CN208276618U - Vibration grinding machine and robot processing system - Google Patents

Abstract

Embodiments of the present disclosure relate to vibratory sanders and robotic machining systems. The vibrating grinder includes: a housing including a fixed end and a working end, the housing forms a receiving cavity, wherein the fixed end is shaped to be suitable for attaching to a mechanical arm; and a vibrating device includes a receiving cavity The air motor in the air motor and the rotating shaft coupled with the motor are configured to drive the pallet located at the working end to vibrate. The fixed end of the vibrating grinder adopts the above shape, thereby ensuring the installation accuracy of the vibrating grinder relative to the industrial robot, thereby ensuring the consistency of the grinding effect of the grinder.

Description

Vibration grinding machine and robot processing system

Technical field

Embodiment of the disclosure relates generally to a kind of surfacing device, in particular to vibration grinding machine and including this The robot processing system of vibration grinding machine.

Background technique

Vibration grinding machine includes random orbital sander and trapped orbit formula sander, to piece surface Reason.Traditional vibration grinding machine is usually hand-held.In order to meet the requirement of Manual machine, the shape of hand sander is mostly Arc facilitates user to manipulate and hold.With the raising of industrial automation level, this sander is increasingly being used in machine In people's system of processing (such as industrial robot), to realize automatic processing to part.

However, this traditional vibration grinding machine for industrial robot process automatically in when there are inconvenience it Place.On the one hand, the shape of sander is mostly arc, is unfavorable for the fixation of sander；Angle and position when sander is installed every time It sets and is difficult to ensure unanimously, can not accomplish accurate positioning.Cause in this way polishing when sand paper be polished workpiece contact it is inconsistent, finally Lead to the inconsistent of grinding effect.On the other hand, when robotic gripper hand sander works, between robot and sander Pressure control it is relatively difficult；If applying excessive pressure, it will lead to sander revolving speed and drastically reduce, or even stop operating, In addition, excessive pressure is to influence polishing quality.

Currently, can still well solve the drawbacks described above of vibration grinding machine without a kind of scheme.Therefore, it is desirable to tradition Vibration grinding machine improve so that vibration grinding machine meets the needs of processing of robots.

Utility model content

One of the purpose of this utility model is to provide a kind of vibration grinding machine and robot processing system, to solve or disappear Except one or more of above-mentioned technical problem.

According to the first aspect of the disclosure, a kind of vibration grinding machine is provided.The vibration grinding machine includes: shell, including Fixing end and operation end, shell formed accommodating chamber, wherein the fixing end be shaped as be suitable for and mechanical arm attachment shape；With And vibration device, including the air motor being contained in the accommodating chamber and the shaft coupled with the motor, the motor quilt It is configured to the pallet vibration that driving is located at the operation end.

According to above-described embodiment of the disclosure, the fixing end of vibration grinding machine uses above-mentioned shape, and thus, it is possible to ensure to shake Dynamic installation accuracy of the sander relative to industrial robot, and then ensure the consistency of the grinding effect of sander.

In some embodiments, the fixing end of the shell be formed the shape of general planar with the mechanical arm Corresponding component forms face contact.Such structure is easy to ensure the accurate positioning of sander and mechanical arm and ensures between the two Rigid contact.

In some embodiments, the fixing end includes secure component, is suitable for the shell and the mechanical arm Tighten together to adaptor releasable.Secure component is set, disassembles and installs sander with can be convenient.

In some embodiments, the fixing end includes positioning element, is suitable for the shell and the mechanical arm Adapter positions relative to each other.Positioning element is set, it can be ensured that the accurate positioning of sander and mechanical arm.

In some embodiments, the fixing end tightens together via transition piece with the adapter of the mechanical arm, institute It states transition piece to have a first end and a second end, the first end has the shape for being suitable for being adapted to the fixing end, and described Second end has the shape for being suitable for being adapted to the adapter of the mechanical arm.Transition piece is set, sander can be improved and adapt to not The flexibility of same specification mechanical arm.

In some embodiments, the shell is made of metal shell.With this structure, shell easy to form ensures into simultaneously Type precision.Thereby, it is possible to further increase the installation accuracy of shell and mechanical arm.

In some embodiments, the shaft supports in the shell via ceramic bearing.Thus, it is possible to improve polishing The service life of machine and working performance.

In some embodiments, the vibration grinding machine further includes the revolving speed for being configured to measure the vibration grinding machine Sensor.Thus, it is possible to provide the job status information about sander for industrial robot and/or operator.

In some embodiments, the vibration grinding machine includes being fixed to described to turn shaft balancing eccentric block, the sensing Device includes magnet and detection unit, wherein the detection unit is configured to by measuring the magnet and the balance eccentric block It is formed by the periodically-varied of air gap in magnetic circuit, to detect the revolving speed of the vibration grinding machine.Using magnetic induction sensor spy It is not suitable for wet-milling application.

In some embodiments, the pallet is made of metal pallet, and attachment is suitable for the elastic sand paper to work pieces process thereon. The defects of plastics pallet is easy to foam, deform is overcome, machining accuracy is improved.

According to the second aspect of the disclosure, a kind of robot processing system is provided, comprising: mechanical arm；And according to upper Vibration grinding machine described in text, the vibration grinding machine are mounted to the mechanical arm.

Detailed description of the invention

Described in detail below, the above and other objects, features and advantages general of the embodiment of the present disclosure by referring to accompanying drawing It becomes more clearly understood from.In the accompanying drawings, by by example and it is unrestricted in a manner of multiple embodiments of the disclosure are said It is bright, in which:

Fig. 1 shows the structural schematic diagram of the robot processing system according to disclosure exemplary embodiment；

Fig. 2 shows the appearance profile schematic diagrames according to the vibration grinding machine of disclosure exemplary embodiment；

Fig. 3 is according to the cross-sectional view of the vibration grinding machine of disclosure exemplary embodiment；And

Fig. 4 shows the schematic diagram according to the vibration grinding machine of disclosure exemplary embodiment from operation side, wherein for Pallet is eliminated convenient for viewing internal part.

Specific embodiment

The principle of the disclosure is illustrated now with reference to various exemplary embodiments shown in the drawings.It should manage Solution, the descriptions of these embodiments is just to better understood when those skilled in the art and further realize this public affairs It opens, and is not intended to limit the scope of the present disclosure in any way.It should be noted that can make in figure under possibilities With appended drawing reference similar or identical, and appended drawing reference similar or identical can indicate function similar or identical.Ability The technical staff in domain will readily appreciate that from the following description, the substitution of structures and methods illustrated here is implemented Example can be used without departing from by the principles of the present invention described herein.

As previously mentioned, with the raising of industrial automation level, vibration grinding machine is increasingly being used in processing of robots The automatic processing to part is realized in system.However, traditional hand sander is when being applied to robot processing system, There are many defects.For this purpose, the inventor of the disclosure improves conventional vibration sander, to meet processing of robots system The installation and job requirements of system.Term " robot processing system " includes but is not limited to industrial robot, such as can also include Other industrial intelligent systems of processing for part processing.Hereafter will with industrial robot (including but not limited to off-line programing and The robot system of online programming) for the principle of the disclosure described it should be appreciated that this is only exemplary And not restrictive.

Vibration grinding machine and processing of robots according to an example embodiment of the present disclosure is described in detail below in conjunction with attached drawing The CONSTRUCTED SPECIFICATION of system.Fig. 1 shows the structural schematic diagram of the robot processing system of disclosure exemplary embodiment, Fig. 2 and Fig. 3 Appearance profile schematic diagram and partial sectional view according to the vibration grinding machine of disclosure exemplary embodiment is shown.

As shown in Figure 1, in some embodiments, industrial robot includes vibration grinding machine 10 and mechanical arm 20.Vibration Sander 10 is suitable for being fixed to mechanical arm 20.In the case where vibration grinding machine 10 is fixed to mechanical arm 20, vibration polishing Machine 10 can control via the control system of industrial robot and realize the retrofit to piece surface.As a result, with use hand The formula vibration grinding machine of holding is compared, and worker can free from onerous toil；Additionally it is possible to realize to polishing quality More efficiently control and higher processing efficiency.The invention of the disclosure is not belonging in view of the other systems in industrial robot Design, to avoid being not shown in the figure and omitting and it is described in detail so that the disclosure is many and diverse and obscure.

As shown in Fig. 2, in some embodiments, vibration grinding machine 10 includes shell 100.Shell 100 limits vibration polishing The fixing end 110 of machine and operation end 120.Fixing end 110 is suitable for being installed to the mechanical arm 20 of industrial robot, and operation end 120 Suitable for installing pallet 150.The also settable sand paper for part of polishing on pallet 150.

As shown in figure 3, in some embodiments, shell 100 limits accommodating chamber.In accommodating chamber accommodate be suitable for driving pallet and The vibration device of sand paper vibration.In the illustrated embodiment, vibration device include the air motor 130 that is contained in accommodating chamber with And the shaft 140 coupled with motor 130.Shaft 140 is for example connected to pallet 150 via shaft coupling.In some embodiments, turn Axis 140 is for example connected to pallet 150 via balance eccentric block.It, can be with it should be understood that vibration device is only exemplary Using other devices that can be realized polishing purpose.Any vibration device for being currently known or developing in the future can be with the disclosure Embodiment be used in combination, details are not described herein.

In some embodiments, in the case that vibration grinding machine 10 is mounted to the mechanical arm 20 of industrial robot, machine Tool arm 20 is controlled by robot system and is moved along program path, and operation end 120 is mobile in workpiece surface with mechanical arm 20, And then realize that the polishing to workpiece is processed using the sand paper on pallet 150.

In the illustrated embodiment, fixing end 110 and operation end 120 are located at the axial opposed end of vibration grinding machine 10.It answers When understanding, this is only exemplary.Fixing end can also be located at the other positions of shell 100.In view of shell 100 In motor revolving property, the configuration at the axial opposed end that fixing end 110 is located at vibration grinding machine 10 with operation end 120 is suitable for Ensure the dynamic balance of vibration grinding machine 10.

As shown, in some embodiments, the shape of fixing end 110 is suitable for and mechanical arm 20 is attached.It should be understood that It is that the shape mentioned here for being suitable for attachment refers to that the shape of fixing end 110 is suitable for the shape with the corresponding site of mechanical arm 20 Adaptation.This shape adaptation can be realized the accurate positioning of vibration grinding machine 10 Yu mechanical arm 20.For example, in some embodiments In, in the case where vibration grinding machine 10 and mechanical arm 20 are to be removably installed, it can be realized vibration grinding machine 10 and machinery Arm 20 is repeatable to be removed and can ensure to be accurately positioned after reinstalling every time.

For example, in some embodiments, when vibration grinding machine 10 is installed together from different mechanical arms 20, Neng Gouzong It is to ensure that accurate positioning between the two.In some embodiments, it is disassembled in vibration grinding machine 10 from same mechanical arm 20 Later, when vibration grinding machine 10 and same mechanical arm 20 being reinstalled together, can ensure between the two when installation every time Accurate positioning.

According to above-described embodiment of the disclosure, the fixing end 110 of vibration grinding machine 10 uses above-mentioned shape, and thus, it is possible to true Protect vibration grinding machine 10 for every industrial robot installation accuracy, and then ensure sander grinding effect it is consistent Property.For the automatic processing of industrial robot, this effectively prevents being needed before industrial robot operation for each Power tool (being here vibration grinding machine 10) corrects the operation of position repeatedly, effectively increases the operation effect of industrial robot Rate.

In some embodiments, shell 100 is made of metal, such as steel.Had using the shell 100 of metal many Advantage, such as shell easy to form ensure formed precision simultaneously.Thereby, it is possible to further increase the installation of shell and mechanical arm essence Degree.

As shown, in some embodiments, the fixing end 110 of shell 100 can be formed for example, see Fig. 1 and Fig. 2 The shape of general planar is to form face contact with the corresponding component of mechanical arm 20.Although showing fixing end 110 in figure is substantially to connect The shape of continuous plane, it should be appreciated that this is only exemplary.For example, in an alternative embodiment, fixing end 110 can also It can be intermittent or continuous to be formed as inclined surface.Compared with the curved surface of conventional bruting machine, shell 100 Fixing end 110 is formed flat surface, is easy to ensure the accurate positioning of sander 10 and mechanical arm 20 and ensures between the two Rigid contact.

As shown, seeing in particular Fig. 2, in some embodiments, fixing end 110 may include secure component 160, and being suitable for will Shell 100 is detachably fastened together with mechanical arm 20.In some embodiments, on the end face of the fixing end 110 of shell 100 Threaded hole can be formed, also forms hole on the corresponding component (for example, flange) of mechanical arm 20, bolt passes through the phase of mechanical arm 20 It answers the hole of component and vibration grinding machine 10 and mechanical arm 20 tightens together.It should be understood that such fastening structure is only It is merely exemplary.In some embodiments, it can be also additionally provided in keyway-key clamp device, such as can be in fixing end 110 Keyway is set, and in the corresponding component set key of mechanical arm 20.It should be understood that keyway-key clamp device can be answered independently With can also be with bolt fastening combined application.

Note that for the sake of for convenience of description some embodiments will be described by example of flange herein.But this is only to show Example property, it is not intended to limit the scope of the present disclosure in any way.In an alternative embodiment, mechanical arm 20 can also use non-flange Other connecting components carry machining tool.

As shown in Fig. 2, in some embodiments, fixing end 110 includes positioning element 170.Positioning element 170 is suitable for shell The flange of body 100 and mechanical arm 20 positions relative to each other.In the case where positioning element 170 are arranged, may further ensure that The positioning accuracy of vibration grinding machine 10 and mechanical arm 20.In the illustrated embodiment, positioning element 170 is, for example, location hole, Corresponding positioning pin is formed on such as flange of mechanical arm 20.It should be understood that such pin-hole location structure is only to show Example property, other positioning methods customary in the art can also be used.As a result, after the positioning, secure component is then recycled It is fastened, can further ensure that the installation accuracy of vibration grinding machine 10 and mechanical arm 20

As shown, seeing in particular Fig. 1, in some embodiments, can also lead between vibration grinding machine 10 and mechanical arm 20 Transition piece 30 is crossed to link together.For example, flange of the fixing end 110 of vibration grinding machine 10 via transition piece 30 and mechanical arm 20 It tightens together.In some embodiments, transition piece 30 is single component, has first end 32 and second end 34.First end 32 With the shape for being suitable for being adapted to fixing end 110, and second end 34 has the shape for being suitable for being adapted to the flange 22 of mechanical arm 20 Shape.It by transition piece 30, can significantly enhance the ability that vibration grinding machine 10 adapts to mechanical arm, such as be adapted to not The mechanical arm of same size or specification.

As shown in figure 4, in some embodiments, vibration grinding machine further includes velocity sensor 180, for shaft 140 Revolving speed measure.In the case where velocity sensor 180 are arranged, can be provided for industrial robot and/or operator The further information of working condition about vibration grinding machine.Industrial robot and/or operator can be according to these information The operation of vibration grinding machine is intervened or adjusted.

In some embodiments, velocity sensor 180 is magnetic induction sensor.For example, sensor 180 includes magnet and inspection Survey unit, wherein detection unit be configured to measure magnet and rotary part (such as shaft, for shaft to be linked to pallet Shaft coupling, the eccentric balancing blocks for being fixed to shaft etc.) eccentric part be formed by the periodically-varied of air gap in magnetic circuit.By this week Phase sexually revises signal and exports to processor, and the revolving speed of shaft can be determined after processor calculation processing.In the embodiment of diagram In, vibration grinding machine 10 includes the balance eccentric block 190 for being fixed to the shaft 140, and detection unit is configured to pass through measurement Magnet and eccentric balancing blocks 190 are formed by the periodically-varied of air gap in magnetic circuit to measure revolving speed.It should be understood that this is only It is illustrative rather than restrictive, velocity sensor can be arranged in any other component appropriate.Using magnetic strength inductive sensing Device in wet-milling application there is benefit should not be surveyed with photoelectric sensor due to having a large amount of grinding fluids and dust in wet-milling is applied Revolving speed.

In some embodiments, pallet 150 is made of metal pallet.The outer surface of pallet is usually provided with polishing sand Paper.When the pallet as made by plastics (such as polyurethane etc.) is used for operation, especially wet-milling application, in the effect of polishing liquid Under, plastics pallet is easy to foam, deform, to influence machining accuracy.In the case where pallet 150 is made of metal pallet, energy Effectively overcome this technical problem.In some embodiments, made of metal pallet is attached with the elastic sand paper to work pieces process.It is this In the case of, even if being rigid made of metal pallet, it can also ensure that sander for the adaptability on different polishing surfaces.

In some embodiments, shaft is supported via ceramic bearing.It is had the advantage that in sander using ceramic bearing

● wearability is relatively good, has high resistance against wear to particle contamination substance (sand, grinding-material, steel, ferriferous oxide etc.) Property；

● at the same speed, the centrifugal force fewer than steel ball 40% that Ceramic Balls generate in bearing.Centrifugal force load is bigger, produces Raw temperature is higher；

● it can effectively reduce heating when continuously running for a long time.Extend the service life of bearing；

● corrosion resistance is more preferable, will not generate corrosion in the presence of water；

● ceramic material coefficient of friction is low, grease longer life expectancy, in the case where lubricating oil is thinning or oil-poor, lubricates energy Power is still held not less than steel shaft.

Robot processing system according to the embodiment of the present disclosure includes mechanical arm 20 and according to vibration grinding machine above 10.Vibration grinding machine 10 is mounted to mechanical arm 20.It will be understood that the robot processing system has above-mentioned vibration grinding machine institute It has the advantage that.To avoid repeating, its detailed description is omitted.

Those skilled in the art is it is understood that providing above description is for illustrative purposes rather than limits.This The technical staff in field is understood that the utility model can be realized to be detached from other implementations of these details.And And in order not to obscure the utility model, the not necessary details of known function and structure is omitted in current explanation.

Although having illustrated and having described specific embodiment herein, it will be appreciated by those skilled in the art that can use It is intended to reach any arrangement of same purpose to replace shown specific embodiment, and the utility model has in other circumstance There are other applications.The application is intended to cover any change or variants of the utility model.Claim below never should be by It is interpreted as the scope of the utility model and is restricted to specific embodiment described herein.

Claims (11)

1. a kind of vibration grinding machine (10) characterized by comprising

Shell (100), including fixing end (110) and operation end (120), the shell (100) forms accommodating chamber, wherein described solid Fixed end (110) be shaped as be suitable for and mechanical arm (20) attachment shape；And

Vibration device, including the air motor (130) being contained in the accommodating chamber and the shaft coupled with the motor (130) (140), the motor (130) is configured as pallet (150) vibration that driving is located at the operation end (120).

2. vibration grinding machine (10) according to claim 1, which is characterized in that the fixing end (110) of the shell (100) It is formed the shape of general planar to form face contact with the corresponding component of the mechanical arm (20).

3. vibration grinding machine (10) according to claim 2, which is characterized in that the fixing end (110) includes fastening part Part (160) is suitable for for the adapter (22) of the shell (100) and the mechanical arm (20) being detachably fastened together.

4. vibration grinding machine (10) according to claim 2, which is characterized in that the fixing end (110) includes positioning region Part (170) is suitable for relative to each other positioning the adapter (22) of the shell (100) and the mechanical arm (20).

5. vibration grinding machine described in any one of -4 (10) according to claim 1, which is characterized in that the fixing end (110) it tightens together via transition piece (30) with the adapter (22) of the mechanical arm (20), the transition piece (30) has First end (32) and second end (34), the first end (32) have the shape for being suitable for being adapted to the fixing end (110), and The second end (34) has the shape for being suitable for being adapted to the adapter (22) of the mechanical arm (20).

6. vibration grinding machine described in any one of -4 (10) according to claim 1, which is characterized in that the shell (100) For made of metal shell.

7. vibration grinding machine described in any one of -4 (10) according to claim 1, which is characterized in that the shaft (140) It is supported in the shell (100) via ceramic bearing.

8. vibration grinding machine described in any one of -4 (10) according to claim 1, which is characterized in that further include being configured to Measure the sensor (180) of the revolving speed of the vibration grinding machine (10).

9. vibration grinding machine (10) according to claim 8, which is characterized in that the vibration grinding machine (10) includes fixing To the balance eccentric block (190) of the shaft (140), wherein the sensor (180) includes magnet and detection unit, wherein institute Detection unit is stated to be configured to be formed by the week of air gap in magnetic circuit by measuring the magnet and balance eccentric block (190) Phase sexually revises, to detect the revolving speed of the vibration grinding machine (10).

10. vibration grinding machine described in any one of -4 (10) according to claim 1, which is characterized in that the pallet (150) For made of metal pallet, it is attached with the elastic sand paper being suitable for work pieces process thereon.

11. a kind of robot processing system characterized by comprising

Mechanical arm (20)；And

Vibration grinding machine (10) according to claim 1 to 10, the vibration grinding machine (10) are mounted to institute State mechanical arm (20).