CN210160871U

CN210160871U - Snatch mechanism and robot workstation of polishing

Info

Publication number: CN210160871U
Application number: CN201920775979.8U
Authority: CN
Inventors: 王学东
Original assignee: Shenzhen Yinuo Jiye Technology Co Ltd
Current assignee: Shenzhen Yinuo Jiye Technology Co Ltd
Priority date: 2019-05-27
Filing date: 2019-05-27
Publication date: 2020-03-20
Anticipated expiration: 2029-05-27

Abstract

The utility model discloses a snatch mechanism, snatch a and drive assembly including first drive arrangement, first piece, the second of grabbing, first drive arrangement drives first piece of grabbing is removed along the first direction, first piece of grabbing passes through drive assembly drives the second is grabbed and is removed along the second direction, because the first direction with the second opposite direction, so first piece of grabbing with the difference of the maximum spacing of second piece of grabbing and minimum spacing is greater than first drive arrangement's stroke value, so snatch the work piece that the mechanism can snatch more size types, improved the practicality.

Description

Snatch mechanism and robot workstation of polishing

Technical Field

The utility model relates to an equipment field of polishing especially relates to a snatch mechanism and robot workstation of polishing.

Background

The equipment of polishing is an indispensable processing equipment in the production activity at present, especially the panel beating work piece, and most need obtain specific roughness through polishing, make the work piece surface accord with the operation requirement or become more pleasing to the eye. When the panel beating box work piece is polished to needs, the equipment of polishing need utilize and snatch the mechanism and remove the work piece, the current mechanism of snatching that can snatch the panel beating box, it carries out the chucking to the work piece to drive the mounting through one-way cylinder mostly, or utilize two-way cylinder to drive the mounting and carry out the chucking to the work piece, then remove it, but this kind of size of snatching the work piece that the mechanism can snatch can only be in the stroke scope of cylinder, the size scope of the work piece that can snatch is less, when the size of the work piece that needs snatch is not in the stroke scope of cylinder, then need to be changed and snatch the mechanism or change the cylinder, the normal work of the equipment of being.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model discloses a snatch mechanism, the size of the work piece that can snatch exceeds drive arrangement's stroke range, can snatch the work piece of more size types, has improved the practicality of equipment.

The utility model discloses a snatch mechanism, including first drive arrangement, still include that first snatch piece, second snatch a and drive assembly, first drive arrangement drives first snatch a removal along the first direction, first snatch a pass through drive assembly drives the second snatch a removal along the second direction, the first direction with the second direction is opposite direction.

Furthermore, the transmission assembly comprises a first rack, a second rack and a gear, the first rack and the second rack are arranged on two sides of the gear and meshed with the gear, the first rack is fixedly connected with the first grabbing piece, and the second rack is fixedly connected with the second grabbing piece.

The first grabbing piece and the second grabbing piece penetrate through at least two of the supports through sliding rods respectively, and the sliding rods slide relative to the supports.

Furthermore, a positioning block is fixed on the support, the gear is rotatably connected with the support through the positioning block, two positioning grooves are formed in the positioning block, and the first rack and the second rack are respectively arranged in the two positioning grooves.

The utility model provides a robot workstation of polishing, is including snatching the mechanism, still includes conveying guide rail, robot and grinding machanism, conveying guide rail includes material loading end and unloading end, the robot passes through it snatchs the mechanism and is located the work piece of material loading end, and will the work piece removes extremely grinding machanism, warp grinding machanism polishes the processing back, the robot passes through it will to snatch the mechanism the work piece removes extremely the unloading end.

Furthermore, the feeding end is provided with a second driving device and a positioning part, and the second driving device can drive the positioning part to move so as to fix the workpiece between the positioning part and one side wall of the conveying guide rail.

Furthermore, the feeding end is provided with a third driving device and a travel switch, and the third driving device drives the travel switch to move in the vertical direction.

Furthermore, the grinding mechanism comprises at least one electric grinding wheel, and the electric grinding wheel is fixed on the frame and used for grinding burrs on the workpiece.

Furthermore, grinding machanism still includes drive assembly and the emery cloth of polishing, drive assembly can drive the emery cloth of polishing is rotary motion for polish the corner of work piece.

Further, still include the protection casing, the robot and grinding machanism is located in the protection casing, the transfer rail passes the protection casing.

The utility model discloses a snatch mechanism, compared with the prior art, beneficial effect is:

first drive arrangement drives first grabbing piece moves along the first direction, first grabbing pass through drive assembly drives second grabbing along with the second direction opposite to the first direction removes, first grabbing with the difference of the maximum interval of second grabbing and minimum interval is greater than first drive arrangement's stroke value makes it can snatch the work piece of multiple size type to snatch the mechanism, has improved the practicality.

Drawings

FIG. 1 is a top view of a robotic sanding workstation;

FIG. 2 is a schematic diagram of a robotic buffing station;

FIG. 3 is a schematic structural view of the positioning mechanism;

FIG. 4 is a schematic structural diagram of the travel switch;

FIG. 5 is a schematic structural view of the grasping mechanism;

FIG. 6 is a schematic structural view of the transmission assembly;

FIG. 7 is a schematic view of a second grinding mechanism;

description of the figures

100. A robot polishing workstation; 10. a transfer rail; 11. a feeding end; 12. a discharging end; 13. a conveying roller; 14. a positioning mechanism; 141. a slide bar; 142. a second driving device; 143. a positioning member; 144. a connecting member; 151. a third driving device; 152. a travel switch; 20. a frame; 30. a robot; 40. a grabbing mechanism; 41. a support; 42. a first driving device; 43. a first grasping member; 44. a second grasping member; 45. a transmission assembly; 451. a first rack; 452. a second rack; 453. a gear; 454. positioning blocks; 46. a slide rod; 50. a polishing mechanism; 51. a first grinding mechanism; 52. a second grinding mechanism; 521. polishing the shell; 522. a drive assembly; 523. polishing abrasive cloth; 524. a roller; 60. a shield.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it should be noted that when one component is considered to be "connected" to another component, it may be directly connected to the other component or intervening components may exist. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It should also be noted that, unless expressly stated or limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly and can include, for example, fixed connections, removable connections, or integral connections; either mechanically or electrically, and may be internal to both elements. The specific meaning of the above terms in the present invention can be understood in specific cases to those skilled in the art. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

It should be further noted that in the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, which is only for the convenience of describing the present invention and simplifying the description, but does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

As shown in fig. 1 and 2, the present invention discloses a robot polishing workstation 100, which comprises a conveying guide rail 10, a frame 20, a robot 30, a gripping mechanism 40 and a polishing mechanism 50. The transfer rail 10 is disposed at one side of the frame 20, and the robot 30 may automatically grasp a workpiece positioned on the transfer rail 10 by a grasping mechanism 40 and move the workpiece to the grinding mechanism 40. The robot 30 is a six-axis robot, and can drive the grabbing mechanism 40 to move in multiple directions within a certain space range.

The conveying guide rail 10 is provided with a driving motor and a plurality of conveying rollers 13, and the driving motor can drive the plurality of conveying rollers 13 to rotate in the same direction through a transmission device, so that workpieces placed on the conveying rollers 13 are conveyed. The work piece can be plastic casing, panel beating box and other parts, in this embodiment, the work piece is the panel beating box.

The conveying guide rail 10 is provided with a feeding end 11 and a discharging end 12, when the workpiece moves to a corresponding position of the feeding end 11, the robot 30 grabs the workpiece through the grabbing mechanism 40 and moves to the polishing mechanism 50, the workpiece is grabbed by the grabbing mechanism 40, the workpiece is made to be at a certain angle through the robot 30, the polishing mechanism 50 is further made to polish, and after the machining is completed, the robot 30 places the workpiece through the grabbing mechanism 40 at the discharging end 12 and is transported by the discharging end 12.

As shown in fig. 3, a positioning mechanism 14 is disposed on the conveying guide rail 10, and the positioning mechanism 14 is fixedly hung on the feeding end 11 of the conveying guide rail 10. The positioning mechanism 14 includes a sliding rod 141, a second driving device 142 and a positioning element 143, in this embodiment, the second driving device 142 is a unidirectional telescopic cylinder. The two ends of the sliding rod 141 are respectively fixedly connected with the brackets of the conveying guide rail 10, and the sliding rod 141 is arranged below the conveying roller 13 and is perpendicular to the conveying direction of the conveying guide rail 10. The second driving device 142 is fixedly connected to the sliding rod 141, a sliding sleeve capable of moving along the sliding rod 141 is sleeved on the sliding rod 141, the positioning element 143 is connected to the sliding sleeve through a connecting element 144, and the positioning element 143 is disposed above the conveying roller 13. The second driving device 142 drives the positioning element 143 to move along the sliding rod 141 through the connecting element 144.

A stop lever is disposed at an end of the feeding end 10, and initially, a distance between the positioning member 143 and one side wall of the conveying guide rail 10 is the largest. When the workpiece moves to touch the stopper rod, the workpiece is located between the positioning element 143 and one side wall of the conveying guide rail 10, and can be sensed by a specific sensor, at this time, the second driving device 142 can drive the positioning element 143 to move, the workpiece is clamped by the positioning element 143, the workpiece is positioned, the workpiece is prevented from moving, and the robot 30 can grab the workpiece through the grabbing mechanism 40.

As shown in fig. 4, the feeding end 11 is further provided with a third driving device 151 and a travel switch 152, in this embodiment, the third driving device 151 is a lifting cylinder. The third driving device 151 is disposed below the conveying roller 13 and can drive the travel switch 152 to move in the vertical direction, when the positioning element 143 positions the workpiece, the third driving device 151 drives the travel switch 152 to ascend to the upper side of the conveying roller 13, and after a subsequent workpiece touches the travel switch 152, the driving motor does not drive the conveying roller 13 to convey the workpiece. When the grabbing mechanism 40 grabs the workpiece positioned by the positioning mechanism 14, the specific sensor senses that the third driving device 151 drives the travel switch 152 to descend, and the driving motor continues to drive the workpiece to move through the conveying roller 13.

As shown in fig. 5, the gripping mechanism 40 includes a bracket 41, a first driving device 42, a first gripping member 43, a second gripping member 44, and a transmission assembly 45. The first driving device 42 is a unidirectional driving cylinder. The support 41 is a plurality of plates arranged at intervals, and the grabbing mechanism 40 is fixedly connected with the robot 30 through the support. The first driving device 42 is fixedly connected to the housing 41 and can drive the first grasping element 43 to move relative to the housing 41, and when the first driving device 42 drives the first grasping element 43 to move along the first direction, the first grasping element 43 can drive the second grasping element 44 to move along the second direction through the transmission assembly 45, and the first direction is opposite to the second direction.

In the present embodiment, the first grasping element 43 is disposed opposite to the second grasping element 44. One or more slide rods 46 are connected to the first grasping element 43 and the second grasping element 44, respectively, and the slide rods 46 pass through at least two of the brackets 41 and can slide relative to the brackets 41. The first grasping element 43 and the second grasping element 44 can move smoothly when moving relative to the bracket 41. In this way, only a single one-way cylinder is provided, so that the difference between the maximum distance and the minimum distance between the first gripping member 43 and the second gripping member 44 can be larger than the stroke value of the first driving device 45, and the gripping mechanism 40 can grip workpieces of various sizes.

As shown in fig. 6, the transmission assembly 45 includes a first rack 451, a second rack 452, a gear 453, and a positioning block 454, the gear 453 is rotatably connected to the bracket 41 through the positioning block 454, the first rack 451 and the second rack 452 are disposed at both sides of the gear 453 and engaged with the rack 453, the first rack 451 and the second rack 452 are disposed parallel to each other and parallel to the slide rod 46, the first rack 451 is fixedly connected to the first grasping member 43, and the second rack 452 is fixedly connected to the second grasping member 44. The positioning block 454 is provided with two positioning grooves, the positioning grooves penetrate through the positioning block 454, the first rack 451 and the second rack 452 are respectively arranged in the positioning grooves, and can pass through the positioning block 454 through the positioning grooves to move telescopically relative to the positioning block 454. When a workpiece needs to be grabbed, the robot 30 extends the grabbing mechanism 40 into the workpiece through an opening on the workpiece, at this time, the first driving device 42 drives the first grabbing piece 43 to move, the first grabbing piece 43 drives the first rack 451 to move, the first rack 451 drives the second rack 452 to move in a direction opposite to the moving direction of the first rack 451 through the gear 453, the second rack 452 drives the second grabbing piece 44 to move, and the grabbing mechanism 40 respectively abuts against two opposite inner walls of the workpiece through the first grabbing piece 43 and the second grabbing piece 44 to clamp the workpiece, so as to grab the workpiece.

As shown in fig. 1, the grinding mechanism 50 includes a first grinding mechanism 51 and a second grinding mechanism 52, and the first grinding mechanism 51 includes at least one electric grinding wheel fixed on the frame 20 for grinding burrs at the burr interface on the product. The second polishing mechanism 52 is disposed on one side of the first polishing mechanism 51 and is fixedly connected to the frame 20.

As shown in fig. 7, the second polishing mechanism includes a polishing housing 521, a driving component 522 and a polishing cloth 523, the polishing cloth 523 is disposed inside the polishing housing 521, the driving component 522 can drive the polishing cloth 523 to rotate in the polishing housing 521, an opening is formed in the polishing housing 521, two rollers 524 parallel to each other are disposed in the opening, the polishing cloth 523 bypasses the two rollers 524, and the polishing cloth 523 between the two rollers 524 can polish the R corner of the workpiece.

The robot workstation 100 of polishing still is equipped with protection casing 60, frame 20, robot 30, snatch mechanism 40 and grinding machanism 50 and all set up inside protection casing 60, can avoid grinding machanism 50 during operation to cause the injury to the personnel, transfer rail 10 sets up frame 20 one side is and pass protection casing 60 transports the work piece.

The utility model discloses a robot workstation 100 of polishing can snatch the work piece automatically, polishes the processing to the work piece after snatching to can go up unloading to the work piece automatically, work efficiency is higher, is applicable to the processing of batch work piece.

The present invention can be designed in various embodiments and modifications without departing from the spirit and scope of the present invention in its broadest sense, and the above-described embodiments are intended to illustrate the present invention, but not to limit the scope of the present invention.

Claims

1. The utility model provides a snatch mechanism, includes first drive arrangement, its characterized in that still includes first piece, the second of grabbing and drive assembly of grabbing, first drive arrangement drives first piece of grabbing moves along first direction, first piece of grabbing passes through drive assembly drives the second grab piece and move along the second direction, first direction with the second direction is opposite direction.

2. The grasping mechanism according to claim 1, wherein the transmission assembly includes a first rack, a second rack, and a gear, the first rack and the second rack being disposed on opposite sides of the gear and being engaged with the gear, the first rack being fixedly connected to the first grasping member, and the second rack being fixedly connected to the second grasping member.

3. A gripping mechanism according to claim 2, further comprising a plurality of spaced brackets, said first gripping member and said second gripping member being respectively passed through at least two of said brackets by a slide bar, and said slide bar sliding relative to said brackets.

4. The grasping mechanism according to claim 3, wherein a positioning block is fixed on the bracket, the gear is rotatably connected to the bracket through the positioning block, the positioning block is provided with two positioning slots, and the first rack and the second rack are respectively disposed in the two positioning slots.

5. A robot grinding workstation, comprising the grabbing mechanism according to any one of claims 1 to 4, and further comprising a conveying guide rail, a robot and a grinding mechanism, wherein the conveying guide rail comprises a feeding end and a discharging end, the robot grabs a workpiece at the feeding end through the grabbing mechanism and moves the workpiece to the grinding mechanism, and after grinding processing is performed by the grinding mechanism, the robot moves the workpiece to the discharging end through the grabbing mechanism.

6. A robotic buffing station according to claim 5 wherein the loading end is provided with a second drive means and a locating element, the second drive means being operable to drive the locating element to move to secure the workpiece between the locating element and one of the side walls of the transport rail.

7. A robotic grinding station as claimed in claim 6, wherein the loading end is provided with a third drive means and a travel switch, the third drive means moving the travel switch in a vertical direction.

8. A robotic grinding station as claimed in claim 5, wherein the grinding mechanism includes at least one motorized grinding wheel mounted on the frame for grinding burrs on the workpiece.

9. A robotic grinding station as claimed in claim 8 wherein the grinding mechanism further includes a drive assembly and a grinding cloth, the drive assembly driving the grinding cloth in a rotational motion for grinding the corners of the workpiece.

10. A robotic grinding station as claimed in any one of claims 5 to 9, further comprising a protective hood, the robot and grinding mechanism being located within the protective hood, the transfer rail passing through the protective hood.