CN216759313U - Robot precision finishing workstation - Google Patents
Robot precision finishing workstation Download PDFInfo
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- CN216759313U CN216759313U CN202123289009.3U CN202123289009U CN216759313U CN 216759313 U CN216759313 U CN 216759313U CN 202123289009 U CN202123289009 U CN 202123289009U CN 216759313 U CN216759313 U CN 216759313U
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Abstract
The utility model relates to a robot precision machining workstation, comprising: the end part of the robot mechanism (1) is connected with a polishing mechanism; the two placing tables (2) are positioned on two sides of the robot mechanism (1), a plurality of clamps are arranged in the placing tables, and workpieces to be polished are clamped in the clamps; the material replacing device (3) is positioned on one side of the robot mechanism (1) and is matched with the robot mechanism (1) to replace a polishing head (108) on the robot mechanism (1); a water tank (4) for delivering rinsing water to the grinding mechanism and recovering the wastewater flowing into the placing table (2). This device can realize the effect of protection through removing frame and backplate, realizes the change to the head of polishing through the cooperation robot of reloading device, can realize washing and the recovery of water through the water tank.
Description
Technical Field
The utility model relates to the field of machine manufacturing, in particular to a robot precision machining workstation.
Background
The bulletproof lining is generally arranged in the bulletproof vest, the bulletproof lining needs to be polished to be in fit with the shape of the chest of a human body so as to realize the radian of the surface of the bulletproof lining, and when the existing polishing mechanism is used for polishing, due to the fact that the cutter is large in polishing loss, all automatic tool changing is difficult to realize, meanwhile, dust in the polishing process is difficult to remove, and in the polishing process, station conversion of the bulletproof lining is also difficult to operate.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problems, the utility model aims to provide a novel mechanism, and a polishing workstation which can realize efficient tool changing and can treat dust at the same time.
The technical scheme of the utility model is as follows:
a robotic precision machining workstation, comprising:
the end part of the robot mechanism (1) is connected with a polishing mechanism;
the two placing tables (2) are positioned on two sides of the robot mechanism (1), a plurality of clamps are arranged in the placing tables, and workpieces to be polished are clamped in the clamps;
the material replacing device (3) is positioned on one side of the robot mechanism (1) and is matched with the robot mechanism (1) to replace a polishing head (108) on the robot mechanism (1);
a water tank (4) for delivering rinsing water to the grinding mechanism and recovering the wastewater flowing into the placing table (2).
Further, robot mechanism (1) includes multiaxis robot (101), is connected to the grinding machanism of multiaxis robot (101) drive end, grinding machanism is including connecting six dimension force sensor (102) of multiaxis robot (101), six dimension force sensor (102) sub-unit connection has bottom support (103), bottom support (103) one side is connected with main shaft mounting panel (104), be provided with electric main shaft (105) on main shaft mounting panel (104), electric main shaft (105) both sides are provided with flushing head (106), the drive end of electric main shaft (105) is connected with connector (107), connector (107) are connected with grinding head (108).
Furthermore, a male magic tape is arranged on the connector (107), and a female magic tape is arranged on the polishing head (108).
Furthermore, a first laser sensor (109) is arranged on the side surface of the electric spindle (105).
Further, the placing table (2) comprises a first frame (201), a side frame (202) is arranged on the first frame (201), a bottom plate (203) is arranged in the side frame (202), a plurality of clamps are arranged on the bottom plate (203), and workpieces to be polished are clamped in the clamps;
still be provided with protection machanism on side frame (202), protection machanism is including setting up first frame (201) both sides drive is with first cylinder (211), and the middle part is connected to through rotating connector (210) rotation first carriage bar (208) on first frame (201), the one end of first carriage bar (208) is passed through connecting rod (2011) and is connected the drive end of first cylinder (211), the other end of first carriage bar (208) is connected to on the carriage (206) through rotating connector (210), be provided with baffle (207) on the carriage (206).
Furthermore, a second moving rod (209) is further arranged between the moving frame (206) and the first frame (201), and two ends of the second moving rod (209) are connected through a rotating connector (210).
Furthermore, the bottom of the side frame (202) is connected with a lower water collecting tank (205), the edge of the bottom plate (203) is also provided with a first notch (204), and the bottom of the lower water collecting tank (205) is provided with a lower water gap (2051).
Further, the material changing device (3) comprises a second frame (31), and a discharging mechanism (32), a material changing mechanism (33) and a waste trough (34) which are arranged on the second frame (31);
the discharging mechanism (32) comprises a lower mounting plate (322) arranged at the upper part of the second frame (31), the lower mounting plate (322) is connected with an upper mounting plate (323) through a plurality of supporting rods (324), a charging barrel (325) is arranged between the lower mounting plate (322) and the upper mounting plate (323), a stacking grinding head (100) is arranged in the charging barrel (325), a jacking cylinder (321) is arranged at the bottom of the second frame (31), and the driving end of the jacking cylinder (321) is positioned at the bottom of the charging barrel (325);
the reloading mechanism (33) comprises a second air cylinder (331) arranged on the upper portion of the second frame (31), a horizontal air cylinder moving plate (332) is connected to the driving end of the second air cylinder (331), a first moving plate (333) and a second moving plate (334) are connected to the two ends of the air cylinder moving plate (332) respectively, a third air cylinder (335) is arranged on the first moving plate (333), a pressing piece (336) is connected to the driving end of the third air cylinder (335), a second notch (3362) is arranged in the middle of the end portion of the pressing piece (336), and wedge-shaped heads (3361) are arranged on the two sides of the second notch (3362).
Furthermore, the rear portion of the second cylinder (331) is provided with a detection box (337), the upper portion of the detection box (337) is provided with a detection port, a second laser sensor (338) is arranged inside the detection box, an opening for the second moving plate (334) to enter is formed in the side face of the detection box (337), and the second moving plate (334) enters the opening and then shields the detection port.
Further, the water tank (4) comprises an outlet water tank (41) and a recovery tank (42), the outlet water tank (41) is communicated with the flushing head (106), and the recovery tank (42) is communicated with the drainage port (2051).
By the scheme, the utility model at least has the following advantages:
this device can realize the effect of protection through removing frame and backplate, realizes the change to the head of polishing through the cooperation robot of reloading device, can realize washing and the recovery of water through the water tank.
The foregoing description is only an overview of the technical solutions of the present invention, and in order to make the technical solutions of the present invention more clearly understood and to implement them in accordance with the contents of the description, the following detailed description is given with reference to the preferred embodiments of the present invention and the accompanying drawings.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate a certain embodiment of the present invention, and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic structural diagram of the robot mechanism of the present invention;
FIG. 3 is a first schematic view of the structure of the placement platform of the present invention;
FIG. 4 is a schematic view of the structure of the placement platform of the present invention;
FIG. 5 is a first schematic structural diagram of a refueling device according to the present invention;
FIG. 6 is a schematic structural view of a refueling apparatus according to the present invention;
FIG. 7 is a third schematic structural view of the refueling apparatus of the present invention;
FIG. 8 is a schematic view of the water tank configuration of the present invention;
100-stacking polishing heads;
1-a robot mechanism; 101-a multi-axis robot; 102-a six-dimensional force sensor; 103-bottom support; 104-a spindle mounting plate; 105-an electric spindle; 106-a rinsing head; 107-connecting head; 108-grinding head; 109-a first laser sensor;
2-placing the table; 201-a first frame; 202-side frame; 203-a backplane; 204-a first gap; 205-lower water collecting tank; 2051-sewage outlet; 206-moving frame; 207-a baffle; 208-a first travel bar; 209-a second travel bar; 210-a rotating connector; 211-a first cylinder; 2011-connecting rods;
3-a material changing device; 31-a second frame; 32-a discharging mechanism; 321-a jacking cylinder; 322-lower mounting plate; 323-upper mounting plate; 324-a strut; 325-a charging barrel; 326-a viewing port; 33-a material changing mechanism; 331-a second cylinder; 332-a cylinder moving plate; 333-a first moving plate; 334-a second moving plate; 335-third cylinder; 336-a pressing piece; 3361-wedge head; 3362-second gap; 337-detection box; 338-a second laser sensor; 34-a waste chute;
4-a water tank; 41-water outlet tank; 42-recovery tank.
Detailed Description
The following detailed description of embodiments of the present invention is provided in connection with the accompanying drawings and examples. The following examples are intended to illustrate the utility model but are not intended to limit the scope of the utility model.
Referring to fig. 1 to 8, a robotic precision machining workstation according to a preferred embodiment of the present invention includes: the end part of the robot mechanism 1 is connected with a polishing mechanism; the robot mechanism 1 comprises a multi-axis robot 101 and a grinding mechanism connected to the driving end of the multi-axis robot 101, the grinding mechanism comprises a six-dimensional force sensor 102 connected with the multi-axis robot 101, the lower portion of the six-dimensional force sensor 102 is connected with a bottom support 103, one side of the bottom support 103 is connected with a spindle mounting plate 104, an electric spindle 105 is arranged on the spindle mounting plate 104, flushing heads 106 are arranged on two sides of the electric spindle 105, the driving end of the electric spindle 105 is connected with a connecting head 107, and the connecting head 107 is connected with a grinding head 108. A male magic tape is arranged on the connector 107, and a female magic tape is arranged on the polishing head 108. The side of the electro-spindle 105 is also provided with a first laser sensor 109. The multi-axis robot 101 functions as a movement, and can move in a plurality of dimensions, and facilitates movement of the end motorized spindle 105. The six-dimensional force sensor 102 can accurately reflect the polishing force of the spindle 105. The flushing heads 106 on both sides of the electric spindle 105 can perform a cooling function, and can flush away the ground dust. The connecting head 107 and the polishing head 108 are connected by a magic tape, which is mainly for convenience of replacement and is reliable. The first laser sensor 109 is used for distance measurement and for measuring the distance between the sanding head and the workpiece.
The placing tables 2 are two and are positioned on two sides of the robot mechanism 1, a plurality of clamps are arranged in the placing tables, and workpieces to be polished are clamped in the clamps; the placing table 2 comprises a first frame 201, a side frame 202 is arranged on the first frame 201, a bottom plate 203 is arranged in the side frame 202, a plurality of clamps are arranged on the bottom plate 203, and workpieces to be polished are clamped in the clamps; the side frame 202 is further provided with a protection mechanism, the protection mechanism comprises first air cylinders 211 arranged on two sides of the first frame 201 and used for driving, the middle portion of the first air cylinder is connected to the first frame 201 in a rotating mode through a rotating connector 210, one end of each first moving rod 208 is connected with the driving end of the corresponding first air cylinder 211 through a connecting rod 2011, the other end of each first moving rod 208 is connected to the moving frame 206 through the rotating connector 210, and a baffle 207 is arranged on the moving frame 206. A second moving rod 209 is further disposed between the moving frame 206 and the first frame 201, and both ends of the second moving rod 209 are connected by a rotating connector 210. The bottom of the side frame 202 is connected with a lower water collecting tank 205, the edge of the bottom plate 203 is also provided with a first notch 204, and the bottom of the lower water collecting tank 205 is provided with a lower water gap 2051. The two placing tables 2 are respectively located on two sides of the robot mechanism 1, so that two stations are formed, and the robot mechanism 1 can be machined by the two stations. The partially flushed water flows into the bottom of the lower sump 205 through the first notch 204. The first cylinders 211 at both sides of the first frame 201 can increase the height of the moving frame 206 by the driving of the first cylinders 211, and the height of the moving frame 206 can be significantly increased since the first moving bar 208 and the second moving bar have portions fixed to the first frame 201. The baffle that sets up on removing frame 206 can play the effect of protection, and when placing of one side and being processed on platform 2, the removal frame of this side raises the height, plays the effect of protection, and the workman goes the opposite side material loading.
And a water tank 4 for supplying washing water to the polishing mechanism and recovering the waste water flowing into the placing table 2. The water tank 4 comprises an outlet tank 41 and a recovery tank 42, wherein the outlet tank 41 is communicated with the flushing head 106, and the recovery tank 42 is communicated with the drainage port 2051.
The material changing device 3 is positioned on one side of the robot mechanism 1 and is matched with the robot mechanism 1 to change the polishing head 108 on the robot mechanism 1; the reloading device 3 comprises a second frame 31, a discharging mechanism 32, a reloading mechanism 33 and a waste trough 34 which are arranged on the second frame 31; the discharging mechanism 32 comprises a lower mounting plate 322 arranged at the upper part of the second frame 31, the lower mounting plate 322 is connected with an upper mounting plate 323 through a plurality of supporting rods 324, a charging barrel 325 is arranged between the lower mounting plate 322 and the upper mounting plate 323, the stacking grinding head 100 is arranged in the charging barrel 325, a jacking cylinder 321 is arranged at the bottom of the second frame 31, and the driving end of the jacking cylinder 321 is positioned at the bottom of the charging barrel 325; the material changing mechanism 33 comprises a second air cylinder 331 arranged at the upper part of the second frame 31, a driving end of the second air cylinder 331 is connected with a horizontal air cylinder moving plate 332, two ends of the air cylinder moving plate 332 are respectively connected with a first moving plate 333 and a second moving plate 334, the first moving plate 333 is provided with a third air cylinder 335, a driving end of the third air cylinder 335 is connected with a pressing piece 336, the middle of the end part of the pressing piece 336 is provided with a second notch 3362, and two sides of the second notch 3362 are respectively provided with a wedge-shaped head 3361. The rear portion of the second cylinder 331 is provided with a detection box 337, the upper portion of the detection box 337 is provided with a detection opening, the inside is provided with a second laser sensor 338, the side of the detection box 337 is provided with an opening for the second moving plate 334 to enter, and the second moving plate 334 blocks the detection opening after entering the opening. The stacked sanding head 100 can be raised by the jack-up cylinder 321 to achieve the raising of the sanding head 108. When the change is specific, the robot mechanism 1 moves the polishing head 108 to one side of the waste tank 34, the second air cylinder 331 and the third air cylinder move, the feeding of the polishing head 108 is realized through the matching of two dimensions, meanwhile, the robot mechanism 1 sticks a new polishing head 108, then the robot mechanism moves to the upper side of the detection box 337, the edge of the stuck polishing head 108 is detected through the second laser sensor 338, and whether the sticking is good is detected. The second moving plate 334 mainly functions as a waterproof.
The working principle of the utility model is as follows:
can polish the work piece through robot mechanism, place the effect that the removal frame on the bench can play the protection, the head of polishing and position detection can be accomplished to trade in the cooperation of reloading device robot mechanism, and clear water can be inputed to the water tank and waste water is retrieved.
The device has the following advantages:
this device can realize the effect of protection through removing frame and backplate, realizes the change to the head of polishing through the cooperation robot of reloading device, can realize washing and the recovery of water through the water tank.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, it should be noted that, for those skilled in the art, many modifications and variations can be made without departing from the technical principle of the present invention, and these modifications and variations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robotic precision machining workstation, comprising:
the end part of the robot mechanism (1) is connected with a polishing mechanism;
the two placing tables (2) are positioned on two sides of the robot mechanism (1), a plurality of clamps are arranged in the placing tables, and workpieces to be polished are clamped in the clamps;
the material replacing device (3) is positioned on one side of the robot mechanism (1) and is matched with the robot mechanism (1) to replace a polishing head (108) on the robot mechanism (1);
a water tank (4) for delivering rinsing water to the grinding mechanism and recovering the wastewater flowing into the placing table (2).
2. A robotic precision machining workstation according to claim 1 wherein:
robot mechanism (1) includes multiaxis robot (101), is connected to the grinding machanism of multiaxis robot (101) drive end, grinding machanism is including connecting six dimension force sensor (102) of multiaxis robot (101), six dimension force sensor (102) sub-unit connection has bottom support (103), bottom support (103) one side is connected with main shaft mounting panel (104), be provided with electric main shaft (105) on main shaft mounting panel (104), electric main shaft (105) both sides are provided with washing head (106), the drive end of electric main shaft (105) is connected with connector (107), connector (107) are connected with the head of polishing (108).
3. A robotic precision machining workstation according to claim 2 wherein: the connector (107) is provided with a male magic tape, and the polishing head (108) is provided with a female magic tape.
4. A robotic precision machining workstation according to claim 3 wherein: the side surface of the electric spindle (105) is also provided with a first laser sensor (109).
5. A robotic precision machining workstation according to claim 2 wherein: the placing table (2) comprises a first frame (201), wherein a side frame (202) is arranged on the first frame (201), a bottom plate (203) is arranged in the side frame (202), a plurality of clamps are arranged on the bottom plate (203), and workpieces to be polished are clamped in the clamps;
still be provided with protection machanism on side frame (202), protection machanism is including setting up first frame (201) both sides drive is with first cylinder (211), and the middle part is connected to through rotating connector (210) rotation first carriage bar (208) on first frame (201), the one end of first carriage bar (208) is passed through connecting rod (2011) and is connected the drive end of first cylinder (211), the other end of first carriage bar (208) is connected to on removing frame (206) through rotating connector (210), be provided with baffle (207) on removing frame (206).
6. A robotic precision machining workstation as claimed in claim 5, wherein: still be provided with second carriage release lever (209) between removal frame (206) and first frame (201), the both ends of second carriage release lever (209) are all connected through rotating connector (210).
7. A robotic precision machining workstation as claimed in claim 5, wherein: the bottom of side frame (202) is connected with down water collecting tank (205), the edge of bottom plate (203) still is provided with first breach (204), the bottom of down water collecting tank (205) is provided with down mouth of a river (2051).
8. A robotic precision machining workstation according to claim 1 wherein: the reloading device (3) comprises a second frame (31), and a discharging mechanism (32), a reloading mechanism (33) and a waste trough (34) which are arranged on the second frame (31);
the discharging mechanism (32) comprises a lower mounting plate (322) arranged at the upper part of the second frame (31), the lower mounting plate (322) is connected with an upper mounting plate (323) through a plurality of supporting rods (324), a charging barrel (325) is arranged between the lower mounting plate (322) and the upper mounting plate (323), a stacking grinding head (100) is arranged in the charging barrel (325), a jacking cylinder (321) is arranged at the bottom of the second frame (31), and the driving end of the jacking cylinder (321) is positioned at the bottom of the charging barrel (325);
the reloading mechanism (33) comprises a second air cylinder (331) arranged on the upper portion of the second frame (31), a horizontal air cylinder moving plate (332) is connected to the driving end of the second air cylinder (331), a first moving plate (333) and a second moving plate (334) are connected to the two ends of the air cylinder moving plate (332) respectively, a third air cylinder (335) is arranged on the first moving plate (333), a pressing piece (336) is connected to the driving end of the third air cylinder (335), a second notch (3362) is arranged in the middle of the end portion of the pressing piece (336), and wedge-shaped heads (3361) are arranged on the two sides of the second notch (3362).
9. A robotic precision machining workstation according to claim 8 wherein: the rear portion of second cylinder (331) is provided with detection case (337), and detection case (337) upper portion is provided with detects the mouth, and inside is provided with second laser sensor (338), detection case (337) side is provided with the confession the opening that second movable plate (334) got into, second movable plate (334) get into shelter from behind the opening detect the mouth.
10. A robotic precision machining workstation as claimed in claim 7, wherein: the water tank (4) comprises a water outlet tank (41) and a recovery tank (42), the water outlet tank (41) is communicated with the flushing head (106), and the recovery tank (42) is communicated with the drainage port (2051).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123289009.3U CN216759313U (en) | 2021-12-25 | 2021-12-25 | Robot precision finishing workstation |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202123289009.3U CN216759313U (en) | 2021-12-25 | 2021-12-25 | Robot precision finishing workstation |
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| Publication Number | Publication Date |
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| CN216759313U true CN216759313U (en) | 2022-06-17 |
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| CN202123289009.3U Active CN216759313U (en) | 2021-12-25 | 2021-12-25 | Robot precision finishing workstation |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446707A (en) * | 2022-08-29 | 2022-12-09 | 吴婷 | On-spot metallography grinding device |
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2021
- 2021-12-25 CN CN202123289009.3U patent/CN216759313U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115446707A (en) * | 2022-08-29 | 2022-12-09 | 吴婷 | On-spot metallography grinding device |
| CN115446707B (en) * | 2022-08-29 | 2023-08-29 | 吴婷 | On-spot metallography grinding device |
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