CN217914650U - Automatic replacing device and polishing system for grinding head grinding tool - Google Patents

Abstract

The utility model provides an automatic change device of bistrique grinding apparatus, include: the first driving assembly is used for driving the grinding head; the first detection structure is used for detecting the position information of the grinding tool on the grinding head; the first detection structure sends position information of the grinding tool on the grinding head to the control module, and the control module compares the deviation between the position information of the grinding tool on the grinding head and a preset replacement position and controls the first driving assembly to move the grinding tool on the grinding head to the preset replacement position; the material changing mechanism is used for taking down the grinding tool positioned at the preset changing position and installing the grinding tool to be installed to the grinding head; the stop position of grinding apparatus is automatically adjusted to predetermine and is changed the position, and the mechanism of reloading need not operate the grinding apparatus that is in the non-predetermined change position, has simplified the action and the change flow of automatic change grinding apparatus, has improved change efficiency, need not artificial intervention. The utility model also provides a polishing system, include as above automatic change device, still include the burnishing machine.

Description

Automatic replacing device and polishing system for grinding head grinding tool

Technical Field

The utility model relates to a burnishing machine technical field especially relates to automatic change device and polishing system of bistrique grinding apparatus.

Background

After a common ceramic green brick is pressed and sintered, the surface of the common ceramic green brick is usually subjected to finish machining treatment by a polishing machine, a grinding head rotates at a high speed during polishing to cut the surface of the green brick, the grinding tool of the grinding head is continuously consumed during the process of cutting the green brick, a new grinding tool needs to be replaced after a certain time, the existing grinding tool replacement mainly depends on manual work, an operator uses an iron hammer to knock the grinding tool loose, takes down the grinding tool, and then installs the grinding tool; because the grinding tool is replaced frequently and the number of grinding heads is large, replacing the grinding tool is a heavy labor process for operating the polishing machine at present, and gas, dust and some noise generated during polishing can cause certain harm to the body of an operator.

Some robots for replacing grinding tools have appeared in recent years, however, most of existing polishing machines cannot control the stop position of the grinding head, the grinding tool rotates around the main shaft of the grinding head, and after the grinding head stops, the stop position of the grinding tool is uncertain, so that the robot is complex in action when replacing the grinding tool, the operation flow is complex, the replacement efficiency is low, or the stop position of the grinding tool still needs to be adjusted manually.

SUMMERY OF THE UTILITY MODEL

In order to overcome above-mentioned prior art an at least defect, the utility model provides an automatic change device of bistrique grinding apparatus aims at solving the loaded down with trivial details, the complicated and change inefficiency problem of change flow that adopt the automatic grinding apparatus of changing of action, the utility model also provides a polishing system, include as above automatic change device.

The utility model discloses a solve the technical scheme that its problem adopted and be:

an automatic exchange device of grinding tools of grinding heads comprises: the first driving assembly is used for driving the grinding head; the first detection structure is used for detecting the position information of the grinding tool on the grinding head; the first detection structure sends position information of the grinding tool on the grinding head to the control module, and the control module compares deviation between the position information of the grinding tool on the grinding head and a preset replacement position and controls the first driving assembly to move the grinding tool on the grinding head to the preset replacement position; and the material changing mechanism is used for taking down the grinding tool positioned at the preset changing position and mounting the grinding tool to be mounted to the grinding head.

The grinding tool automatic adjusting device is characterized in that the stop position of the grinding tool is automatically adjusted to the preset replacement position, the material replacing mechanism does not need to operate the grinding tool on the grinding head which is not at the preset replacement position, the action and the replacement flow of automatically replacing the grinding tool are simplified, the replacement efficiency is improved, manual intervention is not needed, and the labor cost is reduced.

According to some embodiments of the utility model, the automatic change device still includes the second and detects the structure, the second detects the structure and is used for detecting the positional information of grinding apparatus, and will the positional information of grinding apparatus send to control module, in order to control the mechanism reloads of reloading.

According to the utility model discloses a some embodiments, the second detects the structure and marks the subassembly for the vision, through the vision guide reloading mechanism will be located predetermine to change the position the grinding apparatus on the bistrique takes off, through the vision guide reloading mechanism will treat the installation the grinding apparatus install extremely the bistrique.

According to the utility model discloses a some embodiments, the vision is markd the subassembly and is included the camera, the camera be used for with the position information of grinding apparatus send in real time to control module.

According to the utility model discloses a some embodiments, first detection structure includes: an identifying member; the positioning piece is arranged on the grinding head and synchronously rotates along with the grinding head; when the positioning piece rotates to the position where the identification piece is induced, the control module controls the first driving assembly to enable the grinding tool to stop at the preset replacement position, so that the automatic positioning of the grinding tool is realized, the positioning is accurate and reliable, and the precision is high.

According to some embodiments of the present invention, the positioning member includes a plurality of positioning blocks disposed in one-to-one correspondence with the plurality of grinding tools on the grinding head, and the plurality of positioning blocks induce the identification member in a predetermined order, so that the control module controls the first driving assembly to stop the plurality of grinding tools at the predetermined replacement position in the predetermined order; on the other hand, through setting up the locating piece, improved the detection sensitivity to prevent the discernment piece direct contact the bistrique and lead to wearing and tearing.

According to some embodiments of the present invention, the first drive assembly comprises a rotary drive member, a first transmission member and a second transmission member, the first transmission member is in transmission connection with the rotary drive member, the second transmission member is in transmission connection with the grinding head; the first transmission piece is clamped with the second transmission piece, and the second transmission piece can rotate along with the first transmission piece.

According to some embodiments of the present invention, the second transmission member is provided with a plurality of positioning members, the plurality of second transmission members are used for corresponding to the plurality of grinding heads one by one, and the plurality of positioning members are used for corresponding to the plurality of grinding heads one by one; the grinding head grinding device is characterized by further comprising a second driving assembly, wherein the second driving assembly is used for driving the first transmission piece to be clamped with any one of the second transmission pieces, namely, the grinding tools on different grinding heads can be automatically positioned by using one rotary driving piece and one first transmission piece, so that the control flow is simplified, and the production cost is saved.

According to some embodiments of the invention, the reloading mechanism comprises a clamp assembly and a tapping assembly; the rapping assembly is used for rapping the grinding head so as to detach the grinding tool on the grinding head, and the rapping assembly is also used for rapping the grinding head so as to mount and fix the grinding tool on the grinding head; the clamp assembly is used for clamping the disassembled grinding tool, and the clamp assembly is also used for clamping the grinding tool to the grinding head.

According to the utility model discloses a some embodiments, beat the subassembly and include cylinder, connecting rod and beat the piece, the cylinder with the connecting rod is connected, just the cylinder can drive connecting rod reciprocating motion, beat the piece and locate on the connecting rod, beat the piece can be along with the reciprocating motion of connecting rod is right the bistrique beats.

The utility model also provides a polishing system, include as above automatic change device, still include the burnishing machine, the burnishing machine includes the bistrique.

To sum up, the utility model provides an automatic change device of polishing system and bistrique grinding apparatus has following technological effect:

1) According to the automatic replacing device, the position information of the grinding tool on the grinding head is detected by arranging the first detection structure, so that the first driving assembly is controlled to position the grinding tool on the grinding head to the preset replacing position, namely, the stop position of the grinding tool on the grinding head is the preset replacing position, the material replacing mechanism does not need to operate the grinding tool on the grinding head which is not in the preset replacing position, the action and the replacing process of the automatic replacing of the grinding tool by the material replacing mechanism are simplified, the replacing efficiency is improved, manual intervention is not needed, the labor cost is reduced, and the intelligence of the automatic replacing of the grinding tool is improved;

2) By arranging the visual calibration assembly, the grinding tool positioned at the preset replacement position is taken down by the visual guide material changing mechanism, and the grinding tool to be installed is installed to the grinding head by the visual guide material changing mechanism, so that the action precision and the working efficiency of the material changing mechanism are improved;

3) The positioning block improves the detection sensitivity and prevents the identification piece from directly contacting the grinding head to cause abrasion; on the other hand, when a plurality of grinding tools are arranged on the grinding head, the plurality of positioning blocks correspond to the plurality of grinding tools one by one, the recognition part can detect the positions of the plurality of positioning blocks according to a preset sequence, so that the plurality of grinding tools are positioned to a preset replacement position according to the preset sequence, and the material replacing mechanism can take down the plurality of grinding tools according to the preset sequence and replace the grinding tools;

4) This polishing system can fix a position the grinding apparatus to predetermineeing and change the position, has realized the automatic location to the grinding apparatus for the follow-up automatic grinding apparatus of changing of carrying on of reloading mechanism is convenient more accurate, has improved change efficiency.

Drawings

FIG. 1 is a schematic diagram of the overall structure of a polishing system according to an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a grinding head according to an embodiment of the present invention;

fig. 3 is another schematic structural diagram of the grinding head according to the embodiment of the present invention;

FIG. 4 is an enlarged view of a portion A of FIG. 3;

fig. 5 is a schematic structural diagram of a first drive assembly (not shown with a second transmission) and a second drive assembly according to an embodiment of the present invention;

FIG. 6 is a partial enlarged view of portion B of FIG. 5;

fig. 7 is a schematic structural diagram of a material changing mechanism according to an embodiment of the present invention;

fig. 8 is a schematic structural view of a clamp assembly and a rapping assembly in accordance with an embodiment of the present invention;

fig. 9 is another schematic structural view of a clamp assembly and a rapping assembly in accordance with an embodiment of the present invention;

fig. 10 is a schematic view of a clamping and grinding tool according to an embodiment of the present invention;

fig. 11 is a schematic diagram of the operation of mounting the grinding tool according to the embodiment of the present invention.

Wherein the reference numerals have the following meanings:

1-polishing machine, 11-grinding head, 111-grinding head spindle, 112-grinding wheel disk, 113-swinging seat, 114-grinding wheel, 12-connecting conveying line, 2-automatic replacing device, 21-first driving component, 211-first transmission component, 2111-first dial wheel, 212-second transmission component, 2121-second dial wheel, 213-rotating driving component, 214-first gear, 215-second gear, 22-identification component, 23-positioning component, 231-positioning component, 232-positioning ring, 24-second detection structure, 25-blowing component, 251-blowing pipe, 252-air pump, 26-wiping component, 261-wiping component, 262-wiping driving component, 263-first clamping seat, 264-second clamping seat, 27-guide rail component, 271-guide rail, 272-first mounting seat, 273-first driving component, 28-telescopic component, 281-second mounting seat, 282-second driving component, 3-reloading mechanism, 31-clamp component, 311-clamping driving component, 312-first clamping jaw, 313-second clamping jaw, 32-knocking component, 321-air cylinder, 322-connecting rod, 323-knocking block, 33-mechanical arm, 331-base, 332-first rod piece, 333-second rod piece, 334-third rod piece, 335-mounting table, 34-storage table, 35-walking shaft, 36-grinding tool library, 361-grinding tool tray, 37-recovery transportation line, 38-recovery trolley and 4-polishing driving component.

Detailed Description

For better understanding and implementation, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

In the description of the present invention, it should be noted that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplification of the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

Example one

Please refer to fig. 1, fig. 2, fig. 5 and fig. 7, the utility model discloses a polishing system, including burnishing machine 1 and automatic change device 2, automatic change device 2 can carry out automatic change to the bistrique grinding apparatus of burnishing machine 1 to realize that the machine replaces the manual work and changes the grinding apparatus, improved work efficiency, reduced the human cost, on the other hand, can avoid gas, dust and the noise that produces to bring harm on the health to the operation workman in the polishing process.

Referring to fig. 1 to 3, in particular, the polishing machine 1 includes a plurality of grinding heads 11 and a connecting transportation line 12 communicating the plurality of grinding heads 11, and the grinding heads 11 can be parked in a single section and slid to a position close to the automatic exchanging apparatus 2; the grinding head 11 is provided with a grinding tool disk 112 rotating around a grinding head main shaft 111, the grinding tool disk 112 is provided with a plurality of swinging seats 113 at equal intervals, each swinging seat 113 is embedded with a grinding tool and can swing relative to the grinding tool disk 112; when the grinding head 11 is started, the plurality of swing seats 113 revolve around the grinding head main shaft 111 and swing relative to the grinder plate 112, and the grinders 114 move along with the swing seats 113, so that the surfaces of the green bricks are uniformly rubbed, in the process, the grinders 114 on the grinding head 11 are continuously worn, and after a period of time, the grinders 114 on the grinding head 11 need to be taken down and the grinders 114 to be installed are installed on the grinding head 11, however, after the grinding head 11 stops, the stop positions of the grinders 114 on the grinding head 11 are completely random, which is not beneficial to automation of grinding tool replacement. It should be noted that in some embodiments, the grinder plate 112 may be provided with the grinder 114 directly thereon without the swing seat 113.

Further, referring to fig. 3 to 7, the automatic replacing device 2 includes a first driving assembly 21, a first detecting structure, a control module and a material replacing mechanism 3; the first driving assembly 21 drives the grinding head main shaft 111 to rotate; the first detection structure is located between the first driving assembly 21 and the grinding head 11 and is used for detecting the position information of the grinding tool 114 on the grinding head 11 and sending the position information of the grinding tool 114 on the grinding head 11 to the control module, the control module compares the deviation between the position information of the grinding tool 114 on the grinding head 11 and a preset replacement position and controls the first driving assembly to move the grinding tool 114 on the grinding head 11 to the preset replacement position, so that preparation is made for subsequent automatic grinding tool replacement, and it should be noted that the preset replacement position is a position for replacing the grinding tool 114.

The refueling mechanism 3 is used for taking down the grinding tool 114 located at the preset replacing position and mounting the grinding tool 114 to be mounted to the swing seat 113; the automatic replacing device 2 of the embodiment automatically adjusts the stop position of the grinding tool 114 on the grinding head 11 to the preset replacing position, the material replacing mechanism 3 does not need to operate the grinding tool 114 on the grinding head 11 at the non-preset replacing position, the action and the replacing flow of automatically replacing the grinding tool are simplified, the replacing efficiency is improved, manual intervention is not needed, and the labor cost is reduced.

Specifically, as shown in fig. 3 to 6, the first driving assembly 21 includes a rotating driving element 213, a first transmission element 211 and a second transmission element 212, the first transmission element 211 is disposed on the rotating driving element 213, the first transmission element 211 is engaged with the second transmission element 212, the second transmission element 212 is in transmission connection with the grinding head spindle 111, that is, the first transmission element 211 rotates under the action of the rotating driving element 213, and the second transmission element 212 rotates along with the first transmission element 211 to drive the grinding head spindle 111 to rotate.

Further, referring to fig. 2, a plurality of second transmission members 212 are provided, and the number of the second transmission members 212 is equal to the number of grinding heads 11 of the polishing machine 1; the plurality of second transmission members 212 are arranged in one-to-one correspondence with the plurality of grinding heads 11; as shown in fig. 5, the automatic exchanging device 2 further includes a second driving assembly, and the second driving assembly is used for driving the first transmission member 211 to be engaged with any one of the plurality of second transmission members 212, that is, the grinding tool 114 of any one of the grinding heads 11 can be automatically positioned by using one of the rotary driving members 213 and one of the first transmission members 211, so that the control system is simplified, and the production cost is saved.

Preferably, the first driving member 211 is provided with a first toggle wheel 2111, the second driving member 212 is provided with a second toggle wheel 2121 matched with the first toggle wheel 2111, and the first driving member 211 is connected with the second driving member 212 by the snap fit between the first toggle wheel 2111 and the second toggle wheel 2121, so that the connection is stable and reliable, and the transmission stability is high.

More specifically, in the present embodiment, as shown in fig. 3 and 4, the first drive assembly 21 further includes a first gear 214 and a second gear 215 in meshed connection with the first gear 214, the first gear 214 is connected to the second transmission member 212 and can rotate synchronously with the second transmission member 212, and the second gear 215 is disposed on the grinding head spindle 111 and rotates the grinding head spindle 111 under the drive of the first gear 214.

Preferably, referring to fig. 5, the second driving assembly includes a rail assembly 27 and a telescopic assembly 28, the rail assembly 27 includes a rail 271, a first mounting seat 272 and a first driving member 273, the rail 271 is distributed near the plurality of grinding heads 11, the first mounting seat 272 is slidably disposed on the rail 271, the first driving member 273 is disposed on the first mounting seat 272, and drives the first mounting seat 272 to slide along the rail 271;

the telescopic assembly 28 includes a second mounting seat 281 and a second driving member 282, the first mounting seat 272 is an L-shaped plate, the second mounting seat 281 is slidably disposed on the first mounting seat 272, the second driving member 282 is disposed on the second mounting seat 281, and drives the second mounting seat 281 to make telescopic movement in the vertical direction along the first mounting seat 272; the rotary driving member 213 and the first driving member 211 are both disposed on the second mounting seat 281;

the first transmission member 211 can translate horizontally and extend and contract vertically by the first driving member 273 and the second driving member 282, and is engaged with the second transmission member 212 provided to the grinding head 11, which requires replacement of the grinding tool.

Preferably, in this embodiment, a grinding tool consumption detection structure (not shown) is disposed on the grinding head 11, specifically, the grinding tool consumption detection structure is a grinding tool consumption sensor, the grinding tool consumption sensor can generate a grinding tool consumption signal according to a grinding tool consumption condition and send the grinding tool consumption signal to the control module, so as to control the second driving assembly to move the first transmission member 211 to a position of being engaged with the second transmission member 212 of the grinding head 11, the first driving assembly 21 positions the grinding tool 114 of the grinding head 11 to a preset replacement position, the control module controls the material changing mechanism 3 to also move to a position near the grinding head 11, the material changing mechanism 3 takes off the grinding tool 114 located at the preset replacement position and mounts the grinding tool 114 to be mounted to the grinding head 11;

it should be noted that, in other embodiments, the grinding stone 11 may not be provided with a grinding stone consumption sensor, but the time for using and replacing the grinding stone 11 is preset, and after the time for using and replacing the grinding stone is reached, the automatic replacing device 2 moves to the corresponding grinding stone 11 to replace the grinding stone 114.

As a further description of the above technical solution, please refer to fig. 3 to fig. 6, in this embodiment, the first detecting structure includes an identifying member 22 and a plurality of positioning members 23, and the plurality of positioning members 23 correspond to the plurality of grinding heads 11 one by one; the positioning member 23 is provided to the grinding stone 11 and can rotate following the grinding stone main shaft 111.

Preferably, the identifying member 22 is disposed on the second mounting seat 281 and can move to a position where it is matched with one of the positioning members 23 by following the second mounting seat 281; specifically, the control module controls the second mounting seat 281 to move, so that the first transmission piece 211 on the second mounting seat 281 is clamped with the second transmission piece 212 arranged on the grinding head 11 needing to be replaced with the grinding tool, and the identification piece 22 on the second mounting seat 281 is in a position matched with the positioning piece 23 in a positioning manner;

specifically, in this embodiment, the rotary driving element 213 drives the first transmission element 211 to rotate, the second transmission element 212 drives the grinding head spindle 111 to rotate slowly under the action of the first transmission element 211, the positioning element 23 can rotate along with the grinding head spindle 111, and when the positioning element 23 rotates to a position where it can generate a response with the identification element 22, the control module stops rotating the driving element 213 to stop the grinding tool 114 at the preset replacement position, so that automatic positioning of the grinding tool 114 is achieved, and positioning is accurate and reliable and high in precision;

it should be noted that, in other embodiments, there may be a plurality of identification pieces 22, and the plurality of identification pieces 22 correspond to the plurality of positioning pieces 23 one by one; specifically, an identification member 22 may be provided on each grinding head 11, only by allowing the identification member 22 to detect positional information of the positioning member 23.

Further, in the present embodiment, each positioning element 23 includes a positioning ring 232 and a plurality of positioning blocks 231 disposed on the positioning ring 232, the positioning ring 232 is disposed on the grinding head main shaft 111 and can rotate along with the grinding head main shaft 111, the plurality of positioning blocks 231 are disposed around the positioning ring 232 at equal intervals, and the plurality of positioning blocks 231 are disposed in one-to-one correspondence with the plurality of grinders, the plurality of positioning blocks 231 sense the identification element 22 according to a preset sequence, so that the control module controls the first driving assembly 21 to stop the plurality of grinders 114 of the grinding head 11 at preset replacement positions according to the preset sequence, and the material changing mechanism 3 can take down the plurality of grinders 114 according to the preset sequence and mount the grinders 114 to be mounted to the grinding head 11; on the other hand, by providing the positioning block 231, the detection sensitivity is improved, and the identification member 22 is prevented from directly contacting the grinding head 11 to cause abrasion.

For example, the predetermined sequence may be: the rotary driving member 213 slowly drives the grinding head spindle 111, the N positioning blocks 231 synchronously rotate along with the grinding head spindle 111, when the recognition member 22 senses one of the N positioning blocks 231, the control module controls the rotary driving member 213 to stop, so that the stop position of one of the N grinding tools 114 on the grinding head 11 is automatically adjusted to the preset replacement position, at this time, the material changing mechanism 3 takes down the grinding tool 114 located at the preset replacement position, and mounts the grinding tool 114 to be mounted to the grinding head 11; then, the control module controls the rotary driving member 213 to work until the recognition member 22 senses another one of the N positioning blocks 231, so that the stop position of another one of the N grinding tools 114 on the grinding head 11 is automatically adjusted to the preset replacement position, and at this time, the material changing mechanism 3 takes down the grinding tool 114 located at the preset replacement position and mounts the grinding tool 114 to the grinding head 11; repeating the replacing step until the grinding tool 114 of the grinding head 11 is replaced; specifically, each rotation angle of the grinding head 11 is (360/N).

It should be noted that, in other embodiments, the number of the positioning blocks 231 may be one, and after the identification member 22 senses the generation of the positioning blocks 231, the control module controls the first driving assembly 21 to stop and start at certain time intervals until all the grinding tools 114 on the grinding head 11 are replaced.

Preferably, in the present embodiment, the identifier 22 is a sensor; it should be noted that, in other embodiments, the identification component 22 may be a detection element such as an encoder, an intelligent switch, etc., and may be selected according to actual production requirements, which is not limited herein; in addition, in other embodiments, the identification component 22 may be a radar component (not shown), and the positioning component 23 may be a radar transmitter (not shown), which is capable of receiving radar signals from the radar transmitter to detect the position information of the grinding tool.

Further, as shown in fig. 1, in the present embodiment, the automatic exchanging apparatus 2 further includes a grinder warehouse 36 for storing the grinders 114 and a recycling line 37 for recycling the grinders 114, and preferably, the grinder warehouse 36 has a plurality of partitions, each of which is provided with a plurality of grinder trays 361, and each of the grinder trays 361 is loaded with a plurality of grinders 114; the recovery transporting line 37 is provided in the vicinity of the grinding heads 11, and the discharge end of the recovery transporting line 37 is also provided with a recovery trolley 38 for loading the grinding tools 114.

Preferably, as shown in fig. 7 to 11, the refueling mechanism 3 includes a gripper assembly 31, a tapping assembly 32, a robot arm 33, a stock table 34, and a traveling shaft 35; the traveling shaft 35 is positioned between the grinder warehouse 36 and the grinding head 11; the robot arm 33 and the stock table 34 are movable along a walking axis 35, and the gripper assembly 31 and the rapping assembly 32 are both provided at a mounting station 335 at the working end of the robot arm 33.

The mechanical arm 33 and the stock table 34 can move to the grinder warehouse 36 along the walking shaft 35, the mechanical arm 33 can move the clamp assembly 31 to the grinder warehouse 36, the clamp assembly 31 clamps a plurality of grinder trays 361 loaded with grinders 114 to the stock table 34, and the mechanical arm 33 and the stock table 34 can move to the vicinity of the grinding heads 11 needing to replace the grinders along the walking shaft 35;

rapping assembly 32 is used to rap abrasive tip 11 to remove grinder 114 from abrasive tip 11, and rapping assembly 32 is also used to rap abrasive tip 11 to fixedly mount grinder 114 to abrasive tip 11; the jig assembly 31 is used to pick up the removed grinder 114, and the jig assembly 31 is also used to pick up the grinder 114 to the grinding heads 11.

Specifically, when the material changing mechanism 3 is used for disassembling the grinding tool 114, the rapping assembly 32 raps the grinding head 11, and then the clamp assembly 31 picks up the grinding tool 114 loosened from the grinding head 11 and puts the grinding tool 114 to the recovery conveying line 37; when the material changing mechanism 3 performs the work of mounting the grindstone 114, the jig assembly 31 picks up the grindstone 114 from the grindstone tray 361 and loads the grindstone 11, and then the rapping assembly 32 raps the grindstone 11 to fix the grindstone 114 to the grindstone 11.

Preferably, the gripper assembly 31 can pick up an empty grinder tray 361, the robotic arm 33 moves the gripper assembly 31 picking up the empty grinder tray 361 to the grinder repository 36, and the gripper assembly 31 can return the empty grinder tray 361 to the grinder repository 36, further saving labor. It should be noted that, in other embodiments, the recycling transportation line 37 is disposed below the grinding head 11, and the rapping assembly 32 may directly rapping the grinding tool 114 out of the swing seat 113, so that the grinding tool 114 falls down to the recycling transportation line 37 to complete recycling of the grinding tool 114.

Specifically, as shown in fig. 9, in the present embodiment, the rapping assembly 32 includes a cylinder 321, a connecting rod 322, and a rapping block 323, the cylinder 321 is disposed on the mounting platform 335, the cylinder 321 is connected to the connecting rod 322, and the cylinder can drive the connecting rod 322 to reciprocate, the rapping block 323 is disposed on the connecting rod 322, and the rapping block 323 can strike the grinder along with the reciprocating motion of the connecting rod 322, so as to loosen the grinder 114 from the swing base 113 or tighten the grinder 114 on the swing base 113.

Specifically, the clamp assembly 31 is a pneumatic finger, the pneumatic finger includes a clamping driving member 311 and a first clamping jaw 312 and a second clamping jaw 313 which are oppositely arranged, the clamping driving member 311 is arranged on the mounting table 335, a clamping space for clamping the consumable is formed between the first clamping jaw 312 and the second clamping jaw 313, and the clamping driving member 311 drives the first clamping jaw 312 and the second clamping jaw 313 to approach or move away from each other, so that the size of the clamping space is adjusted to clamp or release the grinding tool.

Preferably, as shown in fig. 7, the mechanical arm 33 includes a base 331, a first rod 332, a second rod 333 and a third rod 334, the base 331 is slidably disposed on the traveling shaft 35, one end of the first rod 332 is rotatably connected to the base 331, one end of the second rod 333 is rotatably connected to a side of the first rod 332 away from the base 331, the other end of the second rod 333 is rotatably connected to the third rod 334, and the mounting platform 335 is disposed at one end of the third rod 334 away from the second rod 333. Through the rotary connection among a plurality of rods, the mechanical arm 33 has a plurality of adjustable directions so as to meet the action of the material changing assembly on the replacement of the grinding tool of the grinding head 11.

Further, as shown in fig. 7 and 9, in the present embodiment, in order to achieve precise grasping of the grinder 114 and the grinder 114 by the clamp assembly 31 and precise tapping of the grinder 114 by the tapping assembly 32, the automatic replacing device 2 further includes a second detecting structure 24, and the second detecting structure 24 is disposed on the mounting table 335, and is used for detecting position information of the grinder 114 and sending the position information of the grinder 114 to the control module to control the actions of the clamp assembly 31 and the tapping assembly 32.

Specifically, the second detection structure 24 is a vision calibration component, and the vision calibration component is disposed on an installation table 335 of the mechanical arm 33, so that the mechanical arm 33 can drive the vision calibration component to move, the vision calibration component can acquire position information of the grinding tool 114 located at the preset replacement position and send the position information to the control module, and the control module can control the mechanical arm 33 to drive the beating component 32 and the clamp component 31 to accurately unload the grinding tool 114 located at the preset replacement position according to the position information of the grinding tool 114; the control module can control the mechanical arm 33 to drive the beating assembly 32 and the clamp assembly 31 to accurately mount the grinder 114 to the grinding head 11 according to the position information of the grinder 114 to be mounted;

it should be noted that in other embodiments, second sensing structure 24 may be a radar assembly (not shown) having a radar transmitter (not shown) disposed on abrasive tip 11, the radar assembly being capable of receiving radar signals from the radar transmitter to identify the position of abrasive article 114.

Preferably, the vision calibration assembly includes a camera disposed on the mounting table 335, and the camera is capable of sending the position information of the grinder 114 to the control module in real time. Preferably, the vision calibration assembly and the material changing assembly are disposed on the same side of the mounting table 335 of the mechanical arm 33, which is more convenient for the vision calibration assembly to obtain the position information of the grinding tool.

It should be noted that in some embodiments, the visual calibration component may include an image transmission device such as a camera or a video camera.

More specifically, the visual calibration assembly may obtain the swing angle of the swing seat 113, thereby improving the accuracy and intelligence of the obtained position information of the grinder 114.

In combination with the use scenario of the automatic replacing device 2, dust, debris or sewage is usually generated in the polishing process, so that the grinding tool is stained with dirt, and the dirt affects the working accuracy of the visual calibration component, therefore, the automatic replacing device 2 further includes a purging component for purging the visual calibration area, so that the visual calibration of the visual calibration component on the grinding tool 114 is faster and more accurate, specifically, the purging component includes a blowing component 25 and a wiping component 26, and the blowing component 25 and the wiping component 26 are also arranged on the mounting table 335 of the robot, so that the mechanical arm 33 can drive the blowing component 25 and the wiping component 26 to move to clean the visual calibration area of the grinding tool, so that the visual calibration component works stably and reliably;

more specifically, the visual calibration area of the grinding tool 114 includes the swing seat 113, and the air blowing assembly 25 and the wiping assembly 26 can clean the swing seat 113 so as to enable the visual calibration area to detect the swing angle of the swing seat 113 more quickly and accurately; it should be noted that in some embodiments, the air blowing assembly 25 and the wiping assembly 26 may also be provided to the grinding stones 11 to clean the grinders 114 of the grinding stones 11.

Specifically, referring to fig. 9, the air blowing assembly 25 and the vision calibration assembly are disposed on the same side of the mounting table 335, the air blowing assembly 25 includes an air blowing pipe 251 and an air pump 252, the air pump is disposed on the mounting table 335, the air blowing pipe 251 is connected to the air pump 252, after the vision calibration assembly completes the preliminary positioning of the grinding tool 114 located at the preset replacement position, the air pump 252 is started, the air blowing pipe 251 blows air to the vision calibration area of the grinding tool 114 to blow off dirt in the vision calibration area of the grinding tool 114, and after the dirt is blown off, the vision calibration assembly accurately positions the position of the grinding tool 114 to improve the operation accuracy of replacing the grinding tool by the material replacement assembly; in other embodiments, the gas blowing pipe 251 may begin to blow gas when the visual calibration assembly initially positions the sharpener 114, so as to blow away dirt on the sharpener 114 during movement of the gas blowing pipe 251, so that the visual calibration assembly can position the sharpener 114 more quickly.

Preferably, in this embodiment, the blowing pipe 251 is a blowing bamboo joint pipe, and the length and the blowing angle can be adjusted according to actual needs, and of course, in other embodiments, the blowing pipe 251 may also be a telescopic pipe.

Specifically, referring to fig. 8, the wiping component 26 and the vision calibration component are disposed on the same side of the mounting platform 335, and the mechanical arm 33 can drive the wiping component 26 to move to the position of the cleaning and grinding tool; the wiping assembly 26 includes a wiping driving member 262 and a wiping member 261, the wiping driving member 262 is disposed on the mounting table 335, the wiping member 261 is disposed on the wiping driving member 262 and near the opening of the clamp assembly 31, preferably, the wiping driving member 262 is a pneumatic block, the wiping member 261 is a cleaning sponge block, and the pneumatic block is pneumatic, so that the same kind of power source as the blowing air pump is provided, and the form of the power source is simplified.

Preferably, in this embodiment, in order to adjust the position of the wiping element 261, the wiping element 262 is mounted on the mounting platform 335 through a holder assembly, the holder assembly includes a first holder 263 and a second holder 264, the first holder 263 is disposed on the mounting platform 335, the second holder 264 is detachably connected with the first holder 263 and forms a clamping position therebetween, and the wiping element 262 is disposed in the clamping position, in this way, the position of the wiping element 261 can be changed by adjusting the specific position of the wiping element 262 by detaching the second holder 264 from the first holder 263.

Further, as shown in fig. 2 and 3, the grinding head 11 is further provided with a polishing drive assembly 4, the polishing drive assembly 4 is used for driving the grinding head spindle 111 to rotate fast, and the grinding disk 112 connected to the grinding head spindle 111 rotates fast with the grinding head spindle 111, so that the grinding tool provided on the grinding disk 112 performs the polishing operation.

Example two

Unlike the first embodiment, in the present embodiment, the polishing drive unit 4 is not provided, and the first drive unit 21 directly drives the grinding head 11 to perform the polishing operation, and more specifically, each grinding head 11 is provided with a rotary drive member 213, an identification member 22 and a positioning member 23.

In the present embodiment, the rotary drive 213 has two modes, i.e., a polishing operation mode and a grinding tool positioning mode; when the rotary driving member 213 is in the polishing operation mode, the grinding head spindle 111 is directly driven to rotate rapidly so as to enable the grinding tool 114 to perform the polishing operation; when the rotary driving member 213 is in the grinding tool positioning mode, the grinding head spindle 111 is driven to rotate slowly, the positioning member 23 can rotate along with the grinding head spindle 111, when the positioning member 23 rotates to a position where the positioning member can generate a response with the identification member 22, the control module stops rotating the driving member 213 so that the grinding tool 114 stops at the preset replacement position, thereby realizing automatic positioning of the grinding tool 114, and the material changing mechanism 3 can detach the grinding tool 114 located at the preset replacement position and mount the grinding tool 114 to be mounted on the grinding head 11.

EXAMPLE III

Different from the first embodiment and the second embodiment, in the present embodiment, an AGV vehicle (not shown) capable of traveling on the polishing system is further included, and the AGV vehicle is provided with a stock table 34 for storing the grinding tools; one end of the mechanical arm 33 is arranged on the AGV, and the other end of the mechanical arm 33 is provided with a clamp assembly 31, a beating assembly 32 and a vision calibration assembly.

The rapping assembly 32 is used for rapping the abrasive heads 11 to detach the grinders 114 from the abrasive heads 11, and the rapping assembly 32 is also used for rapping the abrasive heads 11 to mount the grinders 114 to the abrasive heads 11; the jig assembly 31 is used to pick up the removed grinder 114, and the jig assembly 31 is also used to pick up the grinder 114 to the grinding stones 11;

the mechanical arm 33 can drive the vision calibration component to move, and the vision calibration component can acquire the position information of the grinding tool 114 and send the position information to the control module in real time; specifically, the control module can control the mechanical arm 33 to drive the tapping assembly 32 and the clamp assembly 31 to accurately discharge the grinding tool 114 located at the preset replacement position according to the position information of the grinding tool 114 located at the preset replacement position; the control module can control the mechanical arm 33 to drive the rapping assembly 32 and the clamp assembly 31 to accurately mount the grinder 114 to the grinding head 11 according to the position information of the grinder 114 to be mounted.

The technical means disclosed by the scheme of the present invention is not limited to the technical means disclosed by the above embodiments, but also includes the technical scheme formed by combining the above technical features at will. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, several improvements and modifications can be made, and these improvements and modifications are also considered as the protection scope of the present invention.

Claims (11)

1. Automatic exchange device (2) of bistrique grinding apparatus, its characterized in that includes:

a first drive assembly (21) for driving the grinding head (11);

a first detection structure for detecting positional information of a grinding tool (114) on the grinding head (11);

a control module to which the first detection structure transmits position information of the grinder (114) on the grinding head (11), the control module comparing a deviation between the position information of the grinder (114) on the grinding head (11) and a preset replacement position, the control module controlling the first drive assembly (21) to move the grinder (114) on the grinding head (11) to the preset replacement position;

and the material replacing mechanism (3) is used for removing the grinding tool (114) positioned at the preset replacing position and installing the grinding tool (114) to be installed to the grinding head (11).

2. The automatic changing device (2) of the grinding head grinder according to claim 1, characterized in that the automatic changing device (2) further comprises a second detecting structure (24), and the second detecting structure (24) is used for detecting the position information of the grinding tool (114) and sending the position information of the grinding tool (114) to the control module to control the material changing mechanism (3) to change the material.

3. The automatic grinding wheel changing device (2) of claim 2, wherein the second detecting structure (24) is a visual calibration assembly.

4. The automatic grinding wheel head grinder changing device (2) according to claim 3, wherein the vision calibration assembly comprises a camera for sending position information of the grinding wheel (114) to the control module in real time.

5. The automatic grinding wheel changing apparatus (2) of the grinding head according to any one of claims 1 to 4, wherein the first detecting structure comprises:

an identification member (22);

the positioning piece (23) is arranged on the grinding head (11) and synchronously rotates along with the grinding head (11);

when the positioning piece (23) rotates to a position where the identification piece (22) senses, the control module controls the first driving assembly (21) to stop the grinding tool (114) at the preset replacement position.

6. The automatic grinding stone changing device (2) of a grinding stone according to claim 5, characterized in that the positioning member (23) comprises a plurality of positioning blocks (231), a plurality of positioning blocks (231) are provided in one-to-one correspondence with a plurality of grinding stones (114) on the grinding stone (11), a plurality of positioning blocks (231) are sensed with the identifying member (22) according to a preset sequence, so that the control module controls the first driving assembly (21) to stop a plurality of grinding stones (114) at the preset changing position according to the preset sequence.

7. The automatic changing device (2) of the grinding head grinding tool according to claim 6, wherein the first driving assembly (21) comprises a rotary driving member (213), a first transmission member (211) and a second transmission member (212), the first transmission member (211) is in transmission connection with the rotary driving member (213), and the second transmission member (212) is used for being in transmission connection with the grinding head (11);

the first transmission piece (211) is clamped with the second transmission piece (212), and the second transmission piece (212) can rotate along with the first transmission piece (211).

8. The automatic changing device (2) of the grinding head grinding tool according to claim 7, wherein a plurality of second transmission members (212) are provided, a plurality of positioning members (23) are provided, a plurality of second transmission members (212) are provided for one-to-one correspondence with a plurality of grinding heads (11), and a plurality of positioning members (23) are provided for one-to-one correspondence with a plurality of grinding heads (11); the transmission device further comprises a second driving assembly, and the second driving assembly is used for driving the first transmission piece (211) to be clamped with any one of the second transmission pieces (212).

9. The automatic changing device (2) of the grinding head grinding tool according to any one of claims 1 to 4, characterized in that the changing mechanism (3) comprises a clamp assembly (31) and a rapping assembly (32);

the rapping assembly (32) is used for rapping the grinding head (11) so as to detach the grinding tool (114) from the grinding head (11), and the rapping assembly (32) is also used for rapping the grinding head (11) so as to fixedly mount the grinding tool (114) to the grinding head (11);

the clamp assembly (31) is used for clamping the detached grinding tool (114), and the clamp assembly (31) is also used for clamping the grinding tool (114) to the grinding head (11).

10. The automatic grinding head grinder changing device (2) according to claim 9, wherein the beating assembly (32) comprises a cylinder (321), a connecting rod (322) and a beating block (323), the cylinder (321) is connected with the connecting rod (322), the cylinder (321) can drive the connecting rod (322) to reciprocate, the beating block (323) is arranged on the connecting rod (322), and the beating block (323) can beat the grinding head (11) along with the reciprocating motion of the connecting rod (322).

11. Polishing system, characterized in that it comprises an automatic exchange device (2) of the grinding wheel head grinding tool according to any of claims 1 to 10, and also comprises a polishing machine (1), said polishing machine (1) comprising a grinding wheel head (11).

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