Middle and large workpiece polishing system

Abstract

The utility model discloses a polishing system for medium and large workpieces, and belongs to the technical field of polishing equipment. The polishing device comprises a polishing platform and at least one polishing robot arranged on the polishing platform, and the four corners or the four edges of the polishing platform are each provided with at least one blocking device. The blocking device comprises a base and a blocking frame, the base is fixedly installed on the grinding platform, and the blocking frame is fixedly installed on the base. According to the utility model, out-of-control of the robot can be limited, and the robot is prevented from moving out of the polishing platform to cause danger to external equipment and workers.

Description

Technical Field

[0001] The utility model belongs to the technical field of grinding equipment, and more specifically, relates to a grinding system for medium and large workpieces. Background Art

[0002] With the rapid development of science and technology, all walks of life have put forward higher requirements for manufacturing technology in terms of higher precision, higher efficiency and higher flexibility, including the grinding and polishing of medium and large machining parts. On this basis, the traditional grinding and polishing mode can no longer meet the existing development needs.

[0003] For the grinding and polishing tasks of medium and large machining parts, most of the traditional processing methods are a combination of machine tools and manual labor. For parts with good openness, machine tool processing can be used, and for parts with poor openness, most are manually polished. This traditional processing method has many processes, low efficiency, repeated loading and unloading, poor machining accuracy, and a large amount of manual labor, and urgently needs to be improved.

[0004] The development of robot technology enables robots to be used as a high-quality and high-efficiency platform, equipped with end effectors, flexible tooling, detection and perception and other subsystems. Through the collaborative cooperation of multiple robots, processing systems can be designed to complete different processing tasks according to different processing requirements.

[0005] In the existing robot platform for grinding and polishing medium and large machining parts, the robot needs to move during grinding. However, during the movement of the robot, if the control system fails, it may cause the robot to move too far, or even move out of the grinding platform, posing a danger to external equipment and staff.

[0006] For example, the patent document with the Chinese patent application number: CN201811430417.6 and the publication date: January 29, 2019 discloses an intelligent large-frame grinding robot, including a base, a grinding wheel part fixing seat, and three grinding wheel parts. It is characterized in that: the circular hole in the middle of the second circular ring sleeve of the grinding wheel part fixing seat is installed outside the first circular ring sleeve, the second gear meshes with the internal gear, and the annular groove is slidably installed on twenty ball bearings; the three grinding wheel part fixing blocks of the three grinding wheel parts are respectively fixedly installed at the cylinder end of a group of first hydraulic cylinders, the piston rod end of a group of second hydraulic cylinders, and the piston rod end of a group of third hydraulic cylinders; the positions of the three grinding wheel parts are adjusted through three different driving device combinations on the grinding wheel part fixing seat so that the machine can grind the large frame in more directions.

[0007] For another example, a patent document with a Chinese patent application number of: CN201811340568.2 and a publication date of: May 11, 2021 discloses a mobile dual-robot collaborative grinding device and method based on online thickness detection. To meet the trend of global intelligent development and improve the automation level of traditional machining, aiming at the problems of traditional medium and large-sized part grinding machining, such as many machining stations, complex processes, repeated loading and unloading, poor machining accuracy, and low efficiency, a machining system composed of key equipment such as dual robots, a free moving platform, a floating constant force grinding electric spindle, binocular vision, an electromagnetic thickness gauge, a laser tracker, and a rotating fixture is proposed, and an integrated grinding method combining dual-robot collaborative control, three-dimensional measurement, offline programming, a process database, and online detection machining is proposed.

[0008] In both of the above two solutions, the grinding of workpieces is achieved through large robots. There is a problem that after a failure occurs in the control system mentioned above, it may cause the robot to move too far, and even move out of the grinding platform, posing a danger to external equipment and staff. Summary of the Invention

[0009] 1. Problems to be Solved

[0010] Aiming at the problem that in the existing robot grinding system, the robot may move out of the grinding platform and pose a danger to external equipment and staff, the utility model provides a medium and large-sized workpiece grinding system, which can limit the out-of-control situation of the robot for the above problems and prevent the robot from moving out of the grinding platform and posing a danger to external equipment and staff.

[0011] 2. Technical Solutions

[0012] To solve the above problems, the utility model adopts the following technical solutions.

[0013] A medium and large-sized workpiece grinding system includes a grinding platform and at least one grinding robot arranged on the grinding platform. At least one blocking device is respectively installed at the four corners or four sides of the grinding platform; the blocking device includes a base and a blocking frame, the base is fixedly installed on the grinding platform, and the blocking frame is fixedly installed on the base.

[0014] As a further improvement of the technical solution, an anti-collision column is fixedly installed on one side of the blocking frame facing the inner side of the grinding platform, and a flexible layer is coated on the outer side of the anti-collision column.

[0015] As a further improvement of the technical solution, an angle steel is fixedly connected between the bottom of the blocking frame and the base.

[0016] As a further improvement of the technical solution, a plurality of angle steels are installed on a single blocking device.

[0017] As a further improvement of the technical solution, the grinding robot includes a walking unit, a manipulator unit and a grinding unit; the manipulator unit is installed on the walking unit, and the grinding unit is installed at the end of the manipulator unit.

[0018] As a further improvement of the technical solution, the walking unit includes a crawler walking device and a plurality of movable brackets, and the plurality of movable brackets are movably installed on the side of the crawler walking device.

[0019] As a further improvement of the technical solution, the grinding unit adopts a pneumatic floating grinding machine.

[0020] As a further improvement of the technical solution, a workpiece fixing device is installed in the middle of the grinding platform.

[0021] As a further improvement of the technical solution, the inner side of the workpiece fixing device is a hollow structure with an open upper end, a receiving pit is provided at the position where the middle part of the grinding platform is located inside the workpiece fixing device, and a receiving box that fits the inner wall of the receiving pit is placed in the receiving pit.

[0022] As a further improvement of the technical solution, the end face of the grinding platform around the receiving pit is an inclined plane whose height gradually decreases in its direction.

[0023] 3. Beneficial effects

[0024] Compared with the prior art, the beneficial effects of the present utility model are as follows:

[0025] (1) For a medium and large workpiece grinding system of the present utility model, by respectively arranging at least one blocking device at the four sides or corners of the grinding platform, when the robot control system fails, the robot can be blocked to prevent the robot from moving out of the grinding platform and causing danger to external equipment and staff;

[0026] (2) For a medium and large workpiece grinding system of the present utility model, an anti-collision column is fixedly installed on one side of the blocking frame facing the inner side of the grinding platform, and a flexible layer is coated outside the anti-collision column, so that a certain buffer can be formed when blocking the robot, reducing the collision damage between the blocking frame and the robot, and an angle steel is fixedly connected between the bottom of the blocking frame and the base, which can improve the structural strength of the blocking frame and extend the service life of the blocking frame;

[0027] (3) For a medium and large workpiece grinding system of the present utility model, a pneumatic floating grinding machine is adopted to achieve constant force floating grinding during the grinding process, which will not damage the workpiece and ensure the grinding quality of the workpiece;

[0028] (4) The medium and large workpiece grinding system of the present utility model is provided with a storage pit, and a storage box is placed in the storage pit, so that the debris generated inside the ground workpiece can be collected and cleaned through the storage box, which is convenient for quickly cleaning the grinding platform after grinding. The end face of the grinding platform around the storage pit is set as an inclined plane with a height gradually decreasing in its direction, so that the debris falling around the storage box can slide into the storage box, improving the cleaning effect. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 is a schematic structural diagram of the grinding system of the present utility model;

[0030] Figure 2 is a schematic structural diagram of the blocking device of the present utility model;

[0031] In the figure: 1, grinding platform; 11, storage pit; 12, inclined plane; 2, grinding robot; 21, traveling unit; 211, crawler traveling device; 212, movable support; 22, manipulator unit; 23, grinding unit; 3, blocking device; 31, base; 32, blocking frame; 33, anti-collision column; 34, angle steel. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0032] The exemplary embodiments of the present utility model are described in detail below. Although these exemplary embodiments are described in sufficient detail to enable those skilled in the art to implement the present utility model, it should be understood that other embodiments can be achieved and various changes can be made to the present utility model without departing from the spirit and scope of the present utility model. The following more detailed description of the embodiments of the present utility model is not intended to limit the scope of the claimed present utility model, but is merely for illustrative purposes and does not limit the description of the features and characteristics of the present utility model, to propose the best way to implement the present utility model, and to be sufficient to enable those skilled in the art to implement the present utility model. Therefore, the scope of the present utility model is only defined by the appended claims.

[0033] Embodiment 1

[0034] A medium and large workpiece grinding system is a platform-type system mainly for grinding medium and large workpieces. The following describes its specific structure and technical effects in detail.

[0035] As Figure 1 shown, the grinding system includes a grinding platform 1 and at least one grinding robot 2 provided on the grinding platform 1. In this embodiment, there are 2. At least one blocking device 3 is respectively installed at the four corners or four sides of the grinding platform 1. In this embodiment, one blocking device 3 is installed at each of the four corners.

[0036] Specifically, the grinding robot 2 includes a walking unit 21, a manipulator unit 22, and a grinding unit 23. The manipulator unit 22 is installed on the walking unit 21, and the grinding unit 23 is installed at the end of the manipulator 22. The walking unit 21 includes a crawler walking device 211 and a plurality of movable brackets 212. The plurality of movable brackets 212 are movably installed on the side of the crawler walking device 211. The movable brackets 212 play a supporting role, that is, the leg structure of the robot. In this embodiment, the grinding unit 23 uses a pneumatic floating grinding machine to achieve constant-force floating grinding during the grinding process, which will not damage the workpiece and ensure the grinding quality of the workpiece. Its specific structure and working principle belong to the prior art. For reference, see the patent document with the patent application number: CN201610957497.5 and the title: A Flexible Grinding Device Based on Pneumatic Floating.

[0037] As Figure 2 shown, the blocking device 3 includes a base 31 and a blocking frame 32. The base 31 is fixedly installed on the grinding platform 1, and the blocking frame 32 is fixedly installed on the base 31. An anti-collision column 33 is fixedly installed on one side of the blocking frame 32 facing the inner side of the grinding platform 1, and a flexible layer is coated on the outer side of the anti-collision column 33. At the same time, an angle steel 34 is fixedly connected between the bottom of the blocking frame 32 and the base 31.

[0038] By respectively arranging at least one blocking device 3 at the four edges or corners of the grinding platform 1, when the robot control system fails, the grinding robot 2 can be blocked to prevent the grinding robot 2 from moving out of the grinding platform 1 and causing danger to external equipment and staff. By fixedly installing an anti-collision column 33 on one side of the blocking frame 32 facing the inner side of the grinding platform 1 and coating a flexible layer on the outer side of the anti-collision column 33, a certain buffer can be formed when blocking the grinding robot 2, reducing the collision damage between the blocking frame 32 and the grinding robot 2. The angle steel 34 between the bottom of the blocking frame 32 and the base 31 can improve the structural strength of the blocking frame 32 and extend the service life of the blocking frame 32.

[0039] In addition, a workpiece fixing device is installed in the middle of the grinding platform 1, which can fix the workpiece before grinding. The inner side of the workpiece fixing device is a hollow structure with an open upper end. A storage pit 11 is provided at the position of the middle of the grinding platform 1 inside the workpiece fixing device, and a storage box that fits the inner wall of the storage pit 11 is placed in the storage pit 11. At the same time, the end face of the grinding platform 1 around the storage pit 11 is an inclined surface 12 whose height gradually decreases in its direction. In this embodiment, the workpiece fixing device uses a circle of support devices arranged on the grinding platform 1 around the inclined surface 12 to support and fix the workpiece at the same time. The specific fixing structure can adopt common fixing structures on the market and belongs to the prior art, so it will not be described in detail.

[0040] By setting the storage pit 11 and placing a storage box in the storage pit 11, the debris generated inside the workpiece being polished can be collected and cleaned through the storage box, facilitating the rapid cleaning of the polishing platform 1 after polishing. By setting the end face of the polishing platform 1 around the storage pit 11 as an inclined surface 12 whose height gradually decreases in its direction, the debris falling around the storage box can slide into the storage box, improving the cleaning effect.

[0041] In summary, the medium and large workpiece polishing system of this embodiment can limit the out-of-control situation of the robot for the above problems, preventing the robot from moving out of the polishing platform 1 and causing danger to external equipment and staff.

Claims

1. A medium and large workpiece grinding system, comprising a grinding platform (1) and at least one grinding robot (2) arranged on the grinding platform (1), characterized in that: At least one blocking device (3) is respectively installed at the four corners or four sides of the grinding platform (1); the blocking device (3) includes a base (31) and a blocking frame (32), the base (31) is fixedly installed on the grinding platform (1), and the blocking frame (32) is fixedly installed on the base (31).

2. The medium and large workpiece grinding system according to claim 1, wherein: An anti-collision column (33) is fixedly installed on one side of the blocking frame (32) facing the inner side of the grinding platform (1), and a flexible layer is coated on the outer side of the anti-collision column (33).

3. The medium and large workpiece grinding system according to claim 2, characterized in that: An angle steel (34) is fixedly connected between the bottom of the blocking frame (32) and the base (31).

4. A medium and large workpiece grinding system according to claim 3, characterized in that: A plurality of angle steels (34) are installed on a single blocking device (3).

5. The medium and large workpiece grinding system according to claim 1, characterized in that: The grinding robot (2) includes a walking unit (21), a manipulator unit (22) and a grinding unit (23); the manipulator unit (22) is installed on the walking unit (21), and the grinding unit (23) is installed at the end of the manipulator unit (22).

6. The medium and large workpiece grinding system according to claim 5, characterized in that: The walking unit (21) includes a crawler walking device (211) and a plurality of movable brackets (212), and the plurality of movable brackets (212) are movably installed on the side of the crawler walking device (211).

7. A medium and large workpiece grinding system according to claim 6, characterized in that: The grinding unit (23) adopts a pneumatic floating grinding machine.

8. A medium and large workpiece grinding system according to any one of claims 1-7, characterized in that: A workpiece fixing device is installed in the middle of the grinding platform (1).

9. A medium and large workpiece grinding system according to claim 8, characterized in that: The inner side of the workpiece fixing device is a hollow structure with an open upper end. A receiving pit (11) is provided at the position in the middle of the grinding platform (1) inside the workpiece fixing device, and a receiving box that fits the inner wall of the receiving pit (11) is placed in the receiving pit (11).

10. The medium and large workpiece grinding system according to claim 9, wherein: The end face of the grinding platform (1) around the receiving pit (11) is an inclined surface (12) whose height gradually decreases in its direction.

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