WO2021017566A1 - 一种机械加工用钣金抛光机器人及其使用方法 - Google Patents

一种机械加工用钣金抛光机器人及其使用方法 Download PDF

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Publication number
WO2021017566A1
WO2021017566A1 PCT/CN2020/089279 CN2020089279W WO2021017566A1 WO 2021017566 A1 WO2021017566 A1 WO 2021017566A1 CN 2020089279 W CN2020089279 W CN 2020089279W WO 2021017566 A1 WO2021017566 A1 WO 2021017566A1
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WO
WIPO (PCT)
Prior art keywords
shaft
plate
sheet metal
fixed
bevel gear
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PCT/CN2020/089279
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English (en)
French (fr)
Inventor
刘敏
吴利太
柳明宁
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南京昱晟机器人科技有限公司
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Publication of WO2021017566A1 publication Critical patent/WO2021017566A1/zh

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Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B29/00Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents
    • B24B29/02Machines or devices for polishing surfaces on work by means of tools made of soft or flexible material with or without the application of solid or liquid polishing agents designed for particular workpieces
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B41/00Component parts such as frames, beds, carriages, headstocks
    • B24B41/02Frames; Beds; Carriages
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B24GRINDING; POLISHING
    • B24BMACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
    • B24B47/00Drives or gearings; Equipment therefor
    • B24B47/10Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces
    • B24B47/12Drives or gearings; Equipment therefor for rotating or reciprocating working-spindles carrying grinding wheels or workpieces by mechanical gearing or electric power
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J11/00Manipulators not otherwise provided for
    • B25J11/005Manipulators for mechanical processing tasks
    • B25J11/0065Polishing or grinding

Definitions

  • the invention relates to the field of mechanical processing, in particular to a sheet metal polishing robot for mechanical processing and a use method thereof.
  • Polishing is the use of polishing tools and abrasive particles or other polishing media to modify the surface of the workpiece.
  • the high-speed rotating polishing wheel (circumferential speed above 20 m/s) is pressed against the workpiece, so that the abrasive can roll and micro-cut the surface of the workpiece, thereby obtaining a bright machined surface.
  • the surface roughness can generally reach Ra0.63 ⁇ 0.01 micron; when non-greasy matting polishing agent is used, the bright surface can be matted to improve the appearance.
  • polishing is used for finishing.
  • most of the existing polishing devices or robots do not have the function of compound motion, and can only work on workpieces with a fixed width or length. Processing, and then processing other parts by adjusting the position of the workpiece, obviously there is a problem of limited processing range.
  • the present invention provides a sheet metal polishing robot for machining and a method of use thereof.
  • a sheet metal polishing robot for mechanical processing includes a fixed frame body and a walking polishing mechanism arranged on the fixed frame body.
  • the fixed frame body includes a bottom plate, columns fixedly mounted on both sides of the bottom plate, and a top plate connected to the upper ends of the columns on both sides
  • the walking polishing mechanism includes a mounting plate, a servo motor installed in the center above the mounting plate, a driving shaft connected to the output end of the servo motor, a swing component connected to the driving shaft, and a walking component;
  • the swing component includes a rotating shaft fixedly connected to the lower end of the driving shaft ,
  • the protruding post fixedly connected under the end of the rotating shaft, the guide groove fitted with the protruding post, the slide plate fixed under the guide groove, and the guide rod slidably connected with the slide plate, wherein the lower end of the mounting plate is fixedly installed on both sides
  • the two ends of the plate and the guide rod are fixed on the hanging plate, the swing component drives the tool to move back and forth horizontal
  • the servo motor is electrically connected to the power supply and the controller through a wire
  • the active shaft passes through the mounting plate and is connected to the bearing
  • the controller controls the working state of the servo motor, which can specifically realize the active shaft The positive and negative rotation.
  • the walking assembly includes a first bevel gear fixed at the lower part of the driving shaft, a second bevel gear meshed with the first bevel gear, and a second bevel gear that is fixed and rotatably arranged under the mounting plate.
  • the rack is installed on a support plate fixed on the side wall of the column, and the driving shaft drives the gear to rotate while driving the lateral movement, and cooperates with the rack to move longitudinally to realize compound movement.
  • the processing component includes a sleeve sleeved on the drive shaft, a fixing plate rotatably connected to the sleeve and fixed under the slide plate, and a second transmission belt connected to the sleeve
  • the transmission shaft is provided with a limiting protrusion
  • the sleeve is provided with a limiting groove that matches with the limiting protrusion on the transmission shaft, and the sleeve passes through the fixed plate and bears the bearing
  • the connection, the limit groove and the limit protrusion are constrained so that the two can slide together but cannot rotate relatively.
  • the shaft bearing is connected to the lower part of the fixed plate, and the bevel gear set includes a third bevel gear fixed on the end of the shaft, and a fourth bevel gear meshed with the third bevel gear and fixed on the main shaft ,
  • the upper bearing of the main shaft is connected to the lower surface of the sliding plate, and the transmission between the bevel gear sets is reliable, and no slipping occurs.
  • the upper sides of both sides of the mounting plate are rotatably connected with pressure wheels, the upper part of the pressure wheel is attached to the lower surface of the top plate, and the pressure wheel cooperates with the gear to constrain the entire walking mechanism on the entire frame body to improve stability .
  • a method for using a sheet metal polishing robot for mechanical processing includes the following steps:
  • Step one load the material, and fix the sheet metal parts to be processed on the bottom plate;
  • Step two reset, reset the movement of the grinding disc to the front side of the workpiece
  • Step three processing, after the grinding disc is reset to the initial position, start the switch so that the active shaft will work in the positive direction to drive the grinding disc to move longitudinally while rotating;
  • Step four secondary processing, by padding the workpiece, adjusting the polishing thickness, and starting the controller in the reverse direction to make the grinding disc work and polishing in the reverse direction;
  • Step five inspection, use measuring tools to inspect the surface roughness of the sheet metal parts.
  • the reset is operated by a servo motor
  • the forward start controller makes the active shaft rotate forward
  • the reverse start controller makes the active shaft reverse to control the initial position of the grinding disc.
  • the robot drives the tool to reciprocate horizontally through the swinging component, and the walking component drives the tool to move longitudinally, realizing all-round and large-area walking and polishing of sheet metal parts, and the rotating transmission shaft drives the casing to follow the rotation, and the slide plate also drives the casing to reciprocate horizontally.
  • the rotating sleeve drives the rotating shaft to rotate.
  • the rotating shaft uses the bevel gear set to drive the main shaft and the grinding disc to rotate, that is, the grinding disc moves laterally while rotating, and the longitudinally moving walking polishing mechanism realizes all-round polishing.
  • Figure 1 is a schematic diagram of a sheet metal polishing robot for machining.
  • Figure 2 is a schematic diagram of the structure of the rotating shaft and the guide groove in the sheet metal polishing robot for machining.
  • Figure 3 is a schematic diagram of the structure of the transmission shaft and the sleeve in the sheet metal polishing robot for machining.
  • a sheet metal polishing robot for machining includes a fixed frame and a walking polishing mechanism arranged on the fixed frame;
  • the fixed frame body includes a bottom plate 1, columns fixedly installed on both sides of the bottom plate 1, a top plate 29 connecting the upper ends of the columns 2 on both sides, it should be noted that the bottom plate 1 and the top plate 29 have a certain depth,
  • the bottom plate 1 is used to longitudinally place the sheet metal parts to be processed.
  • the walking polishing mechanism includes a mounting plate 3, a servo motor 4 installed in the upper center of the mounting plate 3, a driving shaft 5 connected to the output end of the servo motor 4, a swing component and a walking component connected to the driving shaft 5, driven by the swing component
  • the tool reciprocates horizontally, and the walking component drives the tool to move longitudinally, realizing all-round and large-area walking and polishing of sheet metal parts.
  • the servo motor 4 is electrically connected to the power supply and the controller through a wire
  • the driving shaft 5 passes through the mounting plate 3 and is connected to the bearing
  • the swing assembly includes a rotating shaft 6 fixedly connected to the lower end of the driving shaft 5, and fixedly connected to the rotating shaft.
  • a hanging plate 14 is fixedly installed.
  • the two ends of the guide rod 10 are fixed on the hanging plate 14.
  • the walking assembly includes a first bevel gear 11 fixed at the lower part of the driving shaft 5, a second bevel gear 12 meshed with the first bevel gear 11, and a follower that is fixed to the second bevel gear 12 and rotatably arranged under the mounting plate 3.
  • the shaft 13 the transmission shaft 16 connected to the driven shaft 13 through the first transmission belt 15, a gear 25 fixed on the transmission shaft 16, a rack 26 meshed with the gear 25 and fixed on the side wall of the column 2, wherein the transmission shaft 16
  • the end of the gear is connected to the hanger plate 14 through a bearing.
  • the rack 26 is mounted on the support plate 27 fixed on the side wall of the column 2.
  • the rotating drive shaft 5 drives the first bevel gear 11 to rotate, and the first bevel gear 11 drives The second bevel gear 12 and the driven shaft 13 rotate.
  • the driven shaft 13 uses the first transmission belt 15 to drive the transmission shaft 16 to rotate.
  • the transmission shaft 16 then drives the gear 15 to rotate.
  • the rotating gear 15 drives the whole under the action of the fixed rack 26
  • the walking polishing mechanism moves longitudinally, so as to realize the horizontal and vertical compound movement of the tool, and achieve the large-area and all-round polishing function on the surface of the sheet metal part.
  • a sheet metal polishing robot for mechanical processing further includes a processing component that is sleeved on the transmission shaft 16
  • the shaft 20 is bearing connected to the lower part of the fixed plate 18, and the bevel gear set includes a third bevel gear 21 fixed at the end of the shaft 20, and a fourth bevel gear 21 meshing with the third bevel gear 21 and fixed on the main shaft 23.
  • the rotating shaft 20 uses the bevel gear set to drive the main shaft 23 and the grinding disc 24 to rotate, that is, the grinding disc moves laterally while rotating. Cooperate with the longitudinally moving walking polishing mechanism to realize all-round polishing.
  • pressure wheels 28 are rotatably connected to the upper sides of both sides of the mounting plate 3, and the upper part of the pressure wheels 28 is attached to the lower surface of the top plate 29.
  • the pressure wheels 28 are matched with the gears 25 to maintain the whole walking polishing mechanism. stability.
  • a method for using a sheet metal polishing robot for mechanical processing includes the following steps:
  • Step 1 Load the material, and fix the sheet metal parts to be processed on the bottom plate to ensure that they will not slip;
  • Step two reset, move the grinding disc to the front side of the workpiece.
  • the specific reset can be operated by the servo motor.
  • the forward start controller makes the active shaft rotate forward, and the reverse start controller makes the active shaft reverse to control the grinding disc. initial position;
  • Step three processing, after the grinding disc is reset to the initial position, the switch is activated to make the active shaft work in the positive direction to drive the grinding disc to move longitudinally while rotating while reciprocating transversely to polish the surface of the workpiece in all directions;
  • Step four secondary processing, by padding the workpiece, adjusting the polishing thickness, and starting the controller in the reverse direction to reset the grinding disc to the initial position in reverse work and polishing;
  • Step 5 Inspection. Use measuring tools to inspect the surface roughness of the sheet metal parts. If it does not meet the polishing requirements, it will be processed again.
  • both the bottom plate 1 and the top plate 29 have a certain depth
  • the bottom plate 1 is used to place the sheet metal parts to be processed longitudinally
  • the tool is driven to move back and forth horizontally through the swing assembly.
  • the component drives the tool to move longitudinally to achieve omni-directional and large-area walking and polishing of sheet metal parts.
  • the servo motor 4 When the servo motor 4 is energized, the active shaft 5 is driven to rotate to drive the rotating shaft 6 to rotate, and the rotating shaft 6 drives the convex column 7 to make a circular motion.
  • the column 7 drives the guide groove 8 and the sliding plate 9 to reciprocate and laterally move under the action of the guide rod 10.
  • the rotating driving shaft 5 drives the first bevel gear 11 to rotate, and the first bevel gear 11 drives the second bevel gear 12 and the driven shaft 13
  • the driven shaft 13 uses the first transmission belt 15 to drive the transmission shaft 16 to rotate, and the transmission shaft 16 drives the gear 15 to rotate.
  • the rotating gear 15 drives the entire walking polishing mechanism to move longitudinally under the action of the fixed rack 26, thereby achieving the tool
  • the horizontal and vertical composite movement achieves a large-area omni-directional polishing function on the surface of the sheet metal.
  • the rotating drive shaft 16 drives the sleeve 17 to follow the rotation, while the sliding plate 9 also drives the sleeve 17 to reciprocate and move horizontally, which is driven by the rotating sleeve 17
  • the rotating shaft 20 rotates, and the rotating shaft 20 uses the bevel gear set to drive the main shaft 23 and the grinding disc 24 to rotate, that is, the grinding disc moves laterally while rotating, and the longitudinally moving walking polishing mechanism realizes omni-directional polishing.
  • the pressure wheel 28 cooperates with the gear 25 to maintain the walking polishing mechanism. Overall stability.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)

Abstract

一种机械加工用钣金抛光机器人,包括固定架体和设置在固定架体上的行走抛光机构,固定架体包括底板(1)、固定安装在底板(1)两侧的立柱(2)、连接两侧立柱上端的顶板(29),行走抛光机构包括安装板(3)、安装在安装板(3)上方中央的伺服电机(4)、连接伺服电机(4)输出端的主动轴(5)、连接主动轴(5)的摆动组件和行走组件;摆动组件驱动磨盘横向往复运动,摆动组件包括固定连接在主动轴(5)下端的旋转轴(6)、固定连接在旋转轴(6)端部下方的凸柱(7)、与凸柱(7)嵌合的导槽(8)、固定在导槽(8)下方的滑板(9)、与滑板(9)滑动连接的导杆(10)。还包括这种机械加工用钣金抛光机器人的使用方法。磨盘具有横向和纵向复合运动并可转动打磨,能够大范围无死角抛光。

Description

一种机械加工用钣金抛光机器人及其使用方法 技术领域
本发明涉及一种机械加工领域,具体是一种机械加工用钣金抛光机器人及其使用方法。
背景技术
抛光是利用抛光工具和磨料颗粒或其他抛光介质对工件表面进行的修饰加工。
抛光时,高速旋转的抛光轮(圆周速度在20米/秒以上)压向工件,使磨料对工件表面产生滚压和微量切削,从而获得光亮的加工表面,表面粗糙度一般可达Ra0.63~0.01微米;当采用非油脂性的消光抛光剂时,可对光亮表面消光以改善外观。
在钣金件上往往对粗糙度有一定的要求,此时通过抛光进行精加工,但是现有的抛光装置或者机器人大多不带用复合运动的功能,只能对某一固定宽度或者长度的工件进行加工,而后通过调整工件的位置再对其他部位进行加工,显然存在加工范围有限的问题。
技术问题
基于上述背景技术中所提到的现有技术中的不足之处,为此本发明提供了一种机械加工用钣金抛光机器人及其使用方法。
技术解决方案
一种机械加工用钣金抛光机器人,包括固定架体和设置在固定架体上的行走抛光机构,所述固定架体包括底板、固定安装在底板两侧的立柱、连接两侧立柱上端的顶板,所述行走抛光机构包括安装板、安装在安装板上方中央的伺服电机、连接伺服电机输出端的主动轴、连接主动轴的摆动组件和行走组件;摆动组件包括固定连接在主动轴下端的旋转轴、固定连接在旋转轴端部下方的凸柱、与凸柱嵌合的导槽、固定在导槽下方的滑板、与滑板滑动连接的导杆,其中,安装板下端两侧均固定安装有吊板,导杆两端固定在吊板上,摆动组件带动刀具横向往复移动,行走组件带动刀具纵向移动,实现对钣金件的全方位大面积行走抛光。
作为本发明进一步的方案:所述伺服电机通过导线电性连接电源和控制器,主动轴穿过安装板并与之轴承连接,由控制器对伺服电机的工作状态进行控制,具体可以实现主动轴的正反两向转动。
作为本发明再进一步的方案:所述行走组件包括固定在主动轴下部的第一锥齿轮、与第一锥齿轮相啮合的第二锥齿轮、固定第二锥齿轮并转动设置在安装板下方的从动轴、通过第一传动带连接从动轴的传动轴、固定在传动轴上的齿轮、与齿轮啮合并固定在立柱侧壁上的齿条,其中,传动轴的端部通过轴承连接在吊板上,齿条安装在固定于立柱侧壁上的托板上,在主动轴带动横向移动的同时带动齿轮转动,配合齿条纵向行走,实现复合运动。
作为本发明再进一步的方案:还包括加工组件,所述加工组件包括套设在传动轴上的套管、与套管转动连接并固定在滑板下的固定板、通过第二传动带连接套管的转轴、通过锥齿轮组连接转轴的主轴,以及固定在主轴下端的磨盘,在传动轴转动的同时带动移动的主轴一边移动一边转动,利用一个动力源实现多个动作的同步进行。
作为本发明再进一步的方案:所述传动轴上设置有限位凸起,套管上开设有与传动轴上的限位凸起相配合的限位槽,套管穿过固定板并与之轴承连接,有限位槽和限位凸起约束使得二者可相会滑动而不能相对转动。
作为本发明再进一步的方案:所述转轴轴承连接在固定板的下部,锥齿轮组包括固定在转轴端部的第三锥齿轮、与第三锥齿轮啮合并固定在主轴上的第四锥齿轮,其中,主轴上端轴承连接在滑板下表面,锥齿轮组之间的传动可靠,不会发生打滑的现象发生。
作为本发明再进一步的方案:所述安装板两侧上方均转动连接有压轮,压轮上部贴合顶板的下表面,压轮配合齿轮将整个行走机构约束在整个架体上,提高稳定性。
一种机械加工用钣金抛光机器人的使用方法,包括如下步骤:
步骤一,上料,将待加工的钣金件固定在底板上;
步骤二,复位,将磨盘移动复位至工件的前部一侧;
步骤三,加工,待磨盘复位至初始位置后启动开关使得主动轴正向工作带动磨盘一边旋转一边往复横向移动一边纵向行走;
步骤四,二次加工,通过对工件进行垫高,调整抛光厚度,反向启动控制器使磨盘反向工作抛光;
步骤五,检测,利用量具检验钣金件表面的粗糙度。
作为本发明进一步的方案:所述步骤二中,复位通过伺服电机操作,正向启动控制器使主动轴正转,反向启动控制器使得主动轴反转从而控制磨盘的初始位置。
有益效果
该机器人通过摆动组件带动刀具横向往复移动,行走组件带动刀具纵向移动,实现对钣金件的全方位大面积行走抛光,且转动的传动轴带动套管跟随转动,同时滑板还带动套管往复横向移动,通过转动的套管带动转轴转动,转轴利用锥齿轮组带动主轴和磨盘转动,即磨盘一边转动一边横向移动,配合纵向移动的行走抛光机构实现全方位抛光。
附图说明
图1为机械加工用钣金抛光机器人的结构示意图。
图2为机械加工用钣金抛光机器人中旋转轴和导槽的结构示意图。
图3为机械加工用钣金抛光机器人中传动轴和套管的结构示意图。
图中:1-底板;2-立柱;3-安装板;4-伺服电机;5-主动轴;6-旋转轴;7-凸柱;8-导槽;9-滑板;10-导杆;11-第一锥齿轮;12-第二锥齿轮;13-从动轴;14-吊板;15-第一传动带;16-传动轴;17-套管;18-固定板;19-第二传动带;20-转轴;;21-第三锥齿轮;22-第四锥齿轮;23-主轴;24-磨盘;25-齿轮;26-齿条;27-托板;28-压轮;29-顶板。
本发明的实施方式
在本发明的描述中,需要理解的是,术语“ 中心”、“ 纵向”、“ 横向”、“ 上”、“ 下”、“ 前”、“ 后”、“ 左”、“ 右”、“ 竖直”、“ 水平”、“ 顶”、“ 底”、“ 内”、“ 外”等指示的方位或位置关系为基于附图所示的方位或位置关系,仅是为了便于描述本发明和简化描述,而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作,因此不能理解为对本发明的限制。此外,术语“ 第一”、“ 第二”等仅用于描述目的,而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此,限定有“ 第一”、“ 第二”等的特征可以明示或者隐含地包括一个或者更多个该特征。在本发明的描述中,除非另有说明,“ 多个”的含义是两个或两个以上。
在本发明的描述中,需要说明的是,除非另有明确的规定和限定,术语“ 安装”、“ 相连”、“ 连接”应做广义理解,例如,可以是固定连接,也可以是可拆卸连接,或一体地连接;可以是机械连接,也可以是电连接;可以是直接相连,也可以通过中间媒介间接相连,可以是两个元件内部的连通。对于本领域的普通技术人员而言,可以通过具体情况理解上述术语在本发明中的具体含义。
下面将结合本发明实施例中的附图,对本发明实施例中的技术方案进行清楚、完整地描述,显然,所描述的实施例仅仅是本发明一部分实施例,而不是全部的实施例。基于本发明中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例,都属于本发明保护的范围。
实施例1
请参阅图1~3,本发明实施例中,一种机械加工用钣金抛光机器人,包括固定架体和设置在固定架体上的行走抛光机构;
具体来说,所述固定架体包括底板1、固定安装在底板1两侧的立柱2、连接两侧立柱2上端的顶板29,需要说明的是,底板1和顶板29均具有一定的纵深,底板1用于纵向放置待加工的钣金件。
进一步地,所述行走抛光机构包括安装板3、安装在安装板3上方中央的伺服电机4、连接伺服电机4输出端的主动轴5、连接主动轴5的摆动组件和行走组件,通过摆动组件带动刀具横向往复移动,行走组件带动刀具纵向移动,实现对钣金件的全方位大面积行走抛光。
其中,所述伺服电机4通过导线电性连接电源和控制器,主动轴5穿过安装板3并与之轴承连接,摆动组件包括固定连接在主动轴5下端的旋转轴6、固定连接在旋转轴6端部下方的凸柱7、与凸柱7嵌合的导槽8、固定在导槽8下方的滑板9、与滑板9滑动连接的导杆10,其中,安装板3下端两侧均固定安装有吊板14,导杆10两端固定在吊板14上,当伺服电机4通电工作后带动主动轴5转动从而驱动旋转轴6转动,旋转轴6带动凸柱7作圆周运动,凸柱7带动导槽8和滑板9在导杆10的作用下往复横向移动。
所述行走组件包括固定在主动轴5下部的第一锥齿轮11、与第一锥齿轮11相啮合的第二锥齿轮12、固定第二锥齿轮12并转动设置在安装板3下方的从动轴13、通过第一传动带15连接从动轴13的传动轴16、固定在传动轴16上的齿轮25、与齿轮25啮合并固定在立柱2侧壁上的齿条26,其中,传动轴16的端部通过轴承连接在吊板14上,齿条26安装在固定于立柱2侧壁上的托板27上,通过转动的主动轴5带动第一锥齿轮11转动,第一锥齿轮11带动第二锥齿轮12和从动轴13转动,从动轴13利用第一传动带15带动传动轴16转动,传动轴16再驱动齿轮15转动,转动的齿轮15在固定的齿条26作用下带动整个行走抛光机构纵向移动,从而实现刀具的横向纵向复合运动,达到对钣金件表面的大面积全方位抛光功能。
实施例2
为了使得刀具在纵向与横向运动的同时达到转动抛光的功能,本发明另一实施例中,一种机械加工用钣金抛光机器人,还包括加工组件,所述加工组件包括套设在传动轴16上的套管17、与套管17转动连接并固定在滑板9下的固定板18、通过第二传动带19连接套管17的转轴20、通过锥齿轮组连接转轴的主轴23,以及固定在主轴23下端的磨盘25,其中,传动轴16上设置有限位凸起,套管17上开设有与传动轴16上的限位凸起相配合的限位槽,套管17穿过固定板18并与之轴承连接,转动的传动轴16带动套管17跟随转动,同时滑板9还带动套管17往复横向移动;
再进一步地,所述转轴20轴承连接在固定板18的下部,锥齿轮组包括固定在转轴20端部的第三锥齿轮21、与第三锥齿轮21啮合并固定在主轴23上的第四锥齿轮22,其中,主轴23上端轴承连接在滑板9下表面,通过转动的套管17带动转轴20转动,转轴20利用锥齿轮组带动主轴23和磨盘24转动,即磨盘一边转动一边横向移动,配合纵向移动的行走抛光机构实现全方位抛光。
为了提高行走抛光机构的稳定性,所述安装板3两侧上方均转动连接有压轮28,压轮28上部贴合顶板29的下表面,利用压轮28配合齿轮25保持行走抛光机构的整体稳定性。
实施例3
一种机械加工用钣金抛光机器人的使用方法,包括如下步骤:
步骤一,上料,将待加工的钣金件固定在底板上,保证其不会发生滑移;
步骤二,复位,将磨盘移动至工件的前部一侧,具体的复位可通过伺服电机操作,正向启动控制器使主动轴正转,反向启动控制器使得主动轴反转从而控制磨盘的初始位置;
步骤三,加工,待磨盘复位至初始位置后启动开关使得主动轴正向工作带动磨盘一边旋转一边往复横向移动一边纵向行走,对工件表面进行全方位抛光;
步骤四,二次加工,通过对工件进行垫高,调整抛光厚度,反向启动控制器使磨盘反向工作抛光复位至初始位置;
步骤五,检测,利用量具检验钣金件表面的粗糙度,若未达到抛光要求,则再次垫高加工。
根据上述实施例的具体描述,易知本发明的工作原理:底板1和顶板29均具有一定的纵深,底板1用于纵向放置待加工的钣金件,通过摆动组件带动刀具横向往复移动,行走组件带动刀具纵向移动,实现对钣金件的全方位大面积行走抛光,当伺服电机4通电工作后带动主动轴5转动从而驱动旋转轴6转动,旋转轴6带动凸柱7作圆周运动,凸柱7带动导槽8和滑板9在导杆10的作用下往复横向移动,通过转动的主动轴5带动第一锥齿轮11转动,第一锥齿轮11带动第二锥齿轮12和从动轴13转动,从动轴13利用第一传动带15带动传动轴16转动,传动轴16再驱动齿轮15转动,转动的齿轮15在固定的齿条26作用下带动整个行走抛光机构纵向移动,从而实现刀具的横向纵向复合运动,达到对钣金件表面的大面积全方位抛光功能,转动的传动轴16带动套管17跟随转动,同时滑板9还带动套管17往复横向移动,通过转动的套管17带动转轴20转动,转轴20利用锥齿轮组带动主轴23和磨盘24转动,即磨盘一边转动一边横向移动,配合纵向移动的行走抛光机构实现全方位抛光,利用压轮28配合齿轮25保持行走抛光机构的整体稳定性。

Claims (9)

  1. 一种机械加工用钣金抛光机器人,包括固定架体和设置在固定架体上的行走抛光机构,所述固定架体包括底板(1)、固定安装在底板(1)两侧的立柱(2)、连接两侧立柱(2)上端的顶板(29),其特征在于,所述行走抛光机构包括安装板(3)、安装在安装板(3)上方中央的伺服电机(4)、连接伺服电机(4)输出端的主动轴(5)、连接主动轴(5)的摆动组件和行走组件;摆动组件包括固定连接在主动轴(5)下端的旋转轴(6)、固定连接在旋转轴(6)端部下方的凸柱(7)、与凸柱(7)嵌合的导槽(8)、固定在导槽(8)下方的滑板(9)、与滑板(9)滑动连接的导杆(10),其中,安装板(3)下端两侧均固定安装有吊板(14),导杆(10)两端固定在吊板(14)上。
  2. 根据权利要求1所述的一种机械加工用钣金抛光机器人,其特征在于,所述伺服电机(4)通过导线电性连接电源和控制器,主动轴(5)穿过安装板(3)并与之轴承连接。
  3. 根据权利要求1所述的一种机械加工用钣金抛光机器人,其特征在于,所述行走组件包括固定在主动轴(5)下部的第一锥齿轮(11)、与第一锥齿轮(11)相啮合的第二锥齿轮(12)、固定第二锥齿轮(12)并转动设置在安装板(3)下方的从动轴(13)、通过第一传动带(15)连接从动轴(13)的传动轴(16)、固定在传动轴(16)上的齿轮(25)、与齿轮(25)啮合并固定在立柱(2)侧壁上的齿条(26),其中,传动轴(16)的端部通过轴承连接在吊板(14)上,齿条(26)安装在固定于立柱(2)侧壁上的托板(27)上。
  4. 根据权利要求3所述的一种机械加工用钣金抛光机器人,其特征在于,还包括加工组件,所述加工组件包括套设在传动轴(16)上的套管(17)、与套管(17)转动连接并固定在滑板(9)下的固定板(18)、通过第二传动带(19)连接套管(17)的转轴(20)、通过锥齿轮组连接转轴的主轴(23),以及固定在主轴(23)下端的磨盘(25)。
  5. 根据权利要求4所述的一种机械加工用钣金抛光机器人,其特征在于,所述传动轴(16)上设置有限位凸起,套管(17)上开设有与传动轴(16)上的限位凸起相配合的限位槽,套管(17)穿过固定板(18)并与之轴承连接。
  6. 根据权利要求4所述的一种机械加工用钣金抛光机器人,其特征在于,所述转轴(20)轴承连接在固定板(18)的下部,锥齿轮组包括固定在转轴(20)端部的第三锥齿轮(21)、与第三锥齿轮(21)啮合并固定在主轴(23)上的第四锥齿轮(22),其中,主轴(23)上端轴承连接在滑板(9)下表面。
  7. 根据权利要求(1)所述的一种机械加工用钣金抛光机器人,其特征在于,所述安装板(3)两侧上方均转动连接有压轮(28),压轮(28)上部贴合顶板(29)的下表面。
  8. 一种如根据权利要求1-7任一所述的一种机械加工用钣金抛光机器人的使用方法,其特征在于,包括如下步骤:
    步骤一,上料,将待加工的钣金件固定在底板上;
    步骤二,复位,将磨盘移动复位至工件的前部一侧;
    步骤三,加工,待磨盘复位至初始位置后启动开关使得主动轴正向工作带动磨盘一边旋转一边往复横向移动一边纵向行走;
    步骤四,二次加工,通过对工件进行垫高,调整抛光厚度,反向启动控制器使磨盘反向工作抛光;
    步骤五,检测,利用量具检验钣金件表面的粗糙度。
  9. 根据权利要求8所述的一种机械加工用钣金抛光机器人的使用方法,其特征在于,所述步骤二中,复位通过伺服电机操作,正向启动控制器使主动轴正转,反向启动控制器使得主动轴反转从而控制磨盘的初始位置。
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