CN208005408U - It is a kind of can automatic tool changer grinding machine hand - Google Patents

It is a kind of can automatic tool changer grinding machine hand Download PDF

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Publication number
CN208005408U
CN208005408U CN201820465568.4U CN201820465568U CN208005408U CN 208005408 U CN208005408 U CN 208005408U CN 201820465568 U CN201820465568 U CN 201820465568U CN 208005408 U CN208005408 U CN 208005408U
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large arm
drive motor
rotary drive
driving
wrist
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Chinese (zh)
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江帆
陈玉梁
王子豪
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Guangzhou University
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Guangzhou University
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Abstract

The utility model discloses it is a kind of can automatic tool changer grinding machine hand, including manipulator and grinding device in arm end is set, wherein, the grinding device includes mounting plate, setting multiple workpiece polishing mechanisms on a mounting board and the first rotary drive mechanism rotated for drive installation plate；Wherein, multiple workpiece polishing mechanisms are uniformly arranged along the circumferencial direction of mounting plate；Each workpiece polishing mechanism includes polish grinding wheel and the second rotary drive mechanism of the driving polishing grinding wheel rotation.The grinding machine hand of the utility model can greatly save tool change time, to improve working efficiency.

Description

It is a kind of can automatic tool changer grinding machine hand
Technical field
The utility model is related to a kind of manipulators, and in particular to it is a kind of can automatic tool changer grinding machine hand.
Background technology
It is generally also located against the various abrasive machine of operation in many medium-sized and small enterprises and completes polishing work, the degree of automation is not Height, or even when handling miniature parts, more it is located against artificial single-piece polishing.The working efficiency of these modes is very low, Product quality is also irregular, and secondly working environment is quite severe, and significant component of enterprise is difficult to accomplish in workshop effectively Anti- dust noise-proofing, it is most important that these modes also have greatly security risk, and the destructiveness of accident is quite big.Cause This, in order to improve grinding efficiency and polishing quality, and solves the security risk in production process, occurs a kind of beat on the market Manipulator is ground, such as the application for a patent for invention that application publication number is CN104290011A discloses " robot automatic tool changer polishing Work piece apparatus ", the robot automatic tool changer polishing work piece apparatus can be selected not automatically for workpiece difference resemblance Same cutter carries out polishing operation, occupies little space, compact in design, securely and reliably, track are accurate, stable quality.
However the exchanging knives process in above-mentioned robot automatic tool changer polishing work piece apparatus is mounted on by robot drive The dynamic cutter head of robot arm end moves in Automatic tool storehouse, described according to workpiece configurations feature for the demand of cutter Dynamic cutter head selects and installs suitable cutter.In this way, the robot automatic tool changer polishing work piece apparatus needs replacing knife every time When tool, the robot is required for that the dynamic cutter head is driven to reach Automatic tool storehouse to complete the selection and replacement of cutter, in this way Tool change time is just considerably increased, production efficiency is reduced.
Utility model content
The technical problem to be solved by the present invention is to provide it is a kind of can automatic tool changer grinding machine hand, the grinding machine Hand can greatly save tool change time, to improve working efficiency.
The utility model solve above-mentioned technical problem technical solution be：
It is a kind of can automatic tool changer grinding machine hand, including manipulator and grinding device in arm end is set, Wherein, the grinding device includes mounting plate, multiple workpiece polishing mechanisms on a mounting board is arranged and turn for drive installation plate The first dynamic rotary drive mechanism；Wherein, multiple workpiece polishing mechanisms are uniformly arranged along the circumferencial direction of mounting plate；Each sander Structure includes polish grinding wheel and the second rotary drive mechanism of the driving polishing grinding wheel rotation.
Preferably, the manipulator includes pedestal, large arm, forearm, wrist and mounting bracket, wherein the pedestal and institute It states and is provided with large arm rotary drive mechanism for driving the large arm to be rotated around its axial line between large arm and for driving Move the large arm swing driving mechanism that the large arm is swung on vertical plane；It is provided between the large arm and forearm for driving State the forearm swing driving mechanism that forearm is swung on vertical plane；It is provided between the forearm and the wrist for driving State the wrist swinging driving mechanism that wrist is swung on vertical plane；The mounting bracket is mounted on the end of the wrist, the hand The third rotary drive mechanism for driving mounting bracket to be rotated around the axial line of wrist is provided between wrist and the mounting bracket.
Preferably, the large arm rotary drive mechanism includes large arm rotary drive motor, the large arm rotary drive motor On pedestal, the main shaft of the large arm rotary drive motor is connect with the large arm.
Preferably, the large arm swing driving mechanism includes swinging mounting base and large arm wobble drive motor, wherein institute Swing mounting base setting is stated to connect on the pedestal, and with the main shaft of the large arm rotary drive motor；The big arm swing Driving motor is mounted in the swing mounting base, and the main shaft of the large arm wobble drive motor is connect with the large arm.
Preferably, further include the large arm elevator drive machine for driving large arm to move up and down being arranged in the large arm Structure, the large arm lift drive mechanism include the lifting mounting base being arranged inside the large arm, the rack being arranged in large arm, It is arranged in lifting mounting base and with the rack meshed gears and for driving the 4th rotation of the gear rotation to drive Motivation structure, wherein the lifting mounting base is connect with the main shaft of the large arm wobble drive motor；4th rotary driving machine Structure includes the 4th rotary drive motor and synchronous drive mechanism, and the synchronous drive mechanism includes active synchronization wheel, driven same Step wheel and synchronous belt, wherein the driven synchronizing wheel and the gear are coaxially connected, the master of the 4th rotary drive motor Axis is connect with the active synchronization wheel, and the synchronous belt is looped around in the active synchronization wheel and driven synchronizing wheel.
Preferably, the 4th rotary drive motor is same, the 4th rotation with the large arm wobble drive motor It further includes transmission shaft and the shift fork clutch being arranged on the transmission shaft to turn driving mechanism, wherein the transmission shaft one End is connect with the main shaft of the large arm wobble drive motor, and the other end is rotatably connected on the swing peace after passing through lifting mounting base It fills on seat；The active synchronization wheel is mounted on the transmission shaft, and axis is provided between the active synchronization wheel and the transmission shaft It holds；The shift fork clutch includes shift fork, forked plectrum wheel and for driving the shift fork on the transmission shaft along the biography The transversal driving mechanism of the axis direction movement of moving axis, wherein the shift fork is connect with the forked plectrum wheel, and the two of the forked plectrum wheel Side is provided with the first moving tooth and the second moving tooth；It is provided in the active synchronization wheel and engages with the first moving tooth of the forked plectrum wheel Synchronous gear；The tooth engaged engaged with second moving tooth is provided in the lifting mounting base；When the large arm moves up and down When, first moving tooth and the synchronous tooth engagement；When the large arm does pendulum motion, second moving tooth is engaged with described Tooth engagement.
Preferably, the transversal driving mechanism includes link block, and described link block one end is hinged on the shift fork, another End is extended outside the lifting mounting base, and the lifting mounting base is being provided with regulating tank with the link block corresponding position, The length direction of the regulating tank is parallel with the axis direction of the transmission shaft.
Preferably, the forearm swing driving mechanism includes forearm wobble drive motor, the forearm wobble drive motor One end far from pedestal, the main shaft of the forearm wobble drive motor are connect with the forearm in the large arm.
Preferably, the wrist swinging driving mechanism includes wrist swinging driving motor, the wrist swinging driving motor One end far from large arm, the main shaft of the wrist swinging driving motor are connect with the wrist in forearm.
Preferably, the third rotary drive mechanism includes the third rotary drive motor being arranged inside the wrist, The main shaft of the third rotary drive motor is connect with the mounting bracket；First rotary drive mechanism includes that the first rotation is driven Dynamic motor, first rotary drive motor are mounted on mounting bracket, the main shaft of first rotary drive motor and the installation Plate connects.
The utility model can the operation principle of grinding machine hand of automatic tool changer be：
When work, grinding device moves in workpiece at the position for needing to polish described in the machinery hand-motion, then, root According to workpiece configurations feature and for the demand of cutter, first rotary drive mechanism drives the mounting plate rotation so that Corresponding polishing grinding wheel, which is located in the workpiece, to be needed at the position polished, and then, is beaten described in the drive of the second rotary drive mechanism Grinding abrasive disk works, and is moved by mounting plate described in mechanical hand-motion so that the polishing grinding wheel can be to each of workpiece Machined surface is polished.When needing tool changing during polishing, first rotary drive mechanism can directly drive the peace Loading board turns an angle so that the polishing grinding wheel first motion needed replacing is to the position of previous grinding wheel of polishing, and the It polishes workpiece under the driving of two rotary drive mechanisms.Since the grinding machine is provided with multiple polishing grinding wheels on hand, It therefore can free switching also need not be in each tool changing it is not necessary that automatic tool changer library is in addition arranged again during polishing The dynamic cutter head as described in robot automatic tool changer in the prior art polishing work piece apparatus driving, which moves in automatic tool changer library, to be replaced Cutter not only saves tool change time, and improves working efficiency in this way.
The utility model compared with prior art, has the following advantages that and advantageous effect：
Multiple polishing grinding wheels are provided on the grinding device that can be in the grinding machine hand of automatic tool changer of the utility model, are led to Crossing the first rotary drive mechanism drives the mounting plate rotation that can realize the free switching between multiple polishing grinding wheels, is not necessarily to In addition automatic tool changer library is set again, need not also polish as robot automatic tool changer in the prior art described in work piece apparatus driving Dynamic cutter head, which moves in automatic tool changer library, replaces cutter, not only saves tool change time in this way, and improve working efficiency.
Description of the drawings
Fig. 1 and Fig. 2 be the utility model can automatic tool changer grinding machine hand specific implementation mode stereochemical structure Schematic diagram.
Fig. 3 is rearview (removal large arm wobble drive motor).
Fig. 4 is the sectional view in the directions A-A of Fig. 3.
Fig. 5 is the partial enlarged view at B in Fig. 3.
Fig. 6 is the partial enlarged view at C in Fig. 3.
Fig. 7 is the dimensional structure diagram inside large arm.
Fig. 8 is the dimensional structure diagram (part) of shift fork clutch.
Fig. 9 is the dimensional structure diagram of forked plectrum wheel.
Figure 10 is the dimensional structure diagram of shift fork.
Figure 11 is the dimensional structure diagram for lifting mounting base.
Figure 12 is the dimensional structure diagram of active synchronization wheel.
Specific implementation mode
The present invention will be further described in detail with reference to the embodiments and the accompanying drawings, but the implementation of the utility model Mode is without being limited thereto.
Referring to Fig. 1 and Fig. 2, the utility model can automatic tool changer grinding machine hand include manipulator and be arranged in machine The grinding device 6 of tool hand end, wherein the grinding device 6 includes mounting plate 6-1, multiple beating of being arranged on mounting plate 6-1 Grinding machine structure and the first rotary drive mechanism rotated for drive installation plate 6-1；Wherein, the mounting plate 6-1 is circle, institute Multiple workpiece polishing mechanisms are stated to be uniformly arranged along the circumferencial direction of mounting plate 6-1；Each workpiece polishing mechanism include polishing grinding wheel 6-2 with And the second rotary drive mechanism of the driving polishing grinding wheel 6-2 rotations.
Referring to Fig. 1-Fig. 4, the manipulator includes pedestal 1, large arm 2, forearm 3, wrist 4 and mounting bracket 5, wherein institute State the large arm rotary drive mechanism being provided in pedestal 1 and the large arm 2 for driving the large arm 2 to be rotated around its axial line And the large arm swing driving mechanism for driving the large arm 2 to be swung on vertical plane；It is set between the large arm 2 and forearm 3 It is equipped with the forearm swing driving mechanism for driving the forearm 3 to be swung on vertical plane；The forearm 3 and the wrist 4 it Between be provided with hand swing driving mechanism for driving the wrist 4 to be swung on vertical plane；The mounting bracket 5 is mounted on described The end of wrist 4 is provided between the wrist 4 and the mounting bracket 5 for driving mounting bracket 5 along the axis direction of wrist 4 The third rotary drive mechanism of rotation.In this way, being put by the large arm rotary drive mechanism, large arm swing driving mechanism, forearm Dynamic mutual cooperation between driving mechanism, wrist swinging driving mechanism and third rotary drive mechanism, to be beaten described in drive Each machined surface that mill apparatus 6 moves to workpiece is polished.
Referring to Fig. 1-Fig. 4, the large arm rotary drive mechanism includes large arm rotary drive motor 8, and the large arm rotation is driven Dynamic motor 8 is mounted on pedestal 1, and the main shaft of the large arm rotary drive motor 8 is connect with the large arm 2.It can pass through in this way Large arm rotary drive motor 8 is driven to rotate, to drive large arm 2 to rotate along the axis direction of the large arm 2.
Referring to Fig. 1-Fig. 4, the large arm swing driving mechanism includes swinging mounting base 7 and large arm wobble drive motor 9, Wherein, the setting of swing mounting base 7 is connect on the pedestal 1, and with the main shaft of the large arm rotary drive motor 8；Institute Large arm wobble drive motor 9 is stated in the swing mounting base 7, and the main shaft of the large arm wobble drive motor 9 with it is described Large arm 2 connects.In this way, by starting large arm wobble drive motor 9, so that it may to drive the large arm 2 to be swung on vertical plane.
Referring to Fig. 1-Figure 12, the grinding machine hand further includes being arranged in the large arm 2 for driving large arm 2 to rise The large arm lift drive mechanism of movement drops；Wherein, the large arm lift drive mechanism includes the liter being arranged inside the large arm 2 Drop mounting base 14, be arranged in large arm 2 rack 15, setting lifting mounting base 14 on and with 15 meshed gears of the rack 16 and for drive the gear 16 rotate the 4th rotary drive mechanism, wherein the lifting mounting base 14 with it is described greatly The main shaft of arm swing driving motor 9 connects；4th rotary drive mechanism includes the 4th rotary drive motor and synchronous biography Motivation structure 17, the synchronous drive mechanism 17 include active synchronization wheel 17-1, driven synchronizing wheel 17-2 and synchronous belt 17-3, In, the driven synchronizing wheel 17-2 and the gear 16 are coaxially connected, main shaft and the master of the 4th rotary drive motor Dynamic synchronizing wheel 17-1 connections, the synchronous belt 17-3 are looped around on the active synchronization wheel 17-1 and driven synchronizing wheel 17-2.This Sample drives the active synchronization wheel 17-1 to rotate by the 4th rotary drive motor, to drive driven synchronizing wheel 17-2 and with The gear 16 coaxially connected driven synchronizing wheel 17-2 rotates so that the rack 15 in large arm 2 is done together with large arm 2 Vertical motion thereby realizes the lifting of large arm 2.
Referring to Fig. 1-Figure 12, the 4th rotary drive motor and the large arm wobble drive motor 9 be it is same, it is described 4th rotary drive mechanism further includes transmission shaft 17-6 and the shift fork clutch 18 that is arranged on the transmission shaft 17-6, In, the one end the transmission shaft 17-6 is connect with the main shaft of the large arm wobble drive motor 9, and the other end passes through lifting mounting base 14 After be rotatably connected in the swing mounting base 7；The active synchronization wheel 17-1 is mounted on the transmission shaft 17-6, and the master It is dynamic to be provided with bearing 17-5 between synchronizing wheel 17-1 and the transmission shaft 17-6；The shift fork clutch 18 includes shift fork 18- 4, forked plectrum wheel 18-1 and for driving the shift fork 18-4 on the transmission shaft 17-6 along the axis side of transmission shaft 17-6 To the transversal driving mechanism of movement, wherein the shift fork 18-4 is connect with the forked plectrum wheel 18-1, and the two of the forked plectrum wheel 18-1 Side is provided on the first moving tooth 18-3 and the second moving tooth 18-2, the active synchronization wheel 17-1 and is provided with and the forked plectrum wheel 18-1 The first moving tooth 18-3 engagement synchronous gear 17-4；It is provided in the lifting mounting base 14 and is engaged with the second moving tooth 18-2 Tooth engaged 14-1；When the large arm 2 moves up and down, the first moving tooth 18-3 is engaged with the synchronous gear 17-4；When When the large arm 2 does pendulum motion, the second moving tooth 18-2 is engaged with the tooth engaged 14-1.When the grinding machine hand needs When moving up and down, transversal driving mechanism drives the shift fork 18-4 to be moved on the transmission shaft 17-6 so that described group Fork 18-4 pushes the first moving tooth 18-3 and active synchronization wheel 17- in the forked plectrum wheel 18-1 movements and forked plectrum wheel 18-1 Synchronous gear 17-4 engagements in 1 thus can drive large arm 2 to lift to drive the active synchronization wheel 17-1 to rotate Movement.When large arm 2 needs to do wobbling action, transversal driving mechanism drives the shift fork 18-4 anti-on the transmission shaft 17-6 To movement so that the first moving tooth 18-3 of the forked plectrum wheel 18-1 is detached with the synchronous gear 17-4 of the active synchronization wheel 17-1, Second moving tooth 18-2 of the other sides forked plectrum wheel 18-1 is engaged with the tooth engaged 14-1 in the lifting mounting base 14, to drive It lifts mounting base 14 and large arm 2 is swung.Further, since in the large arm swing driving mechanism and third rotary drive mechanism Power source is the same motor, therefore can dramatically save manufacturing cost.
Referring to Fig. 1-Figure 12, the transversal driving mechanism includes link block 18-5, and the one end the link block 18-5 is hinged on On the shift fork 18-4, the other end extends outside the lifting mounting base 14, the lifting mounting base 14 with the link block The corresponding positions 18-5 are provided with regulating tank 14-2, the axis of the length direction of the regulating tank 14-2 and the transmission shaft 17-6 Direction is parallel.By mobile link block 18-5 forked plectrum wheel 18-1 can be thus driven to drive the shift fork 18-4 to move Moved on the transmission shaft 17-6, and with the synchronous gear 17-4 of the active synchronization wheel 17-1 or the lifting mounting base 14 On tooth engaged 14-1 engagement, and then the large arm 2 is driven to move up and down or drive the large arm 2 to be swung on vertical plane.
Referring to Fig. 1-Fig. 4, the forearm swing driving mechanism includes forearm wobble drive motor 10, and the small arm swing is driven Dynamic motor 10 is mounted on one end far from pedestal 1 in the large arm 2, main shaft and the forearm of the forearm wobble drive motor 10 3 connections.Its object is to drive the forearm 3 to be swung on vertical plane by forearm wobble drive motor 10.
Referring to Fig. 1-Fig. 4, the hand swing driving mechanism includes wrist swinging driving motor 11, the wrist swinging driving Motor 11 is mounted on one end far from large arm 2 in forearm 3, and the main shaft of the wrist swinging driving motor 11 is connect with the wrist 4. The third rotary drive mechanism includes the third rotary drive motor 13 being arranged inside the wrist 4, the third rotation The main shaft of driving motor 13 is connect with the mounting bracket 5,
Referring to Fig. 1-Fig. 4, first rotary drive mechanism includes the first rotary drive motor 12, and first rotation is driven Dynamic motor 12 is mounted on mounting bracket 5, and the main shaft of first rotary drive motor 12 is connect with the mounting plate 6-1.
Referring to Fig. 1-Fig. 4, the polishing grinding wheel 6-2 is three, and second rotary drive mechanism is three second rotations Driving motor 6-3, three the second rotary drive motor 6-3 are mounted on the mounting plate 6-1, and each second rotation driving electricity The main shaft of machine 6-3 is connect with a polishing grinding wheel 6-2 respectively.
Referring to Fig. 1-Figure 12, the utility model can the operation principle of grinding machine hand of automatic tool changer be：
When work, grinding device 6 moves in workpiece at the position for needing to polish described in the machinery hand-motion, then, According to workpiece configurations feature for the demand of cutter, first rotary drive mechanism drives the mounting plate 6-1 rotations so that Corresponding polishing grinding wheel 6-2, which is located in the workpiece, to be needed at the position polished, then, described in the drive of the second rotary drive mechanism The grinding wheel 6-2 that polishes works, and is moved by mounting plate 6-1 described in mechanical hand-motion so that the polishing grinding wheel 6-2 can be to work Each machined surface of part is polished.When needing tool changing during polishing, first rotary drive mechanism can be direct The mounting plate 6-1 is driven to turn an angle so that the polishing grinding wheel 6-2 first motions needed replacing to previous polishing sand The position of 6-2 is taken turns, and is polished workpiece under the driving of the second rotary drive mechanism.Since the grinding machine is set on hand Be equipped with multiple polishing grinding wheel 6-2, thus can during polishing free switching, it is not necessary that automatic tool changer library is in addition arranged again, Also it need not be transported the dynamic cutter head as described in robot automatic tool changer in the prior art polishing work piece apparatus driving in each tool changing It moves and replaces cutter in automatic tool changer library, not only save tool change time in this way, and improve working efficiency.
Above-mentioned is the preferable embodiment of the utility model, but the embodiment of the utility model is not by the above Limitation, other any Spirit Essences without departing from the utility model under principle made by changes, modify, substitute, combine, simple Change, should be equivalent substitute mode, be included within the scope of protection of the utility model.

Claims (10)

1. it is a kind of can automatic tool changer grinding machine hand, including manipulator and grinding device in arm end is set, It is characterized in that, the grinding device includes mounting plate, multiple workpiece polishing mechanisms on a mounting board are arranged and are installed for driving First rotary drive mechanism of plate rotation；Wherein, multiple workpiece polishing mechanisms are uniformly arranged along the circumferencial direction of mounting plate；Each beat Grinding machine structure includes polish grinding wheel and the second rotary drive mechanism of the driving polishing grinding wheel rotation.
2. it is according to claim 1 can automatic tool changer grinding machine hand, which is characterized in that the manipulator includes base Seat, large arm, forearm, wrist and mounting bracket, wherein be provided between the pedestal and the large arm for driving the large arm Large arm pendulum around the large arm rotary drive mechanism of its axial line rotation and for driving the large arm to be swung on vertical plane Dynamic driving mechanism；The small arm swing for driving the forearm to swing on vertical plane is provided between the large arm and forearm to drive Motivation structure；The wrist swinging for driving the wrist to swing on vertical plane is provided between the forearm and the wrist to drive Motivation structure；The mounting bracket is mounted on the end of the wrist, is provided between the wrist and the mounting bracket for driving peace Shelve the third rotary drive mechanism of the axial line rotation around wrist.
3. it is according to claim 2 can automatic tool changer grinding machine hand, which is characterized in that the large arm rotary driving machine Structure includes large arm rotary drive motor, and the large arm rotary drive motor is mounted on pedestal, the large arm rotary drive motor Main shaft is connect with the large arm.
4. it is according to claim 3 can automatic tool changer grinding machine hand, which is characterized in that the large arm wobble drive machine Structure includes swinging mounting base and large arm wobble drive motor, wherein and the swing mounting base is arranged on the pedestal, and with The main shaft of the large arm rotary drive motor connects；The large arm wobble drive motor is mounted in the swing mounting base, should The main shaft of large arm wobble drive motor is connect with the large arm.
5. it is according to claim 4 can automatic tool changer grinding machine hand, which is characterized in that further include setting described big On arm includes that setting exists for driving the large arm lift drive mechanism that large arm moves up and down, the large arm lift drive mechanism Lifting mounting base inside the large arm, the rack being arranged in large arm, setting are nibbled in lifting mounting base and with the rack The gear of conjunction and the 4th rotary drive mechanism for driving gear rotation, wherein the lifting mounting base with it is described The main shaft of large arm wobble drive motor connects；4th rotary drive mechanism includes the 4th rotary drive motor and synchronous biography Motivation structure, the synchronous drive mechanism include active synchronization wheel, driven synchronizing wheel and synchronous belt, wherein the driven synchronization Wheel is coaxially connected with the gear, and the main shaft of the 4th rotary drive motor is connect with the active synchronization wheel, the synchronization Band is looped around in the active synchronization wheel and driven synchronizing wheel.
6. it is according to claim 5 can automatic tool changer grinding machine hand, which is characterized in that it is described 4th rotation driving electricity Machine is same with the large arm wobble drive motor, and the 4th rotary drive mechanism further includes transmission shaft and is arranged in institute State the shift fork clutch on transmission shaft, wherein described transmission shaft one end is connect with the main shaft of the large arm wobble drive motor, The other end is rotatably connected on after passing through lifting mounting base in the swing mounting base；The active synchronization wheel is mounted on the transmission On axis, bearing is provided between the active synchronization wheel and the transmission shaft；The shift fork clutch include shift fork, forked plectrum wheel with And the transversal driving mechanism for driving the shift fork to be moved along the axis direction of the transmission shaft on the transmission shaft, In, the shift fork is connect with the forked plectrum wheel, and the both sides of the forked plectrum wheel are provided with the first moving tooth and the second moving tooth；The active The synchronous gear engaged with the first moving tooth of the forked plectrum wheel is provided in synchronizing wheel；Be provided in the lifting mounting base with it is described The tooth engaged of second moving tooth engagement；When the large arm moves up and down, first moving tooth and the synchronous tooth engagement；Work as institute When stating large arm and doing pendulum motion, second moving tooth is engaged tooth engagement with described.
7. it is according to claim 6 can automatic tool changer grinding machine hand, which is characterized in that the transversal driving mechanism packet Link block is included, described link block one end is hinged on the shift fork, and the other end extends outside the lifting mounting base, the lifting Mounting base is being provided with regulating tank, the length direction of the regulating tank and the transmission shaft with the link block corresponding position Axis direction is parallel.
8. it is according to claim 7 can automatic tool changer grinding machine hand, which is characterized in that the forearm wobble drive machine Structure includes forearm wobble drive motor, and the forearm wobble drive motor is mounted on one end far from pedestal in the large arm, should The main shaft of forearm wobble drive motor is connect with the forearm.
9. it is according to claim 8 can automatic tool changer grinding machine hand, which is characterized in that the wrist swinging driving machine Structure includes wrist swinging driving motor, and the wrist swinging driving motor is mounted on one end far from large arm, the wrist in forearm The main shaft of wobble drive motor is connect with the wrist.
10. it is according to claim 9 can automatic tool changer grinding machine hand, which is characterized in that third rotation driving Mechanism includes the third rotary drive motor being arranged inside the wrist, the main shaft of the third rotary drive motor with it is described Mounting bracket connects；First rotary drive mechanism includes the first rotary drive motor, the first rotary drive motor installation On mounting bracket, the main shaft of first rotary drive motor is connect with the mounting plate.
CN201820465568.4U 2018-03-30 2018-03-30 It is a kind of can automatic tool changer grinding machine hand Active CN208005408U (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110405580A (en) * 2019-08-06 2019-11-05 盐城市鑫益达精密机械有限公司 A kind of automobile door frame automation polishing machine tool
CN110587430A (en) * 2019-08-16 2019-12-20 徐州远航模具有限公司 Equipment suitable for grinding die
CN111266949A (en) * 2020-03-05 2020-06-12 山东华宇工学院 Brake friction plate in-place turning and grinding machine
CN111730618A (en) * 2020-07-13 2020-10-02 马鞍山思卡瑞自动化科技有限公司 Automatic grinding tool switching device for grinding robot and implementation method thereof
CN111941268A (en) * 2019-05-14 2020-11-17 东京毅力科创株式会社 Substrate processing apparatus and substrate processing method

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111941268A (en) * 2019-05-14 2020-11-17 东京毅力科创株式会社 Substrate processing apparatus and substrate processing method
CN111941268B (en) * 2019-05-14 2024-04-05 东京毅力科创株式会社 Substrate processing apparatus and substrate processing method
CN110405580A (en) * 2019-08-06 2019-11-05 盐城市鑫益达精密机械有限公司 A kind of automobile door frame automation polishing machine tool
CN110587430A (en) * 2019-08-16 2019-12-20 徐州远航模具有限公司 Equipment suitable for grinding die
CN111266949A (en) * 2020-03-05 2020-06-12 山东华宇工学院 Brake friction plate in-place turning and grinding machine
CN111730618A (en) * 2020-07-13 2020-10-02 马鞍山思卡瑞自动化科技有限公司 Automatic grinding tool switching device for grinding robot and implementation method thereof

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