Double-robot cooperation polishing equipment

Abstract

The utility model discloses a double-robot cooperation polishing device which comprises two robots, a working table, track mechanisms laid on the two sides of the working table and two driving mechanisms, the two robots are installed on the corresponding track mechanisms in a sliding mode, and the two driving mechanisms drive the corresponding robots to move along the track mechanisms to polish workpieces on the working table. The device has the advantages of improving the working efficiency and precision and saving time and labor.

Description

Technical Field

[0001] The utility model relates to the technical field of machining equipment, in particular to a double-robot collaborative polishing equipment. Background Art

[0002] Polishing refers to a machining method that uses mechanical, chemical or electrochemical actions to reduce the surface roughness of a workpiece to obtain a bright and flat surface, and is a finishing process that uses a polishing tool and abrasive particles or other polishing media to process the surface of the workpiece.

[0003] When polishing large-volume workpieces, the existing polishing equipment can no longer meet the processing requirements. Using a single robot for polishing is not only time-consuming, laborious and inefficient, but also unable to guarantee accuracy. Summary of the Utility Model

[0004] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a double-robot collaborative polishing equipment that improves work efficiency, accuracy, and saves time and effort.

[0005] To solve the above technical problem, the utility model adopts the following technical solutions:

[0006] A double-robot collaborative polishing equipment includes two robots, a workbench, a track mechanism laid on both sides of the workbench, and two driving mechanisms. The two robots are slidably mounted on the corresponding track mechanisms, and the two driving mechanisms drive the corresponding robots to move along the track mechanisms to polish the workpiece on the workbench.

[0007] As a further improvement of the above technical solution:

[0008] The robot includes a base and a robotic arm. The base is slidably connected to the track mechanism and connected to the driving mechanism. A polishing head for polishing operations is installed on the robotic arm.

[0009] The track mechanism includes a guide rail seat and guide rails arranged on both sides of the guide rail seat. Anti-collision devices are arranged at both ends of the guide rail seat. A slider is slidably connected to the guide rail, and the slider is fixedly connected to the base.

[0010] The driving mechanism is set as a linear motor, which includes a stator and a mover. The stator is laid on the guide rail seat and connected to a power source, and the mover is arranged at the bottom of the base.

[0011] The driving mechanism includes a motor, a lead screw shaft, and a lead screw nut installed on the lead screw shaft. The motor and the lead screw shaft are arranged on the guide rail seat, and the output end of the motor is connected to the lead screw shaft. The lead screw nut is fixedly connected to the base.

[0012] The driving mechanism includes a motor, a gear, and a toothed rail. The toothed rail is arranged on the guide rail base, the motor is arranged on the base, and the gear is connected to the output end of the motor and meshes with the toothed rail.

[0013] A lubricating mechanism for lubricating the track mechanism and / or the driving mechanism is further arranged on the base.

[0014] The lubricating mechanism includes an oil pump and an oil delivery pipe. The oil pump is fixedly installed on the base, and one end of the oil delivery pipe is connected to the oil pump, and the other end performs drip lubrication on the track mechanism and / or the driving mechanism.

[0015] It further includes a tool holder for holding the polishing head, and the tool holder is arranged at the end of the track mechanism.

[0016] Compared with the prior art, the advantages of the present utility model are as follows:

[0017] During use, a large workpiece is fixed on the workbench. Track mechanisms are arranged on both sides of the workbench. Two robots are slidably connected to the track mechanisms. The robots are driven by the driving mechanism to move on the track mechanisms to polish the workpiece. Compared with traditional polishing equipment, in the present utility model, by arranging robots on both sides of the workbench to cooperate in polishing simultaneously, not only the working efficiency is improved and time is saved, but also the processing accuracy is improved. In addition, the robots slide on the track mechanisms, and the robots are flexible in movement, adapting to the polishing work of large workpieces, and there is no need to frequently adjust the posture of the workpiece, saving time and effort. Description of the Drawings

[0018] Figure 1 It is a schematic diagram of the overall structure (3D view) of Embodiment 1 of the present utility model.

[0019] Figure 2 It is a schematic diagram of the overall structure (side view) of Embodiment 1 of the present utility model.

[0020] Figure 3 It is a schematic diagram of the overall structure (3D view) of Embodiment 2 of the present utility model.

[0021] Figure 4 It is a schematic diagram of the overall structure (3D view) of Embodiment 3 of the present utility model.

[0022] Figure 5 It is Figure 4 The enlarged view at A in

[0023] Figure 6 It is a schematic diagram of the overall structure (side view) of Embodiment 3 of the present utility model.

[0024] Each label in the figure represents:

[0025] 1. Robot; 11. Base; 12. Robot arm; 121. Polishing head; 2. Workbench; 3. Track mechanism; 31. Guide rail seat; 311. Anti-collision device; 32. Guide rail; 321. Slide block; 4. Driving mechanism; 41. Stator; 42. Rotor; 43. Motor; 44. Lead screw shaft; 45. Lead screw nut; 46. Gear; 47. Tooth rail; 5. Lubrication mechanism; 51. Oil pump; 52. Oil pipeline; 6. Tool holder. Detailed implementation mode

[0026] The following will further describe the present utility model in detail with reference to the accompanying drawings of the specification and specific embodiments.

[0027] Embodiment 1:

[0028] As Figure 1 and Figure 2 shown, the first embodiment of the dual-robot collaborative polishing equipment of the present utility model includes two robots 1, a workbench 2, track mechanisms 3 laid on both sides of the workbench 2, and two driving mechanisms 4. The two robots 1 are slidably mounted on the corresponding track mechanisms 3, and the two driving mechanisms 4 drive the corresponding robots 1 to move along the track mechanisms 3 to polish the workpieces on the workbench 2. During use, a large workpiece is fixed on the workbench 2, track mechanisms 3 are arranged on both sides of the workbench 2, the two robots 1 are slidably connected to the track mechanisms 3, and the robots 1 are driven by the driving mechanisms 4 to move on the track mechanisms 3 to polish the workpieces. Compared with traditional polishing equipment, in the present utility model, by arranging robots 1 on both sides of the workbench 2 to perform collaborative polishing simultaneously, not only the work efficiency is improved, time is saved, but also the processing accuracy is improved. In addition, the robots 1 slide on the track mechanisms 3, and the robots 1 move flexibly, adapting to the polishing work of large workpieces, and there is no need to frequently adjust the posture of the workpieces, saving time and effort.

[0029] In this embodiment, the robot 1 includes a base 11 and a robot arm 12. The base 11 is slidably connected to the track mechanism 3 and connected to the driving mechanism 4, and a polishing head 121 for polishing operations is installed on the robot arm 12. In this structure, the robot arm 12 has a high degree of freedom and flexible movement, and drives the polishing head 121 to perform polishing through the robot arm 12, with a wide range of adaptability.

[0030] In this embodiment, the track mechanism 3 includes a guide rail seat 31 and guide rails 32 arranged on both sides of the guide rail seat 31. Anti-collision devices 311 are arranged at both ends of the guide rail seat 31, and slide blocks 321 are slidably connected to the guide rails 32. The slide blocks 321 are fixedly connected to the base 11. Its structure is simple and easy to implement. The anti-collision devices 311 are provided to ensure the safety of the movement of the robot 1 and prevent collision and derailment.

[0031] In this embodiment, the driving mechanism 4 is arranged as a linear motor, which includes a stator 41 and a mover 42. The stator 41 is laid on the guide rail base 31 and connected to the power supply, and the mover 42 is arranged at the bottom of the base 11. In this structure, after the stator 41 is energized, it pushes the mover 42 to drive the base 11 to move. By using a linear motor for driving, there is no need to set up a transmission mechanism, which simplifies the structure.

[0032] In this embodiment, a lubricating mechanism 5 for lubricating the track mechanism 3 is further arranged on the base 11. In this structure, the lubricating mechanism 5 is arranged to lubricate the track mechanism 3 to ensure smooth sliding of the slider 321 and the guide rail 32.

[0033] In this embodiment, the lubricating mechanism 5 includes an oil pump 51 and an oil delivery pipe 52. The oil pump 51 is fixedly installed on the base 11, and one end of the oil delivery pipe 52 is connected to the oil pump 51 and the other end drips oil for lubricating the track mechanism. Its structure is simple. The oil pump 51 pumps lubricating oil to the sliding connection between the slider 321 and the guide rail 32 through the oil delivery pipe 52, and the lubricating effect is good.

[0034] In this embodiment, a tool holder 6 for holding the polishing head 121 is further included, and the tool holder 6 is arranged at the end of the track mechanism 3. In this structure, the tool holder 6 is arranged to hold various types of polishing heads 121, which is convenient for replacing the polishing head 121 when polishing different workpieces.

[0035] Embodiment 2:

[0036] As Figure 3 shown, the second embodiment of the dual-robot collaborative polishing device of the present utility model is basically the same as Embodiment 1, except that:

[0037] In this embodiment, the driving mechanism 4 includes a motor 43, a lead screw shaft 44, and a lead screw nut 45 installed on the lead screw shaft 44. The motor 43 and the lead screw shaft 44 are arranged on the guide rail base 31, and the output end of the motor 43 is connected to the lead screw shaft 44. The lead screw nut 45 is fixedly connected to the base 11. In this structure, the base 11 is driven to move through the drive generated by the motor 43 and the lead screw transmission pair composed of the lead screw shaft 44 and the lead screw nut 45, and the movement is stable and reliable.

[0038] Embodiment 3:

[0039] As Figures 4 to 6 shown, the third embodiment of the dual-robot collaborative polishing device of the present utility model is basically the same as Embodiment 1, except that:

[0040] In this embodiment, the driving mechanism 4 includes a motor 43, a gear 46 and a toothed rail 47. The toothed rail 47 is arranged on the guide rail base 31, the motor 43 is arranged on the base 11, and the gear 46 is connected to the output end of the motor 43 and meshes with the toothed rail 47. In this structure, the motor 43 drives the gear 46 to mesh and move on the toothed rail 47, driving the base 11 to move. The structure is compact and the operation is reliable.

[0041] Although the present utility model has been disclosed above with preferred embodiments, it is not intended to limit the present utility model. Any person skilled in the art can make many possible changes and modifications to the technical solution of the present utility model by using the technical content disclosed above, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present utility model without departing from the technical solution of the present utility model shall fall within the scope of protection of the technical solution of the present utility model.

Claims

1. A dual-robot collaborative polishing device, characterized in that: The invention comprises two robots (1), a workbench (2), a track mechanism (3) laid on both sides of the workbench (2), and two driving mechanisms (4); the two robots (1) are slidably mounted on the corresponding track mechanisms (3); and the two driving mechanisms (4) drive the corresponding robots (1) to move along the track mechanisms (3) to polish the workpiece on the workbench (2).

2. The dual-robot collaborative polishing device according to claim 1, characterized in that: The robot (1) comprises a base (11) and a mechanical arm (12); the base (11) is slidably connected to a track mechanism (3) and connected to a driving mechanism (4); and the mechanical arm (12) is provided with a polishing head (121) for polishing operations.

3. The dual-robot collaborative polishing device according to claim 2 is characterized in that: The track mechanism (3) comprises a guide rail seat (31) and guide rails (32) arranged on both sides of the guide rail seat (31); bumpers (311) are arranged at both ends of the guide rail seat (31); a slider (321) is slidably connected to the guide rail (32); and the slider (321) is fixedly connected to the base (11).

4. The dual-robot collaborative polishing device according to claim 3 is characterized in that: The driving mechanism (4) is configured as a linear motor, the linear motor comprising a stator (41) and a mover (42), the stator (41) being laid on the guide rail seat (31) and connected to a power source, and the mover (42) being arranged at the bottom of the base (11).

5. The dual-robot collaborative polishing device according to claim 3 is characterized in that: The driving mechanism (4) comprises a motor (43), a screw shaft (44) and a screw nut (45) mounted on the screw shaft (44); the motor (43) and the screw shaft (44) are arranged on a guide rail seat (31), the output end of the motor (43) is connected to the screw shaft (44), and the screw nut (45) is fixedly connected to the base (11).

6. The dual-robot collaborative polishing device according to claim 3, characterized in that: The driving mechanism (4) comprises a motor (43), a gear (46) and a rack (47); the rack (47) is arranged on a guide rail seat (31); the motor (43) is arranged on a base (11); the gear (46) is connected to an output end of the motor (43) and meshes with the rack (47).

7. The dual-robot collaborative polishing device according to any one of claims 2 to 6, characterized in that: The base (11) is also provided with a lubrication mechanism (5) for lubricating the track mechanism (3) and / or the drive mechanism (4).

8. The dual-robot collaborative polishing device according to claim 7, characterized in that: The lubricating mechanism (5) comprises an oil pump (51) and an oil delivery pipe (52); the oil pump (51) is fixedly mounted on the base (11); one end of the oil delivery pipe (52) is connected to the oil pump (51); and the other end of the oil delivery pipe (52) performs dripping oil lubrication on the track mechanism (3) and / or the driving mechanism (4).

9. The dual-robot collaborative polishing device according to claim 1, characterized in that: It also comprises a tool holder (6) for holding a polishing head (121), wherein the tool holder (6) is arranged at the end of the track mechanism (3).

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