CN209615039U - Automatically grinding device - Google Patents
Automatically grinding device Download PDFInfo
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- CN209615039U CN209615039U CN201920095137.8U CN201920095137U CN209615039U CN 209615039 U CN209615039 U CN 209615039U CN 201920095137 U CN201920095137 U CN 201920095137U CN 209615039 U CN209615039 U CN 209615039U
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- module
- handgrip
- sander
- polishing
- grinding device
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Abstract
The utility model relates to a kind of automatically grinding devices, wherein, the device is loaded onto material to be polished in the material polishing by feeding cutting module, and the material after module polishing of polishing via material is removed by the feeding cutting module, it realizes automatically to the assembly line sanding operation of material, and the locating module by being fixed in the material polishing module and position sensor can ensure that the accurate positionin for material to be polished.Full-automatic loading and unloading, Automatic-searching material anchor point can be realized using the automatically grinding device of the utility model, complete the sanding operation to material, reduce hand labor, save the production time, improve production efficiency.
Description
Technical field
The utility model relates to process field more particularly to material polishing production field, in particular to one kind automatically
Automatically grinding device.
Background technique
Constantly increase recently as production requirement amount, manually-operated material grinding device is gradually unable to satisfy enterprise
The production requirement of industry, many enterprises, which are intended to obtain one kind and can be realized automatically, carries out feeding, polishing and blanking behaviour to material
The equipment of work achievees the purpose that improve production efficiency and production capacity to realize raising productive temp.
For example, in the industrial production of electronic glass, either display glass or mobile phone glass are required to glass
Glass carry out be thinned reprocessing, due to the limitation of equipment and technical conditions, the most of device produced at present be all manpower by hand to
Sander feeding and piece is taken, manpower manual can only be used.Under this production method efficiency is relatively low, factory's production capacity is seriously constrained
Raising.
Utility model content
The shortcomings that the purpose of the utility model is to overcome the above-mentioned prior arts, provide it is a kind of without human intervention, from
Dynamicization degree height and easy to operate automatically grinding device.
To achieve the goals above or other purposes, the automatically grinding device of the utility model are as follows:
The automatically grinding device, is mainly characterized by, and the device includes material polishing module, locating module, feeding
Cutting module and position sensor；
The locating module is fixed in the material polishing module；The feeding cutting module and the object
The intercommunication connection of material polishing module；The position sensor is connected with the feeding cutting module.
Preferably, the described material polishing module by workpiece polishing mechanism at, the sander include sander upper millstone and
Sander lower millstone, the sander upper millstone are material adsorption element, and the sander lower millstone is material polishing portion
Part, the sander upper millstone and sander lower millstone are adjacent and set, and the locating module is set on the sander
On mill.
More preferably, the locating module is set to the side of the sander upper millstone.
Preferably, the locating module is shop bolt.
Preferably, the feeding cutting module is made of six-DOF robot and material handgrip, the material is grabbed
Hand is fixed on the 6th shaft flange of the six-DOF robot, the material handgrip and the position sensor phase
Connection.
More preferably, the feeding cutting module further includes handgrip clamping jaw, and the handgrip clamping jaw is fixed on the object
Expect on handgrip, the handgrip clamping jaw is connected with the position sensor, and the handgrip clamping jaw also drives with a clamping jaw
Cylinder of taking offence is connected.
Preferably, the position sensor is photoelectric sensor.
Preferably, further including former sheet material case for placing the material before the polishing in the device and being used for
The finished product materials case of material after placing the polishing, the former sheet material case and finished product materials case are placed in described upper
Expect the accessible position of cutting module.
Preferably, the material is glass.
Using the automatically grinding device of the utility model, material to be polished can be loaded by feeding cutting module described
Material polishing in, and by the feeding cutting module will via material polish module polishing after material remove, realize automatically
To the assembly line sanding operation of material, and the locating module and position sensor polished in module by being fixed on the material
It can ensure that the accurate positionin for material to be polished.The automatically grinding device can realize full-automatic loading and unloading, Automatic-searching material
Anchor point completes the sanding operation to material, reduces hand labor, saves the production time, improves production efficiency.
Detailed description of the invention
Fig. 1 is the structural schematic diagram under the automatically grinding device decomposing state of the utility model.
Fig. 2 is the material handgrip in the automatically grinding device in an embodiment of the present invention in conjunction with sander upper millstone
Structural schematic diagram afterwards.
Fig. 3 is the structural schematic diagram of the automatically grinding device of the utility model.
Appended drawing reference
1 sander lower millstone
2 sander upper millstones
3 sanders
4 material handgrips
5 shop bolts
6 handgrip clamping jaws
7 six-DOF robots
8 former sheet material casees
9 finished product materials casees
10 photoelectric sensors
11 suckers
12 ring flanges
Specific embodiment
In order to more clearly describe the technology contents of the utility model, carry out combined with specific embodiments below into one
The description of step.
As shown in Figure 1, in specific embodiment of the present utility model, which includes:
Material polishing module, for polishing material；
Locating module is fixed in the material polishing module；
Feeding cutting module is polished module for placing the material before polishing to the material, and for will be through
Material after the described material polishing module polishing is removed from the material polishing module, the feeding cutting module with
The intercommunication connection of the material polishing module；
Position sensor, for detecting the position of the locating module, the position sensor and the feeding
Cutting module is connected.
In the above-described embodiments, material polishing module is made of sander 3, and the sander 3 includes polishing
Machine upper millstone 2 and sander lower millstone 1, the sander upper millstone 2 are material adsorption element, the sander lower millstone
1 polishes component for material, and the sander upper millstone 2 and sander lower millstone 1 are adjacent and set, and the locating module is set to
On the sander upper millstone 2.
In the above-described embodiments, the locating module is set to the side of the sander upper millstone 2, to realize not shadow
Ring the operation translated when sander upper millstone 2 is polished.
In the above-described embodiments, the locating module is shop bolt 5.
As shown in Fig. 2, in the above-described embodiments, the feeding cutting module is grabbed by six-DOF robot 7 and material
Hand 4 is constituted, and the material handgrip 4, which is fixed on the 6th shaft flange of the six-DOF robot 7, (is fixed on six certainly
By on the ring flange 12 of degree robot), the material handgrip 4 is connected with the position sensor, in this embodiment,
The position sensor is fixed on the material handgrip 4, and in this embodiment, the material handgrip 4 includes branch
Support mechanism and the several suckers 11 being installed on supporting mechanism are constituted, and the function of crawl material can be realized by sucker 11.
In the above-described embodiments, the feeding cutting module further includes handgrip clamping jaw 6, and the handgrip clamping jaw 6 is fixed
In on the material handgrip 4, the handgrip clamping jaw 6 is connected with the position sensor, and the handgrip clamping jaw 6
Also it is connected with clamping jaw driving cylinder, the handgrip clamping jaw 6 is used for before the feeding cutting module feeding, discharge to solid
Carry out positioning operation is fixed due to the locating module in the material polishing module, which is Pneumatic clamping jaw.
In this embodiment, by the six-DOF robot 7 as in the movement execution for taking material, placement material
The heart can be found to be fixed on the material and polish by the position sensor being installed in the feeding cutting module and be determined in module
Position module is realized pressed glass to adsorb on sander and is ground by the material handgrip 4 being fixed on the six-DOF robot 7
The completion of the movement of disk 2.
In the embodiment, in feeding, after the position sensor finds locating module present position, by described
It is fixed on handgrip clamping jaw 6 on the material handgrip 4 and clamps locating module, sander upper millstone 2 is fixed with realizing, and
The designated position for being fixed on feeding cutting module more accurately by glass in the material polishing module acts on.
In the above-described embodiments, the position sensor is photoelectric sensor 10.
In the above-described embodiments, in the device further include former sheet material for placing the material before the polishing
Case 8 and finished product materials case 9 for placing the material after the polishing, the former sheet material case 8 and finished product materials case 9 are equal
It is placed in the accessible position of the feeding cutting module.Module that material can be polished in this embodiment is placed in the feeding
Former sheet material case 8 and finished product materials case 9 are placed in the other side of the feeding cutting module by the side of cutting module, convenient
Six-DOF robot 7 takes the completion of piece, film releasing function.
In the above-described embodiments, the material is glass.
Structural schematic diagram in Fig. 1 be in order to preferably show configuration state figure when material handgrip is pressed on sander,
Material handgrip should be connected with six-DOF robot in a practical situation, rather than between be fixed on sander upper millstone.
Fig. 2 is the material handgrip in the automatically grinding device in an embodiment of the present invention in conjunction with sander upper millstone
Structural schematic diagram afterwards.From the material handgrip and sander upper millstone knot that clearer can be seen clearly in the utility model in Fig. 2
Configuration state after conjunction.
In the above-described embodiments, the glass is carried out thinned operation by device realization, and specific structure can
As shown in fig.3, showing the schematic diagram that feeding cutting module is in contact under state with logistics polishing module in Fig. 3.
It follows that the automatically grinding device in above-described embodiment can be used as a kind of use six-DOF robot 7 realization
Automatically the equipment that the glass thinning of the operation of fluctuating plate is carried out to glass, in the device, using on the sander of sander
Mill 2 assists more glass to polish with grinding machine lower millstone.It is realized using feeding cutting module and the feeding of glass and blanking is grasped
Make, specially glass be installed on the sander upper millstone 2 to control material handgrip 4 using six-DOF robot 7,
Or glass is removed from sander upper millstone 2.Using position sensor to the locating module being fixed on feeding cutting module
It is detected, realizes that full-automatic searching finished glass anchor point and taking-up are polished and glass is thinned, be accurately inserted into finished product materials case 9
Grid；Hand labor is reduced, the production time is saved, improves production efficiency.
The above-mentioned device for glass thinning can be improved the production capacity of glass production, improve production efficiency, save manually at
This, may be implemented the accurate upper millstone face of automatic sheet-feeding, Automatic-searching and alignment pin position, and attach glass automatically, and automatic
Glass function is taken out in positioning, which can be electronic glass.
Below to this by taking a kind of device by the utility model is used to carry out thinning operation to super-thin electronic glass as an example
Each functional module of the automatically grinding device of utility model is further described:
The automatically grinding device includes:
Sander, in sander in be equipped with a set of independent control system, can control that sander upper millstone 2 is mobile, lift
Play movement, and the high-speed rotation of control sander lower millstone 1；And it is configured with other water and itself polishing is completed in gas circuit work
Function.
Wherein, in actual use, super-thin electronic glass, which can be adsorbed on, to be beaten for sander lower millstone 1 and sander upper millstone 2
On the film surface of grinding machine upper millstone 2, this is that have one layer of absorption layer based on 2 face of sander upper millstone, soft and smooth, places ultra-thin electricity
Absorption when sub- glass using extruding vacuum mode realization to glass；When carrying out sanding operation, upper millstone follows bistrique to be moved to
The direction of vertical lower millstone, is pressed on lower millstone face, upper and lower mill rotates together, and lower millstone face is equipped with special material under positive
Matter, can be with sanding and polishing, thinned electronic glass.
Respectively there is motor that two mill faces is driven to carry out circular-rotation when upper and lower mill work；The speed of upper and lower mill face rotation
Degree is different, therefore can form glass and adsorb in upper millstone face, is depressed into the speed difference when rotation of lower millstone face, just has opposite
Motion conditions occur；Lower millstone face is a kind of similar grinding wheel disk, in bruting process, has the injection of polishing liquid always above, plays
It lubricates and grinds glass surface effect.
Material handgrip 4 (i.e. a kind of for grabbing the handgrip of electronic glass): when material handgrip 4 is used for the glass without polishing
When glass loads onto sander, the sucker 11 on material handgrip 4 draws the whole electronic glass of arrangement from sheet glass case；Pass through peace
The position for the shop bolt 5 being installed on sander upper millstone 2 is found loaded on the photoelectric sensor 10 on material handgrip 4, is carried out
Positioning, after the completion of positioning；Glass extruding is placed on the sander upper millstone face with adsorption capacity by material handgrip 4；Work as material
When handgrip 4 is used to remove the glass after polishing from sander upper millstone, pass through the photoelectric sensing being installed on material handgrip 4
Device 10 finds the position for the shop bolt 5 being installed on sander upper millstone, is positioned, after the completion of positioning；On material handgrip 4
Sucker 11 by absorption glass take out glass, good path and vitreousness, place it in finished glass case according to the rules
In.
Locating module: in this embodiment, locating module is made of shop bolt 5, and shop bolt 5 is set on sander and grinds
On disk 2, when shop bolt 5 is material handgrip 4 and sander upper millstone face relative positioning, the object of the detection of photoelectric sensor 10
When body, i.e. relative positioning, photoelectric sensor 10 realizes positioning by detection 5 position of shop bolt, after finding shop bolt 5
Gripper, which is grabbed, using handgrip lives locating module realization positioning；
Handgrip clamping jaw 6: it as described above, handgrip clamping jaw 6 is used for after photoelectric sensor 10 detects shop bolt 5, clamps
Shop bolt 5, when handgrip clamping jaw 6 firmly grasps shop bolt 5, the relative position of handgrip clamping jaw 6 and shop bolt 5 be it is fixed,
The relative position namely fixation of material handgrip 4 and sander upper millstone 2, concrete operations are as follows: work as handgrip are allowed for accordingly
When clamping jaw 6 clamps shop bolt 5, portable grinder upper millstone 2, so that sucker of the sander upper millstone relative to material handgrip 4
The position in face is fixed.
Six-DOF robot 7: being the basis of all function actions, drives material handgrip 4 complete by six-DOF robot 7
It is picked up at sheet glass, and the position sensor being installed on material handgrip 4 is driven to find 5 position of shop bolt, fixed polishing
Machine upper millstone position attaches electronic glass；It removes electronic glass and is placed on finished glass case according to regulation state.
Sheet glass case and finished glass case (i.e. former sheet material case 8 and finished product materials case 9): for placing undressed be thinned
Sheet glass and machined finished glass；
Position sensor, the position sensor in the embodiment can be apart from adjustable photoelectric sensor 10: this photoelectricity
Sensor 10 is the key that entire everything, and the shop bolt 5 on sander upper millstone is found by the position sensor
The determination of positioning datum is realized in position, guarantees that material location status can be attached and be taken out as requested.
The course of work of the automatically grinding device when carrying out skiving operation to glass in above-described embodiment is as follows:
After sheet glass is ready in sheet glass case, six-DOF robot 7 with the material handgrip 4 fixed,
Electronic glass original piece is grabbed according to the length-width direction of regulation；It is moved to the sander upper millstone lifting position of material polishing module
Before mill facial plane, stop other movements, then robot gripper rotates counterclockwise along sucker face benchmark, works as photoelectric sensor
When 10 signals are transferred to robot controller rising edge, handgrip stops rotating；Handgrip clamping jaw 6 stretches out, at this time shop bolt 5
Among 6 two pawls of handgrip clamping jaw, clamping jaw is stepped up by clamping jaw driving cylinder driving；The opposite position with upper millstone face can be set
It sets；Then handgrip clamping jaw 6 restPoses；Material handgrip 4 presses to mill along vertical upper millstone face direction, reaches opposite position
Postpone attaching electronic glass；Six-DOF robot 7 drives material handgrip 4 to return to source location set；Sander work is waited,
Sander upper millstone and sander lower millstone 1 work together；Electronic glass is processed；Signal passes to six after processing is completed
Degree of freedom robot 7, six-DOF robot 7 is with material handgrip 4, with photoelectric sensor 10 clockwise along beating
Grinding machine upper millstone finds shop bolt 5, and photoelectric sensor 10, which detects, (works as photoelectric sensing after signal rising edge after shop bolt 5
Device 10 detects that 5 Shi Huixiang feeding cutting module of shop bolt sends rising edge signal), 4 stop motion of material handgrip；Material clamp
Pawl stretches out, and steps up shop bolt 5, fixes relative position of the sander upper millstone face relative to 4 sucker face of material handgrip, positions
Material handgrip 4 takes out glass after the completion, is placed in finished glass case according to fixed form；A fabrication cycles are completed, so
Identical operation is carried out to the remaining glass without polishing according still further to identical step afterwards.
Using the automatically grinding device of the utility model, material to be polished can be loaded by feeding cutting module described
Material polishing in, and by the feeding cutting module will via material polish module polishing after material remove, realize automatically
To the assembly line sanding operation of material, and the locating module and position sensor polished in module by being fixed on the material
It can ensure that the accurate positionin for material to be polished.The automatically grinding device can realize full-automatic loading and unloading, Automatic-searching material
Anchor point completes the sanding operation to material, reduces hand labor, saves the production time, improves production efficiency.
In the automatically grinding device technique scheme of the utility model, wherein included each functional module and modular unit
The particular hardware circuit in integrated circuit structure can be corresponded to, therefore only relate to the improvement of particular hardware circuit, Hardware Subdivision
Divide the carrier for not only only belonging to execute control software or computer program, therefore solves corresponding technical problem and obtain phase
The technical effect answered also is not directed to the application of any control software or computer program, that is to say, that the utility model is only
Technology to be solved can be solved merely with the improvement in terms of hardware circuit involved in these modules and unit to ask
Topic, and corresponding technical effect is obtained, and not needing auxiliary can be real specifically to control software or computer program
Existing corresponding function.
In this description, the utility model is described with reference to its specific embodiment.But it is clear that still can be with
The spirit and scope that various modification can be adapted and converts without departing from the utility model.Therefore, the description and the appended drawings should be considered as
It is illustrative and not restrictive.
Claims (9)
1. a kind of automatically grinding device, which is characterized in that the device includes under material polishing module, locating module, feeding
Expect module and position sensor；
The locating module is fixed in the material polishing module；The feeding cutting module and the material are beaten
Grind the intercommunication connection of module；The position sensor is connected with the feeding cutting module.
2. automatically grinding device according to claim 1, which is characterized in that the material polishing module is by workpiece polishing mechanism
At the sander includes sander upper millstone and sander lower millstone, and the sander upper millstone is material adsorption section
Part, the sander lower millstone are that material is polished component, and the sander upper millstone and sander lower millstone are adjacent and set,
The locating module is set on the sander upper millstone.
3. automatically grinding device according to claim 2, which is characterized in that the locating module is set to the polishing
The side of machine upper millstone.
4. automatically grinding device described in any one of claim 1 to 3, which is characterized in that the locating module is
Shop bolt.
5. automatically grinding device according to claim 1, which is characterized in that the feeding cutting module is by six degree of freedom
Robot and material handgrip are constituted, and the material handgrip is fixed on the 6th shaft flange of the six-DOF robot,
The material handgrip is connected with the position sensor.
6. automatically grinding device according to claim 5, which is characterized in that the feeding cutting module further includes handgrip
Clamping jaw, the handgrip clamping jaw are fixed on the material handgrip, the handgrip clamping jaw and the position sensor phase
Connection, and the handgrip clamping jaw is also connected with clamping jaw driving cylinder.
7. automatically grinding device according to claim 1, which is characterized in that the position sensor is photoelectric sensing
Device.
8. automatically grinding device according to claim 1, which is characterized in that further include being beaten for placing in the device
The former sheet material case of material before mill and for place polishing after material finished product materials case, the former sheet material case and at
Product body feed tank is placed in the accessible position of the feeding cutting module.
9. automatically grinding device according to claim 1, which is characterized in that the material is glass.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920095137.8U CN209615039U (en) | 2019-01-21 | 2019-01-21 | Automatically grinding device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920095137.8U CN209615039U (en) | 2019-01-21 | 2019-01-21 | Automatically grinding device |
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| Publication Number | Publication Date |
|---|---|
| CN209615039U true CN209615039U (en) | 2019-11-12 |
Family
ID=68450847
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|---|---|---|---|
| CN201920095137.8U Active CN209615039U (en) | 2019-01-21 | 2019-01-21 | Automatically grinding device |
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| Country | Link |
|---|---|
| CN (1) | CN209615039U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605154A (en) * | 2019-01-21 | 2019-04-12 | 中建材凯盛机器人（上海）有限公司 | Automatically grinding device |
-
2019
- 2019-01-21 CN CN201920095137.8U patent/CN209615039U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109605154A (en) * | 2019-01-21 | 2019-04-12 | 中建材凯盛机器人（上海）有限公司 | Automatically grinding device |
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