Manipulator polishing device for stone machining

Abstract

The utility model relates to the technical field of stone machining, in particular to a manipulator polishing device for stone machining. Comprising a manipulator device, one end of the manipulator device is fixedly connected with a six-axis sensor, one end of the six-axis sensor is provided with a clamping mechanism, an angle grinder is fixedly clamped on the clamping mechanism, and the clamping mechanism comprises an annular plate fixedly arranged at the bottom of the six-axis sensor; a plurality of clamping rods are rotationally connected to one side of the annular plate in an annular array mode, and the connecting positions of the clamping rods and the annular plate are close to the edge of the annular plate. According to the utility model, when the angle grinder and the six-axis sensor need to be detached to replace angle grinders of different models, one ends, close to the axis direction of the hollow cylinder, of the plurality of clamping rods can be far away from the clamping block by rotating the hollow cylinder, so that the angle grinder and the six-axis sensor can be quickly disassembled and assembled, the time required for replacing the angle grinder is further shortened, and the working efficiency is improved. And an operator can conveniently use the device to polish different stones.

Description

Technical Field

[0001] The utility model relates to the technical field of stone processing, in particular to a manipulator grinding device for stone processing. Background Art

[0002] As a high-end building decoration material, stone has long been one of the important raw materials for construction, decoration, roads and bridges. Stone often needs to be polished in actual use. Angle grinders are usually used to polish small pieces of stone. When the operator uses his arm to operate the angle grinder to polish the stone, the grinding force of the angle grinder on the stone needs to be kept stable. It is difficult for the operator to use the angle grinder to polish the stone with a stable force for a long time, and the dust generated when polishing the stone is also very harmful to the operator's body. Therefore, in actual operation, the angle grinder is usually installed on the arm of a robot, and the robot is used to operate the angle grinder to polish the stone. The robot and the angle grinder constitute a robot grinding device.

[0003] When a robot operates an angle grinder to grind different stones, due to the different grinding requirements of different stones, angle grinders with different grinding disc sizes, mesh counts, and power are required. Therefore, the angle grinder and the robot need to be frequently disassembled and assembled. The corresponding model of angle grinder is installed on the robot according to the grinding requirements of the stone. In the existing robot grinding device, the angle grinder is usually installed on the robot using multiple screws. When disassembling and assembling the angle grinder, multiple screws need to be screwed, which is time-consuming and labor-intensive. In view of this, we propose a robot grinding device for stone processing. Utility Model Content

[0004] The purpose of the utility model is to provide a manipulator grinding device for stone processing to solve the problems raised in the above background technology.

[0005] In order to achieve the above-mentioned purpose, one of the purposes of the present utility model is to provide a manipulator grinding device for stone processing, including a manipulator device, one end of the manipulator device is fixedly connected to a six-axis sensor, one end of the six-axis sensor is provided with a clamping mechanism, an angle grinder is clamped and fixed on the clamping mechanism, the clamping mechanism includes an annular plate fixedly arranged at the bottom of the six-axis sensor, a plurality of clamping rods are rotatably connected to a ring array on one side of the annular plate, the connection between the clamping rod and the annular plate is close to the edge of the annular plate, a hollow cylinder is coaxially rotatably connected to the annular plate, and a ring is provided on the side wall of the hollow cylinder. The array is provided with several side windows, the other end of the clamping rod extends through the corresponding side window to the interior of the hollow cylinder, a sliding sleeve is provided on the side wall of the clamping rod, and the sliding sleeve is rotatably arranged inside the corresponding side window, and a clamping block is provided on the angle grinder. When the clamping mechanism clamps the angle grinder, the middle section of the clamping block is coaxially arranged inside the hollow cylinder and the annular plate, and the end of the clamping rod close to the central axis of the hollow cylinder is in close contact with the clamping block, a dust removal assembly is provided on the side wall of the annular plate, and a locking assembly is provided on the side of the annular plate away from the clamping rod, and the locking assembly is used to adjust the position of the hollow cylinder.

[0006] As a further improvement of the present technical solution, the dust removal assembly includes several support frames fixedly connected to the side walls of the annular plate, hard tubes are fixedly connected to the support frames, one end of several of the hard tubes is fixedly connected to a collecting box, the side walls of the collecting box are fixedly connected to an exhaust pipe, and the other end of the hard tube is fixedly connected to a universal serpentine tube.

[0007] As a further improvement of the present technical solution, an extension block is fixedly connected to one end of the clamping rod close to the central axis of the hollow tube, and one side of the extension block close to the central axis of the hollow tube is set as an arc surface. When the clamping rod is in close contact with the side wall of the clamping block, the arc surface of the extension block is in close contact with the side wall of the clamping block.

[0008] As a further improvement of the present technical solution, a socket penetrating the hollow tube is provided at the central axis position of the hollow tube. When the middle section of the clamping block is coaxially arranged inside the hollow tube and the annular plate, the inner wall of the socket is in close contact with the side wall of the clamping block.

[0009] As a further improvement of the present technical solution, the locking assembly includes a rotating block rotatably arranged on one side of the annular plate, a threaded rod rotatably arranged on the rotating block, a nut rotatably arranged on one side of the hollow cylinder, and the nut is threadedly connected to the threaded rod.

[0010] Compared with the prior art, the present invention has the following beneficial effects:

[0011] The robot grinding device for stone processing can disassemble the angle grinder and the six-axis sensor when replacing an angle grinder of a different model. By rotating the hollow cylinder, the ends of the clamping rods close to the axis of the hollow cylinder can be moved away from the clamping block, thereby realizing rapid disassembly and assembly of the angle grinder and the six-axis sensor, thereby shortening the time required for replacing the angle grinder and making it convenient for the operator to use the device to grind different stones. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] Figure 1 It is a schematic diagram of the overall structure of the utility model;

[0013] Figure 2 This is a schematic structural diagram of the six-axis sensor, angle grinder and clamping mechanism of the utility model;

[0014] Figure 3 This is a schematic structural diagram of the dust removal assembly and the locking assembly of the present invention;

[0015] Figure 4 This is an exploded view of the clamping mechanism of the present utility model;

[0016] Figure 5 This is a schematic structural diagram of the hollow tube of the utility model;

[0017] Figure 6 This is a schematic structural diagram of the clamping rod and the clamping block of the present invention after they are out of contact.

[0018] The meaning of each number in the figure is:

[0019] 1. Robotic arm equipment; 2. Six-axis sensor;

[0020] 3. Clamping mechanism; 31. Ring plate; 32. Hollow cylinder; 321. Insertion hole; 33. Clamping rod; 331. Extension block; 34. Sliding sleeve;

[0021] 35. Dust removal assembly; 351. Support frame; 352. Hard pipe; 353. Collecting box; 354. Exhaust pipe; 355. Universal serpentine pipe;

[0022] 36. Locking assembly; 361. Nut; 362. Threaded rod; 363. Rotating block;

[0023] 4. Angle grinder; 41. Clamping block. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0025] Example 1

[0026] See also Figure 1 As shown, one of the purposes of this embodiment is to provide a manipulator grinding device for stone processing, including a manipulator device 1, one end of the manipulator device 1 is fixedly connected to a six-axis sensor 2, one end of the six-axis sensor 2 is provided with a clamping mechanism 3, an angle grinder 4 is clamped and fixed on the clamping mechanism 3, and a grinding disc is provided on the angle grinder 4. When the stone needs to be ground, the stone is placed on a platform close to the manipulator device 1, the angle grinder 4 is started to rotate the grinding disc on the angle grinder 4, and the manipulator device 1 drives the angle grinder 4 to move. The six-axis sensor 2 is electrically connected to the robot device 1, and the six-axis sensor 2 detects the grinding force of the angle grinder 4 in real time and sends the obtained data to the robot device 1, so that the robot device 1 can accurately control the force of the angle grinder 4 to grind the stone, avoid the angle grinder 4 from damaging the stone due to excessive grinding force, and achieve efficient grinding of the stone.

[0027] When the manipulator device 1 controls the grinding path of the angle grinder 4, the angle grinder 4 should be in a stationary state relative to the six-axis sensor 2 to avoid the angle grinder 4 from making an error in the grinding position on the stone. Therefore, a clamping mechanism 3 is required to clamp the angle grinder 4 to one end of the six-axis sensor 2. The structure of the clamping mechanism 3 is detailed below. Figure 2-Figure 5The clamping mechanism 3 includes an annular plate 31 fixedly arranged at the bottom of the six-axis sensor 2. A plurality of clamping rods 33 are rotatably connected to one side of the annular plate 31 in an annular array. The connection between the clamping rod 33 and the annular plate 31 is close to the edge of the annular plate 31. A hollow cylinder 32 is coaxially rotatably connected to the annular plate 31. A plurality of side windows are opened in an annular array on the side wall of the hollow cylinder 32. The other end of the clamping rod 33 extends to the interior of the hollow cylinder 32 through the corresponding side windows. A sliding sleeve 34 is slidably provided on the side wall of the clamping rod 33. 34 is rotatably arranged inside the corresponding side window, and a socket 321 is opened at the central axis position of the hollow cylinder 32, which passes through the hollow cylinder 32. An end of the clamping rod 33 close to the central axis of the hollow cylinder 32 is fixedly connected to an extension block 331, and a side of the extension block 331 close to the central axis of the hollow cylinder 32 is set as an arc surface. At the same time, a clamping block 41 is provided on the angle grinder 4. When the clamping mechanism 3 clamps the fixed angle grinder 4, the middle section of the clamping block 41 is coaxially arranged inside the hollow cylinder 32 and the annular plate 31, and the socket 32 ​​is fixed to the central axis position of the hollow cylinder 32. The inner wall of 1 is in close contact with the side wall of the clamping block 41, and the socket 321 prevents the clamping block 41 from moving away from the central axis of the hollow cylinder 32, pre-fixing the clamping block 41. The end of the clamping rod 33 close to the central axis of the hollow cylinder 32 and the clamping block 41 are in close contact with the clamping block 41. When the hollow cylinder 32 is in a stationary state relative to the annular plate 31, the hollow cylinder 32 fixes the positions of the plurality of clamping rods 33 through the sliding sleeve 34, so that the plurality of clamping rods 33 and the plurality of extension blocks 331 clamp the clamping block 41. Fixed, the surface roughness of the arc surface of the extension block 331 is relatively high. When the extension block 331 contacts the clamping block 41, the extension block 331 increases the friction between the clamping rod 33 and the clamping block 41, thereby improving the clamping stability of the clamping rods 33 on the clamping block 41, thereby fixing the position of the angle grinder 4 on the six-axis sensor 2, avoiding position deviation of the angle grinder 4 during operation, and enabling the manipulator device 1 to always move the angle grinder 4 to the correct grinding position, thereby ensuring the grinding quality of the stone by the device.

[0028] In order to fix the clamping effect of the clamping rods 33 on the clamping block 41, a locking assembly 36 is provided on the side of the annular plate 31 away from the clamping rod 33. The locking assembly 36 is used to adjust the position of the hollow cylinder 32. When the operator does not rotate the position of the hollow cylinder 32 through the locking assembly 36, the hollow cylinder 32 will not rotate, and the positions of the clamping rod 33 and the sliding sleeve 34 will not change. The structure of the locking assembly 36 is detailed below. Figure 3The locking assembly 36 includes a rotating block 363 rotatably arranged on one side of the annular plate 31, a threaded rod 362 rotatably arranged on the rotating block 363, and a nut 361 rotatably arranged on one side of the hollow cylinder 32, and the nut 361 is threadedly connected to the threaded rod 362. When the operator does not twist the threaded rod 362, the self-locking property between the threaded rod 362 and the nut 361 makes the nut 361 in a stationary state relative to the threaded rod 362. The nut 361 in the stationary state prevents the hollow cylinder 32 from rotating, avoiding the position of the clamping rod 33 from changing, so that the multiple clamping rods 33 can stably clamp and fix the angle grinder 4, ensuring that the grinding position of the angle grinder 4 will not be wrong.

[0029] When the angle grinder 4 is used to grind stone, dust will be generated. The dust will float around and pollute the processing environment, increasing the subsequent cleaning pressure on the processing environment. In order to collect and process the dust generated by grinding, a dust removal component 35 is set on the side wall of the annular plate 31. The structure of the dust removal component 35 is detailed below. Figure 3 and Figure 5 The dust removal assembly 35 includes several support frames 351 fixedly connected to the side wall of the annular plate 31, and a hard tube 352 is fixedly connected to the support frame 351. One end of the several hard tubes 352 is fixedly connected to a collecting box 353, and the side wall of the collecting box 353 is fixedly connected to an exhaust pipe 354. The other end of the exhaust pipe 354 is connected to an external vacuum cleaner. The other end of the hard tube 352 is fixedly connected to a universal serpentine tube 355. The other end of the universal serpentine tube 355 is close to the grinding wheel of the angle grinder 4. When the angle grinder When machine 4 is grinding stone, the vacuum cleaner is started, and the vacuum cleaner draws out the inside of the collecting box 353 through the exhaust pipe 354. The airflow of the grinding disc attachment of the angle grinder 4 is replenished to the inside of the collecting box 353 through the universal serpentine tube 355 and the hard tube 352 in turn. In this process, the dust generated by grinding the stone is mixed with the airflow and sucked into the interior of the vacuum cleaner, thereby realizing the collection and treatment of the dust, preventing the dust from floating around in the stone processing space, and increasing the pressure on subsequent operators to clean the stone processing space.

[0030] When the robot device 1 operates the angle grinder 4 to grind different stones, due to the different grinding requirements of different stones, it is necessary to use a variety of angle grinders 4 with different grinding disc sizes and mesh counts. Therefore, the angle grinder 4 and the six-axis sensor 2 need to be frequently disassembled and assembled. According to the grinding requirements of the stone, the corresponding model of the angle grinder 4 is installed on the six-axis sensor 2. Figure 6The steps for disassembling the angle grinder 4 and the six-axis sensor 2 are as follows: the operator twists the threaded rod 362, and the nut 361 is threadedly connected to the threaded rod 362, so that the nut 361 moves along the axis of the threaded rod 362 toward the direction close to the rotating block 363. The moving nut 361 drives the hollow cylinder 32 to rotate, and the rotating hollow cylinder 32 drives several sliding sleeves 34 to rotate synchronously, so that the sliding sleeve 34 moves along the side wall of the corresponding clamping rod 33 toward the axis of the hollow cylinder 32. The moving sliding sleeve 34 drives the corresponding clamping rod 33 to rotate, and the sliding sleeve 34 also rotates inside the side window, so that the end of the clamping rod 33 close to the axis direction of the hollow cylinder 32 is away from the clamping block 41, thereby releasing the clamping fixation of the clamping block 41 by the several clamping rods 33, thereby realizing the rapid disassembly and assembly of the angle grinder 4 and the six-axis sensor 2, thereby shortening the time required to replace the grinding disc of the angle grinder 4, so as to efficiently grind the stone.

[0031] The above shows and describes the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions are merely preferred examples of the present invention and are not intended to limit the present invention. Various changes and improvements may be made to the present invention without departing from the spirit and scope of the present invention, and such changes and improvements fall within the scope of the present invention. The scope of protection claimed in the present invention is defined by the appended claims and their equivalents.

Claims

1. A manipulator grinding device for stone processing, comprising a manipulator device (1), characterized in that: One end of the manipulator device (1) is fixedly connected to a six-axis sensor (2), and one end of the six-axis sensor (2) is provided with a clamping mechanism (3), and an angle grinder (4) is clamped and fixed on the clamping mechanism (3), and the clamping mechanism (3) includes an annular plate (31) fixedly provided at the bottom of the six-axis sensor (2), and a plurality of clamping rods (33) are rotatably connected to one side of the annular plate (31) in an annular array, and the connection between the clamping rods (33) and the annular plate (31) is close to the edge of the annular plate (31), and a hollow cylinder (32) is coaxially rotatably connected to the annular plate (31), and a plurality of side windows are provided in an annular array on the side wall of the hollow cylinder (32), and the other end of the clamping rod (33) passes through the corresponding side window and extends to the hollow cylinder ( 32), a sliding sleeve (34) is provided on the side wall of the clamping rod (33), and the sliding sleeve (34) is rotatably arranged inside the corresponding side window. A clamping block (41) is provided on the angle grinder (4). When the clamping mechanism (3) clamps the angle grinder (4), the middle section of the clamping block (41) is coaxially arranged inside the hollow cylinder (32) and the annular plate (31). One end of the clamping rod (33) close to the central axis of the hollow cylinder (32) is in close contact with the clamping block (41). A dust removal component (35) is provided on the side wall of the annular plate (31), and a locking component (36) is provided on the side of the annular plate (31) away from the clamping rod (33). The locking component (36) is used to adjust the position of the hollow cylinder (32).

2. The manipulator grinding device for stone processing according to claim 1, characterized in that: The dust removal assembly (35) comprises a plurality of support frames (351) fixedly connected to the side wall of the annular plate (31), a hard tube (352) fixedly connected to the support frame (351), one end of the plurality of hard tubes (352) fixedly connected to a collecting box (353), a side wall of the collecting box (353) fixedly connected to an exhaust pipe (354), and the other end of the hard tube (352) fixedly connected to a universal serpentine tube (355).

3. The manipulator grinding device for stone processing according to claim 1, characterized in that: An end of the clamping rod (33) close to the central axis of the hollow cylinder (32) is fixedly connected to an extension block (331), and a side of the extension block (331) close to the central axis of the hollow cylinder (32) is set as an arc surface. When the clamping rod (33) is in close contact with the side wall of the clamping block (41), the arc surface of the extension block (331) is in close contact with the side wall of the clamping block (41).

4. The manipulator grinding device for stone processing according to claim 1, characterized in that: A socket (321) penetrating the hollow cylinder (32) is provided at the central axis of the hollow cylinder (32). When the middle section of the clamping block (41) is coaxially arranged inside the hollow cylinder (32) and the annular plate (31), the inner wall of the socket (321) is in close contact with the side wall of the clamping block (41).

5. The manipulator grinding device for stone processing according to claim 1, characterized in that: The locking assembly (36) includes a rotating block (363) rotatably arranged on one side of the annular plate (31), a threaded rod (362) rotatably arranged on the rotating block (363), and a nut (361) rotatably arranged on one side of the hollow cylinder (32), and the nut (361) is threadedly connected to the threaded rod (362).

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