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

Abstract

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

A kind of hammer grinding equipment with robot

technical field

The utility model relates to a hammer grinding equipment with a robot.

Background technique

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.

Utility model content

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.

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.

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.

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.

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.

The bottom of the cabinet body is also provided with a recovery box for recovering grinding debris.

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.

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.

Guardrails are also provided on the outside of the loading and unloading platform.

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.

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.

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.

Description of drawings

Fig. 1 is a schematic structural view of the first embodiment of the utility model.

Fig. 2 is a schematic diagram of the structure of the clamp according to the first embodiment of the present invention.

Fig. 3 is a structural schematic diagram of the belt sander of the first embodiment of the present invention.

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.

Fig. 6 and Fig. 7 are structural schematic diagrams of the loading and unloading platform of the first embodiment of the present invention.

Fig. 8 is a flow chart of the grinding process of the first embodiment of the present invention.

Detailed ways

Below in conjunction with accompanying drawing and embodiment the utility model is described further.

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 .

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.

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 .

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.

Further speaking, the bottom of the cabinet body 6 is also provided with a recovery box 15 for recovering grinding debris.

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.

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.

Furthermore, guardrails 27 are also provided on the outside of the loading and unloading platform 2 .

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.

Referring to Figure 8, the grinding process is as follows:

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.

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.