CN109304662A - A kind of quick milling robot - Google Patents
A kind of quick milling robot Download PDFInfo
- Publication number
- CN109304662A CN109304662A CN201811202174.0A CN201811202174A CN109304662A CN 109304662 A CN109304662 A CN 109304662A CN 201811202174 A CN201811202174 A CN 201811202174A CN 109304662 A CN109304662 A CN 109304662A
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- Prior art keywords
- motor
- polishing
- plate
- chain
- grinding head
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- 238000003801 milling Methods 0.000 title claims abstract description 20
- 238000005498 polishing Methods 0.000 claims abstract description 98
- 238000000227 grinding Methods 0.000 claims abstract description 61
- 239000000428 dust Substances 0.000 claims description 29
- 230000005540 biological transmission Effects 0.000 claims description 19
- 238000009434 installation Methods 0.000 claims description 18
- 230000007246 mechanism Effects 0.000 claims description 17
- 235000000621 Bidens tripartita Nutrition 0.000 claims description 2
- 240000004082 Bidens tripartita Species 0.000 claims description 2
- 208000006637 fused teeth Diseases 0.000 claims description 2
- 241001289840 Trochus Species 0.000 claims 1
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 6
- 230000005611 electricity Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 5
- 230000000630 rising effect Effects 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 239000007787 solid Substances 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000013329 compounding Methods 0.000 description 2
- TVEXGJYMHHTVKP-UHFFFAOYSA-N 6-oxabicyclo[3.2.1]oct-3-en-7-one Chemical compound C1C2C(=O)OC1C=CC2 TVEXGJYMHHTVKP-UHFFFAOYSA-N 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000006399 behavior Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B45/00—Means for securing grinding wheels on rotary arbors
- B24B45/006—Quick mount and release means for disc-like wheels, e.g. on power tools
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B55/00—Safety devices for grinding or polishing machines; Accessories fitted to grinding or polishing machines for keeping tools or parts of the machine in good working condition
- B24B55/06—Dust extraction equipment on grinding or polishing machines
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention discloses a kind of quick milling robots, its structure includes rotating base, interior joint arm, one joint arm, two joint arms, three joint arms, polishing rotation circular shaft, sander, grinding head alternative, one joint arm and two joint arms are respectively equipped with a pair, one joint arm is located at the lower section of two joint arms, the junction of one joint arm and two joint arms is mounted on the side of interior joint arm, one joint arm on the inside of two joint arm one end far from being movably connected on the anchor ring of rotating base, one end axis connection of three joint arms far from polishing rotation circular shaft is two joint arm upper ends, axis connection has polishing rotation circular shaft in the slot structure that three joint arms are equipped with, circular shaft is vertical with sander connect for polishing rotation, grinding head alternative is installed with inside sander, grinding head alternative includes two motor power devices, the present invention realizes automatically in the task of execution Grinding head is replaced, without human assistance cooperation replacement, replacement is convenient, improves the efficiency of production and processing.
Description
Technical field
The present invention is a kind of quick milling robot, belongs to milling robot field.
Background technique
Robot is to automatically control being commonly called as machine, and automatically controlling machine includes all simulation human behaviors or thought and mould
The machinery of quasi- other biological；To the definition of robot, there are also many classification and dispute in the narrow sense, some computer programs are even
Referred to as robot.In contemporary industry, robot refers to the man-made machine device that can execute task automatically, to replace or assist
Human work.
The prior art cannot achieve automatic replacement grinding head in the task of execution, need human assistance cooperation replacement, when replacement
Dismount it is cumbersome, it is time-consuming and laborious, reduce the efficiency of production and processing.
Summary of the invention
In view of the deficienciess of the prior art, it is an object of the present invention to provide a kind of quick milling robot, to solve holding
It cannot achieve automatic replacement grinding head when row task, need human assistance cooperation replacement, when replacement dismounts cumbersome, time-consuming and laborious, drop
The problem of efficiency of low production and processing.
To achieve the goals above, the present invention is to realize by the following technical solutions: a kind of quick milling robot,
Its structure includes rotating base, interior joint arm, a joint arm, two joint arms, three joint arms, polishing rotation circular shaft, sander, polishing
Head alternative, a joint arm and two joint arms are respectively equipped with a pair, and a joint arm is located at the lower section of two joint arms,
The junction of one joint arm and two joint arms is mounted on the side of interior joint arm, and a joint arm is far from two joint arm one end
Inside be movably connected on the anchor ring of rotating base, three joint arms far from polishing rotation circular shaft one end axis connection two
Position joint arm upper end, axis connection has a polishing rotation circular shaft in the slot structure that three joint arms are equipped with, the polishing rotation circular shaft and
Sander vertically connects, and grinding head alternative is installed with inside the sander, and the grinding head alternative includes two
Motor power device, a motor conveyer, chain send structure, dust board structure, polishing refill-unit, two motor conveyers,
The fixed device of double track carriage, grinding head, reciprocating transmission mechanism, line wheel device composition, two motor power devices are bevelled junction
The bottom surface of structure, two motor power devices is contacted with the upper surface of dust board structure, a motor conveyer and chain
Send structure adjacent, the chain send the chain hole of structure to connect with the sprocket of a motor conveyer, the motor conveying dress
Setting becomes vertical structure with double track carriage group, and the chain send structure and polishing refill-unit locking to connect, and the chain send structure to weld
It connects in dust board structure upper surface, the line wheel device is locked in the lower surface of dust board structure, and the line wheel device is close to two electricity
One end of electromechanical source device is connected in dust board structure, and the polishing refill-unit is slidably connected on two motor conveyers,
The polishing refill-unit and double track carriage cooperate, and the fixed device of the grinding head is nested with polishing refill-unit, two electricity
Machine conveying device is adjacent with double track carriage, and the fixed device of the grinding head is wound with line wheel device, the reciprocating transmission mechanism
By high temperature conjunction, the reciprocating transmission mechanism is intertwined and connected with line wheel device for upper end and the lower surface of dust board structure, and described two
Portion's motor power device is located at one jiao of sander, and a motor conveyer is installed in the inner cavity upper surface of sander, institute
It states dust board structure to be connected in the middle part of the inner cavity of sander, the double track carriage is located at the inner cavity middle of sander, described
The fixed device of grinding head is locked in the two sides of sander intracavity bottom, and the reciprocating transmission mechanism is located at separate inside sander
One end of two motor power devices.
Further, two motor power devices include connection adjustable spring, connection expansion link, power connector, touching
Fishplate bar, the connection expansion link through connection adjustable spring, the connection adjustable spring with touch plate elastic connection, the connection
Telescopic rod with touch that plate is vertical to be connect, the power connector, which is mounted on, touches plate, and the plate that touches is equipped with angle.
Further, a motor conveyer include a motor mounting rack, installation frame plate, the fixed cover of chain,
One motor sprocket, a motor belt, a motor, an electric machine stand, the installation frame plate are fixedly connected on an electricity
On machine mounting rack, the two is parallel, and the fixed cover of the chain is U-shaped structure, and the fixed cover of the chain is glued to the upper of installation frame plate
In the following, a motor sprocket is rotatably connected on a motor mounting rack, a motor sprocket and a motor are logical
A motor belt transmission connection is crossed, a motor is mounted on an electric machine stand.
Further, it includes that chain send structural slab, chain to send structure wheel, widens chain column, chain that the chain, which send structure, and the chain is sent
Structure wheel and chain send structural slab to be in concentric circles, and the two is connected, and chain column and the chain widened passes through high temperature conjunction, the chain
The sprocket of structure wheel is sent to connect with chain in the chain hole of item.
Further, the dust board structure includes rotation connection axis, dust-break movable plate, dust-break fixed plate, the dust-break
Movable plate is equipped with rotation connection axis, and the dust-break movable plate is identical as dust-break fixed plate structure, and the two is in same level position,
In opposed configuration.
Further, the polishing refill-unit includes polishing plate, polishing column, and the polishing plate is adjacent with polishing column, described
Polishing plate is equipped with polishing plate ontology, polishing plate is connected and fixed axis, and the polishing plate is connected and fixed axis and is mounted on polishing plate ontology
Middle part, the polishing column are equipped with mounting head, polishing column ontology, and the mounting head is nested with polishing column ontology, and the two group becomes one
Body structure, the double track carriage include double track carriage ontology, grinding head fixed disk, the double track carriage ontology installing
There is grinding head fixed disk.
Further, two motor conveyers include two motor side seats, two motors, two motors conveying skins
Band, two motors connect rail, two motor drive sprocket wheels, and two motors are mounted on two motor side seats, and described two
Motor and two motor drive sprocket wheels are sequentially connected by two motor conveyor belts, and two motors connection rail is arched door knot
Structure, two motors connection rail are connect with two motor drive sprocket wheels by chain.
Further, the fixed device of the grinding head includes a clamp rail, a fixture block, two clamp rails, two fixture blocks, institute
The track for stating a clamp rail is connect with the track slot of a fixture block, and a clamp rail is identical as two clamp rail structures, and the two is parallel,
The track of two clamp rails is connect with the track slot of two fixture blocks, and a fixture block is identical as two fixture block structures, and respectively
Equipped with one group.
Further, the reciprocating transmission mechanism include tooth plate sliding lengthen frame, widen reciprocal tooth plate, tooth plate sliding rack,
Reciprocating gear, reciprocal tooth plate, it is described widen reciprocal tooth plate and tooth plate and slide lengthen frame and be slidably connected, it is described widen reciprocal tooth plate with
Reciprocal tooth plate is sequentially connected by reciprocating gear.
Further, the line wheel device includes large size line wheel device, small size line wheel device, the large size line wheel device and small size line wheel
Device structure is identical, and the two is adjacent, and the large size line wheel device and small size line wheel device are respectively equipped with torus, wheel plate, the torus installation
On wheel plate, the torus and wheel plate are in concentric circles, and the two is flexibly connected.
Beneficial effect
Robot, is mounted on the designated position of grinding apparatus, is set by program by a kind of quick milling robot of the present invention
Determine robot and equipment compounding practice, when bruting process needs replacing grinding head, system receives instruction and drives a motor
Operation, the operating of a motor have driven the rotation of a motor sprocket to pull chain, that is, have pulled up polishing plate ontology, polish
Plate ontology slides lengthening frame barrier realization by tooth plate when rising and turns clockwise, and the polishing plate ontology after degree overturning is fixed on
In grinding head fixed disk, polishing plate ontology has driven when rising and widens moving up for reciprocal tooth plate, widens moving up for reciprocal tooth plate
Large size line wheel device has been pulled simultaneously, has realized that two fixture blocks are displaced outwardly in two clamp rails, has been driven by the rotation of reciprocating gear
Moving down for reciprocal tooth plate, reciprocal tooth plate have driven dust board structure swing counterclockwise to press by the pulling of large size line wheel device
Two motor power devices realize the power supply connection of two motor conveyers, and the rotation of two motors has driven two motors
The rotation of drive sprocket realizes polishing column and moves on two motor connection rails, while the reciprocal tooth plate of widening moved up pulls
Small size line wheel device has driven a fixture block to move inward in a clamp rail, i.e., when polishing column ontology is moved to polishing installation position
When, a fixture block is fixed, and then realizes the replacement of grinding head, if replaced again, is carried out by program setting
It rotates backward, can be replaced again.
For the present invention when bruting process needs replacing grinding head, robot has driven an electricity by the instruction of program setting
The operation of machine, chain send structure to pull up polishing plate ontology, and polishing plate ontology realization degree overturning has been fixed on grinding head fixed disk
The reciprocating movement of position, reciprocating transmission mechanism has driven line wheel device to the overturning of dust board structure degree of progress, realizes two motors
The power supply connection of conveying device has driven polishing refill-unit to be moved to the installation position of grinding head, realizes in the task of execution automatic
Grinding head is replaced, without human assistance cooperation replacement, replacement is convenient, improves the efficiency of production and processing.
Detailed description of the invention
Upon reading the detailed description of non-limiting embodiments with reference to the following drawings, other feature of the invention,
Objects and advantages will become more apparent upon:
Fig. 1 is a kind of structural schematic diagram of quick milling robot of the present invention.
Fig. 2 is the structural schematic diagram one of grinding head alternative of the present invention.
Fig. 3 is the structural schematic diagram two of grinding head alternative of the present invention.
In figure: rotating base -1, interior joint arm -2, a joint arm -3, two joint arms -4, three joint arms -5, polishing rotation circle
Axis -6, sander -7, grinding head alternative -8, two motor power device -80, one motor conveyer -81, chain send knot
Structure -82, dust board structure -83, polishing refill-unit -84, two motor conveyers -85, double track carriage -86, grinding head are solid
Determine device -87, reciprocating transmission mechanism -88, line wheel device -89, connection adjustable spring -800, connection expansion link -801, power supply connection
Device -802 touches plate -803, a motor mounting rack -810, installation frame plate -811, chain -812, motor trains of fixed cover
- 813, motor belts -814 of wheel, a motor -815, an electric machine stand -816, chain send structural slab -820, chain to send structure
Wheel -821 widens chain column -822, chain -823, rotation connection axis -830, dust-break movable plate -831, dust-break fixed plate -832, beats
Nog plate -840, polishing column -841, polishing plate ontology -8400, polishing plate are connected and fixed axis -8401, mounting head -8410, polishing column
Ontology -8411, double track carriage ontology -860, the motor side seat -850, two of grinding head fixed disk -861, two motor -851,
- 852, two motors of two motor conveyor belts connect rail -853, two motor drive sprocket wheels -854, a clamp rails -870, one
- 871, two clamp rails -872 of portion's fixture block, two fixture blocks -873, tooth plate sliding lengthen frame -880, widen reciprocal tooth plate -881, tooth plate
Sliding rack -882, reciprocating gear -883, reciprocal tooth plate -884, large size line wheel device -890, small size line wheel device -891, torus -8900,
Wheel plate -8901.
Specific embodiment
To be easy to understand the technical means, the creative features, the aims and the efficiencies achieved by the present invention, below with reference to
Specific embodiment, the present invention is further explained.
Embodiment:
Fig. 1-Fig. 3 is please referred to, the present invention provides a kind of quick milling robot: its structure includes rotating base 1, interior joint arm
2, the joint arm 4, three of joint arm 3, two joint arm 5, polishing rotation circular shaft 6, sander 7, grinding head alternative 8, described one
Position joint arm 3 and two joint arms 4 are respectively equipped with a pair, and a joint arm 3 is located at the lower section of two joint arms 4, a joint arm 3
The side of interior joint arm 2 is mounted on the junction of two joint arms 4, inside of the joint arm 3 far from two 4 one end of joint arm is living
Dynamic to be connected on the anchor ring of rotating base 1, three joint arms 5 are saved far from one end axis connection of polishing rotation circular shaft 6 at two
4 upper end of arm, axis connection has a polishing rotation circular shaft 6 in the slot structure that three joint arms 5 are equipped with, the polishing rotation circular shaft 6 and
Sander 7 vertically connects, and is installed with grinding head alternative 8 inside the sander 7, the grinding head alternative 8 includes
Two motor power devices, 80, motor conveyers 81, chain send structure 82, dust board structure 83, polishing refill-unit 84, two
The fixed device 87 of motor conveyer 85, double track carriage 86, grinding head, reciprocating transmission mechanism 88, line wheel device 89 form, described
Two motor power devices 80 are incline structure, and the bottom surface of two motor power devices 80 and the upper surface of dust board structure 83 connect
Touching, a motor conveyer 81 send structure 82 adjacent with chain, and the chain send the chain hole of structure 82 to convey with a motor
The sprocket of device 81 connects, and a motor conveyer 81 becomes vertical structure with 86 groups of double track carriage, and the chain is sent
Structure 82 and the polishing locking of refill-unit 84 connect, and the chain send structure 82 to be welded on 83 upper surface of dust board structure, the line wheel
Device 89 is locked in the lower surface of dust board structure 83, and the line wheel device 89 is connected to gear close to one end of two motor power devices 80
On the hardened structure 83 of dirt, the polishing refill-unit 84 is slidably connected on two motor conveyers 85, the polishing refill-unit 84
Cooperate with double track carriage 86, the fixed device 87 of the grinding head is nested with polishing refill-unit 84, two motors conveying dress
Set 85 adjacent with double track carriage 86, the fixed device 87 of the grinding head is wound with line wheel device 89, the reciprocating transmission mechanism 88
Upper end and dust board structure 83 lower surface by high temperature conjunction, the reciprocating transmission mechanism 88 connects with the winding of line wheel device 89
It connects, two motor power devices 80 are located at one jiao of sander 7, and a motor conveyer 81 is installed in sander 7
Inner cavity upper surface, the dust board structure 83 is connected in the middle part of the inner cavity of sander 7, and the double track carriage 86 is located at polishing
The inner cavity middle of device 7, the fixed device 87 of the grinding head are locked in the two sides of 7 intracavity bottom of sander, the reciprocal biography
Motivation structure 88 is located at 7 one end of inside far from two motor power devices 80 of sander, and two motor power devices 80 include connecting
It connects adjustable spring 800, connection expansion link 801, power connector 802, touch plate 803, the connection expansion link 801 is through connection
Adjustable spring 800, the connection adjustable spring 800 with touch 803 elastic connection of plate, the connection expansion link 801 with touch plate
803 vertical connections, the power connector 802, which is mounted on, touches plate 803, and the plate 803 that touches connects equipped with angle for power supply
The dynamic operation of tape splicing has the advantages that simple structure, using flexible, installation are ingenious, and a motor conveyer 81 includes one
Portion's motor mounting rack 810, installation frame plate 811, fixed cover 812, motor sprockets, the 813, motor belts 814, one of chain
815, electric machine stands 816 of portion's motor, the installation frame plate 811 are fixedly connected on a motor mounting rack 810, and the two is flat
Row, the fixed cover 812 of the chain are U-shaped structure, and the fixed cover 812 of the chain is glued to the top and bottom of installation frame plate 811, described
One motor sprocket 813 is rotatably connected on a motor mounting rack 810, a motor sprocket 813 and a motor 815
It is sequentially connected by a motor belt 814, a motor 815 is mounted on an electric machine stand 816, solid for assisting
It is fixed, have the advantages that structure is simple, easy to use, stability is good, it includes that chain send structural slab 820, chain to send that the chain, which send structure 82,
Structure wheel 821 widens chain column 822, chain 823, and the chain send structure wheel 821 and chain that structural slab 820 is sent to be in concentric circles, the two
It is connected, for chain column 822 and the chain 823 widened by high temperature conjunction, the chain hole of the chain 823 and chain send structure wheel 821
Sprocket connection, for assist drive realization component rising or move down, automatic degree height, using flexible, bearing capacity are strong, described
Dust board structure 83 includes rotation connection axis 830, dust-break movable plate 831, dust-break fixed plate 832, and the dust-break movable plate 831 is pacified
Equipped with rotation connection axis 830, the dust-break movable plate 831 is identical as 832 structure of dust-break fixed plate, and the two is in same level
Position is in opposed configuration, for stopping dust when polishing, improves the service life of device, while being touched by overturning,
Realize power supply connection, the polishing refill-unit 84 includes polishing plate 840, polishing column 841, the polishing plate 840 and polishing column 841
Adjacent, the polishing plate 840 is equipped with polishing plate ontology 8400, polishing plate is connected and fixed axis 8401, and the polishing plate is connected and fixed
Axis 8401 is mounted on the middle part of polishing plate ontology 8400, and the polishing column 841 is equipped with mounting head 8410, polishing column ontology 8411,
The mounting head 8410 is nested with polishing column ontology 8411, and the two composition is integrated, and the double track carriage 86 includes
Double track carriage ontology 860, grinding head fixed disk 861, the double track carriage ontology 860 are installed with grinding head fixed disk 861,
It is carried out according to the demand of different polishing parts with changing grinding head, using flexible, two motor conveyers 85 include two electricity
851, two, the motor motor of motor conveyor belt 852, two of pusher side seat 850, two connects 853, two motor drive sprocket wheels of rail
854, two motors 851 are mounted on two motor side seats 850, two motors 851 and two motor drive sprocket wheels
854 are sequentially connected by two motor conveyor belts 852, and two motors connection rail 853 is arch structure, two electricity
Machine connection rail 853 is connect with two motor drive sprocket wheels 854 by chain, is served to spur, for driving grinding head in track
On moved, have the advantages that reliable for operation, stable drive, the fixed device 87 of the grinding head includes a clamp rail 870, one
The track slot of the fixture block 873 of clamp rail 872, two of portion's fixture block 871, two, the track of a clamp rail 870 and a fixture block 871 connects
It connects, a clamp rail 870 is identical as two 872 structures of clamp rail, and the two is parallel, the track of two clamp rails 872 and two
The track slot of fixture block 873 connects, and a fixture block 871 is identical as two 873 structures of fixture block, and is respectively equipped with one group, for solid
Determine grinding head, using flexible, stability are good, and the reciprocating transmission mechanism 88 includes that tooth plate sliding lengthens frame 880, widens toward double tooth
Plate 881, tooth plate sliding rack 882, reciprocating gear 883, reciprocal tooth plate 884, it is described to widen reciprocal tooth plate 881 and tooth plate sliding lengthening
Frame 880 is slidably connected, and reciprocal tooth plate 881 and the reciprocal tooth plate 884 widened is sequentially connected by reciprocating gear 883, for auxiliary
Help transmission, structure is simple, using flexible, and the line wheel device 89 includes large size line wheel device 890, small size line wheel device 891, the large size
Line wheel device 890 is identical as small size line wheel 891 structures of device, and the two is adjacent, and the large size line wheel device 890 divides with small size line wheel device 891
Not She You torus 8900, wheel plate 8901, the torus 8900 is mounted on wheel plate 8901, the torus 8900 at wheel plate 8901
In concentric circles, the two is flexibly connected, and is used for accessory drive, and structure is simple, using flexible.
The fixed device 87 of grinding head described in this patent is that one kind can be moved flexibly, and to the combination that component is fixed
Structure.
Robot is mounted on to the designated position of grinding apparatus, by program setting robot and equipment compounding practice, when
When bruting process needs replacing grinding head, system receives the operation that instruction drives a motor 815, the operating of a motor 815
It has driven the rotation of a motor sprocket 813 to pull chain 823, that is, has pulled up polishing plate ontology 8400, plate ontology of polishing
8400, which slide lengthening 880 barrier of frame realization by tooth plate when rising, turns clockwise, the polishing plate ontology 8400 after 90 degree of overturnings
It has been fixed in grinding head fixed disk 861, polishing plate ontology 8400 has driven when rising widens moving up for reciprocal tooth plate 881, adds
Wide reciprocal tooth plate 881 has pulled large size line wheel device 890 while moving up, realize two fixture blocks 873 in two clamp rails 872 to
Outer movement has driven moving down for reciprocal tooth plate 884 by the rotation of reciprocating gear 883, and reciprocal tooth plate 884 passes through large size line wheel device
890 pulling, which has driven 45 degree of the rotation counterclockwise of dust board structure 83 to press two motor power devices 80, realizes two motors
The power supply of conveying device 85 connects, and the rotation of two motors 851 has driven the rotation of two motor drive sprocket wheels 854, realized
Polishing column 841 moves on two motor connection rails 853, while the reciprocal tooth plate 881 of widening moved up has pulled small size line wheel device
891 have driven a fixture block 871 to move inward in a clamp rail 870, i.e., when polishing column ontology 8411 is moved to polishing installation position
When, a fixture block 871 is fixed, then realize the replacement of grinding head, if replaced again, by program setting into
Row rotates backward, and can be replaced again.
The problems solved by the invention prior art cannot achieve automatic replacement grinding head in the task of execution, need human assistance
Cooperation replacement, when replacement dismount it is cumbersome, it is time-consuming and laborious, reduce the efficiency of production and processing, the present invention is mutual by above-mentioned component
It is combined, can achieve when bruting process needs replacing grinding head, robot has driven one by the instruction of program setting
The operation of motor 815, chain send structure 82 to pull up polishing plate ontology 8400, and polishing plate ontology 8400 realizes that 90 degree of overturnings are fixed on
The position of grinding head fixed disk 861, the reciprocating movement of reciprocating transmission mechanism 88 have driven line wheel device 89 to dust board structure 83
The overturning for carrying out 45 degree realizes that the power supply connection of two motor conveyers 85 has driven polishing refill-unit 84 to be moved to grinding head
Installation position, automatic replacement grinding head is realized in the task of execution, without human assistance cooperation replacement, replacement is convenient, improves
The efficiency of production and processing.
The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention, for this field skill
For art personnel, it is clear that invention is not limited to the details of the above exemplary embodiments, and without departing substantially from spirit of the invention or
In the case where essential characteristic, the present invention can be realized in other specific forms.Therefore, in all respects, should all incite somebody to action
Embodiment regards exemplary as, and is non-limiting, the scope of the present invention by appended claims rather than on state
Bright restriction, it is intended that including all changes that fall within the meaning and scope of the equivalent elements of the claims in the present invention
It is interior.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (10)
1. a kind of quick milling robot, structure includes rotating base (1), interior joint arm (2), a joint arm (3), two joint arms
(4), three joint arms (5), polishing rotation circular shaft (6), sander (7), grinding head alternative (8), a joint arm (3) with
Two joint arms (4) are respectively equipped with a pair, it is characterised in that:
One joint arm (3) is located at the lower section of two joint arms (4), the junction of a joint arm (3) and two joint arms (4)
It is mounted on the side of interior joint arm (2), a joint arm (3) is movably connected in rotation on the inside of separate two joint arm (4) one end
On the anchor ring of pedestal (1), one end axis connection of three joint arms (5) far from polishing rotation circular shaft (6) is on two joint arms (4)
End, axis connection has polishing rotation circular shaft (6) in the slot structure that three joint arms (5) are equipped with, polishing rotation circular shaft (6) and
Sander (7) vertically connects, and is installed with grinding head alternative (8) inside the sander (7), the grinding head alternative
(8) it send structure (82) including two motor power devices (80), a motor conveyer (81), chain, dust board structure (83), beat
Grind refill-unit (84), two motor conveyers (85), double track carriage (86), grinding head fixed device (87), reciprocal transmission
Mechanism (88), line wheel device (89) composition；
Two motor power devices (80) are incline structure, the bottom surface of two motor power devices (80) and dust board structure
(83) upper surface contact, a motor conveyer (81) send structure (82) adjacent with chain, and the chain send structure (82)
Chain hole connect with the sprocket of a motor conveyer (81), a motor conveyer (81) and double track carriage
(86) group becomes vertical structure, and the chain send structure (82) and polishing refill-unit (84) locking to connect, and the chain send structure (82)
It is welded on dust board structure (83) upper surface, the line wheel device (89) is locked in the lower surface of dust board structure (83), the line
Trochus (89) is connected on dust board structure (83) close to one end of two motor power devices (80), the polishing refill-unit (84)
It is slidably connected on two motor conveyers (85), the polishing refill-unit (84) and double track carriage (86) cooperate, described
Grinding head fixed device (87) is nested with polishing refill-unit (84), two motor conveyers (85) and double track carriage
(86) adjacent, the grinding head fixed device (87) is wound with line wheel device (89), the upper end of the reciprocating transmission mechanism (88) with
The lower surface of dust board structure (83) is intertwined and connected by high temperature conjunction, the reciprocating transmission mechanism (88) with line wheel device (89),
Two motor power devices (80) are located at one jiao of sander (7), and a motor conveyer (81) is installed in polishing
The inner cavity upper surface of device (7), the dust board structure (83) are connected in the middle part of the inner cavity of sander (7), the double track carriage
(86) it is located at the inner cavity middle of sander (7), the grinding head fixed device (87) is locked in sander (7) intracavity bottom
Two sides, the reciprocating transmission mechanism (88) are located at the internal one end far from two motor power devices (80) of sander (7).
2. a kind of quick milling robot according to claim 1, it is characterised in that: two motor power devices (80)
It including connection adjustable spring (800), connection expansion link (801), power connector (802), touches plate (803), the connection is stretched
Contracting bar (801) through connection adjustable spring (800), the connection adjustable spring (800) with touch plate (803) elastic connection, institute
State connection expansion link (801) with touch that plate (803) is vertical to be connect, the power connector (802), which is mounted on, touches plate (803),
Described touch plate (803) are equipped with angle.
3. a kind of quick milling robot according to claim 1, it is characterised in that: a motor conveyer
(81) include a motor mounting rack (810), installation frame plate (811), the fixed cover (812) of chain, a motor sprocket (813),
One motor belt (814), a motor (815), an electric machine stand (816), the installation frame plate (811) are fixedly connected on
On one motor mounting rack (810), the two is parallel, and the fixed cover (812) of the chain is U-shaped structure, the fixed cover of the chain
(812) top and bottom of installation frame plate (811) are glued to, a motor sprocket (813) is rotatably connected on a motor installation
On frame (810), a motor sprocket (813) is sequentially connected with a motor (815) by a motor belt (814),
One motor (815) is mounted on an electric machine stand (816).
4. a kind of quick milling robot according to claim 1, it is characterised in that: it includes chain that the chain, which send structure (82),
Structural slab (820), chain is sent to send structure wheel (821), widen chain column (822), chain (823), the chain send structure wheel (821) and chain
Structural slab (820) is sent to be in concentric circles, the two is connected, and widen chain column (822) and chain (823) pass through high temperature conjunction,
The sprocket of structure wheel (821) is sent to connect with chain in the chain hole of the chain (823).
5. a kind of quick milling robot according to claim 1, it is characterised in that: the dust board structure (83) includes
Axis (830), dust-break movable plate (831), dust-break fixed plate (832) are rotatablely connected, the dust-break movable plate (831) is equipped with rotation
Connecting shaft (830), the dust-break movable plate (831) is identical as dust-break fixed plate (832) structure, and the two is in same level position,
In opposed configuration.
6. a kind of quick milling robot according to claim 1, it is characterised in that: the polishing refill-unit (84) includes
It polishes plate (840), polishing column (841), the polishing plate (840) is adjacent with polishing column (841), and the polishing plate (840) is equipped with
Polishing plate ontology (8400), polishing plate are connected and fixed axis (8401), and the polishing plate is connected and fixed axis (8401) and is mounted on polishing
The middle part of plate ontology (8400), the polishing column (841) are equipped with mounting head (8410), polishing column ontology (8411), the installation
Head (8410) is nested with polishing column ontology (8411), and the two composition is integrated, and the double track carriage (86) includes double
Rail carriage ontology (860), grinding head fixed disk (861), the double track carriage ontology (860) are installed with grinding head fixed disk
(861)。
7. a kind of quick milling robot according to claim 1, it is characterised in that: two motor conveyers
It (85) include two motor side seats (850), two motors (851), two motor conveyor belts (852), two motors connection rails
(853), two motor drive sprocket wheels (854), two motors (851) are mounted on two motor side seats (850), and described two
Portion's motor (851) is sequentially connected with two motor drive sprocket wheels (854) by two motor conveyor belts (852), and described two
It is arch structure that motor, which connects rail (853), and two motors connection rail (853) passes through with two motor drive sprocket wheels (854)
Chain connection.
8. a kind of quick milling robot according to claim 1, it is characterised in that: the grinding head is fixed device (87)
Including a clamp rail (870), a fixture block (871), two clamp rails (872), two fixture blocks (873), a clamp rail (870)
Track connect with the track slot of a fixture block (871), a clamp rail (870) is identical as two clamp rail (872) structures, the two
In parallel, the track of two clamp rails (872) is connect with the track slot of two fixture blocks (873), a fixture block (871) with two
Fixture block (873) structure is identical, and is respectively equipped with one group.
9. a kind of quick milling robot according to claim 1, it is characterised in that: reciprocating transmission mechanism (88) packet
Tooth plate sliding is included to lengthen frame (880), widen reciprocal tooth plate (881), tooth plate sliding rack (882), reciprocating gear (883), past double tooth
Plate (884), the reciprocal tooth plate (881) of widening is slidably connected with tooth plate sliding lengthening frame (880), described to widen reciprocal tooth plate
(881) it is sequentially connected with reciprocal tooth plate (884) by reciprocating gear (883).
10. a kind of quick milling robot according to claim 1, it is characterised in that: the line wheel device (89) includes big
Number line wheel device (890), small size line wheel device (891), the large size line wheel device (890) is identical as trumpet line wheel device (891) structure, and two
Person is adjacent, and the large size line wheel device (890) and small size line wheel device (891) are respectively equipped with torus (8900), wheel plate (8901), described
Torus (8900) is mounted on wheel plate (8901), and the torus (8900) and wheel plate (8901) are in concentric circles, and the two activity connects
It connects.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202174.0A CN109304662B (en) | 2018-10-16 | 2018-10-16 | Quick polishing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811202174.0A CN109304662B (en) | 2018-10-16 | 2018-10-16 | Quick polishing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109304662A true CN109304662A (en) | 2019-02-05 |
| CN109304662B CN109304662B (en) | 2020-11-10 |
Family
ID=65225426
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811202174.0A Active CN109304662B (en) | 2018-10-16 | 2018-10-16 | Quick polishing robot |
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| Country | Link |
|---|---|
| CN (1) | CN109304662B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112935974A (en) * | 2020-12-24 | 2021-06-11 | 青岛成信马达有限公司 | Force compensation-based non-circular part deburring robot for motor production |
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| CN107234527A (en) * | 2017-07-18 | 2017-10-10 | 东旭（昆山）显示材料有限公司 | Glass grinder |
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2018
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| EP0231500A2 (en) * | 1986-02-05 | 1987-08-12 | Robert Bosch Gmbh | Device for releasably mounting a disc-like working-tool |
| US4850734A (en) * | 1988-12-23 | 1989-07-25 | United Technologies Corporation | Coupling device for a machine tool |
| CN1150401A (en) * | 1994-06-17 | 1997-05-21 | 株式会社小松制作所 | Control device for robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112935974A (en) * | 2020-12-24 | 2021-06-11 | 青岛成信马达有限公司 | Force compensation-based non-circular part deburring robot for motor production |
| CN112935974B (en) * | 2020-12-24 | 2022-06-14 | 青岛成信马达有限公司 | Force compensation-based non-circular part deburring robot for motor production |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109304662B (en) | 2020-11-10 |
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