Double-industrial-robot double-measurement multi-station blade grinding work station
By adopting the design of dual industrial robots and dual measurement systems in an automated grinding workstation, the problems of long waiting time and low equipment utilization caused by the alternating measurement and grinding actions in the prior art are solved, and a more efficient grinding process is achieved.
Patent Information
- Application Number
- CN202420275760.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-02-05
- Publication Date
- 2025-02-07
- Estimated Expiration
- 2034-02-05
AI Technical Summary
The existing automated grinding workstations need to be performed alternately, and the measurement takes up a long time, and the number of times of polishing in different areas is not fixed, resulting in a long wait time for the grinder and a low equipment utilization rate.
The dual industrial robot dual measurement and multi-station design is adopted. Through two industrial robots arranged in a cross-shaped manner and two sets of measurement systems, the simultaneous measurement and polishing are achieved, improving the simultaneous working ability and efficiency of the equipment.
Through the simultaneous work of two robots and two measurement systems, the two workpieces are simultaneously established. Multiple grinding equipment grinds the surfaces of parts of different shapes to improve equipment utilization, shorten waiting time, and maximize grinding efficiency.
Smart Images
Figure CN222430305U_ABST
Abstract
Description
Technical Field
[0001] The utility model relates to the technical field of grinding or polishing parts of complex shapes, in particular to a double-industrial robot double-measurement multi-station blade grinding workstation. Background Art
[0002] The automated grinding workstation is a device suitable for automatic grinding or polishing of aircraft engine blades, gas turbine blades or other irregular parts.
[0003] The existing automated grinding workstations at home and abroad only contain one robot. The robot clamps the workpiece reference through the tooling, arrives at multiple grinding stations in steps, and completes the grinding of different areas of the workpiece. The blade workpiece blank involved in the present invention has no common process references such as machining planes or hole axes, and is defined based on six point coordinate values, so iterative measurements are required to establish the coordinate system of the workpiece. At the same time, the margins of various areas of the complex surface are uneven, and margin measurements need to be performed, and the offset and torsion values of the contour are calculated to ensure that the grinding amount meets the final accuracy requirements. In summary, the measurement and grinding actions need to be performed alternately, and the measurement accounts for a long time. The number of grinding times in different areas is also not fixed, resulting in a long waiting time for the grinder and low equipment utilization.
[0004] Similar to the above-mentioned existing domestic and foreign automated grinding workstations, measurement and grinding actions need to be performed alternately, and the measurement takes a long time. The number of grinding times in different areas is also not fixed, resulting in a long waiting time for the grinder and low equipment utilization.
[0005] Therefore, in view of this, the existing structure and deficiencies are studied and improved, and a dual industrial robot dual measurement multi-station blade grinding workstation is proposed to achieve a more practical purpose. Utility Model Content
[0006] The purpose of the utility model is to provide a dual industrial robot dual measurement multi-station blade grinding workstation to solve the problem of the above-mentioned existing domestic and foreign automated grinding workstations proposed in the above-mentioned background technology, that measurement and grinding actions need to be performed alternately, and the measurement takes a long time, and the number of grinding times in different areas is not fixed, which brings about a long waiting time for the grinder and low equipment utilization.
[0007] To achieve the above-mentioned purpose, the utility model provides the following technical solutions: a dual-industrial robot dual-measurement multi-station blade grinding workstation, comprising an industrial robot No. 1, an industrial robot No. 2, a sanding belt grinder No. 1 and a sanding belt grinder No. 2, the industrial robot No. 1 and the industrial robot No. 2 and the sanding belt grinder No. 1 and the sanding belt grinder No. 2 are arranged in a cross shape, the industrial robot No. 1 and the industrial robot No. 2 are symmetrical to each other, the sanding belt grinder No. 1 and the sanding belt grinder No. 2 are arranged symmetrically to each other, and the symmetry axes of the industrial robot No. 1 and the industrial robot No. 2 and the symmetry axes of the sanding belt grinder No. 1 and the sanding belt grinder No. 2 intersect at the same point, a measuring system No. 1 is arranged on the side of the industrial robot No. 1 close to the sanding belt grinder No. 1, and a measuring system No. 2 is arranged on the side of the industrial robot No. 2 close to the sanding belt grinder No. 2.
[0008] Preferably, a loading and unloading platform No. 1 is arranged between the industrial robot No. 1 and the measuring system No. 1, a loading and unloading platform No. 2 is arranged between the industrial robot No. 2 and the measuring system No. 2, and the measuring system No. 1 and the measuring system No. 2 are symmetrical to each other.
[0009] Preferably, an electronic fence No. 1 is set between the industrial robot No. 1 and the belt grinder No. 1 and the industrial robot No. 2 and the belt grinder No. 2, and an electronic fence No. 2 is set between the industrial robot No. 1 and the belt grinder No. 2 and the industrial robot No. 2 and the belt grinder No. 1.
[0010] Preferably, the No. 1 industrial robot, the No. 2 industrial robot, the No. 1 belt grinder and the No. 2 belt grinder are all located in a working area surrounded by a safety fence, and the working area is equally divided into three areas.
[0011] Preferably, the three areas are the grinding equipment placement area exclusively occupied by robot No. 1, the grinding equipment placement area exclusively occupied by robot No. 2, and the grinding equipment placement area shared by the robots. The grinding equipment placement area shared by the robots is located at the center of the three areas, and the grinding equipment placement area exclusively occupied by robot No. 1 is located on the side of the grinding equipment placement area shared by the robots close to industrial robot No. 1.
[0012] Preferably, the grinding equipment placement area exclusively occupied by the second robot is located on the side of the grinding equipment placement area shared by the robots close to the second industrial robot, and the first belt grinder and the second belt grinder are arranged in the grinding equipment placement area shared by the robots.
[0013] Preferably, an auxiliary electrical cabinet is provided on the outer side of the safety guardrail, and the No. 1 belt grinder and the No. 2 belt grinder are connected in series with the auxiliary electrical cabinet, and the No. 1 industrial robot and the No. 2 industrial robot are connected in parallel between the No. 1 belt grinder and the No. 2 belt grinder and the auxiliary electrical cabinet.
[0014] Compared with the prior art, the beneficial effects of the utility model are: through independent or shared measuring equipment and shared grinding and polishing machines, the problem of long measurement time is solved, the utilization rate of the grinding machine is improved, and the overall processing time of the parts is greatly reduced. Through the simultaneous work of two robots and two sets of measuring systems, the two workpieces are simultaneously benchmarked. Multiple grinding equipment is used for parts with different shapes, which improves equipment utilization, shortens waiting time, and achieves maximum grinding efficiency. The specific contents are as follows:
[0015] The No. 1 loading and unloading platform is used to supply blade blanks to the No. 1 industrial robot for clamping, and the No. 2 loading and unloading platform is used to supply workpieces to the No. 2 industrial robot for clamping. The No. 1 industrial robot and the No. 2 industrial robot respectively clamp and transport the blades to the No. 1 belt grinder and the No. 2 belt grinder for grinding. After each workpiece is grasped by the robot, it is always grasped before it is qualified. The No. 1 measuring system and the No. 2 measuring system can use line laser to quickly complete the blade shape measurement on each cross-sectional line of the blade body, and the contour calculation is completed through the system's own algorithm. The two No. 1 belt grinders and No. 2 belt grinders complete one or more grinding for each workpiece alternately. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 It is a schematic structural diagram of a main body of a dual industrial robot dual measurement multi-station blade grinding workstation according to the utility model from a top view;
[0017] Figure 2 It is a schematic diagram of the robot working area mode 1 of a dual industrial robot dual measurement multi-station blade grinding workstation of the utility model;
[0018] Figure 3 It is a schematic diagram of the robot working area mode 2 of a dual industrial robot dual measurement multi-station blade grinding workstation of the utility model;
[0019] Figure 4 It is a schematic diagram of the robot-specific and shared equipment areas of a dual-industrial robot dual-measurement multi-station blade grinding workstation of the utility model;
[0020] Figure 5 It is a perspective structural schematic diagram of the main body of a dual industrial robot dual measurement multi-station blade grinding workstation of the utility model.
[0021] In the figure: 101, industrial robot No. 1; 102, industrial robot No. 2; 103, measuring system No. 1; 104, measuring system No. 2; 105, belt sander No. 1; 106, belt sander No. 2; 201, grinding equipment placement area exclusively occupied by robot No. 1; 202, grinding equipment placement area exclusively occupied by robot No. 2; 203, grinding equipment placement area shared by robots; 301, electronic fence No. 1; 302, electronic fence No. 2. DETAILED DESCRIPTION
[0022] 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 in 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.
[0023] See also Figures 1 to 5 A double industrial robot double measurement multi-station blade grinding workstation includes a No. 1 industrial robot 101, a No. 2 industrial robot 102, a No. 1 belt grinder 105 and a No. 2 belt grinder 106. The No. 1 industrial robot 101 and the No. 2 industrial robot 102 and the No. 1 belt grinder 105 and the No. 2 belt grinder 106 are arranged in a cross shape. The No. 1 industrial robot 101 and the No. 2 industrial robot 102 are symmetrical to each other. The No. 1 belt grinder 105 and the No. 2 belt grinder 106 are arranged in a cross shape. The No. 1 industrial robot 101 and the No. 2 industrial robot 102 are symmetrical to each other. 05 and No. 2 belt grinder 106 are arranged symmetrically with each other, and the symmetry axes of No. 1 industrial robot 101 and No. 2 industrial robot 102 and the symmetry axes of No. 1 belt grinder 105 and No. 2 belt grinder 106 intersect at the same point, and a No. 1 measuring system 103 is arranged on the side of No. 1 industrial robot 101 close to No. 1 belt grinder 105, and a No. 2 measuring system 104 is arranged on the side of No. 2 industrial robot 102 close to No. 2 belt grinder 106;
[0024] Industrial robot No. 101 and industrial robot No. 2 102 are used to clamp and transport blades for grinding, and each workpiece is grasped by the robot until it is qualified. Belt grinder No. 1 105 and belt grinder No. 2 106 have different rubber wheels, grinding wheel diameters or belt widths, grinding wheel thicknesses, and belt grinder No. 1 105 and belt grinder No. 2 106 are shared by industrial robot No. 1 101 and industrial robot No. 2 102 and the workpieces they clamp, and belt grinder No. 1 105 and belt grinder No. 2 106 both have two grinding modes: system algorithm and physical grating.
[0025] A loading and unloading platform No. 1 is arranged between the industrial robot No. 101 and the measuring system No. 103, and a loading and unloading platform No. 2 is arranged between the industrial robot No. 2 102 and the measuring system No. 2 104. The measuring system No. 103 and the measuring system No. 2 104 are symmetrical to each other. The loading and unloading platform No. 1 is used for supplying blade blank clamping to the industrial robot No. 101, and the loading and unloading platform No. 2 is used for supplying workpiece clamping to the industrial robot No. 2 102.
[0026] A first electronic fence 301 is arranged between the first industrial robot 101 and the first belt grinder 105 and the second industrial robot 102 and the second belt grinder 106, and a second electronic fence 302 is arranged between the first industrial robot 101 and the second belt grinder 106 and the second industrial robot 102 and the first belt grinder 105. The first electronic fence 301 and the second electronic fence 302 are used to divide the grinding area into two independent areas, and the first industrial robot 101 and the second industrial robot 102 cannot cross the first electronic fence. When the electronic fence No. 1 301 is opened, the industrial robot No. 1 101 can access the measuring system No. 1 103 and the belt grinder No. 1 105, and the industrial robot No. 2 102 can access the measuring system No. 2 104 and the belt grinder No. 2 106; and when the electronic fence No. 2 302 is opened, the industrial robot No. 1 101 can access the measuring system No. 1 103 and the belt grinder No. 2 106, and the industrial robot No. 2 102 can access the measuring system No. 2 104 and the belt grinder No. 1 105.
[0027] Industrial robot No. 101, industrial robot No. 2 102, belt grinder No. 105 and belt grinder No. 2 106 are all located in a working area surrounded by safety fences, and the working area is equally divided into three areas, namely a grinding equipment placement area 201 exclusively for robot No. 1, a grinding equipment placement area 202 exclusively for robot No. 2, and a grinding equipment placement area 203 shared by the robots. The grinding equipment placement area 203 shared by the robots is located at the center of the three areas, and the grinding equipment placement area 201 exclusively for robot No. 1 is located on a side of the grinding equipment placement area 203 shared by the robots close to industrial robot No. 101, and the grinding equipment placement area 202 exclusively for robot No. 2 is located on a side of the grinding equipment placement area 203 shared by the robots close to industrial robot No. 2 102, and belt grinder No. 105 and belt grinder No. 2 106 are arranged in the grinding equipment placement area 203 shared by the robots.
[0028] An auxiliary electrical cabinet is provided on the outer side of the safety guardrail, and the No. 1 belt grinder 105 and the No. 2 belt grinder 106 are connected in series with the auxiliary electrical cabinet, and the No. 1 industrial robot 101 and the No. 2 industrial robot 102 are connected in parallel between the No. 1 belt grinder 105 and the No. 2 belt grinder 106 and the auxiliary electrical cabinet in series, and when the No. 1 belt grinder 105 or the No. 2 belt grinder 106 fails, the No. 1 industrial robot 101 and the No. 2 industrial robot 102 will both stop working, and when the No. 1 industrial robot 101 or the No. 2 industrial robot 102 and the No. 1 measuring system 103 or the No. 2 measuring system 104 fails, the other robot will continue to work until the entire system is manually suspended.
[0029] Working principle: When using a dual-industrial robot dual-measurement multi-station blade grinding workstation, first, the No. 1 loading and unloading platform is used to supply blade blanks to the No. 1 industrial robot 101 for clamping, and the No. 2 loading and unloading platform is used to supply workpieces to the No. 2 industrial robot 102 for clamping, and then the No. 1 industrial robot 101 and the No. 2 industrial robot 102 respectively clamp and transport the blades to the No. 1 belt grinder 105 and the No. 2 belt grinder 106 for grinding, and each workpiece is always grasped before it is qualified after being grasped by the robot, and the two No. 1 belt grinders 105 and No. 2 belt grinders 106 complete one or more grinding for each workpiece alternately.
[0030] The working area and working state are divided by algorithms and hardware. The grinding area is divided into two independent areas by the No. 1 electronic fence 301 and the No. 2 electronic fence 302, and the No. 1 industrial robot 101 and the No. 2 industrial robot 102 cannot cross the No. 1 electronic fence 301 and the No. 2 electronic fence 302. When the No. 1 electronic fence 301 is opened, the No. 1 industrial robot 101 can access the No. 1 measurement system 103 and the No. 1 belt grinder 105, and the No. 2 industrial robot 102 can access the No. 2 measurement system 104 and the No. 2 belt grinder 106; and when the No. 2 electronic fence 302 is opened, the No. 1 industrial robot 101 can access the No. 1 measurement system 103 and the No. 2 belt grinder 106, and the No. 2 industrial robot 102 can access the No. 2 measurement system 104 and the No. 1 belt grinder 105. The two independent areas do not interfere with each other, so that the measurement and grinding behaviors are most efficient.
[0031] The first belt grinder 105 and the second belt grinder 106 have different rubber wheels, grinding wheel diameters or belt widths, and grinding wheel thicknesses, and both the first belt grinder 105 and the second belt grinder 106 have two grinding modes: system algorithm and physical grating. When the first belt grinder 105 or the second belt grinder 106 fails, the first industrial robot 101 and the second industrial robot 102 will both stop working. When the first industrial robot 101 or the second industrial robot 102 and the first measurement system 103 or the second measurement system 104 fail, the other robot will continue to work until the entire system is manually suspended.
Claims
1. A dual-industrial robot dual-measurement multi-station blade grinding workstation, comprising a first industrial robot (101), a second industrial robot (102), a first belt grinder (105) and a second belt grinder (106), characterized in that: The first industrial robot (101) and the second industrial robot (102) and the first belt grinder (105) and the second belt grinder (106) are arranged in a cross shape; the first industrial robot (101) and the second industrial robot (102) are symmetrical to each other; the first belt grinder (105) and the second belt grinder (106) are arranged symmetrically to each other; and the symmetry axes of the first industrial robot (101) and the second industrial robot (102) and the symmetry axes of the first belt grinder (105) and the second belt grinder (106) intersect at the same point; a first measuring system (103) is arranged on a side of the first industrial robot (101) close to the first belt grinder (105); and a second measuring system (104) is arranged on a side of the second industrial robot (102) close to the second belt grinder (106).
2. According to claim 1, a dual industrial robot dual measurement multi-station blade grinding workstation is characterized in that: A first loading and unloading platform is arranged between the first industrial robot (101) and the first measuring system (103), and a second loading and unloading platform is arranged between the second industrial robot (102) and the second measuring system (104). The first measuring system (103) and the second measuring system (104) are symmetrical to each other.
3. The dual industrial robot dual measurement multi-station blade grinding workstation according to claim 2 is characterized by: A first electronic fence (301) is arranged between the first industrial robot (101) and the first belt grinder (105) and the second industrial robot (102) and the second belt grinder (106), and a second electronic fence (302) is arranged between the first industrial robot (101) and the second belt grinder (106) and the second industrial robot (102) and the first belt grinder (105).
4. The dual industrial robot dual measurement multi-station blade grinding workstation according to claim 1, characterized in that: The first industrial robot (101), the second industrial robot (102), the first belt sander (105) and the second belt sander (106) are all located in a working area surrounded by a safety fence, and the working area is equally divided into three areas.
5. The dual industrial robot dual measurement multi-station blade grinding workstation according to claim 1, characterized in that: The three areas are a grinding equipment placement area (201) exclusively occupied by robot No. 1, a grinding equipment placement area (202) exclusively occupied by robot No. 2, and a grinding equipment placement area (203) shared by the robots. The grinding equipment placement area (203) shared by the robots is located at the center of the three areas, and the grinding equipment placement area (201) exclusively occupied by robot No. 1 is located on a side of the grinding equipment placement area (203) shared by the robots close to industrial robot No. 1 (101).
6. The dual industrial robot dual measurement multi-station blade grinding workstation according to claim 5, characterized in that: The grinding equipment placement area (202) exclusively occupied by the second robot is located on a side of the grinding equipment placement area (203) shared by the robots close to the second industrial robot (102), and the first belt grinder (105) and the second belt grinder (106) are arranged in the grinding equipment placement area (203) shared by the robots.
7. The dual industrial robot dual measurement multi-station blade grinding workstation according to claim 6, characterized in that: An auxiliary electrical cabinet is arranged outside the safety guardrail, and the first belt grinder (105) and the second belt grinder (106) are connected in series with the auxiliary electrical cabinet, and the first industrial robot (101) and the second industrial robot (102) are connected in parallel between the first belt grinder (105) and the second belt grinder (106) and the auxiliary electrical cabinet.