Element free edge chamfer and groove polishing device

Abstract

The utility model provides an element free edge chamfer and groove polishing device which comprises a carrying mechanism, a first recognition camera and a second recognition camera, the carrying mechanism comprises a carrying mechanical arm, an electromagnetic floating assembly and a first recognition camera, and the electromagnetic floating assembly comprises a floating plate, an elastic piece and a first electromagnet; the polishing mechanism comprises a polishing workbench, a polishing mechanical arm and a floating polishing assembly, and the floating polishing assembly is connected to the working end of the polishing mechanical arm and comprises an EHA floating module, a second recognition camera and a polishing piece; the tool changing mechanism comprises a containing frame and a clamping block. Based on the arrangement of the electromagnetic floating assembly and the floating grinding assembly, the device can be matched with the height of a to-be-machined element through self-adaptive adjustment in the carrying and grinding machining process, so that the machining precision and the machining quality are improved, the adjustment time can be shortened in a multiplied mode, and the machining efficiency is improved; in addition, the device has the remarkable advantages of high automation degree, convenience in operation, wide application range and the like.

Description

Technical Field

[0001] The utility model relates to the technical field of component processing, in particular to a device for chamfering and grinding the free edges of components. Background Art

[0002] In the fields of shipbuilding, bridge construction, offshore platforms, etc., the quality of steel plate chamfering and groove grinding is directly related to the safety and aesthetics of the entire project.

[0003] The chamfering process can not only effectively avoid stress concentration and reduce the risk of damage to the workpiece during installation and use by performing fine chamfering on the outer or inner right angles of the workpiece, but also protect the safety of operators and prevent scratches on their fingers during transportation and installation. The purpose of groove grinding is to create a geometric shape suitable for processing and ensure that the filler material processed during the processing can be evenly distributed, thereby reducing processing defects and improving product strength and durability. However, due to the lack of effective constant force control technology, real-time parameter adjustment is required in the traditional processing process, which leads to problems such as unstable processing quality, low processing efficiency and serious tool loss. At the same time, the shapes and types of cutting tools are different in different processing processes. The existing processing method requires the setting of a corresponding set of independent and complete processing systems according to different processing requirements, which not only increases the production cost exponentially, but also increases its overall occupied space and greatly limits the use scenarios. Due to uneven force, excessive wear is very likely to occur, which increases production costs. Summary of the Invention

[0004] Therefore, the technical problem to be solved by the present invention is to overcome the problems of limited processing accuracy and efficiency in the prior art and to provide a device for chamfering and beveling the free edges of components.

[0005] In order to solve the above technical problems, the utility model provides a device for chamfering and grinding the free edges of components, which includes: a conveying mechanism, the conveying mechanism includes a conveying robot arm, an electromagnetic floating assembly and a first recognition camera, the electromagnetic floating assembly includes two floating plates, at least one elastic member and a first electromagnet, one of the floating plates is connected to the free end of the conveying robot arm, the other floating plate is connected to the first electromagnet, the two ends of at least one elastic member are respectively connected to the two floating plates, the first recognition camera is connected to the electromagnetic floating assembly, and moves synchronously with the conveying robot arm; at least one grinding mechanism, the grinding mechanism includes a grinding workbench, a grinding robot arm and a floating assembly A grinding assembly, wherein the grinding robot arm is arranged on one side of the grinding workbench, and the floating grinding assembly is connected to the working end of the grinding robot arm, which includes an EHA floating module, a second recognition camera and a grinding piece. The grinding piece and the second recognition camera are respectively connected to the EHA floating module, and both move with the grinding robot arm, wherein the grinding piece is configured as a chamfering grinding piece or a bevel grinding piece, so that the grinding mechanism can chamfer the free edge of the component or grind the bevel of the component; a tool changing mechanism, wherein the tool changing mechanism includes a accommodating frame and a plurality of clamping blocks, and a plurality of the clamping blocks are respectively connected to the accommodating frame to form a plurality of accommodating points, and the chamfering grinding piece and / or the bevel grinding piece are arranged in the accommodating points.

[0006] In one embodiment of the present invention, the electromagnetic floating assembly further includes a connecting seat and an extension piece, wherein the two sides of the connecting seat are respectively connected to one of the floating plates and the transport robot arm, and the two ends of the extension piece are respectively connected to another of the floating plates and the first electromagnet.

[0007] In one embodiment of the present invention, the electromagnetic floating assembly further includes at least one guide shaft, the two ends of the guide shaft respectively pass through and connect the two floating plates, and the two ends of at least one elastic member are correspondingly sleeved on at least one guide shaft.

[0008] In one embodiment of the present invention, the grinding workbench includes a table body, a supporting plate and at least one second electromagnet, at least one second electromagnet is supported on the table body, the supporting plate is supported on at least one second electromagnet, and the component to be processed is connected to the supporting plate through the second electromagnet.

[0009] In one embodiment of the present invention, the grinding workbench includes a folding frame, a rotary drive and a protective member. The protective member is connected to the table body and is located in the same horizontal plane as the second electromagnet. The folding frame is supported by the protective member. The working end of the rotary drive is connected to the folding frame to drive the folding frame to flip.

[0010] In one embodiment of the present invention, the floating grinding mechanism includes a connecting frame, an electric spindle and a connecting handle, the connecting frame is connected to the EHA floating module, the electric spindle is connected to the inside of the connecting frame, the connecting handle is arranged at the end of the electric spindle, and the grinding piece is connected to the electric spindle through the connecting handle.

[0011] In one embodiment of the present invention, the tool changing mechanism further includes a slide rail and a door body, the slide rail is connected to the accommodating frame and extends along the length direction of the tool changing mechanism, and the door body is slidably connected to the slide rail to cover / expose the accommodating point.

[0012] In one embodiment of the present invention, it further includes a storage mechanism, which includes at least one loading frame and at least one finished product frame, and the loading frame and the finished product frame are arranged around the transport mechanism.

[0013] In one embodiment of the present invention, it further includes a dust removal mechanism, which includes a dust collector and at least one dust removal pipe, one end of the dust removal pipe is connected to the polishing workbench, and the other end is connected to the dust collector.

[0014] In one embodiment of the present invention, it further includes a control system, and the transport mechanism, the grinding mechanism, and the tool changing mechanism are respectively connected to the control system.

[0015] The above technical solution of the utility model has the following advantages compared with the prior art:

[0016] The device for chamfering and beveling the free edges of components described in the present invention transfers the components to be processed to the grinding workbench through a conveying mechanism, and then performs chamfering or beveling grinding on the components to be processed through the grinding mechanism. At the same time, the floating grinding component can change tools through the tool changing mechanism according to actual use needs, thereby enriching the functions of the grinding mechanism. Most importantly, based on the settings of the electromagnetic floating component and the floating grinding component, the present application can adaptively adjust the height of the components to be processed during the conveying and grinding process, thereby improving the processing accuracy and processing quality, and can also reduce the adjustment time by several times, thereby improving the processing efficiency. Therefore, compared with the conventional grinding technology at this stage, the present application has the significant advantages of high degree of automation, easy operation, wide range of use, high processing quality and efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to make the content of the present invention more clearly understood, the present invention is further described in detail below based on specific embodiments of the present invention in conjunction with the accompanying drawings.

[0018] Figure 1This is a schematic diagram of the structural distribution of a device for chamfering and grinding the free edges of components in a preferred embodiment of the present utility model;

[0019] Figure 2 yes Figure 1 A schematic diagram of the three-dimensional structure of the transport mechanism in the device for chamfering and grinding the free edges of the components shown;

[0020] Figure 3 yes Figure 2 A schematic diagram of the three-dimensional structure of the electromagnetic floating component in the transport mechanism shown;

[0021] Figure 4 yes Figure 2 A schematic diagram of the connection structure of the first recognition camera and the fixing plate is shown;

[0022] Figure 5 yes Figure 1 Schematic diagram of the three-dimensional structure of the grinding workpiece in the device for chamfering and beveling the free edges of the components shown;

[0023] Figure 6 yes Figure 1 A schematic diagram of the three-dimensional structure of the grinding robot arm and the floating grinding assembly in the component free edge chamfering and groove grinding device;

[0024] Figure 7 yes Figure 1 A schematic diagram of the three-dimensional structure of the floating grinding assembly in the component free edge chamfering and groove grinding device;

[0025] Figure 8 yes Figure 1 Schematic diagram of the three-dimensional structure of the tool changing mechanism in the free edge chamfering and groove grinding device of the component shown.

[0026] Description of the accompanying drawings: 100, transport mechanism; 110, transport robot arm; 120, electromagnetic floating assembly; 121, connecting seat; 122, floating plate; 123, guide shaft; 124, elastic member; 125, extension member; 126, first electromagnet; 130, fixing plate; 140, first recognition camera; 200, polishing mechanism; 210, polishing workbench; 211, table body; 212, folding frame; 213, carrying plate; 214, second electromagnet; 215. Protective part; 216. Rotary drive; 220. Grinding robot arm; 230. Floating grinding assembly; 231. Connecting handle; 232. EHA floating module; 233. Connecting frame; 234. Electric spindle; 235. Grinding part; 300. Tool changing mechanism; 310. Storage frame; 320. Door; 330. Slide rail; 340. Clamp; 400. Storage mechanism; 410. Loading frame; 420. Finished product frame; 500. Vacuum cleaner; 600. Fence. DETAILED DESCRIPTION

[0027] The present invention will be further described below with reference to the accompanying drawings and specific embodiments so that those skilled in the art can better understand the present invention and implement it. However, the embodiments are not intended to limit the present invention. Example

[0028] See also Figure 1 As shown, this embodiment provides a device for chamfering and beveling the free edges of components, which includes: a transport mechanism 100, the transport mechanism 100 includes a transport robot arm 110, an electromagnetic floating assembly 120 and a first recognition camera 140, the electromagnetic floating assembly 120 includes two floating plates 122, at least one elastic member 124 and a first electromagnet 126, one of the floating plates 122 is connected to the free end of the transport robot arm 110, the other floating plate 122 is connected to the first electromagnet 126, the two ends of at least one elastic member 124 are respectively connected to the two floating plates 122, the first recognition camera 140 is connected to the electromagnetic floating assembly 120, and moves synchronously with the transport robot arm 110; at least one grinding mechanism 200, the grinding mechanism 200 includes a grinding workbench 210, a grinding robot arm 220 and a floating grinding assembly 230, the grinding robot arm 220 is arranged on one side of the grinding workbench 210, and the floating grinding assembly 230 is connected to the working end of the grinding robot arm 220, which includes an EHA floating module 232, a second recognition camera and a grinding piece 235, the grinding piece 235 and the second recognition camera are respectively connected to the EHA floating module 232, and both move with the grinding robot arm 220, wherein the grinding piece 235 is configured as a chamfering grinding piece 235 or a bevel grinding piece 235, so that the grinding mechanism 200 can chamfer the free edge of the component or grind the bevel of the component; the tool changing mechanism 300, the tool changing mechanism 300 includes a accommodating frame 310 and a plurality of clamping blocks 340, a plurality of the clamping blocks 340 are respectively connected to the accommodating frame 310 to form a plurality of accommodating points, and the chamfering grinding piece 235 and / or the bevel grinding piece 235 are arranged in the accommodating points.

[0029] The device for chamfering and beveling the free edges of components described in the present invention transfers the components to be processed to the grinding workbench 210 through the conveying mechanism 100, and then performs chamfering or beveling grinding on the components to be processed through the grinding mechanism 200. At the same time, the floating grinding component 230 can change the tool through the tool changing mechanism 300 according to actual use requirements, thereby enriching the function of the grinding mechanism 200. Most importantly, based on the settings of the electromagnetic floating component 120 and the floating grinding component 230, the present application can adaptively adjust the height of the components to be processed during the conveying and grinding process, thereby improving the processing accuracy and processing quality, and can also reduce the adjustment time by several times, thereby improving the processing efficiency. Therefore, compared with the conventional grinding technology at this stage, the present application has the significant advantages of high degree of automation, easy operation, wide range of use, high processing quality and efficiency.

[0030] Specifically, this embodiment includes two grinding mechanisms 200, thereby further improving production and processing efficiency. During actual operation, operators can set up a corresponding number of grinding mechanisms 200 based on the actual factory area and component processing requirements, and this invention does not impose specific restrictions on this. In addition, this embodiment also includes a fence 600, which is installed around the transport mechanism 100 and all grinding mechanisms 200 to protect their internal components and operators.

[0031] See also Figure 1 As shown, the present application also includes a storage mechanism 400, which includes at least one loading frame 410 and at least one finished product frame 420. The loading frame 410 and the finished product frame 420 are arranged around the conveying mechanism 100. Specifically, in this embodiment, two loading frames 410 and two finished product frames 420 are respectively provided on both sides of the conveying mechanism 100, wherein the loading frame 410 is used to cache the products to be processed, and the finished product frame 420 is used to cache the processed products.

[0032] See also Figures 2 to 4As shown, the handling robot arm 110 in this embodiment is able to move freely within its processing range. The electromagnetic floating assembly 120 is used to connect and transport products to be processed, while also enabling adaptive angle adjustment during this process to improve the connection stability between the first electromagnet 126 and the component being processed. The first recognition camera 140 identifies product features and effectively grasps different products based on their models, thereby ensuring a variety of products to be handled. It is connected to the electromagnetic floating assembly 120 via a fixed plate 130. Furthermore, the electromagnetic floating assembly 120 in this embodiment also includes a connecting base 121 and an extension 125. The connecting base 121 is connected to one of the floating plates 122 and the handling robot arm 110 on either side, while the extension 125 is connected to another floating plate 122 and the first electromagnet 126 on either side, thereby preventing the electromagnet from falling due to unexpected power outages. The first electromagnet 126 is preferably an electropermanent magnet, which offers advantages such as high strength, a long power-on time, and a long service life. Furthermore, the electromagnetic floating assembly 120 of the present application further includes at least one guide shaft 123, the ends of which are respectively connected to the two floating plates 122. The ends of at least one elastic member 124 are correspondingly sleeved on the at least one guide shaft 123. Specifically, in this embodiment, four elastic members 124 and four guide shafts 123 are provided, one for each other. The four elastic members 124 are respectively disposed at the four corners of the floating plate 122, thereby ensuring stable force on the floating plate 122 during operation.

[0033] In this embodiment, the two grinding mechanisms 200 have the same structural configuration, and one of them is used as an example for detailed description: Figure 5 As shown, the polishing table 210 includes a table body 211, a supporting plate 213, and at least one second electromagnet 214. The at least one second electromagnet 214 is supported on the table body 211, and the supporting plate 213 is supported on the at least one second electromagnet 214. The component to be processed is connected to the supporting plate 213 via the second electromagnet 214. The adsorption and fixing effect of the second electromagnet 214 can ensure high support stability of the component to be processed.

[0034] Furthermore, the polishing table 210 in this embodiment includes a folding frame 212, a rotary driver 216, and a protective member 215. The protective member 215 is connected to the table body 211 and is located in the same horizontal plane as the second electromagnet 214. The folding frame 212 is supported by the protective member 215. The working end of the rotary driver 216 is connected to the folding frame 212 to drive the folding frame 212 to flip. In this embodiment, the folding frame 212 is used to support the component to be processed. After it completes a processing operation, it can provide another clean support surface in a short time by flipping itself, thereby improving the efficiency of the polishing process. Among them, a dust removal duct is provided inside the polishing table 210 to adsorb and clean the table body 211 and the folding frame 212 after processing. The protective member 215 is configured as a hard component of the same size as the second electromagnet 214 to support the corresponding folding frame 212.

[0035] See also Figure 6 and Figure 7 As shown, the floating grinding mechanism 200 in this embodiment includes a connecting frame 233, an electric spindle 234 and a connecting handle 231. The connecting frame 233 is connected to the EHA floating module 232, the electric spindle 234 is connected to the inside of the connecting frame 233, the connecting handle 231 is arranged at the end of the electric spindle 234, and the grinding piece 235 is connected to the electric spindle 234 through the connecting handle 231. Based on the above structure, stable assembly of the connecting piece can be achieved.

[0036] See also Figure 8 As shown, the tool changing mechanism 300 in this embodiment further includes a slide rail 330 and a door 320. The slide rail 330 is connected to the accommodating frame 310 and extends along the length of the tool changing mechanism 300. The door 320 is slidably connected to the slide rail 330 to shield / expose the accommodating point. Specifically, this embodiment includes two doors 320 that can move relative to each other along the slide rail 330. The doors 320 are used to protect the polishing members 235 stored therein from dust when the polishing members 235 do not need to be replaced. In this embodiment, the floating polishing assembly 230 can achieve different functions by replacing different polishing members 235.

[0037] This embodiment also includes a dust removal mechanism, which includes a dust collector 500 and at least one dust removal pipe. One end of the dust removal pipe is connected to the polishing workbench 210, and the other end is connected to the dust collector 500. The dust removal pipes in this embodiment are respectively connected to the polishing workbench 210 to achieve adsorption and recovery of grinding residues inside the table body 211.

[0038] This embodiment also includes a control system, to which the transport mechanism 100, the grinding mechanism 200, and the tool changing mechanism 300 are connected. During actual production and processing, the operator can use the control system to control the above-mentioned structures in real time, thereby increasing the flexibility of the device. The control system can also be used to preset parameters, thereby increasing the automation level of the device.

[0039] In summary, the component free edge chamfering and groove grinding device described in the present invention transfers the component to be processed to the grinding workbench 210 through the conveying mechanism 100, and then performs chamfering or groove grinding on the component to be processed through the grinding mechanism 200. At the same time, the floating grinding component 230 can change the tool through the tool changing mechanism 300 according to actual use needs, thereby enriching the function of the grinding mechanism 200. Most importantly, based on the settings of the electromagnetic floating component 120 and the floating grinding component 230, the present application can adaptively adjust the height of the component to be processed during the conveying and grinding process, thereby improving the processing accuracy and processing quality, and can also reduce the adjustment time by several times, thereby improving the processing efficiency. Therefore, compared with the current conventional grinding technology, the present application has the significant advantages of high degree of automation, easy operation, wide range of use, high processing quality and efficiency.

[0040] Obviously, the above embodiments are merely examples for clarity of explanation and are not intended to limit the implementation methods. Those skilled in the art will readily appreciate that other variations or modifications based on the above descriptions are possible. It is not necessary and impossible to enumerate all implementation methods here. Obvious variations or modifications arising therefrom remain within the scope of protection of the present invention.

Claims

1. A device for chamfering and grinding the free edges of components, characterized by: include: A transport mechanism, comprising a transport arm, an electromagnetic floating assembly, and a first recognition camera. The electromagnetic floating assembly comprises two floating plates, at least one elastic member, and a first electromagnet. One of the floating plates is connected to the free end of the transport arm, the other floating plate is connected to the first electromagnet, and both ends of at least one elastic member are respectively connected to the two floating plates. The first recognition camera is connected to the electromagnetic floating assembly and moves synchronously with the transport arm. At least one grinding mechanism, the grinding mechanism including a grinding table, a grinding robot arm and a floating grinding assembly, the grinding robot arm is arranged on one side of the grinding table, the floating grinding assembly is connected to the working end of the grinding robot arm, and includes an EHA floating module, a second recognition camera and a grinding piece, the grinding piece and the second recognition camera are respectively connected to the EHA floating module and move with the grinding robot arm, wherein the grinding piece is configured as a chamfering grinding piece or a groove grinding piece, so that the grinding mechanism can perform chamfering of the free edge of the component or grinding of the groove of the component; The tool changing mechanism includes a accommodating frame and a plurality of clamping blocks, wherein the plurality of clamping blocks are respectively connected to the accommodating frame to form a plurality of accommodating points, and the chamfering grinding piece and / or the groove grinding piece are arranged in the accommodating points.

2. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: The electromagnetic floating assembly further includes a connecting seat and an extension member, wherein two sides of the connecting seat are respectively connected to one of the floating plates and the transport robot arm, and two ends of the extension member are respectively connected to another of the floating plates and the first electromagnet.

3. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: The electromagnetic floating assembly further includes at least one guide shaft, two ends of which are respectively passed through and connected to the two floating plates, and two ends of at least one elastic member are correspondingly sleeved on at least one guide shaft.

4. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: The grinding workbench includes a table body, a supporting plate and at least one second electromagnet, at least one second electromagnet is supported on the table body, the supporting plate is supported on at least one second electromagnet, and the component to be processed is connected to the supporting plate through the second electromagnet.

5. The device for chamfering and grinding the free edges of components according to claim 4, characterized in that: The polishing workbench includes a folding frame, a rotary drive and a protective member. The protective member is connected to the table body and is located in the same horizontal plane as the second electromagnet. The folding frame is supported by the protective member. The working end of the rotary drive is connected to the folding frame to drive the folding frame to flip.

6. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: The floating grinding mechanism includes a connecting frame, an electric spindle and a connecting handle. The connecting frame is connected to the EHA floating module, the electric spindle is connected to the inside of the connecting frame, the connecting handle is arranged at the end of the electric spindle, and the grinding piece is connected to the electric spindle through the connecting handle.

7. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: The tool changing mechanism further includes a slide rail and a door body. The slide rail is connected to the accommodating frame and extends along the length direction of the tool changing mechanism. The door body is slidably connected to the slide rail to shield / expose the accommodating point.

8. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: It also includes a storage mechanism, which includes at least one loading frame and at least one finished product frame. The loading frame and the finished product frame are arranged around the transport mechanism.

9. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: It also includes a dust removal mechanism, which includes a dust collector and at least one dust removal pipe. One end of the dust removal pipe is connected to the polishing workbench, and the other end is connected to the dust collector.

10. The device for chamfering and grinding the free edges of components according to claim 1, characterized in that: It also includes a control system, and the transport mechanism, the grinding mechanism and the tool changing mechanism are respectively connected to the control system.

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