CN111203802A - Automatic trade grinding device of emery wheel - Google Patents
Automatic trade grinding device of emery wheel Download PDFInfo
- Publication number
- CN111203802A CN111203802A CN202010130665.XA CN202010130665A CN111203802A CN 111203802 A CN111203802 A CN 111203802A CN 202010130665 A CN202010130665 A CN 202010130665A CN 111203802 A CN111203802 A CN 111203802A
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- grinding wheel
- shaft
- wheel handle
- hole
- clamping
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- 229910001651 emery Inorganic materials 0.000 title abstract description 11
- 238000005498 polishing Methods 0.000 claims abstract description 10
- 239000000428 dust Substances 0.000 claims description 30
- 238000001816 cooling Methods 0.000 claims description 15
- 230000009471 action Effects 0.000 claims description 9
- 230000000712 assembly Effects 0.000 claims description 9
- 238000000429 assembly Methods 0.000 claims description 9
- 238000009413 insulation Methods 0.000 claims description 8
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 7
- 235000011089 carbon dioxide Nutrition 0.000 claims description 7
- 230000005484 gravity Effects 0.000 claims description 6
- 238000009434 installation Methods 0.000 claims description 6
- 238000000034 method Methods 0.000 claims description 6
- 229920000742 Cotton Polymers 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims description 4
- 238000005507 spraying Methods 0.000 claims description 4
- 239000000853 adhesive Substances 0.000 claims 1
- 230000001070 adhesive effect Effects 0.000 claims 1
- 230000008569 process Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000010276 construction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 210000000078 claw Anatomy 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000013016 damping Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 239000007921 spray Substances 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B41/00—Component parts such as frames, beds, carriages, headstocks
- B24B41/04—Headstocks; Working-spindles; Features relating thereto
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B47/00—Drives or gearings; Equipment therefor
- B24B47/22—Equipment for exact control of the position of the grinding tool or work at the start of the grinding operation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- B24B49/00—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation
- B24B49/12—Measuring or gauging equipment for controlling the feed movement of the grinding tool or work; Arrangements of indicating or measuring equipment, e.g. for indicating the start of the grinding operation involving optical means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B55/02—Equipment for cooling the grinding surfaces, e.g. devices for feeding coolant
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24B—MACHINES, DEVICES, OR PROCESSES FOR GRINDING OR POLISHING; DRESSING OR CONDITIONING OF ABRADING SURFACES; FEEDING OF GRINDING, POLISHING, OR LAPPING AGENTS
- 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
- B24B55/04—Protective covers for the grinding wheel
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
The invention relates to a grinding device capable of automatically changing a grinding wheel, which comprises a first support, a servo motor, a cutter changing shaft, a grinding wheel handle, a clamping assembly and a solenoid; the grinding wheel handle comprises a connecting shaft, a grinding wheel is fixed at the tail end of the connecting shaft, a circular truncated cone is arranged at the top of the connecting shaft, and an annular groove is formed in the middle of the circular truncated cone; the tool changing shaft comprises a shaft head and a shaft body; the shaft head is fixed at the tail end of the output shaft of the servo motor; the shaft body is internally provided with a tapered hole, and the shaft body is radially provided with two symmetrical rectangular through holes communicated with the tapered hole; the circular truncated cone of the grinding wheel handle can extend into the conical hole, and the annular groove on the circular truncated cone is opposite to the rectangular through hole of the shaft body; a clamping assembly is arranged in each rectangular through hole, and one end of each clamping assembly is positioned in the annular groove; and a magnet is arranged at one end of each clamping component, which is far away from the axle center of the axle body, and a solenoid is arranged at the position corresponding to the magnet in height. The device has improved emery wheel handle clamping stability, avoids the chatter phenomenon of emery wheel handle, improves the precision of polishing.
Description
Technical Field
The invention belongs to the technical field of grinding processing, and particularly relates to a grinding device capable of automatically replacing a grinding wheel.
Background
At present, with the continuous development of numerical control automation equipment, the application of mechanical arm automation polishing equipment is more and more, and the polishing of various curved surfaces with different shapes and sizes can be realized by the current polishing equipment. When a plurality of large non-uniform curved surfaces are polished, because the curvatures of the curved surfaces of all the areas are different, grinding tools of different types and sizes are needed to polish the curved surfaces in different areas, and further, tool changing operation is needed to be carried out on different grinding tools; and the emery wheel needs to be changed after the arm emery wheel of polishing is scrapped in use, and artifical manual dismantlement, installation waste time and energy, influence the convenience and the degree of accuracy of tool changing operation, degree of automation is low, seriously influences machining efficiency.
The chinese patent with application number 201710721198.6 discloses a pneumatic vertical-horizontal composite automatic grinding wheel changing manipulator, which grabs a grinding wheel through a grinding wheel changing claw, conveys the grinding wheel to a corresponding position through a corresponding cylinder, and mounts the grinding wheel on a vertical grinding head, thereby completing the grinding wheel changing operation; this manipulator can only be used for the automatic change of the emery wheel on the compound grinding machine crouches immediately, and to the terminal grinding wheel of arm grinding device change, the operation is complicated, can increase the time of trading the emery wheel, reduces the efficiency of trading the emery wheel, and the device is complicated moreover, consequently needs a collection to trade the emery wheel automatically and polish in grinding device of an organic whole.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problem of providing a grinding device capable of automatically replacing a grinding wheel.
The invention provides a grinding device capable of automatically changing a grinding wheel, which comprises a first support fixedly connected with the tail end of a grinding mechanical arm and a servo motor arranged on the first support; the device is characterized by comprising a cutter changing shaft, a grinding wheel handle, a clamping assembly and a solenoid;
the grinding wheel handle comprises a connecting shaft, a grinding wheel is fixed at the tail end of the connecting shaft, a circular truncated cone is arranged at the top of the connecting shaft, and an annular groove is formed in the middle of the circular truncated cone;
the cutter changing shaft is a stepped shaft and comprises a shaft head and a shaft body; the shaft head is fixed at the tail end of an output shaft of the servo motor through a coupler; the shaft body is internally provided with a conical hole with a larger lower opening and a smaller upper opening, and the shaft body is radially provided with two symmetrical rectangular through holes communicated with the conical hole; the shape and size of the conical hole are matched with the diameter and size of the circular truncated cone of the grinding wheel handle, the circular truncated cone of the grinding wheel handle can extend into the conical hole, and the annular groove on the circular truncated cone is opposite to the rectangular through hole of the shaft body; each rectangular through hole is internally provided with a clamping assembly, one end of each clamping assembly is positioned in the annular groove, and the clamping assemblies can radially move in the respective rectangular through holes; an arc magnet is arranged at one end of each clamping assembly, which is far away from the axle center of the axle body, and a solenoid is arranged at the position corresponding to the arc magnet; the solenoid is connected with an external power supply, and when the solenoid is not electrified, the two arc magnets have repulsive force, so that the clamping assembly clamps the grinding wheel handle; the solenoid is electrified to generate repulsive force with the arc-shaped magnet, the clamping assembly is pushed to release the grinding wheel handle, and the grinding wheel handle falls under the action of gravity.
The cutter changing shaft also comprises a shaft neck; the shaft neck and the shaft body are internally provided with conical holes along the axial direction, and the heights and diameters of the conical holes are consistent with those of the circular truncated cone part of the grinding wheel handle; a bearing is sleeved outside the journal, the inner ring of the bearing is in interference fit with the journal, and the outer ring of the bearing is additionally provided with a cooling ring; the outside of the bearing with the cooling ring is clamped by a pair of bearing clamps, and the top of the bearing is stuck with a temperature sensor.
The lower part of the shaft head is provided with a plurality of guide holes and a key groove, the key groove is positioned at the lower end of all the guide holes, and a first spring is embedded in each guide hole;
the grinding wheel handle also comprises a spline and a guide rod; the top of the upper round table of the connecting shaft is fixed with a spline; a plurality of guide rods are fixed at the top of the spline; the guide rod and the guide hole are correspondingly inserted, the first spring is compressed, and the spline is matched with the key groove.
The two rectangular through holes are symmetrical left and right along the radial direction of the shaft body; the upper part of one rectangular through hole is provided with a guide rail groove, and the lower part of the other rectangular through hole is provided with a guide rail groove; the upper surface and the lower surface of the two symmetrical clamping components are buckled and connected together, a hole for accommodating the grinding wheel handle to enter and exit is formed in the middle of the two clamping components after the two clamping components are buckled, and the opposite side surfaces of the two clamping components on the two sides of the hole are connected together through a second spring; one clamping assembly moves radially in the rectangular through hole with the sliding table at the upper part, and the other clamping assembly moves radially in the rectangular through hole with the sliding table at the lower part.
The clamping assembly comprises a connecting frame, an arc-shaped clamping hand, an arc-shaped magnet, a sliding table and a guide rail; the middle part of the connecting frame is hollow, one end of the connecting frame is provided with an arc-shaped plate, and the arc-shaped magnet is fixed at the top of the arc-shaped plate; the sliding table is fixed at the bottom of the arc-shaped plate, is nested in the guide rail and is connected with the slide rail of the guide rail in a sliding manner; the cambered surface clamping hand is fixed at the other end of the connecting frame; the concave sides of the cambered surface clamping hands of the two symmetrical clamping components form a hole for the grinding wheel handle to enter and exit, and the connecting frames at the concave sides of the two cambered surface clamping hands are connected together through two second springs; the two cambered surface clamping hands are positioned in the annular groove of the grinding wheel handle to tightly hold the circular truncated cone part of the grinding wheel handle.
A plurality of support rods are uniformly arranged on the bottom of the first support in a circumferential manner, and the free ends of all the support rods are fixedly connected with the second support; a servo motor is fixed at the center of the bottom of the first support, and a shaft head of the cutter changing shaft penetrates through the second support and is fixedly connected with an output shaft of the servo motor; the bottom of the second support is symmetrically fixed with supports, and solenoids are fixed at the same height positions of each support and the arc-shaped magnets on the clamping component.
The lower part of the bracket is provided with a semicircular bearing clamp, and the end lugs of the two bearing clamps are connected through bolts to clamp the outer ring of the bearing together.
The device is also provided with a dust cover, the bottom of the dust cover is fixedly provided with an air inlet bottom plate, the first support, the dust cover and the first air inlet bottom plate form a closed space, and the dust cover wraps the area above the grinding wheel handle connecting shaft in the closed space; the dustproof cover is composed of three concentric annular sound insulation cylinders, and sound absorption cotton is filled between every two adjacent annular sound insulation cylinders; the center of the air inlet bottom plate is provided with a round hole, the upper part of the grinding wheel handle penetrates through the round hole of the air inlet bottom plate, and a plurality of air inlets for introducing dry ice for spraying are formed in the periphery of the round hole.
The invention also provides a using method of the grinding device capable of automatically replacing the grinding wheel, and the method uses the device and comprises the following steps:
s1, installing a grinding wheel handle: the mechanical arm drives the cutter changing shaft to move together to be right above the grinding wheel handle, then the mechanical arm moves downwards to drive the cutter changing shaft to press downwards, the circular table of the grinding wheel handle is firstly contacted with the cambered surface clamping hands of the two clamping components, then the circular table extrudes the two cambered surface clamping hands, the space between the two cambered surface clamping hands is expanded, and at the moment, the second spring is stretched; the tool changing shaft is continuously pressed downwards, the guide rods are inserted into the respective guide holes and extrude the first spring in the guide holes until the spline on the grinding wheel handle is matched with the key groove in the tool changing shaft, the two cambered surface clamping hands are positioned in the annular groove of the grinding wheel handle to axially limit the grinding wheel handle, at the moment, the second spring contracts and restores to the original state, and the two cambered surface clamping hands clamp the grinding wheel handle to finish the installation of the grinding wheel handle;
s2, removing the grinding wheel handle: after the grinding wheel finishes the grinding work, the servo motor stops rotating, and each arc magnet is over against the solenoid of the arc magnet at the moment; the two solenoids are electrified to generate a magnetic field, each solenoid is repelled by the arc magnet of each solenoid, so that the two connecting frames move towards the axis of the cutter changing shaft, the space between the two arc clamping hands is enlarged and the grinding wheel handle is loosened, the compressed spring I in the guide hole of the cutter changing shaft is restored to the original state, downward thrust is given to the grinding wheel handle, the grinding wheel handle is pushed out from the cutter changing shaft by combining the gravity of the grinding wheel handle, the grinding wheel handle is separated from the cutter changing shaft, and the grinding wheel handle is removed; then the solenoid is powered off, and the two cambered surface clamping hands restore to the original state under the action of a second spring;
s3, replacing the grinding wheel: and (5) after the grinding wheel on the grinding wheel handle is replaced, returning to the step S1 to carry out the next grinding operation.
Compared with the prior art, the invention has the beneficial effects that:
in the device, a circular truncated cone of a grinding wheel handle is matched with a tapered hole of a cutter changing shaft, the tapered hole is small at the top and big at the bottom, the grinding wheel handle is clamped by repulsive force of two arc-shaped magnets, and the grinding wheel handle falls down through electromagnetic force and gravity to finish cutter falling; due to the downward pressure action of the mechanical arm, the grinding wheel handle enters the tapered hole to be matched with the clamping assembly to realize the cutter feeding. The grinding wheel handle clamping device has the advantages of high positioning precision, convenience in disassembly and replacement, good self-locking property, capability of transmitting larger torque and the like, can improve the stability of grinding wheel handle clamping, can effectively avoid the vibration phenomenon of the grinding wheel handle, and improves the grinding precision.
The automatic grinding wheel changing device integrates automatic grinding wheel changing and grinding, a magnetic field is generated by electrifying the solenoid, the solenoid and the arc-shaped magnet repel each other, the two connecting frames move towards the axis of the cutter changing shaft, the grinding wheel handle falls off from the cutter changing shaft, automatic grinding wheel changing is realized, the related operation of clamping chucks in the prior art is omitted, the operation steps are simplified, the time for changing the grinding wheel is saved, and the efficiency is improved.
The grinding wheel handle is clamped by the cambered surface clamping hands of the two clamping assemblies, centrifugal force is applied to the grinding wheel handle in the high-speed rotation process of the connecting frame, the grinding wheel handle is clamped more tightly by the two cambered surface clamping hands, the grinding wheel handle is clamped more tightly when the centrifugal force is larger, the centrifugal force is fully utilized by the structure, and the clamping firmness of the grinding wheel handle is ensured.
The parts in the dust cover are isolated from the external environment through the dust cover, so that cutting scraps can be prevented from remaining on the parts, and the tool changing efficiency and the polishing efficiency are improved; meanwhile, a relatively closed space is formed in the dust cover, so that the space acted by dry ice is reduced, and the cooling effect and the grinding precision are improved; the dust cover intussuseption is filled with and inhales the sound cotton, can effectively the noise reduction.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the construction of the grinding wheel shank and tool shaft of the present invention when they are not assembled;
FIG. 3 is a schematic view of the present invention with the dust cover removed;
FIG. 4 is a schematic view of the connection of the first and second supports of the present invention;
FIG. 5 is a schematic view of the assembly of the arbor changing shaft and clamp assembly of the present invention;
FIG. 6 is a schematic view of the connection of the dust excluding hood of the present invention with the air intake bottom plate;
FIG. 7 is a half sectional view of the arbor changing shaft of the present invention;
FIG. 8 is a schematic structural view of a cutter changing shaft of the present invention;
FIG. 9 is a schematic view of the construction of the grinding wheel shank of the present invention;
FIG. 10 is a schematic structural view of the clamping assembly of the present invention;
FIG. 11 is a schematic view of the installation of two clamping assemblies of the present invention;
FIG. 12 is a schematic view of the installation of the guide rail and the slide table of the present invention;
FIG. 13 is a schematic structural view of a stent of the present invention;
FIG. 14 is a schematic structural view of the air intake bottom plate of the present invention;
shown in the figure, 1, a first support; 2. a servo motor; 3. a coupling; 4. changing a cutter shaft; 5. a clamping assembly; 6. a grinding wheel handle; 7. a grinding wheel mounting plate; 8. a solenoid; 9. a support; 10. a second support; 11. a support bar; 12. a bearing; 13. a cooling ring; 14. a flange; 15. a dust cover; 16. an intake bottom plate; 17. a grinding wheel; 18. a temperature sensor; 19. light-induced paster; 20. a speed sensor;
401. a guide hole; 402. a tapered hole; 403. a first spring; 404. a guide rail groove; 405. a rectangular through hole; 406. a shaft head; 407. a shaft body; 408. a journal; 409. a keyway;
501. a connecting frame; 502. a cambered surface tong; 503. an arc-shaped plate; 504. an arc-shaped magnet; 505. a guide rail; 506. a sliding table; 507. a second spring;
601. a guide bar; 602. a spline; 603. an annular groove; 604. a circular truncated cone; 605. a connecting shaft;
901. a bearing clamp; 902. a coil mounting post;
1601. an air inlet; 1602. a circular hole.
Detailed Description
The invention will be further explained with reference to the drawings. The specific examples are only for illustrating the present invention in further detail and do not limit the scope of protection of the present application.
The invention relates to a grinding device capable of automatically changing grinding wheels (a grinding device for short, see figures 1-14), which comprises a first support fixedly connected with the tail end of a grinding mechanical arm and a servo motor arranged on the first support, wherein the output shaft of the servo motor is vertically downward;
the grinding wheel handle 6 comprises a connecting shaft 605, a grinding wheel is fixed at the tail end of the connecting shaft, a circular truncated cone 604 is arranged at the top of the connecting shaft, and an annular groove 603 is formed in the middle of the circular truncated cone 604;
the cutter changing shaft 4 is a stepped shaft and comprises a shaft head 406 and a shaft body 407; the shaft head 406 is connected with the tail end of an output shaft of the servo motor through a coupler; a tapered hole with a larger lower opening and a smaller upper opening is formed in the shaft body 407, and through holes which are symmetrically arranged and communicated with the tapered hole 402 and are used for installing a clamping assembly are formed in the shaft body 407 along the radial direction; the two clamping assemblies which are symmetrical about the axis can move in the through hole in the radial direction; an arc magnet is arranged at one end of each clamping assembly, which is far away from the axle center of the axle body, and a solenoid is arranged at the position of the arc magnet corresponding to the height; the solenoid 8 is connected with an external power supply, is electrified and acts with the repulsion force of the arc-shaped magnet to push the clamping assembly to loosen the grinding wheel handle; when the solenoid 8 is not electrified, the two arc magnets have repulsive force, so that the clamping assembly clamps the grinding wheel handle;
the shape and size of the conical hole 402 are matched with the diameter and size of a circular table 604 of the grinding wheel handle, the circular table 604 of the grinding wheel handle can extend into the conical hole 402, the position of an annular groove 603 in the middle of the circular table is just the position of an opening for installing a through hole of a clamping assembly, and the clamping assembly can move towards the axis along the radial direction under the action of the repulsive force of two arc magnets 504 so as to clamp the area where the annular groove 603 of the grinding wheel handle is located and maintain the clamping state; the solenoid 8 is energized to generate repulsive force with the arc-shaped magnet 504, so that the clamping assembly is pushed to release the grinding wheel handle, and the grinding wheel handle falls down under the action of gravity.
The cutter changing shaft 4 further comprises a journal 408; the journal 408 and the shaft body 407 are internally provided with a tapered hole 402 along the axial direction, and the height and the diameter of the tapered hole are consistent with those of the circular truncated cone part of the grinding wheel handle; a bearing 12 is sleeved outside the shaft neck, the inner ring of the bearing 12 is in interference fit with the shaft neck 408 of the tool changing shaft 4, and a cooling ring 13 and a temperature sensor 18 are additionally arranged on the outer ring of the bearing; the outside of the bearing with the cooling ring is clamped by a pair of bearing clamps, and the temperature sensor 18 is adhered to the top of the bearing 12.
The lower part of the shaft head 406 is provided with a plurality of guide holes 401 and a key groove 409, the key groove 409 is positioned at the lower end of all the guide holes 401, and a first spring 403 is embedded in each guide hole 401;
the grinding wheel handle 6 further comprises a spline 602 and a guide rod 601; a spline is fixed on the top of the upper round table 604 of the connecting shaft 605; a plurality of guide rods 601 are fixed on the top of the spline 602; the guide rod and the guide hole are correspondingly inserted, the first spring is compressed, and the spline is matched with the key groove to realize the positioning of the grinding wheel handle.
The shaft body 407 is provided with two rectangular through holes 405 which are symmetrical left and right and communicated with the tapered hole 402 along the radial direction; the upper part of one rectangular through hole 405 is provided with a guide rail groove 404, and the lower part of the other rectangular through hole 405 is provided with a guide rail groove 404; the upper surface and the lower surface of the two symmetrical clamping components are buckled and connected together, a hole for accommodating the grinding wheel handle to enter and exit is formed in the middle of the two clamping components after the two clamping components are buckled, and the opposite side surfaces of the two clamping components on the two sides of the hole are connected together through a second spring; one clamping assembly moves radially in the rectangular through hole with the guide rail at the upper part, and the other clamping assembly moves radially in the rectangular through hole with the guide rail at the lower part.
The clamping component 5 comprises a connecting frame 501, an arc-shaped clamping hand 502, an arc-shaped magnet 504, a sliding table 506 and a guide rail 505; the middle part of the connecting frame 501 is hollow, an arc-shaped plate 503 is arranged at one end of the connecting frame 501, and the arc-shaped magnet 504 is fixed at the top of the arc-shaped plate 503; the sliding table 506 is fixed at the bottom of the arc-shaped plate 503, and the sliding table 506 is nested in the guide rail 505 and is connected with the sliding rail of the guide rail 505 in a sliding manner; the cambered surface tong 502 is fixed at the other end of the connecting frame 501; the concave sides of the cambered surface clamping hands of the two symmetrical clamping components form a hole for the grinding wheel handle to enter and exit, and the connecting frames at the concave sides of the two cambered surface clamping hands are connected together through two second springs; the two cambered surface grippers 502 are positioned in the annular groove 603 of the grinding wheel handle 6 and hold the circular truncated cone part of the grinding wheel handle tightly.
A plurality of support rods 11 are uniformly arranged on the bottom of the first support 1 in a circumferential manner, and the free ends of all the support rods 11 are fixedly connected with a second support 10; a servo motor 2 is fixed at the center of the bottom of the first support 1, and a shaft head 406 of the tool changing shaft 4 penetrates through the second support 10 and is fixedly connected with an output shaft of the servo motor 2; the bottom of the second support 10 is symmetrically fixed with brackets 9, and each bracket 9 is fixed with a solenoid 8 at the same height position with the arc-shaped magnet on the clamping component.
The lower part of the bracket 9 is provided with a semicircular bearing clamp 901, the end lugs of the two bearing clamps 901 are connected through bolts to clamp the outer ring of the bearing 12 together, a journal is arranged below the shaft body of the cutter changing shaft, the bearing is sleeved on the journal 408 of the cutter changing shaft 4, and a hole matched with the lower part of the grinding wheel handle circular truncated cone is also arranged in the journal.
The device is also provided with a dust cover, the bottom of the dust cover is fixedly provided with an air inlet bottom plate, the first support, the dust cover and the first air inlet bottom plate form a closed space, and the dust cover completely wraps the area above the grinding wheel handle connecting shaft in the closed space; the dust cover 15 is composed of three concentric annular sound insulation cylinders, and sound absorption cotton is filled between every two adjacent annular sound insulation cylinders; a round hole 1602 is formed in the center of the air inlet bottom plate 16, the upper portion of the grinding wheel handle 6 penetrates through the round hole of the air inlet bottom plate 16, and a plurality of air inlets 1601 for introducing dry ice spray are arranged around the round hole 1602.
The grinding device further comprises a speed sensor 20 and a light-sensing paster 19, wherein the speed sensor 20 is fixed on the upper portion of the support 9, and the light-sensing paster 19 is adhered to the outer surface of the shaft head 406 of the cutter changing shaft 4.
In addition, the grinding wheel handles and the grinding wheels with different specifications can be made into batch standard parts, the grinding wheels with different specifications and provided with the grinding wheel handles can be placed on proper stations, the automatic tool changing process is completed by the mechanical arm, and automatic large-scale curved surface grinding is carried out.
Example 1
The grinding device capable of automatically changing the grinding wheel comprises a first support 1, a servo motor 2, a tool changing shaft 4, a clamping assembly 5, a grinding wheel handle 6, a solenoid 8, a support 9, a second support 10, a dust cover 15, an air inlet bottom plate 16 and a grinding wheel 17;
a plurality of support rods 11 are uniformly arranged on the bottom of the first support 1 in a circumferential manner, and the second support 10 is fixedly connected with the free ends of all the support rods 11; the top of the first support 1 is fixedly connected with the tail end of the polishing mechanical arm, namely the mechanical arm drives the whole device to move; a servo motor 2 is fixed at the center of the bottom of the first support 1, and an output shaft of the servo motor 2 is vertical to the first support 1; a shaft head 406 of the cutter changing shaft 4 penetrates through the second support 10 and is fixedly connected with an output shaft of the servo motor 2 through a coupler 3; the left and right sides of the bottom of the second support 10 are symmetrically fixed with brackets 9, and the middle part of each bracket 9 is fixed with a solenoid 8 through a coil mounting column 902; the servo motor 2 and the solenoid 8 are both connected with an external power supply and an external controller;
the dust cover 15 covers the outer side of the second support 10, the upper portion of the dust cover 15 is fixed to the bottom of the first support 1 through a flange 14, the air inlet bottom plate 16 is fixed to the lower portion of the dust cover 15, the bottom end of the dust cover 15 is higher than the grinding wheel mounting plate 7 and lower than the lower end face of the support 9, the dust cover, the air inlet bottom plate and the first support form a closed space together, the cutter changing shaft and the clamping assembly are wrapped in the closed space, the air inlet bottom plate can be used for air inlet and upward blowing, chips can be prevented from remaining in a gap between the cutter changing shaft 4 and the clamping assembly 5, and cutter changing efficiency and polishing efficiency; the upper part of the grinding wheel handle 6 penetrates through the air inlet bottom plate 16 and extends into the shaft body 407 of the cutter changing shaft 4 from the bottom of the cutter changing shaft 4; a grinding wheel 17 is fixed at the lower part of the grinding wheel handle 6 through a grinding wheel mounting plate 7; two sides of the cutter changing shaft 4 are respectively provided with a clamping component 5 capable of moving along the radial direction of the cutter changing shaft 4, and one end of each clamping component 5 extends into the shaft body 407 of the cutter changing shaft 4 to tightly hold the grinding wheel handle 6; the other end of the clamping assembly 5 is provided with arc-shaped magnets 504, and each arc-shaped magnet 504 faces a respective solenoid 8.
The cutter changing shaft 4 is a stepped shaft and consists of a shaft head 406, a shaft body 407 and a shaft neck 408; the lower part of the shaft head 406 is provided with a plurality of (two in the embodiment) elongated guide holes 401 and a key groove 409, and the key groove 409 is positioned at the lower end of all the guide holes 401; a first spring 403 is embedded in each guide hole 401, and the length of the first spring 403 is smaller than the depth of the guide hole 401, so that a guide rod 601 of the grinding wheel handle 6 can be conveniently installed; the shaft body 407 and the journal 408 are provided with a tapered hole 402 along the axial direction, and the tapered hole 402 is used for installing a round table 604 of the grinding wheel handle 6; the shaft body 407 is provided with two bilaterally symmetrical rectangular through holes 405 communicated with the tapered holes 402 along the radial direction, and the rectangular through holes 405 are used for the clamping components 5 to pass through; the upper part of one rectangular through hole 405 is provided with a guide rail groove 404, the lower part of the other rectangular through hole 405 is provided with a guide rail groove 404, and the two guide rail grooves 404 are respectively used for the sliding of the sliding tables 506 of the clamping assemblies 5;
the grinding wheel handle 6 is composed of a spline 602, a connecting shaft 605 and guide rods 601 the number of which is matched with that of the guide holes 401 of the tool changing shaft 4, a circular truncated cone 604 is coaxially arranged at the upper part of the connecting shaft 605, an annular groove 603 is formed in the middle of the circular truncated cone 604, and the annular groove 603 is used for positioning the clamping assembly 5; a spline 602 is fixed on the top of the circular truncated cone 604, and a plurality of guide rods 601 are fixed on the top of the spline 602; the grinding wheel handle 6 extends into the cutter changing shaft 4 from the bottom of a shaft neck 408 of the cutter changing shaft 4, each guide rod 601 is matched with a respective guide hole 401, the spline 602 is positioned in the key groove 409, the circular truncated cone 604 is matched with the tapered hole 402, and the annular groove 603 is opposite to the rectangular through hole 405; the tail end of the connecting shaft 605 is fixed with a grinding wheel 17 through a grinding wheel mounting plate 7;
the clamping component 5 comprises a connecting frame 501, an arc-shaped clamping hand 502, an arc-shaped magnet 504, a sliding table 506 and a guide rail 505; the connecting frame 501 is a square frame with a hollow middle part, one end of the connecting frame 501 is provided with an arc-shaped plate 503, and the arc-shaped magnet 504 is fixed at the top of the arc-shaped plate 503; the guide rail 505 is fixed at the bottom of the arc-shaped plate 503, and the sliding table 506 is nested in the guide rail 505 and is connected with the sliding rail of the guide rail 505 in a sliding manner; the cambered surface clamping hand 502 is fixed at the other end of the connecting frame 501, and the cambered surface clamping hand 502 is used for axially fixing the grinding wheel handle 6;
the grinding wheel handle is clamped by the two clamping assemblies with the same structure by hand, the upper and lower surfaces of the two connecting frames 501 of the two clamping assemblies are buckled, namely, one arc-shaped magnet 504 faces upwards, and the other arc-shaped magnet 504 faces downwards, so that a space for clamping the grinding wheel handle 6 is formed between the two arc-shaped clamping assemblies 502; the two connecting frames 501 respectively extend into the shaft body 407 of the tool changing shaft 4 from the respective rectangular through holes 405, and the sliding tables 506 are positioned in the respective guide rail grooves 404 and can slide in the guide rail grooves 404; the grinding wheel handle 6 sequentially penetrates through the hollow parts in the middle of the two connecting frames 501, so that the grinding wheel handle 6 is positioned in a space surrounded by the two cambered surface clamping hands 502, the two cambered surface clamping hands 502 are positioned in the annular groove 603 of the grinding wheel handle 6, and under the action of the repulsive force of the two cambered magnets 504, the two cambered surface clamping hands 502 tightly hold the grinding wheel handle 6 to axially fix the grinding wheel handle 6; the two connecting frames 501 are connected through a second spring 507; the two arc magnets 504 are opposite to the respective solenoids 8, each solenoid 8 is repelled with the respective arc magnet 504 after being electrified, so that the two connecting frames 501 move along the radial direction of the cutter changing shaft 4, the two arc clamping hands 502 move out of the annular groove 603 of the grinding wheel handle 6, the grinding wheel handle 6 can fall off from the cutter changing shaft 4, and cutter changing is realized.
The grinding device also comprises a bearing 12, a cooling ring 13 and a temperature sensor 18, wherein the inner ring of the bearing 12 is in interference fit with the shaft neck 408 of the tool changing shaft 4; the lower part of the bracket 9 is provided with a semicircular bearing clamp 901, the end lugs of the two bearing clamps 901 are connected through bolts, the outer ring of the bearing 12 is clamped together, the axial limiting of the bearing 12 is realized, and the bearing 12 is used for damping the cutter changing shaft 4; the cooling ring 13 is fixed on the outer ring of the bearing 12 to cool the bearing 12 and prevent the failure of the bearing 12; the cooling ring 13 is composed of semiconductor cooling fins, is generally within 5mm, is connected with two bearing clamps through bolts, can properly adjust tightness, and is connected with an external power supply and an external controller; a temperature sensor 18 is attached to the top of the bearing 12 and is connected to an external controller for sensing the temperature of the bearing 12.
The polishing device further comprises a speed sensor 20 and a light-sensitive paster 19, wherein the speed sensor 20 is fixed on the upper portion of the support 9 and is connected with an external controller, the light-sensitive paster 19 is adhered to the outer surface of a shaft head 406 of the cutter changing shaft 4, the light-sensitive paster 19 rotates along with the cutter changing shaft 4, when the light-sensitive paster 19 passes through the speed sensor 20, a measuring head of the speed sensor 20 scans the light-sensitive paster 19 once, and the speed of the cutter changing shaft 4 can be measured through the rotating frequency of the cutter changing shaft 4.
The center department of air inlet bottom plate 16 opens has the round hole 1602 that is used for emery wheel handle 6 to pass through, is equipped with a plurality of air inlets 1601 around round hole 1602 for let in the outside dry ice spraying that is used for the cooling, outside dry ice atomizer is connected to a plurality of air inlets 1601, cools down for airtight cavity.
The dust cover 15 is composed of three concentric annular sound insulation cylinders, and sound absorption cotton is filled between every two adjacent annular sound insulation cylinders, so that noise can be effectively eliminated; the dust cover not only plays the dustproof and soundproof roles, but also plays the role of providing a cooling space.
The servo motor 2 adopts a Siemens V90 series servo motor; the temperature sensor 18 adopts a PT100 surface mount type temperature sensor; the speed sensor 20 is a CX-444 type small photoelectric sensor.
The working principle and the working process of the invention are as follows:
installing a grinding wheel handle: the mechanical arm drives the cutter changing shaft 4 to move together to be right above the grinding wheel handle 6, then the mechanical arm moves downwards to drive the cutter changing shaft 4 to press downwards, firstly, the circular truncated cone 604 of the grinding wheel handle 6 is in contact with the cambered surface clamping hands 502 of the two clamping components 5, then the circular truncated cone 604 extrudes the two cambered surface clamping hands 502, the space between the two cambered surface clamping hands 502 is expanded, and at the moment, the second spring 507 is stretched; the cutter changing shaft 4 is continuously pressed downwards, the guide rods 601 are inserted into the respective guide holes 401 and press the first springs 403 in the guide holes 401 until the splines 602 on the grinding wheel handle 6 are matched with the key slots 409 in the cutter changing shaft 4, the two cambered surface clamping hands 502 are positioned in the annular grooves 603 of the grinding wheel handle 6 to axially limit the grinding wheel handle 6, at the moment, the second springs 507 are contracted and restored to the original state, the two cambered surface clamping hands 502 clamp the grinding wheel handle 6, and the installation of the grinding wheel handle 6 is completed; the mechanical arm drives the cutter changing shaft 4 to move and simultaneously drives the grinding wheel handle 6 to move; the spline 602 is matched with the key groove 409 to limit the grinding wheel handle 6 in the radial direction; the circular truncated cone 604 of the grinding wheel handle 6 is matched with the tapered hole 402 of the tool changing shaft 4, the positioning precision is high, larger torque can be transmitted, and the self-locking performance is good, so that the grinding wheel handle 6 cannot vibrate during rotation and movement;
removing the grinding wheel handle (retracting the cutter): after the grinding wheel 17 finishes the grinding work, the servo motor 2 stops rotating, and each arc magnet 504 is over against the solenoid 8; the two solenoids 8 are electrified to generate a magnetic field, each solenoid 8 and the arc magnet 504 repel each other, so that the two connecting frames 501 move along the radial direction of the cutter changing shaft 4, the space between the two arc-shaped clamping hands 502 is enlarged, the grinding wheel handle 6 is loosened, the compressed first spring 403 in the guide hole 401 of the cutter changing shaft 4 is restored to the original state, the downward thrust is given to the grinding wheel handle 6, the grinding wheel handle 6 is pushed out of the cutter changing shaft 4, the grinding wheel handle 6 is separated from the cutter changing shaft 4, and the operation of removing the grinding wheel handle is completed at the moment; then the solenoid 8 is powered off, and the two cambered surface clamping hands 502 are restored under the action of the second spring 507;
after the grinding wheel 17 on the grinding wheel handle 6 is manually replaced, the operation of replacing the grinding wheel can be completed by repeating the step of installing the grinding wheel handle 6;
when the servo motor 2 and the tool changing shaft 4 run, heat is generated, so that the temperature in the dust cover 15 is increased, and when the temperature in the dust cover 15 is higher (higher than 80 ℃), the working efficiency of the servo motor 2 and the bearing 12 is reduced, even the damage is caused; when the temperature sensor 18 detects that the temperature of the bearing 12 exceeds 80 ℃, dry ice spraying can be introduced from the air inlet 1601 of the air inlet bottom plate 16, and meanwhile, the cooling ring 13 can also be started to reduce the temperature of the bearing 12, so that the temperatures of the bearing 12 and the servo motor 2 can be effectively reduced, and the normal operation of the grinding device is ensured.
The invention is applicable to the prior art, and the different embodiments generated by the prior art are all the embodiments of the invention.
Claims (10)
1. A grinding device capable of automatically changing a grinding wheel comprises a first support fixedly connected with the tail end of a grinding mechanical arm and a servo motor arranged on the first support; the device is characterized by comprising a cutter changing shaft, a grinding wheel handle, a clamping assembly and a solenoid;
the grinding wheel handle comprises a connecting shaft, a grinding wheel is fixed at the tail end of the connecting shaft, a circular truncated cone is arranged at the top of the connecting shaft, and an annular groove is formed in the middle of the circular truncated cone;
the cutter changing shaft is a stepped shaft and comprises a shaft head and a shaft body; the shaft head is fixed at the tail end of an output shaft of the servo motor through a coupler; the shaft body is internally provided with a conical hole with a larger lower opening and a smaller upper opening, and the shaft body is radially provided with two symmetrical rectangular through holes communicated with the conical hole; the shape and size of the conical hole are matched with the diameter and size of the circular truncated cone of the grinding wheel handle, the circular truncated cone of the grinding wheel handle can extend into the conical hole, and the annular groove on the circular truncated cone is opposite to the rectangular through hole of the shaft body; each rectangular through hole is internally provided with a clamping assembly, one end of each clamping assembly is positioned in the annular groove, and the clamping assemblies can radially move in the respective rectangular through holes; an arc magnet is arranged at one end of each clamping assembly, which is far away from the axle center of the axle body, and a solenoid is arranged at the position corresponding to the arc magnet; the solenoid is connected with an external power supply, and when the solenoid is not electrified, the two arc magnets have repulsive force, so that the clamping assembly clamps the grinding wheel handle; the solenoid is electrified to generate repulsive force with the arc-shaped magnet, the clamping assembly is pushed to release the grinding wheel handle, and the grinding wheel handle falls under the action of gravity.
2. The grinding device with automatic grinding wheel changing function according to claim 1, wherein the cutter shaft further comprises a journal; the shaft neck and the shaft body are internally provided with conical holes along the axial direction, and the heights and diameters of the conical holes are consistent with those of the circular truncated cone part of the grinding wheel handle; a bearing is sleeved outside the journal, the inner ring of the bearing is in interference fit with the journal, and the outer ring of the bearing is additionally provided with a cooling ring; the outside of the bearing with the cooling ring is clamped by a pair of bearing clamps, and the top of the bearing is stuck with a temperature sensor.
3. The automatic grinding wheel changing polishing device according to claim 1, wherein a plurality of guide holes and a key groove are formed in the lower portion of the spindle head, the key groove is located at the lower end of each guide hole, and a first spring is embedded in each guide hole;
the grinding wheel handle also comprises a spline and a guide rod; the top of the upper round table of the connecting shaft is fixed with a spline; a plurality of guide rods are fixed at the top of the spline; the guide rod and the guide hole are correspondingly inserted, the first spring is compressed, and the spline is matched with the key groove.
4. The grinding device with the automatic grinding wheel changing function according to claim 3, wherein the two rectangular through holes are symmetrical left and right along the radial direction of the shaft body; the upper part of one rectangular through hole is provided with a guide rail groove, and the lower part of the other rectangular through hole is provided with a guide rail groove; the upper surface and the lower surface of the two symmetrical clamping components are buckled and connected together, a hole for accommodating the grinding wheel handle to enter and exit is formed in the middle of the two clamping components after the two clamping components are buckled, and the opposite side surfaces of the two clamping components on the two sides of the hole are connected together through a second spring; one clamping assembly moves radially in the rectangular through hole with the sliding table at the upper part, and the other clamping assembly moves radially in the rectangular through hole with the sliding table at the lower part.
5. The grinding device capable of automatically changing the grinding wheel according to claim 4, wherein the clamping assembly comprises a connecting frame, an arc-shaped clamping hand, an arc-shaped magnet, a sliding table and a guide rail; the middle part of the connecting frame is hollow, one end of the connecting frame is provided with an arc-shaped plate, and the arc-shaped magnet is fixed at the top of the arc-shaped plate; the sliding table is fixed at the bottom of the arc-shaped plate, is nested in the guide rail and is connected with the slide rail of the guide rail in a sliding manner; the cambered surface clamping hand is fixed at the other end of the connecting frame; the concave sides of the cambered surface clamping hands of the two symmetrical clamping components form a hole for the grinding wheel handle to enter and exit, and the connecting frames at the concave sides of the two cambered surface clamping hands are connected together through two second springs; the two arc-shaped clamping hands are positioned in the annular groove of the grinding wheel handle and tightly hold the circular truncated cone part of the grinding wheel handle.
6. The grinding device with the automatic grinding wheel changing function according to claim 1, wherein a plurality of support rods are uniformly arranged on the bottom of the first support in a circumferential manner, and the free ends of all the support rods are fixedly connected with the second support; a servo motor is fixed at the center of the bottom of the first support, and a shaft head of the cutter changing shaft penetrates through the second support and is fixedly connected with an output shaft of the servo motor; the bottom of the second support is symmetrically fixed with brackets, and each bracket is fixed with a solenoid at the same height position with the magnet on the clamping component.
7. The automatic grinding wheel changing device according to claim 6, wherein the lower portion of the bracket is provided with a semicircular bearing clamp, and end lugs of the two bearing clamps are connected through bolts to clamp an outer ring of the bearing together.
8. The grinding device with the automatic grinding wheel changing function according to any one of claims 1 to 7, further comprising a dust cover, wherein an air inlet bottom plate is fixed to the bottom of the dust cover, the first support, the dust cover and the first air inlet bottom plate form a closed space, and the dust cover completely wraps the area above the grinding wheel handle connecting shaft in the closed space; the dustproof cover is composed of three concentric annular sound insulation cylinders, and sound absorption cotton is filled between every two adjacent annular sound insulation cylinders; the center of the air inlet bottom plate is provided with a round hole, the upper part of the grinding wheel handle penetrates through the round hole of the air inlet bottom plate, and a plurality of air inlets for introducing dry ice for spraying are formed in the periphery of the round hole.
9. The device of claim 7, further comprising a speed sensor fixed to an upper portion of the frame and a light-sensitive adhesive sheet adhered to an outer surface of the spindle head of the cutter spindle.
10. A method of using a grinding apparatus with automatically replaceable grinding wheels according to claim 5, comprising the steps of:
s1, installing a grinding wheel handle: the mechanical arm drives the cutter changing shaft to move together to be right above the grinding wheel handle, then the mechanical arm moves downwards to drive the cutter changing shaft to press downwards, the circular table of the grinding wheel handle is firstly contacted with the cambered surface clamping hands of the two clamping components, then the circular table extrudes the two cambered surface clamping hands, the space between the two cambered surface clamping hands is expanded, and at the moment, the second spring is stretched; the tool changing shaft is continuously pressed downwards, the guide rods are inserted into the respective guide holes and extrude the first spring in the guide holes until the spline on the grinding wheel handle is matched with the key groove in the tool changing shaft, the two cambered surface clamping hands are positioned in the annular groove of the grinding wheel handle to axially limit the grinding wheel handle, at the moment, the second spring contracts and restores to the original state, and the two cambered surface clamping hands clamp the grinding wheel handle to finish the installation of the grinding wheel handle;
s2, removing the grinding wheel handle: after the grinding wheel finishes the grinding work, the servo motor stops rotating, and each arc magnet is over against the solenoid of the arc magnet at the moment; the two solenoids are electrified to generate a magnetic field, each solenoid is repelled by the arc magnet of each solenoid, so that the two connecting frames move towards the axis of the cutter changing shaft, the space between the two arc clamping hands is enlarged and the grinding wheel handle is loosened, the compressed spring I in the guide hole of the cutter changing shaft is restored to the original state, downward thrust is given to the grinding wheel handle, the grinding wheel handle is pushed out from the cutter changing shaft by combining the gravity of the grinding wheel handle, the grinding wheel handle is separated from the cutter changing shaft, and the grinding wheel handle is removed; then the solenoid is powered off, and the two cambered surface clamping hands restore to the original state under the action of a second spring;
s3, replacing the grinding wheel: and (5) after the grinding wheel on the grinding wheel handle is replaced, returning to the step S1 to carry out the next grinding operation.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010130665.XA CN111203802A (en) | 2020-02-28 | 2020-02-28 | Automatic trade grinding device of emery wheel |
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| CN202010130665.XA CN111203802A (en) | 2020-02-28 | 2020-02-28 | Automatic trade grinding device of emery wheel |
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| CN116572120A (en) * | 2023-07-12 | 2023-08-11 | 晋宁腾锐光学仪器工贸有限公司 | Automatic centre gripping formula optical glass grinding device |
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