CN109773658A - A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece - Google Patents
A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece Download PDFInfo
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- CN109773658A CN109773658A CN201910074906.0A CN201910074906A CN109773658A CN 109773658 A CN109773658 A CN 109773658A CN 201910074906 A CN201910074906 A CN 201910074906A CN 109773658 A CN109773658 A CN 109773658A
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Abstract
The present invention relates to a kind of efficient sanding and polishing system and methods of environment-friendly type outer surface of workpiece, the system includes robot, sander and polishing machine, the sander and polishing machine are distributed around around robot, the respective motor close to switch, the close switch and sander and polishing machine that the sander and polishing machine are separately installed with for incuding robot arm is electrically connected to controller；Negative pressure dust removing device is provided in the shell of the sander and polishing machine.Sander and polishing machine are cooperated using robot to complete first polishing, smart grinding and buffing operation, reduce human cost, high in machining efficiency, surface polishing uniform quality；Negative pressure dust removing device recycles the dust generated during sanding and polishing automatically, sanding and polishing process does not have dust from flying, it is free from environmental pollution, production management is at low cost, production environment is improved simultaneously, it ensures production work personnel health, is handled especially suitable for small-sized die casting or the sanding and polishing of moulding outer surface.
Description
Technical field
The invention belongs to advanced manufacturing technology fields, and in particular to a kind of efficient sanding and polishing system of environment-friendly type outer surface of workpiece
System and method.
Background technique
Product surface is smooth, good appearance in order to make, various types of die castings and moulding surface be typically necessary into
The processing of row sanding and polishing, such as die casting or moulding that variform pipe fitting, tap, blade, hardware etc. are small-sized.It passes
The processing of the workpiece surface sanding and polishing of system is mainly by being accomplished manually, and not only processing efficiency is low, the consistency of surface polishing quality
It is difficult to ensure, while the working environment of operator is severe there is a large amount of sanding and polishing dust to wave in process, influences
Staff's health, pollutes environment, and production management is at high cost.
For this reason, it is necessary to the robot system of a set of sanding and polishing complexity form workpiece surface be researched and developed, wherein how efficiently
Ground sanding and polishing workpiece simultaneously improves a production environment always technical problem.Therefore, it is necessary to design a kind of environment-friendly type workpiece appearance
The efficient sanding and polishing system and method in face.
Summary of the invention
In view of the deficiencies in the prior art, technical problem to be solved by the invention is to provide a kind of environment-friendly type outer surface of workpiece
Efficient sanding and polishing system, it efficiently automatically grinding can polish and recycle the dust generated during sanding and polishing.
In order to solve the above technical problems, the technical solution that the present invention uses is: a kind of environment-friendly type outer surface of workpiece is efficient
Sanding and polishing system, including robot, sander and polishing machine, the sander and polishing machine are distributed around the week of robot
Enclose, the sander and polishing machine be separately installed with for incude robot arm close to switch, it is described close to switch and
The respective motor of sander and polishing machine is electrically connected to controller；
Wherein, the sander and polishing machine respectively include gantry base, are equipped with above the gantry base notched
Shell is provided with the driving shaft being connected with motor output end in the shell, and the active the tip of the axis is equipped with driving wheel,
The side of the driving wheel is stretched out from the indentation, there of shell, and the driving wheel of the sander drives driven wheel by abrasive band, described
The driving wheel of polishing machine drives driven wheel by strap, and the driven wheel is mounted on driven the tip of the axis, also sets in the shell
It is equipped with the negative pressure dust removing device being located at below driving shaft；
Wherein, the negative pressure dust removing device includes level-one fan, fan shaft, second level fan, shaft support sleeve and dust mistake
Filter, the middle part of sliding channel of the shaft support sleeve are provided with the opening passed through for synchronous belt, and the driving shaft passes through described same
Step band drives fan shaft, and the level-one fan and second level fan are separately mounted to the rear and front end of fan shaft, the fan
The both ends of shaft pass through the front that bearing is mounted in shaft support sleeve respectively, and the rear portion in the shaft support sleeve is set
It is equipped with vacuum chamber, the lateral wall of the shaft support sleeve is connected with the sweep-up pipe being connected to vacuum chamber, the row of the sweep-up pipe
Air port is located at except shell, and the dust filter unit is mounted on the exhaust outlet of sweep-up pipe.
Further, fixed perpendicular in the gantry base to set that there are two the first parallel support plates of left and right and the second bearing
Plate, the driving motor are mounted on the outside of the second support plate, the driving shaft be located between two support plates and its end from
It is stretched out on the outside of first support plate, the driven shaft is mounted between two support plates and its end is stretched on the outside of the first support plate
Out.
Further, the motor has variable-frequency governor.
Further, the robot is provided with the robot finger with pressure feedback function, the robot finger
Including finger ontology and finger sleeve, the finger ontology is actively located in finger sleeve, and the finger ontology includes head end
Lifting rod segment, the frustum of a cone section of intermediate cylindrical section and end, the frustum of a cone section outer circle poppet surface of the finger body tip
Pressure sensor is installed, the pressure sensor is electrically connected to the controller.
One is preferred, and the lifting rod segment of the finger ontology head end is arranged with compressed spring, among the finger ontology
Cylindrical section excircle is symmetrical arranged there are two the guide groove that opens up along axial direction, is symmetrically fixed with two bands on the finger sleeve and is turned round
The guide pin of square sensor, the guide pin are slidably matched with the guide groove, and the torque sensor is electrically connected to the control
The frustum of a cone section outer circle poppet surface of device processed, the finger body tip is arranged with rubber outer ring.
Another preferred, the lifting rod segment of the finger ontology head end is connected to the piston or piston rod of cylinder.The hand
The end of fingerstall cylinder is provided with expandable resilient sleeve, and the outer surface of the resilient sleeve is provided with a high coefficient of friction material layer.
Further, the head end of the finger sleeve is provided with the flange for closely connecting robot end's output shaft,
The end of the finger ontology is equipped with hexagonal positioning pin.
Further, the artificial six degree of freedom prosthetic robot of the machine.
In order to solve the above technical problems, that the present invention uses another solution is that a kind of environment-friendly type outer surface of workpiece is high
Sanding and polishing method is imitated, using the above-mentioned efficient sanding and polishing system of environment-friendly type outer surface of workpiece, robot is fixed in workpiece conveying
Position device workpiece positioning table on grab workpiece after, first by workpiece on sander automatically grinding, then arrive polishing machine
Upper automatic polishing, the dust that sanding and polishing generates in the process are recycled by the included negative pressure dust removing device of sander and polishing machine, most
The complete workpiece of sanding and polishing is placed on output transfering device to be sent into next process afterwards.
Compared with prior art, the invention has the following advantages: using robot cooperate sander and polishing machine come
First polishing, smart grinding and buffing operation are completed, human cost is reduced, high in machining efficiency, surface polishing uniform quality；In sander
With the dust generated in the process in the shell of polishing machine provided with negative pressure dust removing device, automatic recycling sanding and polishing, sanding and polishing
Process does not have dust from flying, free from environmental pollution, and production management is at low cost, while improving production environment, ensures production work people
Member's health, is handled especially suitable for small-sized die casting or the sanding and polishing of moulding outer surface.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the embodiment of the present invention.
Fig. 2 is the external structure schematic diagram of sander or polishing machine.
Fig. 3 is the schematic diagram of internal structure of sander or polishing machine.
Fig. 4 is the structural schematic diagram of negative pressure dust removing device.
Structural schematic diagram when Fig. 5 is machine artificial six degree of freedom prosthetic robot.
Fig. 6 is a kind of plain edition structural schematic diagram of robot finger.
Fig. 7 is a kind of Enhanced Configuration schematic diagram of robot finger.
Fig. 8 is the structural schematic diagram that workpiece is faucet knob.
Status diagram when Fig. 9 is robot finger's clamping workpiece.
Figure 10 is the partial enlarged view of workpiece conveying and positioning device.
Figure 11 be workpiece be faucet knob when structural schematic diagram.
Figure 12 be workpiece face-up and difference in height schematic diagram directed downwardly.
Figure 13 is the preceding posture schematic diagram of handle of workpiece.
Figure 14 is the posterior posture schematic diagram of handle of workpiece.
Marked in the figure: 200- workpiece conveying and positioning device, the second rack of 201-, 210- belt type conveying mechanism, 211- input
Conveyer belt, 220- workpiece positioning table, 221- tilt feed track, 222- horizontal location slot, the second photoelectric sensor of 223-, 224- the
Three photoelectric sensors, 231- baffle, 232- delivery chute, 233- height-limiting bar, 234- escape port；300- robot/six degree of freedom closes
Jie Shi robot, 301- robot finger, 310- finger ontology, 311- lifting rod segment, 312- cylindrical section, 313- frustum of a cone section,
320- finger sleeve, 321- flange, 322- resilient sleeve, 330- pressure sensor, 340- compressed spring, 351- guide groove, 352-
Guide pin, 353- torque sensor, 360- rubber outer ring, 370- hexagonal positioning pin；400- sander；400 '-polishing machines；401-
Gantry base, 402- shell, 403- notch, 410- motor, 411- driving shaft, 412- driving wheel, 420- negative pressure dust removing device,
421- level-one fan, 422- fan shaft, 423- shaft support sleeve, 424- bearing, 425- vacuum chamber, 426- sweep-up pipe,
427- opening, 428- synchronous belt, 429- second level fan, the abrasive band 431-, 432- strap, 441- driven wheel, 442- driven shaft, 450-
First support plate, the second support plate of 460-, the close switch of 470-；500, output transfering device；10- workpiece/faucet knob,
11- handle, 12- hexagonal location hole.
Specific embodiment
In order to allow features described above and advantage of the invention to be clearer and more comprehensible, below spy fors embodiment, and cooperate attached drawing, make in detail
Carefully it is described as follows.
As shown in Fig. 1 ~ 4, a kind of efficient sanding and polishing system of environment-friendly type outer surface of workpiece, including robot 300, sander
400 and polishing machine 400 ', the sander 400 and polishing machine 400 ' be distributed around around robot 300, the sander
400 and polishing machine 400 ' be separately installed with for incude 300 arm of robot close to switch 470, it is described close to switch 470 with
And the respective motor of sander 400 and polishing machine 400 ' is electrically connected to controller；Wherein, described to have close to switch 470
Body is mounted on shell 402.When 300 arm clamping workpiece 10 of robot removes grinding and buffing, sander 400 and polishing machine
400 ' automatically turn on, and cooperate robot 300 to complete just polishing, smart grinding and buffing operation, are automatically performed whole sanding and polishings
Work, more efficient without manual intervention, better quality；
Wherein, the sander 400 is identical with the basic structure of polishing machine 400 ', the difference is that the material of grinding wheel and polishing wheel
Specific as follows with the revolving speed of driving shaft 411: the sander 400 and polishing machine 400 ' respectively include gantry base 401, described
The top of gantry base 401 is equipped with shell 402 of the front side with notch 403, is provided in the shell 402 defeated with motor 410
The driving shaft 411 that outlet is connected, the end of the driving shaft 411 are equipped with driving wheel 412, the side of the driving wheel 412
It is stretched out from the notch 403 of shell 402, the driving wheel 412 of the sander 400 drives driven wheel 441, institute by abrasive band 431
The driving wheel 412 for stating polishing machine 400 ' drives driven wheel 441 by strap 432, and the driven wheel 441 is mounted on driven shaft 442
End, using the grinding wheel or polishing wheel of this structure make driving wheel 412 rotation it is more steady, abrasive band 431 or strap 432 can
To select different materials, suitable abrasive band 431 or strap 432 are correctly selected, sanding and polishing efficiency can be greatly improved and beaten
Grinding and polishing light quality；The negative pressure dust removing device 420 positioned at 411 lower section of driving shaft is additionally provided in the shell 402, by driving wheel
The a large amount of dust of 412 lower sections is removed；
Wherein, the negative pressure dust removing device 420 includes level-one fan 421, fan shaft 422, second level fan 429, shaft support
Sleeve 423 and dust filter unit (omitting in figure), the middle part of sliding channel of the shaft support sleeve 423 are provided with for synchronous belt 428
The opening 427 passed through, the driving shaft 411 drive fan shaft 422 by the synchronous belt 428, and motor 410 passes through driving shaft
411 drive grinding wheel or polishing wheel, while also driving the fan shaft 422 of negative pressure dust removing device 420, due to negative pressure dust removing device
420 share a motor 410, therefore energy saving and production cost with driving wheel 412；The level-one fan 421 and light breeze
Fan 429 is separately mounted to the rear and front end of fan shaft 422, and two-stage fan enhances the effect of the aspiration of negative pressure, works as fan shaft
When 422 rotation, the two-stage fan at 422 both ends of fan shaft is mounted on inside the shell 402 of the dual-purpose machine of sanding and polishing to outlet
Wind collects dust by dust filter unit, dust is prevented to discharge outward；The both ends of the fan shaft 422 pass through axis respectively
424 fronts being mounted in shaft support sleeve 423 are held, the rear portion in the shaft support sleeve 423 is provided with vacuum chamber
425, the lateral wall of the shaft support sleeve 423 is connected with the sweep-up pipe 426 being connected to vacuum chamber 425, the sweep-up pipe 426
Exhaust outlet be located at except shell 402, the dust filter unit is mounted on the exhaust outlet of sweep-up pipe 426.When fan shaft 422 revolves
When turning, negative pressure is formed inside shell 402, cavity or hollow channel by 422 center of fan shaft suck metal works table
The dust formed in the sanding and polishing process of face, dust enters sweep-up pipe 426 from vacuum chamber 425, most afterwards through dust filter unit
Recycling, process does not have dust from flying, free from environmental pollution.
Wherein, fixed perpendicular in the gantry base 401 to set that there are two the first parallel support plate 450 of left and right and the second bearings
Plate 460, the driving motor 410 are mounted on the outside of the second support plate 460 and can be exposed to outside shell 402 to reduce shell
402 size makes whole more compact, and the driving shaft 411 is located between two support plates 450,460 and its end is from first
It is stretched out on the outside of support plate 450, the driven shaft 442 is mounted between two support plates 450,460 and its end is supported from first
It is stretched out on the outside of plate 450.
Wherein, the motor 410 has variable-frequency governor, makes the speed of motor 410 according to actual needs can be with stepless-adjustment
It is whole.
As shown in Fig. 5 ~ 7, the robot 300 is provided with the robot finger 301 with pressure feedback function, the machine
Device finger 301 includes finger ontology 310 and finger sleeve 320, and the finger ontology 310 is actively located in finger sleeve 320
Interior, the finger ontology 310 includes the lifting rod segment 311 of head end, the frustum of a cone section 313 of intermediate cylindrical section 312 and end, institute
The 313 outer circle poppet surface of frustum of a cone section for stating 310 end of finger ontology is equipped with pressure sensor 330, the pressure sensor 330
It is electrically connected to the controller (omitting in figure).When work, whether correctly pressure sensor 330 detects robot finger 301
Whether clamping workpiece contacts with workpiece, while dynamics when can control 300 grabbing workpiece of robot.
The finger ontology 310 that the robot finger 301 uses finger sleeve 320 and can move relative to finger sleeve 320,
And finger ontology 310 is designed to lifting rod segment 311,313 three-stage of cylindrical section 312 and frustum of a cone section, by frustum of a cone section
313 outer circle poppet surfaces be arranged pressure sensor 330, come detect robot finger 301 whether correctly clamping workpiece or whether with
Workpiece has contact, in order to control dynamics when 300 grabbing workpiece of robot, both protects workpiece, also robot is protected to set
It is standby.
A kind of structure of robot finger 301: for the workpiece of lighter weight, robot finger 301 is by between material
Frictional force carry out clamping workpiece, plain edition structure as shown in FIG. 6 can be used in robot finger 301, specific as follows: (1) described
The lifting rod segment 311 of 310 head end of finger ontology is arranged with compressed spring 340, to form elastic finger.Do not have in finger ontology 310
When having clamping workpiece, compressed spring 340 extends naturally, and the opening direction for pushing finger ontology 310 toward 320 end of finger sleeve is transported
It is dynamic.When finger ontology 310 prepares clamping workpiece, controller controls finger ontology 310 by the feedback of pressure sensor 330
To the pressure of workpiece, the pressure size of finger ontology 310 can adjust according to actual needs.(2) among the finger ontology 310
312 excircle of cylindrical section is symmetrical arranged there are two the guide groove 351 that opens up along axial direction, is symmetrically fixed on the finger sleeve 320
There are two the guide pin 352 with torque sensor 353, the guide pin 352 is slidably matched with the guide groove 351, the torsion
Square sensor 353 is electrically connected to the controller.Guide pin 352 limits finger ontology 310 and rotates around itself shaft centre line, hand
Refer to that ontology 310 can only be mobile in its axis direction, cannot be rotated about axis, to ensure the correct posture of clamped workpiece.Work
When, the signal magnitude that torque sensor 353 detects can be converted into workpiece during sanding and polishing surface grinding force it is big
It is small, that is, torque when sanding and polishing is controlled, so that the elastic finger of real-time control machine people 300 suitably moves, is beaten with ensureing
Grinding and polishing light precision and quality, while protecting robot 300 and workpiece 10 not damaged during the work time.(3) the finger sheet
The 313 outer circle poppet surface of frustum of a cone section of 310 end of body is arranged with rubber outer ring 360, enhances between finger ontology 310 and workpiece
Frictional force.(4) head end of the finger sleeve 320 is provided with the flange for closely connecting 300 end output shaft of robot
321.As shown in figure 5, the robot 300 is preferably but not limited to six degree of freedom prosthetic robot, it can also be certainly
Its multi-freedom joint formula robot.(5) end of the finger ontology 310 is equipped with hexagonal positioning pin 370, the workpiece 10
Interior bottom is provided with hexagonal location hole 12, and work is accurately positioned by the cooperation of hexagonal positioning pin 370 and hexagonal location hole 12
Part 10, such as workpiece 10 are faucet knob, as shown in Figure 8 and Figure 9.
Another structure of robot finger 301: for the workpiece of heavier mass, using enhancing frictional force (such as external pressurized
Normal pressure, electromagnetic force of contracting air etc.) carry out steadily clamping workpiece, robot finger 301 can be used as shown in Figure 7 enhanced
Structure, specific as follows: (1) the lifting rod segment 311 of 310 head end of finger ontology is connected to the piston or piston rod of cylinder.When
So, the lifting rod segment 311 of 310 head end of finger ontology can also directly be the part of piston rod.(2) the finger sleeve
320 end is provided with expandable resilient sleeve 322, and the outer surface of the resilient sleeve 322, which is provided with, (to be such as coated with or coat
Have) a high coefficient of friction material layer (being omitted in figure), to reinforce the frictional force between finger and clamped workpiece contact surface.When
When the piston rod of cylinder pushes finger ontology 310 to move downward, expandable resilient sleeve 322 is strutted outward, is thrown with wait polish
The workpiece of light is in close contact, to keep to the enough chucking powers of workpiece.(3) the head end setting of the finger sleeve 320 is useful
In the flange 321 of closely connection 300 end output shaft of robot.As shown in figure 5, the robot 300 is preferably but not limited to
Six degree of freedom prosthetic robot can also be other multi-freedom joint formulas robot certainly.(4) the finger ontology 310
End hexagonal positioning pin 370 is installed, the bottom in the workpiece 10 is provided with hexagonal location hole 12, passes through hexagonal positioning pin
370 workpiece 10 is accurately positioned with the cooperation of hexagonal location hole 12, such as workpiece 10 is faucet knob, such as Fig. 8 and Fig. 9 institute
Show.
The present invention can be with the workpiece 10 of sanding and polishing different shape, different sizes or unlike material.For example, with a kind of die casting
Molding small-sized faucet knob lid is sanding and polishing object, has multiple outer surfaces to need sanding and polishing, two including handle 11
Face, outer conical surface, multiple wheels are along side and upper capping.Workpiece positioning table 220 of the robot 300 in workpiece conveying and positioning device 200
On grab workpiece 10 after, first by workpiece 10 on sander 400 automatically grinding, then arrive on polishing machine 400 ' and throw automatically
Light, the dust that sanding and polishing generates in the process are recycled by the included negative pressure dust removing device 420 of sander 400 and polishing machine 400 ',
The complete workpiece 10 of sanding and polishing is finally placed on output transfering device 500 to be sent into lower one by process non-dusting
Process.
Wherein, the workpiece conveying and positioning device 200, sander 400, polishing machine 400 ' and output transfering device 500 according to
It is secondary to be surrounded on around robot 300 (as clockwise or counterclockwise), to reduce the movement travel of robot 300；Such as Figure 10 institute
Show, the workpiece conveying and positioning device 200 includes the belt type conveying mechanism 210 being set in the second rack 201 and workpiece positioning
Platform 220 can be waited robot finger and be grabbed by the accurate punctually conveying workpieces of belt type conveying mechanism 210 to workpiece positioning table 220
It takes, then implements the sanding and polishing of workpiece surface；The input terminal of the belt type conveying mechanism 210 is located at the discharge port 104
Lower section is provided with two baffles 231 along conveying direction parallelly distribute on above the conveyer belt 211 of the belt type conveying mechanism 210,
Formation width is only capable of accommodating the delivery chute 232 of a workpiece between two baffles 231, and the input terminal of the delivery chute 232 is located at
The output end of the underface of discharge port 104, the input terminal and delivery chute 232 of the workpiece positioning table 220 is connected to each other.In delivery chute
Workpiece in 232 is limited between two baffles 231, falls in the surface of conveyer belt 211, and be sent to workpiece by conveyer belt 211
Positioning table 220.
Wherein, the workpiece positioning table 220 includes inclination feed track 221 and horizontal location slot 222, the inclination feed track
221 upper end and the output end of delivery chute 232 are connected to each other, and the lower end of the inclination feed track 221 is connected with horizontal location slot 222
Logical, the side of the horizontal location slot 222 is provided with the second photoelectric sensor 223 whether detection workpiece has arrived at.It is described
The height-limiting bar that the larger workpiece of height dimension is intercepted to one side is additionally provided with above the conveyer belt 211 of belt type conveying mechanism 210
233.The both ends of the height-limiting bar 233 can be separately fixed on two baffles 231, wherein being arranged on a baffle 231 useful
In the outlet 234 of the discharge larger workpiece of height dimension, the outlet 234 is located at the rear of height-limiting bar 233.Wherein, the output
Above-mentioned belt type conveying mechanism can also be used in transmission device 500.
There are two types of possible posture, i.e. the face-up or workpiece of workpiece just faces workpiece on conveyer belt 211
Under, such as faucet knob shown in Figure 11, the workpiece on the left side is face-up, the workpiece face down on the right.Due to structure
Reason, workpiece have difference in both postures, in the height of vertical axis, and as shown in figure 12, front (opening) is downward
Workpiece size in the height direction it is larger, the height difference H between them is 4.85 millimeters.Limit above conveyer belt 211
The workpiece of face down is intercepted one side and is guided out conveyer belt 211 by high bar 233, and face-up workpiece, i.e. miter square
Very little lesser workpiece, to workpiece positioning table 220, is accurately positioned by smooth delivery of power.Conveyer belt 211 according to certain rhythm or
Time interval movement, it is primary only to convey a workpiece to workpiece positioning table 220, it is mounted on the second photoelectricity of workpiece positioning table 220
The effect of sensor 223 is the correct position whether detection workpieces have arrived at workpiece positioning table 220, and is signaled to controller,
Robot finger is allowed to prepare to start grabbing workpiece.
When workpiece is sent to workpiece positioning table 220 from conveyer belt 211, workpiece reach workpiece positioning table 220 when there are two types of
Possible position, as shown in Figure 13 ~ 14, the handle 11 of faucet knob 10 is in preceding or handle 11 rear.If faucet knob
For 10 handle 11 when preceding, the third photoelectric sensor 224 for being mounted on workpiece positioning table 220 detects that the handle 11 of workpiece 10 exists
Preceding location status.Third photoelectric sensor 224 sends the detected signal to controller, makes robot according to work piece
Position and posture execute sanding and polishing program appropriate.Two kind postures of the workpiece on workpiece positioning table 220 do not affect machine
The correct crawl of device finger.However, the process flow of grinding workpieces polishing is different, polishing because the posture of workpiece is different
The robot of polishing will enable different working procedures.
The embodiment of the present invention can be accurately positioned workpiece by workpiece positioning table, lead to for the sanding and polishing of workpiece surface
The real-time programming technology of applied robot's motion control is crossed, the pressure sensor feedback polishing pressure on robot finger, control
Device use database and expert system, in combination between workpiece and driving wheel relative position and grinding away over time consumption calculate,
To realize the accurate sanding and polishing of 3 D complex workpiece surface.
The above, only presently preferred embodiments of the present invention not do limitation in any form to the present invention, any ripe
Those skilled in the art is known in every case without departing from the content of technical solution of the present invention, according to the technical essence of the invention to the above reality
It applies example and makes any simple modification, equivalent changes and modifications, be all covered by the present invention.
Claims (10)
1. a kind of efficient sanding and polishing system of environment-friendly type outer surface of workpiece, it is characterised in that: including robot, sander and polishing
Machine, the sander and polishing machine are distributed around around robot, and the sander and polishing machine are separately installed with and are used for
The respective motor close to switch, the close switch and sander and polishing machine for incuding robot arm is electrically connected to control
Device processed；
Wherein, the sander and polishing machine respectively include gantry base, are equipped with above the gantry base notched
Shell is provided with the driving shaft being connected with motor output end in the shell, and the active the tip of the axis is equipped with driving wheel,
The side of the driving wheel is stretched out from the indentation, there of shell, and the driving wheel of the sander drives driven wheel by abrasive band, described
The driving wheel of polishing machine drives driven wheel by strap, and the driven wheel is mounted on driven the tip of the axis, also sets in the shell
It is equipped with the negative pressure dust removing device being located at below driving shaft；
Wherein, the negative pressure dust removing device includes level-one fan, fan shaft, second level fan, shaft support sleeve and dust mistake
Filter, the middle part of sliding channel of the shaft support sleeve are provided with the opening passed through for synchronous belt, and the driving shaft passes through described same
Step band drives fan shaft, and the level-one fan and second level fan are separately mounted to the rear and front end of fan shaft, the fan
The both ends of shaft pass through the front that bearing is mounted in shaft support sleeve respectively, and the rear portion in the shaft support sleeve is set
It is equipped with vacuum chamber, the lateral wall of the shaft support sleeve is connected with the sweep-up pipe being connected to vacuum chamber, the row of the sweep-up pipe
Air port is located at except shell, and the dust filter unit is mounted on the exhaust outlet of sweep-up pipe.
2. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 1, it is characterised in that: the rack
Fixed perpendicular the first support plate and the second support plate set there are two left and right in parallel, the driving motor are mounted on second on pedestal
The outside of board, the driving shaft is located between two support plates and its end is stretched out on the outside of the first support plate, described driven
Axis is mounted between two support plates and its end is stretched out on the outside of the first support plate.
3. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 1, it is characterised in that: the motor
With variable-frequency governor.
4. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 1, it is characterised in that: the machine
People is provided with the robot finger with pressure feedback function, and the robot finger includes finger ontology and finger sleeve, institute
Finger ontology is stated to be actively located in finger sleeve, the finger ontology include head end lifting rod segment, centre cylindrical section and
The frustum of a cone section outer circle poppet surface of the frustum of a cone section of end, the finger body tip is equipped with pressure sensor, the pressure
Sensor is electrically connected to the controller.
5. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 4, it is characterised in that: the finger
The lifting rod segment of ontology head end is arranged with compressed spring, the cylindrical section excircle among the finger ontology be symmetrical arranged there are two
The guide groove opened up along axial direction is symmetrically fixed with two guide pins with torque sensor, the guiding on the finger sleeve
Pin is slidably matched with the guide groove, and the torque sensor is electrically connected to the controller, the circle of the finger body tip
Frustum section outer circle poppet surface is arranged with rubber outer ring.
6. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 4, it is characterised in that: the finger
The lifting rod segment of ontology head end is connected to the piston or piston rod of cylinder.
7. the efficient sanding and polishing system of the environment-friendly type outer surface of workpiece according to claim 4 or 6, it is characterised in that: described
The end of finger sleeve is provided with expandable resilient sleeve, and the outer surface of the resilient sleeve is provided with a high coefficient of friction material
Layer.
8. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 4, it is characterised in that: the finger
The head end of sleeve is provided with the flange for closely connecting robot end's output shaft, and the end of the finger ontology is equipped with six
Angle positioning pin.
9. the efficient sanding and polishing system of environment-friendly type outer surface of workpiece according to claim 1, it is characterised in that: the machine
Artificial six degree of freedom prosthetic robot.
10. a kind of efficient sanding and polishing method of environment-friendly type outer surface of workpiece, which is characterized in that using the environment-friendly type of claim 1
The efficient sanding and polishing system of outer surface of workpiece, robot grabbed on the workpiece positioning table of workpiece conveying and positioning device workpiece it
Afterwards, first by workpiece on sander automatically grinding, then to automatic polishing on polishing machine, the powder that is generated during sanding and polishing
Dirt is recycled by the included negative pressure dust removing device of sander and polishing machine, and the complete workpiece of sanding and polishing is finally placed on output transmission dress
It sets to be sent into next process.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910074906.0A CN109773658A (en) | 2019-01-25 | 2019-01-25 | A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece |
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| CN201910074906.0A CN109773658A (en) | 2019-01-25 | 2019-01-25 | A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece |
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| CN201910074906.0A Withdrawn CN109773658A (en) | 2019-01-25 | 2019-01-25 | A kind of efficient sanding and polishing system and method for environment-friendly type outer surface of workpiece |
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| Country | Link |
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| CN (1) | CN109773658A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153844A (en) * | 2019-05-31 | 2019-08-23 | 成都极致智造科技有限公司 | A kind of constant pressure polishing system based on industrial robot |
| CN112139952A (en) * | 2020-09-28 | 2020-12-29 | 温州职业技术学院 | Sole grinding machine |
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| DE4333734A1 (en) * | 1993-10-05 | 1995-04-06 | Frank Dr Ing Hentschel | Apparatus for the level-contour grinding-off of elevations or grinding-out of defects in the form of edge-free grinding geometries |
| CN2650940Y (en) * | 2003-11-10 | 2004-10-27 | 隋振义 | Polisher |
| CN1754650A (en) * | 2004-09-29 | 2006-04-05 | 株式会社安川电机 | Fastener device |
| US20080311824A1 (en) * | 2007-06-12 | 2008-12-18 | Sacmi Cooperativa Meccanici Imola Societa' Cooperativa | Apparatus for smoothing a product, in particular a semi-finished ceramic product |
| CN103419111A (en) * | 2013-08-10 | 2013-12-04 | 玉环联帮洁具制造有限公司 | Workpiece automatic machining system and grinding method of surface of workpiece |
| CN207606868U (en) * | 2017-12-25 | 2018-07-13 | 南京工程学院 | A kind of simple activation lacking mechanical finger |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN108838786A (en) * | 2018-06-25 | 2018-11-20 | 安徽名扬刷业有限公司 | A kind of sanding grinding apparatus of plank processing |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE4333734A1 (en) * | 1993-10-05 | 1995-04-06 | Frank Dr Ing Hentschel | Apparatus for the level-contour grinding-off of elevations or grinding-out of defects in the form of edge-free grinding geometries |
| CN2650940Y (en) * | 2003-11-10 | 2004-10-27 | 隋振义 | Polisher |
| CN1754650A (en) * | 2004-09-29 | 2006-04-05 | 株式会社安川电机 | Fastener device |
| US20080311824A1 (en) * | 2007-06-12 | 2008-12-18 | Sacmi Cooperativa Meccanici Imola Societa' Cooperativa | Apparatus for smoothing a product, in particular a semi-finished ceramic product |
| CN103419111A (en) * | 2013-08-10 | 2013-12-04 | 玉环联帮洁具制造有限公司 | Workpiece automatic machining system and grinding method of surface of workpiece |
| CN207606868U (en) * | 2017-12-25 | 2018-07-13 | 南京工程学院 | A kind of simple activation lacking mechanical finger |
| CN208005130U (en) * | 2018-01-26 | 2018-10-26 | 航天智造（上海）科技有限责任公司 | A kind of fully automatic bolt tightening machine people's system |
| CN108838786A (en) * | 2018-06-25 | 2018-11-20 | 安徽名扬刷业有限公司 | A kind of sanding grinding apparatus of plank processing |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110153844A (en) * | 2019-05-31 | 2019-08-23 | 成都极致智造科技有限公司 | A kind of constant pressure polishing system based on industrial robot |
| CN112139952A (en) * | 2020-09-28 | 2020-12-29 | 温州职业技术学院 | Sole grinding machine |
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Application publication date: 20190521 |