CN112720531A - Robot grinding exchange rotating table system - Google Patents
Robot grinding exchange rotating table system Download PDFInfo
- Publication number
- CN112720531A CN112720531A CN202011608668.6A CN202011608668A CN112720531A CN 112720531 A CN112720531 A CN 112720531A CN 202011608668 A CN202011608668 A CN 202011608668A CN 112720531 A CN112720531 A CN 112720531A
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- Prior art keywords
- exchange
- workpiece
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- supporting
- bedplate
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- 230000005540 biological transmission Effects 0.000 claims description 15
- 230000007246 mechanism Effects 0.000 claims description 15
- 238000001514 detection method Methods 0.000 claims description 10
- 239000003638 chemical reducing agent Substances 0.000 claims description 9
- 238000005498 polishing Methods 0.000 abstract description 17
- 238000009434 installation Methods 0.000 abstract description 2
- 230000007704 transition Effects 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 208000028571 Occupational disease Diseases 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Images
Classifications
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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
- 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
- B24B27/0069—Other grinding machines or devices with means for feeding the work-pieces to the grinding tool, e.g. turntables, transfer means
-
- 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
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/02—Frames; Beds; Carriages
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention relates to the field of robot application polishing, in particular to a robot polishing exchange rotating platform system, which comprises a support body arranged on the ground and matched with an external control system, and further comprises: the 180-degree rotating and lifting exchange device is arranged on the supporting body and is used for rotating and lifting the workpiece; the servo rotating platform is arranged on the support body and matched with an external control system, and is used for changing the posture of the workpiece and ensuring that the robot can polish all positions of the workpiece completely; the movable exchange bedplate is matched and positioned with the 180-degree rotary lifting exchange device and used for placing workpieces, and the movable exchange bedplate is a transition plate, can adapt to installation of different workpiece clamps and is high in flexibility; the 180-degree rotary lifting exchange device well separates a human body from a machine, is good in safety, does not affect polishing when loading and unloading, is high in efficiency, and is accurate in positioning.
Description
Technical Field
The invention relates to the field of robot application polishing, in particular to a robot polishing exchange rotating platform system.
Background
With the development of science and technology, more and more industries are beginning to use robots instead of human work. Because the foundry goods trade operational environment that polishes is poor, intensity of labour is big, the uniformity of polishing is poor, and be the high release industry of occupational disease, so with more and more enterprises replace artifical the polishing with automation equipment urgently, so the automation of robot is polished and is applied more and more in the trade of polishing, and polish upper and lower piece interaction equipment and regard as one indispensable equipment in the robot automation system, current equipment all is that area is big, the degree of flexibility is low, the structure is complicated, the position of polishing is restricted, artifical participation is many, maintain characteristics such as maintenance all is more complicated.
Therefore, the equipment which occupies a small area, has high flexibility and can polish all the surfaces of the workpiece by one-time clamping needs to be provided at present, so that the high requirement of the workpiece interaction equipment on the robot automation system at present can be met.
Disclosure of Invention
In order to solve the above problems, the present invention provides a robot grinding exchange rotating table system.
The utility model provides a robot exchange revolving stage system of polishing, including set up subaerial and with external control system complex support body, still include:
the 180-degree rotating and lifting exchange device is arranged on the supporting body and is used for rotating and lifting the workpiece;
the servo rotating platform is arranged on the support body and matched with an external control system, and is used for changing the posture of the workpiece and ensuring that the robot can polish all positions of the workpiece completely;
the movable exchange bedplate is matched and positioned with the 180-degree rotary lifting exchange device and used for placing workpieces.
The supporting body comprises a plurality of groups of adjusting feet which are contacted with the ground to facilitate the leveling of the movable exchange bedplate at the later stage, a supporting frame which is connected with the adjusting feet and used as a mounting platform and a reference for supporting all components, a first large positioning pin which is arranged on the supporting frame and used for positioning and supporting the movable exchange bedplate, and a first guiding positioning pin which is arranged on the supporting frame and used for providing guiding positioning when the 180-degree rotary lifting exchange device descends.
The 180-degree rotary lifting exchange device comprises a worm and gear transmission mechanism, a servo motor, a hydraulic lifting device, an X-shaped exchange table and a lifting detection switch, wherein the worm and gear transmission mechanism is matched with an external control system and is connected with a supporting frame of the supporting body, the servo motor is used for driving the worm and gear transmission mechanism to rotate by 180 degrees in a positive and negative mode, the hydraulic lifting device is installed on the worm and gear transmission mechanism, the X-shaped exchange table is installed on the hydraulic lifting device and is driven to move up and down, and the lifting detection switch is installed on the supporting frame and is used for detecting the up-and-.
The servo rotating platform comprises a speed reducer arranged on the supporting frame, a servo motor arranged on the speed reducer and a rotating platform plate arranged on the speed reducer, wherein a second large positioning pin used for being matched with the movable exchange platform plate is arranged on the rotating platform plate.
The supporting frame on install the detection switch that targets in place that is used for controlling the signal that targets in place of servo revolving stage, supporting frame on still be provided with and be used for carrying out the protection to the detection switch that targets in place.
The movable exchange bedplate comprises a positioning sleeve matched with the first large positioning pin and the second large positioning pin for positioning and supporting and a fixture mounting plate arranged on the positioning sleeve and used for mounting different types of fixture fixtures.
The invention has the beneficial effects that: the movable exchange bedplate is used as a transition plate, so that the installation of different workpiece clamps can be adapted, and the flexibility is strong; the 180-degree rotary lifting exchange device well separates the man from the machine, has good safety, does not influence polishing by an upper workpiece and a lower workpiece, has high efficiency and is accurate in positioning; the servo revolving stage can drive the work piece and rotate different angles, reaches to adapt to different work piece positions and polishes, can realize the polishing of five at least faces of a clamping robot polishing, and four big locating pins one on the servo revolving stage and four big locating pins two of 180 rotatory lift exchange device can realize adopting the activity change table to make a round trip to switch and fix a position at servo revolving stage and rotatory lift exchange device, and positioning accuracy is high.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic front view of the present invention;
FIG. 2 is a schematic structural diagram of a 180-degree rotary elevating switching device, a servo rotary table and a movable switching table according to the present invention;
FIG. 3 is a schematic view of the structure A-A of FIG. 2 according to the present invention;
fig. 4 is a schematic top view of fig. 2 according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1 to 4, a robot grinding exchange rotating table system includes a supporting body 1 disposed on the ground and matched with an external control system, and further includes:
the 180-degree rotary lifting exchange device 2 is arranged on the support body 1 and is used for rotating and lifting the workpiece;
the servo rotating platform 4 is arranged on the support body 1 and matched with an external control system, and is used for changing the posture of a workpiece to ensure that the robot can polish all positions of the workpiece completely;
and the movable exchange bedplate 3 is matched and positioned with the 180-degree rotary lifting exchange device 2 and is used for placing a workpiece.
The supporting body 1 comprises a plurality of groups of adjusting feet 1.2 which are in contact with the ground and are convenient for leveling the movable exchange bedplate 3 at the later stage, a supporting frame 1.1 which is connected with the adjusting feet 1.2 and used as a mounting platform and a reference and is used for supporting all components, a large positioning pin 1.3 which is arranged on the supporting frame 1.1 and is used for positioning and supporting the movable exchange bedplate 3, and a guide positioning pin 1.4 which is arranged on the supporting frame 1.1 and is used for providing guide positioning when the 180-degree rotary lifting exchange device 2 descends.
The large positioning pin I1.3 is arranged on the supporting frame 1.1, is mainly matched with a positioning sleeve 3.2 on the movable exchange bedplate 3 for use, and plays a role in positioning and supporting the movable exchange bedplate 3.
The 180-degree rotary lifting exchange device 2 comprises a worm and gear transmission mechanism 2.2 matched with an external control system and connected with a supporting frame 1.1 of the supporting body 1, a servo motor 2.1 used for driving the worm and gear transmission mechanism 2.2 to realize positive and negative 180-degree rotation, a hydraulic lifting device 2.3 arranged on the worm and gear transmission mechanism 2.2, an X-shaped exchange table 2.4 arranged on the hydraulic lifting device 2.3 and driven to move up and down for lifting movement, and a lifting detection switch 2.5 arranged on the supporting frame 1.1 and used for detecting the up and down in-place of the X-shaped exchange table 2.4.
The 180-degree rotary lifting exchange device 2 can well separate a human body from a machine body, is good in safety, high in efficiency and accurate in positioning, and polishing is not affected by upper and lower workpieces.
As shown in fig. 1, the apparatus is provided with two end points of a end and a B end so as to distinguish a feeding point, i.e., a position of an upper workpiece.
The 180-degree rotary lifting exchange device 2 drives the movable exchange platen 3 to lift through the hydraulic lifting device 2.3, then drives the worm gear transmission mechanism 2.2 through the servo motor 2.1 to rotate 180 degrees, a workpiece which is not polished is brought to the end B from the end A, the polished workpiece is brought to the end A from the end B, then the workpiece descends through the hydraulic lifting device 2.3, the movable exchange table 3 is separated from the 180-degree rotary lifting exchange device 2, and the movable exchange table 3 is positioned through the large positioning pin I1.3 and the large positioning pin II 4.5 after separation.
The servo motor 2.1 is connected with the worm and gear transmission mechanism 2.2, the servo motor 2.1 drives the worm and gear transmission mechanism 2.2 to realize 180-degree rotation in the positive direction and the negative direction, and meanwhile, the worm and gear transmission mechanism 2.2 drives the hydraulic lifting device 2.3 and the X-shaped exchange table 2.4 to realize 180-degree movement in the positive direction and the negative direction together.
The servo rotating platform 4 comprises a speed reducer 4.2 arranged on a supporting frame 1.1, a servo motor 4.3 arranged on the speed reducer 4.2 and a rotating platform plate 4.1 arranged on the speed reducer 4.2, wherein a large positioning pin II 4.5 used for being matched with the movable exchange platform plate 3 is arranged on the rotating platform plate 4.1.
The servo rotating platform 4 can drive the workpiece to rotate by different angles to achieve the purpose of being adaptive to polishing of different workpiece positions, and polishing of at least five surfaces by the clamping robot at one time can be achieved.
Four big positioning pins 1.3 on the servo revolving stage 4 and four big positioning pins two 4.5 of the 180-degree rotary lifting exchange device 2 can realize switching and positioning back and forth by adopting the movable exchange platform 3 on the servo revolving stage 4 and the 180-degree rotary lifting exchange device 2, and the positioning precision is high.
The movable exchange bedplate 3 is used for installing different tools, and a workpiece is manually placed on the tool of the movable exchange bedplate 3 at the end A.
The large positioning pin II 4.5 is arranged on the rotating bedplate 4.1 and is mainly matched with the positioning sleeve 3.2 on the movable exchange bedplate 3 for use, thereby playing the role of positioning and supporting the movable exchange bedplate 3.
Braced frame 1.1 on install the detection switch 4.4 that targets in place that is used for controlling servo revolving stage 4's the signal that targets in place, braced frame 1.1 on still be provided with and be used for carrying out the protection casing 4.6 of protection to detection switch 4.4 that targets in place.
The movable exchange bedplate 3 comprises a positioning sleeve 3.2 which is matched with the large positioning pin I1.3 and the large positioning pin II 4.5 for positioning and supporting and a fixture mounting plate 3.1 which is arranged on the positioning sleeve 3.2 and used for mounting different types of fixture fixtures.
The use method of the invention comprises the following steps: different tools can be arranged on the movable exchange bedplate 3, and a workpiece is manually placed on the tool of the movable exchange bedplate 3 at the end A;
the 180-degree rotary lifting exchange device 2 drives the movable exchange platen 3 to lift through a hydraulic lifting device 2.3, then drives the worm gear transmission mechanism 2.2 through a servo motor 2.1 to rotate 180 degrees, a workpiece which is not polished is brought from an end A to an end B, the polished workpiece is brought from the end B to the end A, then the workpiece is lowered through the hydraulic lifting device 2.3, the movable exchange table 3 is separated from the 180-degree rotary lifting exchange device 2, and the movable exchange table 3 is positioned through a large positioning pin I1.3 and a large positioning pin II 4.5 after separation;
the non-polished and movable exchange bedplate 3 falls on the servo rotating platform 4, the servo motor 2.1 rotates to drive the workpiece on the movable exchange bedplate 3 to rotate by different angles to adapt to polishing of different workpiece positions, the polished workpiece falls on the movable exchange bedplate 3 at the end A, and the workpiece which is not polished is manually discharged and not polished.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides a robot is polished and is exchanged revolving stage system, including set up subaerial and with external control system complex support body (1), its characterized in that: further comprising:
the 180-degree rotary lifting exchange device (2) is arranged on the supporting body (1) and is used for rotating and lifting the workpiece;
the servo rotating table (4) is arranged on the supporting body (1), is matched with an external control system, and is used for changing the posture of a workpiece to ensure that the robot can polish all positions of the workpiece completely;
the movable exchange bedplate (3) is matched and positioned with the 180-degree rotary lifting exchange device (2) and used for placing workpieces.
2. A robotic grinding exchange turret system according to claim 1, wherein: the supporting body (1) comprises a plurality of groups of adjusting feet (1.2) which are in contact with the ground and are convenient for leveling the movable exchange bedplate (3) at the later stage, a supporting frame (1.1) which is connected with the adjusting feet (1.2) and used as a mounting platform and a reference for supporting all components, a first large positioning pin (1.3) which is arranged on the supporting frame (1.1) and used for positioning and supporting the movable exchange bedplate (3), and a guide positioning pin (1.4) which is arranged on the supporting frame (1.1) and used for providing guide positioning when the 180-degree rotary lifting exchange device (2) descends.
3. A robotic grinding exchange turret system according to claim 2, wherein: the 180-degree rotary lifting exchange device (2) comprises a worm and gear transmission mechanism (2.2) matched with an external control system and connected with a supporting frame (1.1) of the supporting body (1), a servo motor (2.1) used for driving the worm and gear transmission mechanism (2.2) to realize positive and negative 180-degree rotation, a hydraulic lifting device (2.3) arranged on the worm and gear transmission mechanism (2.2), an X-shaped exchange table (2.4) arranged on the hydraulic lifting device (2.3) and driven to move up and down, and a lifting detection switch (2.5) arranged on the supporting frame (1.1) and used for detecting the up and down in-place of the X-shaped exchange table (2.4).
4. A robotic grinding exchange turret system according to claim 2, wherein: the servo rotating platform (4) comprises a speed reducer (4.2) arranged on a supporting frame (1.1), a servo motor (4.3) arranged on the speed reducer (4.2) and a rotating platform plate (4.1) arranged on the speed reducer (4.2), wherein a large positioning pin II (4.5) used for being matched with the movable exchange platform plate (3) is arranged on the rotating platform plate (4.1).
5. A robotic grinding exchange turret system according to claim 4, wherein: braced frame (1.1) on install the detection switch (4.4) that targets in place that is used for controlling the signal that targets in place of servo revolving stage (4), braced frame (1.1) on still be provided with and be used for carrying out the protection casing (4.6) of protection to detection switch (4.4) that targets in place.
6. A robotic grinding exchange turret system according to claim 5, wherein: the movable exchange bedplate (3) comprises a positioning sleeve (3.2) which is matched with the large positioning pin I (1.3) and the large positioning pin II (4.5) for positioning and supporting and a fixture mounting plate (3.1) which is arranged on the positioning sleeve (3.2) and is used for mounting different forms of fixture fixtures.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011608668.6A CN112720531A (en) | 2020-12-30 | 2020-12-30 | Robot grinding exchange rotating table system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011608668.6A CN112720531A (en) | 2020-12-30 | 2020-12-30 | Robot grinding exchange rotating table system |
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| Publication Number | Publication Date |
|---|---|
| CN112720531A true CN112720531A (en) | 2021-04-30 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011608668.6A Pending CN112720531A (en) | 2020-12-30 | 2020-12-30 | Robot grinding exchange rotating table system |
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| Country | Link |
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| CN (1) | CN112720531A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211309A (en) * | 2021-06-03 | 2021-08-06 | 埃华路（芜湖）机器人工程有限公司 | Rotatable equipment for polishing and feeding of robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201618973U (en) * | 2010-01-07 | 2010-11-03 | 上海理工大学 | Horizontal machining center machine tool rotary exchange table |
| CN103551867A (en) * | 2013-11-08 | 2014-02-05 | 武汉凡谷自动化有限公司 | Double-exchange workbench |
| CN104476211A (en) * | 2014-11-03 | 2015-04-01 | 宁波海天精工股份有限公司 | Minor radius exchange platform for machine tool |
| WO2016155488A1 (en) * | 2015-03-27 | 2016-10-06 | 大连誉洋工业智能有限公司 | Smart grinding and cutting system |
| CN210879195U (en) * | 2019-10-15 | 2020-06-30 | 深圳市铭泰智能科技有限公司 | Double-station exchange workbench |
| CN111890068A (en) * | 2020-07-16 | 2020-11-06 | 沈机集团昆明机床股份有限公司 | Workbench exchange device for horizontal numerical control machine tool |
| CN214352472U (en) * | 2020-12-30 | 2021-10-08 | 埃华路（芜湖）机器人工程有限公司 | Robot grinding exchange rotating table system |
-
2020
- 2020-12-30 CN CN202011608668.6A patent/CN112720531A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201618973U (en) * | 2010-01-07 | 2010-11-03 | 上海理工大学 | Horizontal machining center machine tool rotary exchange table |
| CN103551867A (en) * | 2013-11-08 | 2014-02-05 | 武汉凡谷自动化有限公司 | Double-exchange workbench |
| CN104476211A (en) * | 2014-11-03 | 2015-04-01 | 宁波海天精工股份有限公司 | Minor radius exchange platform for machine tool |
| WO2016155488A1 (en) * | 2015-03-27 | 2016-10-06 | 大连誉洋工业智能有限公司 | Smart grinding and cutting system |
| CN210879195U (en) * | 2019-10-15 | 2020-06-30 | 深圳市铭泰智能科技有限公司 | Double-station exchange workbench |
| CN111890068A (en) * | 2020-07-16 | 2020-11-06 | 沈机集团昆明机床股份有限公司 | Workbench exchange device for horizontal numerical control machine tool |
| CN214352472U (en) * | 2020-12-30 | 2021-10-08 | 埃华路（芜湖）机器人工程有限公司 | Robot grinding exchange rotating table system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113211309A (en) * | 2021-06-03 | 2021-08-06 | 埃华路（芜湖）机器人工程有限公司 | Rotatable equipment for polishing and feeding of robot |
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