Dust-free full-automatic lead screw polishing device and working method

Abstract

The application provides a dust-free full-automatic screw rod polishing device and a working method thereof. The polishing device comprises a polishing house, a robot, a feeding mechanism, a discharging mechanism, a polishing mechanism and a dust removal mechanism arranged in the polishing house. The polishing house is a closed structure, and the conveying end of the robot is provided with a clamping positioning mechanism. The feeding mechanism can automatically feed and mark multiple polishing positions of the screw rod. The discharging mechanism is used for automatic discharging. The robot is used for clamping the screw rod for feeding and discharging and conveying to the polishing mechanism for polishing. The polishing mechanism is used for polishing the screw rod and comprises two parallel arranged floating polishing machines. The dust removal mechanism is connected with the polishing mechanism and is used for collecting the debris and dust generated during polishing. The dust-free full-automatic screw rod polishing device adopts a closed polishing house and a dust removal mechanism to remove the debris and dust generated during polishing, so that the polishing is safe and dust-free. Automatic feeding and discharging and polishing are adopted, the degree of automation is high, and the processing safety and production efficiency are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of lead screw processing, in particular to a dust-free full-automatic lead screw polishing equipment. BACKGROUND

[0002] Nowadays, with the continuous development of technology, on the one hand, the intelligent automation of industrial production is required more and more highly, and on the other hand, the production efficiency of the factory has also been greatly required. In the case of meeting the production requirements, the cost is gradually reduced, and the degree of automation is gradually improved.

[0003] In the processing of the lead screw, polishing is needed. However, the existing polishing equipment in the factory is mostly manually loaded and unloaded, which is low in efficiency, and the polishing debris is easy to splash and affect the safety of the workers. In addition, the polishing site is mostly an open site, and the polishing produces debris and dust, which affects the safety of the workers, pollutes the processing environment, and even the debris adheres to the lead screw, which needs to be cleaned twice, further reducing the production efficiency. SUMMARY

[0004] The present application aims to provide a dust-free full-automatic lead screw polishing equipment to overcome the deficiencies in the prior art.

[0005] To solve the above technical problems, the technical scheme of the present application is as follows: a dust-free full-automatic lead screw polishing equipment, comprising a polishing house and a robot, a feeding mechanism, a discharging mechanism, a polishing mechanism and a dust removal mechanism arranged in the polishing house, the polishing house is a closed structure, the feeding mechanism, the discharging mechanism and the polishing mechanism are arranged on three sides of the polishing house, a general control cabinet and a robot control cabinet are arranged on the other side of the polishing house, the robot is arranged at the middle position of the polishing house, and a clamping and positioning mechanism is arranged on the conveying end of the robot; the feeding mechanism can automatically feed and mark multiple polishing positions of the lead screw; the discharging mechanism is used for automatic discharging, the robot is used for clamping the lead screw for feeding and discharging and conveying to the polishing mechanism for polishing; the polishing mechanism is used for polishing the lead screw and comprises two parallel arranged floating polishing machines, and the two floating polishing machines polish different positions of the lead screw respectively; the dust removal mechanism is connected with the polishing mechanism and is used for collecting the debris and dust generated during polishing. The polishing house shell is assembled by a plurality of single-layer sheet metal parts, a transparent observation window, a door and an integrated touch screen are arranged on the side wall of the polishing house. The polishing house is a closed structure, has a lead screw feeding opening, can isolate the dust from flying, has a transparent observation window made of organic glass, facilitates monitoring the running state of the equipment, is provided with an integrated touch screen, facilitates model changing and production state detection, and in addition, a control room is arranged on one side wall of the polishing house and faces the inside of the polishing house, the general control cabinet and the robot control cabinet are arranged in the control room, so that it is not necessary to enter the inside of the polishing house, and maintenance and repair are facilitated.

[0006] Further, the dust-free full-automatic lead screw polishing equipment, the feeding mechanism comprises a bottom frame one, a feeding table, a jacking mechanism, a circumferential positioning mechanism and a scanner, one side above the bottom frame one is provided with the feeding table, the feeding table is arranged obliquely, one end of the lower part of the feeding table is provided with a stop block for stopping the lead screw, the top surface of the stop block is provided with a slope in the same direction as the oblique direction of the feeding table, the jacking mechanism is arranged near the stop block below the feeding table, and one side of the lower part of the feeding table is provided with the circumferential positioning mechanism.

[0007] Further, the dust-free full-automatic lead screw polishing equipment, the jacking mechanism comprises a jacking cylinder, a jacking plate, a jacking rod and a jacking block, the jacking cylinder is fixed on the bottom frame one through a cylinder mounting plate, the telescopic end of the jacking cylinder is connected with the jacking plate, the jacking plate is provided with the jacking rod arranged symmetrically on both sides, the top of the jacking rod is fixed with the jacking block, the top surface of the jacking block is a slope in the same direction as the oblique direction of the feeding table, and the bottom surface of the feeding table is provided with a through hole for the jacking rod to pass through near the stop block.

[0008] Further, the dust-free full-automatic lead screw polishing equipment, the circumferential positioning mechanism comprises a rotating assembly for driving the rotation of the lead screw, a first detection sensor and a second detection sensor arranged on both sides of the rotating assembly, the rotating assembly is arranged on the bottom frame one, the first detection sensor and the second detection sensor detect a polishing position on the lead screw respectively, and the rotating assembly cooperates with the first detection sensor and the second detection sensor to mark and record the polishing position; the rotating assembly comprises a driving shaft, a driven shaft, a driving wheel, a driven wheel and a servo motor one, the driving shaft and the driven shaft are arranged in parallel, both ends of the driving shaft and the driven shaft are provided with support seats fixed on the top surface of the bottom frame one, and the support seats are rotatably connected with the driving shaft and the driven shaft through bearings arranged in the support seats, two driving wheels arranged symmetrically are arranged on the driving shaft, two driven wheels arranged symmetrically are arranged on the driven shaft, and the driven wheels are correspondingly arranged with the driving wheels; a synchronous wheel is fixed in the middle of the driving shaft, the synchronous wheel is connected with the servo motor one through belt transmission, and the servo motor one is fixed in the bottom frame one through a motor seat; the bottom frame one is further provided with a stop plate located outside the support seat, so that the lead screw can be prevented from jumping out of the space between the driving wheel and the driven wheel when being pushed out by the jacking mechanism.

[0009] Further, the dust-free full-automatic lead screw polishing equipment has the clamping positioning mechanism, the fixed frame is connected with the robot output end through the flange plate, and an outer shell covering the fixed frame is arranged on the outer side of the fixed frame; the linear slide rail group is fixed in the fixed frame and is arranged along the length direction of the fixed frame; the driving assembly is arranged at one end of the fixed frame and drives the rotary joint to rotate, the movable joint is arranged opposite to the rotary joint, and the movable joint is fixed on the sliding plate of the linear slide rail group; the rotary joint is matched with the movable joint to clamp the lead screw; and the rotary detection assembly is arranged at one end of the fixed frame close to the rotary joint and is used for detecting the rotation angle of the lead screw.

[0010] Further, the dust-free full-automatic lead screw polishing equipment has the clamping positioning mechanism, the fixed frame is connected with the robot output end through the flange plate, and an outer shell covering the fixed frame is arranged on the outer side of the fixed frame; the linear slide rail group is fixed in the fixed frame and is arranged along the length direction of the fixed frame; the driving assembly is arranged at one end of the fixed frame and drives the rotary joint to rotate, the movable joint is arranged opposite to the rotary joint, and the movable joint is fixed on the sliding plate of the linear slide rail group; the rotary joint is matched with the movable joint to clamp the lead screw; and the rotary detection assembly is arranged at one end of the fixed frame close to the rotary joint and is used for detecting the rotation angle of the lead screw.

[0011] Further, the dust-free full-automatic lead screw polishing equipment, the rotation detection assembly comprises a base plate, a elastic plate, a rotating shaft three, a metering wheel and an encoder, the base plate is fixed on the fixed frame, one side of the base plate is provided with the elastic plate which is elastically connected with the base plate, the rotating shaft three is provided with support shaft seats at two ends and is rotationally connected with the support shaft seats through bearings, the support shaft seats are fixed on the elastic plate, the metering wheel is arranged between the two support shaft seats and is fixed on the rotating shaft three, the end of the rotating shaft three is connected with the encoder, the outer circumferential side of the metering wheel is provided with an elastic friction layer and abuts against the outer circumferential side of the lead screw clamped between the rotating joint and the moving joint through the elastic plate; the elastic plate is elastically connected with the base plate through an elastic assembly, the elastic assembly comprises a guide rod, a guide sleeve, a connecting rod and a spring, a plurality of guide sleeves are fixed on the base plate, the guide sleeves are inserted with the guide rods which are slidably connected with the guide sleeves, and the guide rods are fixedly connected with the elastic plate through the guide sleeves; a plurality of connecting rods are further arranged on the base plate, one end of the connecting rod is fixedly connected with the elastic plate through the base plate, the other end is provided with a limiting block for limiting the elongation of the spring, and the connecting rod is provided with the spring arranged between the elastic plate and the base plate on the outer side.

[0012] Further, the dust-free full-automatic lead screw polishing equipment, the rotation detection assembly comprises a base plate, a elastic plate, a rotating shaft three, a metering wheel and an encoder, the base plate is fixed on the fixed frame, one side of the base plate is provided with the elastic plate which is elastically connected with the base plate, the rotating shaft three is provided with support shaft seats at two ends and is rotationally connected with the support shaft seats through bearings, the support shaft seats are fixed on the elastic plate, the metering wheel is arranged between the two support shaft seats and is fixed on the rotating shaft three, the end of the rotating shaft three is connected with the encoder, the outer circumferential side of the metering wheel is provided with an elastic friction layer and abuts against the outer circumferential side of the lead screw clamped between the rotating joint and the moving joint through the elastic plate; the elastic plate is elastically connected with the base plate through an elastic assembly, the elastic assembly comprises a guide rod, a guide sleeve, a connecting rod and a spring, a plurality of guide sleeves are fixed on the base plate, the guide sleeves are inserted with the guide rods which are slidably connected with the guide sleeves, and the guide rods are fixedly connected with the elastic plate through the guide sleeves; a plurality of connecting rods are further arranged on the base plate, one end of the connecting rod is fixedly connected with the elastic plate through the base plate, the other end is provided with a limiting block for limiting the elongation of the spring, and the connecting rod is provided with the spring arranged between the elastic plate and the base plate on the outer side.

[0013] Further, the dust-free full-automatic lead screw polishing equipment, the rotation detection assembly comprises a base plate, a elastic plate, a rotating shaft three, a metering wheel and an encoder, the base plate is fixed on the fixed frame, one side of the base plate is provided with the elastic plate which is elastically connected with the base plate, the rotating shaft three is provided with support shaft seats at two ends and is rotationally connected with the support shaft seats through bearings, the support shaft seats are fixed on the elastic plate, the metering wheel is arranged between the two support shaft seats and is fixed on the rotating shaft three, the end of the rotating shaft three is connected with the encoder, the outer circumferential side of the metering wheel is provided with an elastic friction layer and abuts against the outer circumferential side of the lead screw clamped between the rotating joint and the moving joint through the elastic plate; the elastic plate is elastically connected with the base plate through an elastic assembly, the elastic assembly comprises a guide rod, a guide sleeve, a connecting rod and a spring, a plurality of guide sleeves are fixed on the base plate, the guide sleeves are inserted with the guide rods which are slidably connected with the guide sleeves, and the guide rods are fixedly connected with the elastic plate through the guide sleeves; a plurality of connecting rods are further arranged on the base plate, one end of the connecting rod is fixedly connected with the elastic plate through the base plate, the other end is provided with a limiting block for limiting the elongation of the spring, and the connecting rod is provided with the spring arranged between the elastic plate and the base plate on the outer side.

[0014] The application also provides a working method of the dust-free full-automatic lead screw polishing equipment, comprising the following steps:

[0015] S1, the lead screw is placed on the feeding table by manual or mechanical hand, and the lead screw is sequentially arranged on the feeding table;

[0016] S2, the lead screw at the bottom of the feeding table is pushed out by the jacking mechanism and falls on the circumferential positioning mechanism, the rotation assembly drives the lead screw to rotate, when the first detection sensor detects a signal, the rotation assembly stops rotating, the mark data one corresponding to the polishing position is recorded and is transmitted to the controller, then, the rotation assembly drives the lead screw to continue rotating until the second detection sensor detects a signal, the rotation assembly stops rotating, the mark data two corresponding to the polishing position is recorded and is transmitted to the controller.

[0017] S3, the robot starts, drives the clamping positioning mechanism to move to the circumferential positioning mechanism to clamp the lead screw and then takes it out;

[0018] S4, the rotating joint on the clamping positioning mechanism rotates to drive the lead screw to rotate, and the rotation detection assembly detects the rotation angle of the lead screw according to the mark data; when the lead screw rotates to a mark data one, the robot sends the lead screw to the floating polishing machine for polishing at this position; after polishing is completed, the robot retreats, and the rotating joint continues to drive the lead screw to rotate until the lead screw rotates to a mark data two, and the robot sends the lead screw to the floating polishing machine for polishing at this position;

[0019] S5, after polishing is completed, the robot moves the lead screw to the discharging table to place the workpiece; when the discharging table is full as detected by the in-place detection sensor, the discharging is reminded.

[0020] Compared with the prior art, the beneficial effects of the present application are: by setting the closed polishing room and the dust removal mechanism, the debris and dust generated during polishing are prevented from escaping into the air to pollute the environment, the safety of workers is improved, and the polishing process is safe and dust-free; automatic feeding, discharging and polishing are adopted, the degree of automation is high, the time and cost of manual feeding and discharging are reduced, and the production efficiency is improved. BRIEF DESCRIPTION OF DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments described in the present application, and other drawings can also be obtained by those skilled in the art without creative labor.

[0022] Figure 1 It is an external structure diagram of the dust-free full-automatic lead screw polishing equipment of the present application;

[0023] Figure 2 It is an internal structure diagram of the dust-free full-automatic lead screw polishing equipment of the present application;

[0024] Figure 3 It is a structure diagram of the feeding mechanism of the dust-free full-automatic lead screw polishing equipment of the present application Figure 1 ;

[0025] Figure 4 It is a structure diagram of the feeding mechanism of the dust-free full-automatic lead screw polishing equipment of the present application Figure 2 ;

[0026] Figure 5 It is an internal structure diagram of the dust-free full-automatic lead screw polishing equipment of the present application

[0027] Figure 6 Structure diagram of the robot and clamping positioning mechanism of the dust-free full-automatic lead screw polishing equipment of the application;

[0028] Figure 7 Structure diagram of the clamping positioning mechanism of the dust-free full-automatic lead screw polishing equipment of the application Figure 1 ;

[0029] Figure 8 Structure diagram of the clamping positioning mechanism of the dust-free full-automatic lead screw polishing equipment of the application Figure 2 ;

[0030] Figure 9 Structure diagram of the rotation detection assembly of the dust-free full-automatic lead screw polishing equipment of the application;

[0031] Figure 10 Structure diagram of the unloading mechanism of the dust-free full-automatic lead screw polishing equipment of the application;

[0032] Figure 11 Structure diagram of the lead screw in the implementation of the dust-free full-automatic lead screw polishing equipment of the application;

[0033] In the figure: 100, lead screw; 101, tooth back; 102, ball channel;

[0034] 1, polishing room; 11, control room; 2, robot; 21, robot control cabinet;

[0035] 3, clamping positioning mechanism; 31, fixed frame; 32, linear slide rail group; 33, driving assembly; 331, driving seat plate; 332, servo motor two; 333, pulley one; 334, pulley two; 34, rotating joint; 341, rotating shaft one; 342, bolt one; 343, force sensor; 35, moving joint; 351, adapter plate; 352, sliding block connecting plate; 353, moving seat; 354, bearing seat; 355, rotating shaft two; 356, bolt two; 357, guide rail; 36, rotation detection assembly; 361, base plate; 362, elastic plate; 363, rotating shaft three; 364, metering wheel; 365, encoder; 366, support shaft seat; 367, guide rod; 368, guide sleeve; 369, connecting rod; 3610, spring;

[0036] 4, feeding mechanism; 41, bottom frame one; 42, feeding table; 421, stop block; 422, through opening; 423, baffle; 43, jacking mechanism; 431, jacking cylinder; 432, jacking plate; 433, jacking rod; 434, jacking block; 44, circumferential positioning mechanism; 441, driving shaft; 442, driven shaft; 443, driving wheel; 444, driven wheel; 445, servo motor one; 446, support seat; 447, synchronous wheel; 448, first detection sensor; 449, second detection sensor; 45, scanner;

[0037] 5, unloading mechanism; 51, chassis two; 52, unloading table; 521, material inspection port; 53, unloading box;

[0038] 6, polishing mechanism; 7, dust removal mechanism; 71, collection box; 72, air pipe. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0040] Embodiment 1

[0041] As shown in the drawings, Figure 11 The wire rod 100 to be polished needs to polish two positions of tooth back 101 and ball channel 102, and the tooth back 101 and the ball channel 102 are respectively located at both ends of the wire rod, but the present patent is not limited to two polishing positions.

[0042] As shown in the drawings, Figures 1-10 A dust-free full-automatic wire rod polishing device, comprising a polishing house 1 and a robot 2, an unloading mechanism 5, a polishing mechanism 6 and a dust removal mechanism 7 arranged in the polishing house 1, the polishing house 1 is a closed structure, the unloading mechanism 5, the polishing mechanism 6 are arranged at three side edges of the polishing house 1 respectively, and a general control cabinet and a robot control cabinet 21 are arranged at the other side edge of the polishing house 1, and a device controller is arranged in the general control cabinet; the unloading mechanism 5 can automatically unload and mark multiple polishing positions of the wire rod; the robot 2 is a six-axis robot arranged at the middle position of the polishing house 1, and a clamping positioning mechanism 3 is arranged at the conveying end of the robot 2; the robot 2 is used for clamping the wire rod to unload and convey to the polishing mechanism 6 for polishing; the polishing mechanism 6 is used for polishing the wire rod and comprises two parallel arranged floating polishing machines, and the two floating polishing machines polish different positions of the wire rod respectively, in the embodiment, one floating polishing machine polishes the tooth back 101 of the wire rod, and the other floating polishing machine polishes the ball channel 102 of the wire rod, and it should be noted that the polishing mechanism is not limited to two polishing machines, and multiple floating polishing machines can be arranged according to the polishing position and demand; the dust removal mechanism 7 is connected with the polishing mechanism 6 and is used for collecting the debris and dust generated during polishing, and the dust removal mechanism 7 comprises two collection boxes 71 arranged below the grinding knives of the floating polishing machines, and the collection boxes 71 are connected with a central dust collector (not shown in the figure) arranged outside the polishing house 1 through air pipes 72, so that the debris and dust can be efficiently collected.

[0043] Among them, as shown in the drawings, Figures 1-2As shown, the polishing house 1 shell is assembled by multiple single-layer sheet metal parts, with less material, simple structure, and overall appearance. The polishing house 1 side wall is provided with a transparent observation window, a door and an integrated touch screen. The polishing house is a closed structure, with a reserved screw rod feeding port, which can isolate dust dispersion and avoid environmental pollution. The transparent observation window made of organic glass facilitates monitoring of equipment operation. The integrated touch screen facilitates model change and production state detection. In addition, one side wall of the polishing house 1 is provided with a control room 11 facing the inside of the polishing house 1. The control room 11 is completely isolated from the polishing house, and the general control cabinet and the robot control cabinet 21 are arranged in the control room 11, without the need to enter the inside of the polishing house, facilitating maintenance and repair.

[0044] By setting the closed polishing house 1 and the dust removal mechanism 7, the dust generated by polishing is prevented from escaping into the air to pollute the environment, improving artificial safety and making the polishing process safe and dust-free. Automatic feeding and discharging, automatic polishing are adopted, with high automation degree, reducing the time and cost of manual feeding and discharging, and improving production efficiency.

[0045] Example 2

[0046] Based on the structure of example 1, as shown in Figures 3-5 The feeding mechanism 4 includes a bottom frame one 41, a feeding table 42, a jacking mechanism 43, a circumferential positioning mechanism 44 and a scanner 45. The bottom frame one 41 is provided with the feeding table 42 on one side above. The feeding table 42 is inclinedly arranged, and the screw rod automatically rolls to the low end of the feeding table 42 under the action of gravity and is stopped by the stop block. The feeding table 42 is provided with a baffle 423 on both sides, and the screw rod is arranged between the two baffles 423. The baffle 423 is adjustably connected with the feeding table 42, and the distance between the two baffles 423 is adjusted to adapt to the processing of screw rods with different lengths. The lower end of the feeding table 42 is provided with a stop block 421 for stopping the screw rod. The top surface of the stop block 421 is provided with a slope in the same direction as the inclination of the feeding table 42. The jacking mechanism 43 is arranged below the feeding table 42 close to the stop block 421. The lower side of the feeding table 42 is provided with the circumferential positioning mechanism 44. The circumferential positioning mechanism 44 is used for positioning the screw rod and marking the position. The scanner 45 is fixed on the bottom frame one 41 through a connecting seat and located on the opposite side of the feeding table 42. The scanner scans and records the information of the screw rod.

[0047] In the above structure, as shown in Figures 4-5As shown, the jacking mechanism 43 comprises a jacking cylinder 431, a jacking plate 432, a jacking rod 433, and a jacking block 434. The jacking cylinder 431 is fixed on the bottom frame one 41 through a cylinder mounting plate. The jacking plate 432 is connected to the telescopic end of the jacking cylinder 431. The jacking plate 432 is provided with symmetrically arranged jacking rods 433 on both sides. The jacking rods 433 are fixed with the jacking block 434 at the top. The top surface of the jacking block 434 is a slope surface with the same inclination direction as the feeding table 42, which facilitates the jacking of the lead screw. The bottom surface of the feeding table 42 is provided with a through opening 422 near the position of the stop block 431 for the jacking rod 433 to pass through. During work, the jacking cylinder 431 is extended to drive the jacking rod 433 to extend out of the through opening 422. The jacking block 434 jacks the lead screw near the stop block 421 to make it automatically fall on the circumferential positioning mechanism 44. Then the jacking rod 433 is retracted, and the rear lead screw automatically rolls to the lowest end.

[0048] wherein, as Figures 4-5As shown, the circumferential positioning mechanism 44 comprises a rotating assembly for driving the lead screw to rotate, and a first detection sensor 448 and a second detection sensor 449 arranged on both sides of the rotating assembly. The rotating assembly is arranged on the first chassis 41. The first detection sensor 448 and the second detection sensor 449 respectively detect a polishing position on the lead screw. The first detection sensor 448 is fixed on a mounting seat, and the mounting seat is fixed on a sliding table air cylinder arranged on the side of the first chassis 41. An induction plate matched with the first detection sensor 448 is further arranged above the first detection sensor 448. In this embodiment, the first detection sensor 448 is a spring displacement sensor, and the second detection sensor 449 is a laser sensor. The rotating assembly, the first detection sensor 448 and the second detection sensor 448 cooperate to mark the polishing position. The rotating assembly comprises a driving shaft 441, a driven shaft 442, a driving wheel 443, a driven wheel 444 and a servo motor 445. The driving shaft 441 and the driven shaft 442 are arranged in parallel, and both ends of the driving shaft 441 and the driven shaft 442 are provided with support seats 446 fixed on the top surface of the first chassis 41 and rotatably connected with the support seats 446 through bearings arranged in the support seats 446. Two symmetrically arranged driving wheels 443 are arranged on the driving shaft 441. Two symmetrically arranged driven wheels 444 are arranged on the driven shaft 442, and the driven wheels 444 correspond to the driving wheels 443. A synchronous wheel 447 is fixed in the middle of the driving shaft 441. The synchronous wheel 447 is connected with the servo motor 445 through a belt drive. The servo motor 445 is fixed in the first chassis 41 through a motor seat. A stop plate is further arranged outside the support seats 446 on the first chassis 41, so as to avoid the lead screw from jumping out of the space between the driving wheels 443 and the driven wheels 444 when the lead screw is pushed out by the jacking. When the lead screw falls into the space between the driving wheels 443 and the driven wheels 444, the servo motor 445 is started to drive the driving shaft 441 and the driving wheels 443 to rotate. Under the action of the driving wheels 443 and the driven wheels 444, the lead screw rotates. When the first detection sensor 448 detects a signal, the servo motor 445 stops, and the rotation angle value of the tooth back 101 is marked (i.e. as a mark data one) and transmitted to the controller. The servo motor 445 is continuously started to drive the lead screw to rotate, until the second detection sensor 449 detects a signal. The second detection sensor 449 detects the lowest point of the ball channel 102. The servo motor 445 stops, and the rotation angle value of the ball channel 102 is marked (i.e. as a mark data two) and transmitted to the controller.

[0049] In addition, as Figures 6-9As shown, the clamping positioning mechanism 3 comprises a fixed frame 31, a linear slide rail set 32, a driving assembly 33, a rotating joint 34, a moving joint 35, and a rotation detection assembly 36. The fixed frame 31 is connected to the output end of the robot 2 through a flange plate, and an outer shell is arranged on the outer side of the fixed frame 31. The linear slide rail set 32 is fixed inside the fixed frame 31 and arranged along the length direction of the fixed frame 31. The driving assembly 33 is arranged at one end of the fixed frame 31 and drives the rotating joint 34 to rotate. The moving joint 35 is arranged opposite to the rotating joint 34, and the moving joint 35 is fixed on the slide plate of the linear slide rail set 32. The rotating joint 34 cooperates with the moving joint 35 to clamp the lead screw. The rotation detection assembly 36 is arranged at one end of the fixed frame 31 close to the rotating joint 34, and is used for detecting the rotation angle of the lead screw. When taking out the workpiece, the rotating joint 34 is first connected to one end of the lead screw, and then the moving joint 35 is moved close to the rotating joint 34 under the action of the linear slide rail set 32 until the other end of the lead screw is connected, and the two cooperate to clamp the lead screw.

[0050] In the above structure, as Figures 7-8As shown, the driving assembly 33 comprises a driving base plate 331, a servo motor two 332, the driving base plate 331 is fixed at one side end of the fixed frame 31, the servo motor two 332 is fixed at one side of the driving base plate 331, the output end of the servo motor two 332 is provided with a pulley one 333, the pulley one 333 is in transmission connection with a pulley two 334 provided on the rotating joint 34, so as to drive the rotating joint 34 to rotate; the rotating joint 34 comprises a rotating shaft one 341, a pin one 342, a force sensor 343, the rotating shaft one 341 is provided at one side of the driving base plate 331 and is rotatably connected with the driving base plate 331 through a bearing, one end of the rotating shaft one 341 away from the fixed frame 31 is fixedly connected with the pulley two 334, the other end is provided with the pin one 342, the pin one 342 is inserted into the end of the lead screw and cooperates with the lead screw, the force sensor 343 is sleeved on the rotating shaft one 341 and located at one end close to the pin one 342, through the setting of the force sensor 343, the force of the rotating joint 34 and the moving joint 35 cooperating with the lead screw can be set, so as to avoid damaging the lead screw; the moving joint 35 comprises a adapter plate 351, a sliding block connecting plate 352, a moving base 353, a bearing seat 354, a rotating shaft two 355, a pin two 356, the adapter plate 351 is connected with the sliding plate of the linear slide rail set 32, the upper and lower sides of the adapter plate 351 are provided with the sliding block connecting plate 352, the outer side of the fixed frame 31 is provided with two guide rails 357 which are symmetrically arranged at the center of the linear slide rail set 32, the sliding block connecting plate 352 is connected with the sliding block on the corresponding guide rail 357, the moving base 353 is connected with the sliding block connecting plate 352, through the setting of the guide rail 357, the movement of the moving joint 35 is more stable and smooth, the bearing seat 354 is fixed at the outer side of the moving base 353, the rotating shaft two 355 is rotatably connected with the bearing seat 354 through a bearing, the bearing seat 354 is further provided with an end cover sealing the bearing hole on both sides, so as to prevent dust from entering the bearing and improve the service life of the equipment, one end of the rotating shaft two 355 extending out of the bearing seat 354 is provided with the pin two 356, the pin two 356 is inserted into the other end of the lead screw and cooperates with the lead screw, the pin two 356 cooperates with the pin one 342 to clamp the lead screw.

[0051] Wherein, as Figures 8-9As shown, the rotation detection assembly 36 comprises a base plate 361, a spring plate 362, a third rotating shaft 363, a metering wheel 364, and an encoder 365. The base plate 361 is fixed on the fixed frame 31. The base plate 361 is provided with the spring plate 362 elastically connected thereto on one side. The third rotating shaft 363 is provided with support shaft seats 366 at two ends and is rotatably connected with the support shaft seats 366 through bearings. The support shaft seats 366 are fixed on the spring plate 362. The metering wheel 364 is arranged between the two support shaft seats 366 and is fixed on the third rotating shaft 363. The end of the third rotating shaft 363 is connected with the encoder 364. The metering wheel 364 is provided with an elastic friction layer on the outer periphery and abuts against the outer periphery of the lead screw clamped between the rotating joint 34 and the moving joint 35 through the spring plate 362. The elastic friction layer is made of elastic plastic layer, which can reduce the damage to the lead screw. The spring plate 362 is elastically connected with the base plate 361 through an elastic assembly. The elastic assembly comprises guide rods 367, guide sleeves 368, connecting rods 369, and springs 3610. The base plate 361 is fixed with a plurality of guide sleeves 368. In this embodiment, the guide sleeves 368 are straight line bearings. The guide sleeves 368 are internally inserted with the guide rods 367 slidably connected therewith. The guide rods 367 are fixedly connected with the spring plate 362 through the guide sleeves 368. The base plate 361 is further provided with a plurality of connecting rods 369. One end of the connecting rod 369 is fixedly connected with the spring plate 362 through the base plate 361. The other end is provided with a limiting block limiting the elongation of the spring 3610. The elongation of the spring 3610, i.e. the elongation stroke of the spring plate 362 towards the lead screw, can facilitate the removal of the lead screw. The connecting rod 369 is externally sleeved with the spring 3610 arranged between the spring plate 362 and the base plate 361. Through the arrangement of the spring 3610 and the guide rod 367, the spring plate 362 can move along the direction of the guide rod 367 and make the metering wheel 364 always abut against the lead screw. Thus, the rotation angle of the lead screw is detected by the encoder 365, so as to position the machining position accurately and improve the machining quality.

[0052] In addition, as Figure 1 , 10As shown, the discharging mechanism 5 comprises a second chassis 51 and a discharging table 52 fixed above the second chassis 51, and the discharging table 52 is also arranged to be inclined, and the inclination direction gradually decreases from inside to outside; after the robot 2 places the lead screw on the discharging table 52, the lead screw automatically rolls to the discharging port; the higher end of the discharging table 52 is provided with a material inspection port 521, and a full-material in-situ detection sensor is arranged below the material inspection port 521; a discharging port corresponding to the discharging table is arranged on the side wall of the polishing room 1, and a discharging box 53 fixed to the outer side of the polishing room 1 and covering the discharging port is arranged outside the discharging port; the lower end of the discharging table 52 is inserted into the discharging box 53, and the opening end of the discharging box 53 is provided with a switch door capable of closing the discharging port, so that dust is prevented from escaping from the discharging port. When the discharging table 52 is full of lead screws, the in-situ detection sensor detects a signal, sends a prompt or an alarm, and opens the switch door of the discharging box 53 to take away the lead screws on the discharging table 52;

[0053] The application provides a working method of a dust-free full-automatic lead screw polishing device, which comprises the following steps:

[0054] S1, the lead screw to be polished is placed on the feeding table 42 by manual or mechanical hand;

[0055] S2, the top lifting mechanism 43 pushes out the lead screw at the bottom of the feeding table 42 to roll onto the circumferential positioning mechanism 44, the rotating assembly drives the lead screw to rotate, when the first detection sensor 448 detects a signal, which is the tooth back polishing position, the servo motor one 445 of the rotating assembly stops rotating, records the mark data one and sends the mark data one to the controller; then, the rotating assembly drives the lead screw to continue rotating, until the second detection sensor 449 detects a signal, which is the ball channel polishing position, the servo motor one 445 of the rotating assembly stops rotating, records the mark data two and sends the mark data two to the controller; the mark data is the rotation angle of the servo motor one;

[0056] S3, the robot 2 is started, the clamping positioning mechanism 3 is moved to the circumferential positioning mechanism 44 and clamps the lead screw, and then the lead screw is taken out;

[0057] S4, the rotating joint 34 on the clamping positioning mechanism 3 rotates to drive the lead screw to rotate, and the rotating detection assembly 36 detects the rotation angle of the lead screw according to the mark data; when the lead screw rotates to the mark data one, the robot 2 sends the lead screw to the floating polishing machine for polishing the tooth back; after the polishing is completed, the robot 2 retreats, the rotating joint 34 continues to drive the lead screw to rotate until the lead screw rotates to the mark data two, and the robot 2 sends the lead screw to the floating polishing machine for polishing the ball channel of the lead screw;

[0058] S5, after polishing, the robot 2 moves the lead screw to the unloading table 52 to put the parts, and reminds the unloading when the unloading table 52 is full according to the detection of the in-place detection sensor.

[0059] The whole implementation process adopts intelligent unmanned operation, is convenient to operate, reduces the time and cost of manual feeding and unloading, and improves the production efficiency.

[0060] It is apparent to those skilled in the art that the application is not limited to the details of the foregoing exemplary embodiments, and that the application can be implemented in other particular forms without departing from the spirit or essential characteristics of the application. Therefore, the embodiments should be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and it is intended that all changes and modifications which come within the meaning and range of equivalency of the claims are resolvable thereunder. Any reference signs in the claims should not be construed as limiting the claims to the figures in which the reference signs are used.

[0061] In addition, it should be understood that, although the present specification is described in terms of embodiments, not every embodiment contains only one independent technical solution, and the description of the specification is only for the sake of clarity, and those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can be combined appropriately to form other embodiments that those skilled in the art can understand.

Claims

1. A dust-free, fully automatic lead screw grinding device, characterized in that: The polishing house and the robot, the feeding mechanism, the discharging mechanism, the polishing mechanism and the dust removal mechanism arranged in the polishing house, the polishing house is a closed structure, the feeding mechanism, the discharging mechanism and the polishing mechanism are arranged on three sides of the polishing house respectively, the other side of the polishing house is provided with a general control cabinet and a robot control cabinet, the robot is arranged in the middle position of the polishing house, and the conveying end is provided with a clamping positioning mechanism; the feeding mechanism can automatically feed, and a plurality of polishing positions of the lead screw are marked; the discharging mechanism is used for automatic discharging, the robot is used for clamping the lead screw for feeding and discharging and conveying to the polishing mechanism for polishing; the polishing mechanism is used for polishing the lead screw, and comprises two parallel arranged floating polishing machines, and the floating polishing machines polish different positions of the lead screw respectively; the dust removal mechanism is connected with the polishing mechanism and is used for collecting the chippings and dust generated during polishing. The working method of the dust-free full-automatic lead screw polishing equipment, comprising the following steps: S1, the lead screw is placed on the feeding table by manual or mechanical hand, and the lead screw is sequentially arranged on the feeding table; S2, the top lifting mechanism pushes out the lead screw at the bottom of the feeding table to roll on the circumferential positioning mechanism, the rotating assembly drives the lead screw to rotate, when the first detection sensor detects the signal, the rotating assembly stops rotating, the mark data one of the corresponding polishing position is recorded and is transmitted to the controller; then, the rotating assembly drives the lead screw to continue rotating until the second detection sensor detects the signal, the rotating assembly stops rotating, the mark data two of the polishing position is recorded and is transmitted to the controller; S3, the robot starts, and the clamping positioning mechanism moves to the circumferential positioning mechanism to clamp the lead screw and then takes out; S4, the rotating joint on the clamping positioning mechanism rotates to drive the lead screw to rotate, and the rotating detection assembly detects the rotating angle of the lead screw according to the mark data, when the rotating angle reaches the mark data one, the robot sends the lead screw to the floating polishing machine at the polishing position for polishing; after polishing, the robot retreats, the rotating joint continues to drive the lead screw to rotate until the rotating angle reaches the mark data two, and the robot sends the lead screw to the floating polishing machine at the polishing position for polishing; S5, after polishing, the robot moves the lead screw to the discharging table to place, and when the in-place detection sensor of the discharging table detects that the discharging table is full, the discharging is reminded.

2. The dust-free fully automatic lead screw polishing apparatus according to claim 1, characterized in that: The feeding mechanism comprises a bottom frame one, a feeding table, a top lifting mechanism, a circumferential positioning mechanism and a scanner, one side above the bottom frame one is provided with the feeding table, the feeding table is inclinedly arranged, one end of the feeding table lower in position is provided with a stop block for stopping the lead screw, the top surface of the stop block is provided with a slope in the same direction as the inclination direction of the feeding table, the top lifting mechanism is arranged at the position close to the stop block below the feeding table, and one side of the feeding table lower in position is provided with the circumferential positioning mechanism; the circumferential positioning mechanism is used for positioning the lead screw and marking the position, and the scanner is fixed on the bottom frame one through a connecting seat and located at the opposite side of the feeding table.

3. The dust-free fully automatic lead screw polishing apparatus according to claim 2, characterized in that: The jacking mechanism comprises a jacking cylinder, a jacking plate, a jacking rod and a jacking block, the jacking cylinder is fixed on the first chassis through a cylinder mounting plate, the telescopic end of the jacking cylinder is connected with the jacking plate, the jacking plate is provided with symmetrically arranged jacking rods on both sides, the jacking rods are fixed with the jacking block at the top, the top surface of the jacking block is a bevel surface with the same inclination direction as the feeding table, and the feeding table bottom surface is provided with a through hole for the jacking rod near the position of the stop block.

4. The dust-free fully automatic lead screw polishing apparatus according to claim 2, characterized in that: The circumferential positioning mechanism comprises a rotating assembly for driving the screw rod to rotate, and first and second detection sensors arranged on both sides of the rotating assembly, the rotating assembly is arranged on the first chassis, the first and second detection sensors detect a polishing position on the screw rod respectively, and the rotating assembly cooperates with the first and second detection sensors to mark and record the polishing position; the rotating assembly comprises a driving shaft, a driven shaft, driving wheels, driven wheels and a servo motor, the driving shaft and the driven shaft are arranged in parallel, both ends of the driving shaft and the driven shaft are provided with support seats fixed on the top surface of the first chassis, and the driving shaft and the driven shaft are rotatably connected with the support seats through bearings arranged in the support seats, two symmetrically arranged driving wheels are arranged on the driving shaft, two symmetrically arranged driven wheels are arranged on the driven shaft, and the driven wheels are correspondingly arranged with the driving wheels; a synchronous wheel is fixed in the middle of the driving shaft, the synchronous wheel is connected with the servo motor through a belt transmission, and the servo motor is fixed in the first chassis through a motor base; the first chassis is further provided with a stop plate located outside the support seat.

5. The dust-free fully automatic lead screw polishing apparatus according to claim 1, wherein: The clamping positioning mechanism comprises a fixed frame, a linear slide rail group, a driving assembly, a rotating joint, a moving joint and a rotation detection assembly, the fixed frame is connected with the output end of the robot through a flange plate, and an outer shell covering the fixed frame is arranged on the outer side of the fixed frame; the linear slide rail group is fixed in the fixed frame and arranged along the length direction of the fixed frame; the driving assembly is arranged at one end of the fixed frame and drives the rotating joint to rotate, the moving joint is arranged opposite to the rotating joint, and the moving joint is fixed on the sliding plate of the linear slide rail group, and the rotating joint cooperates with the moving joint to clamp the screw rod; the rotation detection assembly is arranged at one end of the fixed frame close to the rotating joint and is used for detecting the rotation angle of the screw rod.

6. The dust-free fully automatic lead screw polishing apparatus according to claim 5, characterized in that: The driving assembly comprises a driving base plate, a servo motor two, the driving base plate is fixed on the one side end of the fixed frame, the servo motor two is fixed on one side of the driving base plate, the output end of the servo motor two is provided with a pulley one, the pulley one is connected with the pulley two on the rotating joint by transmission, the rotating joint comprises a rotating shaft one, a bolt one and a force sensor, the rotating shaft one is arranged on one side of the driving base plate and is rotatably connected with the driving base plate through a bearing, one end of the rotating shaft one away from the fixed frame is fixedly connected with the pulley two, the other end is provided with the bolt one, the force sensor is sleeved on the rotating shaft one and located at one end close to the bolt one, the bolt one is inserted into the end of the lead screw and matched with the lead screw, the moving joint comprises a adapter plate, a sliding block connecting plate, a moving seat, a bearing seat, a rotating shaft two and a bolt two, the adapter plate is connected with the sliding plate of the linear slide rail group, the upper and lower sides of the adapter plate are provided with the sliding block connecting plate, the outer side of the fixed frame is provided with two guide rails which are symmetrically arranged at the center of the linear slide rail group, the sliding block connecting plate is connected with the sliding block on the corresponding guide rail, the moving seat is connected with the sliding block connecting plate, the bearing seat is fixed on the outer side of the moving seat, the rotating shaft two is rotatably connected with the bearing seat through a bearing, the bearing seat is further provided with an end cover sealing the bearing hole, one end of the rotating shaft two extending out of the bearing seat is provided with the bolt two, the bolt two is inserted into the other end of the lead screw and matched with the lead screw.

7. The dust-free fully automatic lead screw polishing apparatus according to claim 5, characterized in that: The rotating detection assembly comprises a base plate, a elastic plate, a rotating shaft three, a metering wheel and an encoder, the base plate is fixed on the fixed frame, one side of the base plate is provided with the elastic plate connected with the base plate elastically, the rotating shaft three is provided with a support shaft seat at both ends and is rotatably connected with the support shaft seat through a bearing, the support shaft seat is fixed on the elastic plate, the metering wheel is arranged between the two support shaft seats and is fixed on the rotating shaft three, one end of the rotating shaft three is connected with the encoder, the metering wheel is provided with an elastic friction layer on the outer periphery and is kept in abutment with the lead screw between the rotating joint and the moving joint through the elastic plate, the elastic plate is elastically connected with the base plate through the elastic assembly, the elastic assembly comprises a guide rod, a guide sleeve, a connecting rod and a spring, a plurality of guide sleeves are fixed on the base plate, the guide sleeves are provided with the guide rods connected with the guide sleeves slidingly, the guide rods are fixedly connected with the elastic plate through the guide sleeves, a plurality of connecting rods are further provided on the base plate, one end of the connecting rods is fixedly connected with the elastic plate through the base plate, the other end is provided with a limiting block limiting the elongation of the spring, the connecting rods are provided with the springs between the elastic plate and the base plate on the outer side.

8. The dust-free fully automatic lead screw polishing apparatus according to claim 1, wherein: The unloading mechanism comprises a bottom frame two and an unloading table, the unloading table is fixed on the bottom frame two, the unloading table is also arranged obliquely, and the oblique direction gradually decreases from inside to outside, one end of the unloading table is provided with an inspection port, an in-place detection sensor for detecting full material is arranged below the inspection port, a unloading port is arranged on the side wall of the polishing house corresponding to the unloading table, a unloading box is arranged on the outer side of the polishing house and covers the unloading port, one end of the unloading table is inserted into the unloading box, and a switch door capable of closing the unloading port is arranged on the opening end of the unloading box.

9. The dust-free fully automatic lead screw polishing apparatus according to claim 1, wherein: The dust removing mechanism comprises two collecting boxes arranged below the floating polishing machine, and the collecting boxes are connected with a central dust remover arranged outside the polishing room through air pipes.

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