CN105033822A - Polishing and grinding device with six-freedom-degree mechanical arms - Google Patents
Polishing and grinding device with six-freedom-degree mechanical arms Download PDFInfo
- Publication number
- CN105033822A CN105033822A CN201510541298.1A CN201510541298A CN105033822A CN 105033822 A CN105033822 A CN 105033822A CN 201510541298 A CN201510541298 A CN 201510541298A CN 105033822 A CN105033822 A CN 105033822A
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- CN
- China
- Prior art keywords
- polishing
- degree
- work station
- index plate
- freedom manipulator
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/006—Machines or devices using grinding or polishing belts; Accessories therefor for special purposes, e.g. for television tubes, car bumpers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B21/00—Machines or devices using grinding or polishing belts; Accessories therefor
- B24B21/18—Accessories
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/005—Feeding or manipulating devices specially adapted to grinding machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
- B24B55/08—Dust extraction equipment on grinding or polishing machines specially designed for belt grinding machines
Abstract
The invention provides a polishing and grinding device with six-freedom-degree mechanical arms. The polishing and grinding device comprises a control system, an index plate grinding workstation and the six-freedom-degree mechanical arms, wherein the index plate grinding workstation and the six-freedom-degree mechanical arms are connected with the control system. The index plate grinding workstation comprises an index plate mechanism, a plurality of belt sanding mechanisms evenly distributed on the index plate mechanism and an electric ring arranged in the center of the index circular disc grinding workstation. The six-freedom-degree mechanical arms are arranged on the periphery of the index circular disc grinding workstation and correspond to the belt sanding mechanisms. According to the six-freedom-degree mechanical arm polishing and grinding device, the number of the belt sanding mechanisms can be increased and decreased at will according to the process requirements, and polishing and grinding in a circular disc assembly line are achieved; in this way, the working efficiency is improved, the labor intensity of workers is lowered, and the cost is saved; and the belt sanding mechanisms are arranged on circular plates, and the effect of saving the space is achieved.
Description
Technical field
The present invention relates to polishing and grinding equipment technical field, particularly relate to a kind of six degree of freedom manipulator polishing grinding equipment.
Background technology
Complex part particularly processing that is special-shaped, curve surface work pieces comprises polishing and technique for grinding, generally manual independent carry out polishing and polishing in prior art, this processing method Problems existing is: artificial rubbing down is difficult and working (machining) efficiency is low, workpiece uniformity is low, high to artificial degree of dependence, although there are some manipulator grabbing workpiece belt sanding workpiece in existing market, most belt sanding head position maintains static, can not continuous-flow type operation grinding efficiency low.Therefore, be necessary to design a kind of six degree of freedom manipulator polishing grinding equipment that not only can improve grinding efficiency but also can ensure product consistency.
Summary of the invention
In order to overcome above shortcomings in prior art, the object of the present invention is to provide a kind of production efficiency high, polishing grinding precision is high, the six degree of freedom manipulator polishing grinding equipment of good product consistency, and belt sanding mechanism is arranged on disk, there is joint space-efficient effect.
In order to achieve the above object, the present invention adopts following technical scheme:
A kind of six degree of freedom manipulator polishing grinding equipment, comprises control system, and the index plate be connected with control system is respectively polished work station and multiple six degree of freedom manipulator; Described index plate polishing work station comprises index plate mechanism, be uniformly distributed in the multiple belt sanding mechanism in index plate mechanism and be arranged at the electric ring of center of described index plate polishing work station, described multiple six degree of freedom manipulator is arranged at the periphery of described index plate polishing work station, corresponding with described multiple belt sanding mechanism.
Described index plate mechanism comprises pedestal, indexing separator base, indexing separator, the first driving mechanism and disk, described indexing separator floor installation is in described pedestal, described indexing separator is installed on described indexing separator base, described first driving mechanism drives described indexing separator intermittence to rotate, described disk is installed on described indexing separator, and described indexing separator drives described disk rotational.
Described belt sanding mechanism comprises the abrasive band work station base being installed on described disk and the polishing contact wheel being installed on abrasive band work station base, abrasive band and the second driving mechanism, and described second driving mechanism drives described polishing contact wheel to rotate.
Described belt sanding mechanism also comprises abrasive band work station protective cover, and described abrasive band work station protective cover is installed on described abrasive band work station base, for isolating described polishing contact wheel and described second driving mechanism.
Described abrasive band work station base is also provided with dust collection hopper, and bottom and the described dust collection hopper junction of described abrasive band work station protective cover are provided with grid through hole, and described grid through hole can dispel the heat and isolation dust granules.
Described control system comprises the industrial computer controlling described six degree of freedom manipulator and the PLC controlling described index plate polishing work station.
Described six degree of freedom manipulator comprise connect successively from down to up base, crook one's arm, wrist and hand, for loading and unloading polishing workpiece.
Described six degree of freedom manipulator polishing grinding equipment also comprises the protector for isolating with external environment condition.
Beneficial effect: the present invention adopts multiple six degree of freedom industry mechanical arm and index plate work station of polishing to combine, achieve disk continuous productive process polishing grinding, index plate polishing work station can according to each technical process carse, medium and small according to technique need increase and decrease belt sanding mechanism, six degree of freedom manipulator can flexibly grabbing workpiece and can coordinate index plate polish work station polishing complex part; In the present invention, abrasive band workpiece polishing mechanism is arranged on disk, has joint space-efficient effect.
Accompanying drawing explanation
Fig. 1 is the perspective view of six degree of freedom manipulator polishing grinding equipment provided by the invention;
Fig. 2 is the structural representation of index plate provided by the invention polishing work station;
Fig. 3 is the perspective view of index plate provided by the invention polishing work station.
Detailed description of the invention
Below in conjunction with accompanying drawing, the specific embodiment of the present invention is described further:
Consult Fig. 1, the invention provides a kind of six degree of freedom manipulator polishing grinding equipment, it comprises control system (not shown), and the index plate be connected with control system is respectively polished work station 20, electric loop section 10 and multiple six degree of freedom manipulator 30.Electricity loop section 10 is arranged at the center of index plate polishing work station 20, index plate polishing work station 20 is distributed on disk 240, six degree of freedom manipulator 30 is uniformly distributed in the periphery of index plate polishing work station 20, and index plate polishing work station 20 is electrically connected with control system by electric loop section 10.Adopt multiple six degree of freedom industry mechanical arm and index plate work station of polishing to combine, achieve disk continuous productive process polishing grinding, increase work efficiency, reduce labor strength, cost-saving.Six degree of freedom manipulator can flexibly grabbing workpiece and can coordinate index plate polish work station polishing complex part.In the present invention, abrasive band workpiece polishing mechanism is arranged on disk, and with existing workpiece setting on disk, simultaneously multiple workpiece polishing mechanism is arranged at disk perimeter and compares, and cost savings space.
Wherein six degree of freedom manipulator 30 comprise connect successively from down to up base, crook one's arm, wrist and hand, for loading and unloading polishing workpiece neatly.The six degree of freedom manipulator polishing grinding equipment that the present embodiment provides also comprises the protector for isolating with external environment condition, significantly reduces environmental pollution.
Consult Fig. 2 and Fig. 3, index plate polishing work station 20 comprises index plate mechanism and is uniformly distributed in multiple belt sanding mechanisms, multiple belt sanding mechanism and the multiple six degree of freedom manipulator one_to_one corresponding in index plate mechanism.Wherein index plate mechanism comprises pedestal 210, indexing separator base 220, indexing separator 230 and disk 240, indexing separator base 220 is installed on pedestal 210, indexing separator 230 is installed on indexing separator base 220, disk 240 is installed on indexing separator 230, and indexing separator 230 drives disk 240 to rotate.The multiple belt sanding mechanisms be uniformly distributed on disk 240 comprise the first belt sanding mechanism 22 of belt sanding mechanism 21, second, the 3rd belt sanding mechanism 23, the 4th belt sanding mechanism 24 ... N belt sanding mechanism.Belt sanding mechanism can need increase and decrease according to technique.Each belt sanding mechanism comprises the abrasive band work station base 250 that is installed on disk 240 and is installed on abrasive band work station driving mechanism on abrasive band work station base 250, polishing contact wheel and abrasive band, contact wheel of polishing in the present embodiment comprises the first polishing contact wheel 270, second polishing contact wheel 280 and the 3rd polishing contact wheel 290, selects the polishing contact wheel of coupling to polish according to workpiece shapes, status requirement and technological requirement.Preferably, the belt sanding mechanism in this present embodiment also comprises abrasive band work station protective cover 260, and abrasive band work station protective cover 260 is installed on abrasive band work station base 250, for isolating polishing contact wheel and abrasive band work station driving mechanism.Abrasive band work station base 250 is also provided with dust collection hopper 201, and bottom and dust collection hopper 201 junction of abrasive band work station protective cover 260 are provided with grid through hole, and grid through hole can dispel the heat, and also can isolate dust granules.
The control system of six degree of freedom manipulator polishing grinding equipment provided by the invention comprises industrial computer and PLC, and industrial computer is connected with control six degree of freedom manipulator 30, independent control six degree of freedom manipulator 30; PLC and index plate work station 20 of polishing is connected, and independently controls index plate polishing work station 20.
Six degree of freedom manipulator polishing grinding equipment provided by the invention has the following advantages: 1, multiple six degree of freedom industry mechanical arm and index plate work station of polishing combines, achieve disk continuous productive process polishing grinding, increase work efficiency, reduce labor strength, cost-saving.2, index plate polishing work station can need to increase and decrease belt sanding mechanism according to technique according to each technical process carse, medium and small.3, six degree of freedom manipulator can flexibly grabbing workpiece and can coordinate index plate polish work station polishing complex part.4, arrange protector, isolation processing environment, avoids the environmental pollution that polishing grinding causes.
The announcement of book and instruction according to the above description, those skilled in the art in the invention can also change above-mentioned embodiment and revise.Therefore, the present invention is not limited to detailed description of the invention disclosed and described above, also should fall in the protection domain of claim of the present invention some modifications and changes of invention.In addition, although employ some specific terms in this description, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (8)
1. a six degree of freedom manipulator polishing grinding equipment, is characterized in that: comprise control system, and the index plate be connected with control system is respectively polished work station and multiple six degree of freedom manipulator; Described index plate polishing work station comprises index plate mechanism, be uniformly distributed in the multiple belt sanding mechanism in index plate mechanism and be arranged at the electric ring of center of described index plate polishing work station, described multiple six degree of freedom manipulator is arranged at the periphery of described index plate polishing work station, corresponding with described multiple belt sanding mechanism.
2. six degree of freedom manipulator polishing grinding equipment according to claim 1, it is characterized in that: described index plate mechanism comprises pedestal, indexing separator base, indexing separator, the first driving mechanism and disk, described indexing separator floor installation is in described pedestal, described indexing separator is installed on described indexing separator base, described first driving mechanism drives described indexing separator intermittence to rotate, described disk is installed on described indexing separator, and described indexing separator drives described disk rotational.
3. six degree of freedom manipulator polishing grinding equipment according to claim 2, it is characterized in that: described belt sanding mechanism comprises the abrasive band work station base being installed on described disk and the polishing contact wheel being installed on abrasive band work station base, abrasive band and the second driving mechanism, and described second driving mechanism drives described polishing contact wheel to rotate.
4. six degree of freedom manipulator polishing grinding equipment according to claim 3, it is characterized in that: described belt sanding mechanism also comprises abrasive band work station protective cover, described abrasive band work station protective cover is installed on described abrasive band work station base, for isolating described polishing contact wheel and described second driving mechanism.
5. six degree of freedom manipulator polishing grinding equipment according to claim 4, it is characterized in that: described abrasive band work station base is also provided with dust collection hopper, bottom and the described dust collection hopper junction of described abrasive band work station protective cover are provided with grid through hole, and described grid through hole can dispel the heat and isolation dust granules.
6. six degree of freedom manipulator polishing grinding equipment according to claim 1, is characterized in that: described control system comprises the industrial computer controlling described six degree of freedom manipulator and the PLC controlling described index plate polishing work station.
7. six degree of freedom manipulator polishing grinding equipment according to claim 1, is characterized in that: described six degree of freedom manipulator comprise connect successively from down to up base, crook one's arm, wrist and hand, for loading and unloading polishing workpiece.
8. six degree of freedom manipulator polishing grinding equipment according to claim 1, is characterized in that: this six degree of freedom manipulator polishing grinding equipment also comprises the protector for isolating with external environment condition.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541298.1A CN105033822A (en) | 2015-08-28 | 2015-08-28 | Polishing and grinding device with six-freedom-degree mechanical arms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510541298.1A CN105033822A (en) | 2015-08-28 | 2015-08-28 | Polishing and grinding device with six-freedom-degree mechanical arms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105033822A true CN105033822A (en) | 2015-11-11 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510541298.1A Pending CN105033822A (en) | 2015-08-28 | 2015-08-28 | Polishing and grinding device with six-freedom-degree mechanical arms |
Country Status (1)
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|---|---|
| CN (1) | CN105033822A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695509A (en) * | 2016-12-11 | 2017-05-24 | 安徽海拓志永智能装备股份有限公司 | Efficient automatic line device for polishing of inner container of electric cooker |
| CN106808350A (en) * | 2016-12-11 | 2017-06-09 | 安徽海拓志永智能装备股份有限公司 | New three stations inner container of electric cooker automatic grinding device |
| CN106826493A (en) * | 2017-01-03 | 2017-06-13 | 广东遂联智能装备制造有限公司 | A kind of swinging multistation Ginding process |
| CN106826492A (en) * | 2017-01-03 | 2017-06-13 | 广东遂联智能装备制造有限公司 | A kind of multistation lapping device |
| CN107309749A (en) * | 2017-08-22 | 2017-11-03 | 广东埃华路机器人工程有限公司 | A kind of belt grinding machine of manipulator |
Citations (6)
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|---|---|---|---|---|
| US5241792A (en) * | 1991-02-08 | 1993-09-07 | Yamaha Hatsudoki Kabushiki Kaisha | Method and apparatus for surface finishing |
| CN201940885U (en) * | 2010-11-03 | 2011-08-24 | 广州遂联自动化设备有限公司 | Combination type polishing and grinding device |
| CN202640134U (en) * | 2012-05-11 | 2013-01-02 | 广州遂联自动化设备有限公司 | Gap-type arbitrary scale-division structure for polishing machine |
| CN203509858U (en) * | 2013-08-10 | 2014-04-02 | 台州联帮机器人科技有限公司 | Automatic processing system for workpieces |
| CN103722470A (en) * | 2014-01-26 | 2014-04-16 | 福建长江工业有限公司 | Method for guaranteeing consistency of polishing performances of products and grinding and polishing equipment |
| CN204913544U (en) * | 2015-08-28 | 2015-12-30 | 广州遂联自动化设备有限公司 | Six -degree -of -freedom manipulator polishes equipment of polishing |
-
2015
- 2015-08-28 CN CN201510541298.1A patent/CN105033822A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5241792A (en) * | 1991-02-08 | 1993-09-07 | Yamaha Hatsudoki Kabushiki Kaisha | Method and apparatus for surface finishing |
| CN201940885U (en) * | 2010-11-03 | 2011-08-24 | 广州遂联自动化设备有限公司 | Combination type polishing and grinding device |
| CN202640134U (en) * | 2012-05-11 | 2013-01-02 | 广州遂联自动化设备有限公司 | Gap-type arbitrary scale-division structure for polishing machine |
| CN203509858U (en) * | 2013-08-10 | 2014-04-02 | 台州联帮机器人科技有限公司 | Automatic processing system for workpieces |
| CN103722470A (en) * | 2014-01-26 | 2014-04-16 | 福建长江工业有限公司 | Method for guaranteeing consistency of polishing performances of products and grinding and polishing equipment |
| CN204913544U (en) * | 2015-08-28 | 2015-12-30 | 广州遂联自动化设备有限公司 | Six -degree -of -freedom manipulator polishes equipment of polishing |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106695509A (en) * | 2016-12-11 | 2017-05-24 | 安徽海拓志永智能装备股份有限公司 | Efficient automatic line device for polishing of inner container of electric cooker |
| CN106808350A (en) * | 2016-12-11 | 2017-06-09 | 安徽海拓志永智能装备股份有限公司 | New three stations inner container of electric cooker automatic grinding device |
| CN106826493A (en) * | 2017-01-03 | 2017-06-13 | 广东遂联智能装备制造有限公司 | A kind of swinging multistation Ginding process |
| CN106826492A (en) * | 2017-01-03 | 2017-06-13 | 广东遂联智能装备制造有限公司 | A kind of multistation lapping device |
| CN106826492B (en) * | 2017-01-03 | 2019-03-01 | 广东遂联智能装备制造有限公司 | A kind of multistation grinding device |
| CN107309749A (en) * | 2017-08-22 | 2017-11-03 | 广东埃华路机器人工程有限公司 | A kind of belt grinding machine of manipulator |
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Application publication date: 20151111 |
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| RJ01 | Rejection of invention patent application after publication |