CN210360660U

CN210360660U - Mechanical arm and casting polishing system

Info

Publication number: CN210360660U
Application number: CN201920366460.4U
Authority: CN
Inventors: 宋振会; 郭元强
Original assignee: Shanghai Si River Electromechanical Technology Co ltd
Current assignee: Shanghai Si River Electromechanical Technology Co ltd
Priority date: 2019-03-21
Filing date: 2019-03-21
Publication date: 2020-04-21
Anticipated expiration: 2029-03-21

Abstract

The utility model relates to an automatic change the numerical control equipment field, especially relate to a arm and foundry goods system of polishing, the flexibility is high, can improve the use precision of arm, realizes that the foundry goods of multi-angle is polished. A lifting screw and a balancing device are added on the basis of the existing SCARA mechanical arm, and the precision of the mechanical arm during lifting is improved. The utility model provides a foundry goods system of polishing, has utilized above-mentioned arm to realize the multi-angle through rotatable bistrique device and polish.

Description

Mechanical arm and casting polishing system

Technical Field

The utility model relates to an automatic change the numerical control equipment field, especially relate to a mechanical arm and foundry goods system of polishing.

Background

The mechanical arm is a common automatic device at present, and simulates a human arm through bionics to realize multi-degree-of-freedom movement. The mechanical arm can realize more complex movement by arranging the driving device and the detection device. However, when the working state of the robot arm is mostly in a cantilever shape, when the tail end clamps a heavy object, a large torque is generated at the front end, and the robot arm is seriously abraded and the precision is reduced due to long-time operation.

The cast product cannot be used directly after casting because the edges of the cast product have numerous burrs or serrations, and the cast product needs to be polished after casting in order to make the cast product more smooth and suitable for use. The method mainly works for removing sprue, riser, lacing wire and foreign matter on the surface of the casting, and removing the sand sticking and foreign matter on the surface of the casting, and further, the method for removing the sand sticking and foreign matter on the surface of the casting, and the method for removing the sand sticking and foreign matter on the surface of the casting.

In the past, environmental protection has not been regarded as important and subject to technical limitations due to low labor costs. The manual polishing is always carried out, the labor intensity is high, and the environment is poor. And because the shape of foundry goods is various, and the structure is complicated, and the position that surface and edge need polish is more, ordinary mechanical equipment is still not enough to replace the manual work to carry out the polishing of complicated work piece.

SUMMERY OF THE UTILITY MODEL

Not enough to prior art's the aforesaid, the utility model provides a arm and foundry goods system of polishing, the flexibility is high, can improve the use precision of arm, realizes that the foundry goods of multi-angle is polished.

The utility model provides a scheme as follows:

the utility model provides an arm, includes digging arm and base, digging arm one end is connected with the base, and the other end is the free end, the free end is used for connecting anchor clamps, the digging arm passes through lead screw structure with the base and is connected, and the digging arm can make relative elevating movement with the base, and the digging arm still is connected balancing unit. Can realize elevating movement between digging arm and the base, balancing unit is used for balancing the partial gravity of falling the digging arm, because the digging arm adopts cantilever structure, and the moment of torsion that produces the lead screw is great, can effectively reduce the moment that the digging arm produced the lead screw after setting up balancing unit, improve equipment's precision and life.

Preferably, the balancing device is a balancing cylinder, the balancing cylinder comprises a piston rod and a cylinder body, the piston rod is connected with the movable arm, and the cylinder body is respectively and relatively fixed with the base. The balancing cylinder uses air pressure to offset part of the weight of the movable arm.

Preferably, the air pressure below the piston of the piston rod in the cylinder is greater than the air pressure above the piston. The air pressure below the piston rod is large, upward force is generated on the movable arm, and the self weight of the movable arm part is balanced.

Preferably, the cylinder body is provided with an air inlet and an air outlet, the air inlet is connected with an air inlet pressure valve, the air outlet is connected with an air outlet pressure valve, the air inlet pressure valve is connected with an air pump, and the air inlet and the air outlet are both connected with the lower part of the piston of the cylinder body. When the lead screw drives the movable arm to ascend, the pressure below the piston in the cylinder body is reduced, the air pressure valve is opened after the pressure is smaller than the air inlet critical value, the air pump inflates air below the piston to increase the pressure, namely, the upward pulling force on the movable arm is increased, when the lead screw drives the movable arm to descend, the pressure in the cylinder body is increased, the exhaust pressure valve is opened after the pressure is larger than the air inlet critical value, so that the air is discharged, the air pressure below the piston in the cylinder body is reduced, and the air pressure in the cylinder body is stabilized within a.

Preferably, the threshold value of the intake pressure valve is less than the threshold value of the exhaust pressure valve.

Preferably, the free end is provided with a rotating seat, and the rotating seat is driven by a motor. The rotating seat is used for connecting a clamp, and the motor drives the rotating seat to rotate, so that a workpiece can be polished with the grinding head device through different angles.

Preferably, the free end is provided with a pressing device, and the pressing device comprises a pressing head and a driving device. The pressing device is used for pressing the workpiece placed at the free end, and the workpiece is prevented from loosening or misplacing in the moving process.

Preferably, a linkage mechanism is arranged between the driving device and the pressing head, and the linkage mechanism comprises a four-bar linkage mechanism forming a parallelogram. The link mechanism can realize the operation of compressing tightly between hold-down head and the work piece, still can prolong the distance between drive arrangement and the hold-down head simultaneously, does not hinder placing of work piece.

Preferably, the driving device is a cylinder. The linear motion of the cylinder can drive the compressing head to ascend or descend through the connecting rod mechanism.

Preferably, the compression head comprises a freely rotatable compression bar. The compression bar can rotate freely, so that the compression of the compression head does not influence the rotation of the workpiece.

Preferably, the movable arm is a SCARA mechanical arm and comprises a first movable arm and a second movable arm, one end of the second movable arm is connected with the base through a screw rod, the other end of the second movable arm is connected with the first movable arm in a rotating mode, and one end of the first movable arm is a free end. The SCARA mechanical arm can move the workpiece in multiple angles and positions, and the workpiece can be flexibly polished by matching with the grinding head device.

The casting polishing system uses the mechanical arm and further comprises a grinding head device, wherein the grinding head device comprises a grinding head seat and a polishing head, and the grinding head seat is rotatably connected with the base. The rotation of the grinding head seat can change the grinding angle of the grinding head and increase the grinding range of the workpiece.

Preferably, the rotational axis of the head base is perpendicular to the rotational axis of the sanding head.

Preferably, the grinding head seat comprises a main grinding head seat and an auxiliary grinding head seat, the grinding head comprises a main grinding head and an auxiliary grinding head, the main grinding head is rotatably connected with the main grinding head seat, the auxiliary grinding head seat is arranged on the main grinding head seat and rotatably connected with the main grinding head seat, and the auxiliary grinding head is rotatably connected with the auxiliary grinding head seat. The main polishing head and the auxiliary polishing head respectively correspond to different polishing positions, and the auxiliary polishing head seat can rotate by an angle, so that different polishing heads can be conveniently switched to work.

Preferably, the secondary sanding head is parallel to the primary sanding head axis of rotation. The axes of the two different polishing heads are parallel, and the two different polishing heads are convenient to control during switching.

Preferably, the auxiliary polishing head and the main polishing head are grinding wheels with different diameters. The grinding wheels with different diameters are used for grinding different positions of a workpiece, the large-diameter grinding head can grind a parting surface or a riser, and the small-diameter grinding head can grind small positions such as a mold core or sand holes.

Preferably, the auxiliary grinding head seat is connected with the main grinding head seat through a steering device. The steering device controls the rotation of the auxiliary grinding head seat.

Preferably, the steering device is a cylinder. The cylinder saves the province fast, can realize the quick switch over of main grinding head and vice grinding head.

Preferably, the base is provided with a discharge opening, the discharge opening is connected with a discharge bin, and the discharge bin is connected with the base in a sliding manner. The bin outlet can discharge the waste residue that produces when polishing to the bin of arranging to outwards discharge through the bin of arranging, kept the clean of job site.

The utility model discloses a following beneficial effect:

1. the balance device can balance part of the weight of the movable arm, reduce the moment generated to the screw rod, improve the processing precision and prolong the service life;

2. the grinding head seat can rotate, comprises a main grinding head and an auxiliary grinding head, can carry out multi-angle grinding, and can carry out grinding aiming at different positions;

3. the pressing device can realize the pressing of the workpiece and does not influence the polishing process of the workpiece.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic diagram of a casting grinding system;

FIG. 2 is a schematic view of a robotic arm configuration;

FIG. 3 is a schematic view of the pressing state of the pressing device;

FIG. 4 is a schematic view of the hold-down device in a released state;

fig. 5 is a schematic view of the grinding head device in rotation;

fig. 6 is a schematic view of the rotation of the sub-grinding head holder;

fig. 7 is a schematic view of the appearance structure of the present invention;

in the figure, 1-movable arm, 2-grinding head device, 3-screw rod, 4-balancing device, 5-pressing device, 6-base, 11-first movable arm, 12-second movable arm, 13-lifting seat, 14-screw nut, 15-rotating motor, 21-main grinding head seat, 22-auxiliary grinding head seat, 23-main grinding head, 24-auxiliary grinding head, 25-steering cylinder, 41-piston rod, 42-cylinder body, 51-pressing head, 52-pressing rod, 53-pressing cylinder, 54-link mechanism, 61-discharge port, 62-discharge bin, 63-adjustable support leg, 64-sliding door and 65-control panel.

Detailed Description

In order to make the technical solutions in the present invention better understood, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.

Example one

As shown in fig. 1 and 2, the present embodiment discloses a mechanical arm, which includes a movable arm 1 and a base 6, wherein the movable arm 1 is connected to the base 6 through a lead screw 3, and the movable arm 1 can perform a lifting motion.

The movable arm 1 is a SCARA mechanical arm and comprises a first movable arm 11, a second movable arm 12 and a lifting seat 13, the first movable arm 11, the second movable arm 12 and the lifting seat 13 are sequentially connected in a rotating mode, the rotating planes are parallel to each other or coplanar, and driving motors are arranged at the joints. The lifting seat 13 is connected with the lead screw 3 through a nut 14. One end of the first movable arm 11, which is far away from the lifting seat 13, is a free end, the free end can be connected with a workpiece fixture, and a rotating motor 15 is arranged at a position where the workpiece fixture is placed at the free end.

The movable arm 1 is further connected with the base 6 through a balancing device 4, the balancing device 4 is an air cylinder and comprises a piston rod 41 and a cylinder body 42, and the piston rod 41 and the cylinder body 42 are respectively fixedly connected with the movable arm 1 and the base 6. The cylinder 42 is provided with an air inlet and an air outlet, the air inlet being provided with an intake pressure valve and the air outlet being provided with an exhaust pressure valve. The threshold value of the intake pressure valve is less than the threshold value of the exhaust pressure valve.

As shown in fig. 3, the first movable arm 11 is provided with the pressing device 4. The pressing device 5 comprises a pressing head 51 for pressing the workpiece, and the pressing head 51 comprises a freely rotatable pressing rod 52. The hold-down head 51 is driven by a hold-down cylinder 53 and is connected to the hold-down cylinder 53 by a link mechanism 54. The linkage 54 comprises a set of parallelogram linkages. The compression bar 52 is coaxial with the main shaft of the rotating motor 15 when being pressed downwards, the compression head 51 is provided with a thread adjusting structure, the height of the compression bar 52 can be adjusted, and the compression bar 52 and the rotating motor 15 are always kept coaxial when workpieces with different heights are processed.

As shown in fig. 1 and 7, the base 6 is provided with a discharge opening 61, the discharge opening 61 is positioned below the grinding head device 2, and a discharge bin 62 capable of being drawn out is arranged below the discharge opening 61. The bottom of the base 6 is provided with an adjustable supporting leg 63, a shell is arranged above the base 6, and the shell is provided with a sliding door 64 and a control panel 65.

Example two

The embodiment also discloses a casting polishing system, the system uses the mechanical arm and further comprises a grinding head device 2, the grinding head device 2 is arranged on the base 6, the grinding head device 2 comprises a main grinding head seat 21, an auxiliary grinding head seat 22, a main grinding head 23 and an auxiliary grinding head 24, the main grinding head seat 21 is rotatably connected with the base 6, the auxiliary grinding head seat 22 is rotatably connected with the main grinding head seat 21, and the two rotation axes which are rotatably connected are mutually perpendicular. The main grinding head 23 is rotatably connected to the main grinding head base 21, and the sub-grinding head 24 is rotatably connected to the sub-grinding head base 22, with the rotational axes of the two rotational connections being parallel and perpendicular to the rotational axis of the main grinding head base 21. The main grinding head 23 and the sub grinding head 24 are grinding wheels having different diameters and specifications. The rotation of the sub-grinder seats 22 is controlled by the steering cylinders 25.

The working principle of the utility model is as follows

As shown in fig. 5, the main head base 21 is integrally rotatable about the X-axis, and the main polishing head 23, the sub head base 22, and the sub polishing head 24 are driven to move together, thereby performing multi-angle polishing.

As shown in fig. 6, the sub-grinder head holder 22 is driven by a steering cylinder 25 to rotate about the Y-axis with the main grinder head holder 21, thereby adjusting the relative positional relationship between the main grinding head 23 and the sub-grinding head 24.

As shown in fig. 2, the lead screw 3 can drive the movable arm 1 to move up and down, the movable arm 1 is further connected with a balance device 4, and a piston rod 41 of the balance device 4 is connected with the movable arm 1. When the lead screw 3 drives the movable arm 1 to ascend, the pressure below the piston in the cylinder body 42 is reduced, the air pressure valve is opened after the pressure is smaller than the air inlet critical value, the air pump inflates air below the piston to increase the pressure, namely, the upward pulling force on the movable arm 1 is increased, when the lead screw 3 drives the movable arm 1 to descend, the pressure in the cylinder body 42 is increased, the exhaust pressure valve is opened after the pressure is larger than the air inlet critical value, the air is discharged, the air pressure below the piston in the cylinder body 42 is reduced, and the air pressure in the cylinder body 42 is stabilized within a certain range.

As shown in fig. 3, when the pressing cylinder 53 is ejected outwards, the pressing head 51 can be driven by the link mechanism 54 to press the workpiece downwards;

as shown in fig. 4, when the pressing cylinder 53 retracts, the pressing head 51 can be driven to lift upward by the link mechanism 54, and the workpiece is released.

When a workpiece is arranged at the free end of the movable arm 1 through the clamp, the movable arm 1 and the lead screw 3 are matched with each other to realize multi-position movement in a three-dimensional space, so that the workpiece can be moved to any position. The rotating motor 15 at the free end of the movable arm 1 can drive the workpiece to rotate, and the angle of the workpiece is adjusted. The pressing device 5 ensures the pressing state of the workpiece and does not hinder the rotation of the workpiece. The main grinding head seat 21 can rotate to adjust different grinding angles, and the rotation of the auxiliary grinding head seat 22 can switch different grinding heads to work.

Although the present invention has been described in detail by referring to the drawings in conjunction with the preferred embodiments, the present invention is not limited thereto. Without departing from the spirit and substance of the present invention, any person skilled in the art can easily think of changes or substitutions within the technical scope of the present invention, and all such changes or substitutions are covered within the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. Arm, including digging arm (1) and base (6), digging arm (1) one end is connected with base (6), and the other end is the free end, the free end is used for connecting anchor clamps, its characterized in that: the movable arm (1) is connected with the base (6) through a screw rod structure, the movable arm (1) can make relative lifting motion with the base (6), and the movable arm (1) is further connected with a balancing device (4).

2. A robotic arm as claimed in claim 1, in which: the balance device (4) is a balance cylinder, the balance cylinder comprises a piston rod (41) and a cylinder body (42), the piston rod (41) is connected with the movable arm (1), and the cylinder body (42) is respectively and relatively fixed with the base (6).

3. A robotic arm as claimed in claim 2, in which: the air pressure below the piston of the piston rod (41) in the cylinder body (42) is larger than the air pressure above the piston.

4. A robotic arm as claimed in claim 2 or 3, in which: the cylinder body (42) is provided with an air inlet and an air outlet, the air inlet is connected with an air inlet pressure valve, the air outlet is connected with an air outlet pressure valve, the air inlet pressure valve is connected with an air pump, and the air inlet and the air outlet are connected with the lower part of a piston of the cylinder body.

5. A robotic arm as claimed in claim 1, in which: the free end is provided with a rotating seat, and the rotating seat is driven by a motor.

6. A robotic arm as claimed in claim 1 or 2 or 3 or 5, in which: the free end is provided with a pressing device (5), and the pressing device (5) comprises a pressing head (51) and a driving device.

7. A robotic arm as claimed in claim 6, in which: and a link mechanism (54) is arranged between the driving device and the pressing head (51), and the link mechanism (54) comprises a four-link mechanism forming a parallelogram.

8. A robotic arm as claimed in claim 6, in which: the driving device is an air cylinder.

9. A robotic arm as claimed in claim 6, in which: the compression head (51) comprises a freely rotatable compression bar (52).

10. A robotic arm as claimed in claim 1, in which: the movable arm is SCARA arm, including first movable arm (11) and second movable arm (12), second movable arm (12) one end is connected through lead screw (3) with base (6), and the other end rotates with first movable arm (11) to be connected, and first movable arm one end is the free end.

11. A casting grinding system using the robot arm of any one of claims 1 to 10, wherein: the system further comprises a grinding head device, wherein the grinding head device comprises a grinding head seat and a grinding head, the grinding head is rotatably connected with the grinding head seat, and the grinding head seat is rotatably connected with the base (6).

12. The casting grinding system of claim 11, wherein: the rotation axis of the grinding head seat is perpendicular to the rotation axis of the grinding head.

13. A casting grinding system as defined in claim 11 or 12, wherein: the grinding head seat comprises a main grinding head seat (21) and an auxiliary grinding head seat (22), the grinding head comprises a main grinding head (23) and an auxiliary grinding head (24), the main grinding head (23) is rotatably connected with the main grinding head seat (21), the auxiliary grinding head seat (22) is arranged on the main grinding head seat (21) and rotatably connected with the main grinding head seat (21), and the auxiliary grinding head (24) is rotatably connected with the auxiliary grinding head seat (22).

14. The casting grinding system of claim 13, wherein: the secondary sanding head (24) is parallel to the axis of rotation of the primary sanding head (23).

15. The casting grinding system of claim 13, wherein: the auxiliary polishing head (24) and the main polishing head (23) are grinding wheels with different diameters.

16. The casting grinding system of claim 13, wherein: the auxiliary grinding head seat (22) is connected with the main grinding head seat (21) through a steering device.

17. The casting grinding system of claim 16, wherein: the steering device is a cylinder.

18. The casting grinding system of claim 11, wherein: base (6) are equipped with bin outlet (61), bin outlet (62) is connected in bin outlet (61), bin outlet (62) and base (6) sliding connection.