Double-station grinding and polishing robot

Abstract

The utility model provides a double-station grinding and polishing robot. The double-station grinding and polishing robot comprises a tool clamp assembly, a robot assembly and a tool changer. The tool clamp assembly comprises two sets of clamps arranged on the rotary table and used for clamping workpieces and a positioner, the workpieces are switched between a machining station and a loading and unloading station through the rotary table, the clamps are in drive connection with the output end of the positioner, and the clamps can be turned over by an angle; the robot assembly comprises a robot and an execution tail end, the machining station and the tool changing magazine are both arranged on a moving path of the execution tail end, a plurality of tool assemblies are placed in the tool changing magazine, the execution tail end is detachably connected with the tool assemblies, and the tool assemblies on the execution tail end are used for grinding and polishing workpieces on the machining station. By the adoption of the structure of the rotary table and the double positioners, feeding and discharging operation can be carried out when workpieces are machined, and the effects that efficient operation is achieved, and the target machining position is greatly reachable are achieved; and an automatic multi-tool changing structure at the execution tail end is adopted, so that the effect of multi-process combined machining is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of robot grinding, and specifically, to a double-station grinding and polishing robot. Background Art

[0002] The design orientation of automotive lightweighting has prompted more and more automotive parts to adopt aluminum parts and thin plate parts, among which aluminum die-castings and thin plate welded parts are in the majority. Regardless of which type of part, due to the limitations of the production process, it is essential to configure a post-treatment cleaning process during the production process.

[0003] With the progress of the technology of integrated large die-casting machines, aluminum large die-casting structural parts have been spawned. Due to the generally heavy weight and large size of such products, it has become both inefficient and impossible to control the product quality to use the traditional manual operation method for the post-treatment cleaning of products.

[0004] The existing grinding and polishing robot of CN110549206A includes a base and a robotic arm. A support cylinder is inserted into the interior of the base, and a support bearing is fixedly connected to the interior of the support cylinder. For this grinding and polishing robot, through the rough grinding belt machine, the fine grinding belt machine, the grinding grinder and the milling cutter, each process of the grinding and processing of the workpiece is completed by the same robotic arm, without the need for multiple working steps for processing, reducing the time cost of replacing the equipment and re-clamping for processing, increasing the efficiency of grinding and processing, and driving the rotating gear to rotate by energizing the main motor, so that the gear ring drives the rotating cylinder to rotate under the combined action of the rotating gear and the support bearing, enabling the robotic arm to increase its flexibility when grinding and processing the workpiece, enabling more places of the workpiece to be processed, and there being no processing dead corners, and the device has a simple structure and is convenient to use.

[0005] In the prior art, even if a non-standard customized multi-axis numerical control special machine is used for processing, due to the large deformation amount during the production process of the parts, it is impossible to effectively meet the technical requirements of this process. Moreover, generally, a grinding and polishing robot only has one processing station and cannot perform processing and loading operations simultaneously. The reachability of the position during processing is insufficient, and efficient operation cannot be achieved. Further, the floating grinding tool of the robotic arm cannot be replaced, greatly reducing the automation degree of such equipment, and the processing effect is also difficult to meet the technical requirements of this process.

[0006] In view of the current requirements for the quality of the post-treatment cleaning process of automotive large aluminum die-casting structural parts and thin plate welded parts and the defects of the prior art, it is urgent to design a new double-station grinding and polishing robot to meet the quality requirements of the products. Summary of the Utility Model

[0007] Aiming at the defects in the prior art, the purpose of the utility model is to provide a double-station grinding and polishing robot.

[0008] A double-station grinding and polishing robot provided by the present utility model includes: a tooling fixture assembly, a robot assembly, and a tool changer.

[0009] The tooling fixture assembly includes two sets of fixtures and a positioner for clamping workpieces arranged on a turntable. The workpiece is switched between a processing station and a loading and unloading station through the turntable. The fixture is drivingly connected to the output end of the positioner, and the fixture can be flipped by an angle.

[0010] The robot assembly includes a robot and an execution end. Both the processing station and the tool changer are arranged on the moving path of the execution end. A plurality of tool assemblies are placed in the tool changer. The execution end is detachably connected to the tool assembly, and the tool assembly on the execution end is used for grinding and polishing the workpiece at the processing station.

[0011] Preferably, the turntable is installed on a bottom plate, an installation plate is connected to the output end of the turntable, and the positioner is installed on the installation plate.

[0012] Preferably, a vertical partition is arranged between the two sets of fixtures and the positioner, and a second observation window is installed on the partition.

[0013] Preferably, the two sets of fixtures and the positioner are symmetrically arranged on the turntable.

[0014] Preferably, the execution end includes an electric spindle, and the tool assembly is installed on the robot through the electric spindle.

[0015] Preferably, the tool assembly includes: a pull stud, a tool holder, and a tool. The tool is clamped by chucks on both sides and is fixedly installed on the tool holder through screws. One end of the pull stud is threadedly connected to the tool holder, and the other end is connected to the electric spindle to form a tool quick-change interface.

[0016] Preferably, the robot assembly is installed on a bottom plate. A main control cabinet, a water chiller, a robot control cabinet, and an industrial vacuum cleaner are arranged on the periphery of the bottom plate. The main control cabinet is electrically connected to the water chiller, the robot control cabinet, and the industrial vacuum cleaner respectively.

[0017] Preferably, the main control cabinet is electrically connected to the electric spindle and the tool changer respectively, and the water chiller is used to cool the electric spindle.

[0018] Preferably, a housing is arranged around and on the top of the bottom plate. A safety door, a first observation window, a safety guardrail, and a control operation box are arranged on the housing. Forklift holes and level adjusting feet are arranged at the bottom of the bottom plate.

[0019] Preferably, the control operation box is electrically connected to the main control cabinet, a dust suction pipeline interface is arranged on the bottom plate, and the industrial vacuum cleaner is used for cleaning the enclosed space formed by the cover shell and the bottom plate.

[0020] Compared with the prior art, the utility model has the following beneficial effects:

[0021] 1. By adopting the structure of the turntable and the double positioner, the utility model realizes the loading and unloading operation during the workpiece processing; by adopting the double positioner flipping fixture, the workpiece can be flipped to an angle suitable for processing, which is convenient for polishing and grinding, achieving the effects of high-efficiency operation and a greatly reachable target processing position.

[0022] 2. The utility model realizes the multi-tool tool change at the execution end of the robot through the cooperation of the robot assembly and the tool changer, achieving the effect of multi-process combined processing with multiple tools, and solving the problem that different processing tools are required for different processing areas of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] By reading the following detailed description of the non-limiting embodiments with reference to the accompanying drawings, other features, purposes and advantages of the utility model will become more obvious:

[0024] Figure 1 It is a schematic structural diagram mainly showing the double-station grinding and polishing robot of the utility model;

[0025] Figure 2 It is a schematic structural diagram mainly showing the double-station grinding and polishing robot of the utility model;

[0026] Figure 3 It is a schematic diagram mainly showing the double-station grinding and polishing robot of the utility model without the cover shell;

[0027] Figure 4 It is a schematic structural diagram mainly showing the tooling fixture assembly of the utility model;

[0028] Figure 5 It is a schematic structural diagram mainly showing the robot assembly of the utility model;

[0029] Figure 6 It is a schematic structural diagram mainly showing the tool assembly of the utility model.

[0030] REFERENCE MARKS:

[0031] Safety door 1, First observation window 2, Nameplate 3

[0032] Forklift hole 4, Safety guardrail 5, Control operation box 6

[0033] Main control cabinet 7, Tool changer 8, Water chiller 9

[0034] Robot control cabinet 10, industrial vacuum cleaner 11, bottom plate 12

[0035] Tooling fixture assembly 13, positioner 131, mounting plate 132

[0036] Partition plate 133, second observation window 134, turntable 135

[0037] Fixture 136, workpiece 137, robot assembly 14

[0038] Robot 141, transition plate 142, compliant force control device 143

[0039] Electric spindle 144, tool assembly 145, pull stud 1451

[0040] Tool holder 1452, tool 1453, chuck 1454

[0041] Screw 1555, horizontal adjusting feet 15, housing 16 Detailed implementation manners

[0042] The present utility model will be described in detail below in conjunction with specific embodiments. The following embodiments will help those skilled in the art to further understand the present utility model, but do not limit the present utility model in any form. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present utility model, several changes and improvements can still be made. These all belong to the protection scope of the present utility model.

[0043] As Figures 1-5 shown, a double-station grinding and polishing robot provided by the present utility model includes: a tooling fixture assembly 13, a robot assembly 14, and a tool changer 8; the tooling fixture assembly 13 includes two sets of fixtures 136 for clamping workpieces 137 arranged on a turntable 135 and a positioner 131. The workpiece 137 is switched between a processing station and a loading and unloading station through the turntable 135. The fixture 136 is drivingly connected to the output end of the positioner 131, and the fixture 136 can flip angles; the robot assembly 14 includes a robot 141 and an execution end. Both the processing station and the tool changer 8 are arranged on the movement path of the execution end. A plurality of tool assemblies 145 are placed in the tool changer 8. The execution end is detachably connected to the tool assembly 145, and the tool assembly 145 on the execution end is used for grinding and polishing the workpiece 137 at the processing station.

[0044] This application adopts multi-tool automatic tool change technology and is configured with a double-station positioner structure, effectively realizing high-quality flexible processing of target processed workpieces, greatly improving the automation level and operation efficiency of the products of this application, as well as the coverage rate of operation contents.

[0045] The turntable 135 can rotate a fixture 136 to the machining station and another fixture 136 to the loading and unloading station according to instructions. Moreover, the positioner 131 can drive the workpiece 137 on the fixture 136 to be flipped to the required angle; the robot 141 can drive the execution end to the machining station according to instructions to polish the clamped workpiece 137; and the robot 141 can drive the execution end to the tool changer 8 to disassemble and assemble the tool assembly 145 according to instructions.

[0046] The turntable 135 is installed on the bottom plate 12 and can rotate under the drive of a motor, so as to move and switch the fixture 136 between the machining station and the loading and unloading station. The output end of the turntable 135 is connected with a mounting plate 132, and the positioner 131 is installed on the mounting plate 132. A vertical partition plate 133 is arranged between the two groups of fixtures 136 and the positioner 131, and a second observation window 134 is installed on the partition plate 133. The two groups of fixtures 136 and the positioner 131 are symmetrically arranged on the turntable 135.

[0047] The execution end of this application further includes: a compliant force control device 143. The electric spindle 144 is installed on the robot 141 through the compliant force control device 143, and the force applied by the execution end to the workpiece 137 is controlled by the compliant force control device 143 to be constant and the preset force value can be adjusted. The robot assembly 14 further includes a transition plate 142, and the compliant force control device 143 is installed on the robot 141 through the transition plate 142. The compliant force control device 143 generally allows an operation process constant force not greater than 500N to be input within an effective stroke range of 40mm, so as to accommodate the deviation of the workpiece incoming material. The compliant force control device 143, the electric spindle 144, and the tool assembly 145 form an intelligent force control polishing tool at the end of the robot 141 and are integrally installed on the sixth-axis mounting flange of the robot 141 through the transition plate 142.

[0048] As Figure 6 shown, the tool assembly 145 includes: a pull stud 1451, a tool shank 1452, and a tool 1453. The tool 1453 is clamped by chucks 1454 on both sides and is fixedly installed on the tool shank 1452 through screws 1455. One end of the pull stud 1451 is threadedly connected to the tool shank 1452, and the other end is connected to the electric spindle 144 to form a tool quick-change interface. The tool quick-change interface, the electric spindle 144, and the tool changer 8 are used in cooperation to achieve the automatic tool change function. Among them, the tool 1453 also includes a grinding tool, and its configuration is selected according to the workpiece characteristics according to the principle of multi-process and multi-tool (grinding tool) combination processing.

[0049] The robot assembly 14 is installed on the bottom plate 12. The main control cabinet 7, the water chiller 9, the robot control cabinet 10 and the industrial vacuum cleaner 11 are arranged on the peripheral side of the bottom plate 12. The water chiller 9 and the robot control cabinet 10 are stacked vertically on a portable dust-proof bracket. The main control cabinet 7 is electrically connected to the water chiller 9, the robot control cabinet 10 and the industrial vacuum cleaner 11 respectively. The main control cabinet 7 is electrically connected to the compliant force control device 143, the electric spindle 144 and the tool changer 8 respectively. The water chiller 9 is used to cool the electric spindle 144.

[0050] A housing 16 is arranged around and on the top of the bottom plate 12. A safety door 1, a first observation window 2, a nameplate 3, a safety guardrail 5 and a control operation box 6 are arranged on the housing 16. The control operation box 6 is electrically connected to the main control cabinet 7. A dust suction pipe interface is arranged on the bottom plate 12. The industrial vacuum cleaner 11 is connected to the reserved pipe interface on the bottom plate 12 through a dust suction pipe. The industrial vacuum cleaner 11 is used to clean the enclosed space formed by the housing 16 and the bottom plate 12. Forklift holes 4 and level adjusting feet 15 are also arranged on the bottom plate 12, which are used for the bearing of the forklift tines during equipment handling and for adjusting the levelness when the equipment is installed on the ground respectively.

[0051] When the operator operates through the control operation box 6, the control information will be interactively interpreted by the main control cabinet 7 and sent to the robot control cabinet 10 to command the robot 141 to perform corresponding actions, and at the same time sent to the compliant force control device 143, the electric spindle 144 and the tool changer 8 to perform corresponding actions respectively. Among them, the current states of the water chiller 9 and the industrial vacuum cleaner 11 will be monitored in real time by the main control cabinet 7. However, the power-on and power-off actions are set to be manually completed by the operator.

[0052] After the operator places the workpiece 137 on the fixture 136 under the protection of the safety guardrail 5, the operator confirms the completion of loading by operating the relevant control buttons on the control console 6. The turntable 135 will automatically rotate 180° to turn the workpiece 137 to the position required for grinding and polishing by the robot 141, i.e., the processing station. After receiving the signal that the rotation is in place sent by the main control cabinet 7, the robot 141 will carry the end intelligent force control grinding and polishing tool composed of the compliant force control device 143 and the electric spindle 144 to move to the tool changer 8, and under the control of the main control cabinet 7, grab the tool assembly 145 corresponding to the first process from the tool changer 8 according to the multi-process and multi-tool combination sequence, and then immediately move to the position of the workpiece 137 to start the compliant force control grinding and polishing operation on the corresponding target area, so as to actively accommodate the consistency deviation of the workpiece 137 during incoming material. During the operation, the positioner 131 will automatically turn at any angle according to the control instructions of the main control cabinet 7 to cooperate with the robot assembly 14 to maximize the accessibility of the target area. According to the above rules, the robot 141 will sequentially change and grab the tool assemblies 145 corresponding to the second process until the tool assembly 145 corresponding to the last process. After all the above process operations of grinding and polishing are completed, the robot 141 will put the tool assembly 145 corresponding to the last process back to the corresponding tool position on the tool changer 8 and return to the original position to wait for the next operation instruction. At the same time, the turntable 135 rotates 180° again to send out the workpiece 137. After the operator completes the unloading operation, the operator repeats the previous loading operation to start the next automated grinding and polishing operation process.

[0053] During the operation, the water chiller 9 and the industrial vacuum cleaner 11 are both in the normally open state. Among them, the water chiller 9 is responsible for cooling the electric spindle 144, and the industrial vacuum cleaner 11 is responsible for cleaning the enclosed space formed by the housing 16 and the bottom plate 12. The operator can directly visually observe the internal situation of the equipment through the first observation window 2 and the second observation window 134, and can learn about the current state of the equipment through the screen alarm information and the three-color beacon signal on the control console 6. In case of an emergency, the operator can stop the equipment by pressing the emergency stop button at any place on the equipment, and enter the interior of the equipment through unlocking the safety door 1 to check and handle the fault.

[0054] By adopting the structure of active closed-loop compliant force control, this application solves the problem of dimensional deformation of the workpiece during incoming material in the subsequent cleaning process, and achieves the effect that the equipment can actively accommodate the dimensional deformation of the workpiece 137 for high-quality processing.

[0055] By adopting the structure of the double positioner 131 plus the turntable 135, this application solves the problems that the workpiece 137 cannot be loaded and unloaded during processing and the accessibility of the position of the workpiece 137 during processing is insufficient, and achieves the effects of efficient operation and great accessibility of the target processing position.

[0056] By adopting a multi-tool automatic tool change structure, this application solves the problems that different machining areas of the workpiece 137 require different machining tools and that the machining tool (grinding tool) cannot be automatically changed online, achieving the effects of multi-process combined machining with multiple tools and online automatic change of the machining tool (grinding tool).

[0057] In the description of this application, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation to this application.

[0058] The specific embodiments of the present utility model have been described above. It should be understood that the present utility model is not limited to the above specific implementation manners, and those skilled in the art can make various changes or modifications within the scope of the claims, which does not affect the essence of the present utility model. Without conflict, the embodiments of this application and the features in the embodiments can be arbitrarily combined with each other.

Claims

1. A dual-station grinding and polishing robot, characterized in that: include: A fixture assembly (13), a robot assembly (14) and a tool change magazine (8); The tooling fixture assembly (13) comprises two groups of fixtures (136) for clamping a workpiece (137) and a positioner (131) arranged on a turntable (135); the workpiece (137) is switched between a processing station and a loading and unloading station via the turntable (135); the fixture (136) is drive-connected to an output end of the positioner (131); and the fixture (136) can be turned at an angle; The robot assembly (14) comprises a robot (141) and an execution end, the processing station and the tool change magazine (8) are both arranged on a moving path of the execution end, a plurality of tool assemblies (145) are placed in the tool change magazine (8), the execution end is detachably connected to the tool assembly (145), and the tool assembly (145) on the execution end is used for grinding and polishing a workpiece (137) on the processing station.

2. The dual-station grinding and polishing robot according to claim 1, characterized in that: The turntable (135) is mounted on a bottom plate (12); an output end of the turntable (135) is connected to a mounting plate (132); and the positioner (131) is mounted on the mounting plate (132).

3. The dual-station grinding and polishing robot according to claim 1, characterized in that: A vertical partition (133) is provided between the two groups of the clamps (136) and the positioner (131), and a second observation window (134) is installed on the partition (133).

4. The dual-station grinding and polishing robot according to claim 1, characterized in that: The two groups of clamps (136) and positioners (131) are symmetrically arranged on the turntable (135).

5. The dual-station grinding and polishing robot according to claim 1, characterized in that: The execution end comprises an electric spindle (144), and the tool assembly (145) is mounted on the robot (141) via the electric spindle (144).

6. The dual-station grinding and polishing robot according to claim 5, characterized in that: The tool assembly (145) comprises: a rivet (1451), a tool handle (1452), and a tool (1453); the tool (1453) is clamped by chucks (1454) on both sides and is fastened to the tool handle (1452) by screws (1455); one end of the rivet (1451) is threadedly connected to the tool handle (1452), and the other end is connected to the electric spindle (144) to form a tool quick-change interface.

7. The dual-station grinding and polishing robot according to claim 5, characterized in that: The robot assembly (14) is mounted on a base plate (12), and a main control cabinet (7), a water cooler (9), a robot control cabinet (10), and an industrial vacuum cleaner (11) are arranged on the periphery of the base plate (12). The main control cabinet (7) is electrically connected to the water cooler (9), the robot control cabinet (10), and the industrial vacuum cleaner (11), respectively.

8. The dual-station grinding and polishing robot according to claim 7, characterized in that: The main control cabinet (7) is electrically connected to the electric spindle (144) and the tool change magazine (8) respectively, and the water cooler (9) is used to cool the electric spindle (144).

9. The dual-station grinding and polishing robot according to claim 8, characterized in that: A cover shell (16) is arranged around and on the top of the base plate (12); a safety door (1), a first observation window (2), a safety guardrail (5) and a control operation box (6) are arranged on the cover shell (16); and a forklift hole (4) and a level adjustment foot (15) are arranged at the bottom of the base plate (12).

10. The dual-station grinding and polishing robot according to claim 9, characterized in that: The control operation box (6) is electrically connected to the main control cabinet (7), a dust collection duct interface is provided on the base plate (12), and the industrial vacuum cleaner (11) is used to clean the closed space formed by the cover shell (16) and the base plate (12).

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