CN209986688U

CN209986688U - Robot deburring polishing equipment

Info

Publication number: CN209986688U
Application number: CN201920624714.8U
Authority: CN
Inventors: 张云彦; 潘伟聪; 刘学鹏; 吴然; 夏峰; 卢禹
Original assignee: Guangdong's Industrial Technology Group Ltd By Share Ltd
Current assignee: Guangdong's Industrial Technology Group Ltd By Share Ltd
Priority date: 2019-04-30
Filing date: 2019-04-30
Publication date: 2020-01-24
Anticipated expiration: 2029-04-30

Abstract

The utility model provides a robot deburring and polishing device, which comprises a workbench, a conveying device, a robot clamping component, a deburring component and an air blowing cleaning component, wherein the conveying device is arranged on one side of the workbench; the conveying device comprises an annular conveying line and a plurality of material trays, and the material trays are movably arranged on the annular conveying line; the deburring component comprises a floating pneumatic file component and a floating rotary file component, and the floating pneumatic file component and the floating rotary file component are both arranged towards the robot clamping component; the air blowing cleaning assembly comprises a nozzle and an air supply system, and the nozzle is arranged in the operation range of the robot clamping assembly and faces one side of the robot clamping assembly. The utility model discloses can not only satisfy the burring processing of different model work pieces, improve production efficiency, have the storage function again, avoid the phenomenon emergence of shutting down often because of the supplied materials is not too late.

Description

Robot deburring polishing equipment

Technical Field

The utility model relates to the technical field of mechanical equipment, specifically relate to a robot burring polishing equipment.

Background

In the automobile spare and accessory part manufacturing enterprise, there is a large amount of automobile spare and accessory part burring demands, again because the kind specification of part is various to spare part structure is complicated, and it is artifical manual burring to lead to domestic automobile spare and accessory part manufacturing enterprise to use more, and this kind of burring mode has shortcomings such as production time is long, the benefit is low, human cost height. At present, although some parts of domestic products and foreign products are deburred by robots, the deburring equipment has the defects of single processing and production variety, low deburring and chamfering precision, incapability of being compatible with a plurality of types of products and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a robot burring polishing equipment.

In order to achieve the purpose, the robot deburring and polishing device provided by the utility model comprises a workbench, a conveying device, a robot clamping component and a deburring component, wherein the conveying device is arranged on one side of the workbench, the robot clamping component and the deburring component are respectively arranged on the workbench, and the deburring component is arranged in the operation range of the robot clamping component; the conveying device comprises an annular conveying line and a plurality of material trays, and the material trays are movably arranged on the annular conveying line; the annular conveying line is provided with a jacking positioning mechanism, the jacking positioning mechanism is arranged in the clamping range of the robot clamping assembly and is arranged below the material tray, and the jacking positioning mechanism can drive the material tray to vertically move up and down; the deburring component comprises a mounting frame, a floating pneumatic file component and a floating rotary file component, the mounting frame is arranged at one end of the workbench, and the floating pneumatic file component and the floating rotary file component are both arranged on the mounting frame and face one side where the robot clamping component is located; the robot deburring and polishing equipment also comprises an air blowing cleaning assembly arranged on the workbench, and the air blowing cleaning assembly is arranged in the operating range of the robot clamping assembly; the blowing cleaning assembly comprises a nozzle and an air supply system, the nozzle is communicated with the air supply system through a pipeline, and the nozzle is arranged on the mounting frame and clamps one side of the assembly towards the robot.

According to the scheme, the robot clamping assembly is arranged to automatically clamp the workpiece from the material tray, and the deburring assembly is arranged to perform deburring processing on the workpiece clamped by the robot clamping assembly, so that the all-dimensional deburring processing can be performed by being compatible with most automobile parts; by arranging the floating pneumatic file assembly and the floating rotary file assembly, the floating pneumatic file assembly or the floating rotary file assembly can be selected according to the requirements of the chamfer size of the workpiece in the deburring processing process, and complicated parameter program compiling is not required, so that the deburring processing of different workpieces is realized quickly, and the working efficiency is improved; through setting up annular transmission line and charging tray, can not only realize the last unloading conveying of work piece, still have the storage function, avoid the work piece to come the material and lead to the phenomenon emergence of shutting down untimely often.

The annular conveying line comprises a first conveying line, a second conveying line and four jacking conveying mechanisms, wherein the first conveying line and the second conveying line are arranged in parallel, and the conveying directions of the first conveying line and the second conveying line are opposite; the four jacking conveying mechanisms are respectively arranged at two ends of the first conveying line and two ends of the second conveying line and convey along the direction perpendicular to the first conveying line and/or the second conveying line.

The jacking conveying mechanism comprises a mounting seat, a supporting frame, a bearing plate and two transverse conveying belts; the mounting seat is fixedly arranged below the annular conveying line, and the supporting frame is arranged on the mounting seat in a vertically moving mode; the bearing plate and the transverse conveyor belt are respectively arranged on the support frame, and the bearing plate is arranged below the material tray; the two transverse conveying belts are respectively arranged at two sides of the bearing plate and are arranged below the material tray, and the transverse conveying belts are arranged along the direction vertical to the first conveying line and/or the second conveying line.

According to the scheme, the first conveying line and the second conveying line are arranged in parallel, so that the space is effectively saved, and the material storage is convenient; jacking conveying mechanisms are arranged at two ends of the first conveying line and the second conveying line, so that annular conveying of the material tray is realized.

The further scheme is that the jacking positioning mechanism comprises a fixed plate, a lifting plate and a lifting driving mechanism, the fixed plate is fixedly arranged below the first conveying line, the lifting plate is arranged on the fixed plate and placed below the material tray, and the lifting driving mechanism drives the lifting plate to move up and down relative to the fixed plate.

By above-mentioned scheme, through setting up jacking positioning mechanism for the charging tray can upwards rise along the surface of first transmission line, with the first transmission line that drops temporarily, neither can hinder the conveying of first transmission line, makes things convenient for the robot to press from both sides again and gets the subassembly and carry out the work piece on the charging tray of pressing from both sides one by one.

The floating pneumatic file assembly comprises a linear file and a floating translation driving assembly, wherein the linear file is parallel to the surface of the workbench, and the floating translation driving assembly drives the linear file to move back and forth along the length of the linear file; the floating rotary file assembly comprises a rotary file and a floating rotary driving assembly, the rotary file is parallel to the surface of the workbench, and the floating rotary driving assembly drives the rotary file to rotate around the central line of the rotary file.

According to the scheme, the linear file and the rotary file are arranged, so that a proper machining tool can be conveniently selected according to the deburring machining requirements of different parts of a workpiece.

The further scheme is that the robot clamping assembly comprises a six-axis robot and a material taking clamping jaw, the first end of the six-axis robot is connected with the workbench, and the second end of the six-axis robot is connected with the material taking clamping jaw.

By above-mentioned scheme visibly, through setting up six robots and getting the material clamping jaw, can replace artifical manual clamp to get the work piece and carry out burring processing, safe swift, and degree of automation is high.

The robot deburring and polishing equipment further comprises a plurality of blocking assemblies, the blocking assemblies are arranged on the annular conveying line, and the blocking assemblies can control the material tray to be conveyed forwards in a pause mode.

The further scheme is that the blocking assembly comprises a connecting seat, a lifting column and a driving assembly, the connecting seat is fixedly arranged on the conveying device and is arranged below the material tray, the lifting column is movably arranged on the connecting seat, and the driving assembly drives the lifting column to vertically move up and down.

By above-mentioned scheme, block the subassembly through setting up, can prevent the charging tray to carry forward when needs, make things convenient for the robot to press from both sides the work piece on the clamping of subassembly clamp charging tray.

The further scheme is that a waste trough is further arranged on the workbench and arranged below the floating pneumatic file assembly, the floating rotary file assembly and the nozzle.

By the scheme, the scrap generated in the deburring processing process is collected through the scrap groove, and the surface of the workbench is clean and clean.

The further scheme is that the workbench is provided with two robot clamping assemblies and two deburring assemblies, the two robot clamping assemblies are arranged on the middle part of the workbench, and the two deburring assemblies are respectively arranged at two ends of the workbench; the jacking positioning mechanisms are two, and the two jacking positioning mechanisms are respectively arranged in one-to-one correspondence with the two robot clamping assemblies.

According to the scheme, the clamping assembly and the two deburring assemblies are arranged through the two robots, so that the deburring processing rhythm can be effectively accelerated, the working efficiency is improved, different parts of the workpiece can be clamped through the direction of exchanging the workpiece by the two robots, and the all-dimensional deburring processing of the workpiece is realized.

Drawings

Fig. 1 is a structural diagram of an embodiment of the present invention.

Fig. 2 is a top view of an embodiment of the present invention.

Fig. 3 is a structural view of a conveying apparatus according to an embodiment of the present invention.

Fig. 4 is a structural diagram of a jacking conveying mechanism according to an embodiment of the present invention.

Fig. 5 is a structural diagram of a jacking positioning mechanism according to an embodiment of the present invention.

Fig. 6 is a structural view of the deburring assembly according to the embodiment of the present invention.

Fig. 7 is a block diagram of a barrier assembly according to an embodiment of the invention.

The present invention will be further explained with reference to the drawings and examples.

Detailed Description

Referring to fig. 1 to 2, fig. 1 is a structural diagram of an embodiment of the present invention, and fig. 2 is a top view of the embodiment of the present invention. The robot deburring and polishing equipment comprises a rack 1, a workbench 11, a conveying device 2, two robot clamping assemblies 3, two deburring assemblies 4 and two blowing cleaning assemblies 5. The table 11 and the conveyor 2 are respectively provided on the front and rear sides of the frame 1. The robot gripping assembly 3, the deburring assembly 4 and the air blowing cleaning assembly 5 are arranged on the workbench 11 and are arranged in the operation range of the robot gripping assembly 3. The two robot clamping assemblies 3 are respectively arranged in one-to-one correspondence with the two deburring assemblies 4. Two robot gripping assemblies 3 are provided on the middle portion of the table 11, and the distance from each robot gripping assembly 3 to the conveying device 2 is equal. The robot clamping assembly 3 comprises a six-axis robot 31 and a material taking clamping jaw 32, the first end of the six-axis robot 31 is connected with the workbench 11, and the second end of the six-axis robot 31 is connected with the material taking clamping jaw 32. The six-axis robot 31 is a six-axis joint robot having six rotation axes, and is suitable for various trajectories or angles. The six-axis robot 31 controls the material taking clamping claw 32 to clamp one workpiece placed on the material tray 23 and moves the workpiece to the deburring component 4 for deburring processing.

Two deburring components 4 are respectively arranged on two sides of the length direction of the workbench 11, and the distance from each deburring component 4 to the closest robot gripping component 3 is equal. The two air blowing cleaning assemblies 5 are arranged in one-to-one correspondence with the two deburring assemblies 4, and the air blowing cleaning assemblies 5 are arranged below the deburring assemblies 4. Still be equipped with two waste material grooves 6 that leak hopper-shaped on the workstation 11, each waste material groove 6 sets up in the below of the clean subassembly 5 of blowing of corresponding burring subassembly 4 and correspondence. The feed end of the chute 6 projects upwardly from the upper surface of the table 11. The discharge end of the waste chute 6 extends downwards in the thickness direction of the workbench 11 and is communicated with a drawer assembly arranged below the workbench 11. The drawer component is movably connected with the rack 1, so that the waste materials can be cleaned conveniently.

Referring to fig. 3, fig. 3 is a structural diagram of a conveying device according to an embodiment of the present invention. The conveying device 2 comprises a first conveying line 21, a second conveying line 22 and a plurality of material trays 23. The first conveying line 21 and the second conveying line 22 are provided in parallel to the longitudinal direction of the table 11. The first conveyance line 21 is disposed on a side close to the table 11. The plurality of trays 23 are movably arranged on the first conveying line 21 and the second conveying line 22, and the conveying directions of the first conveying line 21 and the second conveying line 22 are opposite. In the present embodiment, the first conveying line 21 is conveyed from left to right, and the second conveying line 22 is conveyed from right to left. The first conveying line 21 includes two first conveying chains arranged in parallel, and a first conveying drive mechanism 93 that drives the two first conveying chains to move in the same direction. The partial material tray 23 is erected on the two first conveying chains and can move synchronously along with the two first conveying chains. The second conveyor line 22 includes two second conveyor chains arranged in parallel, and a second conveyor driving mechanism 93 that drives the two second conveyor chains to move in the same direction. And part of the material tray 23 is erected on the two second conveying chains and can move synchronously along with the two second conveying chains. The first conveyance driving mechanism 93 and the second conveyance driving mechanism 93 are each preferably a motor.

The two ends of the first conveying line 21 and the second conveying line 22 are provided with jacking conveying mechanisms 7. The jacking conveying mechanism 7 can lift and convey the material tray 23 on the jacking conveying mechanism along the direction vertical to the first conveying line 21 and/or the second conveying line 22, so that the material tray 23 on the first conveying line 21 can be conveyed to the second conveying line 22, and the material tray 23 on the second conveying line 22 can be conveyed to the first conveying line 21. The first conveying line 21, the second conveying line 22 and the four jacking conveyor mechanisms 7 together form a ring conveying line. In order to facilitate the transverse conveying of the material tray 23, two outer roller assemblies 24 are arranged at both ends of the conveying device 2. The two outer roller assemblies 24 are arranged between the first conveying line 21 and the second conveying line 22 and are separated by a preset distance, so that the bottoms of the two sides of the material tray 23 are just connected with the two outer roller assemblies 24 when the material tray 23 is transversely conveyed. The outer roller assembly 24 includes two rollers 241, a guide plate 242, the two rollers 241 being disposed in the direction of lateral conveyance, and the guide plate 242 being disposed above the two rollers 241.

The middle part of first transfer line 21 still is equipped with two climbing positioning mechanism 8, and two climbing positioning mechanism 8 press from both sides the subassembly 3 one-to-one setting with two robots respectively. The jacking positioning mechanism 8 is arranged in the clamping range of the robot clamping component 3 and is arranged below the material tray 23. The jacking positioning mechanism 8 can drive the material tray 23 to vertically move up and down.

Referring to fig. 4, fig. 4 is a structural diagram of a jacking conveying mechanism according to an embodiment of the present invention. The jacking conveying mechanism 7 comprises a mounting seat 71, a supporting frame 72, a lifting driving assembly 73, two transverse conveying assemblies, a transverse driving assembly 75 and a bearing plate 76. The mounting seat 71 is provided on the rack 1 and disposed below the first conveying line 21 and/or the second conveying line 22. The supporting frame 72 and the lifting driving assembly 73 are respectively arranged on the upper side and the lower side of the mounting seat 71, and the lifting driving assembly 73 is connected with the supporting frame 72 through an output shaft penetrating through the mounting seat 71. The lifting driving assembly 73 is preferably an air cylinder, and can drive the supporting frame 72 to move up and down relative to the mounting base 71. The support bracket 72 includes a bottom plate 721, two side plates 722, and the two side plates 722 are disposed on left and right sides of the bottom plate 721. The lateral drive assembly 75 is disposed on the bottom plate 721 and the lateral transfer assemblies are disposed on the inner sides of the two side plates 722, respectively. The left and right sides of the receiving plate 76 are mounted on the two side plates 722 by corresponding lateral transfer assemblies. The receiving plate 76 is arranged below the tray 23, and the lifting driving assembly 73 can drive the receiving plate 76 and the two transverse conveying assemblies to vertically move up and down together through the supporting frame 72. The transverse conveyor assembly comprises a transverse conveyor belt 74, a set of pulleys, the transverse conveyor belt 74 being arranged in a direction perpendicular to the first conveyor line 21 and/or the second conveyor line 22 and being wound on the set of pulleys. The upper surfaces of the two cross conveyors 74 are slightly higher than the upper surface of the receiving plate 76. The transverse driving assembly 75 is preferably a motor, which drives the left and right belt wheel sets and the two transverse conveyor belts 74 to move simultaneously through a chain transmission mechanism, so as to convey the material tray 23 transversely. The direction of conveyance of the transverse conveyor 74 is perpendicular to the direction of conveyance of the first conveyor line 21 and/or the second conveyor line 22.

The bottom plate 721 of the supporting frame 72 is provided with a first detecting device 77, the first detecting device 77 is disposed under the receiving plate 76, a through hole is disposed at a position of the receiving plate 76 corresponding to the first detecting device 77, and a transmitting end of the first detecting device 77 vertically transmits a signal upwards for detecting whether the tray 23 exists on the receiving plate 76. The first detection device 77 is preferably an infrared detection device.

Referring to fig. 5, fig. 5 is a structural diagram of a jacking positioning mechanism according to an embodiment of the present invention. The jacking positioning mechanism 8 comprises a fixed plate 81, a lifting plate 82 and a lifting driving mechanism 83, wherein the fixed plate 81 is fixedly arranged on the rack 1 below the first conveying line 21, and the lifting plate 82 is movably arranged on the fixed plate 81 up and down through four jacking guide rods 84 and is arranged below the material tray 23. The elevation drive mechanism 83 is provided at a lower portion of the fixed plate 81 and is connected to the elevation plate 82 via an output shaft penetrating the fixed plate 81. The elevation driving mechanism 83 is preferably an air cylinder, and drives the elevation plate 82 to move up and down with respect to the fixed plate 81.

Referring to fig. 6, fig. 6 is a structural view of a deburring assembly according to an embodiment of the present invention. The deburring assembly 4 comprises a mounting bracket 41, a floating pneumatic file assembly 42 and a floating rotary file assembly 43. The first end of the mounting bracket 41 is fixedly connected to the working table 11, and the second end of the mounting bracket 41 is provided with a connecting plate 411 which is horizontally arranged. The floating pneumatic file assembly 42 and the floating rotary file assembly 43 are respectively provided on the front and rear sides of the connecting plate 411 toward the side where the robot gripping assembly 3 is located, i.e., toward the middle of the table 11. The floating pneumatic file assembly 42 comprises a linear file 421 and a floating translational drive assembly 422, wherein the linear file 421 is parallel to the surface of the worktable 11. The floating translation drive assembly 422 is preferably a pneumatic cylinder that drives the linear rasp 421 to move back and forth along the length of the linear rasp 421. The floating rotary file assembly 43 comprises a rotary file 431 and a floating rotary drive assembly 432, wherein the rotary file 431 is parallel to the surface of the workbench 11. The floating rotary drive assembly 432 drives the rotary rasp 431 to rotate about the center line of the rotary rasp 431.

The blow cleaning assembly 5 includes a nozzle 51 and an air supply system, and the nozzle 51 is communicated with the air supply system through a pipe. The nozzle 51 is mounted on the mounting bracket 41 through a bracket 52 and is disposed below the connection plate 411 of the mounting bracket 41. The air outlet of the nozzle 51 is disposed obliquely downward toward the middle of the table 11.

Referring to fig. 7 in conjunction with fig. 3, fig. 7 is a block diagram of a barrier assembly according to an embodiment of the present invention. The robot deburring and polishing device also comprises a plurality of blocking assemblies 9, the plurality of blocking assemblies 9 are arranged on the annular conveying line at proper positions, and the blocking assemblies 9 can control the material tray 23 to pause forward conveying. Preferably, the blocking assembly 9 may be disposed on the first conveying line 21 and disposed on one side of the lift positioning mechanism 8, so that when the tray 23 reaches right above the lift positioning mechanism 8, the forward movement may be suspended. The blocking assembly 9 can also be arranged on one side of each jacking conveying mechanism 7, so that the transverse conveying of the material tray 23 is conveniently realized. The blocking component 9 comprises a connecting seat 91, a lifting column 92, a driving component 93 and a second detection device 94, wherein the connecting seat 91 is fixedly arranged on the frame 1 and is arranged below the material tray 23, and the lifting column 92 is movably arranged on the middle part of the connecting seat 91. The driving assembly 93 is preferably a pneumatic cylinder, and drives the elevating column 92 to vertically move up and down. Be equipped with centre gripping mouth 921 and pulley 922 on the top of lift post 92, the opening direction of centre gripping mouth 921 is up, and pulley 922 sets up in centre gripping mouth 921 through the round pin axle activity, and the axis level of pulley 922 sets up and the upper portion of pulley 922 is upwards protruding from the opening part of centre gripping mouth 921. The second detecting means 94 is provided on the middle portion of the connecting block 91 and is disposed on one side of the lifting column 92. The second detecting device 94 is preferably an infrared detector that emits infrared rays vertically upward for detecting whether the tray 23 is present directly above it.

Claims

1. Robot burring polishing equipment, press from both sides including workstation, conveyor, robot and get subassembly, burring subassembly, conveyor sets up on one side of workstation, the robot press from both sides get the subassembly with the burring subassembly sets up respectively on the workstation, just the burring subassembly sets up the robot press from both sides the operating range who gets the subassembly, its characterized in that:

the conveying device comprises an annular conveying line and a plurality of material trays, and the material trays are movably arranged on the annular conveying line; the annular conveying line is provided with a jacking positioning mechanism, the jacking positioning mechanism is arranged in the clamping range of the robot clamping assembly and is arranged below the material tray, and the jacking positioning mechanism can drive the material tray to vertically move up and down;

the deburring component comprises a mounting rack, a floating pneumatic file component and a floating rotary file component, the mounting rack is arranged at one end of the workbench, and the floating pneumatic file component and the floating rotary file component are both arranged on the mounting rack and face one side of the robot clamping component;

the robot deburring and polishing equipment further comprises an air blowing cleaning assembly arranged on the workbench, and the air blowing cleaning assembly is arranged in the operation range of the robot clamping assembly; the blowing cleaning assembly comprises a nozzle and an air supply system, the nozzle is communicated with the air supply system through a pipeline, and the nozzle is arranged on the mounting frame and faces the robot to clamp the side where the assembly is located.

2. The robot deburring polishing apparatus of claim 1, characterized in that:

3. The robot deburring polishing apparatus of claim 2, characterized in that:

the jacking conveying mechanism comprises a mounting seat, a supporting frame, a bearing plate and two transverse conveying belts; the mounting seat is fixedly arranged below the first conveying line and/or the second conveying line, and the supporting frame is arranged on the mounting seat in a vertically moving mode; the bearing plate and the transverse conveyor belts are respectively arranged on the supporting frame, the bearing plate is arranged below the material tray, the two transverse conveyor belts are respectively arranged on two sides of the bearing plate and arranged below the material tray, and the transverse conveyor belts are arranged along the direction perpendicular to the first conveying line and/or the second conveying line.

4. The robot deburring polishing apparatus of claim 2, characterized in that:

the jacking positioning mechanism comprises a fixed plate, a lifting plate and a lifting driving mechanism, the fixed plate is fixedly arranged below the first conveying line, the lifting plate is arranged on the fixed plate and placed below the material tray, and the lifting driving mechanism drives the lifting plate to move up and down relative to the fixed plate.

5. The robot deburring polishing apparatus of claim 1, characterized in that:

the floating pneumatic file assembly comprises a linear file and a floating translation driving assembly, the linear file is parallel to the surface of the workbench, and the floating translation driving assembly drives the linear file to move back and forth along the length of the linear file; the floating rotary file component comprises a rotary file and a floating rotary driving component, wherein the rotary file is parallel to the surface of the workbench, and the floating rotary driving component drives the rotary file to rotate around the central line of the rotary file.

6. The robot deburring polishing apparatus of claim 1, characterized in that:

the robot clamping assembly comprises a six-axis robot and a material taking clamping jaw, a first end of the six-axis robot is connected with the workbench, and a second end of the six-axis robot is connected with the material taking clamping jaw.

7. The robot deburring polishing apparatus of claim 1, characterized in that:

the robot deburring and polishing equipment further comprises a plurality of blocking assemblies, the blocking assemblies are arranged on the annular conveying line, and the blocking assemblies can control the material tray to pause to convey forwards.

8. The robot deburring polishing apparatus of claim 7, characterized in that: the blocking assembly comprises a connecting seat, a lifting column and a driving assembly, the connecting seat is fixedly arranged on the conveying device and is arranged below the material tray, the lifting column is movably arranged on the connecting seat, and the driving assembly drives the lifting column to vertically move up and down.

9. The robot deburring polishing apparatus of claim 1, characterized in that:

still be equipped with the waste material groove on the workstation, the waste material groove sets up the pneumatic file subassembly that floats, unsteady rotary file subassembly and the below of nozzle.

10. The robot deburring polishing apparatus according to any one of claims 1 to 9, characterized in that:

the two robot clamping assemblies are arranged on the middle part of the workbench, and the two deburring assemblies are respectively arranged at two ends of the workbench; jacking positioning mechanism is equipped with two, two jacking positioning mechanism respectively with two the subassembly one-to-one setting is got to the robot clamp.