CN209350053U - A kind of robot grinding mechanism - Google Patents
A kind of robot grinding mechanism Download PDFInfo
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- CN209350053U CN209350053U CN201920096389.2U CN201920096389U CN209350053U CN 209350053 U CN209350053 U CN 209350053U CN 201920096389 U CN201920096389 U CN 201920096389U CN 209350053 U CN209350053 U CN 209350053U
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- control sensor
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Abstract
The utility model relates to a kind of robots to grind mechanism, including the first Working piece positioning device and second workpiece clamping device, first Working piece positioning device includes pedestal, pressing device, second workpiece mounting base, second workpiece mounting base includes the pedestal on pedestal, mounting plate set on pedestal top, mounting plate is equipped with location hole, second workpiece is placed at the location hole of mounting plate, working chamber is equipped in pedestal, it is additionally provided on pedestal corresponding with second workpiece close to switch, it is located at close to the end of switch in working chamber and corresponding with the bottom end of second workpiece, second workpiece clamping device is located at the side of the first Working piece positioning device, second workpiece clamping device includes the articulated robot as driving, set on the power control sensor of articulated robot output end, it is connect with power control sensor and is used to grab the manipulator of second workpiece.The robot grinding mechanism grinding efficiency and grinding quality of the utility model are high.
Description
Technical field
The utility model relates to a kind of grinding devices more particularly to a kind of robot to grind mechanism.
Background technique
In the grinding production of some precision components, most of is all that underhand polish either uses existing dedicated grinding
Machine.The product of some special industries is not available the autogenous mill of existing market, especially when workpiece is some important first devices
When part, operator needs continuously to monitor it and according to the grinding state information of feedback to process of lapping in process of lapping
It is adjusted.Currently, this works, can only be completed by experienced high professional qualification operator by feeling.If grinding
Feedback during mill, without real-time amount of grinding, it is possible to cause the appearance of waste product.So in this case, it can only
Suchlike workpiece grinding work is completed by experience and time, this greatly reduces the production efficiency and quality of product.
Utility model content
In order to solve the above technical problems, the machine high the purpose of the utility model is to provide a kind of grinding efficiency and grinding quality
Device people grinds mechanism.
The robot of the utility model grinds mechanism, including the first Working piece positioning device and second workpiece clamping device, institute
Stating the first Working piece positioning device includes pedestal, and the first workpiece is set to the top of pedestal, and the first Working piece positioning device further includes being used for
The second workpiece mounting base that first workpiece is compressed into pressing device on the base, is used to place second workpiece, second workpiece peace
Dress seat includes the pedestal on pedestal, the mounting plate set on pedestal top, and mounting plate is equipped with location hole, the second workpiece
It is placed at the location hole of mounting plate, working chamber is equipped in the pedestal, is additionally provided on pedestal corresponding with the second workpiece
Close to switch, in the working chamber and corresponding with the bottom end of second workpiece, the second workpiece folder is located at close to the end of switch
Hold the side that device is located at the first Working piece positioning device, second workpiece clamping device include as driving articulated robot, set
In articulated robot output end power control sensor, connect with power control sensor and be used to grab the manipulator of second workpiece.
Further, the robot of the utility model grinds mechanism, the pressing device include cylinder on the pedestal,
With the pressing plate of cylinder output axis connection, set on pressing plate end and the gland that is adapted to the first workpiece.
Further, the robot of the utility model grinds mechanism, is provided with quick change plate on the pedestal, sets on quick change plate
There is the positioning pin being adapted to the first workpiece.
Further, the robot of the utility model grinds mechanism, and the pedestal is equipped with abrasive pastes placing groove, abrasive pastes
Abrasive pastes are equipped in placing groove.
Further, the robot of the utility model grinds mechanism, and the output end of the articulated robot is connected with adaptation
Plate, the power control sensor are installed on the adaptation board, and the other end of power control sensor is equipped with the company being adapted to manipulator
Acting flange, the manipulator are installed on the connecting flange.
According to the above aspect of the present invention, the utility model at least has the following advantages: the utility model robot grind mechanism, with
Force foundation of the data of power control sensor feedback as articulated robot replaces manpower to carry out as clamping device using manipulator
Grinding, to form a kind of full automatic lapping mode, by the clamping of manipulator, to the information collection of power control sensor and
Processing, the power drive of articulated robot form one and have and adapt to variety classes part, different grinding dynamics and precision,
The full-automatic novel milling apparatus that grinding state can be monitored in real time can fully meet all kinds of precision instruments to high leakproofness
Can requirement, precision component is stablized, precisely, be efficiently completed its effect undertaken, and robot grinds mechanism
It has been completely free of artificial constraint, artificial labor intensity and cost has been reduced, improves the quality and stability of grinding.
In conclusion the robot of the utility model grinds mechanism, grinding efficiency and grinding quality are high.
The above description is merely an outline of the technical solution of the present invention, in order to better understand the skill of the utility model
Art means, and can be implemented in accordance with the contents of the specification, below on the preferred embodiment of the present invention and the accompanying drawings in detail
It describes in detail bright as after.
Detailed description of the invention
Fig. 1 is the three-dimensional structure diagram of grinding mechanism, the utility model robot；
Fig. 2 is the three-dimensional structure diagram of the first Working piece positioning device；
Fig. 3 is the main view of the first Working piece positioning device；
Fig. 4 is the three-dimensional structure diagram of second workpiece positioning device.
Wherein, 1: pedestal；2: the first workpiece；3: pressing device；4: second workpiece；5: pedestal；6: mounting plate；7: positioning
Hole；8: working chamber；9: close to switch；10: articulated robot；11: power control sensor；12: manipulator；13: cylinder；14: pressing plate；
15: gland；16: quick change plate；17: positioning pin；18: abrasive pastes placing groove；19: adaptation board；20: connecting flange.
Specific embodiment
With reference to the accompanying drawings and examples, specific embodiment of the present utility model is described in further detail.Below
Embodiment is not intended to limit the scope of the present invention for illustrating the utility model.
Referring to Fig. 1 to Fig. 4, a kind of robot of the utility model grinds mechanism, including the first Working piece positioning device and the
Two work holders, the first Working piece positioning device include pedestal 1, and the first workpiece 2 is set to the top of pedestal, the positioning of the first workpiece
Device further includes that the second workpiece for the first workpiece to be compressed pressing device 3 on the base, is used to place second workpiece 4 is pacified
Seat is filled, second workpiece mounting base includes the pedestal 5 on pedestal, the mounting plate 6 set on pedestal top, and mounting plate is equipped with fixed
Position hole 7, second workpiece is placed at the location hole of mounting plate, and working chamber 8 is equipped in pedestal, is additionally provided on pedestal and second workpiece
Corresponding close switch 9 is located in working chamber and corresponding with the bottom end of second workpiece, second workpiece clamping close to the end of switch
Device is located at the side of the first Working piece positioning device, second workpiece clamping device include as driving articulated robot 10, set
In articulated robot output end power control sensor 11, connect with power control sensor and be used to grab the manipulator of second workpiece
12。
Force of the grinding mechanism, robot of the utility model using the data of power control sensor feedback as articulated robot
Foundation replaces manpower to be ground as clamping device, to form a kind of full automatic lapping mode, passes through using manipulator
The clamping of manipulator, the power drive of articulated robot, forms one and has information collection and processing to power control sensor
Variety classes part, different grinding dynamics and precision are adapted to, the full-automatic novel milling apparatus of grinding state can be monitored in real time,
It can fully meet requirement of all kinds of precision instruments to high sealing performance, precision component be stablized, precisely, efficiently
Its effect undertaken is completed, and robot grinding mechanism has been completely free of artificial constraint, reduces artificial labor intensity
And cost, improve the quality and stability of grinding.
When specific grinding, the output end drive control sensor and manipulator of articulated robot are from second workpiece mounting base
Second workpiece is clamped, then second workpiece is moved at the matching hole of the first workpiece by articulated robot according to the program of setting,
Subsequent second workpiece is realized and the grinding of the first workpiece, during grinding, sextuple power control under the drive of articulated robot
Sensor is to the controller of the data feedback of the power such as the stress of second workpiece and torque to articulated robot, articulated robot just root
Feedback control is carried out to second workpiece according to the data of feedback, so that its grinding dynamics and the amount of feeding meet wanting for precision etc.
It asks.After the completion of to be ground, manipulator unclamps second workpiece, is placed in matching hole, can enable second workpiece in this way
It is enough placed in corresponding matching hole, avoids due to second workpiece and not being adapted to for matching hole and cause the failure of sealing.It is grinding
After having ground first second workpiece, articulated robot grabs another second workpiece from second workpiece mounting base and continues to grind
Mill, until all second workpieces are adapted to completion with the first workpiece.Wherein, second workpiece mounting base is used to place second workpiece,
Thereon close to the setting of switch, enable the system to monitor whether each second workpiece is ground in real time, while making each second
Workpiece can cooperate with corresponding matching hole.Wherein the six axle power control sensors of ABB AB, joint machine can be selected in power control sensor
IRB1200 six axis joint robot of the device person with ABB, the finger centering manipulator of JGZ80 tri- of manipulator selection SCHUNK, compression
Cylinder-pressing or oil cylinder gag can be used in device.
Preferably, the robot of the utility model grinds mechanism, pressing device include cylinder 13 on the pedestal, with
The pressing plate 14 of cylinder output axis connection, set on pressing plate end and the gland 15 that is adapted to the first workpiece.
Preferably, the robot of the utility model grinds mechanism, it is provided with quick change plate 16 on pedestal, quick change plate is equipped with
The positioning pin 17 being adapted to the first workpiece.
Preferably, the robot of the utility model grinds mechanism, pedestal is equipped with abrasive pastes placing groove 18, and abrasive pastes are put
It sets and is equipped with abrasive pastes in slot.
Preferably, the robot of the utility model grinds mechanism, the output end of articulated robot is connected with adaptation board 19,
Power control sensor is installed on adaptation board, and the other end of power control sensor is equipped with the connecting flange 20 being adapted to manipulator, machine
Tool hand is installed on connecting flange.
It is obvious to a person skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and
And without departing substantially from the spirit or essential attributes of the utility model, those skilled in the art can be with other specific shapes
Formula realizes the utility model.It therefore, in all respects, the embodiments should be taken as exemplary, and is non-limit
Property processed, the protection scope of the utility model is indicated by the appended claims rather than the foregoing description.
In addition, above are merely preferred embodiments of the utility model, being not intended to limit the utility model, should refer to
It out, for those skilled in the art, without deviating from the technical principle of the utility model, can be with
Several improvements and modifications are made, these improvements and modifications also should be regarded as the protection scope of the utility model.It will also be appreciated that
Although this specification is described in terms of embodiments, every embodiment includes only a single technical solution,
This description of the specification is merely for the sake of clarity, and the skilled in the art should refer to the specification as a whole,
The technical solutions in the various embodiments may also be suitably combined, formed it will be appreciated by those skilled in the art that other embodiment party
Formula.
Claims (5)
1. a kind of robot grinds mechanism, it is characterised in that: including the first Working piece positioning device and second workpiece clamping device, institute
Stating the first Working piece positioning device includes pedestal, and the first workpiece is set to the top of pedestal, and the first Working piece positioning device further includes being used for
The second workpiece mounting base that first workpiece is compressed into pressing device on the base, is used to place second workpiece, second workpiece peace
Dress seat includes the pedestal on pedestal, the mounting plate set on pedestal top, and mounting plate is equipped with location hole, the second workpiece
It is placed at the location hole of mounting plate, working chamber is equipped in the pedestal, is additionally provided on pedestal corresponding with the second workpiece
Close to switch, in the working chamber and corresponding with the bottom end of second workpiece, the second workpiece folder is located at close to the end of switch
Hold the side that device is located at the first Working piece positioning device, second workpiece clamping device include as driving articulated robot, set
In articulated robot output end power control sensor, connect with power control sensor and be used to grab the manipulator of second workpiece.
2. robot according to claim 1 grinds mechanism, it is characterised in that: the pressing device includes being set on pedestal
Cylinder, with the pressing plate of cylinder output axis connection, set on pressing plate end and the gland that is adapted to the first workpiece.
3. robot according to claim 1 grinds mechanism, it is characterised in that: be provided with quick change plate on the pedestal, fastly
It changes plate and is equipped with the positioning pin being adapted to the first workpiece.
4. robot according to claim 1 grinds mechanism, it is characterised in that: the pedestal is placed equipped with abrasive pastes
Slot, abrasive pastes placing groove is interior to be equipped with abrasive pastes.
5. robot according to claim 1 grinds mechanism, it is characterised in that: the output end of the articulated robot connects
There is adaptation board, the power control sensor is installed on the adaptation board, and the other end of power control sensor is equipped with suitable with manipulator
The connecting flange matched, the manipulator are installed on the connecting flange.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920096389.2U CN209350053U (en) | 2019-01-21 | 2019-01-21 | A kind of robot grinding mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920096389.2U CN209350053U (en) | 2019-01-21 | 2019-01-21 | A kind of robot grinding mechanism |
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| Publication Number | Publication Date |
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| CN209350053U true CN209350053U (en) | 2019-09-06 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920096389.2U Active CN209350053U (en) | 2019-01-21 | 2019-01-21 | A kind of robot grinding mechanism |
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| CN (1) | CN209350053U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531401A (en) * | 2019-01-21 | 2019-03-29 | 北京奇步自动化控制设备有限公司 | A kind of robot grinding mechanism |
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2019
- 2019-01-21 CN CN201920096389.2U patent/CN209350053U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531401A (en) * | 2019-01-21 | 2019-03-29 | 北京奇步自动化控制设备有限公司 | A kind of robot grinding mechanism |
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