Automatic replacement system for wool balls

Abstract

The utility model relates to an automatic replacement system for wool balls. It is applicable to the field of automobile production technology. The technical solution adopted by the utility model is: an automatic replacement system for wool balls, which is arranged in a polishing station, and the wool balls are installed on the polishing head at the end of the mechanical arm in the polishing station, and is characterized by: having: a replacement stand, which is arranged in the polishing station, and an opening through which the wool balls can pass is opened on the top surface of the replacement stand; a wool ball disassembly module, which is arranged below the top surface of the replacement stand, and is used to insert the wool ball between the wool ball and the polishing head and separate the wool ball from the polishing head after the wool ball passes through the opening; a wool ball loading module, which is arranged on the upper surface of the top surface of the replacement stand, and is used to install the wool ball on the polishing head when the mechanical arm drives the polishing head to move to the position corresponding to the wool ball on the wool ball loading module; a controller, together with the wool ball disassembly module, is used to control the operation of the wool ball disassembly module after the wool ball passes through the opening.

Description

Technical Field

[0001] The utility model relates to an automatic wool ball replacement system, which is applicable to the technical field of automobile production. Background Art

[0002] The polishing station of the intelligent inspection line in the paint shop uses a polishing robot to grind the defective points on the outer surface of the car body and then automatically polish it. The wool ball is installed on the polishing head. After the wax spraying device of the polishing head tool sprays wax on the defective points of the car body, the wool ball is close to the car body for polishing. As the number of polishing points increases, the amount of liquid polishing wax adhering to the wool ball gradually increases, causing the thickness of the wool ball to become thinner and difficult to rub and heat, and the polishing effect gradually deteriorates. In order to maintain the good polishing effect of the wool ball, a new wool ball needs to be replaced after polishing a certain number of defective points. At present, manual replacement is used in the workshop. The manual replacement of wool balls has the following disadvantages: replacing wool balls during the operation of the robot will affect the work rhythm; the workload of the processor, and there is a safety risk of entering the robot working area; the legal quantitative judgment of the polishing quantity of the wool ball, and replacement is only carried out after poor polishing; the installation accuracy is not high and it is easy to install it biased. Utility Model Content

[0003] The technical problem to be solved by the utility model is: in order to solve the above technical problem, the utility model provides an automatic replacement system for wool balls.

[0004] The technical solution adopted by the utility model is: an automatic replacement system for wool balls, arranged in a polishing station, the wool balls are installed on the polishing head at the end of the mechanical arm in the polishing station, and the characteristics are:

[0005] The changing stand is arranged in the polishing station, and a hole is provided on the top surface of the changing stand so as to allow the wool ball to pass through;

[0006] The wool ball removal module is arranged below the top surface of the replacement stand and is used to insert the wool ball between the wool ball and the polishing head after the wool ball passes through the opening, and to separate the wool ball from the polishing head;

[0007] The wool ball feeding module is arranged on the upper surface of the top surface of the replacement stand and is used to install the wool ball on the polishing head when the mechanical arm drives the polishing head to move to the position corresponding to the wool ball on the wool ball feeding module;

[0008] The controller and the wool ball removal module are used to control the operation of the wool ball removal module after the wool ball passes through the opening. In this way, after the production control system controls the mechanical arm to drive the polishing head and the wool ball to move to the opening on the top surface of the replacement stand through which the wool ball passes, the controller will control the wool ball removal module to operate and separate the wool ball from the polishing head, so that the wool ball can be removed from the polishing head; when the production control system controls the mechanical arm to drive the polishing head to move to the position corresponding to the wool ball loading module, the wool ball in the wool ball loading module will be installed on the polishing head, realizing the automatic installation of the wool ball.

[0009] The wool ball removal module comprises a telescopic cylinder installed on the lower surface of the top surface of the replacement stand and a partition installed at the end of the telescopic cylinder. The telescopic cylinder is arranged along the plane direction of the top surface of the replacement stand, and the partition can be moved to the opening position under the action of the telescopic cylinder. In this way, after the wool ball passes through the opening, the telescopic cylinder extends to drive the partition to move to the opening position. During the movement, the partition will be inserted between the polishing head and the wool ball and separate the wool ball from the polishing head. After separation, the wool ball will fall under the action of its own weight.

[0010] On the lower surface of the top surface of the replacement platform, slide grooves arranged along the moving direction of the partition are installed at both sides of the partition, and the two sides of the partition slide in sliding cooperation with the slide grooves on both sides, so as to guide the movement of the partition and avoid damage to the partition and the telescopic cylinder during use.

[0011] A first in-position sensor is installed on the lower surface of the changing stand, and the first in-position sensor is connected to the controller. The first in-position sensor can send an in-position signal to the controller after the wool ball on the polishing head passes through the opening of the changing stand. In this way, when the first in-position sensor senses the wool ball after the wool ball on the polishing head passes through the opening of the changing stand, it will send an in-position signal to the controller, and the controller will control the operation of the telescopic cylinder.

[0012] The wool ball loading module has a placement platform arranged on a replacement stand, and a number of placement boxes are evenly arranged on the placement platform, and new wool balls are placed in the placement boxes. In this way, when the production control system controls the mechanical arm to drive the polishing head to move to the placement box where the wool balls are placed, the wool balls in the placement box will be installed on the polishing head.

[0013] An electric slide is installed on the upper surface of the replacement stand, the placement platform is installed on the electric slide, and the electric slide is connected to the controller. In this way, after the wool balls in the previous placement box are installed on the polishing head, the controller will drive the electric slide to move the next placement box with the wool balls to the position to be installed.

[0014] A second in-position sensor is installed on the electric slide rail, and the second in-position sensor is connected to the controller. The second in-position sensor can send an in-position signal to the controller when the electric slide rail moves to a set position. In this way, after all the wool balls in the placement boxes on the placement platform are used, the electric slide rail moves to the set position, at which time the second in-position sensor sends an in-position signal to the controller, and the controller sends an alarm signal to the outside to remind the personnel to place new wool balls.

[0015] A storage box for collecting wool balls is provided below the replacement stand at a position corresponding to the opening. In this way, after the wool ball removal module separates the polishing head from the wool balls, the wool balls will fall into the storage box, making it easy to collect the wool balls.

[0016] The wool ball is connected to the polishing head via Velcro, so that the wool ball and the polishing head can be easily disassembled and assembled.

[0017] The beneficial effects of the utility model are as follows: the utility model arranges a replacement stand in the polishing station, and when the wool ball on the polishing head loses its effect, the automobile production control terminal controls the mechanical arm to drive the polishing head and the wool ball to move to the replacement stand position, and the wool ball passes through the opening of the replacement stand. At this time, the controller controls the telescopic cylinder to extend, driving the partition to move between the wool ball and the polishing head and separate the wool ball and the polishing head. The separated wool ball falls into the storage box. The separated polishing head moves with the mechanical arm to the placement platform on the replacement stand. When the polishing head contacts the wool ball in the placement box on the placement platform, the wool ball and the polishing head are connected to each other through Velcro, so that the wool ball is automatically installed on the polishing head. By using the first in-place sensor to determine the position of the wool ball, and then cooperating with the PLC to control the replacement of the sandpaper by the solenoid valve, the manual replacement of the wool ball is completely replaced, which not only improves the efficiency of replacing the wool ball, but also makes the polishing station completely 100% automated. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 : A schematic structural diagram of the first embodiment.

[0019] Figure 2 : Schematic diagram of the structure on the top surface of the replacement stand in Example 1.

[0020] Figure 3 : Schematic diagram of the structure on the bottom surface of a replacement stand in an embodiment.

[0021] Figure 4 : A schematic structural diagram of the second embodiment.

[0022] Figure 5 : Schematic diagram of the structure on the top surface of the replacement stand in Example 2.

[0023] Figure 6: Connection block diagram in Example 2.

[0024] In the figure: 1. Replacement stand; 1-1. Opening hole; 2. Wool ball disassembly module; 2-1. Telescopic cylinder; 2-2. Partition; 2-3. Slide; 3. Wool ball loading module; 3-1. Placement platform; 3-2. Placement box; 3-3. Electric slide rail; 3-4. Second in-position sensor; 4. First in-position sensor; 5. Controller; 6. Storage box. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0026] Embodiment 1: This embodiment is an automatic wool ball replacement system, which is used to automatically replace the wool ball when the wool ball on the polishing head becomes invalid when the mechanical arm drives the polishing head to perform automatic polishing operation. In this embodiment, the automobile production control terminal will record the number of times the wool ball is used. When the number of times the wool ball is used recorded by the automobile production control terminal reaches the number of times preset in the automobile production control terminal, the automobile production control terminal will run the wool ball replacement program and control the mechanical arm to drive the polishing head and the wool ball to move to the replacement stand 1.

[0027] In this embodiment, in order to facilitate the disassembly and assembly of the wool ball on the polishing head, the wool ball and the polishing head are connected by Velcro, and a Velcro fur surface is provided on the surface of the wool ball that contacts the polishing head, and a Velcro hook surface is provided on the surface of the polishing head that contacts the wool ball.

[0028] In this embodiment, an opening 1-1 through which the wool ball can pass is provided on the top surface of the replacement stand 1. When the wool ball on the polishing head needs to be removed, the robotic arm drives the polishing head and the wool ball to move to the position where the wool ball passes through the opening 1-1.

[0029] In this embodiment, a wool ball removal module 2 is provided on the lower surface of the replacement stand 1, wherein a telescopic cylinder 2-1 is installed on the lower surface of the replacement stand 1, and a partition 2-2 is installed at the end of the telescopic cylinder 2-1. The telescopic cylinder 2-1 is arranged along the plane direction of the top surface of the replacement stand 1. When the telescopic cylinder 2-1 is extended, the partition 2-2 moves to the position of the opening 1-1. A slide groove 2-3 is installed on the lower surface of the replacement stand 1 along the moving direction of the partition 2-2, and the two sides of the partition 2-2 are slidably matched with the slide groove 2-3. In this way, when the robot arm drives the polishing head to move until the wool ball passes through the opening 1-1, the controller 5 controls the telescopic cylinder 2-1 to extend, and the partition 2-2 moves to the position between the polishing head and the wool ball, and finally separates the polishing head and the wool ball, and the wool ball will fall from the polishing head.

[0030] In this embodiment, a storage box 6 is provided below the replacement stand 1 at a position corresponding to the opening 1 - 1 . In this way, the old wool balls fall into the storage box 6 after falling from the polishing head.

[0031] In this embodiment, a wool ball loading module 3 is arranged on the upper surface of the replacement stand 1, a placement platform 3-1 is arranged on the replacement stand 1, and a plurality of placement boxes 3-2 are arranged on the placement platform 3-1, and wool balls are placed in the placement boxes 3-2. In this way, after the wool balls are removed from the polishing head, the control robot arm drives the polishing head to move to the position corresponding to the wool balls in the placement box 3-2, and the wool balls are installed on the polishing head under the bonding effect of the Velcro.

[0032] The operation method of this embodiment is:

[0033] The automobile production control terminal drives the mechanical arm to move according to the set path program to the position where the wool ball on the polishing head can pass through the opening 1-1 on the replacement stand 1, and the automobile production control terminal sends a signal to the controller 5, and the controller 5 controls the telescopic cylinder 2-1 to extend and separate the wool ball and the polishing head, and the old wool ball falls into the storage box 6 below;

[0034] The automobile production control terminal drives the mechanical arm to drive the polishing head to move to the placement platform 3-1 according to the set path program, and the controller 5 controls the telescopic cylinder 2-1 to reset;

[0035] The automobile production control terminal drives the mechanical arm to move the polishing head to the position corresponding to the placement box 3-2 where the wool ball is placed according to the set path program, so that the wool ball and the polishing head are connected by the Velcro;

[0036] The automobile production control terminal drives the robot arm to reset and perform polishing operations;

[0037] When the wool ball needs to be replaced next time, the automobile production control terminal drives the robot arm to move to the next placement box 3-2 where the wool ball is placed according to the set path program;

[0038] When the automobile production control terminal drives the robot arm to move to the last placement box 3-2 where the wool ball is placed according to the set path program, the automobile production control terminal sends a reminder signal and reminds the personnel to place a new wool ball on the placement platform 3-1.

[0039] Embodiment 2: This embodiment is an automatic replacement system for wool balls, which is substantially the same as Embodiment 1, except that the controller 5 in this embodiment is not connected to the automobile production control terminal.

[0040] In this embodiment, a first in-position sensor 4 connected to the controller 5 is installed on the lower surface of the replacement stand 1. The first in-position sensor 4 is used to send a signal to the controller 5 when the robotic arm drives the wool ball through the opening 1-1 on the replacement stand 1.

[0041] In this embodiment, the placement platform 3-1 is installed on the replacement stand 1 through the electric slide rail 3-3, and the electric slide rail 3-3 is connected to the controller 5. In this way, each time the wool ball is replaced, the automobile production control terminal drives the mechanical arm to move to the fixed position according to the set path program, and the controller 5 drives the electric slide rail 3-3 to move, so that the next placement box 3-2 with the wool ball is located at a position corresponding to the fixed position.

[0042] Furthermore, a second in-place sensor 3-4 is installed on the electric slide 3-3, and the second in-place sensor 3-4 is connected to the controller 5. In this way, after all the wool balls on the placement platform 3-1 are used, the controller 5 will drive the electric slide 3-3 to move to the extreme position, which is a preset setting position in the controller. At this time, the second in-place sensor 3-4 will send an in-place signal to the controller 5, and the controller 5 will send a reminder signal to remind the personnel to place new wool balls.

[0043] The operation method of this embodiment is:

[0044] The automobile production control terminal drives the mechanical arm to move according to the set path program to the position where the wool ball on the polishing head can pass through the opening 1-1 on the replacement stand 1, and the first in-position sensor 4 on the lower surface of the top surface of the replacement stand 1 sends a signal to the controller 5, and the controller 5 controls the telescopic cylinder 2-1 to extend and separate the wool ball and the polishing head, and the old wool ball falls into the storage box 6 below;

[0045] The automobile production control terminal drives the mechanical arm to drive the polishing head to move to the placement platform 3-1 according to the set path program, and the controller 5 controls the telescopic cylinder 2-1 to reset;

[0046] The automobile production control terminal drives the mechanical arm to move the polishing head to the position corresponding to the placement box 3-2 where the wool ball is placed according to the set path program, so that the wool ball and the polishing head are connected by the Velcro;

[0047] The automobile production control terminal drives the robot arm to reset and perform polishing operations;

[0048] When the wool ball is automatically replaced once, the controller 5 drives the electric slide rail 3-3 to move so that the next placement box 3-2 with the wool ball is located at a position corresponding to the installation position of the wool ball;

[0049] After all the wool balls on the placement platform 3-1 have been used, the controller 5 drives the electric slide rail 3-3 to move to the extreme position. At this time, the second in-position sensor 3-4 sends an in-position signal to the controller 5, and the controller sends a reminder signal to remind the personnel to place new wool balls on the placement platform 3-1.

[0050] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. An automatic wool ball replacement system is arranged in a polishing station, and the wool ball is installed on the polishing head at the end of the mechanical arm in the polishing station, characterized in that: have: A replacement stand (1) is arranged in the polishing station, and an opening (1-1) capable of passing a wool ball is provided on the top surface of the replacement stand (1); The wool ball removal module (2) is arranged below the top surface of the replacement stand (1) and is used to insert the wool ball between the wool ball and the polishing head after the wool ball passes through the opening (1-1) to separate the wool ball from the polishing head; The wool ball loading module (3) is arranged on the upper surface of the top surface of the replacement stand (1) and is used to install the wool ball on the polishing head when the mechanical arm drives the polishing head to move to a position corresponding to the wool ball on the wool ball loading module (3); The controller (5) and the wool ball removal module (2) are used to control the operation of the wool ball removal module (2) after the wool ball passes through the opening (1-1).

2. The automatic wool ball replacement system according to claim 1, characterized in that: The wool ball removal module (2) comprises a telescopic cylinder (2-1) mounted on the lower surface of the top surface of the replacement stand (1) and a partition plate (2-2) mounted on the end of the telescopic cylinder (2-1); the telescopic cylinder (2-1) is arranged along the plane direction of the top surface of the replacement stand (1); and the partition plate (2-2) can be moved to the position of the opening (1-1) under the action of the telescopic cylinder (2-1).

3. The automatic wool ball replacement system according to claim 2, characterized in that: Slide grooves (2-3) arranged along the moving direction of the partition (2-2) are installed on the lower surface of the top surface of the replacement stand (1) at the positions on both sides of the partition (2-2), and the two sides of the partition (2-2) are respectively slidably matched with the slide grooves (2-3) on both sides.

4. The automatic wool ball replacement system according to claim 2, characterized in that: A first in-position sensor (4) is installed on the lower surface of the replacement stand (1). The first in-position sensor (4) is connected to a controller (5). The first in-position sensor (4) can send an in-position signal to the controller (5) after the wool ball on the polishing head passes through the opening (1-1) of the replacement stand (1).

5. The automatic wool ball replacement system according to claim 1, characterized in that: The wool ball loading module (3) comprises a placement platform (3-1) arranged on a replacement stand (1), a plurality of placement boxes (3-2) are evenly arranged on the placement platform (3-1), and new wool balls are placed in the placement boxes (3-2).

6. The automatic wool ball replacement system according to claim 5, characterized in that: An electric slide rail (3-3) is installed on the upper surface of the replacement stand (1), the placement platform (3-1) is installed on the electric slide rail (3-3), and the electric slide rail (3-3) is connected to a controller (5).

7. The automatic wool ball replacement system according to claim 6, characterized in that: A second in-position sensor (3-4) is installed on the electric slide rail (3-3), the second in-position sensor (3-4) is connected to the controller (5), and the second in-position sensor (3-4) can send an in-position signal to the controller (5) when the electric slide rail (3-3) moves to a set position.

8. The automatic wool ball replacement system according to claim 1, characterized in that: A storage box (6) capable of collecting wool balls is arranged below the replacement stand (1) at a position corresponding to the opening (1-1).

9. The automatic wool ball replacement system according to claim 1, characterized in that: The wool ball is connected to the polishing head via Velcro.

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