CN215146570U

CN215146570U - Flexible dismounting device

Info

Publication number: CN215146570U
Application number: CN202121598157.0U
Authority: CN
Inventors: 胡明华; 雷刚; 盛磊; 张可; 林榆翔; 许辰亮
Original assignee: Chengdu Feijiang Intelligent Technology Co ltd; Sichuan Engineering Technical College
Current assignee: Chengdu Feijiang Intelligent Technology Co ltd; Sichuan Engineering Technical College
Priority date: 2021-07-14
Filing date: 2021-07-14
Publication date: 2021-12-14
Anticipated expiration: 2031-07-14

Abstract

The utility model discloses a flexible dismounting device, which acquires the position signals of a dismounting mechanism and a part to be dismounted through a position detection unit, automatically moves the dismounting device in place for dismounting, and firstly arranges a sleeve in the dismounting mechanism on a screw of the dismounting part; starting a rotary tool to disassemble and assemble the part needing to be disassembled and assembled in a multi-stage mode; and stopping rotating the tool, disconnecting the electromagnetic coil and finishing the dismounting process. This flexible device passes through the position detecting element and confirms the dismouting position, utilizes the guide rail mode of movement to aim at the dismouting part with the sleeve accuracy on the rotary tool simultaneously, realizes that dismouting device and dismouting part directly dock for the dismouting process is high efficiency. The full-automatic dismounting and mounting is realized by utilizing the characteristic that the magnetism of the electromagnetic coil is controllable, so that the device has the advantages of high automation degree, easiness in operation, convenience, high efficiency, wide application range and reliable function.

Description

Flexible dismounting device

Technical Field

The utility model relates to an automatic device technical field that reloads of industrial robot instrument, especially a flexible dismouting device.

Background

Industrial robots are important automated equipment for smart manufacturing. The grinding robot replaces manpower to carry out grinding and polishing operation, is mainly used for surface grinding, polishing and other operations of workpieces, and is widely applied to industries such as the automobile industry, the bathroom hardware industry, the IT industry and the like. In various polishing operations, the grinding wheel can be worn to different degrees after being used for a period of time, so that not only can the polishing quality be influenced, but also certain potential safety hazards can exist. The on-demand replacement of grinding wheels is an important task in sanding and polishing operations.

In the automatic grinding system of robot, need to dismantle automatically and screw up emery wheel fastening lock nut in carrying out the automatic dismouting process of emery wheel. Because the stop position of the grinding wheel cannot be determined, the disassembling tool is accurately aligned with the locking nut and cannot be directly butted.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model aims at providing a flexible dismouting device, the device degree of automation is high, can realize dismantling and installation fast.

In order to achieve the above purpose, the utility model provides a following technical scheme:

the utility model provides a flexible dismounting device, which comprises a dismounting mechanism, a driving mechanism, a position moving controller, a position detecting unit and a guide rail;

the disassembling and assembling mechanism is arranged on the guide rail so as to be suitable for the disassembling and assembling mechanism to move on the guide rail so as to be suitable for the disassembling and assembling mechanism to align with a part to be disassembled and assembled; the dismouting mechanism is connected with actuating mechanism, actuating mechanism is used for driving dismouting mechanism and removes along the guide rail, actuating mechanism is connected with position movement controller, position movement controller is used for control regulation actuating mechanism and treats the position relation between the dismouting part, position movement controller is connected with position detecting element, position detecting element is used for acquireing dismouting mechanism and treats the position signal between the dismouting part.

Further, the disassembling and assembling mechanism comprises a base, a bracket, a rotary tool, a rotation control mechanism, a sleeve and an electromagnetic coil;

the base is arranged on the guide rail and used for moving the dismounting mechanism along the direction of the guide rail; the base is provided with a bracket for fixing a rotary tool, and the driving mechanism is connected with the base and used for driving the disassembly and assembly mechanism to move; the rotation control mechanism is connected with the rotary tool and used for controlling the rotation state of the rotary tool.

Further, a sleeve for butting with a grinding wheel locking nut is arranged on a rotating shaft of the rotating tool; the sleeve is an inner hexagonal sleeve, and the front end of the sleeve is arranged on the chamfer.

Further, an electromagnetic coil used for adsorbing the fastening bolt is arranged at the bottom in the sleeve.

Further, the rotary tool is an electric rotary tool or a pneumatic rotary tool.

Further, the driving mechanism is an electric driving mechanism or a pneumatic driving mechanism.

The beneficial effects of the utility model reside in that:

the utility model provides a flexible dismounting device, the device obtains the position signal of dismouting mechanism and waiting to dismantle the part through the position detecting element to automatically move the dismounting device in place and carry out the dismounting, at first set up the sleeve in the dismouting mechanism on the screw of dismouting part; starting a rotary tool to disassemble and assemble the part needing to be disassembled and assembled in a multi-stage mode; and stopping rotating the tool, disconnecting the electromagnetic coil and finishing the dismounting process.

The utility model provides a device adopts the multi-stage mode to go on at the operation in-process, and this flexible installation utilizes the guide rail moving means to aim at the dismouting part with the sleeve accuracy on the rotary tool simultaneously through the position detecting element position, realizes the direct butt joint of dismouting device and dismouting part for dismouting process high efficiency.

The full-automatic dismounting and mounting is realized by utilizing the characteristic that the magnetism of the electromagnetic coil is controllable, so that the device has the advantages of high automation degree, easiness in operation, convenience, high efficiency, wide application range and reliable function.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and/or combinations particularly pointed out in the appended claims.

Drawings

In order to make the purpose, technical scheme and beneficial effect of the utility model clearer, the utility model provides a following figure explains:

fig. 1 is a schematic structural view of a lock nut.

Fig. 2 is a schematic view of the external structure of the lock nut.

Fig. 3 is a view showing the inner structure of the sleeve.

Fig. 4 is a perspective view of the sleeve.

Fig. 5 is a front view of the flexible mount/dismount device.

Fig. 6 is a side view of the flexible mount/dismount device.

Fig. 7 is a top view of the flexible mount/dismount device.

Fig. 8 is a perspective view of the flexible mounting and dismounting device.

Description of the labeling: 1-a frame, 2-a new grinding wheel jacking mechanism, 3-a waste grinding wheel collecting box, 4-a grinding wheel fixing mechanism, 5-a disassembling and assembling mechanism, 6-a waste grinding wheel, 7-a new grinding wheel pushing mechanism, 8-a new grinding wheel and 9-a new grinding wheel placing mechanism; 51-base, 52-guide, 53-support, 54-driving mechanism, 55-rotating tool, 56-sleeve, 57-electromagnetic coil.

Detailed Description

The present invention will be further described with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and can implement the present invention, but the embodiments are not to be construed as limiting the present invention.

Example 1

The flexible dismounting device provided by the embodiment comprises a dismounting mechanism, a driving mechanism, a position moving controller, a position detection unit and a guide rail;

the disassembly and assembly mechanism is arranged on the guide rail and can move back and forth on the guide rail, and the axis of a rotating shaft of the disassembly and assembly mechanism is aligned with the axis of a fastening shaft of the grinding wheel to be disassembled; the device comprises a guide rail, a disassembly and assembly mechanism, a position movement controller, a position detection unit and a control unit, wherein the disassembly and assembly mechanism is connected with the drive mechanism, the drive mechanism is used for driving the disassembly and assembly mechanism to move forwards and backwards along the guide rail, the drive mechanism is connected with the position movement controller, the position movement controller is used for controlling and adjusting the position relation between the drive mechanism and a grinding wheel to be disassembled and assembled, the position movement controller is connected with the position detection unit, and the position detection unit is used for acquiring position signals of the disassembly and assembly mechanism and the grinding wheel to be disassembled and assembled;

the disassembling and assembling mechanism comprises a base, a bracket, a rotary tool, a rotation control mechanism, a sleeve and an electromagnetic coil; the rotary tool is an electric rotary tool or a pneumatic rotary tool, and the driving mechanism is an electric driving mechanism or a pneumatic driving mechanism.

The base is arranged on the guide rail and used for moving the dismounting mechanism along the direction of the guide rail; the base is provided with a bracket for fixing the electric tool, and the driving mechanism is connected with the base and used for driving the dismounting mechanism to move; the rotation control mechanism is connected with the electric tool and used for controlling the rotation state of the electric tool, the torque and the rotation speed of the electric tool during rotation are adjustable, and the maximum torque can meet the requirements of fastening and disassembling the grinding wheel.

A sleeve for butting with a grinding wheel locking nut is arranged on a rotating shaft of the rotating tool; the sleeve is an inner hexagonal sleeve, and the front end of the sleeve is arranged on the chamfer.

A sleeve for butting with a grinding wheel locking nut is arranged on a rotating shaft of the electric tool; the sleeve is an inner hexagonal sleeve, the front edge of the sleeve is provided with a certain outward expansion taper, and the sleeve is convenient to be butted with a locking nut arranged on the grinding wheel.

As shown in fig. 3 and 4, the electromagnetic coil is disposed at the bottom of the sleeve for absorbing the fastening bolt and ensuring that the nut will not fall off after being detached. As shown in fig. 1 and 2, the locknut on the grinding wheel is an inner hexagon, the outer edge of the locknut has a certain taper, and the locking nut for fastening has a section of taper close to the grinding wheel side.

The rotary tool provided by the embodiment is an electric rotary tool or a pneumatic rotary tool. The electric rotating tool is driven by a motor, and the sleeve is driven to rotate when the motor rotates, so that the dismounting or mounting process of the part to be dismounted is realized, or the pneumatic driving mechanism is driven by a cylinder, and the sleeve is driven to rotate when the cylinder operates, so that the dismounting or mounting process of the part to be dismounted is realized.

The driving mechanism is an electric driving mechanism or a pneumatic driving mechanism. The electric driving mechanism is driven by a motor, and drives the dismounting mechanism to move on the guide rail when the motor rotates, or the pneumatic driving mechanism is driven by an air cylinder and drives the dismounting mechanism to move on the guide rail when the air cylinder runs. Because the operating speed and the thrust of the cylinder are continuously adjustable, the operation is convenient in the dismounting process.

The position detection unit that this embodiment provided adopts position sensor to obtain the position relation between dismouting device and the area dismouting part to the automation mechanized operation for whole dismouting device provides the basis.

The detachable part provided by the embodiment can be a screw which needs to be installed or removed, or other parts which are fixedly connected through the screw, and can also be suitable for the installation or disassembly process of the grinding wheel, and the grinding wheel needs to be installed or disassembled in the grinding process of a workpiece.

Example 2

As shown in fig. 5, 6, 7, and 8, the flexible disassembling and assembling device provided in this embodiment is disposed on a rack, and the rack is provided with components for providing and collecting grinding wheels, which are used in cooperation with the flexible disassembling and assembling device, and includes a new grinding wheel jacking mechanism, a used grinding wheel collecting box, a grinding wheel fixing mechanism, a disassembling and assembling mechanism, a used grinding wheel, a new grinding wheel pushing mechanism, a new grinding wheel, and a new grinding wheel placing mechanism; a new grinding wheel pushing mechanism and a new grinding wheel placing mechanism are arranged between the lower part of the dismounting device and the frame, a new grinding wheel is placed in the new grinding wheel placing mechanism, the new grinding wheel moves to the upper part of the new grinding wheel jacking mechanism under the pushing action of the new grinding wheel pushing mechanism, the new grinding wheel jacking mechanism pushes the new grinding wheel upwards to the grinding wheel fixing mechanism, the new grinding wheel is mounted under the action of the dismounting device, the dismounted waste grinding wheel is collected to a waste grinding wheel collecting box arranged on one side of the frame, the waste grinding wheel collecting box is generally arranged beside the grinding wheel fixing mechanism and is slightly lower than the grinding wheel fixing mechanism, so that the waste grinding wheel can roll down to the waste grinding wheel collecting box,

the position detection unit provided by this embodiment may use a position sensor disposed below the grinding wheel fixing mechanism to detect the distance between the dismounting device and the component to be dismounted, or may use infrared detection to obtain the distance between the dismounting device and the component to be dismounted by emitting infrared rays and reflected infrared rays.

This embodiment may also use a magnetic inductive switch disposed on the cylinder to detect whether the sleeve moves to a predetermined position.

Example 3

In this embodiment, the method for quickly replacing the grinding wheel by using the provided flexible disassembling and assembling mechanism includes the following steps:

the disassembling process comprises the following steps:

the electric tool is controlled to rotate and move towards the fastening nut, the electric tool is in a low-speed and low-torque mode (the speed and the torque can be set) in the next stage, and the thrust of the forward movement of the electric tool is in a low-thrust mode. After the torque is limited to be small, the rotation can be blocked, and the thrust of the electric tool can be set.

When the sleeve of the electric tool contacts and fastens the nut, the gap of the electric tool rotates positively and negatively, so that the sleeve swings left and right, and the forward thrust is maintained and gradually increased.

After the sleeve is detected to be in place, the electric tool is switched to a high-torque mode, the electric tool rotates reversely, the fastening bolt is unscrewed, and forward thrust maintains low thrust in the process.

And along with the loosening of the bolt, the electric tool is pushed by the bolt to retreat, when the retreat is stopped, the fastening bolt is completely separated from the screw rod, the magnetizing coil is electrified, the electric tool retreats, and the bolt dismounting is finished after the zero point is retreated. The fastening bolt is now fixed in the sleeve.

And (3) a fastening process:

electric tools rotating at low speed and low torque and advancing forward

After the bolt is sleeved on the screw rod, the torque is increased until the electric tool is locked, the torque is increased to the fastening torque, and the set time is maintained.

And when the electromagnetic coil is powered off, the electric tool is powered off, and the torque returns to zero.

The electric tool retreats to the zero point, and the fastening process is completed.

The above-mentioned embodiments are merely preferred embodiments for fully illustrating the present invention, and the scope of the present invention is not limited thereto. Equivalent substitutes or changes made by the technical personnel in the technical field on the basis of the utility model are all within the protection scope of the utility model. The protection scope of the present invention is subject to the claims.

Claims

1. The utility model provides a flexible dismouting device which characterized in that: comprises a disassembly and assembly mechanism, a driving mechanism, a position movement controller, a position detection unit and a guide rail;

2. The flexible removal device of claim 1, wherein: the disassembling and assembling mechanism comprises a base, a bracket, a rotary tool, a rotation control mechanism, a sleeve and an electromagnetic coil;

3. The flexible removal device of claim 2, wherein: a sleeve for butting with a grinding wheel locking nut is arranged on a rotating shaft of the rotating tool; the sleeve is an inner hexagonal sleeve, and the front end of the sleeve is arranged on the chamfer.

4. The flexible removal device of claim 2, wherein: and an electromagnetic coil used for adsorbing the fastening bolt is arranged at the bottom in the sleeve.

5. The flexible removal device of claim 2, wherein: the rotary tool is an electric rotary tool or a pneumatic rotary tool.

6. The flexible removal device of claim 1, wherein: the driving mechanism is an electric driving mechanism or a pneumatic driving mechanism.