Robot grinding equipment driven by hydraulic system

Abstract

The utility model discloses robot polishing equipment driven by a hydraulic system, which belongs to the technical field of robot polishing and comprises a large robot and a small robot which are arranged side by side left and right, a roller conveying mechanism is arranged on one side of the large robot and the small robot, and a bottom polishing mechanism is arranged at the feeding end of the roller conveying mechanism. A jacking mechanism is arranged under the working end of the large robot and the working end of the small robot. The bottom grinding mechanism is used for grinding the bottom face of a workpiece, the roller conveying mechanism is used for conveying the workpiece to the position below the large robot, the first grinding head is used for preliminarily grinding the surface of the workpiece, then the roller conveying mechanism is used for conveying the workpiece to the position below the small robot, and the second grinding head is used for secondarily grinding the workpiece. The bottom surface and the top surface of the workpiece are fully polished through the bottom polishing mechanism, the large robot and the small robot, the working efficiency is improved, polishing is uniform, and the product quality is improved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grinding, in particular to a robot grinding device driven by a hydraulic system. Background Art

[0002] At present, robots have been widely used in the field of workpiece grinding, and the application of robot automatic grinding is the development trend of the industry. At present, most domestic manufacturers' large castings, large plastic parts, large steel products and other material workpiece deburring operations are mostly done manually, or using handheld pneumatic and electric tools to perform deburring by grinding, grinding, filing and other methods. Due to the large size of the workpiece and the large grinding surface area, manual grinding of the workpiece surface is time-consuming and inefficient; at the same time, the depth of manual grinding of the workpiece surface depends on the experience of the practitioners, and it is impossible to accurately predict the grinding effect of the workpiece, nor can it mass-produce standardized grinding standards. Utility Model Content

[0003] The utility model aims to provide a robot grinding device driven by a hydraulic system, so as to solve the problems of long time consumption, low efficiency and poor quality in manual grinding of the surface of a workpiece.

[0004] In order to solve the above technical problems, the utility model adopts the following technical solutions:

[0005] The utility model discloses a robot grinding device driven by a hydraulic system, comprising a large robot and a small robot arranged in parallel on the left and right sides, a roller conveying mechanism is arranged on one side of the large robot and the small robot, a bottom grinding mechanism is arranged at the feeding end of the roller conveying mechanism, and a lifting mechanism is arranged directly below the working ends of the large robot and the small robot; and also comprises a hydraulic driving system, and the large robot, the small robot, the bottom grinding mechanism and the lifting mechanism are all connected to the hydraulic driving system.

[0006] Furthermore, a first grinding head is installed at the working end of the large robot, and a first hydraulic motor for driving the first grinding head to work is installed on one side of the first grinding head.

[0007] Furthermore, a second grinding head is installed at the working end of the small robot, and a second hydraulic motor for driving the second grinding head to work is installed on one side of the second grinding head.

[0008] Furthermore, the roller conveying mechanism includes a frame, a plurality of rollers are rotatably mounted on the top surface of the frame, sprockets are mounted on the sides of the rollers, two adjacent sprockets are connected by a chain transmission, a conveying motor is mounted under the frame, a driving sprocket is mounted on the output shaft of the conveying motor, and the driving sprocket is connected to one of the sprockets by a chain transmission.

[0009] Furthermore, the bottom grinding mechanism includes two brackets arranged in parallel front and back, the top surfaces of the two brackets are rotatably connected with grinding rollers, and the top surface of the bracket located on the front side is installed with a third hydraulic motor for driving the grinding roller to rotate.

[0010] Furthermore, the jacking mechanism includes a jacking base plate, and a plurality of groups of support assemblies are installed on the top surface of the jacking base plate, and the top surfaces of the plurality of groups of support assemblies are provided with aluminum-clad carbon blocks, and a carbon slag recovery box hopper is provided between two adjacent groups of support assemblies, one group of the support assemblies is provided with a first hydraulic cylinder, and the other group of the support assemblies is provided with an induction plate fixing, and each group of the support assemblies includes two jacking legs arranged in parallel front and back, and a jacking square tube is connected to the top surface of the two jacking legs, and a connecting seat is provided on the jacking leg, and a plurality of the connecting seats are connected together by a connecting rod.

[0011] Furthermore, the top surface of the lifting square tube is provided with a leveling top cone.

[0012] Furthermore, a first balancing valve is installed on the outer side of one of the lifting legs, and a balancing valve shield is provided on the outer side of the first balancing valve.

[0013] Furthermore, the hydraulic drive system includes an open system and a closed system, both of which are connected to the hydraulic oil tank, and the hydraulic oil tank is equipped with a liquid level relay, a liquid level and temperature gauge, and an air filter. The open system includes a hydraulic open pump, the input oil circuit of the hydraulic open pump is connected to the hydraulic oil tank, an oil suction filter is installed on the input oil circuit of the hydraulic open pump, the output oil circuit of the hydraulic open pump is connected to the first motor, the second motor, and the second hydraulic cylinder, the hydraulic open pump is also connected to the first motor, and the return oil circuits of the first motor, the second motor, and the second hydraulic cylinder are connected to the hydraulic oil tank; the closed system includes a hydraulic closed pump, the input oil circuit of the hydraulic closed pump is connected to the hydraulic oil tank, the output oil circuit of the hydraulic closed pump is connected to the third motor, the hydraulic closed pump is also connected to the second motor, and the return oil circuit of the hydraulic closed pump is connected to the hydraulic oil tank.

[0014] Furthermore, a pressure gauge and a pressure sensor are installed on the output oil circuits of the hydraulic open pump and the hydraulic closed pump, a proportional valve is also installed on the output oil circuit of the hydraulic open pump, a cooler and an oil return filter are installed on the return oil pipelines of the first motor, the second motor, the second hydraulic cylinder and the hydraulic closed pump, and a second balancing valve is installed on the oil inlet and return oil pipelines of the second hydraulic cylinder.

[0015] Compared with the prior art, the beneficial technical effects of the utility model are:

[0016] The utility model utilizes a bottom grinding mechanism to grind the bottom surface of a workpiece, utilizes a roller conveying mechanism to convey the workpiece to the bottom of a large robot, utilizes a first grinding head to preliminarily grind the surface of the workpiece, then the roller conveying mechanism conveys the workpiece to the bottom of a small robot, and utilizes a second grinding head to perform secondary grinding on the workpiece; the bottom surface and top surface of the workpiece are fully grinded by the bottom grinding mechanism, the large robot, and the small robot, thereby improving work efficiency, achieving uniform grinding, and improving product quality. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The utility model will be further described below in conjunction with the accompanying drawings.

[0018] Figure 1 A top view of a robot grinding device driven by a hydraulic system of the utility model;

[0019] Figure 2 This is a top view of the large robot of the utility model;

[0020] Figure 3 This is a top view of the small robot of the utility model;

[0021] Figure 4 It is a top view of the roller conveying mechanism of the utility model;

[0022] Figure 5 It is a top view of the bottom grinding mechanism of the utility model;

[0023] Figure 6 It is a three-dimensional structural schematic diagram of the jacking mechanism of the utility model;

[0024] Figure 7 This is the front view of the jacking mechanism of the utility model;

[0025] Figure 8 It is a side view of the jacking mechanism of the utility model;

[0026] Fig. 9 It is a structural schematic diagram of the hydraulic system of the utility model.

[0027] Explanation of reference numerals: 1. large robot; 2. small robot; 3. roller conveying mechanism; 4. bottom grinding mechanism; 5. lifting mechanism; 6. workpiece; 7. hydraulic oil tank; 8. liquid level relay; 9. liquid level and temperature gauge; 10. air filter; 11. first motor; 12. oil suction filter; 13. hydraulic open pump; 14. cooler; 15. oil return filter; 16. pressure gauge; 17. pressure sensor; 18. second motor; 19. second hydraulic cylinder; 20. second balancing valve; 21. first motor; 22. second motor; 23. hydraulic closed pump; 24. third motor; 25. proportional valve;

[0028] 1-1, the first grinding head; 1-2, the first hydraulic motor; 2-1, the second grinding head; 2-2, the second hydraulic motor; 3-1, the frame; 3-2, the roller; 3-3, the conveying motor; 3-4, the sprocket; 3-5, the chain; 4-1, the bracket; 4-2, the grinding roller; 4-3, the third hydraulic motor; 5-1, the lifting base plate; 5-2, the lifting legs; 5-2-1, the connecting seat; 5-3, the lifting square tube; 5-4, the leveling top cone; 5-5, the induction plate fixing part; 5-6, the carbon slag recovery box hopper; 5-7, the first hydraulic cylinder; 5-8, the first balancing valve; 5-9, the balancing valve shield; 5-10, the connecting rod. DETAILED DESCRIPTION

[0029] like Figure 1-9 As shown, a hydraulic system-driven robot grinding equipment comprises a large robot 1 and a small robot 2 arranged side by side on the left and right, a roller conveying mechanism 3 is provided on one side of the large robot 1 and the small robot 2, two bottom grinding mechanisms 4 are provided at the feeding end of the roller conveying mechanism 3, and a lifting mechanism 5 is provided directly below the working ends of the large robot 1 and the small robot 2; and also comprises a hydraulic drive system, and the large robot 1, the small robot 2, the bottom grinding mechanism 4 and the lifting mechanism 5 are all connected to the hydraulic drive system.

[0030] like Figure 2 As shown, the working end of the large robot 1 is installed with a first grinding head 1-1, and one side of the first grinding head 1-1 is installed with a first hydraulic motor 1-2 for driving the first grinding head 1-1 to work; the first grinding head 1-1 is a plane contact grinding head, which is suitable for plane grinding of a workpiece to be polished (hereinafter referred to as the workpiece). The first grinding head 1-1 is a commonly used component in this field and can be obtained by purchase, and its specific structure will not be repeated here.

[0031] like Figure 3 As shown, the working end of the small robot 2 is equipped with three second grinding heads 2-1, and one side of the second grinding head 2-1 is equipped with a second hydraulic motor 2-2 for driving the second grinding head 2-1 to work; specifically, the rotation speed of the second hydraulic motor 2-2 is 500r / min, and the torque is 120nm; the second grinding head 2-1 is a conical grinding head, which can also be replaced by a curved grinding head, suitable for grinding the concave contour of the workpiece, and the second grinding head 2-1 is a commonly used component in this field and can be purchased, and its specific structure is not repeated here; by setting three grinding heads, the robot head can swing at a smaller angle and grind various positions of the workpiece.

[0032] like Figure 4As shown, the roller conveying mechanism 3 includes a frame 3-1, a plurality of rollers 3-2 are rotatably mounted on the top surface of the frame 3-1, a sprocket 3-4 is mounted on the side of the roller 3-2, two adjacent sprockets 3-4 are connected by a chain 3-5, a conveying motor 3-3 is mounted below the frame 3-1, a driving sprocket is mounted on the output shaft of the conveying motor 3-3, and the driving sprocket is connected to one of the sprockets 3-4 by a chain 3-5.

[0033] like Figure 5 As shown, the bottom grinding mechanism 4 includes two brackets 4-1 arranged in parallel front and back, the top surfaces of the two brackets 4-1 are rotatably connected with grinding rollers 4-2, and the top surface of the bracket 4-1 located on the front side is installed with a third hydraulic motor 4-3 for driving the grinding roller 4-2 to rotate.

[0034] like Figure 6-8 As shown, the jacking mechanism 5 includes a jacking base plate 5-1, and multiple groups of support components are installed on the top surface of the jacking base plate 5-1, and a carbon slag recovery box hopper 5-6 is arranged between two adjacent groups of support components, one group of the support components is provided with a first hydraulic cylinder 5-7, and the other group of the support components is provided with an induction plate fixing part 5-5; each group of the support components includes two jacking legs 5-2 arranged in parallel front and back, and the top surfaces of the two jacking legs 5-2 are connected to a jacking square tube 5-3, the jacking legs 5-2 include an outer tube and an inner tube, the inner tube is inserted into the outer tube, and the inner tube can slide upward along the outer tube, and the top surface of the outer tube of the jacking leg 5-2 is installed with a connecting seat 5-2-1, and multiple connecting seats 5-2-1 are provided. The seats 5-2-1 are mechanically connected together by connecting rods 5-10; when in use, the piston rod of the first hydraulic cylinder 5-7 is extended, driving the inner tube of the lifting leg 5-2 to rise, thereby driving the lifting square tube 5-3 to rise. Since multiple lifting legs 5-2 are connected together, multiple lifting square tubes 5-3 rise at the same time to lift the workpiece 6; the top surface of the lifting square tube 5-3 is connected with a leveling top cone 5-4, and the leveling top cone 5-4 plays a leveling role to compensate for the bottom processing error of the workpiece; a first balancing valve 5-8 is installed on the outer side of one of the lifting legs 5-2, and a balancing valve shield 5-9 is arranged on the outer side of the first balancing valve 5-8, and the balancing valve shield 5-9 is connected to the outer wall of the lifting leg 5-2 by bolts.

[0035] The hydraulic drive system includes an open system and a closed system, both of which are connected to a hydraulic oil tank 7, on which a liquid level relay 8, a liquid level and liquid temperature gauge 9, and an air filter 10 are installed. The open system includes a hydraulic open pump 13, the input oil circuit of the hydraulic open pump 13 is connected to the hydraulic oil tank 7, an oil suction filter 12 is installed on the input oil circuit of the hydraulic open pump 13, the output oil circuit of the hydraulic open pump 13 is connected to a first motor 21, a second motor 22, and a second hydraulic cylinder 19, a proportional valve 25, a pressure gauge 16, and a pressure sensor 17 are installed on the output oil circuit of the hydraulic open pump 13, and the hydraulic open pump 13 is also connected to a 55kw first motor 11, the first motor 21, the second motor 22, and the second hydraulic cylinder 19. The return oil pipeline is connected to the hydraulic oil tank 7, and the return oil pipelines of the first motor 21, the second motor 22 and the second hydraulic cylinder 19 are equipped with a cooler 14 and an oil return filter 15. The second hydraulic cylinder 19 oil inlet and return oil pipelines are equipped with a second balancing valve 20; the closed system includes a hydraulic closed pump 23, the input oil circuit of the hydraulic closed pump 23 is connected to the hydraulic oil tank 7, the output oil circuit of the hydraulic closed pump 23 is connected to the third motor 24, the hydraulic closed pump 23 is also connected to the 30kw second motor 18, the output oil circuit of the hydraulic closed pump 23 is equipped with a pressure gauge 16 and a pressure sensor 17, the return oil circuit of the hydraulic closed pump 23 is equipped with a cooler 14 and an oil return filter 15, and the return oil pipeline of the hydraulic closed pump 23 is connected to the hydraulic oil tank 7.

[0036] The open system outputs flow through the hydraulic open pump 13 and controls the first motor 21, the second motor 22, and the second hydraulic cylinder 19 through the proportional valve 25; through the hydraulic system pressure feedback, the valve core opening degree of the proportional valve 25 is changed through the electrical signal, thereby adjusting the flow, changing the rotation speed of the first motor 21, the second motor 22, and the lifting speed of the second hydraulic cylinder 19, and realizing stepless speed regulation.

[0037] The closed system achieves stepless speed regulation of the third motor 24 by changing the displacement of the electric proportional valve of the hydraulic closed pump 23 itself.

[0038] Specifically, the "first motor 21" and "second motor 22" in the above-mentioned hydraulic drive system refer to the "first hydraulic motor 1-2" and "second hydraulic motor 2-2", the "third motor 24" refers to the "third hydraulic motor 4-3", and the "second hydraulic cylinder 19" refers to the "first hydraulic cylinder 5-7"; the large robot 1, the small robot 2, the bottom grinding mechanism 4 and the lifting mechanism 5 are connected and driven through the hydraulic drive system.

[0039] A liquid level relay 8 is configured to realize an alarm for low oil level; a return oil filter 15 and an oil suction filter 12 are configured to effectively avoid serious harm to the hydraulic system caused by hydraulic oil pollution; a pressure gauge 16 and a pressure sensor 17 are configured to monitor the pressure of the hydraulic system in real time; a 55kw first motor 11 and a 30kw second motor 18 are configured to provide power for the hydraulic system; a cooler 14 is configured to prevent high temperature of hydraulic oil from causing wear and other damage to hydraulic components; a liquid level and thermometer 9 and a liquid level relay 8 are configured to observe the oil level in the hydraulic oil tank in real time to prevent damage caused by air suction of the hydraulic open pump 13 and the hydraulic closed pump 23.

[0040] The working process of the utility model is as follows:

[0041] First, the workpiece 6 is placed on the grinding roller 4-2, and the grinding roller 4-2 rotates to grind the bottom surface of the workpiece 6, and the rotation speed of the bottom grinding motor is controlled by the hydraulic station;

[0042] Then, the conveying motor 3-3 is started, and the conveying motor 3-3 drives the roller 3-2 to rotate, and the workpiece to be polished is conveyed to the bottom of the large robot 1. The first hydraulic cylinder 5-7 extends to drive the lifting legs 5-2 to extend, and the workpiece 6 is lifted up. Then, the top surface of the workpiece 6 is polished by the first polishing head 1-1, and the scum on the surface of the workpiece to be polished is cut and polished cleanly;

[0043] Subsequently, the first hydraulic cylinder 5-7 retracts to shorten the lifting legs 5-2, causing the workpiece 6 to fall onto the roller 3-2, and the roller 3-2 continues to transport the workpiece 6 until the workpiece to be polished moves to the bottom of the small robot 2; the lifting legs 5-2 of the other lifting mechanism 5 extend to lift the workpiece 6 upward, and the top surface of the workpiece 6 is polished by the second polishing head 2-1;

[0044] Finally, after the grinding is completed, the grinding workpiece is transported away by roller 3-2.

[0045] The embodiments described above are only descriptions of the preferred methods of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should fall within the protection scope determined by the claims of the present invention.

Claims

1. A hydraulic system driven robot grinding device, characterized in that: The invention comprises a large robot (1) and a small robot (2) arranged side by side on the left and right, wherein a roller conveying mechanism (3) is provided on one side of the large robot (1) and the small robot (2), a bottom grinding mechanism (4) is provided at the feeding end of the roller conveying mechanism (3), and a lifting mechanism (5) is provided directly below the working ends of the large robot (1) and the small robot (2); and further comprises a hydraulic drive system, wherein the large robot (1), the small robot (2), the bottom grinding mechanism (4) and the lifting mechanism (5) are all connected to the hydraulic drive system.

2. The hydraulic system driven robot grinding device according to claim 1, characterized in that: A first grinding head (1-1) is installed at the working end of the large robot (1), and a first hydraulic motor (1-2) for driving the first grinding head (1-1) to work is installed on one side of the first grinding head (1-1).

3. The hydraulic system driven robot grinding device according to claim 1, characterized in that: A second grinding head (2-1) is installed at the working end of the small robot (2), and a second hydraulic motor (2-2) for driving the second grinding head (2-1) to work is installed on one side of the second grinding head (2-1).

4. The hydraulic system driven robot grinding device according to claim 1, characterized in that: The roller conveying mechanism (3) comprises a frame (3-1), a plurality of rollers (3-2) are rotatably mounted on the top surface of the frame (3-1), a sprocket (3-4) is mounted on the side of the roller (3-2), two adjacent sprockets (3-4) are connected in transmission via a chain (3-5), a conveying motor (3-3) is mounted below the frame (3-1), a driving sprocket is mounted on the output shaft of the conveying motor (3-3), and the driving sprocket is connected in transmission with one of the sprockets (3-4) via a chain (3-5).

5. The hydraulic system driven robot grinding device according to claim 1, characterized in that: The bottom grinding mechanism (4) comprises two brackets (4-1) arranged in parallel front and back, the top surfaces of the two brackets (4-1) are rotatably connected to grinding rollers (4-2), and the top surface of the bracket (4-1) located on the front side is installed with a third hydraulic motor (4-3) for driving the grinding roller (4-2) to rotate.

6. The hydraulic system driven robot grinding device according to claim 1, characterized in that: The jacking mechanism (5) comprises a jacking base plate (5-1), and a plurality of groups of support components are installed on the top surface of the jacking base plate (5-1), and a carbon slag recovery box hopper (5-6) is arranged between two adjacent groups of the support components, one group of the support components is provided with a first hydraulic cylinder (5-7), and the other group of the support components is provided with an induction plate fixing member (5-5), and each group of the support components comprises two jacking legs (5-2) arranged in parallel front and back, and the top surfaces of the two jacking legs (5-2) are connected to a jacking square tube (5-3), and a connecting seat (5-2-1) is provided on the jacking leg (5-2), and a plurality of the connecting seats (5-2-1) are connected together by a connecting rod (5-10).

7. The hydraulic system driven robot grinding device according to claim 6, characterized in that: The top surface of the lifting square tube (5-3) is provided with a leveling top cone (5-4).

8. The hydraulic system driven robot grinding device according to claim 7, characterized in that: A first balancing valve (5-8) is installed on the outer side of one of the lifting legs (5-2), and a balancing valve shield (5-9) is arranged on the outer side of the first balancing valve (5-8).

9. The hydraulic system driven robot grinding device according to claim 1, characterized in that: The hydraulic drive system comprises an open system and a closed system, both of which are connected to a hydraulic oil tank (7), on which a liquid level relay (8), a liquid level and liquid temperature gauge (9), and an air filter (10) are installed, and the open system comprises a hydraulic open pump (13), the input oil circuit of which is connected to the hydraulic oil tank (7), on which an oil suction filter (12) is installed, and the output oil circuit of which is connected to a first motor (21), a second motor (22), and a second hydraulic cylinder (19). ), the hydraulic open pump (13) is also connected to the first motor (11), and the return oil pipelines of the first motor (21), the second motor (22), and the second hydraulic cylinder (19) are connected to the hydraulic oil tank (7); the closed system includes a hydraulic closed pump (23), the input oil circuit of the hydraulic closed pump (23) is connected to the hydraulic oil tank (7), the output oil circuit of the hydraulic closed pump (23) is connected to the third motor (24), the hydraulic closed pump (23) is also connected to the second motor (18), and the return oil pipeline of the hydraulic closed pump (23) is connected to the hydraulic oil tank (7).

10. The hydraulic system driven robot grinding device according to claim 9, characterized in that: A pressure gauge (16) and a pressure sensor (17) are installed on the output oil circuits of the hydraulic open pump (13) and the hydraulic closed pump (23); a proportional valve (25) is also installed on the output oil circuit of the hydraulic open pump (13); a cooler (14) and an oil return filter (15) are installed on the oil return pipelines of the first motor (21), the second motor (22), the second hydraulic cylinder (19), and the hydraulic closed pump (23); and a second balancing valve (20) is installed on the oil inlet and oil return pipelines of the second hydraulic cylinder (19).

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