TWM609654U - Automatic grinding disc replacement mechanism of autonomous buffering planing/grinding wheel - Google Patents

Abstract

An automatic grinding wheel replacement mechanism for planing and grinding wheels with autonomous buffering. The structure includes a planing and grinding wheel on a robotic arm, and is electrically connected to an electronic control system so that it can be driven by the robotic arm to perform automatic grinding operations. The planer grinding wheel includes a power motor, a cutter bar, and a grinding wheel. The grinding wheel is fixed on one end of the cutter bar, and the cutter bar is clamped on the main shaft at one end of the power motor, and is locked and fixed by a lock cover; It is mainly to set a positioning groove on the tool bar, so that the tool bar can be set in the setting part of the tool holder, and a restriction unit is set at an appropriate place adjacent to the setting part. When the planing grinding wheel needs to replace the grinding wheel, The mechanical arm will move to make the spindle clamp the new tool bar, and then make the several recesses adjacent to the outer edge of the lock cover come into contact with the limiting parts of the limiting units, which generates resistance to the lock cover, and With the slow rotation of the main shaft, the lock cover can lock the main shaft to achieve the purpose of automatically replacing the grinding wheel.

Description

Automatic grinding wheel replacement mechanism for planing grinding wheel with independent buffering

This creation is part of the creation of a planing grinding wheel, in particular, it refers to an improvement in the structure of a planing grinding wheel that can be automatically polished by the action of a mechanical arm.

According to, a grinder is a processing machine that uses a grinding wheel to grind objects, cut off hard materials, or polish the surface of the object to be processed or display special materials. As shown in Figure 17, the prior art planing and grinding wheels have manual and The fixed type, with roughly the same structure, mainly includes a grinder body 91, a sleeve 92 and a grinding wheel 93. The grinding wheel 93 is a replaceable consumable material and is installed on the planing grinding wheel body 91 through the sleeve 92 After loading, a fixing member 94 is set on the outside of the grinding wheel 93, so that the grinding wheel 93 is sandwiched by the sleeve 92 and the fixing member 94. The main body 91 of the grinder can drive the grinding wheel 93 to rotate. Under high-speed rotation, the grinding wheel 93 is bonded to The abrasive particles on the periphery of the grinding wheel 93 can be used for grinding or cutting objects. With the precise development of automation equipment, the shortage of human resources, the increase in labor costs and other factors, the operation of planing grinding wheel grinding is also necessary for the development of automation. In the operation of automatic grinding of sander wheels, the grinding wheel is automatically replaced. It is an important task, and it is necessary to develop it.

In view of this, the creator of this creator has conducted in-depth discussions on the aforementioned customary creation issues, and has been actively seeking solutions through years of experience in R&D and manufacturing in related industries. After long-term research and development, he has finally successfully developed this creation. "Planer grinding wheel with independent buffering mechanism for automatic replacement of grinding wheels" to improve the problem of custom creation.

The main purpose of this creation is to provide a "automatic grinding wheel replacement mechanism for planing grinding wheels with independent buffering", which enables the planing grinding wheel to have a simple and stable automatic replacement grinding wheel structure when the planing grinding wheel is driven by a mechanical arm for grinding operations. .

In order to achieve the above-mentioned creative purpose, the creation of the "Automatically Changing Grinding Wheel Mechanism for Planing Grinding Wheel with Independent Buffering" is composed of a planing grinding wheel, which is attached to a mechanical arm and is electrically connected to a grinding wheel. The electronic control system allows it to be driven by the robotic arm to perform automatic grinding operations. The planer grinding wheel includes a power motor, a buffer motor, a cutter bar and a grinding wheel. The grinding wheel is locked to the cutter bar by a screw and a gasket. One end, and the shaft of the other end of the tool bar is clamped on the spindle at one end of the power motor, and fixed by a lock cover; and the tool bar is provided with a positioning groove, which can be set in a changer On the tool holder of the knife mechanism, at least one setting part is formed on one side of the tool holder for inserting and setting the positioning groove of the tool bar, and a restriction unit is provided at an appropriate place adjacent to the setting part. The unit includes an arc-shaped seat body and a number of limit bodies arranged at the inner edge of the seat body at equal angles. Each of the limit body inner edges is provided with an elastic member and a limit member, and one end of the limit member is outwards Protruding, the other end is in contact with the elastic member, and it can be expanded and contracted outward through the elastic force of the elastic member. When the planing and grinding wheel is to be replaced, the mechanical arm will move to make the spindle clamp the new knife. Rod, and then make the adjacent recesses of the outer edge of the lock cover come into contact with the stoppers, which generates resistance to the lock cover, and can make the lock cover lock with the slow rotation of the main shaft The spindle is fixed to achieve the purpose of automatically changing the grinding wheel. In addition, the buffer motor is assembled on the upper end of the power motor, and includes a stator, a mover, and a housing sleeve. The stator is fixed on the first plate body, and the outer edge of the stator is wound with a coil, and the first plate body Fixed on the robot arm; secondly, the mover is sheathed on the outer edge of the stator, and a second plate is provided on the outer end of the second plate. The four corners of the second plate are formed with through holes for screws to pass through. The second plate body is locked on the power motor; and the shell sleeve is arranged between the first plate body and the second plate body, and one end is fixed to the first plate body. On a plate body, and there is a gap between the second plate body and the housing sleeve, and the buffer motor is electrically connected to the electronic control system. When the planing and grinding wheel performs grinding operations, the buffer motor is attached to the stator A pressure acting on the mover is generated. If the resistance generated by the object contacted during the grinding process of the planer grinding wheel is greater than the pressure, the power motor will automatically move along the gap for a buffered retracting action. Therefore, when the mechanical arm drives the spindle of the power motor to clamp the tool bar, the restricting unit is used to clamp the lock cover to fix it, and then the spindle rotates slowly in the forward or reverse direction to make the lock cover lock the tool. Rod, to achieve the effect of automatically replacing the grinding wheel, increase the efficiency of the grinding wheel for grinding objects, and at the same time, the installation of the buffer motor can also reduce accidents caused by excessive impact force during the automatic grinding process, ensuring the safety and stability of the grinding quality .

(10): Robotic arm

(20): Planing grinding wheel

(30): Tool change mechanism

(31): Tool holder

(311): Setting Department

(312): aisle

(313): Positioning midpoint

(32): Limit unit

(321): Block

(322): Limit body

(323): Elastic

(324): limit piece

(33): Slide rail

(34): Power cylinder

(341): drive shaft

(35): The first sensing element

(36): Elastic clip

(37): The second sensing element

(40): Electronic control system

(50): Power motor

(51): Spindle

(52): Bushing

(53): lock cover

(531): Depressed part

(54): Screw hole

(60): Buffer motor

(61): Stator

(62): mover

(63): Shell sleeve

(631): Limit protrusion

(64): The first board

(65): Coil

(66): The second board

(661): Through hole

(67): Screw

(68): Gap

(69): The third board

(691): locating slot

(70): Toolholder

(71): Positioning slot

(72): Shaft

(721): oblique cone

(73): Keyhole

(74): Screw

(75): Gasket

(80): Grinding wheel

(81): The first limit switch

(811): first touch part

(82): The second limit switch

(821): The second touch part

Figure 1: The three-dimensional combined appearance of this creative planing and grinding wheel.

Figure 2: It is a three-dimensional assembly diagram of the original planer grinding wheel without clamping tool bar.

Figure 3: The three-dimensional exploded view of this creative planing grinding wheel.

Figure 4: This is the plan view of the planing and grinding wheel of this creation.

Figure 5: A three-dimensional view of the positioning tool bar of this creative tool change mechanism.

Figure 6: The three-dimensional schematic diagram of the automatic replacement of the grinding wheel in this creation.

Figure 7: This is a cross-sectional view of the original tool change mechanism and the lock cover in a preliminary embedded setting.

Figure 8: A cross-sectional view showing the rotation of the lock cover restricted by the tool change mechanism of the original creation.

Figure 9: The front schematic diagram of the clamping tool bar of the second tool changing embodiment of the creative tool changing mechanism.

Figure 10: A schematic diagram of the clamping and positioning of the tool bar of the second embodiment of the tool changing mechanism of this creative.

Figure 11: It is a schematic diagram of the second embodiment of the tool change mechanism of this creative tool change and the set position of the lock cover

Figure 12: The front schematic diagram of the clamping tool bar of the third tool changing embodiment of the creative tool changing mechanism.

Figure 13: is a schematic diagram of the clamping and positioning of the tool bar of the third tool changing embodiment of the creative tool changing mechanism.

Figure 14: It is a cross-sectional schematic diagram of the buffer motor of the original planer grinding wheel for the retracting action.

Figure 15: It is a plan view of the limit switch installed in the buffer motor of this creation.

Figure 16: Another plan view of the limit switch installed in the buffer motor of this creation.

Figure 17: A sectional view of the combination of custom creation.

Please refer to Figure 1 to Figure 14. The creation of the "Automatic Grinding Wheel Replacement Mechanism for Planing Grinding Wheel with Independent Buffering" consists of a mechanical arm (10), planing grinding wheel (20), and tool changing mechanism (30). among them:

The mechanical arm (10) is generally a mechanical device that can be controlled by computer numerical values. An electronic control system (40) can be used to control its operating stroke and the linkage and operating relationship with other mechanism components. This is generally known. Technology, no longer go into details.

The planing grinding wheel (20) is assembled on the mechanical arm (10), and is electrically connected to the electronic control system (40). The structure includes a power motor (50), a buffer motor (60), and a tool bar (10). 70) and grinding wheel (80), of which:

The power motor (50) is a general servo motor. One end of the main shaft (51) is protruding, and the end of the main shaft (51) outputting power is provided with a sleeve part (52) that can be used to clamp the tool bar (70). A lock cover (53) is screwed on the outer edge of the shaft sleeve part (52) for locking and fixing the clamped knife rod (70). In addition, a plurality of screw holes (54) are formed on the end surface of the other end of the power motor (50), which can be used for screw-locking and fixing the buffer motor (60).

The composition of the buffer motor (60) includes a stator (61), a mover (62) and a housing sleeve (63), the stator (61) is fixed on the first plate (64), the outer edge of which is wound with a coil (65), and the first plate (64) is fixed On the robot arm (10); secondly, the mover (62) is sheathed on the outer edge of the stator (61), and the outer end is provided with a second plate (66), the second plate (66) has four corners A through hole (661) is formed on the upper surface for a screw (67) to pass through and lock the second plate (66) to the screw hole (54) of the power motor (50). The shell sleeve (63) is arranged between the first plate (64) and the second plate (66), and one end is fixed on the first plate (64), and the second plate There is a large space gap (68) between the (66) and the outer casing (63).

The cutter bar (70) is generally in the shape of an inverted T, with a positioning groove (71) on the circumferential surface of the larger diameter, a shaft (72) protruding from the upper end, and a lock hole (73) at the center of the bottom end. ) For a screw (74) and a gasket (75) to lock the grinding wheel (80) at the lock hole (73), and the outer end of the shaft (72) forms an oblique cone ( 721).

The tool change mechanism (30) is used to lock the tool bar (70) of the inherent grinding wheel (80) after positioning, so that the mechanical arm (10) can drive the sleeve portion (52) of the power motor (50) Clamping tool bar (70); The tool change mechanism (30) is composed of a tool holder (31) and a limit unit (32), in which:

The tool holder (31) is formed with at least one setting part (311) on the outer side of a panel, and each setting part (311) is in a U-shaped structure with a walkway (312) and a positioning midpoint (313). The positioning groove (71) of the knife bar (70) is embedded in a position for positioning the knife bar (70) on the knife holder (31).

The limit unit (32) includes an arc-shaped seat body (321), and a plurality of limit bodies (322) arranged at the inner edge of the seat body (321) at equal angles, and each limit book The inner edge of the body (322) is provided with an elastic member (323) and a limiting member (324). One end of the limiting member (324) protrudes outward, and the other end is in contact with the elastic member (323), which can penetrate The elastic force of the elastic member (323) acts to expand and contract outward.

As shown in Figure 7 and Figure 8, when the planing grinding wheel (20) needs to replace the grinding wheel (80), the mechanical arm (10) will drive the spindle (51) to move so that the sleeve part (52) clamps the tool bar After (70), make the several recesses (531) adjacent to the outer edge of the lock cover (53) come into contact with the stoppers (324) to generate resistance to the lock cover (53) to prevent it After rotating, the power motor (50) then drives the main shaft (51) to rotate counterclockwise slowly, so that the lock cover (53) locks the cutter bar (70) to achieve the purpose of automatically replacing the grinding wheel.

In view of the above, as shown in Figures 9-11, the creative tool change mechanism (30) in the application embodiment changes, the seat body (321) can be set on a slide rail (33) and placed on the seat A drive shaft (341) of a power cylinder (34) is connected to the middle section of the rear end of the body (321). At the same time, a shaft (72) corresponding to the shaft (72) of the cutter bar (70) is provided on the upper part of the tool holder (31). The first sensing element (35), the first sensing element (35) and the power cylinder (34) are electrically connected to the electronic control system (40), when the mechanical arm (10) drives the spindle (51) to clamp When the shaft (72) of the tool bar (70), the first sensing element (35) will send a signal to the electronic control system (40), and the electronic control system (40) will send out a signal control after receiving the signal The power cylinder (34) drives the transmission shaft (341) to drive the seat body (321) to move to position along the slide rail (33), so that the limit pieces (324) are embedded in the lock cover (53) In the recess (531), the power motor (50) then drives the main shaft (51) to rotate counterclockwise slowly, so that the lock cover (53) locks the cutter bar (70) to achieve the purpose of automatically replacing the grinding wheel .

Furthermore, as shown in Figures 12 and 13, the third structure of the application embodiment of the creative tool change mechanism (30) is to extend the aisle (312) of the setting portion (311) a greater distance, and Two opposite elastic clamps (36) are arranged at appropriate places on the periphery of the positioning midpoint (313), and the circular concave part of the two elastic clamps (36) is used to clamp and position the cutter rod (70), and at the same time, the cutter A second sensing element (37) is provided at an appropriate location below the frame (31) corresponding to the periphery of the positioning midpoint (313), and the second sensing element (37) is electrically connected to the electronic control system (40); When the grinding wheel (20) needs to replace the grinding wheel (80), the robot arm (10) first moves the spindle (51) to clamp the tool bar (70), and then moves inward to the positioning midpoint (313) , That is, a two-stage clamping and positioning actuation. When the tool bar (70) is located at the positioning midpoint (313), the second sensing element (37) will be touched, and the second sensing element (37) will be Send a signal to the electronic control system (40), the electronic control system (40) then controls the power motor (50) to drive the spindle (51) to rotate counterclockwise slowly, so that the lock cover (53) locks the tool bar (70), to achieve the purpose of automatically replacing the grinding wheel.

In addition, as shown in Fig. 14, when the planing grinding wheel (20) performs grinding operation, the buffer motor (60) will form a pressure on the mover (62). If the planing grinding wheel (20) is grinding, the grinding wheel When the resistance generated by the object contacted by the disc (80) is greater than the pressure value, the power motor (50) will automatically move along the gap (68) as a buffered retraction action, reducing the damage of the grinding wheel (80). And when the pressure of the grinding wheel (80) of the planing grinding wheel (20) is less than the pressure generated by the buffer motor (60), the power motor (50) will be outwards by the pressure generated by the buffer motor (60) Push to return to the original position; and in order to accurately return to the original position, an optical ruler (not shown in the figure) can be installed on the outer edge of the housing (63) of the buffer motor (60). Electrically connect the electronic control system (40), It can sense the distance value of the power motor (50) that the grinding wheel (80) produces due to the resistance of grinding the workpiece, and then transfer this value back to the electronic control system (40), so that the power can be The motor (50) accurately returns to the original position.

In view of the above, as shown in Figures 15 and 16, a third plate (69) can be fixed on an outer surface of the second plate (66) of the buffer motor (60) of the present invention. ) A positioning groove (691) is provided at an appropriate place in the middle of the board surface. At the same time, the outer edge surface of the housing sleeve (63) corresponding to the positioning groove (691) is convexly provided with a limiting protrusion (631). The limiting protrusion ( 631) can just be nested in the positioning groove (691). In addition, a first limit switch (81) and a second limit switch (82) are respectively provided at two ends of the third plate body (69) adjacent to the positioning slot (691). The two limit switches (81, 82) ) Is electrically connected to the electronic control system (40), each of which is provided with a touch portion (811, 821) on the outer side. When the first limit switch (81) is installed on the third plate body (69), The first touch portion (811) is located above a proper place corresponding to one end of the positioning groove (691), and the second touch portion (821) is positioned above a proper place corresponding to the other end of the positioning groove (691); accordingly When the buffer motor (60) cooperates with the power motor (50) to drive the grinding wheel (80) to grind the workpiece, as shown in FIG. 14, when the object contacted by the grinding wheel (80) produces greater resistance than the buffer When the pressure value of the motor (60) is running, the retracting movement of the power motor (50) will synchronously drive the displacement of the third plate (69), and when the third plate (69) is displaced, it can be Positioning through the cooperation of the limiting protrusion (631) and the positioning groove (691), and if the retracting stroke of the power motor (50) exceeds an abnormality, the limiting protrusion (631) will touch the first The touch part (811), the first limit switch (81) will transmit the signal to the electronic control unit (40), and the electronic control unit (40) then The preset condition is to stop or reduce the speed of the power motor (50). Secondly, during the grinding process of the planer grinding wheel (20), if the pressure value generated by the buffer motor (60) is abnormal, and the limit convex portion (631) touches the second touch portion (821), The second limit switch (82) will transmit the signal to the electronic control unit (40), and the electronic control unit (40) will stop or reduce the speed of the power motor (50) according to preset conditions to make the planer The automatic grinding operation of the grinding wheel (20) is safer.

Thereby, using the above-mentioned components, when the mechanical arm (10) drives the spindle (51) of the power motor (50) to clamp the tool bar (70), the restriction unit (30) is used to block the lock cover (53). ) Is fixed by the rotation of the main shaft (51), and then the main shaft (51) is rotated at a slow speed to make the lock cover (53) lock the cutter bar (70) to achieve the effect of automatically replacing the grinding wheel, increasing the efficiency of grinding objects by the planer grinding wheel, and at the same time The installation of the buffer motor (60) can also reduce accidents caused by excessive impact force in the automatic grinding process of the grinding wheel (80), and ensure the safety and stability of the grinding quality.

(20): Planing grinding wheel

(50): Power motor

(51): Spindle

(52): Bushing

(53): lock cover

(531): Depressed part

(62): mover

(63): Shell sleeve

(64): The first board

(66): The second board

(68): Gap

(70): Toolholder

(71): Positioning slot

(80): Grinding wheel

Claims (5)

An automatic grinding wheel replacement mechanism for planing and grinding wheels with autonomous buffering. The structure includes a planing and grinding wheel. The planing and grinding wheel is attached to a robotic arm and is electrically connected to an electronic control system so that it can be driven by the robotic arm. For automatic grinding operation, the planer grinding wheel includes at least a power motor, a tool bar and a grinding wheel. The grinding wheel is fixed to one end of the tool bar, and the tool bar is clamped on the main shaft of one end of the power motor and used A lock cover is locked and fixed, and is characterized in that: the knife bar is provided with a positioning groove, and the knife bar can be arranged on a tool holder of a tool changing mechanism. The tool holder is tied to a panel to form at least one setting part. For the positioning groove of the tool bar to be embedded in the setting position, a restriction unit is provided at an appropriate place adjacent to the setting part. The restriction unit is provided with a number of limit parts corresponding to the outer edge surface of the tool bar. When the planing grinding wheel needs to be replaced When the wheel is grinding, the mechanical arm will move to make the spindle clamp the new tool bar, and then make the adjacent recesses on the outer edge of the lock cover come into contact with the stoppers, which generates resistance to the lock cover. With the slow rotation of the main shaft, the lock cover can lock the cutter bar, achieving the purpose of automatically replacing the grinding wheel. According to claim 1, the automatic grinding wheel replacement mechanism for planing grinding wheels with autonomous buffering, wherein the limit unit includes an arc-shaped seat body, and a plurality of limit bodies arranged at the inner edge of the seat body at equal angles, each The inner edge of the limiting body is provided with an elastic member and a limiting member. One end of the limiting member protrudes outward, and the other end is in contact with the elastic member, and can expand and contract outward through the elastic force of the elastic member Actuates to reach the buckling contact with the recessed part of the outer edge surface of the lock cover to generate resistance. According to claim 2, the automatic grinding wheel replacement mechanism for planing grinding wheels with autonomous buffering, wherein the seat system can be set on a slide rail and fit in the middle section of the rear end of the seat body When connecting to the drive shaft of a power cylinder, at the same time, a first sensing element is provided at the upper part of the tool post corresponding to the outer periphery of the shaft above the tool bar. The first sensing element and the power cylinder are electrically connected to the electronic control system. Connection, when the robotic arm drives the shaft of the spindle to clamp the tool bar, the first sensing element will transmit a signal to the electronic control system, and the electronic control system will send a control signal to command the power after receiving the signal The cylinder drives the transmission shaft to drive the seat body to move along the sliding rail to a position, so that the limiting parts are in contact with the concave portion of the outer edge surface of the lock cover. According to claim 1, the automatic grinding wheel replacement mechanism for planing and grinding wheels with autonomous buffering, wherein when the tool bar is set on the setting part of the tool holder, two opposite elastic clamps can be arranged at appropriate places on the periphery of the setting part The two elastic clamps are used to clamp and position the cutter bar. When the planing grinding wheel is to be replaced with the grinding wheel, the mechanical arm first moves the spindle to clamp the cutter bar, and then moves inward to lock the lock cover. At the positioning midpoint, and at the same time, a second sensing element is provided at an appropriate place below the tool post corresponding to the positioning midpoint of the setting part. When the tool bar is located at the positioning midpoint, the second sensing element will be touched. The two sensing elements send signals to the electric control system, and the electric control system controls the rotation of the main shaft of the power motor to make the lock cover lock the tool bar. According to claim 1, the automatic grinding wheel replacement mechanism for planing and grinding wheels with autonomous buffering, wherein the planing and grinding wheel may further include a buffer motor, which is assembled on the upper end of the power motor and includes a stator and a mover. And a housing sleeve, the stator is fixed on the first plate body, the outer edge of which is wound with a coil, and the first plate body is fixed on the robot arm; secondly, the mover is sleeved on the outer edge of the stator, The outer end is provided with a second plate body, the four corners of the second plate body are formed with through holes for screwing through the second plate body to lock the second plate body on the power motor; and the housing sleeve is attached to the power motor. Between the first board and the second board, one end is fixed on the first board, and there is a gap between the second board and the casing, and the buffer motor is electrically connected to the electric control System, when it's time to plan When the grinding wheel is grinding, the buffer motor will generate a pressure on the stator that acts on the mover. If the resistance generated by the object contacted by the planer grinding wheel during grinding is greater than the pressure, the power motor will automatically move along the The clearance movement is used as a buffered retraction action.

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