CN114147601B - Turbine machining manipulator assembly and machining unit thereof - Google Patents
Turbine machining manipulator assembly and machining unit thereof Download PDFInfo
- Publication number
- CN114147601B CN114147601B CN202111611154.0A CN202111611154A CN114147601B CN 114147601 B CN114147601 B CN 114147601B CN 202111611154 A CN202111611154 A CN 202111611154A CN 114147601 B CN114147601 B CN 114147601B
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- Prior art keywords
- turbine
- clamping jaw
- manipulator
- mounting plate
- machining
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Classifications
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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
- B24B27/00—Other grinding machines or devices
-
- 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
- B24B27/00—Other grinding machines or devices
- B24B27/0092—Grinding attachments for lathes or the like
-
- 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
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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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/06—Work supports, e.g. adjustable steadies
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
- B25J11/0065—Polishing or grinding
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/08—Gripping heads and other end effectors having finger members
- B25J15/10—Gripping heads and other end effectors having finger members with three or more finger members
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to the technical field of turbine machining, in particular to a turbine machining manipulator assembly and a machining unit thereof, wherein the turbine machining manipulator assembly comprises a first manipulator and a second manipulator, an end effector of the first manipulator comprises a first claw mounting plate, a first clamping jaw and a second clamping jaw which are arranged on the first claw mounting plate, and the first clamping jaw and the second clamping jaw can clamp a turbine to be machined; the end effector of second manipulator includes second claw mounting panel and installs the third clamping jaw on the second claw mounting panel, the piece of polishing, and the turbine of waiting to process can be got to the third clamping jaw, and the piece of polishing can polish and wait to process the turbine. The first clamping jaw is used for taking materials, feeding a rough machining lathe and discharging a finish machining lathe; the second clamping jaw is used for roughing lathe unloading, finish machining lathe material loading, can realize simultaneously that the turbine that is in different processing stages to a plurality of is pressed from both sides and is got, improves work efficiency, sets up the second manipulator including third clamping jaw and polishing piece, realizes pressing from both sides and gets and the function of polishing.
Description
Technical Field
The invention relates to the technical field of turbine machining, in particular to a turbine machining manipulator assembly and a machining unit thereof.
Background
The turbine is the core component of torque converter product, and the turbine is formed by casting blank processing, and the production of this work piece needs to go through rough machining, finish machining, detection, drilling, burring, chamfer, remove 7 processes altogether, and the course of working wastes time and energy. The mechanical arm is required to be used for completing loading and unloading among various procedures, the existing turbine machining mechanical arm assembly can only realize the clamping function of a single workpiece to be machined in the machining process, the working efficiency is low, the function is single, and the automation and the efficient production of products cannot be realized.
Disclosure of Invention
An object of the present invention is to provide a turbine machining manipulator assembly, which can realize the functions of clamping and polishing a turbine to be machined, and provide working efficiency.
To achieve the purpose, the invention adopts the following technical scheme:
a turbine machining manipulator assembly comprising:
the end effector of the first manipulator comprises a first paw mounting plate, a first clamping jaw and a second clamping jaw, wherein the first clamping jaw and the second clamping jaw are arranged on the first paw mounting plate, and the first clamping jaw and the second clamping jaw can clamp a turbine to be processed;
the end effector of second manipulator includes second hand claw mounting panel and install in third clamping jaw, the piece of polishing on the second hand claw mounting panel, the third clamping jaw can press from both sides and get wait to process the turbine, the piece of polishing can polish wait to process the turbine.
Preferably, the first jaw and the second jaw are each connected to the first jaw mounting plate by a first float assembly, the first float assembly comprising:
one end of the first linear bearing is connected with the first paw mounting plate, and the other end of the first linear bearing is connected with a first guide shaft;
the first cylinder is connected with the first guide shaft in a sliding manner, and the first cylinder is connected with the first clamping jaw or the second clamping jaw;
the first elastic piece is sleeved on the first guide shaft, one end of the first elastic piece is abutted to the first paw mounting plate, and the other end of the first elastic piece is abutted to the first cylinder mounting plate.
Preferably, the third jaw and the sanding element are connected to the second jaw mounting plate by a second floating assembly comprising:
one end of the second linear bearing is connected with the second paw mounting plate, and the other end of the second linear bearing is connected with a second guide shaft;
the second cylinder is connected with the third clamping jaw or the polishing piece in a sliding manner;
the second elastic piece is sleeved on the second guide shaft, one end of the second elastic piece is abutted to the second paw mounting plate, and the other end of the second elastic piece is abutted to the second cylinder mounting plate.
Another object of the present invention is to provide a turbo-machining unit comprising a turbo-machining manipulator assembly as described above, further comprising:
the overturning platform can be matched with the first manipulator to realize overturning of the turbine to be processed;
the rotary polishing platform can be matched with the polishing piece of the second manipulator to polish the turbine to be processed.
Preferably, the overturning platform comprises a tool frame and a positioning table, wherein the positioning table is connected with the tool frame in an included angle, and a limiting piece is arranged on the positioning table and used for positioning the turbine to be processed.
Preferably, the limiting piece is a V-shaped piece, and the V-shaped piece can be tangent to the turbine to be processed.
Preferably, the positioning table is provided with an avoidance hole for avoiding the first clamping jaw and/or the second clamping jaw.
Preferably, the rotary polishing platform comprises:
a frame;
the driving motor is fixed on the frame;
the rotating platform is rotationally connected to the frame, and the output end of the driving motor can drive the rotating platform to rotate;
and the fourth clamping jaw is connected to the rotating platform through a third air cylinder and is used for fixing the turbine to be processed.
Preferably, the rotary polishing platform further comprises a protective cover, wherein the protective cover is arranged on the frame and surrounds the rotary platform.
Preferably, the third cylinder is a three-jaw cylinder.
The invention has the beneficial effects that: the invention provides a first manipulator comprising a first clamping jaw and a second clamping jaw, wherein the first clamping jaw is used for taking materials, feeding a rough machining numerical control lathe and discharging a finish machining numerical control lathe; the second clamping jaw is used for feeding of a rough machining numerical control lathe and feeding of a finish machining numerical control lathe, clamping of a plurality of turbines in different machining stages can be achieved simultaneously through the arrangement of the two clamping jaws, working efficiency is improved, and the second mechanical arm comprising the third clamping jaw and a polishing piece is arranged to achieve the functions of clamping and polishing the turbine to be machined.
The invention also provides a turbine machining unit, which further comprises a turning platform and a rotary polishing platform, wherein the turning platform can be matched with the first manipulator to realize turning of a turbine to be machined; the rotary polishing platform can be matched with a polishing piece of the second manipulator to polish the turbine to be processed.
Drawings
FIG. 1 is a schematic view of a first manipulator according to the present invention;
FIG. 2 is a schematic view of a first floating assembly structure provided by the present invention;
FIG. 3 is a schematic view of a second manipulator according to the present invention;
FIG. 4 is a schematic diagram of a turnover platform according to the present invention;
FIG. 5 is a schematic view of a rotary polishing platform according to the present invention;
fig. 6 is a cross-sectional view of a rotary sanding platform provided in accordance with the present invention.
In the figure:
1. a first manipulator; 11. a first paw mounting plate; 12. a first jaw; 13. a second jaw; 14. a first floating assembly; 141. a first linear bearing; 142. a first guide shaft; 143. a first cylinder; 144. a first elastic member;
2. a second manipulator; 21. a second finger mounting plate; 22. a third jaw; 23. a polishing member;
3. a turnover platform; 31. a tool rack; 32. a positioning table; 321. a limiting piece; 322. avoidance holes;
4. rotating a polishing platform; 41. a frame; 42. a driving motor; 43. rotating the platform; 44. a third cylinder; 45. a fourth jaw; 46. and a protective cover.
Detailed Description
The technical scheme of the invention is further described below with reference to the attached drawings and the embodiments. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting thereof. It should be further noted that, for convenience of description, only some, but not all of the drawings related to the present invention are shown.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixed or removable, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
In the present invention, unless expressly stated or limited otherwise, a first feature "above" or "below" a second feature may include both the first and second features being in direct contact, as well as the first and second features not being in direct contact but being in contact with each other through additional features therebetween. Moreover, a first feature being "above," "over" and "on" a second feature includes the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is higher in level than the second feature. The first feature being "under", "below" and "beneath" the second feature includes the first feature being directly under and obliquely below the second feature, or simply means that the first feature is less level than the second feature.
As shown in fig. 1-3, the present embodiment provides a turbine machining manipulator assembly, which includes a first manipulator 1 and a second manipulator 2, wherein the first manipulator 1 can implement a function of clamping a turbine to be machined, and the second manipulator 2 can implement a function of clamping and polishing the turbine to be machined.
Specifically, the end effector of the first manipulator 1 includes a first gripper mounting plate 11, and first and second jaws 12 and 13 mounted on the first gripper mounting plate 11, each of the first and second jaws 12 and 13 being capable of gripping a turbine to be machined. Further, the first clamping jaw 12 and the second clamping jaw 13 are connected to the first claw mounting plate 11 through the first floating assembly 14, and reliability, safety and positioning accuracy of grabbing of the turbine to be processed are guaranteed. Specifically, the first floating assembly 14 includes a first linear bearing 141, a first guide shaft 142, a first cylinder 143, and a first elastic member 144, wherein one end of the first linear bearing 141 is connected to the first paw mounting plate 11, and the other end is connected to the first guide shaft 142; the first cylinder mounting plate is slidably coupled to the first guide shaft 142; the first elastic member 144 is sleeved on the first guide shaft 142, one end of the first elastic member 144 abuts against the first paw mounting plate 11, the other end abuts against the first cylinder mounting plate, and the first elastic member 144 provided in this embodiment is a spring. When the first clamping jaw 12 or the second clamping jaw 13 is stressed, the first cylinder mounting plate compresses the first elastic piece 144 to realize the floating of the first cylinder 143 and the first clamping jaw 12 or the second clamping jaw 13, so that the reliability of clamping the turbine to be processed by the first manipulator 1 can be ensured.
The first clamping jaw 12 and the second clamping jaw 13 have the same structure, but have different roles in the process of machining the turbine, wherein the first clamping jaw 12 is used for taking materials, feeding a rough machining numerical control lathe and discharging a finish machining numerical control lathe; the second clamping jaw 13 is used for feeding of a rough machining numerical control lathe and feeding of a finish machining numerical control lathe, clamping of a plurality of turbines in different machining stages can be achieved simultaneously through the arrangement of the two clamping jaws, and working efficiency is improved.
Specifically, the end effector of the second manipulator 2 includes a second gripper mounting plate 21, and a third jaw 22 and a grinding member 23 mounted on the second gripper mounting plate 21, wherein the third jaw 22 is capable of gripping a turbine to be machined, and the grinding member 23 is capable of grinding the turbine to be machined. Further, the third clamping jaw 22 and the polishing piece 23 are connected to the second clamping jaw mounting plate 21 through the second floating assembly, and reliability, safety and positioning accuracy of grabbing of the turbine to be processed are guaranteed. Specifically, the second floating assembly comprises a second linear bearing, a second guide shaft, a second cylinder and a second elastic piece, wherein one end of the second linear bearing is connected with the second paw mounting plate 21, and the other end of the second linear bearing is connected with the second guide shaft; the second cylinder mounting plate is connected to the second guide shaft in a sliding manner; the second elastic member is sleeved on the second guide shaft, one end of the second elastic member is abutted against the second paw mounting plate 21, the other end of the second elastic member is abutted against the second cylinder mounting plate, and the second elastic member is a spring. When the third clamping jaw 22 is stressed, the second cylinder mounting plate can compress the second elastic piece to realize the floating of the second cylinder and the third clamping jaw 22, so that the reliability of clamping the turbine to be processed by the second manipulator 2 can be ensured.
The third clamping jaw 22 plays roles of feeding and discharging the visual inspection equipment, feeding and discharging the numerical control vertical adding equipment and stacking finished products during the machining of the turbine to be machined. The polishing piece 23 can be matched with the rotary polishing platform in a cooperation mode, and polishing and chamfering functions of excircle burrs of a machining surface of a turbine to be machined and burrs of a drilling back surface are achieved.
As shown in fig. 4-6, the present embodiment further provides a turbine machining unit, including the turbine machining manipulator assembly as described above, and further including a turning platform 3 and a rotary polishing platform 4, where the turning platform 3 can be matched with the first manipulator 1 to implement turning of the turbine to be machined; the rotary polishing platform 4 can be matched with the polishing piece 23 of the second manipulator 2 to polish the turbine to be processed.
Specifically, the overturning platform 3 comprises a tool frame 31 and a positioning table 32, wherein the positioning table 32 is connected with the tool frame 31 in an included angle manner, and a limiting piece 321 is arranged on the positioning table 32 and used for positioning the turbine to be processed. More specifically, the included angle between the positioning table 32 and the tool frame 31 is 45 °, the limiting part 321 on the positioning table 32 is a V-shaped part, the turbine to be processed is placed on the positioning table 32, the turbine to be processed automatically slides down under the action of gravity, the outer circle of the turbine to be processed can be tangent with the V-shaped part, so that the turbine to be processed is positioned, if only positioning is needed, the first manipulator 1 is placed on the upper side of the positioning table 32, simultaneously, the turbine to be processed is grabbed on the upper side of the positioning table 32, if the turbine to be processed is needed to be overturned, the first manipulator 1 is placed on the upper side of the positioning table 32, the turbine to be processed is grabbed on the lower side of the positioning table 32, and the overturning of the turbine to be processed can be realized.
It should be noted that, in order to facilitate the first clamping jaw 12 and the second clamping jaw 13 to clamp the turbine to be processed, the positioning table 32 is provided with a avoiding hole 322, so that the first clamping jaw 12 or the second clamping jaw 13 can conveniently pass through the avoiding hole 322 to place and clamp the turbine to be processed.
Specifically, the rotary polishing platform 4 comprises a frame 41, a driving motor 42, a rotary platform 43 and a fourth clamping jaw 45, wherein the driving motor 42 is fixed on the frame 41, the rotary platform 43 is connected to the frame 41 through a rotating piece, and the output end of the driving motor 42 can drive the rotary platform 43 to rotate; the fourth clamping jaw 45 is connected to the rotary platform 43 by a third cylinder 44, the fourth clamping jaw 45 being used for fixing the turbine to be machined. Further, the rotary polishing platform 4 further includes a protective cover 46, and the protective cover 46 is disposed on the frame 41 and surrounds the rotary platform 43. The turbine to be processed is placed on a fourth clamping jaw 45 of the rotary polishing platform 4 by a third clamping jaw 22 of the second manipulator 2, the turbine to be processed is fixed and positioned by the fourth clamping jaw 45, a polishing piece 23 of the second manipulator 2 is close to the turbine to be processed, chamfering is carried out on the back direction of a drilling hole of the turbine to be processed, then the polishing piece 23 waits at a safe point of the excircle of a processing surface, the rotary polishing platform 4 rotates, the head of the polishing piece 23 rotates, the tangential direction of the second manipulator 2 is close to an arc line to be polished, the rotation angle of the turbine to be processed is larger than 360 degrees, and closed-loop polishing of the arc to be polished is realized.
Note that, the first cylinder 143, the second cylinder, and the third cylinder 44 provided in the present embodiment are three-jaw cylinders.
It is to be understood that the above examples of the present invention are provided for clarity of illustration only and are not limiting of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (7)
1. A turbine machining unit comprising a turbine machining manipulator assembly, comprising:
the end effector of the first manipulator (1) comprises a first paw mounting plate (11), a first clamping jaw (12) and a second clamping jaw (13) which are mounted on the first paw mounting plate (11), wherein the first clamping jaw (12) and the second clamping jaw (13) can clamp a turbine to be processed;
the end effector of the second manipulator (2) comprises a second paw mounting plate (21), a third clamping jaw (22) and a polishing piece (23), wherein the third clamping jaw (22) is mounted on the second paw mounting plate (21), the turbine to be processed can be clamped by the third clamping jaw (22), and the turbine to be processed can be polished by the polishing piece (23);
further comprises:
the overturning platform (3) can be matched with the first manipulator (1) to realize overturning of the turbine to be processed;
the rotary polishing platform (4) can be matched with the polishing piece (23) of the second manipulator (2) to polish the turbine to be processed;
the overturning platform (3) comprises a tool frame (31) and a positioning table (32), wherein the positioning table (32) is connected with the tool frame (31) in an included angle, and a limiting piece (321) is arranged on the positioning table (32) and used for positioning the turbine to be processed;
the first clamping jaw (12) is used for taking materials, feeding a rough machining lathe and discharging a finish machining lathe; the second clamping jaw (13) is used for blanking of a rough machining lathe and feeding of a finish machining lathe, so that clamping of a plurality of turbines in different machining stages can be realized simultaneously, and the working efficiency is improved; the turbine to be processed is placed on the rotary polishing platform (4) by the third clamping jaw (22) of the second manipulator (2), and after the turbine to be processed is fixed, the polishing piece (23) of the second manipulator (2) is close to the turbine to be processed, so that closed-loop polishing of polishing circular arcs is realized;
and the positioning table (32) is provided with an avoidance hole (322) for avoiding the first clamping jaw (12) and/or the second clamping jaw (13).
2. Turbine machining unit according to claim 1, characterized in that the stop (321) is a V-shaped piece, which can be tangential to the turbine to be machined.
3. Turbine machining unit according to claim 1, wherein the rotary sanding platform (4) comprises:
a frame (41);
a drive motor (42), the drive motor (42) being fixed to the frame (41);
the rotating platform (43) is rotatably connected to the frame (41), and the output end of the driving motor (42) can drive the rotating platform (43) to rotate;
and the fourth clamping jaw (45), the fourth clamping jaw (45) is connected to the rotary platform (43) through a third air cylinder (44), and the fourth clamping jaw (45) is used for fixing the turbine to be processed.
4. A turbine machining unit according to claim 3, wherein the rotary sanding platform (4) further comprises a protective cover (46), the protective cover (46) being arranged on the frame (41) around the rotary platform (43).
5. A turbine machining unit according to claim 3, wherein the third cylinder (44) is a three jaw cylinder.
6. The turbine machining unit of claim 1, characterized in that the first clamping jaw (12) and the second clamping jaw (13) are each connected to the first jaw mounting plate (11) by a first floating assembly (14), the first floating assembly (14) comprising:
the first linear bearing (141), one end of the first linear bearing (141) is connected to the first paw mounting plate (11), and the other end is connected to the first guide shaft (142);
a first cylinder (143), a first cylinder mounting plate is slidably connected to the first guide shaft (142), and the first cylinder (143) is connected to the first clamping jaw (12) or the second clamping jaw (13);
the first elastic piece (144), first elastic piece (144) cover is located on first guiding axle (142), the one end butt of first elastic piece (144) in first paw mounting panel (11), the other end butt in first cylinder mounting panel.
7. The turbine machining unit according to claim 1, characterized in that the third jaw (22) and the grinding member (23) are connected to the second jaw mounting plate (21) by a second floating assembly comprising:
one end of the second linear bearing is connected with the second paw mounting plate (21), and the other end of the second linear bearing is connected with a second guide shaft;
the second cylinder is connected with the second guide shaft in a sliding manner, and is connected with the third clamping jaw (22) or the polishing piece (23);
the second elastic piece is sleeved on the second guide shaft, one end of the second elastic piece is abutted to the second paw mounting plate (21), and the other end of the second elastic piece is abutted to the second cylinder mounting plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611154.0A CN114147601B (en) | 2021-12-27 | 2021-12-27 | Turbine machining manipulator assembly and machining unit thereof |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111611154.0A CN114147601B (en) | 2021-12-27 | 2021-12-27 | Turbine machining manipulator assembly and machining unit thereof |
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| Publication Number | Publication Date |
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| CN114147601A CN114147601A (en) | 2022-03-08 |
| CN114147601B true CN114147601B (en) | 2023-08-08 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114952924A (en) * | 2022-05-24 | 2022-08-30 | 清远敏瑞汽车零部件有限公司 | Mechanical gripper and robot |
| CN115258654A (en) * | 2022-07-19 | 2022-11-01 | 深圳市博辉特科技有限公司 | Automatic get and put radiator fan tong mechanism |
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| CN114147601A (en) | 2022-03-08 |
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