CN216029857U

CN216029857U - Automatic grinding system of multi-joint robot

Info

Publication number: CN216029857U
Application number: CN202122438397.0U
Authority: CN
Inventors: 夏洪波; 章峻铭; 施通海
Original assignee: Taizhou City Ruida Machinery Co ltd
Current assignee: Taizhou City Ruida Machinery Co ltd
Priority date: 2021-10-09
Filing date: 2021-10-09
Publication date: 2022-03-15
Anticipated expiration: 2031-10-09

Abstract

The utility model provides an automatic grinding system of a multi-joint robot, which comprises: the feeding and discharging platform is used for bearing a casting to be polished; the robot body is provided with a clamping mechanism, and the robot body can control the clamping mechanism to clamp the casting to be polished on the feeding and discharging table; the tool integration rack is provided with a plurality of polishing stations, and the robot body can control the clamping mechanism to be close to the polishing stations. During the use, the staff can be with treating the foundry goods of polishing place about the material bench, and the robot can carry out the centre gripping to placing the foundry goods of material bench about setting for program control, and the steerable fixture of robot is close to the station of polishing that sets up on the integrated frame of cutter afterwards, and the station of so polishing can polish the foundry goods of centre gripping on the centre gripping framework, has realized the service function that the system of polishing polished the foundry goods is automatic from this.

Description

Automatic grinding system of multi-joint robot

Technical Field

The utility model relates to the technical field of polishing, in particular to an automatic polishing system of a multi-joint robot.

Background

Casting is a method in which liquid metal is cast into a casting cavity corresponding to the shape of a part, and after the liquid metal is cooled and solidified, a part or a blank is obtained. At present, the surface of a workpiece formed by casting often has defects such as a sprue riser, burrs and the like, in the actual production of a casting, the defects on the surface of the casting are often polished by manually holding a grinding wheel, and the manual polishing mode is low in efficiency.

SUMMERY OF THE UTILITY MODEL

In view of the above, the present invention is directed to an automatic grinding system of a multi-joint robot, which has the advantage of high grinding efficiency.

In order to solve the technical problems, the technical scheme of the utility model is as follows: an articulated robotic automatic grinding system comprising:

the feeding and discharging platform is used for bearing a casting to be polished;

the robot body is provided with a clamping mechanism, and the robot body can control the clamping mechanism to clamp the casting to be polished on the feeding and discharging table;

the tool integration rack is provided with a plurality of polishing stations, the robot body can control the clamping mechanism to be close to the polishing stations, and the polishing stations are used for polishing castings to be polished.

Through the technical scheme, during the use, the staff can place the foundry goods of treating polishing from top to bottom the material bench, start the robot operation afterwards, the robot can carry out the centre gripping to placing the foundry goods of unloading bench from top to bottom according to setting for the fixture of program control setting on the robot, the steerable fixture of robot is close to the station of polishing that sets up on the integrated frame of cutter afterwards, the station of so polishing can polish the foundry goods of centre gripping on the centre gripping framework, the service function that polishing system polished to the foundry goods is automatic has been realized from this. And because the polishing stations are arranged in a plurality of manners, the robot body can set program to control the polishing stations at different positions of the casting to polish in different types, so that the polishing operation efficiency of the casting is greatly improved, and the polishing efficiency of the automatic polishing system to the casting is higher.

Preferably, the workpiece transfer table is further included, a positioning block is arranged on the end face of the workpiece transfer table, the robot body can control the clamping mechanism to be close to the workpiece transfer table and place the casting at the end face of the positioning block, and the robot body can control the clamping mechanism to clamp the casting placed on the positioning block again.

Through above-mentioned technical scheme, when the operation of polishing was accomplished to a side end face of foundry goods, the steerable fixture of robot was close to the work piece transfer table and placed this foundry goods on the terminal surface of locating piece, and the locating piece can support the foundry goods, and fixture can trade the face clamping to this foundry goods afterwards. So make the system of polishing once only polish two faces of foundry goods, the operating efficiency of polishing of foundry goods obtains improving, and automatic system's of polishing work efficiency further improves.

Preferably, a positioning surface matched with the appearance of the casting to be polished is formed on the end surface of the positioning block.

Through above-mentioned technical scheme, the locating surface more agrees with the foundry goods appearance of waiting to polish, so makes the locating piece can carry out more stable support to the foundry goods, has improved automatic grinding system's use reliability from this.

Preferably, be provided with the installation piece on the control arm of robot body, fixture is including sliding connection two grip blocks on the installation piece terminal surface and with each the driving piece that the grip block is connected is one, two a driving piece cooperation is used for driving two the grip block is close to each other and carries out the centre gripping to the foundry goods.

Through the technical scheme, when the robot body controls the clamping mechanism to be close to the casting, the output shafts of the first driving pieces can drive the two clamping blocks to be close to each other and clamp the casting, so that the use function of clamping the casting by the clamping mechanism is realized, and the clamping mechanism has the advantages of simple structure and high use stability.

Preferably, the two clamping mechanisms are symmetrically arranged on two end faces of the mounting block.

Through the technical scheme, the robot body can control the two clamping mechanisms to be close to the castings and clamp the castings, so that the robot body can drive the two castings for polishing once, and the operation efficiency of polishing the castings by the automatic polishing system is further improved.

Preferably, the end face of the mounting block is provided with a first sliding rail and a second sliding rail in parallel, and the two clamping blocks are respectively connected with the first sliding rail and the second sliding rail in a sliding manner.

Through the technical scheme, the sliding smoothness of the two clamping blocks can be improved through the first sliding rail and the second sliding rail, the sliding directions of the two clamping blocks can be guided through the first sliding rail and the second sliding rail, the matching between the two clamping blocks is more precise, the clamping of the casting is more precise, the polishing precision of the polishing station to the casting can be improved, and the use reliability of an automatic polishing system is higher.

Preferably, a supporting rod is arranged in the middle of the end face of the mounting block, and the end part of the supporting rod is used for abutting against the side wall of the casting to be polished.

Through above-mentioned technical scheme, the bracing piece can lean on earlier in the lateral wall of foundry goods under the drive of robot body, so make the bracing piece have certain locate function, two grip blocks can be more accurate carry out the centre gripping to the foundry goods, and the use reliability of automatic system of polishing further improves.

Preferably, the grinding station comprises a second driving part arranged on the side wall of the tool integration frame and a grinding head fixedly connected with an output shaft of the second driving part.

Through the technical scheme, the polishing head can rotate under the drive of the driving piece II and polish the surface of the casting, and the polishing head can be selectively replaced according to actual needs to adapt to different casting surfaces, so that the applicability of the automatic polishing system is improved.

Preferably, a scrap collecting hopper is arranged on the side wall of the bottom of the cutter integrated frame, the scrap collecting hopper is opposite to the polishing station from top to bottom, and the scrap collecting hopper is used for receiving scrap iron falling when the polishing station polishes the casting.

Through above-mentioned technical scheme, the scrap iron that drops when the foundry goods surface is polished to the station of polishing can be accepted to the collection bits fill, so the indiscriminate condition that flies of iron fillings that is difficult for appearing, operational environment's clean and tidy degree obtains the guarantee, and difficult appearance iron fillings get into the robot and threaten the normal operating condition of robot, and automatic system of polishing's use reliability further improves.

Preferably, the feeding and discharging platform comprises a rack and two material trays connected to the rack in a sliding manner and used for bearing castings to be polished, and the two material trays are arranged in a vertically staggered manner.

Through above-mentioned technical scheme, two charging trays all can slide to robot one side, so when the foundry goods on a charging tray finishes polishing, the staff can slide the charging tray that is equipped with the foundry goods that does not polish to robot one side, and the steerable fixture of robot carries out the centre gripping and polishes to the foundry goods afterwards. Two charging trays alternate use for the automatic system of polishing is difficult for appearing shutting down the condition of not operation, and the automatic system of polishing can maintain the operating efficiency who polishes the foundry goods.

Drawings

FIG. 1 is a schematic structural diagram of an embodiment;

FIG. 2 is an enlarged view of portion A of FIG. 1;

FIG. 3 is a schematic mechanism diagram of the clamping mechanism;

FIG. 4 is a schematic view of a cleaning plate;

fig. 5 is a schematic view of the structure of the scraping edge.

Reference numerals: 1. a feeding and discharging platform; 2. a robot body; 3. a clamping mechanism; 4. a tool integration rack; 5. polishing a station; 6. a workpiece transfer table; 7. positioning blocks; 8. positioning the surface; 9. mounting blocks; 10. a clamping block; 11. a first driving part; 12. a first slide rail; 13. a second slide rail; 14. a support bar; 15. a driving part II; 16. polishing head; 17. a scrap collecting hopper; 18. a frame; 19. a material tray; 20. cleaning the plate; 21. mounting grooves; 22. brushing; 23. scraping the blade.

Detailed Description

The following detailed description of the embodiments of the present invention is provided in order to make the technical solution of the present invention easier to understand and understand.

As shown in fig. 1, the automatic grinding system of the multi-joint robot comprises a feeding and discharging table 1, a robot body 2, a tool integration rack 4 and a workpiece transfer table 6.

As shown in fig. 1, 2 and 3, the upper and lower material tables 1 include a frame 18 and two material trays 19 connected to the frame 18 in a sliding manner, the two material trays 19 are arranged in a vertically staggered manner and can slide towards one side of the robot body 2, and in the using process of the automatic polishing system, castings to be polished can be placed on the two material trays 19 for storage. The robot body 2 is provided with the clamping mechanism 3, the robot body 2 can control the clamping mechanism 3 to be close to one side of the feeding and discharging platform 1 according to a set program and clamp a casting placed on the material tray 19, the robot body 2 is a common multi-joint mechanical arm in the prior art, and the robot body has the advantages of compact body and capability of meeting the operation requirements in a narrow space.

The end of the control wall of the robot body 2 is provided with a mounting block 9, the end face of the mounting block 9 is provided with a first slide rail 12 and a second slide rail 13 in parallel, the clamping mechanism 3 comprises two clamping blocks 10 which are connected to the first slide rail 12 and the second slide rail 13 in a sliding manner respectively, and a first driving part 11 connected to each clamping block 10, in this embodiment, the first driving part 11 is preferably an ejection cylinder, and as another scheme, the first driving part 11 may also be an ejection driving source such as an ejection cylinder or an ejection electric cylinder. The terminal surface middle part of installation piece 9 still is provided with bracing piece 14, carry out the in-process of centre gripping at 2 control fixture 3 of robot to the foundry goods, the tip that the installation piece 9 was kept away from to 2 steerable bracing pieces of robot 14 supports earlier and leans on the lateral wall of foundry goods, the output shaft of controlling two driving piece 11 afterwards is ejecting again, and bracing piece 14 plays the positioning action to the foundry goods, so two grip blocks 10 can be more accurate be close to each other and carry out the centre gripping to the foundry goods under the drive of two driving piece 11. It is worth mentioning that all be provided with fixture 3 on two terminal surfaces of installation piece 9, make robot 2 can control two fixture 3 and be close to the foundry goods and carry out the clamping to the foundry goods from this, realized robot 2 once drives two foundry goods and carries out the service function of the operation of polishing, further improved automatic system of polishing's operating efficiency.

The tool integration frame 4 is provided with a plurality of polishing stations 5, each polishing station 5 comprises a driving part two 15 arranged on the side wall of the tool integration frame 4 and a polishing head 16 fixedly connected with an output shaft of the driving part two 15, when the robot body 2 controls the clamping mechanism 3 to complete clamping of the casting, the robot body 2 controls the casting to be close to the polishing head 16 according to a set program, the polishing head 16 rotates under the driving of the driving part two 15 and polishes the side wall of the casting, in the embodiment, the driving part two 15 is preferably a motor, and as other schemes, the driving part two 15 can also be a rotary driving source such as a rotary oil cylinder or a rotary electric cylinder. Because the grinding stations 5 are provided with a plurality of grinding heads, workers can arrange the grinding heads 16 with different specifications and types on the output shafts of the second driving parts 15, so that the tool integration rack 4 can adapt to the grinding requirements of different casting surfaces, and the automatic grinding system is high in applicability.

Be provided with an album bits fill 17 on the bottom lateral wall of the integrated frame 4 of cutter, and album bits fill 17 is relative from top to bottom with the station 5 of polishing, so make album bits fill 17 can accept the scrap iron that drops when the station 5 of polishing polishes the foundry goods surface, so be difficult for the indiscriminate condition of flying of iron fillings to appear, the clean and tidy degree of operational environment is ensured.

The workpiece transfer table 6 is located beside the tool integration frame 4, a positioning block 7 is arranged on the top surface of the workpiece transfer table 6, a positioning surface 8 which is fit with the appearance of a casting to be polished is constructed on the top end surface of the positioning block 7, and when the robot body 2 controls the casting to be close to the polishing station 5 through the clamping mechanism 3 and the polishing station 5 finishes polishing the side wall of one side of the casting, the robot body 2 can control the casting to be close to and placed at the end surface of the positioning block 7. The locating piece 7 can support the casting, then the casting can be replaced and clamped by the controllable clamping mechanism 3 of the robot body 2, the casting after replacing and clamping can be close to the polishing station 5 again under the control of the robot body 2, the polishing station 5 can polish the side wall of the casting which is not polished, so that the automatic polishing system can polish two surfaces of the casting at one time, and the operation efficiency is further improved.

As shown in fig. 4 and 5, a cleaning plate 20 is slidably connected in the scrap collecting hopper 17, the cleaning plate 20 is configured to fit the shape of the scrap collecting hopper 17, the end surface of the cleaning plate 20 located in the scrap collecting hopper 17 abuts against the inner wall of the scrap collecting hopper 17, an installation groove 21 is formed in the middle of the end surface of the cleaning plate 20 abutting against the inner wall of the scrap collecting hopper 17, a plurality of bristles 22 are arranged in the installation groove 21, and the plurality of bristles 22 abut against the inner wall of the scrap collecting hopper 17. Cleaning plate 20 is close to all being provided with on the tip both sides wall of collection bits fill 17 inner wall one side and strikes off sword 23, each strikes off sword 23 and all deviates from mounting groove 21 one side and extends the setting, so accomplish the operation of polishing to the foundry goods as automatic system of polishing after, staff slidable collection bits fill cleaning plate 20 in 17, at this in-process, strike off sword 23 and brush hair 22 and can shovel off the cleanness to the inner wall that collection bits were fought 17, make the inner wall that collection bits were fought 17 difficult attached to have iron fillings, the clean degree that collection bits were fought 17 is guaranteed.

The above are only typical examples of the present invention, and besides, the present invention may have other embodiments, and all the technical solutions formed by equivalent substitutions or equivalent changes are within the scope of the present invention as claimed.

Claims

1. The utility model provides an automatic system of polishing of articulated robot, characterized by includes:

the feeding and discharging platform (1), the feeding and discharging platform (1) is used for bearing a casting to be polished;

the casting polishing robot comprises a robot body (2), wherein a clamping mechanism (3) is arranged on the robot body (2), and the robot body (2) can control the clamping mechanism (3) to clamp a casting to be polished, which is placed on a loading and unloading platform (1);

the tool integration rack (4), be provided with a plurality of station (5) of polishing on the tool integration rack (4), robot body (2) can be controlled fixture (3) are close to the station (5) of polishing, the station (5) of polishing is used for treating the foundry goods of polishing and polishes.

2. The automatic grinding system of articulated robot of claim 1, wherein: still include work piece transfer table (6), be provided with locating piece (7) on the terminal surface of work piece transfer table (6), robot body (2) can control fixture (3) are close to work piece transfer table (6) and place the foundry goods the terminal surface department of locating piece (7), just robot body (2) can control fixture (3) are to placing the foundry goods on locating piece (7) carry out the centre gripping again.

3. The automatic grinding system of articulated robot of claim 2, wherein: and a positioning surface (8) which is matched with the appearance of the casting to be polished is constructed on the end surface of the positioning block (7).

4. The automatic grinding system of articulated robot of claim 1, wherein: be provided with installation piece (9) on the control arm of robot body (2), fixture (3) are including sliding the connection two grip blocks (10) on installation piece (9) terminal surface and with each driving piece (11) that grip block (10) are connected, two driving piece (11) cooperation is used for driving two grip block (10) are close to each other and carry out the centre gripping to the foundry goods.

5. The automatic grinding system of articulated robot of claim 4, wherein: the two clamping mechanisms (3) are symmetrically arranged on the two end faces of the mounting block (9).

6. The automatic grinding system of articulated robot of claim 4, wherein: the end face of the mounting block (9) is parallelly provided with a first sliding rail (12) and a second sliding rail (13), and the two clamping blocks (10) are respectively connected with the first sliding rail (12) and the second sliding rail (13) in a sliding mode.

7. The automatic grinding system of articulated robot of claim 4, wherein: the end face middle part of the mounting block (9) is provided with a supporting rod (14), and the end part of the supporting rod (14) is used for abutting against the side wall of the casting to be polished.

8. The automatic grinding system of articulated robot of claim 1, wherein: and the grinding station (5) comprises a driving part II (15) arranged on the side wall of the tool integration frame (4) and a grinding head (16) fixedly connected with an output shaft of the driving part II (15).

9. The automatic grinding system of articulated robot of claim 1, wherein: the scrap collecting hopper (17) is arranged on the side wall of the bottom of the cutter integrated frame (4), the scrap collecting hopper (17) is opposite to the polishing station (5) from top to bottom, and the scrap collecting hopper (17) is used for receiving scrap irons falling when the polishing station (5) polishes a casting.

10. The automatic grinding system of articulated robot of claim 1, wherein: the upper and lower material platform (1) comprises a rack (18) and two material trays (19) connected to the rack (18) in a sliding manner and used for bearing castings to be polished, and the two material trays (19) are arranged in a vertically staggered manner.