Grinding equipment and six-axis grinding robot

Abstract

The polishing equipment comprises a shell, an electric main shaft is fixedly installed in the shell and comprises two output ends used for installing a cutter handle and a cutter, at least one output end is provided with a stop module, and the stop module is connected with the electric main shaft. The stop module comprises a first stop piece fixed to the output end, a second stop piece is arranged on the outer side of the first stop piece, and the second stop piece is connected with a driving module. The driving module is used for driving the second stopping piece to move in the axial direction of the motorized spindle and is matched with the first stopping piece to lock the motorized spindle, and the driving module is located in the shell. The stopping module is arranged on the output shaft of the motorized spindle, the motorized spindle can be locked, cutters on the motorized spindle can be conveniently replaced, the grinding equipment can use more than three kinds of cutters, automatic cutter replacement can be achieved, the cutter replacement time is short, the fault rate is low, and the equipment manufacturing cost can be greatly reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical equipment, and in particular to a grinding device and a six-axis grinding robot. Background Art

[0002] When using automatic casting grinding, the workpiece grinding process often requires more than three types of tools. The existing grinding equipment using a robotic arm with a single spindle has at most two tools, which often cannot meet the actual needs of the grinding process. However, the grinding robotic arm uses a machine tool-style tool holder to change tools, which has a complex equipment structure, high cost, long tool replacement time, and a high failure rate, which is aimed at the shortcomings of the existing technology. Summary of the invention

[0003] The purpose of the present invention is to provide a grinding device and a six-axis grinding robot to address the deficiencies of the prior art, which have short automatic tool changing time and low failure rate.

[0004] To achieve the above-mentioned purpose, the first aspect of the present invention provides a grinding device, including a shell, an electric spindle is fixedly installed inside the shell, the electric spindle includes two output ends for installing a tool handle and a tool, at least one of the output ends is provided with a stop module, the stop module includes a first stop member fixed on the output end, a second stop member is provided on the outer side of the first stop member, the second stop member is connected to a drive module, the drive module is used to drive the second stop member to move along the axial direction of the electric spindle and cooperate with the first stop member to lock the electric spindle, wherein the drive module is located inside the shell.

[0005] As an optional implementation, a containing space is provided in the shell, and the stop module is arranged in the containing space.

[0006] As an optional implementation, the second stopping member includes a moving block and a second engaging member, the first stopping member includes a first engaging member, and the second engaging member is engaged and connected with the first engaging member.

[0007] As an optional implementation, the first engaging member is a spline groove, and the second engaging member is a spline sleeve; or the first engaging member is a spline sleeve, and the second engaging member is a spline groove.

[0008] As an optional implementation, the moving block is a channel steel-shaped slider, and the second engaging member is located in the middle of the moving slider.

[0009] As an optional implementation, the driving module includes a telescopic member, and the telescopic member is connected to the second stopping member.

[0010] As an optional implementation, the driving module further includes a reset member, one end of the reset member is fixed to the housing, and the other end of the reset member is fixed to the second stop member.

[0011] As an optional implementation, the telescopic member is a cylinder, the reset member is a spring, and the cylinder drives the second stop block to stretch the spring.

[0012] As an optional implementation, the shell is fixed on a mounting tube, and a mounting plate is fixedly connected to the bottom of the mounting tube.

[0013] A second aspect of the present invention provides a six-axis grinding robot, comprising the grinding device provided in the first aspect of the present invention.

[0014] As an optional implementation, the six-axis grinding robot further includes a tool magazine and a robotic arm, the output end of the grinding device is fixedly connected to a tool handle, and the robotic arm is used to install the tool in the tool magazine on the tool handle.

[0015] The grinding equipment and six-axis grinding robot provided by the present invention can lock the electric spindle by arranging a stop module on the output shaft of the electric spindle, which facilitates the replacement of the tool on the electric spindle, so that the grinding equipment can use more than three tools and can realize automatic tool change with short tool change time and low failure rate, which can greatly reduce the equipment manufacturing cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0017] Figure 2 It is a schematic diagram of the cross-sectional structure of the shell of the present invention;

[0018] Figure 3 It is a schematic diagram of the structure of the spline sleeve and the spline groove combined in the present invention.

[0019] Figure numerals: 1. Shell; 2. First tool handle; 3. Grinding head; 4. Mounting disk; 5. Mounting tube; 6. Second tool handle; 7. Cutting disk; 8. Electric spindle; 9. Moving block; 10. Spring; 11. Cylinder; 12. Spline sleeve; 13. Spline groove; 14. First stop member; 15. Second stop member; 16. Reset member; 17. Drive module; 18. Stop module. DETAILED DESCRIPTION

[0020] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0021] See also Figure 1 , Figure 2 , Figure 3 The grinding device provided by the present invention comprises a housing 1, and the housing 1 has the functions of sealing and fixing. An electric spindle 8 is fixedly installed inside the housing 1, and the electric spindle 8 comprises a motor and a transmission shaft. In an embodiment of the present invention, the electric spindle 8 comprises two output ends, each of which can be equipped with a tool handle and a tool; that is, the tool handle is installed at the end of the transmission shaft, and then the tool is installed on the tool handle.

[0022] exist Figure 1 In the embodiment shown, a stop module 18 is provided at the right output end of the electric spindle 8. In other embodiments, a stop module 18 may also be provided at the left output end of the electric spindle 8. In the present invention, the stop module 18 has the function of a clutch, which can fix the output end of the electric spindle 8 to facilitate the replacement of the tool or the tool handle.

[0023] In one embodiment, the stop module 18 includes a first stop member 14 fixed to the output end, and a second stop member 15 is provided outside the first stop member 14. For example, the first stop member 14 includes a first engagement member, and the second stop member 15 includes a moving block 9 and a second engagement member, and the second engagement member is engaged and connected with the first engagement member.

[0024] like Figure 1 and Figure 2 As shown, the first meshing member is a spline groove 13, and the second meshing member is a spline sleeve 12. Since the spline groove 13 is meshed with the spline sleeve 12, the positions of the two are relatively fixed, and the output end of the motor shaft is also relatively fixed; the moving block 9 is a channel steel-shaped slider, and its opening direction faces the outside of the housing 1, and the second meshing member is located in the middle of the moving slider. The moving block 9 fixes the second meshing member, and finally the first meshing member, the second meshing member, the moving block 9, and the electric spindle 8 are relatively fixed, and the electric spindle 8 is fixedly connected to the stop module 18.

[0025] In other embodiments, the first engaging member is a spline sleeve, and the second engaging member is a spline groove, that is, the corresponding function can be achieved by exchanging the positions of the first engaging member and the second engaging member.

[0026] Furthermore, the stop module 18 further includes a driving module 17, and the second stop member 15 is connected to the driving module 17; wherein the driving module 17 is located in the housing 1. Figure 1 and Figure 2 It can be seen that the driving module 17 is fixed on the housing 1 , so the locking and stopping module 18 can lock the rotation direction of the electric spindle 8 .

[0027] For reference Figure 1 and Figure 2 As shown, the driving module 17 drives the second stop member 15 to move along the axial direction of the electric spindle 8 , that is, to move to the left side, and the second stop member 15 cooperates with the first stop member 14 (gear meshing) to lock the electric spindle 8 .

[0028] Furthermore, a housing space is provided in the housing 1, and the stop module 18 is provided in the housing space, so that the stop module 18 can be physically isolated from the electric spindle 8, thereby reducing the impact between the stop module 18 and the electric spindle 8. More importantly, the housing space can be a newly added space body, that is, it is not integrated with the housing 1, and a grinding device with a stop module 18 can be added by adding it, so that most grinding devices with electric spindles 8 can be satisfied.

[0029] Furthermore, the driving module 17 includes a telescopic member, and the telescopic member is connected to the second stop member 15. Specifically, the telescopic member is connected to the sliding block. Figure 2 As shown, the driving module 17 further includes a reset member 16 , one end of which is fixed to the housing 1 , and the other end of which is fixed to the second stop member 15 .

[0030] In some embodiments, the telescopic member is a cylinder 11, and the reset member 16 is a spring 10. The cylinder 11 drives the second stop block to move to the left to stretch the spring 10. After the cylinder 11 is de-energized, the spring 10 resets the second stop block, and the second stop block moves to the right to the starting position. The spring 10 is sleeved on the outer ring of the cylinder 11, and four cylinders 11 can be used to achieve the driving effect.

[0031] In other embodiments, the telescopic member may be a hydraulic cylinder, and the reset member 16 may be a spring 10; the hydraulic cylinder is driven by a hydraulic pump to move, and the second stop block is reset by the spring 10. Of course, a bidirectional hydraulic cylinder may also be used, which can achieve left and right movement.

[0032] In other embodiments, the telescopic member may be an electric cylinder, and the motor drives the ball screw and the nut to realize the movement of the piston rod. Of course, the spring 10 may also be used in conjunction to quickly reset the second stop block.

[0033] It should be understood that the function of the air cylinder 11, the hydraulic cylinder and the electric cylinder is to provide driving force, and there is no requirement for their specific structural form, as long as they meet the requirements of the present invention to be built into the housing 1 and provide driving force.

[0034] In addition, you can refer to Figure 2 As shown, the housing 1 is fixed on the mounting tube 5, and the bottom of the mounting tube 5 is fixedly connected with a mounting plate 4. The mounting tube 5 supports the housing 1, and the mounting plate 4 fixes the mounting tube 5. The mounting plate 4 is evenly provided with multiple groups of mounting holes, which can be installed at corresponding positions of the six-axis grinding robot.

[0035] Furthermore, the grinding device further comprises a tool magazine and a mechanical arm, the output end of the grinding device is fixedly connected to a tool handle, and the mechanical arm is used to install the tool in the tool magazine on the tool handle. Figure 1 and Figure 2 In the embodiment of the present invention, the grinding device comprises a first handle 2 and a second handle 6. A grinding head 3 is mounted on one end of the first handle 2 to grind the casting, and a cutting disc 7 is mounted on one end of the second handle 6 to cut the casting.

[0036] The following will be combined Figure 3 The working principle and use process of the present invention are explained.

[0037] The grinding equipment includes a shell 1, in which an electric spindle 8 is fixedly installed, and the two output ends of the electric spindle 8 are respectively installed with a first tool handle 2 and a second tool handle 6. A moving block 9 is slidably connected to the right side of the shell 1, and a mounting hole is opened in the middle of the moving block 9, and a spline sleeve 12 is installed in the mounting hole. A spline groove 13 is fixedly installed on the electric spindle. Four cylinders 11 are evenly installed on the right inner wall of the shell 1. The output end of the cylinder 11 can drive the moving block 9 to move, and the outer ring of the cylinder 11 is provided with a spring 10. When the moving block 9 moves, it can drive the spline sleeve 12 to move to the left, so that the spline sleeve 12 is engaged with the spline groove 13; when the cylinder 11 stops working, the spring 10 can reset the moving block 9 and the spline sleeve 12.

[0038] like Figure 2As shown, when in use, it can be installed on the end of the six-axis grinding robot through the mounting plate 4 on the mounting tube 5. During the casting grinding process, when the process needs to change the tool, the electric spindle 8 first reduces the speed through the frequency converter adjustment, and stops the electric spindle 8, and then controls the cylinder 11 to start ventilation. The extension of the cylinder 11 will drive the spline sleeve 12 to move to the left through the moving block 9, and the spline sleeve 12 and the spline groove 13 can be engaged. At this time, the speed of the electric spindle 8 stops, and the first tool handle 2, the cutting disk 7 and the grinding head 3 stop rotating. Then the first tool handle 2 and the cutting disk 7 and the second tool handle 6 and the grinding head 3 can be separated, and the robot arm starts to control the electric spindle 8 and the first tool handle 2 and the second tool handle 6 to rotate. When the tool is stuck in the external tool magazine, it starts to rotate in a fixed direction, and then rotates in the opposite direction from the tool magazine position to tighten the tool, completing the automatic tool replacement. After the replacement is completed, the cylinder 11 is de-energized and the spring 10 is used to reset the moving block 9 and the spline sleeve 12. The spline sleeve 12 and the spline groove 13 on the moving block 9 are disengaged, and the electric spindle 8 can rotate normally to continue the casting grinding.

[0039] The present invention also provides a six-axis grinding robot, comprising the above-mentioned grinding device. The six-axis grinding robot also includes a tool library and a mechanical arm, the output end of the grinding device is fixedly connected to a tool handle, and the mechanical arm is used to install the tool in the tool library on the tool handle.

[0040] The grinding equipment includes a shell 1, and an electric spindle 8 is fixedly installed inside the shell 1. The electric spindle 8 includes two output ends for installing a tool handle and a tool, at least one of the output ends is provided with a stop module 18, and the stop module 18 includes a first stop member 14 fixed on the output end, a second stop member 15 is provided on the outer side of the first stop member 14, and the second stop member 15 is connected to a driving module 17, and the driving module 17 is used to drive the second stop member 15 to move along the axial direction of the electric spindle 8 and cooperate with the first stop member 14 to lock the electric spindle 8, wherein the driving module 17 is located in the shell 1.

[0041] As an optional implementation, a containing space is provided in the housing 1, and the stopping module 18 is provided in the containing space.

[0042] As an optional implementation, the second stopping member 15 includes a moving block 9 and a second engaging member, the first stopping member 14 includes a first engaging member, and the second engaging member is engaged and connected with the first engaging member.

[0043] As an optional implementation, the first engaging member is a spline groove 13 , and the second engaging member is a spline sleeve 12 ; or the first engaging member is a spline sleeve 12 , and the second engaging member is a spline groove 13 .

[0044] As an optional implementation, the moving block 9 is a channel steel-shaped slider, and the second engaging member is located in the middle of the moving slider.

[0045] As an optional implementation, the driving module 17 includes a telescopic member, and the telescopic member is connected to the second stopping member 15 .

[0046] As an optional implementation, the driving module 17 further includes a reset member 16 , one end of the reset member 16 is fixed to the housing 1 , and the other end of the reset member 16 is fixed to the second stop member 15 .

[0047] As an optional implementation, the telescopic member is a cylinder 11 , the reset member 16 is a spring 10 , and the cylinder 11 drives the second stop block to stretch the spring 10 .

[0048] As an optional implementation, the housing 1 is fixed on the mounting tube 5 , and a mounting plate 4 is fixedly connected to the bottom of the mounting tube 5 .

[0049] The grinding equipment and six-axis grinding robot provided by the present invention can lock the electric spindle 8 by setting a stop module 18 on the output shaft of the electric spindle 8, which facilitates the replacement of the tool on the electric spindle 8, so that the grinding equipment can use more than three tools and can realize automatic tool change, with a short tool change time and a low failure rate, which can greatly reduce the equipment manufacturing cost.

[0050] Finally, it should be noted that the above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or replace some of the technical features therein by equivalents. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A grinding device, comprising a housing, characterized in that: An electric spindle is fixedly installed inside the shell, and the electric spindle includes two output ends for installing a tool handle and a tool, at least one of the output ends is provided with a stop module, the stop module includes a first stop member fixed on the output end, a second stop member is provided on the outer side of the first stop member, the second stop member is connected to a driving module, the driving module is used to drive the second stop member to move along the axial direction of the electric spindle and cooperate with the first stop member to lock the electric spindle, wherein the driving module is located inside the shell.

2. The grinding device according to claim 1, characterized in that: An accommodating space is provided in the shell, and the stop module is arranged in the accommodating space.

3. The grinding device according to claim 1, characterized in that: The second stopping member includes a moving block and a second engaging member, the first stopping member includes a first engaging member, and the second engaging member is engaged and connected with the first engaging member.

4. The grinding device according to claim 3, characterized in that: The first engaging member is a spline groove, and the second engaging member is a spline sleeve; or the first engaging member is a spline sleeve, and the second engaging member is a spline groove.

5. The grinding device according to claim 3, characterized in that: The moving block is a channel steel-shaped slider, and the second engaging member is located in the middle of the moving slider.

6. The grinding device according to claim 1 or 3, characterized in that: The driving module includes a telescopic member, and the telescopic member is connected to the second stopping member.

7. The grinding device according to claim 6, characterized in that: The driving module further comprises a reset member, one end of which is fixed on the housing, and the other end of which is fixed on the second stop member.

8. The grinding device according to claim 7, characterized in that: The telescopic member is a cylinder, the reset member is a spring, and the cylinder drives the second stop block to stretch the spring.

9. A grinding device according to claim 7, characterized in that: The shell is fixed on the mounting tube, and the bottom of the mounting tube is fixedly connected with a mounting plate.

10. A six-axis grinding robot, characterized in that: A grinding device comprising the grinding device according to any one of claims 1 to 9.

11. The six-axis grinding robot according to claim 10, characterized in that: The grinding device also includes a tool magazine and a mechanical arm. The output end of the grinding device is fixedly connected to a tool handle, and the mechanical arm is used to install the tool in the tool magazine on the tool handle.

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