Double-station robot automatic grinding device

Abstract

The utility model discloses a double-station robot automatic polishing device which comprises a control device, a polishing robot, a first polishing working table and a second polishing working table, the first polishing working table and the second polishing working table are located in the working range of the polishing robot, and the first polishing working table and the second polishing working table are located on the two sides in front of the polishing robot respectively. A movable inner partition door is further arranged between the polishing robot and the first polishing workbench or the second polishing workbench, the inner partition door is connected with the control device, and when the polishing robot conducts polishing on the first polishing workbench, the inner partition door is connected with the control device. The control device controls the inner partition door to move to the position between the second grinding workbench and the grinding robot, and when the grinding robot conducts grinding on the second grinding workbench, the control device controls the inner partition door to move to the position between the first grinding workbench and the grinding robot. According to the utility model, the polishing efficiency is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to mechanical equipment technical field, concretely is a kind of double-station robot automatic polishing device. BACKGROUND

[0002] When using cast iron piece automatic polishing, often workpiece cannot be hoisted directly to polishing station, need to be transported to polishing position from loading and unloading area by 180 degree rotation or linear conveying, cause polishing device land area too large, workpiece transport equipment planning position complex etc. Some polishing devices in prior art need to be manually taken or hoisted to polishing station, but all are single-station operation, polishing device is in shutdown state when manually loading and unloading, and polishing efficiency is not high. SUMMARY

[0003] The utility model discloses to the deficiency of prior art, provide a kind of double-station robot automatic polishing device, can improve polishing efficiency.

[0004] To achieve the above object, the utility model provides a kind of double-station robot automatic polishing device in the first aspect, including control device, polishing robot and in the first polishing workstation and second polishing workstation of the working range of the polishing robot, the first polishing workstation and the second polishing workstation are located at the two sides of the polishing robot front respectively, the polishing robot and the first polishing workstation or the second polishing workstation between still be equipped with movable inner door, the inner door is connected with the control device, the polishing robot when polishing in the first polishing workstation, the control device controls inner door and moves to the second polishing workstation between the polishing robot, the polishing robot when polishing in the second polishing workstation, the control device controls inner door and moves to the first polishing workstation between the polishing robot.

[0005] In an alternative embodiment, the double-station robot automatic polishing device further includes a movable outer door, the outer door is connected with the control device, and the outer door is located in the loading and unloading area of the first polishing workstation or the second polishing workstation.

[0006] In an alternative embodiment, the outer door is a sliding door.

[0007] In an alternative embodiment, when the polishing robot polishes in the first polishing workstation, the control device controls the outer door to move to the loading and unloading area of the first polishing workstation, and when the polishing robot polishes in the second polishing workstation, the control device controls the outer door to move to the loading and unloading area of the second polishing workstation.

[0008] In an alternative embodiment, the control device comprises a first movement pair comprising a chain and a first guide rail, the chain being fixedly connected to the outer door so that the outer door moves on the first guide rail; the double-station robot automatic polishing device further comprises a housing, and the first guide rail is fixed to the housing.

[0009] In an alternative embodiment, the control device comprises a second movement pair comprising a slider and a second guide rail, the slider being fixedly connected to the inner partition door so that the inner partition door moves on the second guide rail; the double-station robot automatic polishing device further comprises a housing, and the second guide rail is fixed to the ground and / or the housing.

[0010] In an alternative embodiment, the inner partition door is arc-shaped.

[0011] In an alternative embodiment, the polishing robot is a six-axis robot.

[0012] In an alternative embodiment, the double-station robot automatic polishing device further comprises a water cooling system, and the water cooling system is connected to the first polishing robot.

[0013] In an alternative embodiment, the outer door comprises a top door and a side door fixedly connected, the top door being located in the top loading and unloading area, and the side door being located in the side loading and unloading operation area.

[0014] The second aspect of the utility model provides a double-station robot automatic polishing device, including control device, polishing robot and first polishing workbench and second polishing workbench, first polishing workbench and second polishing workbench are distributed in two sides in the working range of polishing robot, still be equipped with movable inner partition door between polishing robot and first polishing workbench or second polishing workbench, the loading and unloading area of first polishing workbench and second polishing workbench is equipped with movable outer door, polishing robot works in any one of first polishing workbench or second polishing workbench, control device controls outer door to move to the loading and unloading area of any polishing workbench with polishing robot, and controls inner partition door to isolate polishing robot and another polishing workbench.

[0015] In an alternative embodiment, when the control device controls the partition door to move between the first polishing workbench and the polishing robot, the control device controls the outer door to move to the loading and unloading area of the second polishing workbench, and when the control device controls the partition door to move between the second polishing workbench and the polishing robot, the control device controls the outer door to move to the loading and unloading area of the first polishing workbench.

[0016] The double-station robot automatic polishing device provided by the utility model, by setting two polishing workstations, can realize polishing robot non-stop, two polishing workstations alternate up and down pieces, improve the polishing efficiency, and using two polishing worktables can solve the problems of too large floor area of transportation equipment and complex planning position of transportation equipment.

[0017] The utility model uses the inner door and the outer door to form independent polishing station, is favorable to the turnover of work piece, improves the turnover efficiency. BRIEF DESCRIPTION OF DRAWINGS

[0018] Figure 1 It is the overhead structure schematic diagram of double-station robot automatic polishing device in the utility model.

[0019] Figure 2 It is the three-dimensional schematic diagram of double-station robot automatic polishing device in the utility model.

[0020] Figure 3 It is the three-dimensional schematic diagram of double-station robot automatic polishing device in the utility model another direction.

[0021] Figure 4 It is the connection schematic diagram of shell and outer door in the utility model.

[0022] Sign: water cooling system 1, polishing robot 2, control device 3, robot control system 4, inner door 5, first polishing workstation 6, outer door 7, first guide rail 8, second polishing workstation 9, lower feeding area 10, chain 11, second guide rail 12, shell 13, sliding block 14, top door 71, side door 72. DETAILED DESCRIPTION

[0023] The technical scheme in the embodiments of the utility model will be described clearly and completely in combination with the drawings in the embodiments of the utility model, obviously, the described embodiments are only part of the embodiments of the utility model, not all the embodiments. Based on the embodiments in the utility model, all other embodiments obtained by the person skilled in the art without creative labor are within the protection scope of the utility model.

[0024] Please refer to Figure 1 、 Figure 2 、 Figure 3 、 Figure 4The double-station robot automatic polishing device can realize direct manual feeding and discharging to the polishing station, can alternately feed and discharge workpieces at the double stations, and can realize maximization of polishing efficiency of the robot without stopping the polishing robot 2. Specifically, the double-station robot automatic polishing device comprises a control device 3, a polishing robot 2, and a first polishing workbench 6 and a second polishing workbench 9 in the working range of the polishing robot 2. The polishing robot 2 is a six-axis robot, and is usually controlled by a robot control system 4. The first polishing workbench 6 and the second polishing workbench 9 are two polishing stations, and usually comprise a clamp, a support, a rotary workbench and the like. Workpieces to be polished are placed on the polishing stations, and the polishing robot 2 is used to polish the workpieces such as castings. The control device 3 usually comprises a motor, a hydraulic device and a pneumatic device, and the control device 3 controls the motor, the hydraulic device and the pneumatic device to drive movable components.

[0025] As shown in Figure 1 , the first polishing workbench 6 and the second polishing workbench 9 are respectively located on the two sides in front of the polishing robot 2. With the vertical center line in the drawing as a reference, the first polishing workbench 6 is located on the left side of the vertical center line, and the second polishing workbench 9 is located on the right side of the vertical center line. The first polishing workbench 6 and the second polishing workbench 9 are horizontally placed side by side to facilitate workers to feed and discharge workpieces.

[0026] Further, the polishing robot 2 is provided with a movable inner door 5 between the first polishing workbench 6 or the second polishing workbench 9. The double-station robot automatic polishing device further comprises a movable outer door 7, and the outer door 7 is located in the discharging area 10 of the first polishing workbench 6 or the second polishing workbench 9 when working. The inner door 5 and the outer door 7 are connected with the control device 3 and are controlled by the control device 3.

[0027] As shown in Figure 1 , the inner door 5 is arc-shaped, and the arc shape is substantially consistent with the swing angle of the polishing robot 2 when the first polishing workbench 6 and the second polishing workbench 9 alternately work. In other embodiments, the inner door 5 can also be plate-shaped or grid-shaped. The outer door 7 is a translation door, and the outer door 7 can move left and right in the discharging area 10 of the first polishing workbench 6 or the second polishing workbench 9, so as to adapt to the change of the polishing station of the polishing robot 2. The inner door 5 and the outer door 7 can realize two independent polishing stations by cooperation.

[0028] The polishing robot 2 alternately works on the first polishing workbench 6 and the second polishing workbench 9, and the control device 3 controls the outer door 7 to move to the loading and unloading area 10 of the polishing workbench where the polishing robot 2 works, and controls the inner door 5 to isolate the polishing robot 2 from the other polishing workbench.

[0029] As shown in the figure, when the polishing robot 2 works on the first polishing workbench 6, the control device 3 controls the inner door 5 to move between the second polishing workbench 9 (the second polishing workbench is omitted for clarity) and the polishing robot 2, and controls the outer door 7 to move to the loading and unloading area 10 of the first polishing workbench 6. Figure 2

[0030] As shown in the figure, when the polishing robot 2 works on the second polishing workbench 9, the control device 3 controls the inner door 5 to move between the first polishing workbench 6 and the polishing robot 2, and controls the outer door 7 to move to the loading and unloading area 10 of the second polishing workbench 9. Figure 3

[0031] It should be understood that the above-mentioned loading and unloading area 10 refers to the area on the side of the artificial standing and operating loading and unloading, i.e. the outer side of the second polishing workbench 9 and the first polishing workbench 6. Figure 2 The loading and unloading area 10 marked in the figure is to clearly show the position of hoisting the workpiece for loading and unloading, and the workpiece is hoisted from above the double-station robot automatic polishing device and placed into the second polishing workbench 9 and the first polishing workbench 6.

[0032] It can be seen that the positions of the inner door 5 and the outer door 7 when working are staggered, the outer door 7 is located at the working polishing station, and the inner door 5 is located at the polishing station in a non-working state. The outer door 7 can be used to protect the loading and unloading workers of the polishing station. The inner door 5 and the outer door 7 are connected in interlocking manner, so as to isolate the polishing robot 2 from any polishing workbench to form a separate polishing station. Taking a common workpiece that needs 3 minutes for polishing as an example, 0.5 minutes of loading and unloading time can be saved, and the efficiency is improved by nearly 15%.

[0033] In some embodiments, the inner door 5 and the outer door 7 can be connected through control of electromagnetic locks, or through other means (such as buckling and slot structures) to achieve the effect of sealing the polishing station by the inner door 5 and the outer door 7, so as to facilitate the loading and unloading of the other polishing station. Figure 3 As shown in the figure, the second polishing workbench 9 is sealed,

[0034] ​​It should be understood that the control device 3 controls the movement of the inner door 5 and the outer door 7 through a control signal driving motor or the like, wherein the inner door 5 and the outer door 7 each have two moving positions, i.e. the moving positions are fixed, which can be achieved through a simple electric control instruction, and thus the corresponding control can be achieved by using the prior art, which will not be described here.

[0035] As shown in Figure 3 , the control device 3 further comprises a first moving pair, which comprises a chain 11 and a first guide rail 8, and the chain 11 is fixedly connected with the outer door 7 so that the outer door 7 moves on the first guide rail 8. In some embodiments, the chain 11 can be replaced by a driving mechanism such as an air cylinder.

[0036] As shown in Figure 3 , the double-station robot automatic polishing device further comprises a housing 13, and the first guide rail 8 is fixed to the housing 13. Specifically, the first guide rail 8 can be fixed to the top of the housing 13. Preferably, the first guide rail 8 is arranged above the first polishing workbench 6 and the second polishing workbench 9, so that the space above the first polishing workbench 6 and the second polishing workbench 9 is left empty, which facilitates hoisting the workpiece from above the housing 13 to the polishing station.

[0037] Further, as shown in Figure 4 , the control device 3 comprises a second moving pair, which comprises a sliding block 14 and a second guide rail 12, and the sliding block 14 can slide on the second guide rail 12, and the guide rail 8 is fixedly arranged in an arc shape, as shown in Figure 1 . The sliding block 14 is fixedly connected with the inner door 5 so that the inner door 5 moves on the second guide rail 12.

[0038] In some embodiments, the sliding block 14 can be connected with a swing rod, and the swing rod is driven by a motor, and the swing rod swings to drive the sliding block 14 to move. Of course, the sliding block 14 can also be electrically controlled, and the control device 3 controls the sliding block 14 to slide on the second guide rail 12 through an electric signal.

[0039] As shown in Figure 4 , the double-station robot automatic polishing device further comprises a housing 13, and the second guide rail 12 is fixed to the ground and / or the housing 13. The ground is the ground surface on which the double-station robot automatic polishing device is installed, or the ground structure inside the double-station robot automatic polishing device. See Figure 4 . In one embodiment, the second guide rail 12 comprises two guide rails fixed to the housing 13 and fixed to the ground; wherein the second guide rail 12 can be fixed to the inner side of the top of the housing 13.

[0040] AsFigure 2 and Figure 3 As shown in the drawings, when loading and unloading from above the shell 13, the outer door 7 can be designed to include a fixedly connected top door 71 and a side door 72, the top door 71 is located in the top loading and unloading area 13, and the side door 72 is located in the employee operation area (also the loading and unloading area); Therefore, loading can be performed from above the shell 13, and unloading can also be performed from above the shell 13, thereby improving the efficiency of loading and unloading, more conveniently hoisting the workpiece, reducing the workpiece conveying equipment, reducing the cost, reducing the equipment failure rate, and ensuring the polishing precision. The land area of the conveying equipment can be reduced from the traditional 4m*4.5m to 4m*3m, and the land area is reduced by 33.3%.

[0041] Further, the double-station robot automatic polishing device further comprises a water cooling system 1 connected with the polishing robot 2, which is used to cool the polishing power system of the polishing robot 2.

[0042] In order to realize non-stop of the polishing robot 2, two polishing workstations are arranged, which can alternately load and unload workpieces, and the polishing efficiency is improved; the inner door 5 and the outer door 7 are used to form independent polishing stations, which is beneficial to conveying the workpiece and improving the conveying efficiency.

[0043] In summary, the double-station automatic polishing can be realized by the following mode, and the polishing efficiency is improved.

[0044] As another implementation mode, the double-station robot automatic polishing device comprises a control device 3, a polishing robot 2, a first polishing workstation 6 and a second polishing workstation 9, the first polishing workstation 6 and the second polishing workstation 9 are distributed on two sides within the working range of the polishing robot 2, a movable inner door 5 is further arranged between the polishing robot 2 and the first polishing workstation 6 or the second polishing workstation 9, a movable outer door 7 is arranged in the unloading area 10 of the first polishing workstation 6 and the second polishing workstation 9, the polishing robot 2 works in any one of the first polishing workstation 6 or the second polishing workstation 9, the control device 3 controls the outer door 7 to move to the unloading area 10 of the any polishing workstation along with the polishing robot 2, and controls the inner door 5 to isolate the polishing robot 2 from the other polishing workstation.

[0045] For example, the control device 3 controls the inner door to move between the first polishing workbench 6 and the polishing robot 2, and the control device 3 controls the outer door 7 to move to the unloading area 10 of the second polishing workbench 9.

[0046] As another implementation mode, the utility model provides a kind of double-station robot automatic polishing device, including control device 3, polishing robot 2 and the first polishing workbench 6 and second polishing workbench 9 in the working range of the polishing robot 2, the first polishing workbench 6 and the second polishing workbench 9 are located respectively in the two sides of the front of the polishing robot 2, the polishing robot 2 and the first polishing workbench 6 or the second polishing workbench 9 between still be equipped with movable inner door 5, the inner door 5 is connected with the control device 3, the control device 3 controls inner door 5 to move between the second polishing workbench 9 and the polishing robot 2 when the polishing robot 2 is polished in the first polishing workbench 6, the control device 3 controls inner door 5 to move between the first polishing workbench 6 and the polishing robot 2 when the polishing robot 2 is polished in the second polishing workbench 9.

[0047] The double-station robot automatic polishing device further includes a movable outer door 7, the outer door 7 is connected with the control device 3, and the outer door 7 is located in the unloading area 10 of the first polishing workbench 6 or the second polishing workbench 9; the inner door 5 is in contact with the outer door 7 (sealed connection). The control device 3 controls the outer door 7 to move to the unloading area 10 of the first polishing workbench 6 when the polishing robot 2 is polished in the first polishing workbench 6, and the control device 3 controls the outer door 7 to move to the unloading area 10 of the second polishing workbench 9 when the polishing robot 2 is polished in the second polishing workbench 9.

[0048] Finally, it should be noted that: the above only for preferred embodiment of 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. made within the spirit and principles of the utility model, should be included in the protection scope of the utility model.

Claims

1. A two-station robotic automatic polishing apparatus, characterized by: The double-station robot automatic polishing device comprises a control device, a polishing robot, and first and second polishing workstations within the working range of the polishing robot, the first and second polishing workstations being respectively located on the two sides in front of the polishing robot, and a movable inner partition door being further arranged between the polishing robot and the first or second polishing workstation, the inner partition door being connected with the control device, the control device controlling the inner partition door to move to between the second polishing workstation and the polishing robot when the polishing robot is polishing at the first polishing workstation, and the control device controlling the inner partition door to move to between the first polishing workstation and the polishing robot when the polishing robot is polishing at the second polishing workstation.

2. The dual-station robotic automatic polishing apparatus of claim 1, wherein: The double-station robot automatic polishing device further comprises a movable outer door, the outer door being connected with the control device, and the outer door being located in the loading and unloading area of the first or second polishing workstation; the inner partition door and the outer door are interlocked.

3. The dual-station robotic automatic polishing apparatus of claim 2, wherein: The outer door is a sliding door.

4. The dual-station robotic automatic polishing apparatus of claim 2, wherein: The control device controls the outer door to move to the loading and unloading area of the first polishing workstation when the polishing robot is polishing at the first polishing workstation, and controls the outer door to move to the loading and unloading area of the second polishing workstation when the polishing robot is polishing at the second polishing workstation.

5. The dual-station robotic automatic polishing apparatus of claim 2, wherein: The control device comprises a first moving pair, the first moving pair comprising a chain and a first guide rail, the chain being fixedly connected with the outer door so that the outer door moves on the first guide rail; the double-station robot automatic polishing device further comprises a housing, and the first guide rail is fixed to the housing.

6. The dual-station robotic automatic polishing apparatus of claim 1 or 5, wherein: The control device comprises a second moving pair, the second moving pair comprising a slider and a second guide rail, the slider being fixedly connected with the inner partition door so that the inner partition door moves on the second guide rail; the double-station robot automatic polishing device further comprises a housing, and the second guide rail is fixed to the ground and / or the housing.

7. The dual-station robotic automatic polishing apparatus of claim 6, wherein: The inner partition door is arc-shaped.

8. The dual-station robotic automatic polishing apparatus of claim 1, wherein: The polishing robot is a six-axis robot.

9. The dual-station robotic automatic polishing apparatus of claim 1, wherein: The double-station robot automatic polishing device further comprises a water cooling system, the water cooling system being connected with the polishing robot.

10. The dual-station robotic automatic polishing apparatus of claim 2, wherein: The outer door comprises a top door and a side door fixedly connected, the top door being located in the top loading and unloading area, and the side door being located in the loading and unloading operation area.

11. A twin-station robotic automatic polishing apparatus, characterized by: The double-station robot automatic polishing device comprises a control device, a polishing robot, and first and second polishing workstations, the first and second polishing workstations being distributed on the two sides within the working range of the polishing robot, a movable inner partition door being further arranged between the polishing robot and the first or second polishing workstation, and a movable outer door being arranged in the loading and unloading area of the first or second polishing workstation, the control device controlling the outer door to move to the loading and unloading area of any polishing workstation following the polishing robot when the polishing robot is working at any one of the first or second polishing workstations, and controlling the inner partition door to isolate the polishing robot from the other polishing workstation.

12. The dual-station robotic automatic polishing apparatus of claim 11, wherein: The control device controls the outer door to move to the loading and unloading area of the second polishing workbench when the control device controls the partition door to move between the first polishing workbench and the polishing robot, and the control device controls the outer door to move to the loading and unloading area of the first polishing workbench when the control device controls the partition door to move between the second polishing workbench and the polishing robot.

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