CN106393138B - A kind of robot polishing system - Google Patents
A kind of robot polishing system Download PDFInfo
- Publication number
- CN106393138B CN106393138B CN201611098240.5A CN201611098240A CN106393138B CN 106393138 B CN106393138 B CN 106393138B CN 201611098240 A CN201611098240 A CN 201611098240A CN 106393138 B CN106393138 B CN 106393138B
- Authority
- CN
- China
- Prior art keywords
- clamping
- fixed
- guide post
- manipulator
- driving portion
- Prior art date
- 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.)
- Expired - Fee Related
Links
Classifications
-
- 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
-
- 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
-
- 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
- B25J15/0019—End effectors other than grippers
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The present invention provides a kind of polishing fixture head, including two fixed arms and the clamping piece between described two fixed arms, described two fixed arms are used to connect with a manipulator and arranged in parallel, the clamping piece includes two clamping parts, described two clamping parts are connect with described two fixed arms respectively, the recessed groove in side of each clamping part far from corresponding fixed arm, the groove of described two clamping parts surrounds a putting hole for placing grinding head jointly, the opposite sides of each clamping part is also all provided with there are two latch segment, perforation is equipped with the first screw hole on each latch segment, described two clamping parts clamp the grinding head being located in the putting hole by the pinching screw in corresponding first screw hole.The present invention also provides a kind of robot polishing systems using above-mentioned polishing fixture head.Above-mentioned robot polishing system and its polishing fixture head facilitate grinding head installation on a robotic arm.
Description
【Technical field】
The present invention relates to grinding technology field, especially a kind of robot polishing system.
【Background technology】
In the actual production process, it usually needs polish workpiece surface so that workpiece have it is more smooth outer
It sees.Manual polishing the problems such as there are inefficiency, it is difficult to realize automated production, have become sanding and polishing industry and further send out
The bottleneck of exhibition.Polishing is carried out with work efficiency is high, stability is reliable, repeatable accuracy is good, energy to workpiece using industrial robot
Under high-risk environment the advantages that operation.However, grinding head is difficult to be mounted directly on a robotic arm.
【Invention content】
In view of the above problems, it is necessary to a kind of polishing system be provided, grinding head is mounted on manipulator to facilitate
On.
In order to achieve the above objectives, the technical solution adopted in the present invention is：
A kind of robot polishing system, including manipulator, grinding head, polishing fixture head and for fixed workpiece to be polished
Fixed seat, the polishing fixture head include two fixed arms and the clamping piece between described two fixed arms, described two
Fixed arm connect and is mutually parallel with the manipulator, and the clamping piece includes two clamping parts, described two retained parts
It is not connect with described two fixed arms, the recessed groove in side of each clamping part far from corresponding fixed arm, described two clampings
The groove in portion surrounds one for placing the putting hole of grinding head jointly, and the opposite sides of each clamping part is also all provided with that there are two lockings
Block, on each latch segment perforation be equipped with the first screw hole, described two clamping parts pass through the clamping spiral shell in corresponding first screw hole
Nail clip is tightly located at the grinding head in the putting hole；If the fixed seat include mounting plate, fixed block, actuator, guide post and
Dry holding block, the fixed block are set in the side of the mounting plate and the fixed block host cavity for being equipped with one end open, institute
It states guide post actively to wear the mounting plate and stretch into the host cavity, the central axis of the guide post and the receiving
The central axis of chamber overlaps；Several first driving portions, several holding block activities are equipped at intervals on the side wall of the guide post
Ground is installed on the bottom wall of the host cavity and is arranged at intervals on the periphery of the guide post, the outer wall of several holding blocks with
The inner wall of the host cavity be collectively formed one for clamping workpiece annular space, each holding block towards the guide post one
Side is equipped with the second driving portion, and each second driving portion is slidably matched with corresponding first driving portion, and the actuator is led with described
It is connected to column, when the actuator drives the guide post to be moved along the axis direction of the guide post, first driving
Portion is against second driving portion.
Further, the polishing fixture head further includes bottom plate, and the bottom plate is connect with the manipulator, described two solid
Fixed arm is connect with the opposite sides of the bottom plate respectively close to the end of the manipulator.
Further, locating slot is recessed in the opposite sides of the bottom plate, described two fixed arms are close to the machine
The end of tool hand is contained in respectively in two locating slots of the bottom plate, and passes through lock-screw and the bottom plate and the machinery
Hand is fixedly connected.
Further, the polishing fixture head includes two clamping pieces, and two clamping pieces are along the fixed arm
Length direction interval be arranged and be mutually parallel, one of clamping piece be set to described two fixed arms far from the manipulator
End.
Further, one of first driving portion and second driving portion be protruding rail, another be with it is described
The sliding slot that protruding rail shape matches, second driving portion and the axis of the relatively described guide post of first driving portion incline
Tiltedly, and the protruding rail is slidably received in the sliding slot.
Further, several holding blocks are corresponded on the bottom wall of the host cavity is equipped with several limiting slots, it is each to limit
Slot is radially extended along the host cavity, and each holding block is equipped with and the limit groove shape towards the surface of the fixed seat
The limit protrusion to match, each limit protrusion part are slidably installed in corresponding limiting slot.
Due to the adoption of the above technical scheme, the invention has the advantages that：
The robot polishing system of the present invention, including two fixed arms and the clamping between described two fixed arms
Part, the clamping piece include two clamping parts, and described two clamping parts are equipped with a putting hole for placing grinding head jointly.Make
The bar portion of grinding head is placed in the putting hole by the used time, is clamped described two clamping parts by pinching screw, you can clamping position
Grinding head in the putting hole, it is simple in structure, it is easy to use.
【Description of the drawings】
Fig. 1 is the structural schematic diagram of the robot polishing system of a better embodiment of the invention.
Fig. 2 is the structural schematic diagram of the bottom plate of robot polishing system shown in Fig. 1.
Fig. 3 is the structural schematic diagram of the fixed arm of robot polishing system shown in Fig. 1.
Fig. 4 is the structural schematic diagram of the clamping piece of robot polishing system shown in Fig. 1.
Fig. 5 is the structural schematic diagram of the fixed seat of robot polishing system shown in Fig. 1.
Fig. 6 is the structural schematic diagram of the fixed seat of robot polishing system in a further embodiment of this invention.
Fig. 7 is the schematic top plan view of fixed seat shown in Fig. 6.
In attached drawing, 100- robots polishing system, 2- manipulators, 3- grinding heads, 4- polishing fixture head, 42- fixed arms,
44- clamping pieces, 45- clamping parts, 452- grooves, 453- putting holes, 454- guide rods, 456- guide grooves, 46- latch segments, 462- first
Screw hole, 47- bottom plates, 472- locating slots, 48- lock-screws, 5- pinching screws, 6,7- fixed seats, 62,72- mounting plates, 64,74-
Fixed block, 642,742- host cavities, the second screw holes of 644-, 646- fastening bolts, 648- thicken protrusion, 75- actuators, 76- are led
The first driving portion of Xiang Zhu, 762-, 77- holding blocks, the second driving portions of 772-, 774- limit protrusions, 78- annular spaces, 79- limits
Slot.
【Specific implementation mode】
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
It should be noted that when component is referred to as " being fixed on " another component, it can be directly on another component
Or there may also be components placed in the middle.When a component is considered as " connection " another component, it can be directly connected to
To another component or it may be simultaneously present component placed in the middle.When a component is considered as " being set to " another component, it
Can be set up directly on another component or may be simultaneously present component placed in the middle.Term as used herein is " vertical
", " horizontal ", "left", "right" and similar statement for illustrative purposes only.
Unless otherwise defined, all of technologies and scientific terms used here by the article and belong to the technical field of the present invention
The normally understood meaning of technical staff is identical.Used term is intended merely to description tool in the description of the invention herein
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term " and or " used herein includes one or more phases
Any and all combinations of the Listed Items of pass.
Fig. 1 is referred to, embodiment of the present invention provides a kind of robot polishing system 100, including manipulator 2, grinding head
3, polishing fixture head 4 and the fixed seat 6 for fixed workpiece to be polished.
Please also refer to Fig. 2 to Fig. 4, the polishing fixture head 4 is including two fixed arms 42 and is set to described two fixations
Clamping piece 44 between arm 42.Described two fixed arms 42 connect and are mutually parallel with the manipulator 2.The clamping piece 44
Including two clamping parts 45, described two clamping parts 45 are connect with described two fixed arms 42 respectively.Each clamping part 45 is separate
The recessed groove 452 in side of corresponding fixed arm 42, the grooves 452 of described two clamping parts 45 surround jointly one for place beat
The putting hole 453 of bistrique 3.The opposite sides of each clamping part 45 is also all provided with there are two latch segment 46, is passed through on each latch segment 46
Logical to be equipped with the first screw hole 462, described two clamping parts 45 pass through 5 clamping position of pinching screw in corresponding first screw hole 462
In the grinding head 3 in the putting hole 453.
In the present embodiment, the polishing fixture head 4 further includes bottom plate 47, and the bottom plate 47 connects with the manipulator 2
It connects, described two fixed arms 42 are connect with the opposite sides of the bottom plate 47 respectively close to the end of the manipulator 2, specifically
For：Locating slot 472 is recessed in the opposite sides of the bottom plate 47, described two fixed arms 42 are close to the manipulator 2
End is contained in respectively in two locating slots 472 of the bottom plate 47, and passes through lock-screw 48 and the bottom plate 47 and described
Manipulator 2 is fixedly connected.
In the present embodiment, it is convexly equipped with guide rod 454 on side of the one of clamping part 45 towards another clamping part 45,
Guide groove 456 is correspondingly provided on the side of another clamping part 45, the guide rod 454 is slidably contained in the guide groove 456, with right
The motion guide of two clamping parts 45.
Preferably, the polishing fixture head 4 includes two clamping pieces 44.Length of two clamping pieces 44 along the fixed arm 42
Degree direction interval is arranged and is mutually parallel, and one of clamping piece 44 is set to described two fixed arms 42 far from the manipulator
2 end.Grinding head 3 is clamped using two clamping pieces 44, enables to the clamping of grinding head 3 more firm.
Please also refer to Fig. 5, in the present embodiment, the fixed seat 6 is including mounting plate 62 and is set to the mounting plate
The fixed block 64 of 62 sides.The host cavity 642 of one end open is equipped in the fixed block 64, the host cavity 642 is for placing
Workpiece to be polished.Perforation is equipped with the second screw hole 644 on the side wall of the fixed block 64.In the present embodiment, described second
The quantity of screw hole 644 is two, and two the second screw holes 644 are oppositely arranged.It is equipped with fastening bolt 646 in every 1 second screw hole 644,
One end of the fastening bolt 646 precession or can screw out the host cavity 642, to push against or discharge workpiece.The fixed block
64 lateral wall, which is equipped with, thickeies protrusion 648, and second screw hole 644 penetrates through the thickening protrusion 648, to enhance the fixation
The intensity of seat 6.
In the present embodiment, the manipulator 2 is six axis robot 2.The clamping part 45 and corresponding fixed arm 42
Between be bolted, with easy disassembly.
Above-mentioned robot polishing system 100 is then sharp in use, first put in the bar portion of grinding head 3 in putting hole 453
Described two clamping parts 45 are clamped with pinching screw 5, you can clamp the grinding head 3 being located in the putting hole 453, structure letter
It is single, it is easy to use.Secondly, workpiece is placed in the host cavity 642 of fixed seat 6, described in one end precession by fastening bolt 646
Host cavity 642 is to push against workpiece.Finally, start manipulator 2, drive grinding head 3 to move using manipulator 2, in fixed seat 6
Workpiece polish.
It is appreciated that the quantity of second screw hole 644 is not limited to two in present embodiment, it can be according to practical need
It is set as one or more.
It is appreciated that the structure of fixed seat 6 is not limited to present embodiment.Please referring also to Fig. 6 and Fig. 7, the present invention are another
Embodiment provides a kind of fixed seat 7, the fixed seat 7 include mounting plate 72, fixed block 74, actuator 75, guide post 76 and
Several holding blocks 77.The fixed block 74 is set in the side of the mounting plate 72 and the fixed block 74 equipped with one end open
Host cavity 742.The guide post 76 actively wears the mounting plate 72 and stretches into the host cavity 742, it is preferable that described
The central axis of guide post 76 is overlapped with the central axis of the host cavity 742.It is equipped at intervals on the side wall of the guide post 76
Several first driving portions 762.Several holding blocks 77 are actively installed on the bottom wall of the host cavity 742 and are spaced setting
On the periphery of the guide post 76, a use is collectively formed with the inner wall of the host cavity 742 in the outer wall of several holding blocks 77
In the annular space 78 of clamping workpiece.Each holding block 77 is equipped with the second driving portion 772 towards the side of the guide post 76, often
A second driving portion 772 is slidably matched with corresponding first driving portion 762.The actuator 75 is connect with the guide post 76,
When the actuator 75 drives the guide post 76 to be moved along the axis direction of the guide post 76, first driving portion
762 against second driving portion 772 so that several holding blocks 77 can be transported along the direction far from 76 central axis of guide post
It is dynamic, to fix the workpiece from the medial support of workpiece.Facilitate the thin-walled work of clamping hollow form using the fixed seat 7 of this kind of structure
Part prevents thin-wall workpiece from being deformed upon in clamping process.
In the present embodiment, first driving portion 762 is protruding rail, and second driving portion 772 is and the protruding rail
The sliding slot that shape matches.Second driving portion 772 and first the driving portion 762 axis of the guide post 76 relatively
It tilts, and the protruding rail is slidably received in the sliding slot, the cross section of the protruding rail is T-type or dove-tail form.It is appreciated that institute
The first driving portion 762 or sliding slot are stated, second driving portion 772 is the protruding rail to match with the sliding slot shape.
Preferably, several holding blocks 77 are corresponded on the bottom wall of the host cavity 642 is equipped with several limiting slots 79, it is each to limit
Position the radially extending along host cavity 642 of slot 79.Each holding block 77 is equipped with and the limit towards the surface of the mounting plate 62
The limit protrusion 774 that 79 shape of slot matches, each limit protrusion 774 are slidably installed in the limiting slot 79.The limit convex
The cross section for playing 774 can be T-type or dove-tail form.
Above description is the detailed description for the present invention preferably possible embodiments, but embodiment is not limited to this hair
Bright patent claim, it is all the present invention suggested by technical spirit under completed same changes or modifications change, should all belong to
In the covered the scope of the claims of the present invention.
Claims (6)
1. a kind of robot polishing system, including manipulator and grinding head, it is characterised in that：The robot polishing system also wraps
Polishing fixture head and the fixed seat for fixed workpiece to be polished are included, the polishing fixture head is including two fixed arms and is set to institute
The clamping piece between two fixed arms is stated, described two fixed arms connect and are mutually parallel with the manipulator, the clamping
Part includes two clamping parts, and described two clamping parts are connect with described two fixed arms respectively, and each clamping part is far from corresponding solid
The groove of the recessed groove in side of fixed arm, described two clamping parts surrounds a putting hole for placing grinding head jointly, often
The opposite sides of one clamping part is also all provided with there are two latch segment, on each latch segment perforation be equipped with the first screw hole, described two folders
It holds portion and the grinding head being located in the putting hole is clamped by the pinching screw in corresponding first screw hole；The fixed seat packet
Mounting plate, fixed block, actuator, guide post and several holding blocks are included, the fixed block is set to the side of the mounting plate and institute
The host cavity that one end open is equipped in fixed block is stated, the guide post actively wears the mounting plate and stretches into the host cavity
Interior, the central axis of the guide post is overlapped with the central axis of the host cavity；It is equipped at intervals on the side wall of the guide post
Several first driving portions, several holding blocks are actively installed on the bottom wall of the host cavity and are arranged at intervals on described lead
To the periphery of column, an annular for clamping workpiece is collectively formed with the inner wall of the host cavity in the outer wall of several holding blocks
Space, each holding block are equipped with the second driving portion, each second driving portion and corresponding first towards the side of the guide post
Driving portion is slidably matched, and the actuator is connect with the guide post, when the actuator drives the guide post to be led described in
When being moved to the axis direction of column, first driving portion is against second driving portion so that several holding blocks are towards far from described
The direction of the central axis of guide post moves, to fix the workpiece from the medial support of workpiece.
2. robot polishing system as described in claim 1, it is characterised in that：The polishing fixture head further includes bottom plate, institute
It states bottom plate to connect with the manipulator, described two fixed arms are opposite with the bottom plate respectively close to the end of the manipulator
Both sides connect.
3. robot polishing system as claimed in claim 2, it is characterised in that：It is recessed in the opposite sides of the bottom plate
Locating slot, described two fixed arms are contained in close to the end of the manipulator in two locating slots of the bottom plate respectively, and
It is fixedly connected with the bottom plate and the manipulator by lock-screw.
4. robot polishing system as described in claim 1, it is characterised in that：The polishing fixture head includes two folders
Gripping member, two clamping pieces are arranged and are mutually parallel along the length direction interval of the fixed arm, one of clamping piece
Set on end of described two fixed arms far from the manipulator.
5. robot polishing system as described in claim 1, it is characterised in that：First driving portion and second driving
One of portion is protruding rail, another is the sliding slot to match with the protruding rail shape, second driving portion and described first
The axis of the relatively described guide post of driving portion tilts, and the protruding rail is slidably received in the sliding slot.
6. robot polishing system as described in claim 1, it is characterised in that：If corresponding described on the bottom wall of the host cavity
Dry holding block is equipped with several limiting slots, and each limiting slot radially extends along the host cavity, and each holding block is towards described solid
The surface of reservation is equipped with the limit protrusion to match with the limit groove shape, and each limit protrusion part is slidably installed in
In corresponding limiting slot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611098240.5A CN106393138B (en) | 2016-12-03 | 2016-12-03 | A kind of robot polishing system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611098240.5A CN106393138B (en) | 2016-12-03 | 2016-12-03 | A kind of robot polishing system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106393138A CN106393138A (en) | 2017-02-15 |
| CN106393138B true CN106393138B (en) | 2018-08-24 |
Family
ID=58085557
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611098240.5A Expired - Fee Related CN106393138B (en) | 2016-12-03 | 2016-12-03 | A kind of robot polishing system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393138B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106944917A (en) * | 2017-03-15 | 2017-07-14 | 广东长盈精密技术有限公司 | Clamping device and the pneumatic grinding head device provided with the clamping device |
| CN109822612A (en) * | 2019-03-29 | 2019-05-31 | 北京理工大学 | Routing machine people is from hand |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101314209A (en) * | 2008-07-17 | 2008-12-03 | 南京华显高科有限公司 | Sander for panel medium of panel TV |
| CN201913641U (en) * | 2010-11-27 | 2011-08-03 | 东莞丰裕电机有限公司 | Load moving fixture |
| CN104999360A (en) * | 2015-07-14 | 2015-10-28 | 马鞍山市同创机械设备制造有限公司 | Grinding robot platform |
| CN105313122A (en) * | 2015-11-19 | 2016-02-10 | 上海交通大学 | Robot grinding device |
| CN206200993U (en) * | 2016-12-03 | 2017-05-31 | 河池学院 | A kind of robot polishing system and its polishing fixture head |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9149902B2 (en) * | 2012-03-16 | 2015-10-06 | Dtc Products, Inc. | Slug retention groove forming machine and method |
-
2016
- 2016-12-03 CN CN201611098240.5A patent/CN106393138B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101314209A (en) * | 2008-07-17 | 2008-12-03 | 南京华显高科有限公司 | Sander for panel medium of panel TV |
| CN201913641U (en) * | 2010-11-27 | 2011-08-03 | 东莞丰裕电机有限公司 | Load moving fixture |
| CN104999360A (en) * | 2015-07-14 | 2015-10-28 | 马鞍山市同创机械设备制造有限公司 | Grinding robot platform |
| CN105313122A (en) * | 2015-11-19 | 2016-02-10 | 上海交通大学 | Robot grinding device |
| CN206200993U (en) * | 2016-12-03 | 2017-05-31 | 河池学院 | A kind of robot polishing system and its polishing fixture head |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106393138A (en) | 2017-02-15 |
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Granted publication date: 20180824 Termination date: 20211203 |