An automatic replacement device and a polishing production line for a ceramic polishing machine

Abstract

The present invention discloses an automatic replacement device and a polishing production line of a ceramic polishing machine. The automatic replacement device includes a six-axis robot, and the six-axis robot includes a robot base, a robotic arm, and a robotic hand. The robot base is used for fixedly installing on the six-axis robot. The robotic arm is used to cooperate with the robotic hand to achieve automatic replacement of processing tools. The robotic hand includes a first clamping component and a second clamping component. The first clamping component is used for clamping the processing tool that needs to be replaced on the processing equipment. The second clamping component is used for clamping the processing tool to be replaced and installing the processing tool to be replaced on the processing equipment. Through the cooperation of the first clamping component and the second clamping component, the present invention realizes the automatic replacement of processing tools, greatly improving the production efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of ceramic processing equipment, and particularly relates to an automatic replacement device and a polishing production line of a ceramic polishing machine. Background Art

[0002] When processing ceramics, a grinding device is required. The grinding head is a consumable. For the replacement of the grinding head, the current ceramic edging production lines all adopt the manual replacement method, which has cumbersome steps and low production efficiency. Summary of the Invention

[0003] In order to overcome the deficiencies of the prior art, the present invention provides an automatic replacement device to solve the above traditional problems and realize the automatic replacement of the polishing block, greatly improving the production efficiency.

[0004] The present invention also provides a polishing production line of a ceramic polishing machine using the automatic replacement device.

[0005] The present invention is implemented by the following technical solutions:

[0006] An automatic replacement device includes a six-axis robot. The six-axis robot includes a robot base, a robotic arm, and a robotic hand. The robot base is used for fixedly installing on the six-axis robot. The robotic arm is used to cooperate with the robotic hand to realize the automatic replacement of the processing tool. The robotic hand includes a first clamping component and a second clamping component. The first clamping component is used for clamping the processing tool that needs to be replaced on the processing equipment. The second clamping component is used for clamping the processing tool to be replaced and installing the processing tool to be replaced on the processing equipment.

[0007] Preferably, the automatic replacement device further includes a guide rail assembly. The guide rail assembly includes a guide rail and a moving driving component. The six-axis robot is installed on the guide rail through the robot base. The moving driving component drives the six-axis robot to move along the guide rail.

[0008] Preferably, the guide rail includes a first guide rail and a second guide rail. The moving driving component includes a main driving wheel, an auxiliary driving wheel, and a moving driving module connecting the first guide rail and the second guide rail. The main driving wheel and the auxiliary driving wheel are respectively located at opposite ends of the track. The moving driving module is used for driving the main driving wheel and the auxiliary driving wheel to rotate.

[0009] Preferably, the first clamping component includes a first clamping piece, a second clamping piece, and a clamping driving module. The first clamping piece and the second clamping piece are arranged oppositely. The clamping driving module is used for driving the first clamping piece and the second clamping piece to perform the clamping work.

[0010] Preferably, the second clamping component has the same structure as the first clamping component and is arranged side by side. The robotic arm includes a rotation module for driving the robotic hand to rotate.

[0011] Preferably, waste processing tool trays and processing tool trays to be replaced are also installed on opposite sides of the robot base.

[0012] The present invention also provides a ceramic polishing machine polishing production line, including the automatic replacement device described in any one of the above and multiple ceramic polishing machines.

[0013] Preferably, a grinding block tray and a grinding block tray to be replaced are also installed on opposite sides of the robot base. The waste grinding block tray is arranged close to one side of the ceramic polishing machine polishing production line, and the grinding block tray to be replaced is arranged far from one side of the ceramic polishing machine polishing production line.

[0014] Preferably, a safety door and a switch driving module are arranged on the ceramic polishing machine. The switch driving module is used to drive the safety door to open and close.

[0015] Preferably, the ceramic polishing machine includes a polishing grinding disc with a mounting base and polishing grinding blocks. The mounting base is provided with a clamping groove, and the polishing grinding blocks are provided with clamping blocks clamped on the clamping groove. The clamping blocks and the mounting base are magnetically connected.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] Through the cooperation of the first clamping component and the second clamping component, the present invention realizes the automatic replacement of processing tools, greatly improving the production efficiency.

[0018] The automatic replacement device of the present invention, through the cooperation of the guide rail component and the six-axis robot, takes out the waste module on the polishing grinding disc and simultaneously installs the module to be replaced, realizing the automatic replacement of the polishing grinding blocks and greatly improving the production efficiency.

[0019] Through the improvement of the structures of the safety door and the polishing grinding disc, the ceramic polishing machine polishing production line of the present invention cooperates with the automatic replacement device to replace the grinding blocks, avoiding manual participation in the replacement, further improving the production safety and production efficiency. Description of the Drawings

[0020] Figure 1 It is a schematic structural diagram of the six-axis robot in the automatic replacement device of the present invention;

[0021] Figure 2 is Figure 1 The schematic structural diagram of the automatic replacement device shown for installation on a ceramic polishing machine polishing production line;

[0022] Figure 3 The front view of the automatic replacement device shown in Figure 2 Fig. 4, in which the six-axis robot is not shown;

[0023] Figure 4 The Figure 2 side sectional view of a single ceramic polishing machine shown in Fig. 5.

[0024] In the figure: 10, automatic replacement device; 20, guide rail assembly; 21, first guide rail; 22, second guide rail; 23, moving drive assembly; 230, main drive wheel; 231, auxiliary drive wheel; 232, moving drive module; 30, six-axis robot; 31, robot base; 310, waste grinding block disk; 311, grinding block disk to be replaced; 318, second fixing block; 319, first fixing block; 32, robotic arm; 329, rotating module; 33, manipulator; 330, first clamping assembly; 331, second clamping assembly; 90, ceramic polishing machine; 91, safety door; 92, polishing grinding disk; 93, polishing grinding block. Specific embodiments

[0025] Next, in combination with the accompanying drawings and specific embodiments, the present invention will be further described:

[0026] Please refer to Figure 1 , an automatic replacement device 10 of the present invention, including a six-axis robot 30, the six-axis robot 30 includes a robot base 31, a robotic arm 32 and a manipulator 33, the robot base 31 is used for fixed installation on the six-axis robot 30, the robotic arm 32 is used to cooperate with the manipulator 33 to realize the automatic replacement of processing tools, the manipulator 33 includes a first clamping assembly 330 and a second clamping assembly 331, the first clamping assembly 330 is used to clamp the processing tool that needs to be replaced on the processing equipment, and the second clamping assembly 331 is used to clamp the processing tool to be replaced and install the processing tool to be replaced on the processing equipment. In one embodiment, waste processing tool disks and processing tool disks to be replaced are further installed on opposite sides of the robot base 31.

[0027] The above automatic replacement device 10 realizes the automatic replacement of processing tools through the cooperation of the first clamping assembly 330 and the second clamping assembly 331, greatly improving the production efficiency.

[0028] Please refer to Figure 2, which is the automatic replacement device 10 of the present invention, is used to be installed on a polishing production line of a ceramic polishing machine. There is a polishing disc 92 on the polishing production line of the ceramic polishing machine. The automatic replacement device 10 includes a guide rail assembly 20 and a six-axis robot 30 installed on the guide rail assembly 20. The guide rail assembly 20 includes a first guide rail 21, a second guide rail 22 and a moving drive assembly 23 connecting the first guide rail 21 and the second guide rail 22. The first guide rail 21 and the second guide rail 22 form a track, and the moving drive assembly 23 is used to drive the track to move axially simultaneously; the six-axis robot 30 includes a robot base 31, a robotic arm 32 and a manipulator 33. The robot base is fixedly installed on the track. The robotic arm 32 is used to cooperate with the manipulator 33 to realize the automatic replacement work of the grinding block. The manipulator 33 includes a first clamping component 330 and a second clamping component 331. The first clamping component 330 is used to clamp the waste grinding block on the polishing disc 92, and the second clamping component 331 is used to clamp the grinding block to be replaced and install the grinding block to be replaced on the polishing disc 92.

[0029] Through the cooperation of the guide rail assembly 20 and the six-axis robot 30, the above automatic replacement device 10 takes out the waste module on the polishing disc 92, and then installs the module to be replaced at the same time, realizing the automatic replacement of the polishing grinding block 93, which greatly improves the production efficiency.

[0030] Please refer to again Figure 3 , the moving drive assembly 23 includes a main drive wheel 230, an auxiliary drive wheel 231 and a moving drive module 232 connecting the first guide rail 21 and the second guide rail 22. The main drive wheel 230 and the auxiliary drive wheel 231 are respectively located at opposite ends of the track. The moving drive module 232 is used to drive the main drive wheel 230 and the auxiliary drive wheel 231 to rotate, so as to drive the first guide rail 21 and the second guide rail 22 to move axially, enabling the six-axis robot 30 to move among multiple polishing machines in the polishing production line and realizing the replacement of grinding blocks in multiple polishing machines.

[0031] Please refer to again Figure 1, the first clamping component 330 and the second clamping component 331 are arranged side by side. The first clamping component 330 includes a first clamping piece, a second clamping piece and a clamping drive module. The first clamping piece and the second clamping piece are arranged opposite to each other. The clamping drive module is used to drive the first clamping piece and the second clamping piece to perform the clamping work. The structure of the second clamping component 331 is the same as that of the first clamping component 330. The robotic arm 32 includes a rotation module 329, and the rotation module 329 is used to drive the manipulator 33 to perform the rotation work. It can be understood that the robotic arm 32 can turn the first clamping component 330 and the second clamping component 331 arranged side by side through the rotation module 329. That is, when the first clamping component 330 clamps the waste grinding block, then through the rotation module 329, the first clamping component 330 and the second clamping component 331 are turned to install the grinding block to be replaced on the polishing grinding disc 92, so as to reduce the time for replacing the grinding block.

[0032] Please refer to again Figure 2 , waste grinding block discs 310 and grinding blocks to be replaced discs 311 are further installed on the opposite sides of the robot base 31. The waste grinding block disc 310 is arranged close to the ceramic polishing machine 90 side and is used to place the replaced waste grinding blocks; the grinding blocks to be replaced disc 311 is arranged on the side away from the ceramic polishing machine 90 and is used to place the grinding blocks to be replaced. The positions of the waste grinding block disc 310 and the grinding blocks to be replaced disc 311 are set to facilitate the clamping and placement of the six-axis robot 30.

[0033] The six-axis robot 30 adopted in the present invention is composed of 6 joints to achieve 6-degree-of-freedom movement at the end. It includes rotation (S axis), lower arm (L axis), upper arm (U axis), wrist rotation (R axis), wrist swing (B axis) and wrist rotation (T axis). The control method adopted by the six-axis robot 30 is to regard each joint on the robotic arm as an independent servo mechanism, that is, each axis corresponds to a servo, and each servo is controlled by a bus and is uniformly controlled and coordinated by the controller.

[0034] The present invention also provides a ceramic polishing machine polishing production line. The ceramic polishing machine polishing production line includes an automatic replacement device 10 and multiple ceramic polishing machines 90. Each ceramic polishing machine 90 is arranged side by side to form a production line. The six-axis robot 30 moves axially along the track to replace the waste grinding blocks on each ceramic polishing machine 90 with the grinding blocks to be replaced.

[0035] Please refer to again Figure 3 and Figure 4, a safety door 91 and a switch driving module are provided on the ceramic polishing machine 90, and the switch driving module is used to drive the safety door 91 to open and close. In one embodiment, a first fixing block 319 and a second fixing block 318 are provided on the robot base 31, and the minimum distance between the first fixing block 319 and the second fixing block 318 is equal to the width of the safety door 91. When the six-axis robot 30 moves a distance equal to the distance between the first fixing block 319 and the second fixing block 318 on the track, the position of the manipulator 33 can be moved from the safety door 91 of the first ceramic polishing machine 90 to the safety door 91 of the second ceramic polishing machine 90. Optionally, an infrared emitter is installed on each ceramic polishing machine 90, and a position detector is installed on the polishing block automatic replacement device. The position detector is used to detect the infrared rays reflected by the infrared emitter to ensure the accurate positioning of the polishing block automatic replacement device.

[0036] In another embodiment, the ceramic polishing machine 90 includes a polishing disc 92 with a mounting seat and a polishing block 93. A clamping groove is provided on the mounting seat, and a clamping block is provided on the polishing block 93 and is clamped in the clamping groove. The clamping block and the mounting seat are magnetically connected. After being powered on, the mounting seat has a magnetic attraction effect and can adsorb the polishing block 93. After being powered off, the mounting seat has no magnetic attraction effect, which is convenient for the manipulator 33 to take away the waste block. In one embodiment, the clamping block is made of a metal material.

[0037] In this embodiment, the polishing disc 92 is further provided with a positioning monitor for detecting the orientation of the clamping groove of the mounting seat to facilitate the installation of the manipulator 33.

[0038] In another embodiment, a block replacement tracker and an infrared detector are further provided in the ceramic polishing machine 90. The block replacement tracker is used to record the time of block replacement and the operating time to track the wear condition of the block and replace the block according to the time. The infrared detector is installed at the same horizontal position as the middle part of the block in the ceramic polishing machine 90 and detects the wear condition of the block by reflecting infrared rays at intervals.

[0039] The working principle of replacing the grinding block of the above-mentioned ceramic polishing machine polishing production line is as follows: The grinding block in the ceramic polishing machine 90 can be replaced according to the feedback of the grinding block replacement tracker and the infrared detector. Taking the feedback of the infrared detector as an example, the infrared detector detects the wear condition of the grinding block by emitting infrared rays. When the infrared detector fails to detect the signal feedback from the grinding block, the infrared ray emitter outside the ceramic polishing machine 90 will emit a signal to drive the six-axis robot 30 to move to the ceramic polishing machine 90 that emits the signal. At the same time, the positioning monitor will detect the orientation of the clamping groove of the mounting seat; when the position detector detects the infrared rays reflected by the infrared ray emitter and the position is correct, the switch driving module will drive the safety door 91 to open. At the same time, the second clamping component 331 of the manipulator 33 will clamp the grinding block to be replaced. When the manipulator 33 extends into the ceramic polishing machine 90, the first clamping component 330 enters first, takes out the waste grinding block, and then through the rotation module 329, the first clamping component 330 and the second clamping component 331 change directions, and then the grinding block to be replaced is installed on the polishing disc 92. After installation, the manipulator 33 retracts, the switch driving module will drive the safety door 91 to close, and finally the manipulator places the waste grinding block on the waste grinding block tray 310, and the replacement work is completed.

[0040] Through the improvement of the structures of the safety door 91 and the polishing disc 92 of the above-mentioned ceramic polishing machine polishing production line, it cooperates with the automatic replacement device 10 to carry out the replacement work of the grinding block, so as to avoid manual participation in the replacement, and further improve the production safety and production efficiency.

[0041] The present invention also provides an automatic replacement method for polishing grinding blocks, including the following steps:

[0042] S1: Numbering: Each ceramic polishing machine 90 on the ceramic polishing machine polishing production line is numbered from 1 to 100 from left to right, and the number is fed back to the six-axis robot 30;

[0043] S2: Wear condition detection: At intervals of a period of time, the infrared detector emits infrared rays to detect the wear condition of the grinding block. This period of time is once every 10 minutes; when the infrared detector fails to detect the signal feedback from the grinding block, the infrared ray emitter sends a signal to the six-axis robot 30 to replace the grinding block;

[0044] S3: Stop running and detect the orientation: The ceramic polishing machine 90 stops the rotation of the mounting seat. At the same time, the positioning monitor detects the orientation of the clamping groove of the mounting seat, so that the opening direction of the clamping groove faces the safety door 91;

[0045] S4: Movement and replacement: After receiving the signal, the six-axis robot 30 calculates the distance based on the feedback of the numbered position and quickly moves to the position of the corresponding ceramic polishing machine 90. The position detector is arranged opposite to the infrared rays reflected by the infrared emitter to ensure the accuracy of the position. At the same time, the switch drive module will drive the safety door 91 to open. After the second clamping component 331 of the manipulator 33 clamps the abrasive block to be replaced, it extends into the ceramic polishing machine 90 to take out the waste abrasive block. Then, through the rotation module 329, the first clamping component 330 and the second clamping component 331 are rotated. Then, the abrasive block to be replaced is installed on the polishing disc 92. After installation, the manipulator 33 retracts, and the switch drive module will drive the safety door 91 to close. The manipulator places the waste abrasive block on the waste abrasive block tray 310 and waits for orders.

[0046] S5: Record the replacement time: The abrasive block replacement tracker records the replacement time of the abrasive block. If the abrasive block has not been replaced after 3 months of use, a warning and signal can be issued. After the six-axis robot 30 receives the signal, it performs the abrasive block replacement work in step S4.

[0047] The above embodiments are only the preferred embodiments of the present invention and cannot be used to limit the scope of protection of the present invention. Any non-substantial changes and substitutions made by those skilled in the art based on the present invention belong to the scope of protection required by the present invention.

[0048] For those skilled in the art, various corresponding changes and deformations can be made according to the technical solutions and concepts described above, and all these changes and deformations should be within the scope of protection of the claims of the present invention.

Claims

1. An automatic replacement device, characterized in that, It includes a six-axis robot, which comprises a robot base, a robotic arm and a robotic hand. The robot base is used for fixedly installing on the six-axis robot. The robotic arm includes a rotating module, which is used to drive the robotic hand to rotate for automatically replacing the grinding block of the ceramic polishing machine. The robotic hand includes a first clamping component and a second clamping component. The first clamping component is used for clamping the grinding block that needs to be replaced on the ceramic polishing machine, and the second clamping component is used for clamping the grinding block to be replaced and installing the grinding block to be replaced on the ceramic polishing machine. The ceramic polishing machine includes a polishing grinding disc with a mounting seat and a grinding block. A clamping groove is provided on the mounting seat, and a clamping block is provided on the grinding block and is clamped on the clamping groove. The clamping block and the mounting seat are magnetically connected. After being powered on, the mounting seat has a magnetic attraction effect and can adsorb the grinding block. After being powered off, the mounting seat has no magnetic attraction effect, which is convenient for the robotic hand to take away the waste grinding block. The automatic replacement device further includes a positioning monitor for detecting the orientation of the clamping groove of the mounting seat to facilitate the installation of the grinding block by the robotic hand, an infrared detector for detecting the wear condition of the grinding block, and a position detector for detecting the infrared rays reflected by the infrared emitter to ensure the accurate positioning of the automatic replacement device for the polishing grinding block. The infrared detector is installed inside the ceramic polishing machine at the same horizontal position as the middle part of the grinding block, and the position detector is installed on the automatic replacement device. The infrared detector detects the wear condition of the grinding block by emitting infrared rays. When the infrared detector fails to detect the signal feedback from the grinding block, the infrared emitter outside the ceramic polishing machine will emit a signal to drive the six-axis robot to move to the ceramic polishing machine that emits the signal. At the same time, the positioning monitor will detect the orientation of the clamping groove of the mounting seat. When the position detector detects the infrared rays reflected by the infrared emitter and the position is correct, at the same time, the second clamping component of the robotic hand will clamp the grinding block to be replaced. When the robotic hand extends into the ceramic polishing machine, the first clamping component enters first, takes out the waste grinding block, and then through the rotating module, the first clamping component and the second clamping component change directions, and then the grinding block to be replaced is installed on the polishing grinding disc. After the installation, the robotic hand retracts, and the grinding block replacement work is completed.

2. The automatic replacement device according to claim 1, wherein The automatic replacement device further includes a guide rail component, which includes a guide rail and a moving drive component. The six-axis robot is installed on the guide rail through the robot base, and the moving drive component drives the six-axis robot to move along the guide rail.

3. The automatic replacement device according to claim 2, wherein, The guide rail includes a first guide rail and a second guide rail. The moving drive component includes a main drive wheel, an auxiliary drive wheel and a moving drive module connecting the first guide rail and the second guide rail. The main drive wheel and the auxiliary drive wheel are respectively located at opposite ends of the guide rail, and the moving drive module is used to drive the main drive wheel and the auxiliary drive wheel to rotate.

4. The automatic replacement device according to claim 1, characterized in that, The first clamping component includes a first clamping piece, a second clamping piece and a clamping drive module. The first clamping piece and the second clamping piece are arranged oppositely, and the clamping drive module is used to drive the first clamping piece and the second clamping piece to perform the clamping work.

5. The automatic replacement device according to claim 4, characterized in that, The second clamping component has the same structure as the first clamping component and is arranged side by side.

6. The automatic replacement device according to claim 1, characterized in that, Waste processing tool trays and tool trays to be replaced are also installed on opposite sides of the robot base.

7. A ceramic polishing machine polishing production line, characterized in that, It includes the automatic replacement device described in any one of claims 1 to 6 and multiple ceramic polishing machines.

8. The ceramic polishing machine polishing production line according to claim 7, characterized in that, Waste abrasive block trays and abrasive block trays to be replaced are also installed on opposite sides of the robot base. The waste abrasive block trays are arranged close to one side of the ceramic polishing machine polishing production line, and the abrasive block trays to be replaced are arranged away from one side of the ceramic polishing machine polishing production line.

9. The ceramic polishing machine polishing production line according to claim 7, characterized in that, A safety door and a switch driving module are arranged on the ceramic polishing machine, and the switch driving module is used to drive the opening and closing of the safety door.

10. The ceramic polishing machine polishing production line according to claim 7, characterized in that, The ceramic polishing machine includes a polishing abrasive disc with a mounting base and polishing abrasive blocks. A clamping groove is provided on the mounting base, and a clamping block that is clamped on the clamping groove is provided on the polishing abrasive block. The clamping block and the mounting base are magnetically connected.

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