CN209304286U - A kind of consumptive material apparatus for automatic change cooperating robot grinding apparatus - Google Patents
A kind of consumptive material apparatus for automatic change cooperating robot grinding apparatus Download PDFInfo
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- CN209304286U CN209304286U CN201921161679.7U CN201921161679U CN209304286U CN 209304286 U CN209304286 U CN 209304286U CN 201921161679 U CN201921161679 U CN 201921161679U CN 209304286 U CN209304286 U CN 209304286U
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- discharging
- consumptive material
- clamping jaw
- reloads
- automatic change
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Abstract
The polishing structure that the utility model relates to handle for Work-piece burr, specifically disclose a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus, including rack, it is characterized by: the rack side is equipped with device for discharging, device for discharging side is equipped with material-changing device, the barrel of storage consumptive material is equipped with below the material-changing device, feeding disk is equipped with above barrel, the feeding disk includes the consumptive material sucker being vertically set in barrel, the consumptive material sucker is equipped with elevating lever, the elevating lever is connected with lifting drive block, the end of the elevating lever is equipped with angle and rotates pushing block；The new and old polishing consumptive material of the utility model cooperates material-changing device to realize by device for discharging, overall structure is simple and efficient, it can be good at cooperating robot grinding apparatus replacement consumptive material, artificial directly participation replacement consumptive material is not needed in the process, it is not only high-efficient, and for operators, the safety problem of processing can be ensured very well.
Description
Technical field
The polishing structure that the utility model relates to handle for Work-piece burr, specifically a kind of cooperation robot polishing
The consumptive material apparatus for automatic change of equipment.
Background technique
In Surface Processing Industry, there are plane, curved surface, straight flange needs to be beaten using sander collocation sand paper, sand sponge
Mill, sand paper are bonded together by the way of velcro with the pallet of sander, can replace consumption manually when manually use
Material, when being applied to automatic field, has if manpower removes replacement consumptive material since consumptive material consumption is fast in robot grinding apparatus
Very big drawback, machinery equipment can only suspend production during replacing consumptive material, influence efficiency, additionally there are security risks.
Summary of the invention
In order to overcome the disadvantages described above and deficiency of the prior art, the purpose of the utility model is to provide a kind of structure is simple,
The consumptive material apparatus for automatic change of robot grinding apparatus can be suitable for cooperating.
The technical scheme adopted by the utility model to solve the technical problem is as follows:
A kind of consumptive material apparatus for automatic change of cooperation robot grinding apparatus of the utility model, main body includes rack, institute
Rack side is stated equipped with device for discharging, device for discharging side is equipped with material-changing device, and storage consumptive material is equipped with below the material-changing device
Barrel, feeding disk is equipped with above barrel, the feeding disk includes the consumptive material sucker being vertically set in barrel, the consumptive material
Sucker is equipped with elevating lever, and the elevating lever is connected with lifting drive block, and the end of the elevating lever is equipped with angle rotation and pushes away
Block；
The device for discharging includes the discharging panel equipped with discharging photoelectric sensor, and the discharging panel is equipped with clamping
The discharging clamping jaw of waste consumable, it is sliding in discharging clamping jaw that the discharging clamping jaw lower section is equipped with discharging jaw sliding block and driving discharging clamping jaw
The discharging clamping jaw pushing block to stretch on block, the discharging photoelectric sensor and discharging clamping jaw pushing block are interrelated；
The material-changing device includes the panel that reloads equipped with the photoelectric sensor that reloads, and below the panel of reloading is equipped with driving and changes
Expect the rotation drive block of device unitary rotation, clamping jaw is several, and the clamping jaw that reloads is connected with changes the panel that reloads equipped with reloading
Material jaw sliding block and driving reload clamping jaw in the clamping jaw pushing block that reloads to stretch in jaw sliding block that reloads, the optoelectronic induction that reloads
Device and rotation drive block and the clamping jaw pushing block that reloads are interrelated.
Preferably, the consumptive material sucker is Pneumatic suction cup.
Preferably, the lifting drive block is hydraulic cylinder or cylinder.
Preferably, the angle rotation pushing block is rotary cylinder.
Preferably, the discharging clamping jaw pushing block is hydraulic cylinder or cylinder.
Preferably, the rotation drive block is rotary cylinder.
Preferably, the clamping jaw pushing block that reloads is hydraulic cylinder or cylinder.
Preferably, the head end of the discharging clamping jaw is in straight hook shape, straight hook shape is partially suspended at the outer of discharging panel
On surface, the preset clearance being adapted to polishing consumptive material thickness is constituted.
Preferably, the head end of the clamping jaw that reloads is in straight hook shape, straight hook shape is partially suspended at the outer of the panel that reloads
On surface, the preset clearance being adapted to polishing consumptive material thickness is constituted.
The beneficial effects of the utility model are: when the grinding head on its arm is moved to discharging dress by robot grinding apparatus
The discharging panel set goes forward to hold, and the discharging clamping jaw that discarded polishing consumptive material pre-placing is arranged in discharging panel side and discharging
In preset clearance between panel, at this point, the photoelectric sensor being arranged on discharging panel allows associated discharging clamping jaw after sensing
Pushing block does contractive action, and after completion, robot grinding apparatus is mobile to material-changing device direction by its arm, that is, is completed at the same time
The blanking action of waste consumable and the pre- of next step are reloaded movement, which can disposably complete two procedures, add
Work is high-efficient.
New and old polishing consumptive material cooperates material-changing device to realize by device for discharging, and overall structure is simple and efficient, can be good at
Cooperate robot grinding apparatus to replace consumptive material, does not need artificial directly participation replacement consumptive material in the process, it is not only high-efficient but also right
For operator, the safety problem of processing can be ensured very well.
Detailed description of the invention
Fig. 1 is the main structure chart of the utility model.
Fig. 2 is the schematic enlarged-scale view of the utility model material-changing device part.
Fig. 3 is the schematic enlarged-scale view of the utility model device for discharging part.
Fig. 4 is the schematic enlarged-scale view of the utility model discharging gripping portions.
Fig. 5 is that the utility model reloads the schematic enlarged-scale views of gripping portions.
Fig. 6 is the schematic enlarged-scale view of the utility model barrel portion.
In figure: 1. rack, 2. device for discharging, 3. discharging photoelectric sensor, 4. discharging panel, 5. discharging clamping jaw, 6. discharging
7. discharging clamping jaw pushing block of jaw sliding block, 8. material-changing device 9. panel 10. that reloads rotates the clamping jaw 12. that reloads of drive block 11. and changes
Material jaw sliding block 13. reload 16. consumptive material sucker of clamping jaw pushing block 14. barrel, 15. feeding disk, 17. elevating lever 18. lifting driving
19. angle of block rotation pushing block 20. reloads photoelectric sensor.
Specific embodiment
The technical issues of in order to keep the utility model solved, technical solution and beneficial effect are more clearly understood, below
In conjunction with attached drawing and embodiment, the utility model is further elaborated.It should be appreciated that embodiment described herein is only used
In explaining the utility model, it is not used to limit the utility model.
As shown in figures 1 to 6, the consumptive material apparatus for automatic change of a kind of cooperation robot grinding apparatus of the utility model, main body
Including rack 1,1 side of rack is equipped with device for discharging 2, and 2 side of device for discharging is equipped with material-changing device 8, is equipped with below material-changing device 9
The barrel 14 of consumptive material is stored, feeding disk 15 is equipped with above barrel 14, feeding disk 15 includes the consumptive material being vertically set in barrel 14
Sucker 16(Pneumatic suction cup), not used polishing consumptive material, such as grinding disc etc. are adsorbed by consumptive material sucker 16.
Consumptive material sucker 16(Pneumatic suction cup) there is the sucker to contact with each other with polishing consumptive material flat surface, by accessing gas
Pressure, air exercise abrasion material carry out adsorbing fixed work.
As the transferring structure of polishing consumptive material, consumptive material sucker 16 is equipped with elevating lever 17, and elevating lever 17 is connected with lifting and drives
Motion block 18(hydraulic cylinder or cylinder), the end of elevating lever 17 is equipped with angle and rotates pushing block 19(rotary cylinder), in order to quickly,
The operating position that accurately whether identification robot grinding apparatus reaches device for discharging 2 carries out blanking and work of reloading, discharging dress
Setting 2 includes the discharging panel 4 equipped with discharging photoelectric sensor 3, and discharging panel 4 is equipped with the discharging clamping jaw 5 of clamping waste consumable,
The discharging clamping jaw for being equipped with discharging jaw sliding block 6 below discharging clamping jaw 5 and discharging clamping jaw 5 being driven to stretch in discharging jaw sliding block 6
Pushing block 7(hydraulic cylinder or cylinder), discharging photoelectric sensor 3 and discharging clamping jaw pushing block 7 are interrelated, can be according to discharging light inductance
The case where answering device 3 identified, discharging clamping jaw 5 carry out flexible pinching action accordingly.
As structure of efficiently reloading, material-changing device 8 includes the panel 9 that reloads equipped with the photoelectric sensor 20 that reloads, and is reloaded
The rotation drive block 10(rotary cylinder of driving 8 unitary rotation of material-changing device is equipped with below panel 9), the panel 9 that reloads is equipped with and changes
Feed collet pawl 11 is several, and generally symmetrical two groups of the setting of the clamping jaw 11 that reloads, the clamping jaw 11 that reloads is connected with 12 He of jaw sliding block of reloading
Driving reloads clamping jaw 11 in reload clamping jaw pushing block 13(hydraulic cylinder or the cylinder to stretch in jaw sliding block 12 that reload), reload light inductance
Answer device 20 and rotation drive block 10 and the clamping jaw pushing block 13 that reloads interrelated, fast and accurately to identify that robot polishing is set
Whether standby or feeding disk 15 reaches the reloading on 9 position of panel of material-changing device 8, and then reload clamping jaw 11 and/or rotation drive block
The 10 corresponding movements for making crawl and/or rotation switching.
Discharging photoelectric sensor 3 and the photoelectric sensor 20 that reloads all are the sensors using photoelectric device as conversion element,
It can be used for detecting the non-electrical physical quantity for directly causing light quantity to change, such as light intensity, illuminance, radiation temperature measurement, gas composition analysis
Deng, it is also possible to come detect can be converted into light quantity variation other non electrical quantities, as diameter of part, surface roughness, strain, displacement,
Vibration, speed, acceleration and identification of shape, working condition of object etc..Photoelectric sensor has non-contact, response
Fastly, it the features such as reliable performance, therefore is widely applied in industrial automation arrangement and robot.
Rotary cylinder (also referred to as oscillating cylinder), it be using compressed air-driven output shaft make within the scope of certain angle it is past
The pneumatic apparatus of multiple rotary motion.For turn drawing of object, overturning, classification, clamping, the opening and closing of valve and robot
Arm action etc., oscillating cylinder has pinion and-rack and vane type two major classes, but this kind of rotary cylinder all cannot achieve circulation
Rotation function.
Such as day silver cylinder develop it is a can 360 degree of Infinite Cyclics rotary cylinder.It can freely control at 90 degree, 180
Degree, the functional requirement of 270 degree of equal indicatives, this rotary cylinder is also able to achieve Plane Rotation, and (stroke is without change i.e. in rotary course
Change), wait rotate to certain angle, the function of rising or falling can be completed without returning to former track.
In order to preferably realize crawl consumptive material, the head end of discharging clamping jaw 5 and the clamping jaw 11 that reloads is in straight hook shape, straight hook shape
It is partially suspended on the outer surface of discharging panel 4 and the panel 9 that reloads, constitutes the preset clearance being adapted to polishing consumptive material thickness, it should
It gap can be i.e. as polishing consumptive material fixed position.
The working principle of the utility model is:
When the grinding head on its arm is moved to the front end of the discharging panel 4 of device for discharging 2 by robot grinding apparatus, and
By preset clearance of the discarded polishing consumptive material pre-placing between the discharging clamping jaw 5 and discharging panel 4 that 4 side of discharging panel is arranged
In, allow associated discharging clamping jaw pushing block 7 to receive with it afterwards at this point, the discharging photoelectric sensor 3 being arranged on discharging panel 4 senses
Contracting movement, discharging clamping jaw pushing block 7 drive discharging clamping jaw 5 to tighten, i.e., fixed to have clamped discarded polishing consumptive material.
After completion, robot grinding apparatus is mobile to 8 direction of material-changing device by its arm, that is, has been completed at the same time discarded consumption
The discharging movement of material and the pre- of next step are reloaded movement, which can disposably complete two procedures, hence it is evident that are improved
Processing efficiency.
At this point, the feeding disk 15 and material-changing device 8 of 14 top of barrel can start to be acted or according to reality in advance
Border situation, is suitably delayed.
Feeding disk 15 passes through the consumptive material sucker 16(Pneumatic suction cup that is vertically set in barrel 14) by the consumptive material in barrel 14
It is adsorbed, is then lifted up consumptive material by elevating lever 17, when consumptive material is lifted up material-changing device 8 by elevating lever 17
Reload 9 position of panel when, pass through angle and rotate pushing block 19(rotary cylinder) being rotated by 90 ° can be realized to dock with the panel 9 that reloads connects
Close, setting rotation drive block 10(rotary cylinder below the panel 9 that reloads of material-changing device 8) it is that material-changing device 8 can be driven whole
360 ° of rotations, realize the purpose that flexibly switches of both sides, when needing dock engagement with feeding disk 15, i.e., 180 ° of integral-rotation are
It can.
The working principle as with discharging clamping jaw 5 that the contraction of clamping jaw 11 of reloading clamps, the effect for the photoelectric sensor 20 that reloads
It is whether the grinding head that can be recognized on robot grinding apparatus arm and the feeding disk 15 for being adsorbed with new polishing consumptive material reach
In conjunction with the position nodes of engagement (need to identify respectively two), then carry out relevant action again.
It is connect when 9 plate of panel that reloads of material-changing device 8 is completed by the clamping jaw 11 that reloads with the polishing consumptive material of feeding disk 15
After conjunction movement (joint action specifically refers to clamp the consumptive material on feeding disk 15 by reloading clamping jaw 11), again by rotation
Drive block 10 drives material-changing device 8 to rotate integrally 180 °, that is, realizes direction switching action, and whole overturning goes back and works as robot
The arm of grinding apparatus starts the engagement of newly polishing consumptive material, and the working principle for shrinking pinching action is also the same with discharging clamping jaw, complete
After engagement, the replacement of robot grinding apparatus completes new polishing consumptive material.
The utility model structure is simple and efficient, and can be good at cooperating robot grinding apparatus replacement consumptive material, in the process not
Artificial directly participation replacement consumptive material is needed, it is not only high-efficient, but also for operators, the peace of processing can be ensured very well
Full problem.
Number of parts in this programme, size, change is made according to service condition in position can derive a plurality of different function
The utility model is exemplarily described in the product of energy, the above combination attached drawing, it is clear that the utility model implements not
It is limited by aforesaid way, as long as using the method concept of the utility model and various unsubstantialities that technical solution carries out
Improve, or it is not improved the conception and technical scheme of the utility model are directly applied into other occasions, it is practical new at this
Within the protection scope of type.
Claims (9)
1. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus, including rack, it is characterised in that: the rack one
Side is equipped with device for discharging, and device for discharging side is equipped with material-changing device, the barrel of storage consumptive material, material are equipped with below the material-changing device
Cylinder top is equipped with feeding disk, and the feeding disk includes the consumptive material sucker being vertically set in barrel, is set on the consumptive material sucker
There is elevating lever, the elevating lever is connected with lifting drive block, and the end of the elevating lever is equipped with angle and rotates pushing block；
The device for discharging includes the discharging panel equipped with discharging photoelectric sensor, and it is discarded that the discharging panel is equipped with clamping
The discharging clamping jaw of consumptive material, the discharging clamping jaw lower section are equipped with discharging jaw sliding block and driving discharging clamping jaw in discharging jaw sliding block
Flexible discharging clamping jaw pushing block, the discharging photoelectric sensor and discharging clamping jaw pushing block are interrelated；
The material-changing device includes the panel that reloads equipped with the photoelectric sensor that reloads, and below the panel of reloading, which is equipped with, drives the dress that reloads
The rotation drive block of unitary rotation is set, clamping jaw is several, and the clamping jaw that reloads is connected with the folder that reloads equipped with reloading for the panel that reloads
Pawl sliding block and driving reload clamping jaw in the clamping jaw pushing block that reloads to stretch in jaw sliding block that reloads, it is described reload photoelectric sensor with
Rotation drive block and the clamping jaw pushing block that reloads are interrelated.
2. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The consumptive material sucker is Pneumatic suction cup.
3. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The lifting drive block is hydraulic cylinder or cylinder.
4. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The angle rotation pushing block is rotary cylinder.
5. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The discharging clamping jaw pushing block is hydraulic cylinder or cylinder.
6. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The rotation drive block is rotary cylinder.
7. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The clamping jaw pushing block that reloads is hydraulic cylinder or cylinder.
8. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The head end of the discharging clamping jaw is in straight hook shape, and straight hook shape is partially suspended on the outer surface of discharging panel, constitutes and consumes with polishing
The preset clearance of material thickness adaptation.
9. a kind of consumptive material apparatus for automatic change for cooperating robot grinding apparatus according to claim 1, it is characterised in that:
The head end of the clamping jaw that reloads is in straight hook shape, and straight hook shape is partially suspended on the outer surface for the panel that reloads, and constitutes and consumes with polishing
The preset clearance of material thickness adaptation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921161679.7U CN209304286U (en) | 2019-07-23 | 2019-07-23 | A kind of consumptive material apparatus for automatic change cooperating robot grinding apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921161679.7U CN209304286U (en) | 2019-07-23 | 2019-07-23 | A kind of consumptive material apparatus for automatic change cooperating robot grinding apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209304286U true CN209304286U (en) | 2019-08-27 |
Family
ID=67682464
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921161679.7U Active CN209304286U (en) | 2019-07-23 | 2019-07-23 | A kind of consumptive material apparatus for automatic change cooperating robot grinding apparatus |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209304286U (en) |
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2019
- 2019-07-23 CN CN201921161679.7U patent/CN209304286U/en active Active
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