CN112894614A - Grinding tool replacing device - Google Patents
Grinding tool replacing device Download PDFInfo
- Publication number
- CN112894614A CN112894614A CN201911133743.5A CN201911133743A CN112894614A CN 112894614 A CN112894614 A CN 112894614A CN 201911133743 A CN201911133743 A CN 201911133743A CN 112894614 A CN112894614 A CN 112894614A
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- China
- Prior art keywords
- collector
- mounting plate
- sandpaper
- grinding wheel
- sand paper
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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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Constituent Portions Of Griding Lathes, Driving, Sensing And Control (AREA)
Abstract
The invention discloses a grinding tool replacing device, and belongs to the technical field of industrial robots. The grinding tool replacing device comprises a mounting plate and a first driving mechanism, wherein a sand paper collector, a sand paper storage, a grinding wheel collector and a grinding wheel storage are arranged on the mounting plate. The first driving mechanism is connected to the mounting plate and can drive the mounting plate to move, so that one of the sand paper collector, the sand paper storage, the grinding wheel collector and the grinding wheel storage is located at a station corresponding to the end effector. The invention can realize that the sand paper can be replaced and the sand paper can be replaced at a single station.
Description
Technical Field
The invention relates to the technical field of industrial robots, in particular to a grinding tool replacing device.
Background
The handheld pneumatic grinding machine is generally adopted to process an airplane body and large parts in the manufacturing process of an airplane, grinding force, angle, time and the like are completely controlled by human experience during machining, the problems of poor machining quality stability, low efficiency and the like exist, especially the reliability of a machined composite material body is difficult to guarantee, and a large amount of dust can cause huge damage to the health of operators in the machining process.
Along with the deep popularization of industrial automation, more polishing work is completed by replacing manpower with a robot, and the polishing quality and stability are improved. After the grinding apparatus reaches the service life limit, the grinding apparatus needs to be replaced, the robot is replaced manually, the advantages of the robot in labor cost are greatly reduced, and the efficiency is reduced.
The automatic device of changing of current grinding apparatus takes abrasive paper off from end effector through mechanical finger, and rethread pneumatic means pushes away new abrasive paper to end effector's sticking end and pastes, and mechanical finger is higher with pneumatic system cost, and great with the system cooperation degree of difficulty of polishing to only can change specific kind of abrasive paper, the commonality is relatively poor. In addition, the grinding wheel cannot be replaced with a grinding robot using a grinding wheel.
Disclosure of Invention
The invention aims to provide a grinding tool replacing device which can be conveniently matched with an end effector of a robot, and can realize grinding wheel replacement and sand paper replacement.
In order to achieve the purpose, the invention adopts the following technical scheme:
an abrasive tool exchange device comprising:
the sand paper collector, the sand paper storage, the grinding wheel collector and the grinding wheel storage are arranged on the mounting plate;
the first driving mechanism is connected with the mounting plate and can drive the mounting plate to move, so that one of the sand paper collector, the sand paper storage, the grinding wheel collector and the grinding wheel storage is positioned at a station corresponding to the end effector.
Preferably, the sandpaper collector, the sandpaper storage, the grinding wheel collector and the grinding wheel storage are sequentially arranged at the outer edge of the mounting plate, and the first driving mechanism can drive the mounting plate to rotate.
Preferably, the grinding wheel storage comprises a chuck rotatably connected to the mounting plate and a second driving mechanism for driving the chuck to rotate, at least one grinding wheel placing groove is formed in the top of the chuck, and the grinding wheel storage comprises
The second drive mechanism is connected to the mounting plate.
Preferably, the grinder replacing apparatus further includes a first detecting element configured to detect whether the grinding wheel is gripped by the end effector.
Preferably, the grinding wheel collector is of a barrel-shaped structure, and the opening of the grinding wheel collector is upwards connected to the mounting plate.
Preferably, the abrasive paper collector is the bucket type structure, abrasive paper collector opening upwards connect in the mounting panel, abrasive paper collector's opening part is provided with a plurality of by the elastic barrier strip that abrasive paper collector edge center extends.
Preferably, the abrasive paper memory is the barrel-type structure, abrasive paper memory opening upwards connect in the mounting panel, be provided with the tray in the abrasive paper memory, the tray with be connected with the elastic component between the abrasive paper memory bottom plate, the tray with the inner wall clearance fit of abrasive paper memory.
Preferably, the sandpaper storage bottom is provided with a second detection element configured to detect the position of the tray.
Preferably, the elastic part comprises a spring, the lower surface of the tray is connected with a first supporting rod, the bottom of the sand paper storage device is provided with a second supporting rod, and two ends of the spring are respectively sleeved on the first supporting rod and the second supporting rod.
Preferably, the sharpener exchanging device further comprises a third detection element configured to detect the color of the end effector bottom.
The invention has the beneficial effects that:
the sand paper collector, the sand paper storage, the sand wheel collector and the sand wheel storage correspond to the end effector respectively by driving the mounting plate to move in cooperation with the end effector, the sand paper unloaded by the end effector is collected by the sand paper collector, and the sand paper is stored in the sand paper storage, so that the sand paper can be conveniently replaced by the end effector; the grinding wheel unloaded from the end effector is collected by the grinding wheel collector, the grinding wheel is stored by the grinding wheel storage, and the grinding wheel can be conveniently replaced by the end effector, so that the grinding wheel can be replaced at a single station, and the grinding wheel can be replaced at a single station.
Drawings
FIG. 1 is a perspective view of an abrasive tool changer according to an embodiment of the present invention;
FIG. 2 is a schematic perspective view of a mounting plate and a secondary drive mechanism provided in accordance with an embodiment of the present invention;
fig. 3 is a schematic diagram of a coated abrasive storage device, according to an embodiment of the invention.
In the figure: 1-a first driving mechanism, 2-a chuck, 21-a grinding wheel placing groove, 3-a sand paper collector, 31-an elastic barrier strip, 4-a first detection element, 5-a third detection element, 6-a sand paper storage, 61-a tray, 62-a first supporting rod, 63-a spring, 64-a second supporting rod, 7-a mounting plate, 71-a second mounting hole, 72-a third mounting hole, 73-a first mounting hole, 8-a grinding wheel collector and 9-a flange.
Detailed Description
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Wherein the terms "first position" and "second position" are two different positions.
Unless expressly stated or limited otherwise, the terms "mounted," "connected," and "secured" are to be construed broadly and encompass, for example, both fixed and removable connections; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
Unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may include the first feature being in direct contact with the second feature, or may include the first feature being in direct contact with the second feature but being in contact with the second feature by another feature therebetween. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
The technical solution of the present invention is further explained by the following embodiments with reference to the attached fig. 1-3.
The invention provides a grinding tool replacing device. As shown in fig. 1 to 3, the grinder replacing apparatus includes a mounting plate 7 and a first driving mechanism 1, and a sandpaper collector 3, a sandpaper reservoir 6, a grindstone collector 8, and a grindstone reservoir are provided on the mounting plate 7. The first driving mechanism 1 is connected to the mounting plate 7 and can drive the mounting plate 7 to move so that one of the sandpaper collector 3, the sandpaper storage 6, the grinding wheel collector 8 and the grinding wheel storage is located at a corresponding station of the end effector.
Specifically, the sandpaper collector 3 is used for collecting the sandpaper unloaded by the end effector; the sand paper storage 6 is used for storing sand paper to be replaced, and the end effector can stick the sand paper in the sand paper storage 6; the grinding wheel collector 8 is configured to collect the grinding wheels unloaded by the end effector; the grinding wheel storage is used for storing grinding wheels to be replaced, and the end effector can clamp the grinding wheels in the grinding wheel storage.
When the sand paper needs to be replaced, the end effector is moved and is enabled to correspond to the sand paper collector 3 by driving the mounting plate 7, and the sand paper unloaded by the end effector is collected by the sand paper collector 3. After the sand paper is unloaded, the mounting plate 7 is driven to enable the sand paper storage 6 to correspond to the end effector, and the end effector sticks the sand paper in the sand paper storage 6, so that the sand paper is replaced. When the grinding wheel needs to be replaced, the end effector is moved and drives the mounting plate 7, the end effector corresponds to the grinding wheel collector 8, the end effector unloads the grinding wheel into the grinding wheel collector 8, then the mounting plate 7 is driven, the grinding wheel storage corresponds to the end effector, and the end effector clamps the grinding wheel to complete the replacement of the grinding wheel. The sand paper replacing device can realize the replacement of sand paper and the replacement of the sand paper, and is more convenient to use by matching the driving mounting plate 7 with the end effector.
In order to facilitate the correspondence of the sandpaper collector 3, the sandpaper reservoir 6, the wheel collector 8 and the wheel reservoir with the end-effector, the operation is facilitated. The sand paper collector 3, the sand paper storage 6, the sand paper collector 8 and the sand paper storage are sequentially arranged on the outer edge of the mounting plate 7, and the first driving mechanism 1 can drive the mounting plate 7 to rotate. One of the paper collector 3, sandpaper storage 6, grinding wheel collector 8 and grinding wheel storage can be brought into a station corresponding to the end effector by rotating the mounting plate 7.
Specifically, in order to make the mounting plate 7 accurate in positioning and facilitate replacement of sand paper and a grinding wheel, the first driving mechanism 1 is a numerical control turntable, and the numerical control turntable is connected with the mounting plate 7 through a flange 9. Preferably, the numerically controlled turntable is driven by a precision servo motor.
Further, in order to facilitate the collection of the grinding wheel, as shown in fig. 1, the grinding wheel collector 8 is of a barrel-shaped structure, and the opening of the grinding wheel collector 8 is upwardly connected to the mounting plate 7. Optionally, a flange is arranged at the edge above the grinding wheel collector 8, a first mounting hole 73 is formed in the mounting plate 7, the grinding wheel collector 8 penetrates through the first mounting hole 73, and the flange is clamped at the edge of the first mounting hole 73 and fixed to the mounting plate 7 through a bolt.
Furthermore, the grinding wheel storage comprises a chuck 2 rotatably connected to the mounting plate 7 and a second driving mechanism for driving the chuck 2 to rotate, wherein at least one grinding wheel placing groove 21 is formed at the top of the chuck 2, and the second driving mechanism is connected to the mounting plate 7. The chuck 2 is driven to rotate by the second driving mechanism, so that the grinding wheel on the chuck 2 corresponds to the end effector. Optionally, the second driving mechanism is a servo motor, the servo motor is detachably connected to the bottom of the mounting plate 7 through a bolt, and an output end of the servo motor is connected to the chuck 2 to drive the chuck 2 to rotate. A plurality of grinding wheel placing grooves 21 are formed in the top of the chuck 2, and the grinding wheel placing grooves 21 can be set to different sizes to place grinding wheels of different models. For example, 3 sizes of grinding wheel placing grooves 21 may be sequentially arranged from the center to the edge of the chuck 2, and a plurality of grinding wheel placing grooves 21 of each size are uniformly distributed in a ring shape.
In order to be able to determine whether the grinding wheel is successfully gripped, the grinder exchanging apparatus further includes a first detecting element 4, and the first detecting element 4 is configured to detect whether the grinding wheel is gripped by the end effector. The first detection element 4 is arranged on the mounting plate 7 and corresponds to the chuck 2, optionally, the first detection element 4 is a laser sensor, and after the clamping action of the end effector is completed, the grinding wheel is driven to be lifted to correspond to the laser sensor, so that whether the grinding wheel is successfully clamped or not is judged. If the grinding wheel is not detected, an alarm signal is sent to the controller, and if the grinding wheel is detected, the grinding wheel is successfully replaced.
To facilitate the unloading of sandpaper, the sandpaper collector 3 is of a bucket-type construction, with the sandpaper collector 3 opening upwardly to the mounting plate 7. Optionally, a flange is arranged at the edge above the sandpaper collector 3, a second mounting hole 71 is arranged on the mounting plate 7, the sandpaper collector 3 passes through the second mounting hole 71, and the flange is clamped at the edge of the second mounting hole 71 and fixed to the mounting plate 7 through a bolt. The opening of the sandpaper collector 3 is provided with a number of resilient bars 31 extending from the centre of the edge of the sandpaper collector 3. Alternatively, the elastic barrier 31 is a metal sheet, after the end effector is moved to correspond to the position of the sandpaper collector 3, the end effector with the sandpaper stuck thereon is inserted into the sandpaper collector 3, and after the end effector passes over the metal sheet, the end effector is lifted, so that the sandpaper is separated from the end effector under the blocking of the metal sheet.
As shown in fig. 1 to 3, the sandpaper storage 6 has a barrel-shaped structure, and the sandpaper storage 6 is attached to the mounting plate 7 with its opening facing upward. Optionally, a flange is arranged at the edge above the sandpaper storage 6, a third mounting hole 72 is arranged on the mounting plate 7, the sandpaper storage 6 passes through the third mounting hole 72, and the flange is clamped at the edge of the third mounting hole 72 and fixed to the mounting plate 7 through a bolt. A tray 61 is arranged in the sand paper storage 6, an elastic piece is connected between the tray 61 and the bottom plate of the sand paper storage 6, and the tray 61 is in clearance fit with the inner wall of the sand paper storage 6. Tray 61 is used for placing a plurality of reserve abrasive paper, and the face of gluing downwards of abrasive paper is upwards placed.
Further, the sandpaper storage 6 is provided at the bottom with a second detection element configured to detect the position of the tray 61. When changing abrasive paper, placed reserve abrasive paper on tray 61, inside end effector from top to bottom impressed abrasive paper memory 6, when abrasive paper and tray 61 were pushed down by end effector, the elastic component was compressed, and second detecting element detects tray 61 back, and end effector promotes because the volume of elastic component compressed at every turn is certain, consequently, can accomplish the constant force of abrasive paper and glue and get.
Specifically, the elastic element includes a spring 63, a first supporting rod 62 is connected to the lower surface of the tray 61, a second supporting rod 64 is arranged at the bottom of the sandpaper storage 6, and two ends of the spring 63 are respectively sleeved on the first supporting rod 62 and the second supporting rod 64. Optionally, an upper nut is welded to the lower surface of the tray 61, the first support rod 62 is provided with an external thread, and the first support rod 62 is connected with the upper nut. The second support rod 64 is also provided with an external thread, a lower nut is welded at the bottom of the sand paper storage 6, and the second support rod 64 is connected with the lower nut. The first and second support bars 62 and 64 can support both ends of the spring 63 so that the spring 63 is maintained upright without being bent.
The end effector is lifted after the sandpaper is adhered, but sometimes there is a condition of adhesion failure, the processing of the workpiece is affected if the adhesion failure occurs, in order to ensure that the workpiece can be normally processed after the sandpaper is adhered successfully, the grinding tool replacing device further comprises a third detecting element 5, and the third detecting element 5 is configured to detect the color of the bottom of the end effector. The third detection element 5 is mounted on the mounting plate. Optionally the third detection element is a colour sensor. And rotating the mounting plate 7 to enable the end effector to correspond to the color sensor, wherein the color sensor can detect the RGB value of the bottom color of the end effector, and if the detected RGB value is the same as the RGB color of the abrasive paper, the adhesion of the abrasive paper is successful. If the difference is not the same, the sticking fails, and the color sensor sends an alarm signal to the controller. The arrangement of the color sensor can ensure that the end effector is stuck with sand paper during processing.
When the sanding robot of the present embodiment is used, the sandpaper collector 3, the sandpaper storage 6, the wheel collector 8, and the wheel storage can be made to correspond to the end effector by the movement of the end effector in conjunction with the rotation of the mounting plate 7. Sandpaper unloaded from the end effector is collected by a sandpaper collector 3. The abrasive paper storage 6 stores abrasive paper, so that the abrasive paper can be conveniently adhered to the end effector, whether the abrasive paper is successfully adhered can be detected through the third detection element 5, and the reliability of abrasive paper replacement is improved. Utilize emery wheel collector 8 to collect the emery wheel that gets off from end effector uninstallation, emery wheel memory storage emery wheel, the end effector of being convenient for gets the emery wheel, the change of the emery wheel of multiple specification can be realized in the setting of a plurality of different specification emery wheel standing grooves 21 to whether can detect the emery wheel through first detecting element 4 and whether successfully press from both sides the clamp and get, thereby improved the reliability that the emery wheel was changed. This embodiment can realize accomplishing the change of abrasive paper at single station, can accomplish the change of abrasive paper again.
The technical principle of the present invention is described above in connection with specific embodiments. The description is made for the purpose of illustrating the principles of the invention and should not be construed in any way as limiting the scope of the invention. Based on the explanations herein, those skilled in the art will be able to conceive of other embodiments of the present invention without inventive effort, which would fall within the scope of the present invention.
Claims (10)
1. An abrasive tool exchange device, comprising:
the sand paper storage device comprises a mounting plate (7), wherein a sand paper collector (3), a sand paper storage device (6), a grinding wheel collector (8) and a grinding wheel storage device are arranged on the mounting plate (7);
a first driving mechanism (1), the first driving mechanism (1) is connected with the mounting plate (7) and can drive the mounting plate (7) to move, so that the sand paper collector (3), the sand paper storage (6), the grinding wheel collector (8) and one of the grinding wheel storage are positioned at a station corresponding to the end effector.
2. Abrasive tool changer according to claim 1, characterized in that the sandpaper collector (3), the sandpaper reservoir (6), the wheel collector (8) and the wheel reservoir are arranged in succession at the outer edge of the mounting plate (7), the first drive mechanism (1) being able to drive the mounting plate (7) in rotation.
3. The grinding tool changer according to claim 1 or 2, characterized in that the grinding wheel storage comprises a chuck (2) rotatably connected to the mounting plate (7) and a second driving mechanism for driving the chuck (2) to rotate, wherein at least one grinding wheel placing groove (21) is formed at the top of the chuck (2), and the second driving mechanism is connected to the mounting plate (7).
4. The grinder changing apparatus according to claim 1 or 2, further comprising a first detecting element (4), the first detecting element (4) being configured to detect whether a grinding wheel is gripped by the end effector.
5. Abrasive tool changing device according to claim 1 or 2, characterized in that the wheel collector (8) is of a bucket-type construction, the wheel collector (8) being connected with its opening upwards to the mounting plate (7).
6. Abrasive tool changing device according to claim 1 or 2, characterized in that the sandpaper collector (3) is of a bucket-type construction, the opening of the sandpaper collector (3) being connected upwards to the mounting plate (7), the opening of the sandpaper collector (3) being provided with a number of resilient bars (31) extending from the centre of the edge of the sandpaper collector (3).
7. Abrasive tool changing device according to claim 1 or 2, characterized in that the sandpaper storage unit (6) is of a barrel-type construction, the sandpaper storage unit (6) being connected with its opening upwards to the mounting plate (7), a tray (61) being arranged in the sandpaper storage unit (6), an elastic element being connected between the tray (61) and the bottom plate of the sandpaper storage unit (6), the tray (61) being in a clearance fit with the inner wall of the sandpaper storage unit (6).
8. Abrasive tool changer according to claim 7, characterized in that the bottom of the sandpaper storage (6) is provided with a second detection element configured to detect the position of the tray (61).
9. The grinder changing apparatus according to claim 7, wherein the elastic member comprises a spring (63), a first support rod (62) is connected to a lower surface of the tray (61), a second support rod (64) is provided at a bottom of the sandpaper storage unit (6), and both ends of the spring (63) are respectively fitted over the first support rod (62) and the second support rod (64).
10. The sharpener exchanging device according to claim 1 or 2, further comprising a third detection element (5), the third detection element (5) being configured to detect a color of the end effector base.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911133743.5A CN112894614A (en) | 2019-11-19 | 2019-11-19 | Grinding tool replacing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911133743.5A CN112894614A (en) | 2019-11-19 | 2019-11-19 | Grinding tool replacing device |
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| Publication Number | Publication Date |
|---|---|
| CN112894614A true CN112894614A (en) | 2021-06-04 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911133743.5A Pending CN112894614A (en) | 2019-11-19 | 2019-11-19 | Grinding tool replacing device |
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| Country | Link |
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| CN (1) | CN112894614A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0584660A (en) * | 1991-06-28 | 1993-04-06 | Yamaha Corp | Automatic changer for sand paper |
| CN202824727U (en) * | 2012-08-15 | 2013-03-27 | 珠海三川工业自动化设备有限公司 | Inverted numerical control drilling machine with inverted knife change function |
| CN105269458A (en) * | 2015-04-13 | 2016-01-27 | 厉志安 | Automatic replacing system for hemispheric air pressure abrasive wheel |
| CN107283288A (en) * | 2017-07-03 | 2017-10-24 | 广州蓝圣智能科技有限公司 | Pneumatic sanding and polishing machine sand paper mechanism for automatically switching |
| CN208358566U (en) * | 2018-06-09 | 2019-01-11 | 常州煜明电子有限公司 | Moulding grinding apparatus sand paper more changing device |
-
2019
- 2019-11-19 CN CN201911133743.5A patent/CN112894614A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0584660A (en) * | 1991-06-28 | 1993-04-06 | Yamaha Corp | Automatic changer for sand paper |
| CN202824727U (en) * | 2012-08-15 | 2013-03-27 | 珠海三川工业自动化设备有限公司 | Inverted numerical control drilling machine with inverted knife change function |
| CN105269458A (en) * | 2015-04-13 | 2016-01-27 | 厉志安 | Automatic replacing system for hemispheric air pressure abrasive wheel |
| CN107283288A (en) * | 2017-07-03 | 2017-10-24 | 广州蓝圣智能科技有限公司 | Pneumatic sanding and polishing machine sand paper mechanism for automatically switching |
| CN208358566U (en) * | 2018-06-09 | 2019-01-11 | 常州煜明电子有限公司 | Moulding grinding apparatus sand paper more changing device |
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Application publication date: 20210604 |