CN217344800U - Polishing robot device capable of automatically reversing - Google Patents
Polishing robot device capable of automatically reversing Download PDFInfo
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- CN217344800U CN217344800U CN202220233072.0U CN202220233072U CN217344800U CN 217344800 U CN217344800 U CN 217344800U CN 202220233072 U CN202220233072 U CN 202220233072U CN 217344800 U CN217344800 U CN 217344800U
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- 238000005498 polishing Methods 0.000 title claims abstract description 30
- 238000009434 installation Methods 0.000 claims abstract description 5
- 238000003825 pressing Methods 0.000 claims description 40
- 230000007246 mechanism Effects 0.000 claims description 23
- 239000003638 chemical reducing agent Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000002441 reversible effect Effects 0.000 claims 5
- 238000004519 manufacturing process Methods 0.000 abstract description 14
- 230000008901 benefit Effects 0.000 abstract description 5
- 230000002950 deficient Effects 0.000 abstract description 5
- 238000013486 operation strategy Methods 0.000 abstract description 3
- 230000036544 posture Effects 0.000 description 13
- 230000009471 action Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 6
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 230000001276 controlling effect Effects 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000005266 casting Methods 0.000 description 3
- 238000007517 polishing process Methods 0.000 description 3
- 230000008569 process Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 description 2
- 229910052782 aluminium Inorganic materials 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000004512 die casting Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001105 regulatory effect Effects 0.000 description 2
- 238000003860 storage Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 239000000243 solution Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P70/00—Climate change mitigation technologies in the production process for final industrial or consumer products
- Y02P70/10—Greenhouse gas [GHG] capture, material saving, heat recovery or other energy efficient measures, e.g. motor control, characterised by manufacturing processes, e.g. for rolling metal or metal working
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The utility model discloses a but robot device of polishing of automatic switching-over, including six robot bodies, demonstrator, switch board and clamping jaw subassembly, six robot bodies, demonstrator respectively with switch board electric connection, clamping jaw subassembly with six robot bodies end shaft fixed connection, six robot bodies are including installation base, six support joint, driving system, body cable, six support joint swing joint in proper order, driving system and support joint connection, driving system and body cable electric connection. The utility model can well save the production cost, improve the production efficiency and solve the problem of limited production space; and through the accurate control operation strategy, improve the precision of polishing, reduce the precision error of artifical polishing, reduce the defective percentage, whole promotion production benefit.
Description
Technical Field
The utility model relates to a polishing robot technical field specifically is a polishing robot device that can commutate automatically.
Background
In the casting industry, a cold die casting machine which is commonly used at present is a casting machine which is used for injecting molten aluminum into a die cavity through an injection rod to cool and mold, and obtaining an aluminum casting with higher precision after die opening. With the rapid development of industries such as household appliances, automobiles and the like, the form and the structure of a die casting piece become more complex along with the increase of functions of parts, and burrs of a corresponding workpiece, such as a sprue stub, a parting line burr, an ejector pin burr, a separation skin and the like, become coarse and complex and are distributed on each surface of the workpiece, so that a large workload is brought to the subsequent processing treatment of the workpiece. The subsequent polishing treatment of the workpieces always adopts manual operation, a large amount of manpower and material resources are consumed, errors exist in the manual polishing operation, and the defective rate is greatly increased.
At present, in order to reduce waste of human resources and defective rate caused by human factors, robot equipment for autonomously polishing and deburring is already arranged on the market, but most robot devices only have one clamping posture, and need to perform reversing polishing in a mode of adding a quick-change flange or placing and transferring a workpiece and then clamping the workpiece again, so that the material resource and time cost of polishing are greatly increased; the polishing beat is difficult to meet the production requirement, and the accessory devices added by the method also occupy a large amount of production fields.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a but polishing robot device of automatic switching-over to solve the problem that proposes among the above-mentioned background art.
In order to solve the technical problem, the utility model provides a following technical scheme: the utility model provides a but robot device of polishing of automatic switching-over, includes six robot bodies, demonstrator, switch board and clamping jaw subassembly, six robot bodies, demonstrator respectively with switch board electric connection, clamping jaw subassembly with six robot bodies end axle fixed connection, six robot bodies include installation base, six support joint, driving system, body cable, six support the joint swing joint in proper order, driving system and support the articulate, driving system and body cable electric connection.
Further, the demonstrator is electrically connected with the control cabinet through a demonstrator cable, and the six-axis robot body is electrically connected with the control cabinet through a power cable.
Furthermore, the clamping jaw assembly comprises a connecting support, a mounting plate, two support frames, a rotating mechanism, a pressing guide rod, a pressing block, a connecting bearing, a positioning rod, a guide rail pair, a linkage cylinder and a linear cylinder; the connecting bracket is fixedly connected with the tail end shaft of the six-axis robot body, one side of the outer wall of the connecting bracket, which is far away from the six-axis robot body, is fixedly connected with the mounting plate, the outer wall of the mounting plate is fixedly connected with the guide rail pair, the two support frames are symmetrically arranged at the outer side of the guide rail pair, the support frames are fixedly connected with the slide blocks on the guide rail pair, the linkage air cylinder is arranged between the two support frames, two output ends of the linkage cylinder are respectively and fixedly connected with the two slide blocks, the linear cylinder is arranged at the inner side of the connecting bracket, the output end of the linear air cylinder extends to the outer side of the mounting plate and is fixedly connected with the positioning rod, the rotating mechanism and the pressing guide rod are respectively arranged at two sides of the outer wall of the supporting frame, the output end of the rotating mechanism is fixedly connected with the pressing guide rod, the pressing block is connected with the other support frame through a connecting bearing, and the pressing guide rod and the pressing block are arranged between the two support frames.
Furthermore, the support frame and the positioning rod are perpendicular to the mounting plate respectively, and the guide rail pair, the linkage cylinder, the pressing guide rod and the pressing block are parallel to the mounting plate respectively.
Furthermore, the rotating mechanism is a rotary cylinder, and the connecting bearing is a sliding bearing.
Further, the rotating mechanism is a motor reducer system, and the connecting bearing is a rolling bearing.
Compared with the prior art, the utility model discloses the beneficial effect who reaches is:
1. when the linkage air cylinder of the utility model clamps, the rotating mechanism rotates a specific angle according to the input signal, the linear air cylinder drives the positioning rod to lock the workpiece, a specific gesture of three-point support of the compression guide rod, the compression block and the positioning rod is formed, and the corresponding gesture is accurately and reliably kept, so that the grinding cutter acts on a first set part of the workpiece; after the first set part is polished, the linear cylinder drives the positioning rod to withdraw to provide a space for the rotation of the workpiece, the rotating mechanism rotates a specific angle according to a re-input signal, the linear cylinder drives the positioning rod to lock the workpiece, a specific posture supported by three points of the pressing guide rod, the pressing block and the positioning rod is formed again, the polishing of another set part is completed, and the actions are sequentially and circularly performed until the polishing process of all the set parts of the workpiece is completed;
2. the utility model can well save the production cost, improve the production efficiency and solve the problem of limited production space; by accurately controlling the operation strategy, the polishing precision is improved, the precision error of manual polishing is reduced, the defective rate is reduced, and the production benefit is integrally improved; rely on simultaneously the utility model discloses an innovative design, the utility model has the advantages of the structure is reliable, the protection is tight, the modularization equipment, adapt to abominable operating mode environment.
Drawings
The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the principles of the invention. In the drawings:
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is a schematic structural view of the jaw assembly of the present invention;
fig. 3 is a schematic view of the working state of the clamping jaw assembly of the present invention;
in the figure: 1. a six-axis robot body; 2. a demonstrator; 3. a demonstrator cable; 4. a power cable; 5. a control cabinet; 6. a jaw assembly; 61. connecting a bracket; 62. mounting a plate; 63. a support frame; 64. a rotation mechanism; 65. compressing the guide rod; 66. a compression block; 67. a support bearing; 68. positioning a rod; 69. a guide rail pair; 610. a linkage cylinder; 611. a linear cylinder; 7. and (5) a workpiece.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example 1
As shown in fig. 1 to 3, the polishing robot device capable of automatically reversing comprises a six-axis robot body 1, a teach pendant 2, a teach pendant cable 3, a power supply cable 4, a control cabinet 5 and a clamping jaw assembly 6.
The six-axis robot body 1 comprises a mounting base, six supporting joints, a power system and a body cable, and provides support for the space position where the clamping jaw assembly 6 is located; the demonstrator 2 and the demonstrator cable 3 play a role in regulating and controlling the operation and space positioning of the six-axis robot; the control cabinet 5 and the power cable 4 play a role in calculation and storage for positioning and signal processing of the six-axis robot body 1 and the clamping jaw assembly 6.
The clamping jaw assembly 6 comprises a connecting bracket 61, a mounting plate 62, a supporting frame 63, a rotating mechanism 64 (a rotary cylinder), a pressing guide rod 65, a pressing block 66, a supporting bearing 67 (a sliding bearing), a positioning rod 68, a guide rail pair 69, a linkage cylinder 610 and a linear cylinder 611. The clamping jaw assembly 6 is arranged on a tail end shaft of the six-axis robot body 1 through the connecting support 61, and a series of position postures are realized under the guiding action of a support and control system of the six-axis robot body 1; the mounting plate 62 is fixed on the connecting bracket 61, the guide rail pair 69, the linkage cylinder 610 and the mounting plate 62 are fixed, the linkage cylinder 610 provides power for clamping and releasing the linear direction clamping jaw assembly, and the guide rail pair 69 plays a role in linear direction guiding; the bottom of the support frame 63 is respectively arranged on the installation surfaces of the linkage cylinder 610 and the slide block of the guide rail pair 69 to connect the power system and the guide system, and the upper end of the support frame 63 is provided with a rotating mechanism 64 (a rotary cylinder), a pressing guide rod 65, a support bearing 67 (a sliding bearing) and a pressing block 66; when the linkage cylinder 610 clamps, the rotating mechanism 64 (rotary cylinder) rotates by a specific angle according to an input signal, the linear cylinder 611 drives the positioning rod 68 to lock the workpiece 7, a specific posture supported by the pressing guide rod 65, the pressing block 66 and the positioning rod 68 is formed, and the corresponding posture is accurately and reliably maintained, so that the grinding tool acts on a first set part of the workpiece 7.
After the first set part is polished, the linear cylinder 611 drives the positioning rod 68 to retract, a space is provided for the rotation of the workpiece 7, the rotating mechanism 64 (rotary cylinder) rotates by a specific angle according to the re-input signal, the linear cylinder 611 drives the positioning rod 68 to lock the workpiece, a specific posture supported by three points of the pressing guide rod 65, the pressing block 66 and the positioning rod 68 is formed again, the polishing of another set part is completed, and the actions are sequentially and circularly performed until the polishing process of all the set parts of the workpiece 7 is completed.
Example 2
As shown in fig. 1 to 3, the polishing robot device capable of reversing automatically includes a six-axis robot body 1, a teach pendant 2, a teach pendant cable 3, a power supply cable 4, a control cabinet 5, and a clamping jaw assembly 6.
The six-axis robot body 1 comprises a mounting base, six supporting joints, a power system and a body cable, and provides support for the space position where the clamping jaw assembly 6 is located; the demonstrator 2 and the demonstrator cable 3 play a role in regulating and controlling the operation and space positioning of the six-axis robot; the control cabinet 5 and the power cable 4 play a role in calculation and storage for positioning and signal processing of the six-axis robot body 1 and the clamping jaw assembly 6.
The clamping jaw assembly 6 comprises a connecting bracket 61, a mounting plate 62, a supporting frame 63, a rotating mechanism 64 (a motor reducer system), a pressing guide rod 65, a pressing block 66, a supporting bearing 67 (a rolling bearing), a positioning rod 68, a guide rail pair 69, a linkage cylinder 610 and a linear cylinder 611. The clamping jaw assembly 6 is arranged on a tail end shaft of the six-axis robot body 1 through the connecting support 61, and a series of position postures are realized under the guiding action of a support and control system of the six-axis robot body 1; the mounting plate 62 is fixed on the connecting bracket 61, the guide rail pair 69, the linkage cylinder 610 and the mounting plate 62 are fixed, the linkage cylinder 610 provides power for clamping and releasing the linear direction clamping jaw assembly, and the guide rail pair 69 plays a role in linear direction guiding; the bottom of the support frame 63 is respectively arranged on the installation surfaces of the linkage cylinder 610 and the guide rail pair 69 slide block to connect the power system and the guide system, and the upper end of the support frame 63 is provided with a rotating mechanism 64 (a motor reducer system), a pressing guide rod 65, a support bearing 67 (a rolling bearing) and a pressing block 66; when the linkage cylinder 610 clamps, the rotating mechanism 64 (motor reducer system) rotates by a specific angle according to an input signal, the linear cylinder 611 drives the positioning rod 68 to lock the workpiece 7, a specific posture supported by the pressing guide rod 65, the pressing block 66 and the positioning rod 68 is formed, and the corresponding posture is accurately and reliably maintained, so that the grinding tool acts on a first set part of the workpiece 7.
After the first set part is polished, the linear cylinder 611 drives the positioning rod 68 to retract, a space is provided for the rotation of the workpiece 7, the rotating mechanism 64 (motor reducer system) rotates by a specific angle according to the input signal again, the linear cylinder 611 drives the positioning rod 68 to lock the workpiece, a specific posture supported by three points of the pressing guide rod 65, the pressing block 66 and the positioning rod 68 is formed again, the polishing of another set part is completed, and the motion is sequentially and circularly performed until the polishing process of all the set parts of the workpiece 7 is completed.
The utility model discloses an integral operation principle:
in the initial stage, the six-axis robot is in a standby position, and each axis and the clamping jaw assembly are in respective origin positions. When the standby position, the linkage cylinder of clamping jaw assembly is in the state of opening, and after the switch board execution start signal, six axis robot drives clamping jaw assembly according to the work route and the order that set up in advance, accomplishes following action in proper order:
1. the six-axis robot drives the clamping jaw assembly to move to a material table position for placing a workpiece, and the linkage air cylinder receives a clamping signal and drives the compression ejector rod and the compression block to clamp the workpiece;
2. the clamping jaw assembly transfers a workpiece to the vicinity of a grinding cutter under the guidance of a six-axis robot, in the process, a rotating mechanism rotates a specific angle according to a set program to expose a specific part of the workpiece, a linear cylinder drives a positioning rod to lock the workpiece, a specific posture supported by a pressing guide rod, a pressing block and the positioning rod is formed, and the corresponding posture is firmly and reliably maintained so that the grinding cutter acts on the set part of the workpiece;
3. after the first set part is polished, the linear air cylinder drives the positioning rod to withdraw to make room for the rotation of the workpiece, the rotating mechanism rotates a specific angle according to the re-input signal, the linear air cylinder drives the positioning rod to lock the workpiece, a specific posture supported by three points of the pressing guide rod, the pressing block and the positioning rod is formed again, the polishing of another set part is completed, and the polishing is performed in sequence and circularly according to a set program until all the set parts are polished;
4. the six-axis robot drives the polished workpiece to move to the material table through the clamping jaw assembly, and places the workpiece in the original position to complete one-time complete polishing of the workpiece;
5. the six-axis robot drives the clamping jaw assembly to sequentially and circularly carry out the second workpiece according to the steps;
6. and finishing polishing all workpieces, and driving the clamping jaw assembly to return to the standby position by the six-axis robot.
The polishing robot device capable of automatically reversing can well save the production cost, improve the production efficiency and solve the problem of limited production space; by accurately controlling the operation strategy, the polishing precision is improved, the precision error of manual polishing is reduced, the defective rate is reduced, and the production benefit is integrally improved; rely on simultaneously the utility model discloses an innovative design, the utility model has the advantages of the structure is reliable, the protection is tight, the modularization equipment, adapt to abominable operating mode environment.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Finally, it should be noted that: although the present invention has been described in detail with reference to the foregoing embodiments, it will be apparent to those skilled in the art that modifications may be made to the embodiments described in the foregoing embodiments, or equivalents may be substituted for elements thereof. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (6)
1. The utility model provides a but polishing robot device of automatic switching-over, includes six axis robot body (1), demonstrator (2), switch board (5) and clamping jaw subassembly (6), its characterized in that: six axis robot body (1), demonstrator (2) respectively with switch board (5) electric connection, clamping jaw subassembly (6) with six axis robot body (1) end axle fixed connection, six axis robot body (1) is including installation base, six support joint, driving system, body cable, six support joint swing joint in proper order, driving system and support articulate, driving system and body cable electric connection.
2. An automatically reversible grinding robot device according to claim 1, characterized in that: demonstrator (2) are through demonstrator cable (3) and switch board (5) electric connection, six axis robot body (1) are through power cable (4) and switch board (5) electric connection.
3. An automatically reversible grinding robot device according to claim 1, characterized in that: the clamping jaw assembly (6) comprises a connecting support (61), a mounting plate (62), two supporting frames (63), a rotating mechanism (64), a pressing guide rod (65), a pressing block (66), a connecting bearing (67), a positioning rod (68), a guide rail pair (69), a linkage cylinder (610) and a linear cylinder (611); the connecting support (61) is fixedly connected with a tail end shaft of the six-axis robot body (1), the outer wall of the connecting support (61) is far away from one side of the six-axis robot body (1) and is fixedly connected with the mounting plate (62), the outer wall of the mounting plate (62) is fixedly connected with the guide rail pair (69), the two supporting frames (63) are symmetrically arranged on the outer side of the guide rail pair (69), the supporting frame (63) is fixedly connected with a sliding block on the guide rail pair (69), the linkage cylinder (610) is arranged between the two supporting frames (63), two output ends of the linkage cylinder (610) are respectively fixedly connected with the two sliding blocks, the linear cylinder (611) is arranged on the inner side of the connecting support (61), the output end of the linear cylinder (611) extends to the outer side of the mounting plate (62) and is fixedly connected with the positioning rod (68), and the rotating mechanism (64) and the pressing guide rod (65) are respectively arranged on two sides of the outer wall of one supporting frame (63), the output end of the rotating mechanism (64) is fixedly connected with the pressing guide rod (65), the pressing block (66) is connected with the other supporting frame (63) through a connecting bearing (67), and the pressing guide rod (65) and the pressing block (66) are arranged between the two supporting frames (63).
4. An automatically reversible grinding robot device according to claim 3, characterized in that: the supporting frame (63) and the positioning rod (68) are perpendicular to the mounting plate (62) respectively, and the guide rail pair (69), the linkage cylinder (610), the pressing guide rod (65) and the pressing block (66) are parallel to the mounting plate (62) respectively.
5. An automatically reversible grinding robot device according to claim 4, characterized in that: the rotating mechanism (64) is a rotary cylinder, and the connecting bearing (67) is a sliding bearing.
6. An automatically reversible grinding robot device according to claim 4, characterized in that: the rotating mechanism (64) is a motor speed reducer system, and the connecting bearing (67) is a rolling bearing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202220233072.0U CN217344800U (en) | 2022-01-28 | 2022-01-28 | Polishing robot device capable of automatically reversing |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202220233072.0U CN217344800U (en) | 2022-01-28 | 2022-01-28 | Polishing robot device capable of automatically reversing |
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| CN217344800U true CN217344800U (en) | 2022-09-02 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117325077A (en) * | 2023-11-08 | 2024-01-02 | 伯朗特机器人股份有限公司 | A kind of robot grinding parts changing attitude fixture and grinding method |
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2022
- 2022-01-28 CN CN202220233072.0U patent/CN217344800U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117325077A (en) * | 2023-11-08 | 2024-01-02 | 伯朗特机器人股份有限公司 | A kind of robot grinding parts changing attitude fixture and grinding method |
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Denomination of utility model: A polishing robot device with automatic reversing function Granted publication date: 20220902 Pledgee: Bank of Nanjing Co.,Ltd. Nanjing Chengnan sub branch Pledgor: Nanjing Jundong robot Co.,Ltd. Registration number: Y2024980007764 |