CN107791155A - A kind of rotary sanding apparatus for robot joint shaft - Google Patents
A kind of rotary sanding apparatus for robot joint shaft Download PDFInfo
- Publication number
- CN107791155A CN107791155A CN201710951277.6A CN201710951277A CN107791155A CN 107791155 A CN107791155 A CN 107791155A CN 201710951277 A CN201710951277 A CN 201710951277A CN 107791155 A CN107791155 A CN 107791155A
- Authority
- CN
- China
- Prior art keywords
- joint shaft
- drive
- drive divisions
- abrasive material
- sanding apparatus
- 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.)
- Granted
Links
- 239000003082 abrasive agent Substances 0.000 claims abstract description 25
- 239000007921 spray Substances 0.000 claims abstract description 22
- 238000005498 polishing Methods 0.000 claims abstract description 21
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N silicon dioxide Inorganic materials O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 claims description 10
- 239000004576 sand Substances 0.000 claims description 8
- 239000000463 material Substances 0.000 claims description 4
- 229910001018 Cast iron Inorganic materials 0.000 claims description 3
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000000919 ceramic Substances 0.000 claims description 3
- 229910052802 copper Inorganic materials 0.000 claims description 3
- 239000010949 copper Substances 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 239000010453 quartz Substances 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 9
- 229910001651 emery Inorganic materials 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 238000005488 sandblasting Methods 0.000 description 5
- 239000002184 metal Substances 0.000 description 3
- 229910052751 metal Inorganic materials 0.000 description 3
- 239000011248 coating agent Substances 0.000 description 2
- 238000000576 coating method Methods 0.000 description 2
- 239000002245 particle Substances 0.000 description 2
- 239000006004 Quartz sand Substances 0.000 description 1
- 239000006061 abrasive grain Substances 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 238000000889 atomisation Methods 0.000 description 1
- -1 be ball Chemical compound 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011347 resin Substances 0.000 description 1
- 229920005989 resin Polymers 0.000 description 1
- 239000004575 stone Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/086—Descaling; Removing coating films
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C1/00—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods
- B24C1/08—Methods for use of abrasive blasting for producing particular effects; Use of auxiliary equipment in connection with such methods for polishing surfaces, e.g. smoothing a surface by making use of liquid-borne abrasives
- B24C1/083—Deburring
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/02—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other
- B24C3/04—Abrasive blasting machines or devices; Plants characterised by the arrangement of the component assemblies with respect to each other stationary
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
- B24C3/32—Abrasive blasting machines or devices; Plants designed for abrasive blasting of particular work, e.g. the internal surfaces of cylinder blocks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C9/00—Appurtenances of abrasive blasting machines or devices, e.g. working chambers, arrangements for handling used abrasive material
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of rotary sanding apparatus for robot joint shaft, including base, joint shaft driver, polishing driver, the joint shaft driver, polishing driver are distributed in base both sides, the joint shaft driver includes upper frame, X drive divisions, R drive divisions, retaining sleeve, one end of the retaining sleeve clamping joint shaft, retaining sleeve connects R drive divisions and rotated by its drive, X drive division of the R drive divisions connection positioned at upper frame；The polishing driver includes spray pawl, Y drive divisions, Z drive divisions, and the spray pawl is hollow, spray pawl end connection abrasive material case, has abrasive material in abrasive material case, the Y drive divisions, Z drive divisions drive spray pawl along Y-direction, Z-direction translation.The rotary sanding apparatus one of the present invention is broken in the past in a manner of emery disc contact polishing, overcomes the shortcomings that its polishing is coarse, uneven, realizes that joint shaft grinding homogeneity degree, decentralization are especially high, and process of refinement is particularly easy to the technological requirement controlled.
Description
Technical field
The present invention relates to metal removal field, more particularly to a kind of rotary sanding apparatus for robot joint shaft.
Background technology
, it is necessary to which many technique, technique for grinding are one kind therein during intermetallic composite coating.Technique for grinding can be mill
Cut, ball blast, sandblasting etc..Wherein grinding is that the method that direct friction is carried with abrasive material or mill is processed, and ball blast is relative with particle diameter
Homogeneous, larger particles hit frictional metal part surface, the effect accumulation for reaching some mills and hitting.Sandblasting processing principle be
The surface of machined object is hit using the abrasive grain of acceleration, makes to reach machined object in derusting, oxide layer, clear carbon-coating, hair
Side, or even the effect of atomization workpiece surface.
Due to being axle construction for robot joint shaft, therefore there can be the aspect much refined, such as sandblasting or ball blast
The operation of stable homogeneous can be carried out with the rotation of selected section or entirety, the posture, effect and efficiency of polishing can be greatly improved.
Therefore, exploitation is a kind of is directed to robot joint shaft, the therewith corresponding device that becomes more meticulous of technique for grinding, has very big
Meaning.
The content of the invention
, can be diversified convenient it is an object of the invention to provide a kind of rotary sanding apparatus for robot joint shaft
Operating shaft, to overcome problems of the prior art.
In order to realize the above object the technical scheme is that：
A kind of rotary sanding apparatus for robot joint shaft, including base, joint shaft driver, polishing driver, institute
State joint shaft driver, polishing driver is distributed in base both sides, the joint shaft driver includes upper frame, X drive divisions, R and driven
Dynamic portion, retaining sleeve, one end of the retaining sleeve clamping joint shaft, retaining sleeve connection R drive divisions are simultaneously rotated, R drivings by its drive
X drive division of portion's connection positioned at upper frame；The polishing driver includes spray pawl, Y drive divisions, Z drive divisions, and the spray pawl is hollow,
Pawl end connection abrasive material case is sprayed, there is abrasive material in abrasive material case, the Y drive divisions, Z drive divisions drive spray pawl along Y-direction, Z-direction translation.
Preferably, the abrasive material in the abrasive material case is ball.Abrasive material is that then device is ball blast mechanism to ball, and ball blast can be achieved and beat
Mill.
Preferably, the base is provided with the placement support for laying joint shaft below joint shaft driver.Place branch
Frame facilitates temporarily putting during joint shaft pause polishing, lying over when being also convenient for switching operating mode.
Further, the material of the ball is ceramics, one kind in quartz, steel, cast iron, copper or its combination.The material of ball
Determine the effect form and details of polishing, a variety of alterables are flexible and changeable.
Preferably, the X drive divisions, Y drive divisions, Z drive divisions are the mechanism of motor drives screw mandrel nut.Motor driven
The MECHANISM PRECISION of feed screw nut is preferably and use is very convenient.
Preferably, the R drive divisions are motor driven belt, the mechanism of belt drive drive shaft turns.Motor driven
Belt, the mechanism stable of belt drive drive shaft are reliable, are easy to transfer of torque.
Preferably, the spray pawl has some pawl joints, pawl joint is adjusted to the shape of suitable joint shaft.Pawl joint can
Flexibly bend towards to make spray pawl that there is the joint shaft that various diameters are flexibly matched with.
Preferably, the abrasive material in the abrasive material case is sand.Abrasive material is that then device is sandblasting mechanism to sand, and sandblasting can be achieved and beat
Mill.
The beneficial effects of the present invention are：The rotary sanding apparatus for robot joint shaft of the present invention, polishing are high
Effect, technique are flexible.The mode that the movement and polishing of joint shaft rely on driver action makes whole device modularization, is easily installed
And control；It is ingenious to spray the setting of the hollow of pawl and connection abrasive material case, it is original and different, pawl can be bent to suitable joint shaft radian
Degree and can continually supply abrasive material；It is efficiently convenient that the mode of motor drive screw nut or belt pulley transmits power,
It is reliable and stable.The rotary sanding apparatus one of the present invention is broken in the past in a manner of emery disc contact polishing, overcome its polishing it is coarse,
The shortcomings that uneven, realize the technique that joint shaft grinding homogeneity degree, decentralization are especially high, and process of refinement is particularly easy to control
It is required that.
Brief description of the drawings
Fig. 1 is the structural representation of the embodiment of the present invention.
In figure：1- bases, 2- joint shaft drivers, 21- upper frames, 22-X drive divisions, 23-R drive divisions, 24- retaining sleeves, 3-
Polishing driver, 30- inner chambers, 31- spray pawls, 32-Y drive divisions, 33-Z drive divisions, 4- place support, folding frame that 5- is adjustable, 9- joints
Axle.
Embodiment
In order to illustrate more clearly of the embodiment of the present application or technical scheme of the prior art, letter will be made to embodiment below
Singly introduce.
Such as Fig. 1, a kind of rotary sanding apparatus for robot joint shaft, including base 1, joint shaft driver 2, beat
Driver 3 is ground, the joint shaft driver 2, polishing driver 3 are distributed in the both sides of base 1, and the base 1 drives in joint shaft
The lower section of device 2 is provided with the placement support 4 for laying joint shaft 9, and the joint shaft driver 2 includes upper frame 21, X drive divisions 22, R and driven
Dynamic portion 23, retaining sleeve 24, the retaining sleeve 24 clamp one end of joint shaft 9, and retaining sleeve 24 connects R drive divisions 23 and by its drive
Rotation, X drive division 22 of the connection of R drive divisions 23 positioned at upper frame 21；It is X to vertical direction Z to define joint shaft bearing of trend
To；
The polishing driver 3 includes spray pawl 31, Y drive divisions 32, Z drive divisions 33, and the spray pawl 31 is hollow, has inner chamber 30,
The spray pawl 31 has some pawl joints 311, and pawl joint 311 is adjusted to the shape of suitable joint shaft 9, spray pawl 31 end connection mill
Hopper（Not shown in figure）, there is abrasive material, the abrasive material is ball or sand, such as be ball, the material of ball is ceramic, stone in abrasive material case
One kind or its combination in English, steel, cast iron, copper, are such as sand, then sand is complex sand, includes resin, quartz sand, metal sand etc.
Component；Spray pawl 31 is fixed on Z drive divisions 33 by adjustable folding frame 5, and Z drive divisions 33 are fixed on Y drive divisions 32, the Y drivings again
Portion 32, Z drive divisions 33 drive spray pawl along Y-direction, Z-direction translation；
The X drive divisions 22, Y drive divisions 32, the mechanism that Z drive divisions 33 are motor drives screw mandrel nut, the R drive divisions 23 are
The mechanism of motor driven belt, belt drive drive shaft turns.
Above example is only illustrating the preferred technical solution of the present invention, it is noted that for the general of the art
For logical technical staff, under the premise without departing from the principles of the invention, some improvement made or equivalent substitution, this is accordingly to be regarded as
The protection domain of invention, it should cover in scope of the presently claimed invention.
Claims (8)
- A kind of 1. rotary sanding apparatus for robot joint shaft, it is characterised in that including base, joint shaft driver, Polishing driver, the joint shaft driver, polishing driver are distributed in base both sides, and the joint shaft driver includes top Frame, X drive divisions, R drive divisions, retaining sleeve, one end of the retaining sleeve clamping joint shaft, retaining sleeve connect R drive divisions and by them Drive rotation, X drive division of the R drive divisions connection positioned at upper frame；The polishing driver includes spray pawl, Y drive divisions, Z drive divisions, The spray pawl is hollow, spray pawl end connection abrasive material case, has abrasive material in abrasive material case, the Y drive divisions, Z drive divisions drive spray pawl Along Y-direction, Z-direction translation.
- 2. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described Abrasive material in abrasive material case is ball.
- 3. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described Base is provided with the placement support for laying joint shaft below joint shaft driver.
- 4. a kind of rotary sanding apparatus for robot joint shaft according to claim 2, it is characterised in that described The material of ball is ceramics, one kind in quartz, steel, cast iron, copper or its combination.
- 5. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described X drive divisions, Y drive divisions, the mechanism that Z drive divisions are motor drives screw mandrel nut.
- 6. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described R drive divisions are motor driven belt, the mechanism of belt drive drive shaft turns.
- 7. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described Spray pawl has some pawl joints, and pawl joint is adjusted to the shape of suitable joint shaft.
- 8. a kind of rotary sanding apparatus for robot joint shaft according to claim 1, it is characterised in that described Abrasive material in abrasive material case is sand.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951277.6A CN107791155B (en) | 2017-10-13 | 2017-10-13 | Rotary polishing device for joint shaft of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710951277.6A CN107791155B (en) | 2017-10-13 | 2017-10-13 | Rotary polishing device for joint shaft of robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107791155A true CN107791155A (en) | 2018-03-13 |
| CN107791155B CN107791155B (en) | 2023-12-05 |
Family
ID=61533239
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710951277.6A Active CN107791155B (en) | 2017-10-13 | 2017-10-13 | Rotary polishing device for joint shaft of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107791155B (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214633A (en) * | 2007-12-27 | 2008-07-09 | 上海交通大学 | Shot peening machine for processing surface deformation strengthening treatment to magnesium alloy sample |
| CN202479976U (en) * | 2012-02-29 | 2012-10-10 | 廊坊市管道人机械设备有限公司 | Sand blasting machine for pipeline |
| CN203438085U (en) * | 2013-08-27 | 2014-02-19 | 江苏兴洋管业股份有限公司 | Polishing machine for inner and outer surfaces of round tubes |
| CN104625969A (en) * | 2015-02-09 | 2015-05-20 | 合肥工业大学 | Ultrahigh pressure water jet-based compressor housing opening and disassembling equipment and control method of equipment |
| CN105215808A (en) * | 2015-08-19 | 2016-01-06 | 上海交通大学 | Based on plate angle welding polishing Digit Control Machine Tool and the processing method of profile measurement |
| CN205521383U (en) * | 2015-12-17 | 2016-08-31 | 彭建国 | Eight robots of planer -type |
| US20160349035A1 (en) * | 2015-06-01 | 2016-12-01 | Panasonic Intellectual Property Management Co., Lt d. | Method of manufacturing stylus and stylus |
| CN205928152U (en) * | 2016-08-09 | 2017-02-08 | 山东省计算中心（国家超级计算济南中心） | Multiaxis coordinated type grinding device |
| CN106891262A (en) * | 2017-04-27 | 2017-06-27 | 河南工程学院 | A kind of cleaning type circular tube external wall sand blasting apparatus |
-
2017
- 2017-10-13 CN CN201710951277.6A patent/CN107791155B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101214633A (en) * | 2007-12-27 | 2008-07-09 | 上海交通大学 | Shot peening machine for processing surface deformation strengthening treatment to magnesium alloy sample |
| CN202479976U (en) * | 2012-02-29 | 2012-10-10 | 廊坊市管道人机械设备有限公司 | Sand blasting machine for pipeline |
| CN203438085U (en) * | 2013-08-27 | 2014-02-19 | 江苏兴洋管业股份有限公司 | Polishing machine for inner and outer surfaces of round tubes |
| CN104625969A (en) * | 2015-02-09 | 2015-05-20 | 合肥工业大学 | Ultrahigh pressure water jet-based compressor housing opening and disassembling equipment and control method of equipment |
| US20160349035A1 (en) * | 2015-06-01 | 2016-12-01 | Panasonic Intellectual Property Management Co., Lt d. | Method of manufacturing stylus and stylus |
| CN105215808A (en) * | 2015-08-19 | 2016-01-06 | 上海交通大学 | Based on plate angle welding polishing Digit Control Machine Tool and the processing method of profile measurement |
| CN205521383U (en) * | 2015-12-17 | 2016-08-31 | 彭建国 | Eight robots of planer -type |
| CN205928152U (en) * | 2016-08-09 | 2017-02-08 | 山东省计算中心（国家超级计算济南中心） | Multiaxis coordinated type grinding device |
| CN106891262A (en) * | 2017-04-27 | 2017-06-27 | 河南工程学院 | A kind of cleaning type circular tube external wall sand blasting apparatus |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107791155B (en) | 2023-12-05 |
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Legal Events
| Date | Code | Title | Description |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220906 Address after: Room 585, floor 5, building 1, Hutai fashion, No. 10, Nanhai Road, Liuhe Town, Taicang City, Suzhou City, Jiangsu Province 215400 Applicant after: Suzhou huienyuan medical device accessories Co.,Ltd. Address before: 215138 Shitian Road, Yangchenghu Town, Xiangcheng District, Suzhou City, Jiangsu Province Applicant before: JIANGSU JIEDI ROBOT Co.,Ltd. |
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| GR01 | Patent grant | ||
| GR01 | Patent grant |