Automatic grinding system for connecting claw

Abstract

The utility model relates to an automatic polishing system for a connecting claw, which comprises a clamping mechanism connected with a six-axis manipulator in a matched manner, a feeding mechanism for placing a workpiece to be polished, a polishing mechanism for polishing the workpiece, and a transfer table provided with a detector for detecting the workpiece, a clamping mechanism used for clamping and positioning a workpiece is arranged on the transfer table, the six-axis mechanical arm clamps the workpiece of the feeding mechanism through the clamping mechanism, the workpiece moves towards the transfer table through the six-axis mechanical arm and makes contact with the detector so as to detect the bending angle A of the workpiece, a connecting claw is large in product deformation, sometimes, the bending direction angle reaches about 2 degrees, and therefore the bending angle A of the workpiece can be detected. Therefore, the product is grabbed by the six-axis manipulator, and the bending direction of the connecting claw is touched by the detector, so that the bending offset of the connecting claw is detected, and the grinding of the workpiece is properly adjusted to adapt to the difference of the product.

Description

Technical Field

[0001] The utility model relates to an automatic grinding system, in particular to an automatic grinding system for docking claws. Background Art

[0002] The joint claw workpiece has a curvature, and the curvature deformation of the joint claw is relatively large. Sometimes the bending angle reaches about 2 degrees, which affects the consistency of grinding.

[0003] In addition, most of the docking claws in the industry are still polished by traditional manual methods. With the increasing labor costs and the difficulty in recruiting polishers, the cost of this method will only increase. Moreover, manual polishing is accompanied by unstable quality and production safety issues for polishers.

[0004] Although another small part uses robot polishing systems, the problem is that the product production is single. When changing the product, the whole set of fixtures needs to be replaced and the robot program needs to be re-debugged, which is very inconvenient. Utility Model Content

[0005] The purpose of the utility model is to provide an automated grinding system for docking claws. The docking claw is a product with relatively large deformation, and sometimes the bending angle reaches about 2 degrees, which affects the consistency of grinding. Therefore, a six-axis manipulator is used to grasp the product, and a detector is used to touch the bending direction of the docking claw to detect the bending offset of the docking claw, and the grinding of the workpiece is appropriately adjusted to adapt to product differences.

[0006] The purpose of the utility model is achieved in this way:

[0007] An automated grinding system for a docking claw comprises a clamping mechanism connected to a six-axis manipulator, a loading mechanism for placing a workpiece to be ground, and a grinding mechanism for grinding the workpiece, and also comprises a turntable, a detector for detecting the workpiece is provided on the turntable, a clamping mechanism for clamping and positioning the workpiece is provided on the turntable, the six-axis manipulator clamps the workpiece of the loading mechanism through the clamping mechanism, the workpiece moves toward the turntable through the six-axis manipulator and contacts the detector to detect the bending angle A of the workpiece, the docking claw is a product with a relatively large deformation, and sometimes the bending angle reaches about 2 degrees, which affects the consistency of grinding, therefore, the six-axis manipulator grasps the product, and the detector touches the bending direction of the docking claw to detect the bending offset of the docking claw, and appropriately adjusts the grinding of the workpiece to adapt to product differences.

[0008] The clamping mechanism includes a clamping cylinder arranged on a clamping fixed plate, and a clamping movable plate hinged to the clamping fixed plate. The piston rod of the clamping cylinder is cooperatively connected with the clamping movable plate. The piston rod of the clamping cylinder drives the clamping movable plate to move on the clamping fixed plate during the extension and retraction process, so that the clamping fixed plate and the clamping movable plate can perform an opening and closing action to clamp or release the workpiece.

[0009] The six-axis manipulator is equipped with a lever-type clamp, which simulates manual action to take the part from the loading fixture and then polish the corresponding position of the docking claw in the sanding machine module. After polishing, it is placed on the unloading line. During this period, the robot polishes different parts of the product through a double-station force-controlled floating sanding machine, so that all parts of the docking claw can be polished.

[0010] A connecting flange which is connected with the six-axis manipulator is arranged on the clamping fixing plate.

[0011] The turntable includes a support plate and a positioning seat fixed on the support plate. The clamping mechanism includes a clamping cylinder and a clamping seat connected to the piston rod of the clamping cylinder. The clamping cylinder drives the clamping seat to move closer to or away from the positioning seat to clamp or release the workpiece.

[0012] After the six-axis manipulator grabs the workpiece for inspection and performs the first grinding, the six-axis manipulator grabs the workpiece and places it on the workpiece. The six-axis manipulator grabs the other end of the workpiece to grind and change the surface of the workpiece. Alternatively, after the six-axis manipulator grabs the workpiece on the feeding mechanism, the six-axis manipulator places the workpiece on the turntable. After the turntable clamps the workpiece, the workpiece is ground and positioned for the first time. The six-axis manipulator clamps the workpiece again, and the clamping cylinder of the turntable drives the clamp to release the workpiece.

[0013] A bracket for fixing the detector is provided on the support plate, and one end of the bracket is extended outwardly toward the outside of the support plate to form a detection position for detecting the workpiece on the transfer table, so that the curved surface of the workpiece can contact the detector.

[0014] The turntable is equipped with a low-measuring-force detection head. After the fixture picks up the product, the difference in product offset can be measured by touching the detection head, and then the grinding path and offset can be changed to achieve effective uniformity in the grinding effect of the product.

[0015] The feeding mechanism includes a feeding plate, a first positioning plate and a pushing cylinder arranged on the feeding plate, and a movable rod movably arranged on the feeding plate, the movable rod is cooperatively connected with the piston rod of the pushing cylinder, a second positioning plate is arranged on the movable rod, the movable rod is cooperatively connected with the second positioning plate, and the pushing cylinder drives the second positioning plate to move relative to the first positioning plate through the movable rod; a connecting rod is arranged between the movable rod and the second positioning plate, and an adjusting groove is arranged on the connecting rod, and the second positioning plate is installed at different positions of the movable rod through the adjusting groove to adapt to workpieces of different specifications and sizes.

[0016] The second positioning plate can also be disassembled and assembled on the connecting rod through the adjustment slot to replace second positioning plates of different specifications and sizes, thereby adapting to docking claw products with various product lengths and diameters.

[0017] The feeding mechanism is equipped with a universal workpiece clamping mechanism to accommodate docking claw products with various lengths and diameters.

[0018] The first positioning plate is provided with a plurality of positioning blocks arranged at intervals, and the second positioning plate is provided with a plurality of positioning grooves arranged at intervals. The push cylinder drives the positioning groove of the second positioning plate to move in a direction close to the positioning block. A part of the workpiece is limited on the positioning groove, and the other part of the workpiece is supported on the first positioning plate, and one side of the other part of the workpiece abuts against the corresponding positioning block.

[0019] The position distance between the positioning groove and the positioning block is adjusted by pushing the cylinder, thereby clamping workpieces of different thicknesses.

[0020] The grinding mechanism includes a grinding wheel, a driven wheel, a driving wheel, and a sanding belt, and the sanding belt covers the grinding wheel, the driven wheel, and the driving wheel; the grinding mechanism also includes a tensioning assembly for adjusting the tension of the sanding belt; the tensioning assembly includes a tensioning cylinder and a tensioning wheel at one end of the tensioning cylinder piston rod, and the tensioning cylinder drives the tensioning wheel to move to adjust the tension of the sanding belt.

[0021] The grinding mechanism also includes an auxiliary wheel and an auxiliary cylinder. The piston rod of the auxiliary cylinder is connected to the auxiliary wheel. The sanding belt covers the auxiliary wheel. The piston rod of the auxiliary cylinder drives the auxiliary wheel to move to adjust the fit between the sanding belt and the workpiece. The fit between the product contact surface and the sanding belt can be adjusted.

[0022] The automatic grinding system for the docking claw also includes a feeding mechanism, which includes a conveyor belt and a motor for controlling the reciprocating motion of the conveyor belt. The conveyor belt of the feeding mechanism adopts a stainless steel mesh belt surface to prevent the product from overheating after grinding and causing damage to the feeding belt line.

[0023] The beneficial effects of the utility model are as follows:

[0024] The deformation of the docking claw is relatively large, and sometimes the bending angle reaches about 2 degrees, which affects the consistency of grinding. Therefore, a six-axis robot is used to grasp the product, and a detector is used to touch the bending direction of the docking claw to detect the bending offset of the docking claw, and to make appropriate adjustments to the grinding of the workpiece to adapt to product differences.

[0025] Effectively reduce the workload of front-line industrial workers and reduce staffing, solve the problem of backward equipment affecting product quality and efficiency, and upgrade production equipment to automate. Reduce workers' labor intensity, reduce labor costs, improve safety levels, improve product quality, and enhance the overall image of the company. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 It is a structural schematic diagram of an automated grinding system according to an embodiment of the utility model.

[0027] Figure 2 It is a schematic structural diagram of a turntable in one embodiment of the utility model.

[0028] Figure 3 It is a structural schematic diagram of a clamping mechanism according to an embodiment of the utility model.

[0029] Figure 4 It is a schematic cross-sectional structure diagram of a clamping mechanism according to an embodiment of the utility model.

[0030] Figure 5 It is a structural schematic diagram of a feeding mechanism according to an embodiment of the utility model.

[0031] Figure 6 It is a structural schematic diagram of a grinding mechanism according to an embodiment of the utility model.

[0032] Figure 7 It is a schematic structural diagram of a workpiece having curvature according to an embodiment of the utility model. DETAILED DESCRIPTION

[0033] The utility model is further described below in conjunction with the accompanying drawings and embodiments.

[0034] See also Figure 1-Figure 7 , an automated grinding system for docking claws, including a clamping mechanism 2 connected to a six-axis manipulator 1, a loading mechanism 3 for placing a workpiece to be ground, and a grinding mechanism 4 for grinding the workpiece, and also includes a turntable 5, the turntable 5 is provided with a detector 6 for detecting the workpiece, the turntable 5 is provided with a clamping mechanism 7 for clamping and positioning the workpiece, the six-axis manipulator 1 clamps the workpiece of the loading mechanism 3 through the clamping mechanism 2, the workpiece moves toward the turntable 5 through the six-axis manipulator 1 and contacts with the detector 6 to detect the bending angle A of the workpiece.

[0035] The clamping mechanism 2 includes a clamping cylinder 8 arranged on a clamping fixed plate 9, and a clamping movable plate 10 hinged to the clamping fixed plate 9. The piston rod of the clamping cylinder 8 is cooperatively connected with the clamping movable plate 10. The piston rod of the clamping cylinder 8 drives the clamping movable plate 10 to move on the clamping fixed plate 9 during the extension and retraction process, so that the clamping fixed plate 9 and the clamping movable plate 10 can perform an opening and closing action to clamp or release the workpiece.

[0036] In this embodiment, a hinged seat is provided on the clamping fixed plate 9, and a hinged ear hinged to the hinged seat is provided on the clamping movable plate 10. The hinged ear and the hinged seat are hinged by rivets or axle pins. A short rod is provided at one end of the clamping movable plate 10, and the short rod is hinged to the piston rod of the clamping cylinder 8.

[0037] A connecting flange 11 which is matched and connected with the six-axis manipulator 1 is provided on the clamping fixing plate 9 .

[0038] In this embodiment, the connection flange 11 is provided with fixing holes for inserting screws, so as to fix the connection flange 11 on the shaft arm of the six-axis robot 1 .

[0039] The turntable 5 includes a support plate 12 and a positioning seat 13 fixed on the support plate 12. The clamping mechanism 7 includes a clamping cylinder 14 and a clamping seat 15 connected to the piston rod of the clamping cylinder 14. The clamping cylinder 14 drives the clamping seat 15 to move closer to or away from the positioning seat 13 to clamp or release the workpiece.

[0040] A bracket 16 for fixing the detector 6 is provided on the support plate 12 , and one end of the bracket 16 is extended outwardly toward the outside of the support plate 12 to form a detection position for detecting the workpiece on the transfer table 5 .

[0041] In this embodiment, the bracket 16 is fixed to the bottom of the support plate 12 by screws.

[0042] The feeding mechanism 3 includes a feeding plate 17, a first positioning plate 18 and a pushing cylinder 19 arranged on the feeding plate 17, and a movable rod 20 movably arranged on the feeding plate 17. The movable rod 20 is cooperatively connected with the piston rod of the pushing cylinder 19. A second positioning plate 21 is provided on the movable rod 20. The movable rod 20 is cooperatively connected with the second positioning plate 21. The pushing cylinder 19 drives the second positioning plate 21 to move relative to the first positioning plate 18 through the movable rod 20; a connecting rod 33 is provided between the movable rod 20 and the second positioning plate 21, and an adjusting groove 34 is provided on the connecting rod 33. The second positioning plate 21 is installed at different positions of the movable rod 20 through the adjusting groove 34 to adapt to workpieces of different specifications and sizes.

[0043] The first positioning plate 18 is provided with a plurality of positioning blocks 22 arranged at intervals, and the second positioning plate 21 is provided with a plurality of positioning grooves 23 arranged at intervals. The second positioning plate 21 has a first position state and a second position state. When the second positioning plate 21 is in the first position state, it is offset from the positioning groove 23; the push cylinder 19 drives the positioning groove 23 of the second positioning plate 21 to move in a direction close to the positioning block 22. When the second positioning plate 21 is in the second position state, a part of the workpiece is limited on the positioning groove 23, and the other part of the workpiece is supported on the first positioning plate 18, and one side of the other part of the workpiece abuts against the corresponding positioning block 22.

[0044] The grinding mechanism 4 includes a grinding wheel 24, a driven wheel 25, a driving wheel 26, and a sanding belt 27. The sanding belt 27 covers the grinding wheel 24, the driven wheel 25, and the driving wheel 26. The grinding mechanism 4 also includes a tensioning assembly for adjusting the tension of the sanding belt 27. The tensioning assembly includes a tensioning cylinder 28 and a tensioning wheel 29 at one end of the piston rod of the tensioning cylinder 28. The tensioning cylinder 28 drives the tensioning wheel 29 to move to adjust the tension of the sanding belt 27.

[0045] The grinding mechanism 4 also includes an auxiliary wheel 30 and an auxiliary cylinder 31. The piston rod of the auxiliary cylinder 31 is connected to the auxiliary wheel 30. The sanding belt 27 covers the auxiliary wheel 30. The piston rod of the auxiliary cylinder 31 drives the auxiliary wheel 30 to move to adjust the fit between the sanding belt 27 and the workpiece.

[0046] In this embodiment, a dust collecting hopper 34 is provided below the sanding belt 27 .

[0047] The automatic grinding system for docking claws also includes a feeding mechanism 32, which includes a conveyor belt and a motor for controlling the reciprocating motion of the conveyor belt.

[0048] The above is a preferred embodiment of the utility model, which shows and describes the basic principle, main features and advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments, and the above embodiments and descriptions are only for explaining the principle of the utility model. The utility model may have various changes and improvements without departing from the spirit and scope of the utility model, and these changes and improvements fall within the scope of the utility model to be protected. The scope of protection of the utility model is defined by the attached claims and their equivalents.

Claims

1. An automated grinding system for docking claws, comprising a gripping mechanism (2) connected to a six-axis manipulator (1), a loading mechanism (3) for placing a workpiece to be ground, and a grinding mechanism (4) for grinding the workpiece, characterized in that: The invention also comprises a transfer table (5), a detector (6) for detecting the workpiece is provided on the transfer table (5), a clamping mechanism (7) for clamping and positioning the workpiece is provided on the transfer table (5), a six-axis manipulator (1) clamps the workpiece of the feeding mechanism (3) through the clamping mechanism (2), and the workpiece moves toward the transfer table (5) through the six-axis manipulator (1) and contacts with the detector (6) to detect the bending angle A of the workpiece.

2. The automatic grinding system for docking claws according to claim 1, characterized in that: The clamping mechanism (2) comprises a clamping cylinder (8) arranged on a clamping fixed plate (9) and a clamping movable plate (10) hinged to the clamping fixed plate (9). The piston rod of the clamping cylinder (8) is cooperatively connected with the clamping movable plate (10). The piston rod of the clamping cylinder (8) drives the clamping movable plate (10) to move on the clamping fixed plate (9) during the extension and retraction process, so that the clamping fixed plate (9) and the clamping movable plate (10) perform an opening and closing action to clamp or release the workpiece.

3. The automatic grinding system for docking claws according to claim 2, characterized in that: A connecting flange (11) which is matched and connected with the six-axis manipulator (1) is provided on the clamping fixing plate (9).

4. The automatic grinding system for docking claws according to claim 1, characterized in that: The transfer table (5) comprises a support plate (12) and a positioning seat (13) fixed on the support plate (12); the clamping mechanism (7) comprises a clamping cylinder (14) and a clamping seat (15) connected to a piston rod of the clamping cylinder (14); the clamping cylinder (14) drives the clamping seat (15) to move closer to or away from the positioning seat (13) to clamp or release a workpiece.

5. The automatic grinding system for docking claws according to claim 4, characterized in that: A bracket (16) for fixing the detector (6) is provided on the support plate (12), and one end of the bracket (16) is extended outwardly toward the outside of the support plate (12) to form a detection position for detecting workpieces on the transfer table (5).

6. The automatic grinding system for docking claws according to claim 1, characterized in that: The feeding mechanism (3) comprises a feeding plate (17), a first positioning plate (18) and a push cylinder (19) arranged on the feeding plate (17), and a movable rod (20) movably arranged on the feeding plate (17); the movable rod (20) is connected in cooperation with the piston rod of the push cylinder (19); a second positioning plate (21) is arranged on the movable rod (20); the movable rod (20) and the second positioning plate (21) are connected in cooperation; the push cylinder (19) drives the second positioning plate (21) to move relative to the first positioning plate (18) through the movable rod (20); a connecting rod (33) is arranged between the movable rod (20) and the second positioning plate (21); an adjusting groove (34) is arranged on the connecting rod (33); the second positioning plate (21) is installed at different positions of the movable rod (20) through the adjusting groove (34) to adapt to workpieces of different specifications and sizes.

7. The automatic grinding system for docking claws according to claim 6, characterized in that: A plurality of positioning blocks (22) are arranged at intervals on the first positioning plate (18), and a plurality of positioning grooves (23) are arranged at intervals on the second positioning plate (21). The push cylinder (19) drives the positioning grooves (23) of the second positioning plate (21) to move in a direction close to the positioning blocks (22). A part of the workpiece is limited on the positioning grooves (23), and another part of the workpiece is supported on the first positioning plate (18), and one side of the other part of the workpiece abuts against the corresponding positioning block (22).

8. The automatic grinding system for docking claws according to claim 1, characterized in that: The grinding mechanism (4) comprises a grinding wheel (24), a driven wheel (25), a driving wheel (26), and a sanding belt (27), wherein the sanding belt (27) covers the grinding wheel (24), the driven wheel (25), and the driving wheel (26); the grinding mechanism (4) further comprises a tensioning assembly for adjusting the tension of the sanding belt (27); the tensioning assembly comprises a tensioning cylinder (28) and a tensioning wheel (29) at one end of a piston rod of the tensioning cylinder (28), wherein the tensioning cylinder (28) drives the tensioning wheel (29) to move so as to adjust the tension of the sanding belt (27).

9. The automatic grinding system for docking claws according to claim 8, characterized in that: The grinding mechanism (4) further comprises an auxiliary wheel (30) and an auxiliary cylinder (31); a piston rod of the auxiliary cylinder (31) is cooperatively connected with the auxiliary wheel (30); the sanding belt (27) covers the auxiliary wheel (30); and the piston rod of the auxiliary cylinder (31) drives the auxiliary wheel (30) to move so as to adjust the fit between the sanding belt (27) and the workpiece.

10. The automatic grinding system for docking claws according to claim 1, characterized in that: It also includes a material unloading mechanism (32), which includes a conveyor belt and a motor for controlling the reciprocating motion of the conveyor belt.

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