloading platform (2);The six axis loading and unloading robots (3) pass through fixture (5) Tup to be processed (4) is clamped from sliding support (21) and transport is to belt sander (1), and belt sander (1) is treated by abrasive band (11) Processing tup (4) carries out polishing processing, and six axis loading and unloading robots (3) are by fixture (5) by the hammer to be added after polishing processing Head (4) transport is to sliding support (21) and completes blanking operation.
8. the tup grinding apparatus of carrying machine people according to claim 1, it is characterised in that: outside the loading and unloading platform (2) Side is additionally provided with guardrail (27).
9. the tup grinding apparatus of any one of -8 carrying machine people according to claim 1, it is characterised in that: further include robot Control cabinet (25) and main power control cabinet (26);Wherein, robot control cabinet (25) is electricly connected with six axis loading and unloading robots (3), Main power control cabinet (26) electricly connects with belt sander (1), loading and unloading platform (2) and robot control cabinet (25) respectively, main power control cabinet (26) the feeding ACK button (24) for controlling loading and unloading platform (2) is additionally provided on.
CN201820568822.3U 2018-04-19 2018-04-19 A kind of tup grinding apparatus of carrying machine people Expired - Fee Related CN208179225U (en)

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Cited By (14)

* 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
CN109822437A (en) * 2019-04-09 2019-05-31 广东利迅达机器人系统股份有限公司 A kind of polissoir for intelligent lock panel
CN109877677A (en) * 2019-03-25 2019-06-14 广东利迅达机器人系统股份有限公司 A belt sander and grinding equipment using the belt sander
CN109877678A (en) * 2019-04-09 2019-06-14 广东利迅达机器人系统股份有限公司 A grinding device for smart lock panel
CN111408997A (en) * 2020-01-20 2020-07-14 上海载科智能科技有限公司 Automatic grinding and polishing device of industrial robot applied claw hammer
CN111408998A (en) * 2020-04-15 2020-07-14 中核(天津)机械有限公司 Device and method for automatically polishing polygonal workpiece with high precision
CN111421431A (en) * 2020-05-06 2020-07-17 温州金石机器人科技有限公司 Golf club head production line of polishing
CN111872754A (en) * 2020-06-24 2020-11-03 广东利迅达机器人系统股份有限公司 Clamping groove type feeding and discharging mechanism for water milling of cutter
CN111922795A (en) * 2020-06-24 2020-11-13 广东利迅达机器人系统股份有限公司 A material frame type loading and unloading mechanism for tool water grinding processing
CN112247775A (en) * 2020-09-23 2021-01-22 广东正拓科技有限公司 An automatic polishing production line
CN112518578A (en) * 2020-12-14 2021-03-19 上海载科智能科技有限公司 Automatic guide positioning mechanism that floats of polishing of robot
CN113211155A (en) * 2021-05-27 2021-08-06 武汉泛洲精冲有限公司 Automatic unloading system of going up of automobile parts
CN113752139A (en) * 2021-09-06 2021-12-07 杭州龙砺智能科技有限公司 Robot grinding and polishing equipment and working method thereof
CN114406880A (en) * 2021-12-13 2022-04-29 重庆智能机器人研究院 Based on industrial robot handle of a knife system of polishing

Cited By (17)

* 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
CN109877677A (en) * 2019-03-25 2019-06-14 广东利迅达机器人系统股份有限公司 A belt sander and grinding equipment using the belt sander
CN109822437A (en) * 2019-04-09 2019-05-31 广东利迅达机器人系统股份有限公司 A kind of polissoir for intelligent lock panel
CN109877678A (en) * 2019-04-09 2019-06-14 广东利迅达机器人系统股份有限公司 A grinding device for smart lock panel
CN111408997A (en) * 2020-01-20 2020-07-14 上海载科智能科技有限公司 Automatic grinding and polishing device of industrial robot applied claw hammer
CN111408998A (en) * 2020-04-15 2020-07-14 中核(天津)机械有限公司 Device and method for automatically polishing polygonal workpiece with high precision
CN111421431A (en) * 2020-05-06 2020-07-17 温州金石机器人科技有限公司 Golf club head production line of polishing
CN111922795A (en) * 2020-06-24 2020-11-13 广东利迅达机器人系统股份有限公司 A material frame type loading and unloading mechanism for tool water grinding processing
CN111872754A (en) * 2020-06-24 2020-11-03 广东利迅达机器人系统股份有限公司 Clamping groove type feeding and discharging mechanism for water milling of cutter
CN111922795B (en) * 2020-06-24 2021-10-01 广东利迅达机器人系统股份有限公司 A material frame type loading and unloading mechanism for tool water grinding processing
CN111872754B (en) * 2020-06-24 2022-04-01 广东利迅达机器人系统股份有限公司 Clamping groove type feeding and discharging mechanism for water milling of cutter
CN112247775A (en) * 2020-09-23 2021-01-22 广东正拓科技有限公司 An automatic polishing production line
CN112518578A (en) * 2020-12-14 2021-03-19 上海载科智能科技有限公司 Automatic guide positioning mechanism that floats of polishing of robot
CN113211155A (en) * 2021-05-27 2021-08-06 武汉泛洲精冲有限公司 Automatic unloading system of going up of automobile parts
CN113752139A (en) * 2021-09-06 2021-12-07 杭州龙砺智能科技有限公司 Robot grinding and polishing equipment and working method thereof
CN113752139B (en) * 2021-09-06 2022-07-19 杭州龙砺智能科技有限公司 Robot grinding and polishing equipment and working method thereof
CN114406880A (en) * 2021-12-13 2022-04-29 重庆智能机器人研究院 Based on industrial robot handle of a knife system of polishing

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