CN109732425A - Milling robot auxiliary device and its application - Google Patents
Milling robot auxiliary device and its application Download PDFInfo
- Publication number
- CN109732425A CN109732425A CN201910091157.2A CN201910091157A CN109732425A CN 109732425 A CN109732425 A CN 109732425A CN 201910091157 A CN201910091157 A CN 201910091157A CN 109732425 A CN109732425 A CN 109732425A
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- China
- Prior art keywords
- central axis
- auxiliary device
- rack
- milling robot
- workpiece
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- 238000003801 milling Methods 0.000 title claims abstract description 26
- 238000000227 grinding Methods 0.000 claims abstract description 56
- 238000005498 polishing Methods 0.000 claims abstract description 14
- 238000010276 construction Methods 0.000 claims abstract description 5
- 210000000078 claw Anatomy 0.000 claims description 12
- 239000003381 stabilizer Substances 0.000 claims description 6
- 230000002146 bilateral effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 3
- 230000035882 stress Effects 0.000 description 2
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000003679 aging effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- Finish Polishing, Edge Sharpening, And Grinding By Specific Grinding Devices (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of milling robot auxiliary devices, including windmill rack, two pneumatic grinding mills are symmetrical set in windmill rack, windmill rack is fixed on axle sleeve, axle sleeve housing is on center shaft, a cruise gear is cased on central axis, the structure of central axis is tubulose, the centre of central axis is equipped with pen type cylinder, the tracheae of pen type cylinder is drawn from tail portion and is pierced by from the top of central axis, the bottom of central axis is equipped with the support construction for withstanding the vertical inner circle hole wall of workpiece, the top of central axis is fixedly connected with center axis seat, center axis seat is set to one end of gantry, gantry is equipped with motor, the drive shaft of motor is equipped with driving gear, driving gear is engaged with cruise gear, the lower end of pneumatic grinding mill is inserted with grinding head.The present invention is symmetrically laid using two pneumatic grinding mills, and the mutual containing of burnishing action power improves polishing quality, while two pneumatic grinding mills work at the same time, and respective half cycle, working efficiency gets a promotion.
Description
Technical field
The present invention relates to a kind of milling robot auxiliary device and its applications, belong to robotic technology field.
Background technique
In the device that the inside of two cross one another pipelines polishes to intersection burr, since its inner space has
Limit removes flash removed using the method for artificial file always before, attempts directly to grab the polishing of windmill tool using robot, due to
It is limited by robot architecture, pneumatic grinding mill can only be worked in a manner of oblique cutting, it is difficult to reach promising result.
Robot directly hold pneumatic grinding mill polishing workpiece when, to two round tube intersections formed three-dimensional curve be difficult to accurately with
Track, while the size of burr easily causes pneumatic grinding mill moment stress and fluctuates widely in bruting process, to make robot arm
Shake is generated, the failure of robot is easy to cause.
In the past using robot polishing workpiece, whether robot catches grinding device close to workpiece, still catches workpiece
Close to grinding device, robot arm end is worked in no support, this is in some workpiece and grinding device
At right angles in the case where can also smooth working, such as will be to 3D curve grinding workpieces, since grinding device is constantly sent out with the location of workpiece
Raw angulation change, the grinding force being subject to change greatly, and not only influence the smoothness of polishing, while to robot aging effects
Also larger, user often selects the biggish robot of bearing capacity, and the rigidity for improving robot arm is coped with, and leads to cost
Rise, space hold is also larger.
Common milling robot run trace is carried out by programming mode, work biggish for some geometric tolerances
Part, it is poor using desired guiding trajectory then effect of being polished.
Summary of the invention
The technical problem to be solved by the present invention is solving the three-dimensional curve for how accurately tracking the formation of two round tube intersections
And how to avoid the problem that robot arm generates shake.
In order to solve the above-mentioned technical problem, the technical solution of the present invention is to provide a kind of milling robot auxiliary device,
It is characterised in that it includes windmill rack, two pneumatic grinding mills are symmetrical set in windmill rack, windmill rack is fixed on axle sleeve
On, axle sleeve housing is cased with a cruise gear on center shaft, on central axis, and the structure of central axis is tubulose, the centre of central axis
Equipped with pen type cylinder, the tracheae of pen type cylinder is drawn from tail portion and is pierced by from the top of central axis, and the bottom of central axis, which is equipped with, to be used
In the support construction for withstanding the vertical inner circle hole wall of workpiece, the top of central axis is fixedly connected with center axis seat, and center axis seat is set to
One end of gantry, gantry are equipped with motor, and the drive shaft of motor is equipped with driving gear, and driving gear is engaged with cruise gear,
The lower end of pneumatic grinding mill is inserted with grinding head.
Preferably, the windmill rack two sides are equipped with limited post, are equipped with limit at the oblique position of limited post lower end
Bar.
Preferably, holddown spring, axle sleeve lower section and locating rack are equipped with below the center axis seat between cruise gear
Between be equipped with buffer spring.
Preferably, the support construction includes locating rack, and central axis bottom is connect with locating rack below, locating rack
The cylinder piston rod of intermediate apertured, pen type cylinder is stretched out from hole, and the end of cylinder piston rod and pushing tow disk are affixed, locating rack
Stabilizer blade is arranged below, stabilizer blade is equipped with claw, and claw is equipped with galianconism, and the end of galianconism is equipped with pulley.
Preferably, the cruise gear is set to above windmill rack；Two pneumatic grinding mills pass through cruise gear.
Preferably, the other end of the gantry is equipped with the flange connecting with robot end.
Preferably, connecting tube is equipped at the top of the pneumatic grinding mill.
A kind of application of milling robot auxiliary device, which is characterized in that the milling robot auxiliary device passes through
Robot is sent into inside workpiece, and claw is opened, and withstands the vertical inner hole of workpiece and uses after the positioning of milling robot auxiliary device
The mode of Automatic Track Finding is polished workpiece, and the polishing position of workpiece is that formed by two cross one another circular holes one is three-dimensional bent
Line；The mode of Automatic Track Finding is as follows: milling robot auxiliary device rotate horizontally simultaneously, gag lever post along workpiece horizontal circle
The face synchronizing moving in hole, it is low between horizontal circular hole two sides senior middle school, under the thrusting action of gag lever post and holddown spring, entire sander
Device people auxiliary device forms a three-dimensional rail along the walking of grinding workpieces edge along the edge rippling of three-dimensional curve
Mark.
Pneumatic grinding mill is sent into workpiece by auxiliary device of the invention by using the method for setting supporting point with vertical direction
Portion, claw are supported on the vertical inner circle hole wall of workpiece, play firm effect, device around circumference and along workpiece surface undulatory motion,
Bistrique and sharpened edge remain same angle and distance, so that pneumatic grinding mill rotates smoothly work, guarantee polishing quality, effectively
It solves the problems, such as polishing stability, equally can obtain preferable grinding effect using light-duty robot.
The present invention efficiently solve robot directly hold pneumatic grinding mill polishing workpiece when, to two round tube intersections formed three-dimensional
Curve is difficult to the problem accurately tracked, while the size of burr easily causes pneumatic grinding mill moment stress significantly wave in bruting process
It is dynamic symmetrically to be laid to make robot arm generate the problem of shaking, being easy to cause the failure of robot using two pneumatic grinding mills,
The mutual containing of burnishing action power improves polishing quality, while two pneumatic grinding mills work at the same time, and respective half cycle, working efficiency obtains
To promotion.
The present invention carries out division of labor cooperation by the way of Automatic Track Finding, by robot and grinding device, and robot is responsible for fixed
Position, grinding device Automatic Track Finding make grinding head keep most suitable distance with workpiece always, improve the efficiency and quality of polishing.
Detailed description of the invention
Fig. 1 is a kind of work axonometric drawing of milling robot auxiliary device；
Fig. 2 is a kind of front view of milling robot auxiliary device；
Fig. 3 is a kind of partial sectional view of milling robot auxiliary device；
Fig. 4 is a kind of bottom view of milling robot auxiliary device.
Specific embodiment
In order to make the present invention more obvious and understandable, hereby with preferred embodiment, and attached drawing is cooperated to be described in detail below.
The present invention be a kind of milling robot auxiliary device, as Figure 1-Figure 4 comprising windmill rack 1, pneumatic grinding mill 2,
Axle sleeve 3, central axis 4, cruise gear 5, pen type cylinder 6, locating rack 7, cylinder piston rod 8, pushing tow disk 9, stabilizer blade 10, claw 11,
Galianconism 12, pulley 13, gantry 14, flange 15, center axis seat 16, gas connector 17, holddown spring 18, buffer spring 19, motor rack
20, motor 21, driving gear 22, limited post 23, gag lever post 24, grinding head 25.
Two pneumatic grinding mills 2 are symmetrical set in windmill rack 1, the top of pneumatic grinding mill 2 is equipped with connecting tube 17, windmill
Rack 1 is fixed on axle sleeve 3, and a cruise gear 5 is arranged in 3 housing of axle sleeve on central axis 4, above windmill rack 1 and housing exists
On central axis 4 and two pneumatic grinding mills 2, central axis 4 is tubulose, sets pen type cylinder 6 among it, and the tracheae of pen type cylinder 6 is from tail portion
It draws and is pierced by from 4 top of central axis, 4 bottom of central axis is connect with locating rack 7 below, the intermediate apertured of locating rack 7, pen type
The cylinder piston rod 8 of cylinder 6 is stretched out from the hole, and 8 end of cylinder piston rod and pushing tow disk 9 are affixed, and branch is equipped with below locating rack 7
Foot 10 installs claw 11 on stabilizer blade 10, and claw 11 sets galianconism 12, and pulley 13 is installed in 12 end of galianconism, and 14 one end of gantry is tried
Orchid 15 simultaneously connect with robot end, and the other end sets center axis seat 16 and is coupled affixed, center axis seat with 4 top of central axis
Holddown spring 18 is set between 16 lower sections and cruise gear 5, sets buffer spring 19, gantry 14 1 between 3 lower section of axle sleeve and locating rack 7
Side sets motor rack 20, and motor 21 is installed on 20 top of motor rack, and driving gear 22, driving gear 22 and cruise are set on the axis of motor 21
Gear 5 engages, and 1 two sides of windmill rack are equipped with limited post 23, the diagonally-installed gag lever post 24 in 23 lower end of limited post, and grinding head 25 is inserted
Enter pneumatic grinding mill 2.
When the invention works, auxiliary device of the invention is sent among position to be processed by robot from the side of extra heavy pipe,
Subsequent falling head touches the transverse plane of inner hole of workpiece to gag lever post 24, and the cylinder piston rod 8 of pen type cylinder 6 stretches out pushing tow top
Push-plate 9 plays firm work so that claw 11 opens and withstand the vertical inner circle hole wall of workpiece (i.e. two cross one another pipelines)
With when pneumatic grinding mill 2 works, cruise gear 5 drives rotation, 24 edge of gag lever post by motor 21 and driving gear 22 during the grinding process
Workpiece extra heavy pipe inner wall makees horizontal direction rotation, while being changed by extra heavy pipe inside wall height and making rippling, drives pneumatic grinding mill
Rippling, 2 grinding head of pneumatic grinding mill move frame 1 along Work-piece burr edge together, complete sanding burr.
The present invention carries out division of labor cooperation by the way of Automatic Track Finding, by robot and grinding device, and robot is responsible for fixed
Position, grinding device Automatic Track Finding make grinding head keep most suitable distance with workpiece always, improve the efficiency and quality of polishing.
The process of Automatic Track Finding is as follows:
The device of the invention after being sent into inside workpiece by robot, open by the claw 11 of device lower end, withstands workpiece
Vertical inner hole plays the role of stablizing entire grinding device lower end, since grinding workpieces position is by two cross one another circles
The three-dimensional curve that hole is formed, grinding device are rotating horizontally simultaneously, and gag lever post 24 is same along the face of the horizontal circular hole of workpiece
Moved further, it is low between horizontal circular hole two sides senior middle school, under the thrusting action of gag lever post 24 and holddown spring 18, entire grinding device edge
The edge rippling of three-dimensional curve, formed one along grinding workpieces edge walking three-dimensional track.
Claims (8)
1. a kind of milling robot auxiliary device, which is characterized in that including windmill rack (1), bilateral symmetry in windmill rack (1)
Two pneumatic grinding mills (2) are set, and windmill rack (1) is fixed on axle sleeve (3), and axle sleeve (3) housing is on central axis (4), central axis
(4) a cruise gear (5) is cased on, the structure of central axis (4) is tubulose, and the centre of central axis (4) is equipped with pen type cylinder (6),
The tracheae of pen type cylinder (6) is drawn from tail portion and is pierced by from the top of central axis (4), and the bottom of central axis (4) is equipped with for pushing up
The top of the firmly support construction of the vertical inner circle hole wall of workpiece, central axis (4) is fixedly connected with center axis seat (16), center axis seat
(16) it is set to the one end of gantry (14), gantry (14) is equipped with motor (21), and the drive shaft of motor (21) is equipped with driving gear
(22), driving gear (22) is engaged with cruise gear (5), and the lower end of pneumatic grinding mill (2) is inserted with grinding head (25).
2. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that the windmill rack (1) two
Side is equipped with limited post (23), is equipped with gag lever post (24) at the oblique position of limited post (23) lower end.
3. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that under the center axis seat (16)
Holddown spring (18) are equipped between side and cruise gear (5), are equipped with buffer spring below axle sleeve (3) between locating rack (7)
(19)。
4. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that the support construction includes fixed
Position frame (7), central axis (4) bottom are connect with locating rack (7) below, the intermediate apertured of locating rack (7), pen type cylinder (6)
Cylinder piston rod (8) is stretched out from hole, and the end of cylinder piston rod (8) and pushing tow disk (9) are affixed, and locating rack is set below (7)
Have stabilizer blade (10), stabilizer blade (10) is equipped with claw (11), and claw (11) is equipped with galianconism (12), and the end of galianconism (12), which is equipped with, to be slided
It takes turns (13).
5. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that the cruise gear (5) is set
Above windmill rack (1)；Two pneumatic grinding mills (2) pass through cruise gear (5).
6. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that the gantry (14) it is another
End is equipped with the flange (15) connecting with robot end.
7. a kind of milling robot auxiliary device as described in claim 1, which is characterized in that the top of the pneumatic grinding mill (2)
Portion is equipped with connecting tube (17).
8. a kind of application of milling robot auxiliary device as described in claim 1, which is characterized in that the polishing machine
People's auxiliary device is sent into inside workpiece by robot, and claw (11) is opened, and withstands the vertical inner hole of workpiece, milling robot is auxiliary
After helping device to position, workpiece of being polished by the way of Automatic Track Finding, the polishing position of workpiece is by two cross one another circular holes
The three-dimensional curve formed；The mode of Automatic Track Finding is as follows: milling robot auxiliary device is rotating horizontally simultaneously, gag lever post
(24) low between horizontal circular hole two sides senior middle school along the face synchronizing moving of the horizontal circular hole of workpiece, in gag lever post (24) and compress bullet
Under the thrusting action of spring (18), entire milling robot auxiliary device is formed along the edge rippling of three-dimensional curve
One three-dimensional track along the walking of grinding workpieces edge.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091157.2A CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910091157.2A CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109732425A true CN109732425A (en) | 2019-05-10 |
| CN109732425B CN109732425B (en) | 2024-06-07 |
Family
ID=66366800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910091157.2A Active CN109732425B (en) | 2019-01-30 | 2019-01-30 | Auxiliary device of polishing robot and application thereof |
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| Country | Link |
|---|---|
| CN (1) | CN109732425B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3446055A1 (en) * | 1984-12-18 | 1986-06-26 | Karl Dr. 7530 Pforzheim Elbel | Process and apparatus for grinding the inner surfaces of large-bore straight and bent pipes |
| JPH07186016A (en) * | 1993-12-24 | 1995-07-25 | Ougiya Koji Kk | Polishing device for inner surface of underground buried pipe |
| CN106826451A (en) * | 2017-01-11 | 2017-06-13 | 苏州阿福机器人有限公司 | Pipe fitting polishing streamline |
| CN206550770U (en) * | 2017-03-14 | 2017-10-13 | 东莞市海晟机械配件有限公司 | A kind of inner-hole burr automatic grinding device |
| CN206567948U (en) * | 2016-11-30 | 2017-10-20 | 常州星宇车灯股份有限公司 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
-
2019
- 2019-01-30 CN CN201910091157.2A patent/CN109732425B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3446055A1 (en) * | 1984-12-18 | 1986-06-26 | Karl Dr. 7530 Pforzheim Elbel | Process and apparatus for grinding the inner surfaces of large-bore straight and bent pipes |
| JPH07186016A (en) * | 1993-12-24 | 1995-07-25 | Ougiya Koji Kk | Polishing device for inner surface of underground buried pipe |
| CN206567948U (en) * | 2016-11-30 | 2017-10-20 | 常州星宇车灯股份有限公司 | A kind of Flash In Injection Molded Plastic Parts automatically grinding equipment based on six-joint robot |
| CN106826451A (en) * | 2017-01-11 | 2017-06-13 | 苏州阿福机器人有限公司 | Pipe fitting polishing streamline |
| CN206550770U (en) * | 2017-03-14 | 2017-10-13 | 东莞市海晟机械配件有限公司 | A kind of inner-hole burr automatic grinding device |
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| Publication number | Publication date |
|---|---|
| CN109732425B (en) | 2024-06-07 |
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