CN212705896U - Automatic change device and ceramic polishing machine polishing production line - Google Patents
Automatic change device and ceramic polishing machine polishing production line Download PDFInfo
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- CN212705896U CN212705896U CN202021604779.5U CN202021604779U CN212705896U CN 212705896 U CN212705896 U CN 212705896U CN 202021604779 U CN202021604779 U CN 202021604779U CN 212705896 U CN212705896 U CN 212705896U
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Abstract
The utility model discloses an automatic change device and pottery burnishing machine polishing production line, this automatic change device, including six robots, six robots include robot base, arm and manipulator, the robot base is used for fixed mounting in six robots, the arm is used for the cooperation the manipulator is in order to realize the automatic change of machining tool, the manipulator includes that first clamp is got subassembly and second clamp and is got the subassembly, first clamp is got the subassembly and is used for pressing from both sides the machining tool that needs to be changed on the processing equipment, the second is got the subassembly and is used for pressing from both sides to get and treats to change the machining tool and will treat to change the machining tool and install on the processing equipment. The utility model discloses a first clamp is got subassembly and second clamp and is got the cooperation of subassembly, realizes the automatic change of machining tool, improves production efficiency widely.
Description
Technical Field
The utility model relates to a ceramic machining equipment technical field, concretely relates to automatic change device and ceramic polishing machine polishing production line.
Background
When the ceramic is processed, a grinding device is needed, the grinding head is a consumable, and for the replacement of the grinding head, the current ceramic edge grinding assembly line adopts a manual replacement mode, so that the steps are complicated, and the production efficiency is low.
SUMMERY OF THE UTILITY MODEL
In order to overcome the not enough of prior art, the utility model provides an automatic change device solves above-mentioned traditional problem, realizes polishing abrasive brick automatic change, improves production efficiency widely.
The utility model also provides an adopt this automatic change device's ceramic polishing machine polishing production line.
The utility model discloses a following technical scheme realizes:
the utility model provides an automatic change device, includes six robots, six robots include robot base, arm and manipulator, the robot base is used for fixed mounting in six robots, the arm is used for the cooperation the manipulator is in order to realize the automatic change of machining tool, the manipulator includes that first clamp is got subassembly and second clamp and is got the subassembly, first clamp is got the subassembly and is used for pressing from both sides the machining tool that needs to be changed on the processing equipment, the second is got the subassembly and is used for pressing from both sides to get and treats to change the machining tool and will treat to change the machining tool and install on the processing equipment.
Preferably, the automatic replacing device further comprises a guide rail assembly, the guide rail assembly comprises a guide rail and a moving driving assembly, the six-axis robot is installed on the guide rail through the robot base, and the moving driving assembly drives the six-axis robot to move along the guide rail.
Preferably, the guide rail includes first guide rail and second guide rail, it is including connecting to remove the drive assembly first guide rail with the main drive wheel of second guide rail, assist drive wheel and remove the drive module, main drive wheel, assist the drive wheel and be located respectively orbital relative both ends, it is used for driving to remove the drive module main drive wheel, assist the drive wheel and rotate.
Preferably, the first clamping assembly comprises a first clamping member, a second clamping member and a clamping driving module, the first clamping member and the second clamping member are arranged oppositely, and the clamping driving module is used for driving the first clamping member and the second clamping member to clamp.
Preferably, the second clamping assembly and the first clamping assembly are identical in structure and are arranged side by side, and the mechanical arm comprises a rotating module, and the rotating module is used for driving the mechanical arm to rotate.
Preferably, the opposite sides of the robot base are also provided with a waste processing tool tray and a processing tool tray to be replaced.
The utility model also provides a pottery burnishing machine polishing production line, in any one of the above-mentioned automation change device and many pottery burnishing machines.
Preferably, the relative both sides of robot base still install the abrasive brick dish and wait to change the abrasive brick dish, useless abrasive brick dish is close to ceramic polisher polishing production line one side and sets up, it keeps away from ceramic polisher polishing production line one side setting to wait to change the abrasive brick dish.
Preferably, be provided with emergency exit and switch drive module on the ceramic polisher, switch drive module is used for driving the emergency exit opens and closes the work.
Preferably, the ceramic polishing machine comprises a polishing grinding disc with a mounting seat and a polishing grinding block, wherein a clamping groove is formed in the mounting seat, a clamping block clamped on the clamping groove is arranged on the polishing grinding block, and the clamping block is magnetically connected with the mounting seat.
Compared with the prior art, the beneficial effects of the utility model reside in that:
the utility model discloses a first clamp is got subassembly and second clamp and is got the cooperation of subassembly, realizes the automatic change of machining tool, improves production efficiency widely.
The utility model discloses an automatic change device passes through guide rail set spare and six robots's cooperation, will polish useless module on the mill and take out, will wait to remove in the module installation of changing simultaneously again, realizes polishing abrasive brick automatic change, improves production efficiency widely.
The utility model discloses a ceramic polisher polishing production line makes its cooperation automatic change device in order to carry out the change work of abrasive brick through the improvement to the structure of emergency exit and polishing mill to avoid artifical the participation replacement, further improve the security of production, and production efficiency.
Drawings
Fig. 1 is a schematic structural view of a six-axis robot in an automatic changer of the present invention;
FIG. 2 is a schematic view of the automatic changer of FIG. 1 configured to be installed in a polishing line of a ceramic polisher;
FIG. 3 is a front view of the automatic exchange device shown in FIG. 2, wherein the six-axis robot is not shown;
FIG. 4 is a side cross-sectional view of the single ceramic polisher shown in FIG. 2.
In the figure: 10. an automatic replacement device; 20. a guide rail assembly; 21. a first guide rail; 22. a second guide rail; 23. a movement drive assembly; 230. a main drive wheel; 231. an auxiliary driving wheel; 232. a mobile driving module; 30. a six-axis robot; 31. a robot base; 310. a waste abrasive brick disc; 311. a grinding block disc to be replaced; 318. a second fixed block; 319. a first fixed block; 32. a mechanical arm; 329. a rotation module; 33. a manipulator; 330. a first grasping assembly; 331. a second grasping assembly; 90. a ceramic polishing machine; 91. a safety door; 92. polishing the grinding disc; 93. and (5) polishing the grinding block.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific embodiments:
please refer to fig. 1, which is the present invention relates to an automatic replacing apparatus 10, including six robots 30, six robots 30 include robot base 31, mechanical arm 32 and manipulator 33, robot base 31 is used for fixed mounting in six robots 30, mechanical arm 32 is used for cooperating with manipulator 33 to realize the automatic replacement of processing tools, manipulator 33 includes that first clamp is got subassembly 330 and second clamp and is got subassembly 331, first clamp is got subassembly 330 and is used for getting the processing tool that needs to be changed on the processing equipment, second clamp is got subassembly 331 and is used for getting the processing tool that needs to be changed and will be changed and install the processing tool on the processing equipment. In one embodiment, a waste tool tray and a to-be-replaced tool tray are further installed on opposite sides of the robot base 31.
The automatic replacing device 10 realizes the automatic replacement of the processing tool through the cooperation of the first clamping component 330 and the second clamping component 331, thereby greatly improving the production efficiency.
Please refer to fig. 2, which is the automatic replacing device 10 of the present invention, for being installed on a polishing production line of a ceramic polishing machine, a polishing grinding disc 92 is installed on the polishing production line of the ceramic polishing machine, the automatic replacing device 10 includes a guide rail assembly 20 and a six-axis robot 30 installed on the guide rail assembly 20, the guide rail assembly 20 includes a first guide rail 21, a second guide rail 22 and a mobile driving assembly 23 connecting the first guide rail 21 and the second guide rail 22, the first guide rail 21 and the second guide rail 22 form a track, the mobile driving assembly 23 is used for driving the track to move axially at the same time; the six-axis robot 30 comprises a robot base 31, a mechanical arm 32 and a mechanical arm 33, wherein the robot base is fixedly arranged on the track, the mechanical arm 32 is used for being matched with the mechanical arm 33 to realize automatic grinding block replacement, the mechanical arm 33 comprises a first clamping component 330 and a second clamping component 331, the first clamping component 330 is used for clamping waste grinding blocks on the polishing grinding disc 92, and the second clamping component 331 is used for clamping grinding blocks to be replaced and installing the grinding blocks to be replaced on the polishing grinding disc 92.
The automatic replacing device 10 takes out the waste modules on the polishing grinding disc 92 through the matching of the guide rail assembly 20 and the six-axis robot 30, and simultaneously installs the modules to be replaced, thereby realizing the automatic replacement of the polishing grinding blocks 93 and greatly improving the production efficiency.
Referring to fig. 3 again, the movable driving assembly 23 includes a main driving wheel 230, an auxiliary driving wheel 231 and a movable driving module 232 connected to the first guide rail 21 and the second guide rail 22, the main driving wheel 230 and the auxiliary driving wheel 231 are respectively located at two opposite ends of the track, and the movable driving module 232 is configured to drive the main driving wheel 230 and the auxiliary driving wheel 231 to rotate, so as to drive the first guide rail 21 and the second guide rail 22 to axially move, so that the six-axis robot 30 moves in multiple polishing machines in the polishing production line, and the grinding block replacement in multiple polishing machines is realized.
Referring to fig. 1 again, the first clamping assembly 330 and the second clamping assembly 331 are disposed side by side, the first clamping assembly 330 includes a first clamping member, a second clamping member and a clamping driving module, the first clamping member and the second clamping member are disposed opposite to each other, and the clamping driving module is used for driving the first clamping member and the second clamping member to perform clamping operation. The second grasping assembly 331 has the same structure as the first grasping assembly 330. The robot 32 includes a rotation module 329, and the rotation module 329 is used to drive the robot 33 to perform a rotation work. It can be understood that the robot arm 32 can turn the first clamping assembly 330 and the second clamping assembly 331 arranged side by rotating the module 329, that is, after the first clamping assembly 330 clamps the waste abrasive blocks, the first clamping assembly 330 and the second clamping assembly 331 are turned by the rotating module 329, and the abrasive blocks to be replaced are mounted on the polishing abrasive disc 92, so as to shorten the time for replacing the abrasive blocks.
Referring to fig. 2 again, the opposite sides of the robot base 31 are further provided with a waste grinding block disk 310 and a grinding block disk 311 to be replaced, the waste grinding block disk 310 is disposed near one side of the ceramic polisher 90 for placing the replaced waste grinding block; the grinding block disc 311 to be replaced is arranged on one side far away from the ceramic polishing machine 90 and used for placing the grinding block to be replaced. The positions of the waste grinding block disc 310 and the grinding block disc 311 to be replaced are arranged, so that the six-axis robot 30 can be conveniently clamped and placed.
The utility model discloses a six axis robot 30 by 6 joints synthesis, realize terminal 6 degrees of freedom actions, it contains rotation (S axle), lower arm (L axle), upper arm (U axle), wrist rotation (R axle), wrist swing (B axle) and wrist gyration (T axle). The six-axis robot 30 adopts a control method that each joint on the mechanical arm is regarded as a separate servo mechanism, namely each axis corresponds to a servo, and each servo is controlled through a bus and is uniformly controlled and coordinated by a controller.
The utility model also provides a pottery burnishing machine polishing production line, this pottery burnishing machine polishing production line include automatic change device 10 and many pottery burnishing machines 90, and each pottery burnishing machine 90 forms a production line side by side, and six robots 30 move along the track axial to change the useless abrasive brick on the pottery burnishing machine 90 of each into and wait to change the abrasive brick.
Referring to fig. 3 and 4 again, the ceramic polisher 90 is provided with a safety door 91 and a switch driving module, and the switch driving module is used for driving the safety door 91 to open and close. In one embodiment, the robot base 31 is provided with a first fixing block 319 and a second fixing block 318, and the minimum distance between the first fixing block 319 and the second fixing block 318 is equal to the width of the safety door 91, so that the robot 30 can move the position of the robot arm 33 from the safety door 91 of the first ceramic polisher 90 to the safety door 91 of the second ceramic polisher 90 when moving one first fixing block 319 and one second fixing block 318 on the track. Optionally, each ceramic polishing machine 90 is provided with an infrared emitter, the automatic polishing grinding block replacing device is provided with a position detector, and the position detector is used for detecting infrared rays reflected by the infrared emitter so as to ensure accurate positioning of the automatic polishing grinding block replacing device.
In another embodiment, the ceramic polishing machine 90 includes a polishing grinding disc 92 having a mounting seat and a polishing grinding block 93, the mounting seat is provided with a clamping groove, the polishing grinding block 93 is provided with a clamping block clamped on the clamping groove, the clamping block is magnetically connected with the mounting seat, after power is turned on, the mounting seat has a magnetic attraction effect, the polishing grinding block 93 can be attracted, after power is turned off, the mounting seat has no magnetic attraction effect, and the manipulator 33 can take away the waste grinding block. In one embodiment, the clamping block is made of metal material.
In this embodiment, the polishing abrasive disc 92 is further provided with a positioning monitor for detecting the orientation of the snap-in groove of the mounting seat to facilitate mounting of the robot 33.
In another embodiment, an abrasive block replacement tracker and an infrared detector are further arranged in the ceramic polishing machine 90, the abrasive block replacement tracker is used for recording the time of abrasive block replacement and the operating time of operation so as to track the wear condition of the abrasive block, and the abrasive block is replaced according to the time; the infrared detector is installed in the ceramic polishing machine 90 at the same horizontal position as the middle part of the grinding block, and reflects infrared rays at intervals to detect the wear condition of the grinding block.
The working principle of the grinding block replacement of the polishing production line of the ceramic polishing machine is as follows: the grinding block in the ceramic polishing machine 90 can be replaced according to the conditions fed back by the grinding block replacement tracker and the infrared detector, for example, the condition fed back by the infrared detector is used, the infrared detector detects the wear condition of the grinding block by emitting infrared rays, when the infrared detector cannot detect a signal fed back by the grinding block, an infrared emitter outside the ceramic polishing machine 90 can send a signal to drive the six-axis robot 30 to move to the ceramic polishing machine 90 which sends the signal, and meanwhile, the positioning monitor can detect the orientation of the clamping groove of the mounting seat; when the position detector detects the infrared ray that infrared emitter reflected, when the position is correct, switch drive module can drive emergency exit 91 and open, simultaneously, the second of manipulator 33 is got and is got subassembly 331 and can be got and press from both sides and get and treat the change abrasive brick, when manipulator 33 stretches into ceramic polisher 90, first clamp is got subassembly 330 and is got into earlier, take out useless abrasive brick, rethread rotation module 329, make first clamp get subassembly 330 and second clamp and get subassembly 331 conversion direction with the clamp, then will treat the abrasive brick of changing and install at polishing mill 92, after the installation, manipulator 33 withdraws, switch drive module can drive emergency exit 91 and close, the manipulator places useless abrasive brick on useless abrasive brick dish 310 at last, the change work is accomplished.
The polishing production line of the ceramic polishing machine has the advantages that the safety door 91 and the polishing grinding disc 92 are improved to be matched with the automatic replacing device 10 to replace grinding blocks, so that manual replacement is avoided, the production safety is further improved, and the production efficiency is improved.
The utility model also provides a polishing abrasive brick automatic replacement method, including following step:
s1: numbering: numbering each ceramic polishing machine 90 on the ceramic polishing machine polishing production line from left to right by a serial number from 1 to 100, and feeding the serial numbers back to the six-axis robot 30;
s2: and (3) detecting the abrasion condition: every other time slot, the infrared detector can emit infrared rays to detect the abrasion condition of the grinding block, and the time slot is once every 10 minutes; when the infrared detector cannot detect the signal fed back by the grinding block, the infrared emitter sends a signal to the six-axis robot 30 to replace the grinding block;
s3: stop operation and detection orientation: the ceramic polishing machine 90 stops the rotation of the mounting seat, and simultaneously, the positioning monitor detects the orientation of the clamping groove of the mounting seat, so that the opening direction of the clamping groove faces the safety door 91;
s4: moving and replacing: after the six-axis robot 30 receives the signal, according to the serial number position of feedback, calculate the distance, and move rapidly to the ceramic polisher 90 that corresponds on, set up through the infrared ray that position detector and infrared emitter reflect relatively, in order to ensure the accuracy of position, simultaneously, switch drive module can drive emergency exit 91 and open, the second of manipulator 33 is got and is got subassembly 331 and can be got and get after waiting to change the abrasive brick, stretch into ceramic polisher 90, take out useless abrasive brick, rethread rotation module 329, make first clamp get subassembly 330 and second clamp and get subassembly 331 switching direction, then will wait to change the abrasive brick and install at polishing mill 92, after the installation, manipulator 33 withdraws, switch drive module can drive emergency exit 91 and close, place useless abrasive brick on useless abrasive brick dish 310 with the manipulator, await the order.
S5: recording the replacement time: the grinding block replacement tracker records the replacement time of the grinding block, if the grinding block is not replaced after being used for 3 months, a warning and a signal can be sent out, and after the six-axis robot 30 receives the signal, the grinding block replacement work of the step S4 is carried out.
The above embodiments are only preferred embodiments of the present invention, and the protection scope of the present invention cannot be limited thereby, and any insubstantial changes and substitutions made by those skilled in the art based on the present invention are all within the protection scope of the present invention.
Various other modifications and changes may be made by those skilled in the art based on the above-described technical solutions and concepts, and all such modifications and changes are intended to fall within the scope of the claims.
Claims (10)
1. The utility model provides an automatic change device, a serial communication port, including six robots, six robots include robot base, arm and manipulator, the robot base is used for fixed mounting in six robots, the arm is used for the cooperation the manipulator is in order to realize the automatic change of machining tool, the manipulator includes that first clamp is got subassembly and second clamp and is got the subassembly, first clamp is got the subassembly and is used for pressing from both sides the machining tool that needs to be changed on the processing equipment, the second is got the subassembly and is used for pressing from both sides to get and treats to change the machining tool and will treat to change the machining tool and install on the processing equipment.
2. The automatic exchanging device according to claim 1, further comprising a rail assembly including a rail on which the six-axis robot is mounted by the robot base and a movement driving assembly driving the six-axis robot to move along the rail.
3. The automatic changing device according to claim 2, wherein the guide rail comprises a first guide rail and a second guide rail, the moving driving assembly comprises a main driving wheel, an auxiliary driving wheel and a moving driving module, the main driving wheel and the auxiliary driving wheel are connected with the first guide rail and the second guide rail, and the moving driving module is used for driving the main driving wheel and the auxiliary driving wheel to rotate.
4. The automatic replacing device according to claim 1, wherein the first clamping assembly comprises a first clamping member, a second clamping member and a clamping driving module, the first clamping member and the second clamping member are disposed opposite to each other, and the clamping driving module is configured to drive the first clamping member and the second clamping member to perform clamping operation.
5. The automatic changing device according to claim 4, wherein the second gripper assembly is identical in structure and arranged side by side with the first gripper assembly, and the robot arm comprises a rotation module for driving the robot arm to perform a rotation operation.
6. The automatic exchanging apparatus of claim 1, wherein a waste tool tray and a to-be-exchanged tool tray are further installed at opposite sides of the robot base.
7. A ceramic polishing machine polishing line, characterized by comprising the automatic exchange device of any one of claims 1 to 6 and a plurality of ceramic polishing machines.
8. The ceramic polishing machine polishing production line of claim 7, wherein a waste grinding block disc and a grinding block disc to be replaced are further installed on two opposite sides of the robot base, the waste grinding block disc is arranged close to one side of the ceramic polishing machine polishing production line, and the grinding block disc to be replaced is arranged far away from one side of the ceramic polishing machine polishing production line.
9. The ceramic polishing machine polishing production line according to claim 7, wherein a safety door and a switch driving module are arranged on the ceramic polishing machine, and the switch driving module is used for driving the safety door to open and close.
10. The ceramic polishing machine polishing production line of claim 7, wherein the ceramic polishing machine comprises a polishing grinding disc with a mounting seat and a polishing grinding block, a clamping groove is arranged on the mounting seat, a clamping block clamped on the clamping groove is arranged on the polishing grinding block, and the clamping block is magnetically connected with the mounting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021604779.5U CN212705896U (en) | 2020-08-05 | 2020-08-05 | Automatic change device and ceramic polishing machine polishing production line |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021604779.5U CN212705896U (en) | 2020-08-05 | 2020-08-05 | Automatic change device and ceramic polishing machine polishing production line |
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| Publication Number | Publication Date |
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| CN212705896U true CN212705896U (en) | 2021-03-16 |
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| CN202021604779.5U Active CN212705896U (en) | 2020-08-05 | 2020-08-05 | Automatic change device and ceramic polishing machine polishing production line |
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