CN215240144U

CN215240144U - A full-automatic grinder of hemisphere for having concave surface

Info

Publication number: CN215240144U
Application number: CN202121329402.8U
Authority: CN
Inventors: 张玉修
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-06-15
Filing date: 2021-06-15
Publication date: 2021-12-21
Anticipated expiration: 2031-06-15

Abstract

The utility model relates to an automatic technical field that grinds of metal, in particular to a full-automatic grinder of hemisphere for having concave surface. The automatic blank polishing machine comprises a material table, six robots, a hemisphere polishing mechanism, a turning positioning mechanism, a bottom surface polishing mechanism and a concave surface polishing mechanism, wherein blanks to be polished are uniformly placed on the material table at fixed points; the hemisphere polishing mechanism is used for polishing a hemisphere, the bottom surface polishing mechanism is used for polishing the bottom surface, and the concave surface polishing mechanism is used for polishing the concave surface in the center of the bottom surface. The utility model discloses to polishing of hemisphere shape work piece, design quadruplex position operation carries out accurate centre gripping location to the hemisphere work piece through vacuum chuck, and through the cooperation of rotation axis and sharp axle, the multiaxis linkage has realized the all-round automatic grinding of the hemisphere face and the bottom surface of hemisphere, has solved the difficult problem that the hemisphere was polished.

Description

A full-automatic grinder of hemisphere for having concave surface

Technical Field

The utility model relates to an automatic technical field that grinds of metal, in particular to a full-automatic grinder of hemisphere for having concave surface.

Background

The existing sphere grinding technology is a mode that a sphere rotates at a slow speed and a grinding head rotates at a fast speed to grind each other. But for hemispheres, especially those of smaller diameter, it is inconvenient to perform the positioning and holding and to perform the effective sanding.

SUMMERY OF THE UTILITY MODEL

In order to solve the technical problem, the utility model discloses a full-automatic grinder of hemisphere for having concave surface.

The specific technical scheme is as follows:

a full-automatic grinding device for a hemisphere with a concave surface is used for machining a hemisphere workpiece, the hemisphere workpiece comprises a hemisphere surface and a bottom surface, the center of the bottom surface is the concave surface, the full-automatic grinding device comprises a material table, a six-axis robot, a hemisphere polishing mechanism, a turnover positioning mechanism, a bottom surface polishing mechanism and a concave surface polishing mechanism, the hemisphere polishing mechanism, the bottom surface polishing mechanism and the concave surface polishing mechanism are sequentially arranged on a working platform in parallel, and the periphery of the hemisphere polishing mechanism, the bottom surface polishing mechanism and the concave surface polishing mechanism are surrounded by a protective plate; the material platform, the six-axis robot and the overturning positioning mechanism are positioned outside the working platform, and the material platform and the overturning positioning mechanism are respectively positioned on two sides of the six-axis robot; the blank to be polished is placed on the material table at a uniform fixed point, the six-axis robot is used for picking and transferring the blank, the overturning positioning mechanism is used for overturning the blank up and down, and the six-axis robot is assisted to convert a picking hemispherical surface into a picking bottom surface; the hemisphere polishing mechanism is used for polishing a hemisphere, the bottom surface polishing mechanism is used for polishing the bottom surface, and the concave surface polishing mechanism is used for polishing the concave surface in the center of the bottom surface.

The hemisphere polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

the supporting part is arranged below the working platform and comprises a first propulsion cylinder, a first rotary joint, a first speed reduction motor and a first vacuum chuck, the first rotary joint comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the first propulsion cylinder is fixedly connected with the first speed reduction motor, the output end of the first speed reduction motor is connected with the fixed air source inlet of the first rotary joint, the rotatable air source outlet is connected with the first vacuum chuck, and the first vacuum chuck can freely pass through a round hole of the working platform and is used for adsorbing the bottom surface of a workpiece;

the grinding part comprises a mounting seat, a grinding head support and a spherical grinding head, the mounting seat is vertically arranged on the working platform, and the grinding head support comprises a vertical part and a horizontal part which are bent at right angles; the vertical part is fixed on a rotary table, the rotary table is connected with the three output ends of a speed reducing motor on the other side of the mounting seat, and the speed reducing motor controls the left and right reciprocating swinging rotation; a second speed reduction motor is fixed on the horizontal part, and the output end of the second speed reduction motor penetrates through the opening of the horizontal part and is connected with the spherical grinding head;

the spherical grinding head is in a hemispherical shell shape, the inner diameter of the spherical grinding head is the standard size for processing workpieces, the inner wall of the spherical grinding head is a grinding surface, a fine slit-shaped chip removal groove is formed in the shell, and the spherical grinding head is aligned with the centers of the three guide pillars.

The overturning positioning mechanism comprises a pneumatic swing table, a support, a propulsion cylinder II and a vacuum chuck II, the pneumatic swing table is installed on the horizontal platform plate through the support, the propulsion cylinder II is fixed on a rotating flange of the pneumatic swing table, a telescopic rod of the propulsion cylinder II is connected with the vacuum chuck II, the telescopic rod of the propulsion cylinder II is perpendicular to the horizontal platform plate, and the pneumatic swing table can control the propulsion cylinder II to rotate 180 degrees along the vertical plane.

The bottom surface polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

the supporting part is arranged below the working platform and comprises a third propelling cylinder, a second rotary joint, a fourth speed reducing motor and a third vacuum chuck, the second rotary joint comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the third propelling cylinder is fixedly connected with the fourth speed reducing motor, the output end of the fourth speed reducing motor is connected with the fixed air source inlet of the second rotary joint, the rotatable air source outlet is connected with the third vacuum chuck, and the third vacuum chuck can freely pass through a round hole of the working platform and is used for adsorbing a hemispherical surface of a workpiece;

the grinding part comprises a right-angle Z-shaped bottom grinding head support and a bottom grinding head, the horizontal part at the bottom of the bottom grinding head support is fixedly arranged on the working platform, the horizontal part at the top is fixedly provided with a speed reduction motor V, and the output end of the speed reduction motor V penetrates through an opening at the horizontal part at the top to be connected with the bottom grinding head; the bottom grinding head is in a disc shape, and the center of the bottom grinding head is aligned with the centers of the three guide pillars.

The concave surface polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

the supporting part is arranged below the working platform and comprises a propelling cylinder IV, a rotary joint III, a speed reduction motor VI and a vacuum chuck IV, the rotary joint III comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the propelling cylinder IV is fixedly connected with the speed reduction motor VI, the output end of the speed reduction motor VI is connected with the fixed air source inlet of the rotary joint III, the rotatable air source outlet is connected with the vacuum chuck IV, and the vacuum chuck IV can freely pass through a round hole of the working platform and is used for adsorbing a hemispherical surface of a workpiece;

the grinding part comprises a mounting seat, a grinding head support and a concave grinding head, the mounting seat is vertically arranged on the working platform, and the grinding head support comprises a vertical part and a horizontal part which are bent at right angles; the vertical part is fixed on a rotary table, the rotary table is connected with an eight output end of a speed reducing motor on the other side of the mounting seat, and the eight output end of the speed reducing motor controls the eight output end to swing and rotate in a left-right reciprocating manner; a speed reduction motor seventh is fixed on the horizontal part, and the output end of the speed reduction motor seventh penetrates through the opening of the horizontal part and is connected with the concave grinding head;

the concave grinding head is in a convex hemispherical shape, and the center of the concave grinding head is aligned with the centers of the three guide pillars.

The six-axis robot comprises a base, a vacuum chuck five, a first axis gear motor and a mechanical arm which are sequentially connected, a second axis gear motor and a mechanical arm, a third axis gear motor and a mechanical arm, a fourth axis gear motor and a mechanical arm, a fifth axis synchronous belt driven gear motor and a mechanical arm, a sixth axis gear motor and a tail end flange; the telescopic base is a rotating base, the first shaft gear motor and the mechanical arm are arranged on the base and control the rotation of the whole body on a horizontal plane on the base, and the second shaft gear motor and the mechanical arm as well as the third shaft gear motor and the mechanical arm control the swing on a vertical plane; the fourth shaft gear motor and the mechanical arm are fixed in the third shaft gear motor and the mechanical arm of the mechanical arm, and the output end of the third shaft is connected with the fourth shaft gear motor and the mechanical arm of the mechanical arm to control the rotation of the fourth shaft; a speed reducing motor and a mechanical arm which are driven by a fifth shaft synchronous belt are fixed in a speed reducing motor and a mechanical arm of the fourth shaft, and the output end of the fourth shaft is connected with the speed reducing motor and the mechanical arm which are driven by the fifth shaft synchronous belt through a synchronous belt to control the rotation of the fifth shaft; and a sixth shaft gear motor and a tail end flange are fixed in a fifth shaft synchronous belt driven gear motor and a mechanical arm to control the rotation of the sixth shaft.

The supporting parts of the hemisphere polishing mechanism, the bottom surface polishing mechanism and the concave surface polishing mechanism are fixed below the working platform through the fixing frame at the bottom.

And four legs of the base are respectively provided with one supporting leg.

Reinforcing ribs are arranged at the joints of the mounting seat and the bracket and the working platform or the horizontal platform plate, and reinforcing ribs are arranged at the bent parts of the bottom grinding head bracket.

The vacuum chuck I, the vacuum chuck II, the vacuum chuck III, the vacuum chuck IV and the vacuum chuck V are respectively connected with vacuum equipment through connecting pipes.

Compared with the prior art, the utility model discloses following beneficial technological effect has:

the utility model discloses to polishing of hemisphere shape work piece, design quadruplex position operation adopts six robots to pick up and transmit the blank to be used for overturning the blank from top to bottom through upset positioning mechanism, supplementary six robots trun into to pick up the bottom surface by picking up the hemisphere, and rethread hemisphere grinding machanism is used for polishing the hemisphere, and bottom surface grinding machanism is used for polishing the bottom surface, and concave surface grinding machanism is used for polishing the central concave surface in bottom surface. Accurate centre gripping location is carried out to the hemisphere work piece through vacuum chuck, and through the cooperation of rotation axis and sharp axle, the multiaxis linkage has realized the all-round automatic grinding of the hemisphere face and the bottom surface of hemisphere, has solved the difficult problem that the hemisphere was polished.

Drawings

FIG. 1 is a schematic perspective view of a hemispherical workpiece with a concave surface to be polished according to the present invention;

FIG. 2 is a schematic view of the three-dimensional structure of the polishing device of the present invention;

FIG. 3 is a schematic view of a three-dimensional structure of the hemispherical polishing mechanism of the present invention;

FIG. 4 is a schematic view of the three-dimensional structure of the turning positioning mechanism of the present invention;

FIG. 5 is a schematic view of a three-dimensional structure of the bottom surface polishing mechanism of the present invention;

FIG. 6 is a schematic view of the three-dimensional structure of the concave polishing mechanism of the present invention;

fig. 7 is a schematic view of the three-dimensional structure of the six-axis robot of the present invention.

In the figure, 1 — working platform; 2-a material platform; 3-six axis robot; 4, a hemisphere polishing mechanism; 5, turning over the positioning mechanism; 6-a bottom surface polishing mechanism; 7-a concave surface polishing mechanism; 8, protecting the plate; 9-button box; 10, blank; 11-hemispherical surface; 12-bottom surface; 13-concave surface; 14-propulsion cylinder one; 15-a first speed reduction motor; 16-first rotary joint; 17-vacuum chuck one; 18-spherical grinding head; 19-a second gear motor; 20-a third speed reduction motor; 21-guide pillar; 22-chip groove; 23-a grinding head support; 24-a mounting seat; 25-placing the platform pneumatically; 26-propulsion cylinder two; 27-vacuum chuck two; 28-a workpiece; 29-a scaffold; 30-horizontal platform board; 31-reinforcing ribs; 32-propulsion cylinder three; 33-a fourth gear motor; 34-a second rotary joint; 35-vacuum chuck three; 36-bottom grinding head; 37-reduction motor five; 38-bottom grinding head support; 39-propulsion cylinder four; 40-reduction motor six; 41-rotating joint three; 42-vacuum chuck four; 43-concave grinding head; 44-a reduction motor seven; 45-eight speed reducing motors; 46-a fixed frame; 47-a base; 48-support leg; 49-first shaft gear motor and mechanical arm; 50-second shaft gear motor and mechanical arm; 51-third axis gear motor and mechanical arm; 52-fourth shaft gear motor and mechanical arm; 53-speed reduction motor and mechanical arm driven by a fifth shaft synchronous belt; 54-sixth shaft gear motor and end flange; 55-vacuum chuck five.

Detailed Description

The present invention will be further explained with reference to the accompanying drawings, but the scope of the present invention is not limited to the accompanying drawings.

Fig. 1 is the utility model discloses treat that the hemisphere work piece spatial structure who has the concave surface of polishing sketch map, as shown in the figure, the utility model discloses hemisphere work piece with concave surface includes hemisphere face 11 and bottom surface 12, and bottom surface 12 center is concave surface 13.

Fig. 2 is a schematic view of a three-dimensional structure of the polishing device of the present invention, as shown in the figure, the full-automatic hemispherical polishing device of the present invention comprises a material table 2, a six-axis robot 3, a hemispherical polishing mechanism 4, a turning positioning mechanism 5, a bottom surface polishing mechanism 6 and a concave surface polishing mechanism 7, wherein the hemispherical polishing mechanism 4, the bottom surface polishing mechanism 6 and the concave surface polishing mechanism 7 are sequentially installed on a work platform 1 in parallel and are surrounded by a guard plate 8; the material platform 2, the six-axis robot 3 and the overturning positioning mechanism 5 are positioned outside the working platform 1, and the material platform 2 and the overturning positioning mechanism 5 are respectively positioned at two sides of the six-axis robot 3; blanks 10 to be polished are uniformly placed on the material table 2 at fixed points, the six-axis robot 3 is used for picking and transferring the blanks 10, the overturning positioning mechanism 5 is used for overturning the blanks 10 up and down, and the six-axis robot 3 is assisted to change a picking hemispherical surface 11 into a picking bottom surface 12; the hemisphere polishing mechanism 4 is used for polishing a hemisphere surface 11, the bottom surface polishing mechanism 6 is used for polishing a bottom surface 12, and the concave surface polishing mechanism 7 is used for polishing a concave surface 13 in the center of the bottom surface 12.

Fig. 3 is a schematic view of a three-dimensional structure of the hemisphere polishing mechanism of the present invention, as shown in the figure, the hemisphere polishing mechanism 4 includes a supporting portion, three guide pillars 21 and a polishing portion, and the three guide pillars 21 are uniformly installed outside a circular hole formed in the working platform 1;

the supporting part is arranged below the working platform 1 and comprises a first propelling cylinder 14, a first rotary joint 16, a first speed reducing motor 15 and a first vacuum chuck 17, the first rotary joint 16 comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the first propelling cylinder 14 is fixedly connected with the first speed reducing motor 15, the output end of the first speed reducing motor 15 is connected with the fixed air source inlet of the first rotary joint 16, the rotatable air source outlet is connected with the first vacuum chuck 17, and the first vacuum chuck 17 can freely pass through a round hole of the working platform and is used for adsorbing the bottom surface 12 of a workpiece 28;

the grinding part comprises a mounting seat 24, a grinding head support 23 and a spherical grinding head 18, the mounting seat 24 is vertically arranged on the working platform 1, and the grinding head support 23 comprises a vertical part and a horizontal part which are bent at right angles; the vertical part is fixed on a rotary table, the rotary table is connected with the output end of a third speed reducing motor 20 on the other side of the mounting seat 24, and the third speed reducing motor 20 controls the left-right reciprocating swinging rotation; a second speed reducing motor 19 is fixed on the horizontal part, and the output end of the second speed reducing motor 19 penetrates through an opening of the horizontal part and is connected with a spherical grinding head 18;

the spherical grinding head 18 is in a hemispherical shell shape, the inner diameter of the spherical grinding head is the standard size for processing workpieces, the inner wall of the spherical grinding head is a grinding surface, a slit-shaped chip removal groove 22 is formed in the shell, and the spherical grinding head 18 is aligned with the centers of the three guide pillars 21.

Fig. 4 is the utility model discloses upset positioning mechanism spatial structure sketch map, as shown in the figure, upset positioning mechanism 5 includes pneumatic balance table 25, support 29, two 26 and two 27 of vacuum chuck of propulsion cylinder, pneumatic balance table 25 passes through support 29 to be installed on horizontal table board 30, two 26 of propulsion cylinders are fixed on the rotating flange of pneumatic balance table 25, two 27 of vacuum chuck are connected to the telescopic link of propulsion cylinder two 26, the telescopic link perpendicular to horizontal table board 30 of propulsion cylinder two 26, two 26 steerable propulsion cylinders of pneumatic balance table 25 are made 180 rotations along the vertical plane in place.

Fig. 5 is a schematic view of the three-dimensional structure of the bottom surface polishing mechanism of the present invention, as shown in the figure, the bottom surface polishing mechanism 6 includes a supporting portion, three guide pillars 21 and a polishing portion, and the three guide pillars 21 are uniformly installed outside the circular hole formed on the working platform;

the supporting part is arranged below the working platform 1 and comprises a third propelling cylinder 32, a second rotary joint 34, a fourth reducing motor 33 and a third vacuum chuck 35, the second rotary joint 34 comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the third propelling cylinder 32 is fixedly connected with the fourth reducing motor 33, the output end of the fourth reducing motor 33 is connected with the fixed air source inlet of the second rotary joint 34, the rotatable air source outlet is connected with the third vacuum chuck 35, and the third vacuum chuck 35 can freely pass through a round hole of the working platform and is used for adsorbing the hemispherical surface 11 of the workpiece 28;

the grinding part comprises a bottom grinding head support 38 and a bottom grinding head 36 which are right-angled Z-shaped, the horizontal part of the bottom grinding head support is fixedly arranged on the working platform 1, the horizontal part of the top is fixedly provided with a speed reduction motor five 37, and the output end of the speed reduction motor five 37 penetrates through an opening of the horizontal part of the top to be connected with the bottom grinding head 36; the bottom grinding stones 36 are disk-shaped, and the centers of the bottom grinding stones 36 are aligned with the centers of the three guide posts 21.

Fig. 6 is a schematic view of the three-dimensional structure of the concave surface polishing mechanism of the present invention, as shown in the figure, the concave surface polishing mechanism 7 includes a supporting portion, three guide pillars 21 and a polishing portion, and the three guide pillars 21 are uniformly installed outside the circular hole formed on the working platform;

the supporting part is arranged below the working platform 1 and comprises a propelling cylinder four 39, a rotary joint three 41, a speed reduction motor six 40 and a vacuum chuck four 42, the rotary joint three 41 comprises a fixed air source inlet and a rotatable air source outlet, a telescopic rod of the propelling cylinder four 39 is fixedly connected with the speed reduction motor six 40, the output end of the speed reduction motor six 40 is connected with the fixed air source inlet of the rotary joint three 41, the rotatable air source outlet is connected with the vacuum chuck four 42, and the vacuum chuck four 42 can freely pass through a round hole of the working platform and is used for adsorbing the hemispherical surface 11 of the workpiece 28;

the grinding part comprises a mounting seat 24, a grinding head support 23 and a concave grinding head 43, the mounting seat 24 is vertically arranged on the working platform 1, and the grinding head support 23 comprises a vertical part and a horizontal part which are bent at right angles; the vertical part is fixed on a rotary table, the rotary table is connected with the output end of a speed reducing motor eight 45 at the other side of the mounting seat 24, and the speed reducing motor eight 45 controls the left-right reciprocating swinging rotation; a speed reducing motor seven 44 is fixed on the horizontal part, and the output end of the speed reducing motor seven 44 penetrates through the opening of the horizontal part to be connected with the concave grinding head 43;

the concave grinding stones 43 are in a convex hemispherical shape, and the centers of the concave grinding stones 43 are aligned with the centers of the three guide posts 21.

Fig. 7 is a schematic view of the six-axis robot of the present invention, as shown in the figure,

the six-axis robot 3 comprises a base 47, a vacuum chuck five 55, a first axis gear motor and mechanical arm 49, a second axis gear motor and mechanical arm 50, a third axis gear motor and mechanical arm 51, a fourth axis gear motor and mechanical arm 52, a fifth axis gear motor and mechanical arm 53 driven by a fifth axis synchronous belt, a sixth axis gear motor and a tail end flange 54 which are sequentially connected; the telescopic base 47 is a rotating base, a first shaft speed reducing motor and a mechanical arm 49 are arranged on the base 47 to control the rotation of the whole body on a horizontal plane on the base 47, and a second shaft speed reducing motor and the mechanical arm 50 as well as a third shaft speed reducing motor and the mechanical arm 51 control the swing on a vertical plane; a fourth shaft gear motor and the mechanical arm 52 are fixed in the third shaft gear motor and the mechanical arm of the mechanical arm 51, and the output end of the third shaft is connected with the fourth shaft gear motor and the mechanical arm of the mechanical arm 52 to control the rotation of the fourth shaft; a speed reducing motor and a mechanical arm 53 driven by a fifth shaft synchronous belt are fixed in a fourth shaft speed reducing motor and a mechanical arm of the mechanical arm 52, and the output end of the fourth shaft is connected with the speed reducing motor and the mechanical arm of the mechanical arm 53 driven by the fifth shaft synchronous belt through a synchronous belt to control the rotation of the fifth shaft; a sixth shaft gear motor and a tail end flange 54 are fixed in a fifth shaft synchronous belt transmission gear motor and a mechanical arm of the mechanical arm 53 to control the rotation of the sixth shaft.

The supporting parts of the hemisphere polishing mechanism 4, the bottom surface polishing mechanism 6 and the concave surface polishing mechanism 7 are all fixed below the working platform 1 through a fixing frame 46 at the bottom. The four legs of the base 47 are each provided with a foot 48. Reinforcing ribs 31 are arranged at the joints of the mounting seats 24 and the brackets 29 and the working platform 1 or the horizontal table plate 30, and the reinforcing ribs 31 are arranged at the bent parts of the bottom grinding head brackets 38. And the first vacuum chuck 17, the second vacuum chuck 27, the third vacuum chuck 35, the fourth vacuum chuck 42 and the fifth vacuum chuck 55 are connected with vacuum equipment through connecting pipes.

The utility model discloses full-automatic grinder during operation, including following step:

(1) and (3) grinding and processing a hemispherical surface: firstly, a six-axis robot sucks the hemispherical surface 11 of the blank 10 from the material table 2 through a vacuum chuck five 55, then the hemispherical surface is transferred to a guide post 21 of a hemispherical polishing mechanism 4, a first propulsion cylinder 14 is started, the telescopic end of the first propulsion cylinder 14 drives a first speed reduction motor 15, a first rotary joint 16 and a first vacuum chuck 17 to extend out until the first vacuum chuck 17 is contacted with the bottom surface of the blank 10, vacuum equipment is started to make vacuum, the first vacuum chuck 17 adsorbs the bottom surface of the blank 10, the first propulsion cylinder 14 is continuously started at the moment until the hemispherical surface of the blank 10 is abutted against the inner wall of a spherical grinding head 18, and the first speed reduction motor 15 is started to drive the first vacuum chuck 17 and the blank 10 to horizontally rotate; then, the second gear motor 19 is started to drive the spherical grinding head 18 to rotate horizontally, the third gear motor 20 is started simultaneously, the grinding head support 23 swings left and right in a reciprocating manner, the semi-spherical surface 11 of the blank 10 is ground, ground chips are discharged from the chip groove 22, and the grinding effect of a ground surface is prevented from being influenced by the chips;

(2) turning over and positioning: the workpiece 28 after polishing of the hemispherical surface is transferred to the horizontal table plate 30 of the turnover positioning mechanism 5 through the six-axis robot through the vacuum chuck five 55, the bottom surface 12 is attached to the horizontal table plate 30, the six-axis robot loosens the vacuum chuck five 55, the propulsion cylinder two 26 is started, the vacuum chuck two 27 connected with the telescopic rod is controlled to move downwards until the vacuum chuck two 27 is abutted to the hemispherical surface 11 of the workpiece 28, the vacuum equipment is started to make vacuum, and the vacuum chuck two 27 adsorbs the hemispherical surface 11 of the workpiece 28. And starting the pneumatic swing table 25 to drive the propulsion cylinder II 26, the vacuum suction cup II 27 and the workpiece 28 to integrally rotate for 180 degrees along the vertical plane, wherein the bottom surface 12 of the workpiece 28 faces upwards. Then the six-axis robot adsorbs the bottom surface 12 of the workpiece 28 through the vacuum chuck five 55, the workpiece 28 is transferred onto the guide post 21 of the bottom surface polishing mechanism 6, and the hemispherical surface of the workpiece 28 is contacted with the guide post 21;

(3) bottom surface grinding: starting a propulsion cylinder III 32, driving a reduction motor III 33, a rotary joint II 34 and a vacuum chuck III 35 to extend out by the telescopic end of the propulsion cylinder III 32 until the vacuum chuck III 35 is contacted with the hemispherical surface of the workpiece 28, starting vacuum equipment to make vacuum, adsorbing the hemispherical surface of the workpiece 28 by the vacuum chuck III 35, continuing to start the propulsion cylinder III 32 at the moment until the bottom surface 12 of the workpiece 28 is abutted to the lower surface of a bottom grinding head 36, starting the reduction motor IV 33, and driving the vacuum chuck III 35 and the workpiece 28 to horizontally rotate; and then the speed reducing motor five 37 is started to drive the bottom grinding head 36 to horizontally rotate, so that the bottom surface 12 of the workpiece 28 is ground. After finishing polishing the bottom surface, the six-axis robot adsorbs the bottom surface of the workpiece 28 through the vacuum chuck five 55, the workpiece 28 is transferred onto the guide post 21 of the concave surface polishing mechanism 7, and the hemispherical surface of the workpiece 28 is contacted with the guide post 21;

(4) polishing the concave surface: starting a propulsion cylinder IV 39, driving a reduction motor IV 40, a rotary joint III 41 and a vacuum chuck IV 42 to extend out by the telescopic end of the propulsion cylinder IV 39 until the vacuum chuck IV 42 is contacted with the hemispherical surface of the workpiece 28, starting vacuum equipment to make vacuum, adsorbing the hemispherical surface of the workpiece 28 by the vacuum chuck IV 42, continuing to start the propulsion cylinder IV 39 at the moment until the bottom surface 12 of the workpiece 28 is abutted to the lower surface of the concave grinding head 43, starting the reduction motor IV 40, and driving the vacuum chuck IV 42 and the workpiece 28 to horizontally rotate; then the seventh gear motor 44 is started to drive the concave grinding head 43 to rotate horizontally, and the eighth gear motor 45 is started to drive the grinding head support 23 to swing back and forth left and right, so that the concave grinding of the bottom surface 12 of the workpiece 28 is realized. After finishing polishing the concave surface, the six-axis robot adsorbs the bottom surface of the workpiece 28 through the vacuum chuck five 55, and the workpiece 28 is transferred to a product recovery position to complete all processing.

Claims

1. The utility model provides a full-automatic grinder of hemisphere for having concave surface for processing hemisphere work piece, hemisphere work piece include hemisphere face and bottom surface, and the bottom surface center is concave surface, its characterized in that: the automatic grinding machine comprises a material table, a six-axis robot, a hemisphere grinding mechanism, a turnover positioning mechanism, a bottom surface grinding mechanism and a concave surface grinding mechanism, wherein the hemisphere grinding mechanism, the bottom surface grinding mechanism and the concave surface grinding mechanism are sequentially arranged on a working platform in parallel, and the periphery of the hemisphere grinding mechanism, the bottom surface grinding mechanism and the concave surface grinding mechanism are surrounded by a protection plate; the material platform, the six-axis robot and the overturning positioning mechanism are positioned outside the working platform, and the material platform and the overturning positioning mechanism are respectively positioned on two sides of the six-axis robot; the blank to be polished is placed on the material table at a uniform fixed point, the six-axis robot is used for picking and transferring the blank, the overturning positioning mechanism is used for overturning the blank up and down, and the six-axis robot is assisted to convert a picking hemispherical surface into a picking bottom surface; the hemisphere polishing mechanism is used for polishing a hemisphere, the bottom surface polishing mechanism is used for polishing the bottom surface, and the concave surface polishing mechanism is used for polishing the concave surface in the center of the bottom surface.

2. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the hemisphere polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

the grinding part comprises a mounting seat, a grinding head support and a spherical grinding head, the mounting seat is vertically arranged on the working platform, and the grinding head support comprises a vertical part and a horizontal part which are bent at right angles; the vertical part is fixed on a rotary table, the rotary table is connected with the three output ends of a speed reducing motor on the other side of the mounting seat, and the speed reducing motor controls the left and right reciprocating swinging rotation; a second speed reduction motor is fixed on the horizontal part, and the output end of the second speed reduction motor penetrates through the opening of the horizontal part and is connected with the spherical grinding head; reinforcing ribs are arranged at the joints of the mounting seats and the working platform;

the spherical grinding head is in a hemispherical shell shape, the inner wall of the spherical grinding head is a grinding surface, a fine slit-shaped chip removal groove is formed in the shell, and the spherical grinding head is aligned with the centers of the three guide pillars.

3. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the overturning and positioning mechanism comprises a pneumatic swing table, a support, a propulsion cylinder II and a vacuum chuck II, the pneumatic swing table is installed on a horizontal platform plate through the support, the propulsion cylinder II is fixed on a rotating flange of the pneumatic swing table, a telescopic rod of the propulsion cylinder II is connected with the vacuum chuck II, the telescopic rod of the propulsion cylinder II is perpendicular to the horizontal platform plate, and the pneumatic swing table can control the propulsion cylinder II to rotate 180 degrees along the vertical plane where the propulsion cylinder II is located; and reinforcing ribs are arranged at the joints of the bracket and the horizontal platform plate.

4. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the bottom surface polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

5. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the concave surface polishing mechanism comprises a supporting part, three guide pillars and a polishing part, and the three guide pillars are uniformly arranged outside a round hole formed in the working platform;

6. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the six-axis robot comprises a base, a vacuum chuck five, a first axis gear motor and a mechanical arm which are sequentially connected, a second axis gear motor and a mechanical arm, a third axis gear motor and a mechanical arm, a fourth axis gear motor and a mechanical arm, a fifth axis synchronous belt driven gear motor and a mechanical arm, a sixth axis gear motor and a tail end flange; the telescopic base is a rotating base, the first shaft gear motor and the mechanical arm are arranged on the base and control the rotation of the whole body on a horizontal plane on the base, and the second shaft gear motor and the mechanical arm as well as the third shaft gear motor and the mechanical arm control the swing on a vertical plane; the fourth shaft gear motor and the mechanical arm are fixed in the third shaft gear motor and the mechanical arm of the mechanical arm, and the output end of the third shaft is connected with the fourth shaft gear motor and the mechanical arm of the mechanical arm to control the rotation of the fourth shaft; a speed reducing motor and a mechanical arm which are driven by a fifth shaft synchronous belt are fixed in a speed reducing motor and a mechanical arm of the fourth shaft, and the output end of the fourth shaft is connected with the speed reducing motor and the mechanical arm which are driven by the fifth shaft synchronous belt through a synchronous belt to control the rotation of the fifth shaft; and a sixth shaft gear motor and a tail end flange are fixed in a fifth shaft synchronous belt driven gear motor and a mechanical arm to control the rotation of the sixth shaft.

7. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 1, is characterized in that: the supporting parts of the hemisphere polishing mechanism, the bottom surface polishing mechanism and the concave surface polishing mechanism are fixed below the working platform through the fixing frame at the bottom.

8. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 6, is characterized in that: and four legs of the base are respectively provided with one supporting leg.

9. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 4, is characterized in that: and reinforcing ribs are arranged at the bent parts of the bottom grinding head bracket.

10. The full-automatic grinding device for hemispheres with concave surfaces, according to claim 2, is characterized in that: the vacuum chuck I, the vacuum chuck II, the vacuum chuck III, the vacuum chuck IV and the vacuum chuck V are respectively connected with vacuum equipment through connecting pipes.