CN222021063U

CN222021063U - Milling and polishing integrated equipment

Info

Publication number: CN222021063U
Application number: CN202420675564.4U
Authority: CN
Inventors: 曹利; 张立成
Original assignee: Fukun Intelligent Technology Shanghai Co ltd
Current assignee: Fukun Intelligent Technology Shanghai Co ltd
Priority date: 2024-04-03
Filing date: 2024-04-03
Publication date: 2024-11-19
Anticipated expiration: 2034-04-03

Abstract

The utility model relates to the technical field of workpiece processing, and discloses milling and polishing integrated equipment. The milling and polishing integrated equipment of the utility model comprises: industrial robot, milling mechanism, grinding machanism, floating power accuse mechanism and controller, floating power accuse mechanism sets up on industrial robot, and milling mechanism and grinding machanism set up respectively on two sets of floating components of floating power accuse mechanism, and milling mechanism includes: milling motor and milling cutter, grinding machanism includes: a polishing motor and a polishing head. According to the milling and polishing integrated equipment, the milling mechanism and the polishing mechanism are driven by the industrial robot to move under the control of the controller, the milling cutter of the milling mechanism mills the workpiece to form the milling groove, and then the polishing head of the polishing mechanism polishes the milling groove, so that edges, burrs and the like are removed, and the processing efficiency is improved; and the milling mechanism and the grinding mechanism are respectively arranged on the floating force control mechanism, so that the constant force milling and grinding of the workpiece are realized, and the milling and grinding effects are better.

Description

Milling and polishing integrated equipment

Technical Field

The embodiment of the utility model relates to the technical field of workpiece processing, in particular to milling and polishing integrated equipment.

Background

Milling is a mechanical processing method for processing the surface of an object by using a milling cutter as a cutter so as to form milling grooves on the surface of a workpiece.

After milling, the workpiece is required to polish and grind the milling groove, so that foreign matters such as burrs, sharp corners and the like in the milling groove are removed, and the milling groove reaches the required precision.

The inventor of the application discovers that the milling processing, milling and polishing of a workpiece are performed by adopting different equipment at present, and the milling processing and polishing are two separate processing procedures, and the working procedures are more and the production efficiency is low.

Disclosure of utility model

The utility model aims to provide milling and polishing integrated equipment for solving the problems in the background technology.

The embodiment of the utility model provides milling and polishing integrated equipment, which comprises the following components: the device comprises an industrial robot, a milling mechanism, a polishing mechanism, a floating force control mechanism and a controller;

the floating force control mechanism comprises: a fixed frame and two sets of floating assemblies;

the fixed frame is arranged on an arm of the industrial robot, and the two groups of floating assemblies are arranged on the fixed frame;

The milling mechanism and the polishing mechanism are respectively arranged on the two groups of floating assemblies;

the milling mechanism includes: the milling machine comprises a milling motor and a milling cutter, wherein the milling cutter is connected with a motor shaft of the milling motor and is used for processing milling grooves;

The polishing mechanism comprises: the polishing device comprises a polishing motor and a polishing head, wherein the polishing head is connected with a motor shaft of the polishing motor and is used for polishing milling grooves;

The industrial robot, the milling motor, the polishing motor and the floating assembly are respectively and electrically connected with the controller.

Based on the above scheme, the milling and polishing integrated device of the utility model comprises an industrial robot, a milling mechanism, a polishing mechanism, a floating force control mechanism and a controller, wherein the floating force control mechanism comprises: fixed frame and two sets of floating components, fixed frame sets up on industrial robot, and milling mechanism and grinding mechanism set up respectively on two sets of floating components, and milling mechanism includes: milling motor and milling cutter, grinding machanism includes: a polishing motor and a polishing head. The milling and polishing integrated equipment is controlled by the PLC, the industrial robot drives the milling mechanism and the polishing mechanism to move to the position where a workpiece is processed, and the milling mechanism is positioned in front of the polishing mechanism. Milling cutters of the milling mechanism are used for processing and milling on the surface of a workpiece, and milling grooves are formed on the workpiece; and then the polishing head of the polishing mechanism polishes and brushes the milling groove through the milling groove, and removes edges, sharp corners, burrs and the like of the milling groove, so that the milling groove reaches the required precision, and the processing efficiency is improved. The milling mechanism and the grinding mechanism are respectively arranged on the floating assembly of the floating power control mechanism, and the floating assembly drives the milling mechanism and the grinding mechanism to move respectively, so that constant force milling and grinding of workpieces are realized, and the milling and grinding effects are better.

In one possible implementation, the floating assembly includes: a telescopic cylinder and a movable frame;

the fixing frame includes: the device comprises a rectangular frame body, a bottom plate and a top plate;

The bottom plate is provided with a sliding rail, and the movable frame is slidably arranged on the sliding rail;

the telescopic cylinder is arranged on the bottom plate, connected with the movable frame and electrically connected with the controller, and is used for driving the movable frame to slide.

In one possible solution, the top plate is provided with a rectangular through hole;

the movable frame comprises: the device comprises a base, a connecting block and a panel;

The base is slidably arranged on the sliding rail, the panel is connected with the base through the connecting block, and the connecting block is slidably arranged in the rectangular through hole in a penetrating mode, so that the panel is located on the outer side of the rectangular frame body.

In one possible solution, the bottom plate is provided with limit stops on both sides of the sliding rail, for limiting the sliding of the base.

In one possible solution, the milling mechanism and the grinding mechanism each further comprise: a mounting base;

the mounting seat is arranged on the panel, and the milling motor and the polishing motor are respectively arranged on the mounting seat.

In one possible solution, the milling mechanism further comprises: a limiting mechanism;

The limit mechanism comprises: the limiting wheel and the mounting block;

The mounting block is arranged on the mounting seat, and the limiting wheel is arranged on the mounting block through a rotating shaft and used for propping against a workpiece so as to limit the milling depth of the milling cutter.

In one possible solution, the base plate is provided with a connecting bracket provided with a connecting flange for connection with the industrial robot.

In one possible scheme, the grinding body of the grinding head is a wire brush.

Drawings

In order to more clearly illustrate the embodiments of the present utility model or the technical solutions of the prior art, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it will be obvious that the drawings in the following description are some embodiments of the present utility model, and that other drawings can be obtained according to these drawings without inventive effort to a person skilled in the art.

FIG. 1 is a schematic view of milling and polishing integrated equipment in an embodiment of the utility model;

FIG. 2 is an enlarged view of FIG. 1 at A in an embodiment of the utility model;

FIG. 3 is a schematic diagram of a floating force control mechanism in an embodiment of the present utility model;

FIG. 4 is another angular schematic view of a buoyancy control mechanism according to an embodiment of the present utility model;

FIG. 5 is an internal schematic view of a floating force control mechanism in an embodiment of the present utility model;

FIG. 6 is a schematic view of a top plate according to an embodiment of the present utility model;

FIG. 7 is a schematic view of a milling mechanism in an embodiment of the utility model;

Fig. 8 is a schematic view of a polishing mechanism in an embodiment of the utility model.

Reference numerals in the drawings:

1. An industrial robot; 2. a milling mechanism; 21. milling a motor; 22. a milling cutter; 23. a limiting wheel; 24. a mounting block; 3. a brushing mechanism; 31. polishing a motor; 32. polishing head; 4. a floating power control mechanism; 41. a fixed frame; 411. a rectangular frame; 412. a bottom plate; 413. a top plate; 4131. rectangular through holes; 414. a slide rail; 415. a limit stop; 416. a connecting bracket; 417. a connecting flange; 421. a telescopic cylinder; 4221. a base; 4222. a panel; 5. and (5) a mounting seat.

Detailed Description

For the purpose of making the objects, technical solutions and advantages of the embodiments of the present utility model more apparent, the technical solutions of the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model, and it is apparent that the described embodiments are some embodiments of the present utility model, but not all embodiments of the present utility model. 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.

In the description of the present utility model, it should be understood that the terms "center", "longitudinal", "lateral", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the drawings are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; the device can be mechanically connected, electrically connected and communicated; either directly, or indirectly, through intermediaries, may be in communication with each other, or may be in interaction with each other, unless explicitly defined otherwise. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

The technical scheme of the utility model is described in detail below by specific examples. The following embodiments may be combined with each other, and some embodiments may not be repeated for the same or similar concepts or processes.

As described in the background of the application, most existing belt sanders are fixed belt sanders, and a workpiece is manually or robotically grabbed to the belt sander to perform sanding operation on the workpiece.

The inventor of the application finds that the fixed abrasive belt machine is only suitable for polishing small workpieces under the limitation of the load and the operation range of a robot, and when large and heavy workpieces are encountered, the workpieces cannot be manually or robotically grabbed to the fixed abrasive belt machine for polishing. How to polish large-sized workpieces by adopting a belt sander is a problem faced by technicians in the industry.

In order to solve the above problems, the present inventors have proposed the technical solution of the present application, and specific embodiments are as follows:

Fig. 1 is a schematic view of a milling and polishing integrated apparatus according to an embodiment of the present utility model, fig. 2 is an enlarged view of a portion a in fig. 1, fig. 3 is a schematic view of a floating force control mechanism according to an embodiment of the present utility model, fig. 4 is another angular schematic view of a floating force control mechanism according to an embodiment of the present utility model, fig. 5 is an internal schematic view of a floating force control mechanism according to an embodiment of the present utility model, fig. 6 is a schematic view of a top plate according to an embodiment of the present utility model, fig. 7 is a schematic view of a milling mechanism according to an embodiment of the present utility model, and fig. 8 is a schematic view of a polishing mechanism according to an embodiment of the present utility model.

As shown in fig. 1 to 8, the milling and polishing integrated apparatus of the present embodiment includes: an industrial robot 1, a milling mechanism 2, a polishing mechanism 3, a floating power control mechanism 4 and a controller.

The floating force control mechanism 4 includes: a fixed frame 41 and two sets of floating assemblies.

The fixed frame 41 is arranged on an arm of the industrial robot 1, is fixedly connected with the arm of the industrial robot 1, and the industrial robot 1 drives the fixed frame 41 to move. The two floating components of the floating power control mechanism 4 are respectively provided on the fixed frame 41.

The milling mechanism 2 and the polishing mechanism 3 are respectively arranged on two floating components of the floating power control mechanism 4, and the milling mechanism 2 and the polishing mechanism 3 are arranged side by side in front and back on the floating power control mechanism 4.

The milling mechanism 2 includes: the milling machine comprises a milling motor 21 and a milling cutter 22, wherein a cutter shaft of the milling cutter 22 is connected with a motor shaft of the milling motor 21 through a connecting joint, and the milling motor 21 drives the milling cutter 22 to rotate so as to mill a workpiece to form a milling groove.

The polishing mechanism 3 includes: the grinding motor 31 and the grinding head 32, the grinding shaft of the grinding head 32 is connected with the motor shaft of the grinding motor 31 through a connecting joint, and the grinding motor 31 drives the grinding head 32 to rotate so as to grind and brush milling grooves of workpieces.

The two groups of floating components of the industrial robot 1, the milling motor 21, the polishing motor 31 and the floating force control mechanism 4 are respectively and electrically connected with a controller, and the controller controls each mechanism to execute corresponding preset actions through a preset program.

In the embodiment, the equipment is controlled by the PLC, the industrial robot drives the milling mechanism and the polishing mechanism to move to the workpiece processing position, and the milling cutter of the milling mechanism is positioned in front of the polishing head of the polishing mechanism. A milling cutter of the milling mechanism is used for milling on the surface of the workpiece to form milling grooves. And then the grinding head of the grinding mechanism grinds and brushes the milling groove through the milling groove milled by the milling cutter, and removes edges, sharp corners, burrs and the like of the milling groove, so that the milling groove reaches the required precision. The milling mechanism and the grinding mechanism are respectively arranged on the floating assembly of the floating power control mechanism, and the floating assembly drives the milling mechanism and the grinding mechanism to move respectively, so that constant force milling and grinding of workpieces are realized, and the milling and grinding effects are better.

Through the above-mentioned content, it is difficult to find that milling and polishing integrated equipment of this embodiment, through setting up industrial robot, milling mechanism, grinding machanism, floating force control mechanism and controller, the floating force control mechanism includes: fixed frame and two sets of floating components, fixed frame sets up on industrial robot, and milling mechanism and grinding mechanism set up respectively on two sets of floating components, and milling mechanism includes: milling motor and milling cutter, grinding machanism includes: a polishing motor and a polishing head. The milling and polishing integrated equipment of the embodiment is controlled by a PLC controller, an industrial robot drives a milling mechanism and a polishing mechanism to move to a workpiece processing position, and a milling cutter is positioned in front of a polishing head. Milling cutters of the milling mechanism are used for processing and milling on the surface of a workpiece, and milling grooves are formed on the workpiece; and then the polishing head of the polishing mechanism polishes and brushes the milling groove through the milling groove, and removes edges, sharp corners, burrs and the like of the milling groove, so that the milling groove reaches the required precision, and the processing efficiency is improved. The milling mechanism and the grinding mechanism are respectively arranged on the floating assembly of the floating power control mechanism, and the floating assembly drives the milling mechanism and the grinding mechanism to move, so that the constant force milling and grinding of the workpiece are realized, and the milling and grinding effects are better.

Alternatively, as shown in fig. 3, 4, 5 and 6, the milling and polishing integrated apparatus in the present embodiment, the floating assembly includes: a telescopic cylinder 421 and a movable frame.

The fixing frame 41 includes: rectangular frame 411, bottom plate 412, and top plate 413.

The bottom plate 412 and the top plate 413 are respectively disposed at two sides of the rectangular frame 411, and are fixedly connected to the rectangular frame 411. The bottom plate 412 is provided with a sliding rail 414, the movable frame is slidably arranged on the sliding rail 414 of the bottom plate 412, and the milling mechanism 2 and the polishing mechanism 3 are respectively arranged on the movable frame.

The expansion cylinder 421 is provided on the bottom plate 412 and is located in the rectangular frame 411. The movable rod of the telescopic cylinder 421 is connected with the movable frame, and the telescopic cylinder 421 is electrically connected with the controller.

In this embodiment, the controller controls the expansion and contraction of the movable rod of the expansion and contraction cylinder through the pneumatic control component, and the movable rod of the expansion and contraction cylinder drives the movable frame to slide along the sliding rail when expanding and contracting, so that the milling mechanism 2 and the polishing mechanism 3 are driven to float, and constant force milling and polishing of a workpiece are realized.

Further, in the milling and polishing integrated apparatus of the present embodiment, the top plate 413 of the fixing frame 41 is provided with rectangular through holes 4131, and two rectangular through holes 4131 are provided.

The movable frame comprises: a base 4221, a faceplate 4222, and a connection block.

The base 4221 of the movable frame is disposed in the rectangular frame 411, and the base 4221 is slidably clamped on the sliding rail 414 of the bottom plate 412. The connecting block (not shown) of the movable frame is slidably inserted into the rectangular through hole 4131 of the top plate 413 of the fixed frame 41, the panel 4222 of the movable frame is located at the outer side of the rectangular frame 411, the panel 4222 is connected with the base 4221 through the connecting block, and the milling mechanism 2 and the polishing mechanism 3 are respectively arranged on the panels 4222 of the movable frames of the two groups of floating assemblies.

In this embodiment, make the panel be located the outside of fixed frame through the connecting block, mill mechanism and grinding machanism and set up respectively on the panel of movable frame, make things convenient for milling mechanism and grinding machanism's installation fixed.

Further, in the milling and polishing integrated device of the present embodiment, the bottom plate 412 of the fixed frame 41 is provided with limit stops 415 on the front and rear sides of the slide rail 414, the base 4221 of the movable frame is disposed on the slide rail 414, and the movement of the base 4221 is stopped when the base 4221 contacts and abuts against the limit stops 415, so as to prevent the base 4221 from sliding out of the slide rail 414.

Further, the milling and polishing integrated device in this embodiment, the milling mechanism 2 and the polishing mechanism 3 each further include: and a mounting seat 5.

The milling motor 21 of the milling mechanism 2 and the polishing motor 31 of the polishing mechanism 3 are respectively fixedly arranged on the mounting seat 5 in a penetrating way.

The mount 5 is provided on the panel 4222 of the movable frame. And the panel 4222 of the movable frame is provided with a plurality of groups of bolt holes, and the mounting seat 5 is fixed on the bolt holes of the panel 4222 through the position adjustment of the fixing bolts so as to adjust the heights of the milling cutter 22 and the polishing head 32, thereby realizing the adjustment of the milling groove depth.

Further, as shown in fig. 1, 2 and 7, the milling and polishing integrated apparatus in the present embodiment, the milling mechanism 2 further includes: and a limiting mechanism.

The stop gear includes: a spacing wheel 23 and a mounting block 24.

The mounting block 24 is arranged on the mounting seat 5, and the limiting wheel 23 is rotatably arranged on the mounting block 24 through a rotating shaft and is positioned on one side of the milling cutter 22. The limiting wheel 23 is used to abut against the surface of the workpiece to limit the milling depth of the milling cutter 22.

In this embodiment, spacing wheel and milling cutter set up on the mount pad, and the bottom of spacing wheel is higher than the bottom of milling cutter, and the difference in height between the two is the machining depth of work piece milling flutes. During operation, the milling motor drives the milling cutter to rotate so as to mill the workpiece, the limiting wheel rolls along the surface of the workpiece to limit the milling cutter, and the milling cutter is prevented from excessively moving downwards under the drive of the floating force control mechanism, so that the depth of a milling groove is prevented from exceeding the required range.

Further, as shown in fig. 4, in the milling and polishing integrated device in this embodiment, the fixing frame 41 is provided with a connecting bracket 416 on the back surface of the bottom plate 412, the fixing frame 41 is provided with a connecting flange 417 on the top end of the connecting bracket 416, and the connecting flange 417 is connected with a fixing flange of the industrial robot 1, so that the floating power control mechanism 4 is convenient to be connected and fixed with the industrial robot 1.

Further, as shown in fig. 2 and 8, in the milling and polishing integrated apparatus of this embodiment, the polishing body of the polishing head 32 of the polishing mechanism 3 is a wire brush.

The wire brush has required rigidity and hardness, is annularly arranged at the end part of the polishing head 32, and polishes and brushes the milling groove of the workpiece, and of course, the polishing body of the polishing head can also select the structure of a grinding wheel and the like.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be a direct contact between the first feature and the second feature, or an indirect contact between the first feature and the second feature through an intervening medium.

Moreover, a first feature "above," "over" and "on" a second feature may be a first feature directly above or obliquely above the second feature, or simply indicate that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is at a lower level than the second feature.

In the description of the present specification, reference to the description of the terms "one embodiment," "some embodiments," "examples," "particular examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present utility model, and not for limiting the same; although the utility model has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the utility model.

Claims

1. Milling and polishing integrated equipment is characterized by comprising: the device comprises an industrial robot, a milling mechanism, a polishing mechanism, a floating force control mechanism and a controller;

2. The milling and grinding integrated apparatus of claim 1, wherein the float assembly comprises: a telescopic cylinder and a movable frame;

3. The milling and polishing integrated apparatus according to claim 2, wherein the top plate is provided with a rectangular through hole;

4. A milling and grinding integrated device according to claim 3, wherein the base plate is provided with limit stops on both sides of the slide rail for limiting the sliding movement of the base.

5. The milling and grinding integrated apparatus of claim 3 wherein said milling mechanism and said grinding mechanism each further comprise: a mounting base;

6. The milling and grinding integrated apparatus of claim 5, wherein the milling mechanism further comprises: a limiting mechanism;

The limit mechanism comprises: the limiting wheel and the mounting block;

7. The milling and polishing integrated apparatus according to claim 2, wherein the base plate is provided with a connection bracket provided with a connection flange for connection with an industrial robot.

8. The milling and polishing integrated apparatus according to claim 1, wherein the polishing body of the polishing head is a wire brush.