Robot grinding integrated unit
Through the integrated unit of robot grinding, the automatic grinding of copper rows is achieved using multiple workbenches and six-axis robotic arms, which solves the problems of traditional grinding efficiency and high working strength, improves the efficiency and production capacity of copper row processing, and improves the working environment .
Patent Information
- Application Number
- CN202420824169.8
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-04-19
- Publication Date
- 2025-01-03
- Estimated Expiration
- 2034-04-19
AI Technical Summary
The traditional copper steak grinding process requires manual overturning of the product, resulting in low efficiency and high working intensity, making it difficult to ensure continuous processing capacity.
Design a robot grinding integrated unit, including dustproof chamber, dust removal assembly, six-axis robotic arms and multiple workbenches, detect workpiece positions through sensors, realize automated grinding operations, and improve through removable grinding heads and tool buffer racks. Processing efficiency.
It improves the efficiency and production capacity of copper flask grinding, reduces the need for manual flips, ensures the continuity and safety of the processing process, and effectively recovers dust and improves the working environment.
Smart Images
Figure CN222289591U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of die casting processing, in particular to a robot grinding integrated unit. Background Art
[0002] As the number of electric vehicles increases, higher requirements are placed on the production capacity of electric vehicles. Copper busbars are often used as flow guide carriers in electric vehicles.
[0003] The copper busbar is a metal workpiece made by die-casting. When processing the copper busbar, one of the steps includes polishing the surface of the copper busbar. Traditional polishing methods are mostly manual. During the polishing process, the product needs to be constantly turned over and various parts need to be polished. In addition, when the workpiece is turned over, the polishing operation needs to be temporarily stopped, which reduces the polishing efficiency of the copper busbar. Utility Model Content
[0004] In view of the deficiencies in the prior art, the utility model proposes a robot polishing integrated unit, which can effectively improve the polishing efficiency and automatically and accurately complete the polishing operation of special-shaped copper bars.
[0005] The technical solution of the utility model is achieved in this way:
[0006] A robot grinding integrated unit, comprising a dustproof bin, a dust removal component, a robot and at least two workbenches; the dust removal component is arranged in the dustproof bin, the dustproof bin comprises an integrated base and a bin body, the bin body is arranged on the integrated base and connected thereto, and a loading and unloading entrance is opened on the bin body; the robot is fixedly installed in the dustproof bin, and the two workbenches are arranged in the working range of the robot; a detachable grinding head is arranged on the working end of the robot;
[0007] A single workbench includes a support table and at least two fixing positions for fixing the workpiece to be polished, the support table is arranged around the outside of the robot, and the fixing position includes a plurality of clamping tools arranged at intervals.
[0008] In a further embodiment, the two fixing positions on the workbench are arranged in parallel, and the clamping tools are arranged perpendicular to each other to form an L-shaped fixing position.
[0009] In a further embodiment, a plurality of first sensors are installed on the workbench, wherein the first sensors are arranged at the lower side of the fixed position and between the two clamping fixtures, and the first sensors are arranged in a direction to detect the position of the workpiece to be polished.
[0010] In a further embodiment, the robot is configured as a six-axis robotic arm, a force-controlled electric spindle is fixed to a working end of the six-axis robotic arm, and the grinding head is detachably mounted on an output end of the force-controlled electric spindle.
[0011] In one embodiment, a tool cache rack is also installed on the inner wall of the dustproof bin, and the tool cache rack is arranged within the working range of the robot. The tool cache rack includes a fixed frame and a second sensor. The fixed frame is provided with a plurality of replacement grooves for placing replacement molds, and the second sensor is arranged on one side of the replacement groove and faces the replacement mold.
[0012] In one embodiment, the dustproof bin includes an integrated base and a bin body, the bin body is disposed on and connected to the integrated base, and loading and unloading entrances are provided on the bin body.
[0013] In one embodiment, an electric rolling door is provided in the loading and unloading entrance.
[0014] In one embodiment, the clamping tool is configured as a fixed tool, a U-shaped long groove is provided on the top of the fixed tool, and a guide slope is provided at the opening of the U-shaped long groove.
[0015] In one embodiment, the clamping tool is configured as a gravity clamping tool, and a pair of jaws are arranged opposite to each other on the top of the gravity clamping tool, a pressure piece is provided between the jaws, and the pressure piece is connected to the jaws through a connecting rod, and the pressure piece drives the jaws when moving downward.
[0016] In one embodiment, a waste drawer is provided inside the integrated base, and the waste drawer is arranged at the lower side of the workbench.
[0017] In one embodiment, the warehouse body includes wall panels and a top panel that are enclosed together, and an assembled structure is formed between the wall panels and the top panel.
[0018] Compared with the prior art, the utility model has the following advantages:
[0019] The utility model provides at least two workbenches for fixing and grinding the workpiece, so that personnel can flip the workpiece at alternate workstations, ensuring that the robot is always in the operation of grinding the workpiece, thereby improving the copper busbar production capacity.
[0020] With respect to the upper and lower edges of the workpiece to be polished, the utility model provides at least two fixing positions on a single workbench, so that the single workbench can simultaneously fix an upright workpiece and an inverted workpiece, thereby improving the efficiency of a single polishing operation.
[0021] The sealed dustproof bin and dust removal components can effectively recycle the dust in the bin to avoid environmental pollution. At the same time, the dust that falls on the surface of the workpiece to be polished can be recycled to improve the polishing effect. BRIEF DESCRIPTION OF THE DRAWINGS
[0022] In order to more clearly illustrate the implementation methods of the utility model or the technical solutions in the prior art, the drawings required for use in the implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some implementation methods of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.
[0023] Figure 1 This is a three-dimensional structural diagram of a workpiece to be polished in an embodiment of the utility model;
[0024] Figure 2 A three-dimensional structural diagram of a robot polishing integrated unit in an embodiment of the utility model;
[0025] Figure 3 This is an internal structure diagram of a robot polishing integrated unit in an embodiment of the utility model;
[0026] Figure 4 This is a schematic diagram of the structure of a workbench in an embodiment of the utility model;
[0027] Figure 5 for Figure 4 A partial enlarged view of the middle A;
[0028] Figure 6 It is a schematic diagram of the structure of the tool buffer rack in the embodiment of the utility model.
[0029] Figure identification: 10-dustproof bin; 11-integrated base; 12-bin body; 13-electric rolling door; 20-robot; 21-force-controlled electric spindle; 30-workbench; 31-support table; 32-clamping tool; 321-fixed tool; 322-gravity clamping tool; 33-first sensor; 40-tool cache rack; 41-fixed rack; 42-second sensor; 43-replaceable mold. DETAILED DESCRIPTION
[0030] The following will be combined with the drawings in the embodiments of the utility model to clearly and completely describe the technical solutions in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.
[0031] In the description of the present utility model, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present utility model and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific position, be constructed and operated in a specific position, and therefore cannot be understood as limiting the present utility model. In addition, the terms "first", "second", "third", "fourth", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.
[0032] In the description of the present invention, it should be noted that, unless otherwise clearly specified and limited, the terms "installation", "connection" and "connection" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.
[0033] See also Figure 1 The utility model embodiment discloses a robot 20 grinding integrated unit, which is used for metal grinding processing of strip-shaped special-shaped die-castings, such as copper bars, aluminum bars, etc. The robot 20 grinding integrated unit includes a dustproof bin 10, a dust removal component, a robot 20 and at least two workbenches 30; the dust removal component is arranged in the dustproof bin 10, and the dustproof bin 10 includes an integrated base 11 and a bin body 12, the bin body 12 is arranged on the integrated base 11 and connected thereto, and a loading and unloading entrance is opened on the bin body 12; specifically, the integrated base 11 adopts rectangular tubes and square tubes through welding, annealing, machining and other processes to form a skeleton, and is made of 20-30mm thick steel plates welded after the surface of the skeleton is painted, and the integrated base 11 forms a solid whole, which can conveniently fix the robot 20, the workbench 30 and other equipment to the skeleton by bolts, and a forklift hole is provided at the bottom of the dustproof bin 10 to facilitate the movement of the grinding unit. The warehouse body 12 is assembled in the form of sheet metal columns and sheet metal iron plates. A window is opened on the sheet metal iron plate, and a transparent acrylic plate is installed in the window to facilitate the staff to pay attention to the polishing progress at any time.
[0034] Specifically, the function of the dustproof bin 10 is to make the processing environment relatively isolated and controllable. By setting a dust removal component and an air pressure and humidity control component in the dustproof bin 10, it can effectively ensure that the environment is in the best processing state. In this embodiment, the dust removal component is configured as an air suction hood set in the dustproof bin 10, and the air suction hood is connected to the external dust collector through a pipeline. The dust removal component processes an air volume of 550m 3 / H~600m 3 / H.
[0035] like Figure 3 As shown, the robot 20 is fixedly installed in the dustproof bin 10, and two workbenches 30 are arranged in the working range of the robot 20; a detachable grinding head is arranged on the working end of the robot 20; a single workbench 30 includes a support table 31 and at least two fixing positions for fixing the workpiece to be polished, and the support table 31 is arranged around the outside of the robot 20, and the fixing position includes a plurality of clamping fixtures 32 arranged at intervals. The placement of the clamping fixtures 32 is adjusted based on user needs, and different shapes are selected according to different workpieces to be polished. In this embodiment, the workpiece to be polished is L-shaped, so the corresponding fixing position is also L-shaped. Furthermore, the two fixing positions on the workbench 30 are arranged in parallel, and the clamping fixtures 32 are arranged perpendicular to each other to form an L-shaped fixing position.
[0036] During processing, two workpieces to be polished, one front and one back, can be placed on each workbench 30. After manual loading is completed on workbench No. 1 30, the robot 20 polishes the workpiece on workbench No. 1 30; at the same time, manual loading is performed on workbench No. 2 30. After the front side of the workpiece is polished on workbench No. 1 30, the workpiece on workbench No. 1 30 is manually turned over, and the above steps are repeated in sequence until the front and back sides of the workpiece on the workbench 30 are polished. The setting of the two workbenches 30 can effectively improve the workpiece processing efficiency, ensure continuous copper busbar processing, and effectively improve the copper busbar processing capacity.
[0037] In one embodiment, a waste drawer is provided inside the integrated base 11, and the waste drawer is arranged at the lower side of the workbench 30. The debris dropped during processing and grinding is collected to ensure that the internal environment of the dustproof bin 10 is clean.
[0038] In this embodiment, the dustproof bin 10 and the dust removal assembly are used to isolate the working state in the bin from people in a relatively safe manner. The automatic grinding operation by the robot 20 reduces the work intensity, ensures the safety of people, and improves the working environment. At the same time, the entire production site environment will be significantly improved in terms of dust emission, noise control, hidden danger alarm, etc.
[0039] In a further embodiment, a plurality of first sensors 33 are installed on the workbench 30. The first sensors 33 are arranged at the lower side of the fixed position and between the two clamping fixtures 32. The first sensors 33 are arranged in a direction to detect the position of the workpiece to be polished. Specifically, a plurality of first sensors 33 are arranged on each fixed position. When the first sensor 33 detects that the workpiece to be polished is in place at the fixed position, the polishing operation of the workpiece is performed to avoid causing harm to the personnel in the dustproof chamber 10.
[0040] In a further embodiment, the robot 20 is configured as a six-axis robot arm, and a force-controlled electric spindle 21 is fixed to the working end of the six-axis robot arm, and a grinding head is detachably installed at the output end of the force-controlled electric spindle 21. The force-controlled electric spindle 21 is installed at the working end of the robot 20 through a rigid connection to ensure that the force-controlled electric spindle 21 maintains a stable position during processing. The electric spindle is a new technology that integrates the machine tool spindle and the spindle motor in the field of CNC machine tools. By encoding it, the automatic tool change process of the grinding head can be automatically performed.
[0041] Specifically, a tool cache rack 40 is also installed on the inner wall of the dustproof bin 10. The tool cache rack 40 is set within the operating range of the robot 20. The tool cache rack 40 includes a fixed rack 41 and a second sensor 42. The fixed rack 41 is provided with a plurality of replacement grooves for placing replacement molds 43. The second sensor 42 is arranged on one side of the replacement groove and faces the replacement mold 43. Each replacement groove is correspondingly provided with a second sensor 42. When a tool needs to be changed, the robot 20 approaches the tool cache rack 40, and the electric spindle automatically performs a tool change operation through the built-in program of the electric spindle, replaces the tool head with the replacement mold 43, and places the used grinding head in the replacement groove for recording through the second sensor 42.
[0042] In one embodiment, an electric rolling door 13 is provided in the loading and unloading entrance. The electric rolling door 13 is provided to quickly open and close the dustproof room, so that the personnel can work and the environment in the dustproof room can be controlled.
[0043] In this embodiment, the clamping tool 32 is configured as a fixed tool 321, and a U-shaped long groove is provided on the top of the fixed tool 321, and a guide slope is relatively provided at the opening of the U-shaped long groove, so as to facilitate the copper bar to enter the U-shaped groove through the opening of the clamping tool 32. At the same time, the clamping tool 32 can also be configured as a gravity clamping tool 322, and a pair of clamping claws are relatively provided on the top of the gravity clamping tool 322, and a pressure piece is provided between the clamping claws, and the pressure piece is connected to the clamping claw by a connecting rod, and the pressure piece drives the clamping claw when it moves downward. Thereby, the copper bar is firmly fixed in the clamping tool 32.
[0044] In one embodiment, the bin body 12 includes a wall panel and a top panel, and there is an assembly structure between the wall panel and the top panel. It can be understood that the assembly structure is a detachable structure, including but not limited to slots, screw fixation, etc., which is not specifically limited in this embodiment. By removing some wall panels, multiple dustproof bins 10 can be spliced together, which is convenient for expansion and adding workstations. In addition, it is more convenient to perform maintenance operations on the robot 20 and disassemble the entire unit.
[0045] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.
Claims
1. A robot (20) polishing integrated unit, characterized in that: The invention comprises a dustproof bin (10), a dust removal component, a robot (20) and at least two workbenches (30); the dust removal component is arranged in the dustproof bin (10); the dustproof bin (10) comprises an integrated base (11) and a bin body (12); the bin body (12) is arranged on the integrated base (11) and connected thereto; a loading and unloading entrance is provided on the bin body (12); the robot (20) is fixedly installed in the dustproof bin (10); the two workbenches (30) are arranged in the working range of the robot (20); a detachable grinding head is provided on the working end of the robot (20); A single workbench (30) comprises a support table (31) and at least two fixing positions for fixing a workpiece to be polished, wherein the support table (31) is arranged around the outside of the robot (20), and the fixing position comprises a plurality of clamping fixtures (32) arranged at intervals.
2. The robot (20) grinding integrated unit according to claim 1, characterized in that: The two fixing positions on the workbench (30) are arranged in parallel, and the clamping fixtures (32) are arranged perpendicular to each other to form an L-shaped fixing position.
3. The robot (20) grinding integrated unit according to claim 2, characterized in that: A plurality of first sensors (33) are also installed on the workbench (30). The first sensors (33) are arranged at the lower side of the fixed position and between the two clamping fixtures (32). The first sensors (33) are arranged in a direction to detect the position of the workpiece to be polished.
4. The robot (20) grinding integrated unit according to claim 1, characterized in that: The robot (20) is configured as a six-axis mechanical arm, a force-controlled electric spindle (21) is fixed to a working end of the six-axis mechanical arm, and the grinding head is detachably mounted on an output end of the force-controlled electric spindle (21).
5. The robot (20) grinding integrated unit according to claim 4, characterized in that: A tool cache rack (40) is also installed on the inner wall of the dustproof bin (10), and the tool cache rack (40) is arranged within the working range of the robot (20). The tool cache rack (40) includes a fixed frame (41) and a second sensor (42). The fixed frame (41) is provided with a plurality of replacement grooves for placing replacement molds (43), and the second sensor (42) is arranged on one side of the replacement groove and faces the replacement mold (43).
6. The robot (20) polishing integrated unit according to claim 1, characterized in that: An electric rolling shutter door (13) is arranged in the loading and unloading entrance.
7. The robot (20) polishing integrated unit according to claim 1, characterized in that: The clamping tool (32) is configured as a fixed tool (321), a U-shaped long groove is provided on the top of the fixed tool (321), and a guide slope is provided at the opening of the U-shaped long groove.
8. The robot (20) grinding integrated unit according to claim 1, characterized in that: The clamping tool (32) is configured as a gravity clamping tool (322), and a pair of clamping jaws are arranged opposite to each other at the top of the gravity clamping tool (322). A pressure piece is arranged between the clamping jaws, and the pressure piece is connected to the clamping jaws through a connecting rod. When the pressure piece moves downward, it drives the clamping jaws.
9. The robot (20) polishing integrated unit according to claim 1, characterized in that: A waste drawer is provided inside the integrated base (11), and the waste drawer is arranged on the lower side of the workbench (30).
10. The robot (20) grinding integrated unit according to claim 1, characterized in that: The warehouse body (12) comprises a wall panel and a top panel which are enclosed together, and an assembled structure is formed between the wall panel and the top panel.