CN206855217U - A kind of robot polishing machine with wheel footpath wear-compensating - Google Patents
A kind of robot polishing machine with wheel footpath wear-compensating Download PDFInfo
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- CN206855217U CN206855217U CN201720313533.4U CN201720313533U CN206855217U CN 206855217 U CN206855217 U CN 206855217U CN 201720313533 U CN201720313533 U CN 201720313533U CN 206855217 U CN206855217 U CN 206855217U
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- wax
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- wheel
- polishing wheel
- wear
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
Abstract
It the utility model is related to a kind of robot polishing machine with wheel footpath wear-compensating,Including base,Frame,Rotating mechanism,Polishing wheel,Song La mechanisms and laser displacement sensor,Installation frame above base,Frame upper interior installs rotating mechanism,Song La mechanisms convey buffing wax toward polishing wheel outer circumferential side,Laser displacement sensor sends laser and reaches the displacement L1 that polishing wheel outer circumferential side recording laser is passed by,After polishing wheel work a period of time,Laser displacement sensor sends laser and reaches the displacement L2 that polishing wheel outer circumferential side recording laser is passed by,L1 and L2 difference is the wear extent of polishing wheel,Robot changes polishing contacting points position according to wear extent,Polisher structure is compact,The polishing wheel wear amount detected according to laser sensor polishes contacting points position to change robot,So as to ensure that workpiece is in contact with polishing wheel all the time,Increase job stability,Improve product qualification rate,With automatic waxing,The bits recovery of dust wax,The multiple functions such as buffering regulation contact force.
Description
Technical field
It the utility model is related to equipment for grinding field, and in particular to a kind of robot polishing with wheel footpath wear-compensating
Machine.
Background technology
Currently, in sanitary ware industry, the grinding and polishing of most products such as tap, door handle etc. is all using artificial side
Formula, its labor intensity is big, and automaticity is low, and speed of production is slow, and environmental pollution is serious, and the health of worker is greatly damaged
Evil, therefore the polishing operation using tap as the sanitary ware industry of representative has welcome the upsurge of automatic improving at present, with technology
Raising, occur automatic polishing machine on the market, this polishing machine can coordinate robot use so as to realize automatic polishing, but
Because polishing wheel belongs to a kind of grinding consumptive material, long-term use can be gradually worn out, and the conduct after worker programs of the track of robot
Fixation locus is reused, and therefore, after polishing wheel wears, the polishing effect of workpiece worse and worse, or even will occur
Workpiece does not reach the situation of polishing wheel, so as to increase the fraction defective of product, in addition, existing automatic polishing machine function is more
Single, buffing wax can not add in time, influence polishing effect, and the dust and buffing wax in polishing process lack recovery, pollute ring
Border, the contact force polished between workpiece and polishing wheel are unable to flexible modulation, it may appear that cross throwing or the inadequate phenomenon of contact force.
Utility model content
For problem present in prior art, the utility model provides a kind of robot with wheel footpath wear-compensating and used
Polishing machine, concrete technical scheme are as follows：
A kind of robot polishing machine with wheel footpath wear-compensating, including base, frame, rotating mechanism, polishing wheel, give
Wax mechanism and laser displacement sensor, base top installation frame, frame upper interior installation rotating mechanism, Song La mechanisms are past to throw
Halo outer circumferential side conveys buffing wax, and rotating mechanism driving polishing wheel starts to rotate, and laser displacement sensor sends laser and reaches throwing
The displacement L1 that halo outer circumferential side recording laser is passed by, after polishing wheel work a period of time, laser displacement sensor sends laser
Displacement L2, L1 and L2 that arrival polishing wheel outer circumferential side recording laser is passed by difference are the wear extent of polishing wheel, robot root
Wear extent changes polishing contacting points position accordingly.
As a kind of preferred scheme of the present utility model, the rotating mechanism include rotary electric machine, rotary electric machine installing plate,
Rotary electric machine installation is fixedly mounted in first synchronizing wheel, timing belt, the second synchronizing wheel, power transmission shaft, bearing block and substrate, substrate lower section
Plate, rotary electric machine are fixedly mounted on rotary electric machine installing plate side, and rotary electric machine output shaft is fixed through rotary electric machine installing plate
First synchronizing wheel is installed, the first synchronizing wheel connects the second synchronizing wheel by toothed belt transmission, and transmission is fixedly mounted in the second synchronizing wheel
In the middle part of axle, both ends of the drive shaft rotational installation bearing block, bearing block is installed on surface, and power transmission shaft one end is fixed through bearing block
Connect polishing wheel.
As a kind of preferred scheme of the present utility model, the Song La mechanisms include send wax motor, screw mandrel, feed screw nut,
Pushing block, buffing wax and wax fixed plate, wax motor output shaft is sent to be fixedly connected with screw mandrel, wire rod thread connection wire rod nut, screw mandrel
Nut is fixedly installed in pushing block, heads on buffing wax above pushing block, buffing wax head is stretched out from wax fixed plate, wax fixed plate
Immediately below polishing wheel.
As a kind of preferred scheme of the present utility model, sliding block is fixedly mounted in the base plate bottom both sides, and sliding block, which slides, to be connected
Slide rail is connect, slide rail is fixedly mounted on frame both sides, is fixedly connected with nitrogen spring in the middle part of surface, nitrogen spring is fixedly installed in
Gas spring abutment, gas spring abutment are fixedly installed in frame, nitrogen spring driving substrate movement.
As a kind of preferred scheme of the present utility model, dust hopper is installed in the polishing wheel front and rear installation collects wax
Struggle against, caused dust is collected through dust hopper in polishing operation, and dust hopper connects outside dust collect plant, polishing wheel through dust leg
The wax bits that high-speed rotation is thrown away are collected through collecting wax bucket.
As a kind of preferred scheme of the present utility model, in addition to buffing wax compensation mechanism, buffing wax compensation mechanism includes
First fibre optical sensor and buffing wax compensation cylinder, the first fibre optical sensor face polishing wheel half circumferential position, the first light
When fiber sensor detects polishing wheel wear half, wax motor reversal driving buffing wax is sent to be retracted into the start bit in wax fixed plate
Put, buffing wax compensation cylinder driving Song La mechanisms integrally move up, and buffing wax contacts polishing wheel again.
As a kind of preferred scheme of the present utility model, in addition to outermost stationary housings and Moveable cover are arranged on,
Moveable cover is detachably easy to internal maintenance, and Moveable cover is provided with the transparent windows for being easy to observe buffing wax.
As a kind of preferred scheme of the present utility model, the second fibre optical sensor, the second optical fiber are also installed in the frame
Sensor faces polishing wheel inner periphery position, when the second fibre optical sensor detects polishing wheel wear totally, reminds operator more
Change.
The beneficial effects of the utility model：Polisher structure of the present utility model is compact, is detected by laser sensor
Displacement difference judges the wear extent of polishing wheel, and robot changes polishing contacting points position according to this wear extent, so as to ensure
Workpiece is in contact with polishing wheel all the time, increase job stability, improve product qualification rate, in addition, polishing machine have automatic waxing,
The multiple functions such as the recovery of dust wax bits, buffering regulation contact force, it is practical, meet actual use needs.
Brief description of the drawings
Fig. 1 is exterior perspective view of the present utility model；
Fig. 2 is perspective interior view of the present utility model；
Fig. 3 is that the utility model hides the perspective interior view after dust hopper；
Fig. 4 is the detects schematic diagram of laser displacement sensor of the present utility model；
Fig. 5 is the stereogram of rotating mechanism of the present utility model；
Fig. 6 is the stereogram of Song La mechanisms of the present utility model；
Fig. 7 is the front view of Song La mechanisms of the present utility model；
Fig. 8 is the schematic diagram of buffer gear of the present utility model；
Fig. 9 is the stereogram of frame of the present utility model.
Embodiment
Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described further：
, it is necessary to explanation in description of the present utility model, term " " center ", " on ", " under ", it is "left", "right", " perpendicular
Directly ", the orientation of the instruction such as " level ", " interior ", " outer " or position relationship are based on orientation shown in the drawings or position relationship, are only
Described for the ease of description the utility model and simplifying, rather than instruction or imply signified position or element must have it is specific
Orientation, with specific azimuth configuration and operation, therefore it is not intended that to limitation of the present utility model.
, it is necessary to which explanation, unless otherwise clearly defined and limited, term " are pacified in description of the present utility model
Dress ", " connected ", " connection " should be interpreted broadly, for example, it may be fixedly connected or be detachably connected, or integratedly
Connection；Can be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, it is above-mentioned that concrete condition understanding can be regarded
Concrete meaning of the term in the utility model.
As shown in figures 1-4, a kind of robot polishing machine with wheel footpath wear-compensating, including base 1, frame 2, turn
Motivation structure 3, polishing wheel 4, Song La mechanisms 5 and laser displacement sensor 6, the top installation frame 2 of base 1, the upper interior of frame 2 peace
Rotating mechanism 3 is filled, Song La mechanisms 5 are arranged on frame avris, and Song La mechanisms 5 convey buffing wax 51 toward the outer circumferential side of polishing wheel 4, rotate
Mechanism 3 drives polishing wheel 4 to start to rotate, and laser displacement sensor 6 sends the TCP1 positions note that laser reaches the outer circumferential side of polishing wheel 4
The displacement L1 that record laser is passed by, after polishing wheel work a period of time, laser displacement sensor 6 sends laser and reached outside polishing wheel
Displacement L2, L1 and L2 that the week side of boss TCP2 positions recording laser is passed by difference are the wear extent of polishing wheel 4, and robot is according to this
Wear extent changes the polishing contacting points position of workpiece contact polishing wheel 6, so as to realize the purpose of wheel footpath wear-compensating, using very
It is convenient.
As shown in figure 5, the rotating mechanism 3 include rotary electric machine 31, rotary electric machine installing plate 32, the first synchronizing wheel 33,
Rotary electric machine peace is fixedly mounted in timing belt 34, the second synchronizing wheel 35, power transmission shaft 36, bearing block 37 and substrate 38, the lower section of substrate 38
Loading board 32, rotary electric machine 31 are fixedly mounted on the side of rotary electric machine installing plate 32, and rotary electric machine output shaft is pacified through rotary electric machine
The first synchronizing wheel 33 is fixedly mounted in loading board, and for the first synchronizing wheel 33 by the second synchronizing wheel 35 of drive connection of timing belt 34, second is same
The middle part of power transmission shaft 36, the both ends of power transmission shaft 36 rotational installation bearing block 37 is fixedly mounted in step wheel 35, and bearing block 37 is installed on substrate 38
Top, the one end of power transmission shaft 38 are fixedly connected with polishing wheel 4 through bearing block 37, and rotary electric machine 31 drives the first synchronizing wheel 33 to rotate,
First synchronizing wheel 33 drives the second synchronizing wheel 35 to rotate by timing belt 34, and the second synchronizing wheel 35 drives power transmission shaft 36 to rotate, and passes
Moving axis 36 drives polishing wheel 4 to rotate, and polishing wheel 4 can be changed according to different polishing products, such as sisal, cotton piece buff, nylon wheel, sea
Silk floss wheel etc..
As shown in Figures 6 and 7, the Song La mechanisms 5 include sending wax motor 51, screw mandrel 52, feed screw nut, pushing block 53, throwing
Light wax 54 and wax fixed plate 55, send wax motor output shaft to be fixedly connected with screw mandrel 52, and screw mandrel 52 is threadedly coupled feed screw nut, screw mandrel spiral shell
Mother is fixedly installed in inside pushing block 53, and the top of pushing block 53 heads on buffing wax 54, and the head of buffing wax 54 is stretched from wax fixed plate
Go out, wax fixed plate 55 is located at immediately below polishing wheel 4, send wax motor 51 to be driven forward screw mandrel 52 and rotates, screw mandrel 52 passes through screw mandrel spiral shell
Mother's driving pushing block 53 moves up, and pushing block 53 promotes buffing wax 54 to move up gradually stretching and the phase of polishing wheel 4 from wax fixed plate 55
Contact, so as to increase polishing effect.
The slide rail 39b as shown in figure 8, the two bottom sides of the substrate 38 fixed installation sliding block 39a, sliding block 39a are slidably connected is sliding
Rail 39b is fixedly mounted on the both sides of frame 2, and the upper center of substrate 38 is fixedly connected with nitrogen spring 39c, and nitrogen spring 39c fixes peace
Loaded on gas spring abutment 39d, gas spring abutment 39d is fixedly installed in frame 2, and nitrogen spring 39c driving substrates 38 move, sliding block 39a, slide rail
39b, nitrogen spring 39c, gas spring abutment 39d form a buffer gear, when workpiece and the contact force of polishing wheel 4 are excessive, nitrogen bullet
Spring 39c, which shrinks, drives substrate 38 to be moved along slide rail 39b, and substrate 38 moves after driving polishing wheel 4, so as to reduce workpiece and polishing wheel
Contact force between 4, and when contact force reduces, nitrogen spring 39c elongations drive polishing wheel 4 to be displaced outwardly, and increase work with this
Contact force between part and polishing wheel 4, ensures effective polishing force, and buffer gear can ensure between workpiece and polishing wheel constantly
There is a rational contact force, prevented throwing or the generation of the too small phenomenon of contact force.
Specifically, dust hopper 71 is installed and rear installation collection wax bucket 72 in front of the polishing wheel 4, caused by polishing operation
Dust is collected through dust hopper 71, and dust hopper 71 connects outside dust collect plant through dust leg 73, and the high-speed rotation of polishing wheel 4 is thrown away
Wax bits through collect wax bucket 72 be collected, improve working environment, in addition, polishing machine also include be arranged on outermost stationary housings
81 and Moveable cover 82, Moveable cover 82 is detachably easy to internal maintenance, and Moveable cover 82, which is provided with, to be easy to observe the saturating of buffing wax
Bright observation window 83.
Specifically, polishing machine also includes buffing wax compensation mechanism 9, buffing wax compensation mechanism 9 includes the first fibre optical sensor
91 and buffing wax compensation cylinder 92, the first fibre optical sensor 91 faces the half circumferential position of polishing wheel 4, the first fibre optical sensor
When 91 detection polishing wheels 4 wear half, wax motor 51 is sent to be driven reverse the start bit that buffing wax 54 is retracted into wax fixed plate 55
Put, buffing wax compensation cylinder 92 drives Song La mechanisms 5 are overall to move up, and buffing wax 54 contacts polishing wheel 4 again, avoids buffing wax from stretching
Go out apart from long, and cause to be broken, in addition, the second fibre optical sensor 10 is also installed in the frame 2, the second fibre optical sensor 10
The inner periphery position of polishing wheel 4 is faced, when the second fibre optical sensor 10 detection polishing wheel 4 is worn totally, reminds operator to change.
Above content is to combine specific preferred embodiment further detailed description of the utility model, it is impossible to
Assert that specific implementation of the present utility model is confined to these explanations, for the ordinary skill of the utility model art
For personnel, without departing from the concept of the premise utility, some simple deduction or replace can also be made, should all be regarded
To belong to the scope of protection of the utility model.
Claims (8)
- A kind of 1. robot polishing machine with wheel footpath wear-compensating, it is characterised in that：Including base, frame, rotating mechanism, Polishing wheel, Song La mechanisms and laser displacement sensor, base top installation frame, frame upper interior installation rotating mechanism, send Wax mechanism conveys buffing wax toward polishing wheel outer circumferential side, and rotating mechanism driving polishing wheel starts to rotate, and laser displacement sensor is sent Laser reaches the displacement L1 that polishing wheel outer circumferential side recording laser is passed by, after polishing wheel work a period of time, laser displacement sensing The difference that device sends displacement L2, L1 and L2 that laser arrival polishing wheel outer circumferential side recording laser is passed by is the abrasion of polishing wheel Amount, robot change polishing contacting points position according to this wear extent.
- A kind of 2. robot polishing machine with wheel footpath wear-compensating according to claim 1, it is characterised in that：It is described Rotating mechanism includes rotary electric machine, rotary electric machine installing plate, the first synchronizing wheel, timing belt, the second synchronizing wheel, power transmission shaft, bearing Rotary electric machine installing plate is fixedly mounted in seat and substrate, substrate lower section, and rotary electric machine is fixedly mounted on rotary electric machine installing plate side, The first synchronizing wheel is fixedly mounted through rotary electric machine installing plate in rotary electric machine output shaft, and the first synchronizing wheel is connected by toothed belt transmission The second synchronizing wheel is connect, the second synchronizing wheel is fixedly mounted in the middle part of power transmission shaft, both ends of the drive shaft rotational installation bearing block, bearing block installation In surface, power transmission shaft one end is fixedly connected with polishing wheel through bearing block.
- A kind of 3. robot polishing machine with wheel footpath wear-compensating according to claim 1, it is characterised in that：It is described Song La mechanisms include sending wax motor, screw mandrel, feed screw nut, pushing block, buffing wax and wax fixed plate, send wax motor output shaft to fix Connection wire rod, wire rod thread connection wire rod nut, feed screw nut are fixedly installed in pushing block, buffing wax are headed on above pushing block, Buffing wax head is stretched out from wax fixed plate, and wax fixed plate is located at immediately below polishing wheel.
- A kind of 4. robot polishing machine with wheel footpath wear-compensating according to claim 2, it is characterised in that：It is described Sliding block is fixedly mounted in base plate bottom both sides, and sliding block is slidably connected slide rail, and slide rail is fixedly mounted on frame both sides, in the middle part of surface Nitrogen spring is fixedly connected with, nitrogen spring is fixedly installed in gas spring abutment, and gas spring abutment is fixedly installed in frame, nitrogen spring driving base Plate moves.
- A kind of 5. robot polishing machine with wheel footpath wear-compensating according to claim 1, it is characterised in that：It is described Dust hopper is installed in polishing wheel front and rear installation collects wax bucket, and caused dust is collected through dust hopper in polishing operation, is collected Dirt bucket connects outside dust collect plant through dust leg, and the wax bits that polishing wheel high-speed rotation is thrown away are collected through collecting wax bucket.
- A kind of 6. robot polishing machine with wheel footpath wear-compensating according to claim 3, it is characterised in that：Also wrap Buffing wax compensation mechanism is included, buffing wax compensation mechanism includes the first fibre optical sensor and buffing wax compensation cylinder, and the first optical fiber passes Sensor faces polishing wheel half circumferential position, when the first fibre optical sensor detects polishing wheel wear half, send wax motor reversal Driving buffing wax is retracted into the original position in wax fixed plate, and buffing wax compensation cylinder driving Song La mechanisms are integrally moved up, polished Wax contacts polishing wheel again.
- A kind of 7. robot polishing machine with wheel footpath wear-compensating according to claim 1, it is characterised in that：Also wrap Include and be arranged on outermost stationary housings and Moveable cover, Moveable cover is detachably easy to internal maintenance, and Moveable cover is provided with just In the transparent windows of observation buffing wax.
- A kind of 8. robot polishing machine with wheel footpath wear-compensating according to claim 1, it is characterised in that：It is described Second fibre optical sensor is also installed, the second fibre optical sensor faces polishing wheel inner periphery position, the second Fibre Optical Sensor in frame When device detects polishing wheel wear totally, operator is reminded to change.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720313533.4U CN206855217U (en) | 2017-03-29 | 2017-03-29 | A kind of robot polishing machine with wheel footpath wear-compensating |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720313533.4U CN206855217U (en) | 2017-03-29 | 2017-03-29 | A kind of robot polishing machine with wheel footpath wear-compensating |
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| CN206855217U true CN206855217U (en) | 2018-01-09 |
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| CN201720313533.4U Active CN206855217U (en) | 2017-03-29 | 2017-03-29 | A kind of robot polishing machine with wheel footpath wear-compensating |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972291A (en) * | 2018-07-27 | 2018-12-11 | 东莞市铁犀智能科技有限公司 | A kind of polishing machine |
| CN109531407A (en) * | 2018-12-07 | 2019-03-29 | 佛山博文机器人自动化科技有限公司 | A kind of floating polishing machine of band compensation |
| CN109676518A (en) * | 2019-01-31 | 2019-04-26 | 吉林市恒达金型机械制造有限公司 | A kind of robotic laser welding grinding head compensation mechanism |
| CN109848825A (en) * | 2019-02-20 | 2019-06-07 | 上海爱仕达机器人有限公司 | A kind of polishing station and its polishing method |
| CN112643511A (en) * | 2020-12-31 | 2021-04-13 | 中核武汉核电运行技术股份有限公司 | Constant-force pressing and adjusting device for cleaning operation of sealing surface |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
-
2017
- 2017-03-29 CN CN201720313533.4U patent/CN206855217U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108972291A (en) * | 2018-07-27 | 2018-12-11 | 东莞市铁犀智能科技有限公司 | A kind of polishing machine |
| CN109531407A (en) * | 2018-12-07 | 2019-03-29 | 佛山博文机器人自动化科技有限公司 | A kind of floating polishing machine of band compensation |
| CN109676518A (en) * | 2019-01-31 | 2019-04-26 | 吉林市恒达金型机械制造有限公司 | A kind of robotic laser welding grinding head compensation mechanism |
| CN109848825A (en) * | 2019-02-20 | 2019-06-07 | 上海爱仕达机器人有限公司 | A kind of polishing station and its polishing method |
| CN109848825B (en) * | 2019-02-20 | 2023-12-05 | 上海爱仕达机器人有限公司 | Polishing workstation and polishing method thereof |
| CN112643511A (en) * | 2020-12-31 | 2021-04-13 | 中核武汉核电运行技术股份有限公司 | Constant-force pressing and adjusting device for cleaning operation of sealing surface |
| CN114850973A (en) * | 2022-04-02 | 2022-08-05 | 浙江工贸职业技术学院 | Grinding and polishing compensation method for flexible wheel of robot |
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