CN210160869U

CN210160869U - Robot deburring machine

Info

Publication number: CN210160869U
Application number: CN201920704583.4U
Authority: CN
Inventors: 李金栋; 黄伟华; 吴然; 朱惠德; 方良喜; 熊厚福
Original assignee: Guangdong's Industrial Technology Group Ltd By Share Ltd
Current assignee: Guangdong's Industrial Technology Group Ltd By Share Ltd
Priority date: 2019-05-15
Filing date: 2019-05-15
Publication date: 2020-03-20
Anticipated expiration: 2029-05-15

Abstract

The utility model provides a robot deburring machine, including frame, workstation, robot polishing subassembly, transplant locating component, tool magazine subassembly, the workstation sets up in the frame, robot polishing subassembly, transplant locating component and tool magazine subassembly all set up on the workstation, it is equipped with a plurality ofly to transplant locating component, it includes fixing base, sliding seat, first frock subassembly, second frock subassembly to transplant locating component, the first end setting of fixing base is in the operating range of robot polishing subassembly, the sliding seat sets up on the fixing base with horizontal migration, first frock subassembly and second frock subassembly set up on the sliding seat; the tool magazine subassembly sets up in the operation range of the subassembly of polishing of robot, and the tool magazine subassembly includes a plurality of subassemblies of polishing that float, and each subassembly of polishing that floats all includes first connecting seat, and the subassembly of polishing of robot is connected with one of them subassembly of polishing that floats through first connecting seat. The utility model discloses a work piece that burring is efficient, can compatible multiple different models carries out all-round burring.

Description

Robot deburring machine

Technical Field

The utility model relates to the technical field of mechanical equipment, specifically relate to a robot burr-grinding machine.

Background

After the turbine shell is machined, burrs exist on the surface of the turbine shell, and when the turbine shell is mechanically moved or vibrated, the falling burrs can cause premature wear and increase noise of a sliding surface of a machine, and even cause the mechanism to be locked to cause action failure and the like. Therefore, a deburring grinding process is required to be performed on a plurality of portions of the turbine shell. The existing factory basically depends on manual deburring of workers, the deburring processing quality is very unstable due to the large difference of the operation of the workers, the manual deburring polishing speed is low, the efficiency is low, the damage to human bodies is large, and the requirement of the existing rapidly-developed automobile can not be met. Although some factories also adopt robots for deburring, the equipment has the defects of single type of processed products, low deburring and chamfering precision, incapability of being compatible with multiple types of products and the like.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a deburring is efficient, can compatible multiple work piece carry out the robot burr-grinding machine of all-round burring.

In order to achieve the purpose, the utility model provides a robot deburring machine comprises a frame, a workbench, a robot polishing assembly and a transplanting positioning assembly, wherein the workbench is arranged on the frame, the robot polishing assembly and the transplanting positioning assembly are respectively arranged on the workbench, the transplanting positioning assembly is provided with a plurality of parts, each transplanting positioning assembly comprises a fixed seat, a sliding seat, a first tool assembly and a second tool assembly, the first end of the fixed seat is arranged in the operating range of the robot polishing assembly, the sliding seat is horizontally arranged on the fixed seat, and the first tool assembly and the second tool assembly are arranged on the sliding seat; the robot deburring machine also comprises a tool magazine assembly, and the tool magazine assembly is arranged on the workbench and is arranged in the operating range of the robot polishing assembly; the tool magazine subassembly includes a plurality of assemblies of polishing that float, and each assembly of polishing that floats all includes first connecting seat, and the robot assembly of polishing is connected with one of them assembly of polishing that floats through first connecting seat.

By the scheme, the transplanting positioning assemblies can be used for positioning workpieces of different models, the robot polishing assemblies can be used for deburring each workpiece in sequence, automatic tool changing of the robot polishing assemblies is facilitated by the tool magazine assemblies, automatic selection and quick tool changing can be achieved according to specific requirements, all-dimensional deburring processing of the workpieces is facilitated, and working efficiency is improved.

The robot deburring machine further comprises a dust removal assembly, the dust removal assembly comprises a dust remover, and the dust remover is arranged outside the protective cover and communicated with the interior of the protective cover through a pipeline.

The dust removal component further comprises a plurality of dust removal boxes and a plurality of dust collection hoppers, a plurality of dust collection openings are formed in the workbench, and the plurality of dust collection hoppers are arranged in the corresponding dust collection openings; the dust removal box is arranged below the workbench and communicated with the interior of the protective cover through a dust collection funnel.

By above-mentioned scheme visibly, through setting up protection casing and dust removal subassembly, be favorable to collecting the dust and the piece in the burring course of working, avoid polluting work piece or environment, guarantee work piece processingquality.

The first end of the sliding seat is provided with a first tool assembly and a clamping assembly, and the clamping assembly is arranged on one side of the first tool assembly; the first tool assembly comprises a mounting seat and a positioning pin; and a second tool assembly is arranged at the second end of the sliding seat and comprises a chuck and a clamping driving assembly.

The clamping assembly comprises a supporting frame, a pressing support and a pressing driving assembly, wherein a first end of the supporting frame is connected with the sliding seat, a second end of the supporting frame is connected with a first end of the pressing support through a pin shaft, and a second end of the supporting frame is also connected with the pressing driving assembly through a connecting piece; the second end of the pressing support extends towards the upper part of the first tool assembly; a corner end is formed between the first end and the second end of the pressing support, and the output end of the pressing driving assembly is hinged with the corner end of the pressing support through a rotating shaft.

According to the scheme, the first tool assembly and the second tool assembly which are of different structures are arranged, so that the positioning of different parts of the workpiece is facilitated, and the all-dimensional deburring processing of the workpiece is facilitated.

The tool magazine component further comprises a tool rest support and a plurality of tool rest assemblies, the first end of the tool rest support is connected with the workbench, the tool rest assemblies are arranged on the second end of the tool rest support, the floating polishing assemblies are detachably connected onto the tool rest assemblies, and the tool rest assemblies and the floating polishing assemblies are arranged in a one-to-one correspondence mode.

According to a further scheme, the tool magazine component further comprises a dustproof cover plate, a connecting support and a turnover driving component, wherein the connecting support is arranged on the tool rest support, the first end of the dustproof cover plate is hinged with the connecting support, and the second end of the dustproof cover plate extends towards one side of the floating polishing component; the first end of the turnover driving component is connected with the connecting support, and the second end of the turnover driving component is connected with the first end of the dustproof cover plate.

By above-mentioned scheme visibly, can satisfy the all-round burring processing of different work pieces through setting up the unsteady subassembly of polishing of a plurality of differences, through setting up dustproof apron, prevent that dust or piece from polluting the unsteady subassembly of polishing.

The further scheme is that the robot polishing assembly comprises a six-axis robot and a second connecting seat, the first end of the six-axis robot is arranged on the middle part of the workbench, the second end of the six-axis robot is connected with the second connecting seat, and the second connecting seat is detachably connected with the first connecting seat.

According to the scheme, the six-axis robot is arranged, so that full-automatic tool changing and deburring machining operations are realized.

The robot deburring machine further comprises a tool setting assembly, the tool setting assembly comprises a tool setting sensor and a tool setting support, the tool setting support is arranged on the workbench and is arranged on one side of the tool magazine assembly, and the tool setting sensor is arranged on the tool setting support.

According to the scheme, the tool setting assembly is arranged, so that whether the floating polishing assembly selected by the six-axis robot is selected in a wrong or omitted mode can be detected, and whether the tool on the floating polishing assembly is damaged can be detected.

Drawings

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

Fig. 2 is a structural view of the embodiment of the present invention with the dust cover removed.

Fig. 3 is a structural diagram of the transplanting positioning assembly of the embodiment of the present invention.

Fig. 4 is a partial enlarged view of embodiment a of the present invention.

Fig. 5 is an exploded view of the tool magazine assembly according to the embodiment of the present invention.

Fig. 6 is a structural diagram of a robot polishing assembly according to an embodiment of the present invention.

Fig. 7 is a structural diagram of the tool setting assembly according to the embodiment of the present invention.

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

Detailed Description

Referring to fig. 1, fig. 1 is a structural diagram of an embodiment of the present invention. The robot deburring machine of this embodiment includes frame 1, protection casing 2, dust removal component, and protection casing 2 sets up in frame 1, and the top of protection casing 2 is equipped with out dirt mouth 21, and dust removal component is including setting up the dust arrester 431 in the frame 1 outside, and the dust arrester 431 passes through the pipeline and communicates with the play dirt mouth 21 of protection casing 2. The dust collector 431 can suck dust and debris in the shield cover 2 therein.

Referring to fig. 2 in conjunction with fig. 1, fig. 2 is a structural view of the present invention with the dust cover removed. The robot deburring machine further comprises a robot grinding assembly 4, three transplanting positioning assemblies 5, a tool magazine assembly 6 and a tool setting assembly 7. A workbench 11 is arranged on the machine frame 1, and the protective cover 2 is wrapped around the workbench 11. The robot polishing assembly 4, the transplanting positioning assembly 5, the tool magazine assembly 6 and the tool setting assembly 7 are all arranged on a workbench 11 and are arranged in the protective cover 2. Preferably, the robot sanding assembly 4 is disposed on the middle of the worktable 11, and three transplanting positioning assemblies 5 are disposed in parallel in front of the robot sanding assembly 4. The three transplanting positioning assemblies 5 operate independently and can process three workpieces with different models. The tool magazine assembly 6 and the tool setting assembly 7 are both arranged on the right side of the robot polishing assembly 4 and are arranged in the operation range of the robot polishing assembly 4, and the tool setting assembly 7 is arranged on the left side of the tool magazine assembly 6. Four rectangular dust collecting holes 12 are formed in the front side of the working table 11, and an accommodating chamber is formed below the working table 11. The dust removing assembly further includes four dust removing boxes 32, and the four dust removing boxes 32 are disposed in the accommodating chamber and below the corresponding dust collecting holes 12. Each dust removal box 32 is detachably connected to the frame 1. Each dust collecting hole 12 communicates with a corresponding dust box 32 through a dust collecting funnel 33. The small end of the dust collection funnel 33 communicates with the dust box 32, and the large end of the dust collection funnel 33 communicates with the dust collection hole 12.

Referring to fig. 3 to 4 in combination with fig. 2, fig. 3 is a structural diagram of a transplanting positioning assembly according to an embodiment of the present invention, and fig. 4 is a partial enlarged view of a position a according to an embodiment of the present invention. The transplanting positioning assembly 5 comprises a fixed seat 51, a sliding seat 52, a first tooling assembly 53 and a second tooling assembly 54. The fixed seat 51 is connected with the workbench 11, a first end of the fixed seat 51 is arranged in the operation range of the robot grinding component 4, and a second end of the fixed seat 51 is arranged on one side of the dust collecting opening. The sliding seat 52 is horizontally movably provided on the fixed seat 51, and the first tooling assembly 53 and the second tooling assembly 54 are provided on both left and right sides of the sliding seat 52. When the sliding seat 52 moves to the first end of the fixed seat 51, the first tool assembly 53 and the second tool assembly 54 are both in the operating range of the robot polishing assembly 4, so that the deburring processing operation is facilitated; when the sliding seat 52 moves to the second end of the fixed seat 51, the worker can perform the loading and unloading operation. The 1# workpiece is manually installed on the first tool assembly 53, and the first part to be machined of the 1# workpiece faces upwards; after the first to-be-machined part of the 1# workpiece is subjected to deburring machining, the 1# workpiece is detached from the first tool assembly 53 and is installed on the second tool assembly 54, and the second to-be-machined part of the 1# workpiece faces upwards; then, the 2# workpiece is mounted on the first tool assembly 53, the first part to be machined of the 2# workpiece is upward, and then the deburring machining of the 1# workpiece and the 2# workpiece is simultaneously performed, so that the deburring machining of the two workpieces in all directions and high efficiency is realized. The model and the specification of the No. 1 workpiece are consistent with those of the No. 2 workpiece, and the first part to be machined and the second part to be machined are preferably two symmetrical parts of the workpiece.

The fixing seat 51 comprises a mounting frame, two guide rails and a translation driving assembly 55, wherein the two guide rails are arranged in parallel along the length direction of the mounting frame. The translation driving assembly 55 is disposed on the first end of the fixed base 51, and may be disposed between the two guide rails or on the same side of the two guide rails. The translation drive assembly 55 is preferably a pneumatic cylinder having an output connected to the slide block 52. The first end of the fixed seat 51 is provided with a tooling shield 56, the tooling shield 56 covers the output ends of the two guide rails and the cylinder, and dust or debris in the deburring processing process is prevented from falling on the output ends of the two guide rails or the cylinder. The first end of the fixed seat 51 is further provided with two buffers 57, and the two buffers 57 are respectively arranged on two sides of the tool shield 56. The bumper 57 is connected at a first end to the mounting bracket and at a second end to the slide block 52. The bottom of the sliding seat 52 is provided with two sliding blocks which are connected with the guide rail in a sliding way.

The first end of the sliding seat 52 is provided with a first tool assembly 53 and a clamping assembly 58, the first tool assembly 53 comprises a mounting seat and a positioning pin, and a workpiece is arranged on the mounting seat through the positioning pin. Different limiting parts can be arranged on different parts of the workpiece on the mounting seat of each first tool assembly 53, so that the workpiece can be conveniently connected to the mounting seat at different parts. The limiting piece can be a mounting hole, a mounting groove, a positioning pin shaft and the like. The clamping assembly 58 includes a support frame 581, a hold-down bracket 582, a hold-down block 583, and a hold-down drive assembly 584. The first end of the supporting frame 581 is connected with the sliding seat 52, the second end of the supporting frame 581 is hinged with the first end of the pressing bracket 582 through a pin shaft, the second end of the supporting frame 581 is further connected with the pressing driving component 584 through a connecting piece, and the pressing bracket 582 and the pressing driving component 584 are respectively arranged on the front side and the rear side of the second end of the supporting frame 581. A compression block 583 is disposed on a second end of the compression bracket 582, and the compression block 583 is preferably made of a flexible material, such as rubber. A corner end is formed between the first and second ends of the hold down bracket 582, the corner end being spaced from the first end of the hold down bracket 582 a lesser distance than the corner end is spaced from the second end of the hold down bracket 582. The compression drive assembly 584 is preferably a pneumatic cylinder, the output end of which is hinged to the corner end of the compression bracket 582 via a pivot. The included angle of the corner end can be an acute angle or a right angle or an obtuse angle. The pressing driving assembly 584 is inclined with respect to the surface of the sliding seat 52 and is inclined upward toward the pressing bracket 582. When the output end of the pressing driving assembly 584 extends outward, the pressing bracket 582 is driven to rotate around the pin at the first end of the pressing bracket, so that the pressing block 583 at the second end of the pressing bracket 582 abuts against the surface of the workpiece, and the workpiece is tightly fixed on the mounting seat. The second end of the sliding seat 52 is provided with a second tooling assembly 54 and a dowel pin mounting seat 59, and the dowel pin mounting seat 59 is arranged on one side of the second tooling assembly 54. The second tooling assembly 54 includes a chuck 541 and a clamping driving assembly 542, and the clamping driving assembly 542 drives the chuck 541 to perform a clamping action. The positioning pin mounting seat 59 is provided with a positioning pin, and the positioning pin protrudes outwards along the surface of the positioning pin mounting seat 59 and is used for being connected with a hole in a workpiece.

Referring to fig. 5, fig. 5 is a structural diagram of a tool magazine assembly according to an embodiment of the present invention. The tool magazine assembly 6 further comprises a tool holder support 61, three tool holder assemblies 62 and three floating grinding assemblies 63. The first end of tool rest support 61 is connected with workstation 11, and three tool rest assemblies 62 set up on tool rest support 61's second end, and unsteady subassembly 63 of polishing detachably connects on tool rest assembly 62, and tool rest assembly 62 and unsteady subassembly 63 one-to-one set up that polishes. The tool rest assembly 62 includes a first mounting groove, a second mounting groove and a third mounting groove, the first mounting groove and the second mounting groove are arranged in parallel and have an opening direction upward, and the third mounting groove is perpendicular to the first mounting groove or the second mounting groove and has an opening direction toward one side of the floating polishing assembly 63. The floating sanding assembly 63 includes a first coupling block 631 and a cutter 632, the first coupling block 631 of each floating sanding assembly 63 being of the same construction and size, and the cutter 632 of each floating sanding assembly 63 being different from each other. The cutter 632 of the floating sanding assembly 63 may float in its axial and radial directions to ensure the quality of the deburring process. Be equipped with first spliced pole, second spliced pole and third spliced pole on first connecting seat 631, first spliced pole and second spliced pole parallel arrangement are in the side of first connecting seat 631, and the setting of third spliced pole is in the bottom of first connecting seat 631. The first connecting column is clamped with the first mounting groove, the second connecting column is clamped with the second mounting groove, and the third connecting column is clamped with the third mounting groove. The robotic sanding assembly 4 is connected to one of the floating sanding assemblies 63 by a first connecting link 631.

The tool magazine assembly 6 further comprises a dust cover 64, a connecting support 65 and a turning drive assembly 66, wherein the connecting support 65 is arranged on the tool holder support 61 and is arranged on one side far away from the floating grinding assembly 63. A first end of the dust cover plate 64 is hinged to a first end of the attachment bracket 65 and a second end of the dust cover plate 64 extends toward the side of the floating sanding assembly 63. A first end of the flip drive assembly 66 is coupled to a second end of the coupling bracket 65 and a second end of the flip drive assembly 66 is coupled to a first end of the dust cover 64. The turnover driving assembly 66 is preferably an air cylinder, and when the output end of the air cylinder extends outwards, the second end of the dustproof cover plate 64 is driven to turn upwards, and the first end of the dustproof cover plate 64 turns downwards, so that the dustproof cover plate 64 can be completely covered above the three floating polishing assemblies 63.

Referring to fig. 6, fig. 6 is a structural diagram of a robot polishing assembly according to an embodiment of the present invention. The robot polishing assembly 4 comprises a six-axis robot 61 and a second connecting seat 62, the first end of the six-axis robot 61 is arranged in the middle of the workbench 11, the second end of the six-axis robot 61 is connected with the first end of the second connecting seat 62, and the second end of the second connecting seat 62 is detachably connected with the first connecting seat 631 of the floating polishing assembly 63. The six-axis robot 61 automatically selects the tool 632 according to a preset trajectory and program and sequentially performs deburring processing on the workpieces on the three transplanting positioning assemblies 5.

Referring to fig. 7, fig. 7 is a structural diagram of the tool setting assembly according to the embodiment of the present invention. The cutter setting assembly 7 comprises a cutter setting sensor 71 and a cutter setting bracket 72, and the cutter setting sensor 71 is connected with a controller of the robot deburring machine. A tool setting bracket 72 is provided on the table 11 and is disposed on the left side of the tool magazine assembly 6, and a tool setting sensor 71 is provided on the tool setting bracket 72. The tool setting sensor 71 is used for detecting whether the floating grinding assembly 63 selected by the six-axis robot 61 is selected in a wrong way or not, and the tool setting sensor 71 is also used for detecting whether a tool 632 on the floating grinding assembly 63 is damaged or not.

Claims

1. Robot burr-grinding machine, including frame, workstation, robot polishing subassembly and transplant locating component, the workstation sets up in the frame, the robot polishing subassembly with it sets up respectively to transplant locating component on the workstation, its characterized in that:

the transplanting positioning assemblies are multiple, each transplanting positioning assembly comprises a fixed seat, a sliding seat, a first tool assembly and a second tool assembly, the first end of each fixed seat is arranged in the operation range of the robot polishing assembly, the sliding seats are horizontally and movably arranged on the fixed seats, and the first tool assemblies and the second tool assemblies are arranged on the sliding seats;

the robot deburring machine also comprises a tool magazine assembly, and the tool magazine assembly is arranged on the workbench and is arranged in an operation range of the robot polishing assembly; the tool magazine component comprises a plurality of floating polishing components, each floating polishing component comprises a first connecting seat, and the robot polishing component is connected with one floating polishing component through the first connecting seat.

2. The robotic deburring machine of claim 1, wherein:

the robot deburring machine is characterized in that a protective cover is arranged on the rack and wrapped on the periphery of the workbench, the robot deburring machine further comprises a dust removal assembly, the dust removal assembly comprises a dust remover, and the dust remover is arranged outside the protective cover and communicated with the inside of the protective cover through a pipeline.

3. The robotic deburring machine of claim 2, wherein:

the dust removal assembly further comprises a plurality of dust removal boxes and a plurality of dust collection hoppers, a plurality of dust collection openings are formed in the workbench, and the plurality of dust collection hoppers are arranged in the corresponding dust collection openings; the dust removal box is arranged below the workbench and communicated with the interior of the protective cover through the dust collection funnel.

4. The robotic deburring machine of claim 1, wherein:

the first end of the sliding seat is provided with the first tool assembly and a clamping assembly, and the clamping assembly is arranged on one side of the first tool assembly; the first tool assembly comprises a mounting seat and a positioning pin; and the second end of the sliding seat is provided with the second tool assembly, and the second tool assembly comprises a chuck and a clamping driving assembly.

5. The robotic deburring machine of claim 4, wherein:

the clamping assembly comprises a supporting frame, a pressing support and a pressing driving assembly, wherein a first end of the supporting frame is connected with the sliding seat, a second end of the supporting frame is connected with a first end of the pressing support through a pin shaft, and the second end of the supporting frame is also connected with the pressing driving assembly through a connecting piece; the second end of the pressing support extends towards the upper part of the first tool assembly; and a corner end is formed between the first end and the second end of the pressing support, and the output end of the pressing driving assembly is hinged with the corner end of the pressing support through a rotating shaft.

6. The robotic deburring machine of claim 1, wherein:

the tool magazine subassembly still includes tool rest support, a plurality of tool rest assemblies, the first end of tool rest support with the workstation is connected, and is a plurality of the tool rest assembly sets up on the second end of tool rest support, unsteady subassembly detachably of polishing is connected on the tool rest assembly, the tool rest assembly with unsteady subassembly one-to-one setting of polishing.

7. The robotic deburring machine of claim 6, wherein:

the tool magazine component further comprises a dustproof cover plate, a connecting support and a turnover driving component, wherein the connecting support is arranged on the tool rest support, the first end of the dustproof cover plate is hinged with the connecting support, and the second end of the dustproof cover plate extends to one side of the floating polishing component; the first end of the turnover driving assembly is connected with the connecting support, and the second end of the turnover driving assembly is connected with the first end of the dustproof cover plate.

8. The robotic deburring machine of claim 1, wherein:

the robot polishing assembly comprises a six-axis robot and a second connecting seat, the first end of the six-axis robot is arranged on the middle portion of the workbench, the second end of the six-axis robot is connected with the second connecting seat, and the second connecting seat is detachably connected with the first connecting seat.

9. The robotic deburring machine of any of claims 1 to 8, wherein: