Grinding equipment and six-axis grinding robot

Abstract

The utility model discloses a polishing device and a six-axis polishing robot, the polishing device comprises a shell, an electric main shaft is fixedly installed in the shell, the electric main shaft comprises two output ends used for installing a cutter handle and a cutter, at least one output end is provided with a stop module, and the stop module is connected with the shell. The stop module comprises a first stop piece fixed to the output end, a second stop piece is arranged on the outer side of the first stop piece, and the second stop piece is connected with a driving module. The driving module is used for driving the second stopping piece to move in the axial direction of the motorized spindle and is matched with the first stopping piece to lock the motorized spindle, and the driving module is located in the shell. The stop module is arranged on the output shaft of the motorized spindle, so that the motorized spindle can be locked, cutters on the motorized spindle can be replaced conveniently, polishing equipment can use more than three kinds of cutters, automatic cutter replacement can be achieved, the cutter replacement time is short, the failure rate is low, and the equipment manufacturing cost can be greatly reduced.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical equipment technical field, concretely is a kind of polishing equipment and six-axis polishing robot. BACKGROUND

[0002] When using automatic polishing of casting, often there are 3 kinds of tool above for workpiece polishing process needs, the most has 2 tools in the polishing equipment using mechanical arm cooperation single spindle, often can not meet the actual demand of polishing process.However, the polishing mechanical arm uses the tool holder of machine tool form to change tool, and the device structure is complex, the cost is high, and the tool changing time is long, and the failure rate is high, and the existing technology is not enough. INVENTION CONTENTS

[0003] The utility model discloses to the deficiency of prior art, provide a kind of polishing equipment and six-axis polishing robot, and the tool changing time is short, and the failure rate is low.

[0004] To achieve the above object, the utility model provides a kind of polishing equipment, including shell, the inside fixed mounting of shell has electric spindle, the electric spindle includes two for installing the output end of tool holder and tool, at least one output end is equipped with stop module, the stop module includes the first stop piece fixed on the output end, the outside of the first stop piece is equipped with second stop piece, the second stop piece is connected with a drive module, the drive module is used to drive the second stop piece moves along the axial direction of the electric spindle and cooperates with the first stop piece and locks the electric spindle, wherein the drive module is located in the shell.

[0005] As an optional implementation, the accommodation space is equipped in the shell, and the stop module is arranged in the accommodation space.

[0006] As an optional implementation, the second stop piece includes moving block and second engaging piece, the first stop piece includes first engaging piece, and the second engaging piece is engaged with the first engaging piece.

[0007] As an optional implementation, the first engaging piece is spline groove, and the second engaging piece is spline sleeve;Or the first engaging piece is spline sleeve, and the second engaging piece is spline groove.

[0008] As an optional implementation, the moving block is channel steel sliding block, and the second engaging piece is located in the middle of the moving sliding block.

[0009] As an optional implementation, the drive module includes telescopic piece, and the telescopic piece is connected with the second stop piece.

[0010] As an optional implementation, the driving module further comprises a reset member, one end of which is fixed to the shell and the other end of which is fixed to the second stop member.

[0011] As an optional implementation, the telescopic member is a cylinder, and the reset member is a spring, and the cylinder drives the second stop block to stretch the spring.

[0012] As an optional implementation, the shell is fixed to a mounting pipe, and a mounting disc is fixedly connected to the bottom of the mounting pipe.

[0013] The utility model discloses a sixth axis polishing robot, including the polishing equipment of the utility model discloses first aspect provides.

[0014] As an optional implementation, the sixth axis polishing robot further comprises a tool magazine and a mechanical arm, and the output end of the polishing equipment is fixedly connected with a tool handle, and the mechanical arm is used for mounting a tool in the tool magazine on the tool handle.

[0015] The polishing equipment and the sixth axis polishing robot provided by the utility model can lock the electric spindle by setting the stop module on the output shaft of the electric spindle, facilitate replacing the tool on the electric spindle, make the polishing equipment can use more than three tools, can realize automatic tool changing, and the tool changing time is short, and the failure rate is low, can greatly reduce the equipment manufacturing cost. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 It is whole structure schematic diagram of the utility model;

[0017] Figure 2 It is shell cross section structure schematic diagram of the utility model;

[0018] Figure 3 It is spline sleeve and spline groove close structure schematic diagram of the utility model.

[0019] Fig. 1 is a shell; 2, first tool handle; 3, grinding head; 4, mounting disc; 5, mounting pipe; 6, second tool handle; 7, cutting disc; 8, electric spindle; 9, moving block; 10, spring; 11, cylinder; 12, spline sleeve; 13, spline groove; 14, first stop member; 15, second stop member; 16, reset member; 17, driving module; 18, stop module. DETAILED DESCRIPTION

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] Please see Figure 1 , Figure 2 , Figure 3 The grinding equipment provided by this utility model includes a housing 1, which has the functions of sealing and fixing. An electric spindle 8 is fixedly installed inside the housing 1, and the electric spindle 8 includes a motor and a drive shaft. In an embodiment of this utility model, the electric spindle 8 includes two output ends, each of which can be equipped with a tool holder and a cutting tool; that is, a tool holder is installed at the end of the drive shaft, and then a cutting tool is installed on the tool holder.

[0022] exist Figure 1 In the illustrated embodiment, a stop module 18 is provided at the right output end of the electric spindle 8. In other embodiments, a stop module 18 may also be provided at the left output end of the electric spindle 8. In this invention, the stop module 18 functions as a clutch, which can fix the output end of the electric spindle 8 to facilitate the replacement of tools or tool holders.

[0023] In one embodiment, the stop module 18 includes a first stop member 14 fixed to the output terminal, and a second stop member 15 is provided on the outer side of the first stop member 14. For example, the first stop member 14 includes a first engaging member, and the second stop member 15 includes a moving block 9 and a second engaging member, the second engaging member being engaged with the first engaging member.

[0024] like Figure 1 and Figure 2 As shown, the first engaging member is a spline groove 13, and the second engaging member is a spline sleeve 12. Since the spline groove 13 and the spline sleeve 12 engage, their positions are relatively fixed, and the output end of the motor shaft is also relatively fixed. The moving block 9 is a channel steel-shaped slider with its opening facing outwards from the housing 1. The second engaging member is located in the middle of the moving slider. The moving block 9 fixes the second engaging member, and ultimately the first engaging member, the second engaging member, the moving block 9, and the electric spindle 8 are relatively fixed, and the electric spindle 8 is fixedly connected to the stop module 18.

[0025] In other embodiments, the first engaging member is a spline sleeve and the second engaging member is a spline groove, that is, the corresponding function can also be achieved by swapping the positions of the first engaging member and the second engaging member.

[0026] Further, the stop module 18 further comprises a driving module 17, the second stop piece 15 is connected with the driving module 17; wherein the driving module 17 is located in the shell 1. Figure 1 And Figure 2 It can be known from the drawings that the driving module 17 is fixed on the shell 1, so that the stop module 18 can lock the rotation direction of the electric spindle 8.

[0027] As shown in Figure 1 And Figure 2 The driving module 17 drives the second stop piece 15 to move along the axial direction of the electric spindle 8, i.e. to move to the left side, and the second stop piece 15 cooperates with the first stop piece 14 (gear engagement) to lock the electric spindle 8.

[0028] Further, the shell 1 is provided with a containing space, and the stop module 18 is arranged in the containing space, so that the stop module 18 is physically isolated from the electric spindle 8, and the influence between the stop module 18 and the electric spindle 8 is reduced. More importantly, the containing space can be a newly added space body, i.e. not integrated with the shell 1, and the polishing equipment with the stop module 18 can be added by installation, so that most of the polishing equipment with the electric spindle 8 can be satisfied.

[0029] Further, the driving module 17 comprises a telescopic piece, the telescopic piece is connected with the second stop piece 15, and specifically, the telescopic piece is connected with the sliding block. As shown in Figure 2 The driving module 17 further comprises a reset piece 16, one end of the reset piece 16 is fixed on the shell 1, and the other end is fixed on the second stop piece 15.

[0030] In some embodiments, the telescopic piece is a gas cylinder 11, the reset piece 16 is a spring 10, the gas cylinder 11 drives the second stop piece to move to the left side to stretch the spring 10. After the gas cylinder 11 is broken, the spring 10 resets the second stop piece, and the second stop piece moves to the right side to the starting position. The spring 10 is sleeved on the outer circle of the gas cylinder 11, and specifically, four gas cylinders 11 can be used to realize the driving effect.

[0031] In other embodiments, the telescopic piece can be a hydraulic cylinder, and the reset piece 16 is a spring 10; the hydraulic cylinder is driven to move by a hydraulic pump, and the spring 10 is used to reset the second stop piece. Of course, a bidirectional hydraulic cylinder can also be used, which can realize the movement in left and right directions.

[0032] In other embodiments, the telescopic part can be an electric cylinder, driven by a motor to move the piston rod through a ball screw and nut. Of course, a spring 10 can also be used to quickly reset the second stopper.

[0033] It should be understood that the gas cylinder 11, hydraulic cylinder, electric cylinder all provide driving force, and the specific structure is not required, as long as it meets the requirements of being built-in the housing 1 and providing driving force.

[0034] In addition, referring to Figure 2 The housing 1 is fixed to the mounting pipe 5, and the bottom of the mounting pipe 5 is fixedly connected with the mounting disc 4. The mounting pipe 5 supports the housing 1, and the mounting disc 4 fixes the mounting pipe 5. The mounting disc 4 is uniformly provided with a plurality of mounting holes, which can be installed at the corresponding position of the six-axis polishing robot.

[0035] Further, the polishing device further comprises a tool library and a mechanical arm, and the output end of the polishing device is fixedly connected with a tool holder. The mechanical arm is used to install the tool in the tool library on the tool holder. Figure 1 In the embodiment of Figure 2 The polishing device comprises a first tool holder 2 and a second tool holder 6. One end of the first tool holder 2 is provided with a grinding head 3, which can polish the casting, and one end of the second tool holder 6 is provided with a cutting disc 7, which can cut and process the casting.

[0036] The working principle and use process of the utility model will be described below with reference to Figure 3 The working principle and use process of the utility model will be described below with reference to

[0037] The polishing device comprises a housing 1, and the inside of the housing 1 is fixedly provided with an electric spindle 8. The two output ends of the electric spindle 8 are respectively provided with a first tool holder 2 and a second tool holder 6. The right side of the housing 1 is slidably connected with a moving block 9, and the middle part of the moving block 9 is provided with a mounting hole, and a spline sleeve 12 is installed in the mounting hole. The electric spindle is fixedly provided with a spline groove 13. Four gas cylinders 11 are uniformly installed on the right inner wall of the housing 1. The output end of the gas cylinder 11 can drive the moving block 9 to move, and the outer circle of the gas cylinder 11 is provided with a spring 10. When the moving block 9 moves, the spline sleeve 12 can move leftwards, so that the spline sleeve 12 is engaged with the spline groove 13. When the gas cylinder 11 stops working, the spring 10 can reset the moving block 9 and the spline sleeve 12.

[0038] As Figure 2As shown, in use, the polishing device can be installed at the end of a six-axis polishing robot through the mounting disc 4 on the mounting pipe 5. During the polishing process of the casting, when the process requirement needs to change the tool, the electric spindle 8 is first adjusted to reduce the rotating speed through the frequency converter, and then the electric spindle 8 is stopped. Then the air cylinder 11 starts to supply air, and the air cylinder 11 is elongated to drive the spline sleeve 12 to move left through the moving block 9, and the spline sleeve 12 and the spline groove 13 can be engaged. At this time, the rotating speed of the electric spindle 8 is stopped, and the first tool holder 2, the cutting disc 7 and the grinding head 3 are also stopped. Then the first tool holder 2 and the cutting disc 7 and the second tool holder 6 and the grinding head 3 can be separated, the mechanical arm starts to control the electric spindle 8 and the first tool holder 2 and the second tool holder 6 to rotate, the tool is clamped on the external tool magazine, and the tool is rotated in the fixed direction, and then the tool is rotated in the opposite direction to tighten the tool, so that the automatic tool changing is completed. After the replacement is completed, the air cylinder 11 is broken and reset through the spring 10, so that the moving block 9 and the spline sleeve 12 are reset, the spline sleeve 12 on the moving block 9 and the spline groove 13 are disengaged, and the electric spindle 8 can rotate normally, and the polishing of the casting is continued.

[0039] The utility model still provides a kind of six-axis polishing robot, including above-mentioned polishing equipment. The six-axis polishing robot further includes tool magazine and mechanical arm, and the output end of the polishing equipment is fixedly connected with tool holder, and the mechanical arm is used to install the tool in the tool magazine on the tool holder.

[0040] The polishing device includes a housing 1, the inside of the housing 1 is fixedly installed with an electric spindle 8, the electric spindle 8 includes two output ends for installing tool holders and tools, at least one of the output ends is provided with a stop module 18, the stop module 18 includes a first stop piece 14 fixed to the output end, a second stop piece 15 is provided on the outside of the first stop piece 14, the second stop piece 15 is connected with a driving module 17, the driving module 17 is used to drive the second stop piece 15 to move along the axial direction of the electric spindle 8 and cooperate with the first stop piece 14 to lock the electric spindle 8, wherein the driving module 17 is located in the housing 1.

[0041] As an optional implementation, the housing 1 is provided with a containing space, and the stop module 18 is arranged in the containing space.

[0042] As an optional implementation, the second stop piece 15 includes a moving block 9 and a second engaging piece, and the first stop piece 14 includes a first engaging piece, and the second engaging piece is engaged with the first engaging piece.

[0043] As an optional implementation, the first engaging piece is a spline groove 13, and the second engaging piece is a spline sleeve 12; or the first engaging piece is a spline sleeve 12, and the second engaging piece is a spline groove 13.

[0044] As an optional implementation, the moving block 9 is a channel steel shaped sliding block, and the second engaging member is located in the middle of the moving sliding block.

[0045] As an optional implementation, the driving module 17 comprises a telescopic member, which is connected with the second stop member 15.

[0046] As an optional implementation, the driving module 17 further comprises a reset member 16, one end of which is fixed on the shell 1, and the other end of which is fixed on the second stop member 15.

[0047] As an optional implementation, the telescopic member is a gas cylinder 11, and the reset member 16 is a spring 10, and the gas cylinder 11 drives the second stop block to stretch the spring 10.

[0048] As an optional implementation, the shell 1 is fixed on a mounting pipe 5, and the bottom of the mounting pipe 5 is fixedly connected with a mounting disc 4.

[0049] The polishing equipment and six-axis polishing robot provided by the utility model can lock the electric spindle 8 through the stop module 18 arranged on the output shaft of the electric spindle 8, the tool on the electric spindle 8 can be conveniently replaced, the polishing equipment can use more than three tools, automatic tool changing can be realized, the tool changing time is short, the failure rate is low, the equipment manufacturing cost can be greatly reduced.

[0050] Finally, it should be noted that: the above only for the preferred embodiments of the utility model, and not for limiting the utility model, although the utility model has been described in detail with reference to the foregoing embodiments, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement to part of technical features. Any modification, equivalent replacement, improvement etc. in the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A sharpening apparatus comprising a housing, characterised in that: The inside of the shell is fixedly installed with an electric spindle, the electric spindle comprises two output ends for installing a tool holder and a tool, at least one of the output ends is provided with a stop module, the stop module comprises a first stop piece fixed on the output end, an outer side of the first stop piece is provided with a second stop piece, the second stop piece is connected with a driving module, the driving module is used for driving the second stop piece to move along the axial direction of the electric spindle and cooperates with the first stop piece to lock the electric spindle, wherein the driving module is located in the shell.

2. The sharpening apparatus of claim 1, wherein: The shell is provided with a containing space, and the stop module is arranged in the containing space.

3. The sharpening apparatus of claim 1, wherein: The second stop piece comprises a moving block and a second engaging piece, the first stop piece comprises a first engaging piece, and the second engaging piece is in engagement connection with the first engaging piece.

4. The sharpening apparatus of claim 3, wherein: The first engaging piece is a spline groove, and the second engaging piece is a spline sleeve; or the first engaging piece is a spline sleeve, and the second engaging piece is a spline groove.

5. The sharpening apparatus of claim 3, wherein: The moving block is a channel steel shaped sliding block, and the second engaging piece is located in the middle of the moving block.

6. The sharpening apparatus of claim 1 or 3, wherein: The driving module comprises a telescopic piece, and the telescopic piece is connected with the second stop piece.

7. The sharpening apparatus of claim 6, wherein: The driving module further comprises a reset piece, one end of the reset piece is fixed on the shell, and the other end of the reset piece is fixed on the second stop piece.

8. The sharpening apparatus of claim 7, wherein: The telescopic piece is a pneumatic cylinder, and the reset piece is a spring, the pneumatic cylinder drives the second stop piece to stretch the spring.

9. A sharpening apparatus according to claim 7, wherein: The shell is fixed on a mounting pipe, and a mounting disc is fixedly connected to the bottom of the mounting pipe.

10. A six-axis polishing robot, characterized by: The polishing device comprises the polishing device according to any one of claims 1 to 9.

11. The six-axis polishing robot of claim 10, wherein: The polishing device further comprises a tool magazine and a mechanical arm, an output end of the polishing device is fixedly connected with a tool holder, and the mechanical arm is used for mounting a tool in the tool magazine on the tool holder.

Images