CN208681271U - A kind of automatic grinding device and its polishing system - Google Patents

A kind of automatic grinding device and its polishing system Download PDF

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Publication number
CN208681271U
CN208681271U CN201820579348.4U CN201820579348U CN208681271U CN 208681271 U CN208681271 U CN 208681271U CN 201820579348 U CN201820579348 U CN 201820579348U CN 208681271 U CN208681271 U CN 208681271U
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China
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sand
motor
workpiece
polishing
controller
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Inventor
俞文强
罗金荣
阙华炀
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Ningbo Hui Zhi Heng Mobile Automation Technology Co Ltd
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Ningbo Hui Zhi Heng Mobile Automation Technology Co Ltd
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Abstract

The utility model relates to a kind of automatic grinding device and its polishing systems, including workpiece locating mechanism, pipeline, feed mechanism, cutting agency, workpiece polishing mechanism, change sand paper mechanism, robotic arm control cabinet, power control cabinet, dust cover, the positioning of the utility model collection, polishing, sand paper is changed in the automatic grinding device of one, and the utility model controls mechanical arm using PLC control system, grinding head group, even if big in workpiece application condition, also automation polishing can be completed in the case that workpiece deformation is big, improve grinding efficiency and product polishing quality, instead of manual polishing, avoid dust harzard human health.

Description

A kind of automatic grinding device and its polishing system
Technical field
The utility model relates to auto parts and components grinding apparatus more particularly to a kind of automatic grinding device and its polishing systems System.
Background technique
The main of many workpiece especially auto parts and components passes through hot pressing, injection molding, PUR& paint, CNC, sanding and polishing etc. Process.In process of production, each process can lead to deformation of products under the influence of the factors such as stress, time, temperature, once greatly Batch production, deformation quantity and error between workpiece and workpiece are difficult to control.
Traditional automobile truewood interior trim polishing system polishes to interior trim using point track-wise, and the abrasion of sand paper Degree can not learn, this mode polish the workpiece come will lead to workpiece after polishing consistency it is poor, workpiece scraps probability Also it synchronizes incremental;Therefore, automobile interior decoration polishing automation be constantly subjected to constrain, domestic automation equipment also always difficulty have into Step, and the big business men all selects manual polishing in view of workpiece cost, although the scrappage of workpiece can be reduced, workpiece Consistency it is still very poor, the quality of workpiece is still difficult control;More seriously, the dust that manual polishing automobile interior decoration generates Pollution damages greatly human body, and it is not most wise production and processing mode that labor intensity is also very big.
Utility model content
In view of the above-mentioned state of the art, the technical problem to be solved by the utility model is to provide one kind to control System polishing workpiece consistency, increases production capacity and production efficiency, and reduce dust pollution automobile interior decoration automatic polishing equipment and Its polishing system.
Technical solution adopted by the utility model to solve the above technical problems is as follows: a kind of automatic grinding device, comprising:
Workpiece locating mechanism: the workpiece polished for fixed needs, the workpiece locating mechanism include positioning plate, locating rack, Workpiece fixing seat, positioning cylinder, positioning collet and collet fixing seat, wherein the positioning plate is located on delivery sheet, the feeding Location hole is provided on plate, the positioning is erected on positioning plate, and the workpiece fixing seat is located on locating rack, the workpiece fixing seat Both ends be provided with permanent opening, the collet fixing seat is plugged in permanent opening, and the positioning collet is plugged in collet and fixes On seat, the positioning cylinder is located under locating rack, the telescopic end of the positioning cylinder successively wear after locating rack, collet fixing seat with Positioning collet connection;
Pipeline: being used for conveying workpieces positioning mechanism, the polishing station of at least one or more be provided on the pipeline, should Pipeline corresponds to and is symmetrically arranged with workpiece positioning cylinder at each polishing station, the telescopic end and location hole of the workpiece positioning cylinder It is corresponding, and correspond to each polishing station on the pipeline and be provided with workpiece sensors in place, and the pipeline two sides pair The station that should polish is provided with dust collection equipment;
Feed mechanism: being connected in the starting point of pipeline, which includes stock shelf, goes up and down and slip in stock shelf Upper flitch, auxiliary the workpiece locating mechanism in upper flitch is pushed to the push cylinder on pipeline, set in the stock shelf Be equipped with feeding lifting cylinder, the telescopic end of the feeding lifting cylinder is connect with upper flitch, and the push cylinder setting with conveying In the stock shelf that line flushes, the flexible of the push cylinder is terminated with pushing plate;
Cutting agency: being connected in the terminal of pipeline, which includes blanking rack, goes up and down and slip in blanking rack The telescopic end of blanking plate, blanking lifting cylinder, the blanking lifting cylinder is connect with blanking plate;
Workpiece polishing mechanism, corresponding each polishing station setting, which includes grinding head group, and grinding head group is transferred to The mechanical arm of each polishing station, wherein the grinding head group includes grinding head, flange, and the grinding head passes through with flange seat Flanged joint, the mechanical arm are equipped with mechanical arm controller, and the driven end of the machinery arm controller is hinged with attachment base, should The 6th motor is fixed on attachment base, and the output end of the 6th motor passes through flange and the main floating connection of grinding head;
Change sand paper mechanism: the sand paper mechanism that changes corresponds to each workpiece polishing mechanism setting, and it includes changing sand machine that this, which changes sand paper mechanism, Frame is arranged in change in sand rack and takes off antiquated sand group and fresh sand group, this changes sand rack corresponding take off and is provided with antiquated sand passway by antiquated sand group, This, which changes in sand rack to correspond to, is provided with material detection sensor at fresh sand group, the material detection sensor and flanged joint;
Robotic arm control cabinet: for controlling mechanical arm running, which connect with mechanical arm controller;
Power control cabinet: for providing electric power to each mechanism, component;
Dust cover: the dust that generates when for polishing to be isolated, the dust cover by pipeline, workpiece polishing mechanism, change sand paper mechanism, In mechanical arm control cabinet, power control cabinet are located at.
Further, the pipeline includes carriage and the conveyer belt that is wound around on carriage, and the pipeline with It is provided with the auxiliary of auxiliary work-piece positioning mechanism conveying between feed mechanism, cutting agency and send wheel, to reach workpiece quickly The effect of transmission improves grinding efficiency.
Further, the mechanical arm includes pedestal, upper joint and hypozygal, wherein there is rotary setting on the pedestal Motor cabinet, the motor cabinet are connected by first motor and pedestal rotation, and the bottom end of the hypozygal passes through the second motor and motor Seat is hinged, and the top of the hypozygal is hinged by third motor and upper joint, the upper joint pass through the 4th motor with connect Seat is hinged, is also equipped with the 5th motor that can make upper joint spinning on the upper joint, and the machinery arm controller is respectively with the One motor, the second motor, third motor, the 4th motor, the 5th motor, the connection of the 6th motor, further reach and accurately to polish Effect.
Further, it is described take off antiquated sand group include take off sand fixing seat, take off sand cylinder, on take off sand fixture block, under take off sand intermediate plate, In, it is described take off sand fixing seat and be fixed on change in sand rack, sand piece is taken off under described and is fixed on the side for taking off sand fixed frame, it is described to take off sand Cylinder is fixed on the other side for taking off sand fixing seat by cylinder block, which, which connects, takes off sand fixture block, and on Take off sand fixture block under take off sand intermediate plate be symmetrical arranged, the vertical section that sand intermediate plate is taken off under this is wedge shaped;The fresh sand group includes Abrasive paper support, Sand paper is placed in Abrasive paper support;Described change in sand rack corresponds to antiquated sand passway equipped with inclined ramp, which is connected to useless Sand paper collecting box, to achieve the effect that changing sand paper accomplishs without any letup.
A kind of automation polishing system, including PLC control module, mechanical arm control module and flexible force control module, in which:
The flexible force control module includes controller, power control feedback substrate, flange, grinding head, which passes through power control Feedback substrate is connect with controller, thus leads to the data information that grinding head collects the contact force between current sand paper and workpiece Exertin control feedback substrate carries out data analysis and simultaneously sends controller, controller and flanged joint to, and by corresponding control instruction Control flange stretches to keep the balance of the contact force between grinding head and sand paper;
The mechanical arm control module includes mechanical arm controller, analog input and output substrate, the transmission of mechanical arm data Substrate, the workpiece sensors in place is connect by mechanical arm data transmission base plate with mechanical arm controller, when workpiece is being polished When station positions, workpiece sensors in place senses workpiece and contacts with mechanical arm controller, which controls the One motor, the second motor, third motor, the 4th motor, the running of the 5th motor drive grinding head group to polishing station, the mechanical arm Controller connect to obtain the state of current grinding head, the mechanical arm and with controller by analog input and output substrate The connection of six motors carries out polishing work to control the running of the 6th motor, and the machinery arm controller is connect with mechanical arm control cabinet;
The PLC control module includes PLC controller, plc data transmission base plate, the machinery arm controller, controller It is connect by plc data transmission base plate with PLC controller.
Further, the PLC controller is also connect with material detection sensor, to reach when the sand paper changed on sand frame After being finished, material detection sensor sends messages to PLC controller, and then covers sand paper.
Compared with the prior art, the advantages of the utility model are: the utility model collects positioning, polishes, changes sand paper in one The automatic grinding device of body, and the utility model controls mechanical arm, grinding head group using PLC control system, even if in workpiece Application condition is big, workpiece can also complete automation polishing in the case where deforming greatly, improves grinding efficiency and product polishing quality, generation For manual polishing, dust harzard human health is avoided, the utility model is designed reasonably accords with the demands of the market, and is suitble to promote.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the utility model;
Fig. 2 is that the utility model removes the structural schematic diagram after dust cover;
Fig. 3 is the structural schematic diagram of the utility model workpiece locating mechanism;
Fig. 4 is the partial structure diagram of the utility model workpiece positioning structure;
Fig. 5 is the explosive view of the utility model workpiece positioning structure;
Fig. 6 is a segment structure schematic diagram of the utility model pipeline and workpiece locating mechanism;
Fig. 7 is the structural schematic diagram of the utility model cutting agency;
Fig. 8 is the structural scheme of mechanism of the utility model workpiece polishing mechanism;
Fig. 9 is the structural schematic diagram that the utility model changes sand paper mechanism;
Figure 10 is the system construction drawing of the utility model.
Workpiece locating mechanism 1: delivery sheet 1-1, positioning plate 1-2, locating rack 1-3, workpiece fixing seat 1-4, positioning cylinder 1- 5, positioning collet 1-6, collet fixing seat 1-7, location hole 1-8, permanent opening 1-9;
Pipeline 2: polishing station 2-1, workpiece positioning cylinder 2-2, workpiece sensors in place 2-3, dust collection equipment 2-4, defeated Send frame 2-5, conveyer belt 2-6;
Feed mechanism 3: stock shelf 3-1, upper flitch 3-2, push cylinder 3-3, feeding lifting cylinder 3-4, pushing plate 3-5;
Cutting agency 4: blanking rack 4-1, blanking plate 4-2, blanking lifting cylinder 4-3;
Workpiece polishing mechanism 5: grinding head group 5-1: grinding head 5-1-1, flange 5-1-2 mechanical arm 5-2: mechanical arm controller 5- 2-1, attachment base 5-2-2, the 6th motor 5-2-3, pedestal 5-2-4, upper joint 5-2-5, hypozygal 5-2-6, motor cabinet 5-2-7, First motor 5-2-8, the second motor 5-2-9, third motor 5-2-10, the 4th motor 5-2-11, the 5th motor 5-2-12
It changes sand paper mechanism 6: changing sand rack 6-1, takes off antiquated sand group 6-2, fresh sand group 6-3, antiquated sand passway 6-4, material detection Sensor 6-5, take off sand fixing seat 6-2-1, take off sand cylinder 6-2-2, on take off sand fixture block 6-2-3, under take off sand intermediate plate 6-2-4, sand paper Frame 6-3-1;
Robotic arm control cabinet 7, dust cover 9, auxiliary send wheel 10 at power control cabinet 8.
Specific embodiment
As shown in figs 1-9, a kind of automatic grinding device, comprising:
Workpiece locating mechanism 1: the workpiece polished for fixed needs, the workpiece locating mechanism 1 include delivery sheet 1-1, determine Position plate 1-2, locating rack 1-3, workpiece fixing seat 1-4, positioning cylinder 1-5, positioning collet 1-6 and collet fixing seat 1-7, wherein The positioning plate 1-2 is located on delivery sheet 1-1, and location hole 1-8 is provided on the delivery sheet 1-1, and the locating rack 1-3 is located at On positioning plate 1-2, the workpiece fixing seat 1-4 is located on locating rack 1-3, and the both ends of workpiece fixing seat 1-4 are provided with fixation and open Mouthful 1-9, the collet fixing seat 1-7 are plugged in permanent opening 1-9, and the positioning collet 1-6 is plugged in collet fixing seat 1-7 On, the positioning cylinder 1-5 is located under locating rack 1-3, and the telescopic end of positioning cylinder 1-5 successively wears locating rack 1-3, collet It is connect after fixing seat 1-7 with positioning collet 1-6;
Pipeline 2: it is used for conveying workpieces positioning mechanism 1, the polishing station of at least one or more is provided on the pipeline 2 It is symmetrically arranged with workpiece positioning cylinder 2-2 at 2-1, the corresponding each polishing station 2-1 of the pipeline 2, workpiece positioning cylinder 2-2 Telescopic end it is corresponding with location hole 1-8, and correspond to each polishing station 2-1 on the pipeline 2 and be provided with workpiece and pass in place Sensor 2-3, and the corresponding polishing station 2-1 in 2 two sides of the pipeline is provided with dust collection equipment 2-4;
Feed mechanism 3: being connected in the starting point of pipeline 2, which includes stock shelf 3-1, goes up and down and slip upper The push gas that workpiece locating mechanism 1 on upper flitch 3-2 is pushed on pipeline 2 by upper flitch 3-2, auxiliary in material frame 3-1 It is provided with feeding lifting cylinder 3-4 in cylinder 3-3, the stock shelf 3-1, the telescopic end and upper flitch of feeding lifting cylinder 3-4 3-2 connection, and push cylinder 3-3 is arranged in the stock shelf 3-1 flushed with pipeline 2, the telescopic end of push cylinder 3-3 It is connected to pushing plate 3-5;
Cutting agency 4: being connected in the terminal of pipeline 2, which includes blanking rack 4-1, goes up and down and slip under Expect that the blanking plate 4-2 in frame 4-1, the telescopic end of blanking lifting cylinder 4-3, the blanking lifting cylinder 4-3 and blanking plate 4-2 connect It connects;
Workpiece polishing mechanism 5, corresponding each polishing station 2-1 setting, which includes grinding head group 5-1, by grinding head Group 5-1 is transferred to the mechanical arm 5-2 of each polishing station 2-1, wherein the grinding head group 5-1 includes grinding head 5-1-1, method Blue 5-1-2, the grinding head 5-1-1 and flange seat 5-1-2 are equipped with mechanical arm control by flanged joint, the mechanical arm 5-2 The driven end of device 5-2-1 processed, machinery arm controller 5-2-1 are hinged with attachment base 5-2-2, fixed on attachment base 5-2-2 There is the 6th motor 5-2-3, and the output end of the 6th motor 5-2-3 is connected by the main floating of flange 5-1-2 and grinding head 5-1-1 It connects;
Change sand paper mechanism 6: the corresponding each workpiece polishing mechanism 5 of sand paper mechanism 6 that changes is arranged, and it includes changing that this, which changes sand paper mechanism 6, Sand rack 6-1, be arranged in change on sand rack 6-1 and take off antiquated sand group 6-2 and fresh sand group 6-3, this change sand rack 6-1 it is corresponding take off it is useless Antiquated sand passway 6-4 is provided with by sand group 6-2, this, which changes on sand rack 6-1 to correspond to, is provided with material detection sensor at fresh sand group 6-3 6-5, the material detection sensor 6-5 are connect with flange 5-1-2;
Robotic arm control cabinet 7: for controlling mechanical arm 5-2 running, mechanical arm 5-2 control cabinet and mechanical arm controller 5- 2-1 connection;
Power control cabinet 8: for providing electric power to each mechanism, component;
Dust cover 9: the dust that generates when for polishing to be isolated, the dust cover 9 by pipeline 2, workpiece polishing mechanism 5, change sand paper In mechanism 6, mechanical arm control cabinet 7, power control cabinet 9 are located at.
The pipeline 2 includes the carriage 2-5 and conveyer belt 2-6 being wound around on carriage 2-5, and the pipeline 2 It is provided with the auxiliary of the conveying of auxiliary work-piece positioning mechanism 1 between feed mechanism 3, cutting agency 4 and send wheel 10.
The mechanical arm 5-2 includes pedestal 5-2-4, upper joint 5-2-5 and hypozygal 5-2-6, wherein the pedestal 5-2- Rotary setting has motor cabinet 5-2-7 on 4, and motor cabinet 5-2-7 is connected by first motor 5-2-8 and pedestal 5-2-4 rotation, institute The bottom end for stating hypozygal 5-2-6 is hinged by the second motor 5-2-9 and motor cabinet 5-2-7, and the top of hypozygal 5-2-6 passes through Third motor 5-2-10 and upper joint 5-2-5 are hinged, and the upper joint 5-2-5's passes through the 4th motor 5-2-11 and attachment base 5- 2-2 is hinged, and the 5th motor 5-2-12 that can make upper joint 5-2-5 spinning, the machinery are also equipped on upper joint 5-2-5 Arm controller 5-2-1 respectively with first motor 5-2-8, the second motor 5-2-9, third motor 5-2-10, the 4th motor 5-2-11, 5th motor 5-2-12, the 6th motor 5-2-3 connection.
It is described take off antiquated sand group 6-2 include take off sand fixing seat 6-2-1, take off sand cylinder 6-2-2, on take off sand fixture block 6-2-3, under take off Sand intermediate plate 6-2-4, wherein it is described take off sand fixing seat 6-2-1 and be fixed on change on sand rack 6-1, sand piece 6-2-4 is taken off under described and is fixed In the side for taking off sand fixed frame 6-2-1, it is described take off sand cylinder 6-2-2 and be fixed on by cylinder block take off the another of sand fixing seat 6-2-1 Side, this is taken off and takes off sand fixture block 6-2-3 in telescopic end connection of sand cylinder 6-2-2, and on take off sand fixture block 6-2-3 and take off sand folder under Piece 6-2-4 is symmetrical arranged, and the vertical section that sand intermediate plate 6-2-4 is taken off under this is wedge shaped;The fresh sand group 6-3 includes Abrasive paper support 6-3-1, Sand paper is placed in Abrasive paper support 6-3-1;Described change in sand rack 6-1 corresponds to antiquated sand passway 6-4 equipped with inclined ramp, the inclined ramp Bottom is connected to antiquated sand paper collecting box.
As shown in Figure 10, a kind of automation polishing system, including PLC control module, mechanical arm control module and flexible force Control module, in which:
The flexible force control module includes controller, power control feedback substrate, flange, grinding head 5-1-1, grinding head 5- 1-1 feeds back substrate by power control and connect with controller, and grinding head 5-1-1 is thus collected connecing between current sand paper and workpiece The data information of touch feeds back substrate progress data analysis by power control and sends controller to, and controller and flange 5-1-2 connect It connects, and corresponding control instruction control flange 5-1-2 is stretched to keep the flat of the contact force between grinding head 5-1-1 and sand paper Weighing apparatus;
The mechanical arm control module includes mechanical arm controller 5-2-1, analog input and output substrate, mechanical arm data Transmission base plate, the workpiece sensors in place 2-3 are connect by mechanical arm data transmission base plate with machinery arm controller 5-2-1, When workpiece is when polishing station 2-1 positioning, workpiece sensors in place 2-3 senses workpiece and joins with mechanical arm controller 5-2-1 System, the machinery arm controller 5-2-1 control first motor 5-2-8, the second motor 5-2-9, third motor 5-2-10, the 4th motor 5-2-11, the 5th motor 5-2-12 running drive grinding head group 5-1 logical to polishing station 2-1, the machinery arm controller 5-2-1 Analog input and output substrate is crossed to be connect with controller to obtain the state of current grinding head 5-1-1, the mechanical arm 5-2 and Six motor 5-2-3 connections carry out polishing work, the machinery arm controller 5-2-1 and machine to control the 6th motor 5-2-3 running Tool arm control cabinet 7 connects;
The PLC control module includes PLC controller, plc data transmission base plate, the machinery arm controller, controller It is connect by plc data transmission base plate with PLC controller.
The PLC controller is also connect with material detection sensor 6-5, to reach when the sand paper changed on sand frame is finished Afterwards, material detection sensor 6-5 sends messages to PLC controller, and then covers sand paper.
The utility model integrates the automatic grinding device of positioning, sand paper of polishing, change, and the utility model uses PLC control system controls mechanical arm, grinding head group, can be complete in the case where workpiece application condition is big, workpiece deformation is big It polishes at automation, improves grinding efficiency and product polishing quality instead of manual polishing and avoid dust harzard human health, this Utility model design rationally, accords with the demands of the market, and is suitble to promote.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations; Although the utility model is described in detail with reference to the foregoing embodiments, it will be understood by those of skill in the art that its according to It is so possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is replaced on an equal basis It changes;And these are modified or replaceed, various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution Spirit and scope.

Claims (6)

1. a kind of automatic grinding device characterized by comprising
Workpiece locating mechanism: the workpiece polished for fixed needs, which includes delivery sheet, positioning plate, positioning Frame, workpiece fixing seat, positioning cylinder, positioning collet and collet fixing seat, wherein the positioning plate is located on delivery sheet, described Location hole is provided on delivery sheet, the positioning is erected on positioning plate, and the workpiece fixing seat is located on locating rack, and the workpiece is solid The both ends of reservation are provided with permanent opening, and the collet fixing seat is plugged in permanent opening, and the positioning collet is plugged in collet In fixing seat, the positioning cylinder is located under locating rack, and the telescopic end of the positioning cylinder successively wears locating rack, collet fixing seat It is connect afterwards with positioning collet;
Pipeline: it is used for conveying workpieces positioning mechanism, the polishing station of at least one or more, the conveying are provided on the pipeline Line corresponds to and is symmetrically arranged with workpiece positioning cylinder at each polishing station, and the telescopic end of the workpiece positioning cylinder is opposite with location hole It answers, and corresponds to each polishing station on the pipeline and be provided with workpiece sensors in place, and pipeline two sides correspondence is beaten Grinder position is provided with dust collection equipment;
Feed mechanism: being connected in the starting point of pipeline, the feed mechanism include stock shelf, lifting slip it is upper in stock shelf Workpiece locating mechanism in upper flitch is pushed to the push cylinder on pipeline by flitch, auxiliary, is provided in the stock shelf The telescopic end of feeding lifting cylinder, the feeding lifting cylinder is connect with upper flitch, and the push cylinder is arranged neat with pipeline In flat stock shelf, the flexible of the push cylinder is terminated with pushing plate;
Cutting agency: being connected in the terminal of pipeline, which includes blanking rack, goes up and down and slip the blanking in blanking rack The telescopic end of plate, blanking lifting cylinder, the blanking lifting cylinder is connect with blanking plate;
Workpiece polishing mechanism, corresponding each polishing station setting, which includes grinding head group, grinding head group is transferred to each The mechanical arm of polishing station, wherein the grinding head group includes grinding head, flange, and the grinding head and flange seat pass through flange Connection, the mechanical arm are equipped with mechanical arm controller, and the driven end of the machinery arm controller is hinged with attachment base, the connection The 6th motor is fixed on seat, and the output end of the 6th motor passes through flange and the main floating connection of grinding head;
Change sand paper mechanism: the sand paper mechanism that changes corresponds to each workpiece polishing mechanism setting, and it includes changing sand rack, setting that this, which changes sand paper mechanism, It sets and takes off antiquated sand group and fresh sand group changing in sand rack, this changes sand rack corresponding take off and is provided with antiquated sand passway by antiquated sand group, this is changed It is corresponded in sand rack and is provided with material detection sensor at fresh sand group, the material detection sensor and flanged joint;
Robotic arm control cabinet: for controlling mechanical arm running, which connect with mechanical arm controller;
Power control cabinet: for providing electric power to each mechanism, component;
Dust cover: the dust that generates when for polishing to be isolated, the dust cover by pipeline, workpiece polishing mechanism, change sand paper mechanism, machinery In arm control cabinet, power control cabinet are located at.
2. a kind of automatic grinding device according to claim 1, which is characterized in that the pipeline include carriage with And it is wound around the conveyer belt on carriage, and it is fixed that auxiliary work-piece is provided between the pipeline and feed mechanism, cutting agency The auxiliary of position mechanism conveying send wheel.
3. a kind of automatic grinding device according to claim 1 or 2, which is characterized in that the mechanical arm include pedestal, Upper joint and hypozygal, wherein rotary setting has motor cabinet on the pedestal, which is rotated by first motor and pedestal Connection, the bottom end of the hypozygal is hinged by the second motor and motor cabinet, the top of the hypozygal pass through third motor with it is upper Joint is hinged, the upper joint by the 4th motor and attachment base it is hinged, be also equipped on the upper joint can make upper joint oneself Rotation the 5th motor, it is described machinery arm controller respectively with first motor, the second motor, third motor, the 4th motor, the 5th Motor, the connection of the 6th motor.
4. a kind of automatic grinding device according to claim 3, which is characterized in that the antiquated sand group of taking off includes taking off sand to consolidate Reservation, take off sand cylinder, on take off sand fixture block, under take off sand intermediate plate, wherein it is described take off sand fixing seat and be fixed on change in sand rack, it is described Under take off sand piece and be fixed on the side for taking off sand fixed frame, it is described take off sand cylinder and be fixed on by cylinder block take off the another of sand fixing seat Side, this is taken off and takes off sand fixture block in telescopic end connection of sand cylinder, and on take off sand fixture block and take off sand intermediate plate under and be symmetrical arranged, take off sand under this The vertical section of intermediate plate is wedge shaped;The fresh sand group includes Abrasive paper support, and sand paper is placed in Abrasive paper support;Described change in sand rack corresponds to Antiquated sand passway is equipped with inclined ramp, which is connected to antiquated sand paper collecting box.
5. a kind of automation polishing system, which is characterized in that including PLC control module, mechanical arm control module and flexible force control Module, in which:
The flexible force control module includes controller, power control feedback substrate, flange, grinding head, which is fed back by power control Substrate is connect with controller, and the data information that grinding head collects the contact force between current sand paper and workpiece is thus passed through power Control feedback substrate carries out data analysis and sends controller, controller and flanged joint to, and corresponding control instruction is controlled Telescopic flange keeps the balance of the contact force between grinding head and sand paper;
The mechanical arm control module includes mechanical arm controller, analog input and output substrate, mechanical arm data transmission base plate, The workpiece sensors in place is connect by mechanical arm data transmission base plate with mechanical arm controller, when workpiece is fixed in polishing station When position, workpiece sensors in place senses workpiece and contacts with mechanical arm controller, machinery arm controller control first motor, Second motor, third motor, the 4th motor, the running of the 5th motor drive grinding head group to polishing station, the machinery arm controller It is connect by analog input and output substrate with controller to obtain the state of current grinding head, the mechanical arm and the 6th motor Connection carries out polishing work to control the running of the 6th motor, and the machinery arm controller is connect with mechanical arm control cabinet;
The PLC control module includes PLC controller, plc data transmission base plate, and the machinery arm controller, controller are logical Plc data transmission base plate is crossed to connect with PLC controller.
6. a kind of automation polishing system according to claim 5, which is characterized in that the PLC controller also with material Detection sensor connection.
CN201820579348.4U 2018-04-23 2018-04-23 A kind of automatic grinding device and its polishing system Active CN208681271U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201820579348.4U CN208681271U (en) 2018-04-23 2018-04-23 A kind of automatic grinding device and its polishing system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201820579348.4U CN208681271U (en) 2018-04-23 2018-04-23 A kind of automatic grinding device and its polishing system

Publications (1)

Publication Number Publication Date
CN208681271U true CN208681271U (en) 2019-04-02

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CN201820579348.4U Active CN208681271U (en) 2018-04-23 2018-04-23 A kind of automatic grinding device and its polishing system

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