CN220762640U

CN220762640U - Steel plate grinding manipulator

Info

Publication number: CN220762640U
Application number: CN202322150492.XU
Authority: CN
Inventors: 任永光; 文英芳
Original assignee: Lingyue Electronic Technology Zhuhai Co ltd
Current assignee: Lingyue Electronic Technology Zhuhai Co ltd
Priority date: 2023-08-10
Filing date: 2023-08-10
Publication date: 2024-04-12
Anticipated expiration: 2033-08-10

Abstract

The utility model relates to the field of mechanical equipment, in particular to a steel plate grinding manipulator which comprises a robot base, an S shaft, an L shaft, a U shaft and a wrist shaft, wherein the S shaft is provided with an S head, the S head is provided with a mechanical brake stop block, the L shaft is provided with an L arm, the U shaft is provided with a U arm, the U arm is provided with a servo starting lamp, the front end of the wrist shaft is provided with a flange plate, the flange plate is provided with a steel grinding clamp, the steel grinding clamp is provided with a grinding disc, the middle of the grinding disc is provided with air holes, and the grinding disc is formed by overlapping a plurality of layers of plastic discs.

Description

Steel plate grinding manipulator

Technical Field

The utility model relates to the field of mechanical equipment, in particular to a steel plate grinding manipulator.

Background

With the development of the PCB industry, the quality requirements on the PCB are higher and higher. Also, the demands on the capabilities of the production equipment itself, including equipment functions, operation and maintenance, appearance, energy saving, and the like, are increasing.

The existing steel plate polishing mode comprises two modes of manual grinding machine polishing and machine abrasive belt polishing: however, the two modes have the defects of high labor cost, low polishing efficiency, incomplete polishing of key areas and the like because of different states of personnel.

This has forced research into developing a new device that mimics certain action functions of human hands and for example, an automatically operated device for securing a program grip carrying a product or operating a tool, and a robot is such a device: it can replace me driver to finish heavy work to realize mechanization and automation.

Disclosure of Invention

In order to achieve the above object, the present utility model provides the following technical solutions:

the utility model provides a grind steel sheet manipulator, has the S head including robot base, S axle, L axle, U axle and wrist axle S epaxial, has mechanical braking dog on the S head, has the L arm on the L axle, has the U arm on the U axle, has servo start lamp on the U arm, and the base straight-head type plug is equipped with the ring flange, is equipped with on the ring flange and grinds steel anchor clamps, grinds and is equipped with mill, gasbag, fender bracket and motor on the steel anchor clamps.

By means of the mechanism, the wrist shaft comprises an R shaft, a B shaft and a T shaft, an exhaust port and a speed reducer are arranged on the R shaft, the B shaft and the T shaft, a circuit board, a battery pack, a binding belt and a protection tube are arranged on the S shaft and the U shaft, the R shaft end, a cover plate and a gasket are arranged on the U arm and the L arm, a belt driving mechanism is arranged inside the U arm and the L arm, and an elbow socket is arranged on the U arm.

Preferably, the middle of the grinding disc is provided with air holes, the grinding disc is formed by superposing a plurality of layers of plastic wafers, and the thickness of the plastic wafer at the topmost layer is about 1mm-3mm.

It can be seen that this is characterized by: meanwhile, when the grinding disc works, the workpiece is purged through the air holes, so that the grinding effect can be improved, the abrasion resistance of the grinding disc is ensured, and meanwhile, the steel plate cannot be scratched.

Preferably, a mechanical brake block is arranged on the S head.

It can be seen that this is characterized by: the mechanical brake block can be arranged at 15-degree intervals in the range of +30-150 degrees of the S-axis, and the action range of the S-axis can be adjusted and controlled.

Preferably, the S shaft, the L shaft, the U shaft and the R shaft are provided with motors, and the motors are provided with grease detection holes.

It can be seen that this is characterized by: the grease detection hole is detached from the bolt at the detection hole, and whether the grease leaks from the motor can be checked.

Preferably, the S shaft, the L shaft and the U shaft are provided with over-travel limit switches.

It can be seen that this is characterized by: and when one or more of the robot shafts move beyond the motion limit of the software, one of the over-travel limit switches is started to give an alarm in time.

Preferably, the S shaft, the U shaft and the R shaft are provided with a circuit board, a battery pack, a binding belt and a protection tube.

It can be seen that this is characterized by: the battery pack of the S shaft supplies power for the S shaft and the L shaft, the battery pack of the U shaft supplies power for the U shaft and the R shaft, and the battery pack of the R shaft supplies power for the B shaft and the T shaft.

Preferably, the U-arm and the L-arm are provided with a cover plate and a gasket.

It can be seen that this is characterized by: the cover plate and the gasket are dustproof or splashproof substances during working.

Preferably, the U-shaped arm is provided with an elbow socket.

It can be seen that this is characterized by: the elbow socket is arc-shaped, so that the socket, the robot and the electric wires can be prevented from being interfered when the mechanical arm moves upwards.

The beneficial effects of the utility model are as follows: the grinding disc is formed by superposing a plurality of layers of plastic discs and has a cleaning function, so that the grinding effect can be increased, the wear resistance of the grinding disc is ensured, and meanwhile, the steel plate cannot be scratched. When the movement of one or more robot shafts exceeds the software movement limit, one of the over-travel limit switches is started to give an alarm in time when an over-travel error occurs. The U arm and the L arm are provided with a cover plate and a gasket, and dustproof or other splashed substances are prevented during working.

Drawings

Fig. 1 is a structural view of a manipulator for grinding steel plates according to the present utility model.

Fig. 2 is a partial structural view of the present utility model.

FIG. 3 is a block diagram of a mill steel clamp according to the present utility model.

Figure 4 is an exploded view of the wrist axle of the utility model.

Fig. 5 is an exploded view of the U-arm seal of the present utility model.

Fig. 6 is a position diagram of the battery pack and the circuit board plug of the present utility model.

FIG. 7 is a diagram showing the positions of the grease detection holes according to the present utility model.

FIG. 8 is a view of the over travel limit switch position of the present utility model.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

As shown in fig. 1-8, one embodiment provided by the present utility model is:

the utility model provides a grind steel sheet manipulator, including robot base (1), S axle (2), L axle (3), U axle (4) and wrist axle (5), there is S head (21) on S axle (2), there is mechanical braking dog (22) on S head (21), there is L arm (31) on L axle (3), there is U arm (41) on U axle (4), there is servo start lamp (42) on U arm (41), base straight-head type plug, flange dish (6) are equipped with in wrist axle (5) front end, be equipped with on flange dish (6) and grind steel anchor clamps (7), be equipped with mill (71) and balloon (73) on grinding steel anchor clamps (7), motor (75), because balloon (73) are the software structure, inconvenient atress, so special fender bracket (74) are installed balloon (73) above, install below mill (71), there is gas pocket (72) in the middle of mill (71), gas pocket (72) are connected with balloon (73), tracheal and control line on the robot are connected to balloon (73), mill (71) are plastic disc (71) and the multilayer disc thickness about 1mm that is formed by the disc 3mm that the disc is stacked.

Wrist axle (5) include R axle (51), B axle (52), T axle (53), R axle (51), B axle (52), T axle (53) on be equipped with gas vent (C) and speed reducer (D), S axle (2) and U axle (4), R axle (51) end be equipped with circuit board (E), group battery (F), ribbon (G) and protection tube (H), U arm (31) and L arm (41) on cover board (I) and gasket (J), U arm (31) and L arm (41) inside be equipped with belt drive mechanism (K), U arm (41) on have elbow socket (43).

Preferably, the grinding disc (71) is formed by superposing a plurality of layers of plastic wafers, so that the grinding effect can be increased, the wear resistance of the grinding disc is ensured, and meanwhile, the steel plate is not scratched.

Preferably, the mechanical brake block (22) on the S-head (21) can be arranged at 15-degree intervals in the range of +30-150 degrees of the S-shaft, and the action range of the S-shaft (2) can be adjusted and controlled.

Preferably, the S shaft (2), the L shaft (3), the U shaft (4) and the R shaft (51) are provided with motors, grease detection holes (L) are formed in the motors, and bolts at the detection holes are removed to confirm whether grease leaks from the motors.

Preferably, the over-travel limit switches (A) on the S shaft (2), the L shaft (3) and the U shaft (4) are started when one or more robot shafts move beyond the software motion limit and over-travel errors occur, and an alarm is timely sent out.

Preferably, the battery pack (F) of the S shaft (2) supplies power to the S shaft (2) and the L shaft (3), the battery pack (F) of the U shaft supplies power to the U shaft (4) and the R shaft (51), and the battery pack (F) of the R shaft (51) supplies power to the B shaft (52) and the T shaft (53).

Preferably, the cover plate (I) and the gasket (J) on the U-shaped arm (4) and the L-shaped arm (3) are dustproof or splashproof substances during working.

Preferably, the elbow socket (43) on the U-shaped arm (4) can prevent the socket from interfering with the robot and the electric wires.

The utility model is used when in use: the battery pack (F) of the S shaft (2) supplies power to the S shaft (2) and the L shaft (3), the battery pack (F) of the U shaft (4) supplies power to the U shaft (3) and the R shaft (51), the battery pack (F) of the R shaft (51) supplies power to the B shaft (52) and the T shaft (53), and then the mechanical brake stop block (22) of the S shaft (2) adjusts and controls the action range of the S shaft (2). Wrist axle (5) include R axle (51), B axle (52), T axle (53), S axle (2), L axle (3), overtravel limit switch (A) control one or more robots on U axle (4), when the removal of axle surpassed the software motion restriction, one of them overtravel limit switch starts when taking place the overtravel mistake, in time send out the alarm, apron (I) on U arm (41) and L arm (31), gasket (J) and belt drive mechanism (K), dustproof or splashproof material when the work, elbow socket (43) on U arm (41) prevent that the socket from producing the interference with robot body electric wire when the U arm on with the robot is gone up, grind steel anchor clamps (7) that ring flange (6) are connected, be equipped with motor (75) on grinding steel anchor clamps (7), be equipped with frame (74) below motor (75), be equipped with gasbag (73) on fender bracket (74), gasbag (73) are connected with the fuselage through control line and gas tube, and protection disc (71) are equipped with gasbag (73) under the protection disc, be equipped with air vent (71) for plastic disc centre (71) stack and form multilayer disc (72).

When the polishing machine works, the control line and the air pipe drive the air bag (73) to drive the polishing disc (71) to rotate and polish, meanwhile, the air blows and cleans the polishing position, and the plastic original sheet at the topmost layer of the polishing disc (71) is about 1-3mm, is thinner than other plastic wafers, can reduce friction resistance, increases polishing effect, and the other plastic wafers with a small thickness can ensure the wear resistance of the polishing disc, and meanwhile, the blocking protection frame (74) is contacted with a steel plate during polishing and cannot scratch the steel plate.

When the rotary grinding work is performed, the grinding disc is stressed greatly, so that the protection frame (74) can consume most of pressure when the grinding disc (71) is ground, and the protection air bag (73) is damaged, therefore, the utility model can replace a steel plate grinding operator to finish heavy labor so as to realize mechanization and automation, reduce the labor intensity of workers, improve the automation level and improve the quality of products.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Claims

1. A grind steel sheet manipulator which characterized in that: including robot base, S axle, L axle, U axle and wrist axle, the S axle on have the S head, the S head on have mechanical braking dog, the L axle on have the L arm, the U axle on have the U arm, the U arm on have servo start lamp, the straight first type plug of base, wrist axle front end be equipped with the ring flange, the ring flange on be equipped with and grind steel anchor clamps, grind steel anchor clamps on be equipped with mill, gasbag, fender bracket and motor, the mill in the middle of have the gas pocket, the mill be the stack of multilayer plastic disk and form.

2. The steel plate grinding manipulator of claim 1, wherein: the wrist shaft comprises an R shaft, a B shaft and a T shaft, and the R shaft, the B shaft and the T shaft are provided with an exhaust port and a speed reducer.

3. The steel plate grinding manipulator of claim 1, wherein: the mechanical brake check blocks can be arranged at 15-degree intervals in the range of +30-150 degrees of the S-axis, and the mechanical brake check blocks can adjust and control the action range of the S-axis.

4. The steel plate grinding manipulator of claim 1, wherein: the S-axis, the L-axis, the U-axis and the R-axis are provided with motors, the motors are provided with grease detection holes, the grease detection holes are removed, whether grease leaks from the motors can be confirmed by detaching bolts at the detection holes, the S-axis, the L-axis and the U-axis are provided with over-travel limit switches, and when one or more robot shafts move beyond the software motion limit, one of the over-travel limit switches is started to give an alarm in time when the over-travel errors occur.

5. The steel plate grinding manipulator of claim 1, wherein: the S shaft, the U shaft and the R shaft are provided with a circuit board, a battery pack, a binding belt and a protection tube, the battery pack of the S shaft supplies power to the S shaft and the L shaft, the battery pack of the U shaft supplies power to the U shaft and the R shaft, and the battery pack of the R shaft supplies power to the B shaft and the T shaft.

6. The steel grinding plate manipulator of claim 4, wherein: the U-shaped arm and the L-shaped arm are provided with a cover plate and a gasket, a belt driving mechanism is arranged inside the U-shaped arm and the L-shaped arm, and the cover plate and the gasket are dustproof or splashproof substances during working.

7. The steel plate grinding manipulator of claim 1, wherein: the U-shaped arm is provided with the elbow socket, so that the socket, the robot and the electric wire can be prevented from being interfered.