CN207915182U - A kind of double industrial robot sanding and polishing work stations - Google Patents

Abstract

The utility model is related to a kind of double industrial robot sanding and polishing work stations,Polishing safe house including peripheral side,The first industrial robot is installed inside polishing safe house,Second industrial robot,Belt sander,Polishing machine,Loading working table,Blanking work platform,Intermediate station and control system,Workpiece is completed to be placed on intermediate station after polishing is processed close to belt sander on first industrial robot gripping loading working table,Workpiece on second industrial robot gripping intermediate station is placed on after polishing machine completion polishing on blanking work platform,First industrial robot,Second industrial robot distinguishes coordinated travelling workpiece to belt sander,Polishing machine completes the polishing to workpiece,Polishing,High degree of automation,Labor intensity is small,Production efficiency is high,The operating time of operator is greatly shortened,Dust pelletizing system further promotes the dedusting of work station,Dust elimination ability,The dust generated in process can fully be recycled,Improve working environment.

Description

A kind of double industrial robot sanding and polishing work stations

Technical field

The utility model is related to processing equipment fields of polishing, and in particular to a kind of double industrial robot sanding and polishing work It stands.

Background technology

Currently, most products of the sanitary ware industries such as tap still rely on artificial progress grinding and buffing, Gong Renlao Fatigue resistance is big, and seriously polluted, and the dust of generation has great damage to worker, and the degree of automation is low, speed of production is slow, Production needs cannot be met, in addition, due to proficiency of workers difference, cause homogeneity of product poor, fraction defective occupies height, with The reduction of number of workers, the raising of recruitment cost, there is an urgent need to replace manual work, therefore city using automation equipment for enterprise Some automatically grinding equipment carry out sanding and polishing processing to tap on face, these automatically grinding equipment robots are instead of people Work is polished, although improving production efficiency, what is used is all traditional robot teaching method, very multiple for surface When miscellaneous sanitaryware programming, operator needs to consume a large amount of time and efforts and carrys out teaching repeatedly, correction motion track, in this way Requirement to operator greatly improves, very long the time required to replacing product, causes equipment mobility low, and existing automatic Grinding apparatus is single-station processing, and efficiency has to be hoisted.

Utility model content

Process in sanding and polishing that encountered the degree of automation is low, sows for sanitarywares such as taps in the prior art The problems such as rate is low, of high cost, speed of production is slow, the utility model provide a kind of double industrial robot sanding and polishing work stations, Specific technical solution is as follows：

A kind of double industrial robot sanding and polishing work stations include the polishing safe house of peripheral side, inside safe house of polishing First industrial robot, the second industrial robot, belt sander, polishing machine, loading working table, blanking work platform, intermediate station are installed And control system, control system control the first industrial robot, the second industrial robot, belt sander, polishing machine, feeding work Platform, blanking work platform link, and workpiece is after belt sander completes polishing processing on the first industrial robot gripping loading working table It is placed on intermediate station, the workpiece on the second industrial robot gripping intermediate station is placed on after polishing machine completion polishing On blanking work platform.

Further include dust pelletizing system as a kind of preferred embodiment of the utility model, the dust pelletizing system includes dust arrester, changes Gas seat, ventilation cylinder, hose, grid fiberglass and dust collection drawer, dust arrester are mounted on outside polishing safe house, dust arrester Connection ventilation seat, seat of taking a breath are mounted on edge inside polishing safe house, ventilation seat top installation ventilation cylinder, and ventilation seat passes through Hose is connected to the dust interface of belt sander, polishing machine, and ventilation cylinder controls corresponding hose conducting to work Belt sander or polishing machine carry out dust, grid fiberglass is mounted on polishing safe house bottom, and belt sander, polishing machine are placed on grid On lattice fiberglass, dust collection drawer is installed below grid fiberglass.

As a kind of preferred embodiment of the utility model, the polishing machine includes bottom plate, rack, rotating mechanism, throwing Halo rotating mechanism, polishing wheel, Song La mechanisms and polishing wheel correction mechanism, bottom plate top installation frame, rotating mechanism driving machine Frame is rotated left and right to proper operation face, rack upper interior installation polishing wheel rotating mechanism, and the rack front left and right sides is pacified respectively Equipped with a Song La mechanisms, polishing wheel correction mechanism is installed at middle part in front of rack, and polishing wheel rotating mechanism drives two polishing rotation Dynamic, Song La mechanisms convey buffing wax toward corresponding polishing wheel peripheral side, and polishing wheel correction mechanism shaping polishing wheel makes polishing wheel begin It is eventually circle.

As a kind of preferred embodiment of the utility model, the rotating mechanism include shaft seat, rotary cylinder, connector, Push pin, rotating seat, floating bearing, locating piece, limit base, oil buffer, positioning cylinder, guide and positioning pin, shaft seat It is fixedly installed in bottom plate side, rotary cylinder is installed on shaft seat, and the stretching of rotary cylinder piston rod is fixedly connected with connector, even Connector is fixedly connected with promotion pin tail portion, and pin head part is pushed to be fixedly installed in rotating seat, and machine is fixedly mounted in rotating seat upper center Frame, rotating seat are rotatablely installed in floating bearing, and floating bearing is installed in the middle part of bottom plate, and locating piece is arc and is mounted on bottom plate A limit base is installed in the head end both ends top of top, locating piece, and limit base mutually installs oil buffer inwardly, and locating piece is equipped with The location hole being spaced substantially equidistant, positioning cylinder are mounted on above rotating seat, and guide is mounted below rotating seat and and positioning cylinder Position is corresponding, and positioning cylinder piston rod, which extends downwardly into, connects positioning pin inside guide, positioning pin is matched with location hole, is rotated When ± 45 ° of seat rotation is to extreme position, guide is in contact with oil buffer.

As a kind of preferred embodiment of the utility model, the polishing wheel correction mechanism includes fixed plate, two adjusting handles Hand, two adjusting tooth bars, four guide posts, four rolling bearing units, two connecting rods and two polishing wheel sleakers, fixed plate installation In front of rack, two adjust tooth bar and are rotatablely installed at left and right sides of fixed plate by rolling bearing units, adjust the installation of tooth bar head Regulation handle adjusts and is threadedly coupled connecting rod tail end in the middle part of tooth bar, and simultaneously relative adjustment tooth bar is symmetrically set guide post inserting connecting rod It sets, connecting rod head end installs polishing wheel sleaker, and polishing wheel sleaker is located at below polishing wheel.

As a kind of preferred embodiment of the utility model, the polishing wheel rotating mechanism includes rotary electric machine, rotary electric machine Rotation is fixedly mounted in mounting plate, the first synchronizing wheel, synchronous belt, the second synchronizing wheel, transmission shaft, bearing block and substrate, substrate lower section Motor mounting plate, rotary electric machine are fixedly mounted on rotary electric machine mounting plate side, and rotary electric machine output shaft is pacified across rotary electric machine The first synchronizing wheel is fixedly mounted in loading board, and the first synchronizing wheel connects the second synchronizing wheel by toothed belt transmission, and the second synchronizing wheel is fixed It installs in the middle part of transmission shaft, both ends of the drive shaft is rotatablely installed bearing block, and bearing block is installed on above substrate, and transmission shaft left and right ends are worn It crosses bearing block and is respectively fixedly connected with two polishing wheels in left and right.

As a kind of preferred embodiment of the utility model, the control system includes that central processing unit, part model prestore The pre- storing module of module, device model, off-line programing module, robot motion's emulation module, code generation module, work origin school Quasi-mode block, abrasive band alarm module polish alarm module, and the work of different size model is previously stored in the pre- storing module of part model Part model is previously stored with belt sander, the polishing machine model of different number combination, off-line programing mould in the pre- storing module of device model Block calls in workpiece 3D models, equipment 3D models, central processing unit from the pre- storing module of part model, the pre- storing module of device model respectively Robot motion track is generated according to workpiece 3D models, the equipment 3D models called in, robot motion's emulation module is according to movement Track virtual analog robot motion checks that whether there is or not mechanical position limitations or collision to generate in test machine people's motion process, if machine People's movement locus is normal, then code generation module is delivered directly to robot control according to robot motion's Track Pick-up post code Cabinet processed, origin and practical belt sander, polishing of the operator by work origin calibration module calibration machine human simulation movement locus The origin of machine, further increases the accuracy of robot motion track, and abrasive band alarm module calculates the polishing in single abrasive band automatically Amount, when polishing amount reaches preset value, abrasive band alarm module sends out alarm sounds operator replacement, and polishing alarm module passes through biography Sensor monitors the loss of buffing wax and polishing wheel automatically, and when being lost totally, polishing alarm module sends out alarm sounds operator It replaces.

As a kind of preferred embodiment of the utility model, the belt sander includes polishing unit, mobile unit and pedestal, bottom Seat is internal to install mobile unit, and mobile unit driving polishing unit is moved integrally close to workpiece to be polished, the polishing unit packet Big riser, abrasive band, motor, power wheel, the first idle pulley, convex rubber tire, tensioning apparatus, grinding wheel and the second idle pulley are included, under big riser Motor is fixedly mounted in portion, and motor output shaft connects power wheel, and tensioning apparatus is installed on big riser and is equipped with moveable tensioning wheel, Motor drives power wheel rotation, and abrasive band is wrapped in power wheel, the first idle pulley, convex rubber tire, tensioning wheel, grinding wheel and the second idle pulley Peripheral side is turned round, and adjustment tensioning apparatus is horizontally mounted or vertically-mounted to change abrasive band winding arrangement.

As a kind of preferred embodiment of the utility model, the intermediate station includes column, supporting rod, placement plate and positioning Block, column are mounted in polishing safe house and between the first industrial robot and the second industrial robot, peace above column Two supporting rods are filled, placement plate is installed above supporting rod, locating piece, tap location hole and locating piece phase are installed in the middle part of placement plate Cooperation.

As a kind of preferred embodiment of the utility model, the polishing safe house avris is equipped with openable safety door, peace The electronic lock for preventing safety door from opening by mistake is installed on air cock, human body sensor, human body sensor inspection are installed inside polishing safe house When measuring someone inside polishing safe house, the control sanding and polishing work station of control system cannot start.

The beneficial effects of the utility model：First industrial robot, the second industrial robot difference coordinated move work Part completes polishing to workpiece, polishing to belt sander, polishing machine, and high degree of automation, labor intensity is small, production efficiency Height, is greatly shortened the operating time of operator, belt sander, polishing machine quantity can increase and add deduct according to actual processing process Few, belt sander preferably has 4, and polishing machine preferably has 1；Belt sander can also have 3, and polishing machine has 2, and control system can basis Belt sander, polishing machine quantity and control the running orbit of industrial robot, and dust pelletizing system further promotes removing for work station Dirt, dust elimination ability can fully recycle the dust generated in process, and unlikely dust is leaked out from polishing safe house, improves work Make environment.

Description of the drawings

Fig. 1 is the overall perspective view of the utility model；

Fig. 2 is the stereogram that the utility model hides polishing safe house top shell；

Fig. 3 is the vertical view that the utility model hides polishing safe house top shell；

Fig. 4 is the structural schematic diagram of the dust pelletizing system of the utility model；

Fig. 5 is the exterior perspective view of the polishing machine of the utility model；

Fig. 6 is the perspective interior view of the polishing machine of the utility model；

Fig. 7 is the perspective interior view of the other direction of the polishing machine of the utility model；

Fig. 8 is the rack of the polishing machine of the utility model and the scheme of installation of rotating mechanism；

Fig. 9 is the stereogram of the rotating mechanism of the polishing machine of the utility model；

Figure 10 is the other direction stereogram of the rotating mechanism of the polishing machine of the utility model；

Figure 11 is the exploded view of the rotating mechanism of the polishing machine of the utility model；

Figure 12 is the scheme of installation of the rack and polishing wheel correction mechanism of the polishing machine of the utility model；

Figure 13 is the stereogram of the polishing wheel correction mechanism of the polishing machine of the utility model；

Figure 14 is the scheme of installation of the rack and polishing wheel rotating mechanism of the polishing machine of the utility model；

Figure 15 is the stereogram of the polishing wheel rotating mechanism of the polishing machine of the utility model；

Figure 16 is the exploded view of the polishing wheel rotating mechanism of the polishing machine of the utility model；

Figure 17 is the block diagram of the control system of the utility model；

Figure 18 is the stereogram of the belt sander of the utility model；

Figure 19 is that the belt sander of the utility model hides the stereogram after shell；

Figure 20 is the schematic diagram of the belt sander abrasive band Layout Embodiment 1 of the utility model；

Figure 21 is the schematic diagram of the belt sander abrasive band Layout Embodiment 2 of the utility model；

Figure 22 is the stereogram of the tensioning apparatus of the belt sander of the utility model；

Figure 23 is the stereogram of the intermediate station of the utility model.

Specific implementation mode

Below in conjunction with the accompanying drawings, specific embodiment of the present utility model is described further：

It is in the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", " perpendicular Directly ", the orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" is to be based on the orientation or positional relationship shown in the drawings, and is only The utility model and simplifying describes for ease of description, do not indicate or imply the indicated position or element must have it is specific Orientation, with specific azimuth configuration and operation, therefore should not be understood as limiting the present invention.

In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " is pacified Dress ", " connected ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary, It can be the connection inside two elements.For the ordinary skill in the art, it is above-mentioned that concrete condition understanding can be regarded The concrete meaning of term in the present invention.

As shown in Figures 1 to 3, a kind of double industrial robot sanding and polishing work stations, include the polishing safe house 1 of peripheral side, 1 the first industrial robot 2 of inside installation of polishing safe house, the second industrial robot 3, belt sander 4, polishing machine 5, loading working table 61, blanking work platform 62, intermediate station 9 and control system 8, control system 8 control the first industrial robot 2, the second industrial machine People 3, belt sander 4, polishing machine 5, loading working table 61, blanking work platform 62 link, and the first industrial robot 2 grips feeding work Workpiece is completed to be placed on intermediate station 9 after polishing is processed close to belt sander 4 on platform 61, and workpieces processing is tap, the second industry Robot 3 grips the workpiece on intermediate station 9 and is placed on blanking work platform 62 after the completion polishing of polishing machine 5.

As shown in figure 4, sanding and polishing work station further includes dust pelletizing system, dust pelletizing system includes dust arrester, ventilation seat 72, changes Gas cylinder 73, hose (not shown), grid fiberglass 75 and dust collection drawer 76, dust arrester 71 are mounted on polishing safe house 1 Outside, ventilation seat 72 are mounted on polishing 1 inside edge of safe house, the connection ventilation seat 72 of dust arrester 71,72 top peace of ventilation seat Dress ventilation cylinder 73, ventilation seat 72 are connected to the dust interface of belt sander 4, polishing machine 5 by hose 74, ventilation cylinder 73 Quantity is equal with hose quantity, ventilation cylinder 73 control the conducting of corresponding hose 74 to the belt sander of work or Polishing machine carries out dust and enters dust arrester 71, ensures that dust arrester 71 only carries out dust to the machine of work in this way, improves collection Dirt efficiency, the dust polished in safe house 1 recycle 50~70% by dust arrester 71, further to collect dust, grid glass completely Glass steel 75 is mounted on polishing safe house bottom, and belt sander 4, polishing machine 5 are placed on grid fiberglass 75, under grid fiberglass 75 Side's installation dust collection drawer 76, remaining dust, which can be fallen on grid fiberglass 75, to be drained in dust collection drawer 76, grid fiberglass 75 It can load-bearing belt sander 4, polishing machine 5.

As shown in Fig. 5~7, polishing machine 5 includes bottom plate 51, rack 52, rotating mechanism 53, polishing wheel rotating mechanism 54, throws Halo 55, Song La mechanisms 56 and polishing wheel correction mechanism 57,51 top installation frame 52 of bottom plate, rotating mechanism 53 drive rack 52 Proper operation face is rotated left and right, 52 upper interior of rack installs polishing wheel rotating mechanism 53, the 52 front left and right sides point of rack One Song La mechanisms 56 are not installed, 52 front middle part installation polishing wheel correction mechanism 57 of rack, polishing wheel rotating mechanism 54 drives Two polishing wheels 55 rotate, and Song La mechanisms 56 convey buffing wax, polishing wheel correction mechanism 57 toward 55 peripheral side of corresponding polishing wheel Shaping polishing wheel 55 makes polishing wheel 55 remain round, ensures concentricity, polishing wheel 55 can according to different polishing products into Row is replaced, such as sisal, cotton piece buff, nylon wheel, sponge wheel.

As shown in Fig. 8~11, rotating mechanism 53 includes shaft seat 531, rotary cylinder 532, connector 533, pushes pin 534, rotating seat 535, floating bearing 536, locating piece 537, limit base 538, oil buffer 539, positioning cylinder 5310, guide 5311 and positioning pin 5312, shaft seat 531 be fixedly installed in 51 side of bottom plate, rotary cylinder 532 is installed on shaft seat 531, turn Axle bed 531 is the shape of falling Qian, and shaft is interted at 531 middle part of shaft seat, and rotary cylinder 532 can be rotated by shaft relative to shaft seat 531 Fine tuning, the stretching of rotary cylinder piston rod are fixedly connected with connector 533, and connector 533, which is fixedly connected, pushes 534 tail portion of pin, pushes away Dynamic 534 head of pin is fixedly installed in rotating seat 535, and rack 52,535 turns of rotating seat is fixedly mounted in 535 upper center of rotating seat Dynamic to be installed on floating bearing 536, floating bearing 536 is installed on 51 middle part of bottom plate, and 532 piston rod of rotary cylinder passes through connector 533 drivings push pin 534 to move, and push pin 534 that rotating seat 535 is driven to rotate, and rotating seat 535 drives rack 52 to rotate, rack Rotating mechanism 53, polishing wheel rotating mechanism 54, polishing wheel 55, Song La mechanisms 56 and polishing wheel correction mechanism 57 is driven to rotate to conjunction Polishing machine rotation and adjustable rotation angle range are realized, in order to preferably adjust the rotation angle of rack 52 in suitable polishing face Degree, locating piece 537 is arc and is mounted on 51 top of bottom plate, and a limit base 538 is installed above the head end both ends of locating piece 537, 538 phase of limit base installs oil buffer 539 inwardly, and locating piece 537 is equipped with the location hole 537a being spaced substantially equidistant, and positions gas Cylinder 5310 is mounted on 535 top of rotating seat, and guide 5311 is mounted below rotating seat 535 and opposite with 5310 position of positioning cylinder It answers, positioning cylinder piston rod extends downwardly into 5311 inside of guide and connects positioning pin 5312, positioning pin 5312 and location hole 537a phases Cooperation, when rotating seat 535 rotates to designated position, positioning cylinder 5310 drives positioning pin 5312 to be stretched out from guide 5311 and inserts Enter in location hole 537a, the position for limiting rotating seat 535 ensures that rack 52 does not rotate when polishing machine polishing, and rotating seat revolves When turning ± 45 ° to extreme position, guide 5311 is in contact with oil buffer 539, and oil buffer 539 limits the rotation of rotating seat Turn range, prevents from rotating through position, 539 buffer protection guide 5311 of oil buffer.

As shown in Figures 12 and 13, polishing wheel correction mechanism 57 is adjusted including the regulation handle 572, two of fixed plate 571, two 575, two connecting rods 576 of the rolling bearing units of guide post 574, four of tooth bar 573, four and two polishing wheel sleakers 577, fixed plate 571 are mounted on 52 front of rack, and two adjust tooth bar 573 and are rotatablely installed in fixed plate 571 or so two by rolling bearing units 575 Side adjusts 573 head installation and adjustment handle 572 of tooth bar, adjusts 573 middle part of tooth bar and is threadedly coupled 576 tail end of connecting rod, guide post Simultaneously relative adjustment tooth bar 573 is symmetrical arranged 574 inserting connecting rods 576, and 576 head end of connecting rod installs polishing wheel sleaker 577, polishing Wheel sleaker 577 is located at 55 lower section of polishing wheel, and polishing wheel sleaker 577 is equipped with sawtooth close to 55 side of polishing wheel, respectively rotation left and right Two regulation handles 572, regulation handle 572, which drives, adjusts the rotation of tooth bar 573, adjusts 573 drive connection bar 576 of tooth bar along guiding Column 574 lifts, and connecting rod 576 drives polishing wheel sleaker 577 and the polishing wheel 55 of rotation to be in contact, and polishing wheel sleaker 577 is wiped off 55 irregularities of polishing wheel, makes polishing wheel 55 be held round, and ensures concentricity.

As shown in Figure 14~16, polishing wheel rotating mechanism 54 includes rotary electric machine 541, rotary electric machine mounting plate 542, first Synchronizing wheel 543, synchronous belt 544, the second synchronizing wheel 545, transmission shaft 546, bearing block 547 and substrate 548,548 lower section of substrate are solid Dingan County fills rotary electric machine mounting plate 542, and rotary electric machine 541 is fixedly mounted on 542 side of rotary electric machine mounting plate, and rotary electric machine is defeated Shaft passes through rotary electric machine mounting plate 542 that the first synchronizing wheel 543 is fixedly mounted, and the first synchronizing wheel 543 is driven by synchronous belt 544 The second synchronizing wheel 545 is connected, 546 middle part of transmission shaft is fixedly mounted in the second synchronizing wheel 545, and 546 both ends of transmission shaft are rotatablely installed axis Bearing 547, bearing block 547 are installed on 548 top of substrate, and 546 left and right ends of transmission shaft are respectively fixedly connected with across bearing block 547 Two polishing wheels 55 in left and right, rotary electric machine 541 drive the rotation of the first synchronizing wheel 543, the first synchronizing wheel 543 to pass through synchronous belt 544 The second synchronizing wheel 545 is driven to rotate, the second synchronizing wheel 545 drives transmission shaft 546 to rotate, and transmission shaft 536 drives the polishing at both ends 5 rotation of wheel.

As shown in figure 17, control system 8 is the computer with programing function, and control system 8 includes central processing unit 81, the pre- storing module 82 of part model, the pre- storing module 83 of device model, off-line programing module 84, robot motion's emulation module 85, Code generation module 86, work origin calibration module 87, abrasive band alarm module 88, polishing alarm module 89, part model prestores It is previously stored with the part model of different size model in module 72, different numbers is previously stored in the pre- storing module of device model 83 Belt sander, the polishing machine model of combination are measured, off-line programing module 84 prestores mould from the pre- storing module of part model, device model respectively Block calls in workpiece 3D models, equipment 3D models, and central processing unit 81 generates machine according to workpiece 3D models, the equipment 3D models called in Device people's movement locus, robot motion's emulation module 85 check test machine according to movement locus virtual analog robot motion Whether there is or not mechanical position limitations or collision to generate in people's motion process, if robot motion track is normal, code generation module is according to machine Device people's trace generator post code is delivered directly to robot control cabinet 9, and operator passes through work origin calibration module 87 The origin and practical belt sander of calibration machine human simulation movement locus, the origin of polishing machine, further increase robot motion's rail The accuracy of mark, abrasive band alarm module 88 calculate the polishing amount in single abrasive band automatically, when polishing amount reaches preset value, abrasive band report Alert module 88 sends out alarm sounds operator replacement, and polishing alarm module 89 monitors buffing wax and polishing wheel automatically by sensor Loss, when loss totally when, polishing alarm module 89 send out alarm sounds operator replacement, central processing unit 81 control first Industrial robot 2, the first industrial robot 3, belt sander 4, polishing machine 5, loading working table 61, blanking work platform 62, dedusting system System 7 realizes linkage in succession.

As shown in Figures 18 and 19, for the belt sander 4 there are two types of configuration, belt sander 4 includes polishing unit 41, mobile unit 42 With pedestal 43, mobile unit 42,42 top installation polishing unit 41 of mobile unit, 41 outside of polishing unit are installed in 43 inside of pedestal Outer cover 44 is installed, the driving polishing unit 41 of mobile unit 42 is moved integrally close to workpiece to be polished, and polishing unit 41 includes big Riser 411, abrasive band 412, motor 413, power wheel 414, the first idle pulley 415, convex rubber tire 416, tensioning apparatus 417, grinding wheel 418 With the second idle pulley 419, motor 413 is fixedly mounted in 411 lower part of big riser, and motor 413 is fire-proof motor, and motor output shaft connection is dynamic Wheels 414, for the first idle pulley 415 by the first idler wheel link 415a rotational installations in sliding connection plate, convex rubber tire 416 passes through convex glue Connecting rod 416a rotational installation is taken turns in sliding connection plate, grinding wheel 418 is by grinding wheel connecting rod 418a rotational installations in being slidably connected Plate, tensioning apparatus 417 are installed on sliding connection plate and are equipped with moveable tensioning wheel 4171, and sliding connection plate is slidably mounted on greatly 411 surface of riser, motor 413 drive power wheel 414 to rotate, and abrasive band 412 is wrapped in power wheel 414, the first idle pulley 415, convex glue The peripheral side revolution of wheel 416, tensioning wheel 4171, grinding wheel 418 and the second idle pulley 419.

As shown in figure 20, the configuration embodiment 1 of polishing unit 1：The tensioning apparatus 417 is horizontally mounted, tensioning apparatus 417 Drive tensioning wheel 4171 horizontally moveable, tensioning wheel 4171 is between convex rubber tire 416 and grinding wheel 418, convex rubber tire connecting rod 416a tilts installation, and abrasive band 412 is wrapped in power wheel 414, the first idle pulley 415, convex rubber tire 416, tensioning wheel 4171, polishing successively The revolution of the peripheral side of wheel 418 and the second idle pulley 419.As shown in figure 21, the configuration embodiment 2 of polishing unit 41：The tensioning dress Set 417 vertically-mounted, tensioning apparatus 417 drives tensioning wheel 4171 that can move up and down, and tensioning wheel 4171 is located at 415 He of the first idle pulley Between convex rubber tire 416, convex rubber tire connecting rod 416a is horizontally mounted, abrasive band 412 be wrapped in successively power wheel 414, the first idle pulley 415, The peripheral side revolution of tensioning wheel 4171, convex rubber tire 416, grinding wheel 418 and the second idle pulley 419.

Polish unit 41 under the premise of not increasing any additional parts by convert tensioning apparatus 417 installation site from And change abrasive band layout, two kinds of abrasive bands layout is suitable for different workpieces and processes, and expands the use scope of belt sander, reduce at This, meets user and processes needs.

As shown in figure 22, tensioning apparatus 417 includes tensioning cylinder mounting plate 4172, tensioning cylinder 4173, tensioning connector 4174, it is tensioned slide 4175 and gib block 4176, tensioning cylinder 4173, tensioning cylinder are installed in 4172 surface of tensioning cylinder mounting plate Piston rod stretches out connection tensioning connector 4174, and tensioning connector 4174 is fixedly installed in tensioning slide 4175, is tensioned slide 4175 are slidably connected between two gib blocks 4176, and gib block 4176 is fixedly installed in tensioning cylinder mounting plate 4172, tensioning Slide 4175 is equipped with the tension wheel shaft 4171a for being rotatablely installed tensioning wheel 4171, the driving tensioning connector of tensioning cylinder 4173 4174 movements, the tensioning driving tensioning slide 4175 of connector 417 are moved along gib block 4176, and tensioning slide 4175 drives tensioning Take turns 4171 synchronizing movings, the movement of tensioning wheel 4171 is in adjusting abrasive band 412 and tightens or relaxed state, in addition, the tensioning The action of cylinder piston rod is controlled by manual guiding valve 47, and the input air pressure size of tensioning cylinder 4173 passes through pressure regulator valve 48 are controlled, to the size of tension adjusting.

As shown in figure 23, intermediate station 9 includes column 91, supporting rod 92, placement plate 93 and locating piece 94, and column 91 is mounted on It polishes in safe house 1 and between the first industrial robot 2 and the second industrial robot 3, two branch are installed in 91 top of column Placement plate 93 is installed in strut 92,92 top of supporting rod, and locating piece 94, the gripping of the first industrial robot 2 are installed in 93 middle part of placement plate Tap after polishing processing is inserted into locating piece 94, and the tap that the second industrial robot 3 grips on locating piece 94 is close Polishing machine is polished.

In addition, polishing 1 avris of safe house is equipped with openable safety door, being equipped on safety door prevents safety door from opening by mistake Electronic lock, when ensureing machine operation, personnel, which open by mistake, causes security risk, and human body sensor, human body are installed in 1 inside of polishing safe house When sensor detects polishing 1 inside someone of safe house, the control sanding and polishing work station of control system cannot start, and improve peace Quan Xing.

It, cannot the above content is specific preferred embodiment further detailed description of the utility model is combined Assert that the specific implementation of the utility model is confined to these explanations, for the ordinary skill of the utility model technical field For personnel, without departing from the concept of the premise utility, a number of simple deductions or replacements can also be made, should all regard To belong to the scope of protection of the utility model.

Claims (10)

1. a kind of double industrial robot sanding and polishing work stations, it is characterised in that：Polishing safe house including peripheral side, polishing peace The first industrial robot of installation, the second industrial robot, belt sander, polishing machine, loading working table, blanking work inside full room Platform, intermediate station and control system, control system control the first industrial robot, the second industrial robot, belt sander, polishing machine, Loading working table, the linkage of blanking work platform, the first industrial robot grip workpiece on loading working table and are beaten close to belt sander completion It is placed on intermediate station after mill processing, the second industrial robot grips the workpiece on intermediate station and completes polishing close to polishing machine After be placed on blanking work platform.

2. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：It further include dedusting System, the dust pelletizing system include dust arrester, ventilation seat, ventilation cylinder, hose, grid fiberglass and dust collection drawer, collection Dirt device is mounted on outside polishing safe house, and dust arrester connection ventilation seat, ventilation seat is mounted on edge inside polishing safe house, changes Installation ventilation cylinder, ventilation seat are connected to the dust interface of belt sander, polishing machine by hose above gas seat, cylinder control of taking a breath Corresponding hose conducting is made to carry out dust to the belt sander or polishing machine of work, grid fiberglass, which is mounted on polishing, pacifies Full room bottom, belt sander, polishing machine are placed on grid fiberglass, and dust collection drawer is installed below grid fiberglass.

3. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：The polishing machine Including bottom plate, rack, rotating mechanism, polishing wheel rotating mechanism, polishing wheel, Song La mechanisms and polishing wheel correction mechanism, on bottom plate Square installation frame, rotating mechanism drive rack to rotate left and right to proper operation face, rack upper interior installation polishing wheel rotating machine Structure, the rack front left and right sides are separately installed with a Song La mechanisms, and polishing wheel correction mechanism, polishing wheel are installed in middle part in front of rack Rotating mechanism drives two polishing wheel rotations, Song La mechanisms to convey buffing wax, polishing wheel amendment toward corresponding polishing wheel peripheral side Mechanism shaping polishing wheel makes polishing wheel be always round.

4. a kind of double industrial robot sanding and polishing work stations according to claim 3, it is characterised in that：The whirler Structure include shaft seat, rotary cylinder, connector, push pin, rotating seat, floating bearing, locating piece, limit base, oil buffer, Positioning cylinder, guide and positioning pin, shaft seat are fixedly installed in bottom plate side, and rotary cylinder is installed on shaft seat, rotary cylinder Piston rod stretching is fixedly connected with connector, and connector is fixedly connected with promotion pin tail portion, pin head part is pushed to be fixedly installed in rotation Rack is fixedly mounted in seat, rotating seat upper center, and rotating seat is rotatablely installed in floating bearing, and floating bearing is installed on bottom plate Middle part, locating piece is arc and installs a limit base above bottom plate top, the head end both ends of locating piece, and limit base is opposite Oil buffer is installed in inside, and locating piece is equipped with the location hole being spaced substantially equidistant, and positioning cylinder is mounted on above rotating seat, guide Below rotating seat and corresponding with positioning cylinder position, positioning cylinder piston rod extends downwardly into connection positioning inside guide Pin, positioning pin are matched with location hole, and when rotating seat rotates ± 45 ° to extreme position, guide is in contact with oil buffer.

5. a kind of double industrial robot sanding and polishing work stations according to claim 3, it is characterised in that：The polishing wheel Correction mechanism includes fixed plate, two regulation handles, two adjusting tooth bars, four guide posts, four rolling bearing units, two connections Bar and two polishing wheel sleakers, fixed plate are mounted in front of rack, and two adjust tooth bar and are rotatablely installed in solid by rolling bearing units At left and right sides of fixed board, tooth bar head installation and adjustment handle is adjusted, adjusts and is threadedly coupled connecting rod tail end in the middle part of tooth bar, guide post is inserted Simultaneously relative adjustment tooth bar is symmetrical arranged load extension bar, and connecting rod head end installs polishing wheel sleaker, and polishing wheel sleaker is located at polishing wheel Lower section.

6. a kind of double industrial robot sanding and polishing work stations according to claim 3, it is characterised in that：The polishing wheel Rotating mechanism includes rotary electric machine, rotary electric machine mounting plate, the first synchronizing wheel, synchronous belt, the second synchronizing wheel, transmission shaft, bearing Rotary electric machine mounting plate is fixedly mounted in seat and substrate, substrate lower section, and rotary electric machine is fixedly mounted on rotary electric machine mounting plate side, Rotary electric machine output shaft passes through rotary electric machine mounting plate that the first synchronizing wheel is fixedly mounted, 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 transmission shaft, and both ends of the drive shaft is rotatablely installed bearing block, bearing block installation Above substrate, transmission shaft left and right ends are respectively fixedly connected with two polishing wheels in left and right across bearing block.

7. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：The control system System include central processing unit, the pre- storing module of part model, the pre- storing module of device model, off-line programing module, robot motion imitate True module, code generation module, work origin calibration module, abrasive band alarm module, polishing alarm module, part model prestore mould It is previously stored with the part model of different size model in block, different number combination is previously stored in the pre- storing module of device model Belt sander, polishing machine model, off-line programing module calls in work from the pre- storing module of part model, the pre- storing module of device model respectively Part 3D models, equipment 3D models, central processing unit generate robot motion's rail according to workpiece 3D models, the equipment 3D models called in Mark, robot motion's emulation module are checked according to movement locus virtual analog robot motion in test machine people's motion process Whether there is or not mechanical position limitations or collision to generate, if robot motion track is normal, code generation module is according to robot motion track It generates post code and is delivered directly to robot control cabinet, operator is transported by work origin calibration module calibration machine human simulation The origin of the origin of dynamic rail mark and practical belt sander, polishing machine further increases the accuracy of robot motion track, abrasive band report Alert module calculates the polishing amount in single abrasive band automatically, and when polishing amount reaches preset value, abrasive band alarm module sends out alarm sounds Operator replaces, and polishing alarm module monitors the loss of buffing wax and polishing wheel by sensor automatically, when being lost totally, throws Light alarm module sends out alarm sounds operator replacement.

8. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：The belt sander Including polishing unit, mobile unit and pedestal, chassis interior installs mobile unit, and mobile unit driving polishing unit moves integrally Close to workpiece to be polished, the polishing unit includes big riser, abrasive band, motor, power wheel, the first idle pulley, convex rubber tire, tensioning dress It sets, motor, motor output shaft connection power wheel, tensioning apparatus installation is fixedly mounted in grinding wheel and the second idle pulley, big riser lower part In big riser and it is equipped with moveable tensioning wheel, motor drives power wheel rotation, and abrasive band is wrapped in power wheel, the first idle pulley, convex The peripheral side revolution of rubber tire, tensioning wheel, grinding wheel and the second idle pulley, adjustment tensioning apparatus are horizontally mounted or vertically-mounted to change Become abrasive band winding arrangement.

9. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：The intermediate station Including column, supporting rod, placement plate and locating piece, column is mounted in polishing safe house and positioned at the first industrial robot and the Between two industrial robots, two supporting rods are installed above column, placement plate is installed above supporting rod, installation is fixed in the middle part of placement plate Position block, tap location hole are matched with locating piece.

10. a kind of double industrial robot sanding and polishing work stations according to claim 1, it is characterised in that：The polishing Safe house avris is equipped with openable safety door, and the electronic lock for preventing safety door from opening by mistake is equipped on safety door, safe house of polishing Inside installation human body sensor, when human body sensor detects someone inside polishing safe house, the control polishing of control system is thrown Optical workstation cannot start.