阅读说明：本技术 一种自动更换砂轮装置及其工业机器人 (Automatic change grinding wheel device and industrial robot thereof ) 是由 胡明华 雷刚 施芸 杨静 盛磊 于 2019-10-24 设计创作，主要内容包括：本发明公开了一种自动更换砂轮装置及其设置有自动更换砂轮装置的工业机器人,通过换装装置将设置于机器人前端的砂轮自动更换为新的砂轮,换装装置包括有垂直、水平移动滑轨及相应驱动机构,其中水平移动滑台上有步进电机,步进电机输出端上装配有螺母拆装装置。已磨损砂轮拆下后由传送带送至已更换砂轮收集箱上方,最终落入砂轮收集箱中,该砂轮自动更换装置结构合理,既能够实现砂轮的自动更换,又能够实现新砂轮的自动上料和已磨损砂轮的自动收集,同时还可以提高设置有自动更换砂轮装置的工业机器人的工作效率,大大提高了整体装置的自动化程度,且整个装置结构合理,适用场合广泛。(The invention discloses an automatic grinding wheel replacing device and an industrial robot provided with the same. The automatic grinding wheel replacing device is reasonable in structure, can realize automatic replacement of grinding wheels, can realize automatic feeding of new grinding wheels and automatic collection of the worn grinding wheels, and can improve the working efficiency of an industrial robot provided with the automatic grinding wheel replacing device, greatly improve the automation degree of the whole device, and the whole device is reasonable in structure and wide in application occasions.)

1. The utility model provides an automatic change grinding wheel device which characterized in that: the automatic grinding wheel replacing device (5) comprises a cabinet body (51), a grinding wheel box (52), a grinding wheel lifting mechanism, a standby grinding wheel conveying device and a replacing device (6);

the spare grinding wheel box (52) is arranged on one side of the cabinet body (51), and a spare grinding wheel set (53) is arranged in the spare grinding wheel box (52);

the grinding wheel lifting mechanism is used for transferring a grinding wheel to be replaced in the spare grinding wheel set (53) to the spare grinding wheel conveying device;

the spare grinding wheel conveying device is used for pushing the conveyed spare grinding wheel to be replaced onto a conveying belt;

the reloading device (6) is arranged in the cabinet body below the conveying belt and used for disassembling the old grinding wheel and installing the grinding wheel to be reloaded to a reloading preset position of the industrial robot.

2. The apparatus of claim 1, wherein: the grinding wheel lifting mechanism comprises a spare grinding wheel lifting screw (54), a spare grinding wheel lifting platform (55) and a spare grinding wheel lifting platform control motor (56);

the spare grinding wheel lifting platform control motor (56) is arranged in a spare grinding wheel box (52), the rotating shaft of the spare grinding wheel lifting platform control motor (56) is connected with a spare grinding wheel lifting platform (55) through a spare grinding wheel lifting screw (54), and the spare grinding wheel lifting platform control motor (56) drives the spare grinding wheel lifting platform (55) to lift up and down through the spare grinding wheel lifting screw (54) when rotating, so that a spare grinding wheel placed on the spare grinding wheel lifting platform (55) rises to a conveying belt in a spare grinding wheel conveying device.

3. The apparatus of claim 1, wherein: the standby grinding wheel conveying device comprises a standby grinding wheel horizontal pushing device (61), a conveying belt driving motor (57) and a conveying belt (59);

the standby grinding wheel horizontal pushing device (61) is arranged on the cabinet body (51) and used for pushing the new grinding wheel to the conveying belt; the conveyor belt driving motor (57) is in transmission connection with the conveyor belt (59), and the conveyor belt driving motor (57) drives the conveyor belt (59) to move in the horizontal direction when rotating, so that the to-be-replaced grinding wheel (58) of the conveyor belt (59) moves to a preset position.

4. The apparatus of claim 1, wherein: the replacing device (6) comprises a replacing positioning mechanism and a nut rotating mechanism; the replacing and positioning mechanism comprises a replacing and moving mechanism and a driving mechanism;

the replacing and moving mechanism comprises a vertical moving slide rail, a horizontal moving lead screw (64) and a vertical moving lead screw (66);

the driving mechanism comprises a horizontal movement driving motor (65) and a vertical movement driving motor (67);

the nut rotating mechanism comprises a nut dismounting driving motor (62) and a nut dismounting device (63);

the vertical moving slide rail is arranged on one side of the cabinet body along the vertical direction, a vertical moving driving motor (67) is arranged on the vertical moving slide rail, a vertical moving lead screw (66) is arranged on a rotating shaft of the vertical moving driving motor (67), and the horizontal moving slide rail is connected with the vertical moving lead screw (66) so as to be suitable for the horizontal moving slide rail to be capable of moving up and down along the vertical direction under the action of the vertical moving lead screw (66); the horizontal movement driving motor (65) is arranged on the horizontal movement sliding rail, a rotating shaft of the horizontal movement driving motor (65) is connected with the horizontal movement lead screw (64), and the horizontal movement lead screw (64) is connected with the nut rotating mechanism so that the nut rotating mechanism can move to a preset position along the horizontal direction under the action of the horizontal movement lead screw (64);

the horizontal movement screw rod (64) is connected with the nut dismounting driving motor (62), so that the nut dismounting driving motor (62) moves in the horizontal direction, and the rotating shaft of the nut dismounting driving motor (62) is connected with the nut dismounting device (63), so that the nut dismounting device (63) can dismount and lock the nut needing to be operated.

5. The apparatus of claim 4, wherein: the nut dismounting driving motor (62) is connected with the nut dismounting device (63) through a coupler; or the reloading device (6) is arranged on the bracket below the conveyor belt.

6. The apparatus of claim 1, wherein: the grinding wheel collecting box (7) is arranged on the other side of the cabinet body (51) and used for collecting the replaced grinding wheels; or

The replaced grinding wheel collecting box (7) or/and the spare grinding wheel box (52) are detachably connected with the cabinet body (51), or the cabinet body (51) adopts a semi-closed integral structure, or

And the standby grinding wheel horizontal pushing device (61) adopts a pneumatic pushing device to push the new grinding wheel to the conveying belt.

7. An industrial robot comprising the automatic changing grinding wheel unit according to any one of claims 1 to 6, characterized in that: comprises an industrial robot (1) and an automatic grinding wheel replacing device (5); the automatic grinding wheel replacing device comprises an industrial robot (1), a fixing device (2) and an automatic grinding wheel replacing device (5), wherein the fixing device is used for installing a grinding wheel of the industrial robot, a grinding motor (3) is arranged on the fixing device, an output shaft of the grinding motor (3) drives the grinding wheel (4) to rotate through a belt, and the automatic grinding wheel replacing device is arranged below the grinding wheel and used for detaching an old grinding wheel arranged on the robot and installing a grinding wheel to be replaced on a preset position of the robot; and a used grinding wheel collecting box (7) for collecting the replaced grinding wheels is arranged on one side of the robot.

8. The robot of claim 7, wherein: the automatic grinding wheel replacing device (5) comprises a cabinet body (51), a grinding wheel box (52), a grinding wheel lifting mechanism, a standby grinding wheel conveying device and a replacing device (6);

the spare grinding wheel box (52) is arranged on one side of the cabinet body (51), and a spare grinding wheel set (53) is arranged in the grinding wheel box (52);

the grinding wheel lifting mechanism is used for transferring a grinding wheel to be replaced in the spare grinding wheel set (53) to the spare grinding wheel conveying device;

the spare grinding wheel conveying device is used for pushing the conveyed spare grinding wheel to be replaced onto a conveying belt;

the reloading device (6) is arranged in the cabinet body below the conveyor belt and used for disassembling the old grinding wheel and installing the grinding wheel to be reloaded to a reloading preset position of the industrial robot.

9. The robot of claim 8, wherein: the grinding wheel lifting mechanism comprises a spare grinding wheel lifting screw (54), a spare grinding wheel lifting platform (55) and a spare grinding wheel lifting platform control motor (56);

the spare grinding wheel lifting platform control motor (56) is arranged in a spare grinding wheel box (52), the rotating shaft of the spare grinding wheel lifting platform control motor (56) is connected with a spare grinding wheel lifting platform (55) through a spare grinding wheel lifting screw (54), and the spare grinding wheel lifting platform control motor (56) drives the spare grinding wheel lifting platform (55) to lift up and down through the spare grinding wheel lifting screw (54) when rotating, so that a spare grinding wheel placed on the spare grinding wheel lifting platform (55) rises to a conveying belt in a spare grinding wheel conveying device.

10. The robot of claim 8, wherein: the standby grinding wheel conveying device comprises a standby grinding wheel horizontal pushing device (61), a conveying belt driving motor (57) and a conveying belt (59);

the standby grinding wheel horizontal pushing device (61) is arranged on the cabinet body (51) and used for pushing the new grinding wheel to the conveying belt; the conveyor belt driving motor (57) is in transmission connection with the conveyor belt (59), and the conveyor belt driving motor (57) drives the conveyor belt (59) to move along the horizontal direction when rotating, so that the to-be-replaced grinding wheel (58) of the conveyor belt (59) moves to a preset position;

or

The replacing device (6) comprises a replacing positioning mechanism and a nut rotating mechanism; the replacing and positioning mechanism comprises a replacing and moving mechanism and a driving mechanism;

the replacing and moving mechanism comprises a vertical moving slide rail, a horizontal moving lead screw (64) and a vertical moving lead screw (66);

the driving mechanism comprises a horizontal movement driving motor (65) and a vertical movement driving motor (67);

the nut rotating mechanism comprises a nut dismounting driving motor (62) and a nut dismounting device (63);

the vertical moving slide rail is arranged on one side of the cabinet body along the vertical direction, a vertical moving driving motor (67) is arranged on the vertical moving slide rail, a vertical moving lead screw (66) is arranged on a rotating shaft of the vertical moving driving motor (67), and the horizontal moving slide rail is connected with the vertical moving lead screw (66) so as to be suitable for the horizontal moving slide rail to be capable of moving up and down along the vertical direction under the action of the vertical moving lead screw (66); the horizontal movement driving motor (65) is arranged on the horizontal movement sliding rail, a rotating shaft of the horizontal movement driving motor (65) is connected with the horizontal movement lead screw (64), and the horizontal movement lead screw (64) is connected with the nut rotating mechanism so that the nut rotating mechanism can move to a preset position along the horizontal direction under the action of the horizontal movement lead screw (64);

the horizontal movement screw rod (64) is connected with the nut dismounting driving motor (62), so that the nut dismounting driving motor (62) moves in the horizontal direction, and the rotating shaft of the nut dismounting driving motor (62) is connected with the nut dismounting device (63), so that the nut dismounting device (63) can dismount and lock the nut needing to be operated.

Technical Field

The invention relates to the technical field of automatic replacing devices of industrial robots, in particular to an automatic grinding wheel replacing device and an industrial robot with the same.

Background

An industrial robot is an important automatic device for intelligent manufacturing, which integrates multiple discipline advanced technologies such as machinery, electronics, control, computers, sensors, artificial intelligence and the like. The polishing robot replaces manual work to carry out polishing operation, is mainly used for surface polishing, deburring, welding seam polishing and other operations of workpieces, and can be used in industries such as bathroom hardware industry, IT industry, automobile parts and industrial parts. The grinding wheel can be worn to different degrees after being used for a period of time, so that the grinding quality is influenced. The on-demand replacement of the grinding wheel is an important task in the grinding and polishing operations.

The existing method for replacing the grinding wheel adopts manual replacement, and the method mostly needs to be stopped, is long in time consumption and slow in beat, greatly influences the working efficiency, and has certain potential safety hazards. Other automatic devices that change outfit now can only realize once the emery wheel and change, and new emery wheel still needs the manual work to carry the processing with the emery wheel of changing down, and degree of automation is lower.

Disclosure of Invention

In view of the above, an object of the present invention is to provide an automatic grinding wheel changing device and an industrial robot provided with the same, wherein the automatic grinding wheel changing device can automatically change a grinding wheel of the industrial robot, and the automatic grinding wheel changing device is an industrial robot with high automation degree, easy operation, convenience, high efficiency, wide application range and reliable function.

In order to achieve the purpose, the invention provides the following technical scheme:

the invention provides an automatic grinding wheel replacing device which comprises a cabinet body, a grinding wheel box, a grinding wheel lifting mechanism, a standby grinding wheel conveying device and a replacing device, wherein the cabinet body is provided with a cabinet body;

the spare grinding wheel box is arranged on one side of the cabinet body, and a spare grinding wheel set is placed in the grinding wheel box;

the grinding wheel lifting mechanism is used for transferring a grinding wheel to be replaced in the spare grinding wheel set to the spare grinding wheel conveying device;

the spare grinding wheel conveying device is used for pushing the conveyed spare grinding wheel to be replaced onto a conveying belt;

the reloading device is arranged in the cabinet body below the conveying belt and used for disassembling the old grinding wheel and installing the grinding wheel to be reloaded to the reloading preset position of the industrial robot.

Further, the grinding wheel lifting mechanism comprises a spare grinding wheel lifting screw, a spare grinding wheel lifting platform and a spare grinding wheel lifting platform control motor;

the spare grinding wheel lifting platform control motor is arranged in the spare grinding wheel box, a rotating shaft of the spare grinding wheel lifting platform control motor is connected with the spare grinding wheel lifting platform through a spare grinding wheel lifting screw, and the spare grinding wheel lifting platform control motor drives the spare grinding wheel lifting platform to lift up and down through the spare grinding wheel lifting screw when rotating, so that a spare grinding wheel placed on the spare grinding wheel lifting platform rises to a conveying belt in the spare grinding wheel conveying device.

Further, the spare grinding wheel conveying device comprises a spare grinding wheel horizontal pushing device, a conveying belt driving motor and a conveying belt;

the standby grinding wheel horizontal pushing device is arranged on the cabinet body and used for pushing the new grinding wheel to the conveying belt; the conveyer belt driving motor is in transmission connection with the conveyer belt, and the conveyer belt driving motor drives the conveyer belt to move along the horizontal direction when rotating, so that the to-be-replaced grinding wheel of the conveyer belt moves to a preset position.

Further, the replacing device comprises a replacing positioning mechanism and a nut rotating mechanism; the replacing and positioning mechanism comprises a replacing and moving mechanism and a driving mechanism;

the replacing and moving mechanism comprises a vertical moving slide rail, a horizontal moving lead screw and a vertical moving lead screw;

the driving mechanism comprises a horizontal movement driving motor and a vertical movement driving motor;

the nut rotating mechanism comprises a nut dismounting driving motor and a nut dismounting device;

the vertical moving slide rail is arranged on one side of the cabinet body along the vertical direction, a vertical moving driving motor is arranged on the vertical moving slide rail, a vertical moving lead screw is arranged on a rotating shaft of the vertical moving driving motor, and the horizontal moving slide rail is connected with the vertical moving lead screw so as to be suitable for the horizontal moving slide rail to be capable of lifting and moving along the vertical direction under the action of the vertical moving lead screw; the horizontal movement driving motor is arranged on the horizontal movement sliding rail, a rotating shaft of the horizontal movement driving motor is connected with a horizontal movement lead screw, and the horizontal movement lead screw is connected with a nut rotating mechanism so as to be suitable for the nut rotating mechanism to move to a preset position along the horizontal direction under the action of the horizontal movement lead screw;

the horizontal movement screw rod is connected with the nut dismounting driving motor, so that the nut dismounting driving motor moves in the horizontal direction, and the rotating shaft of the nut dismounting driving motor is connected with the nut dismounting device, so that the nut dismounting device can dismount and lock the nut to be operated.

Further, the nut dismounting driving motor is connected with the nut dismounting device through a coupler; or the reloading device is arranged on the bracket below the conveyor belt.

Further, the grinding wheel replacing device also comprises a replaced grinding wheel collecting box (7), wherein the replaced grinding wheel collecting box (7) is arranged on one side of a spare grinding wheel box on the cabinet body (51) and is used for collecting the replaced grinding wheel; or

The replaced grinding wheel collecting box or/and the spare grinding wheel box are detachably connected with the cabinet body, or

The cabinet body adopts a semi-closed integral structure, or the standby grinding wheel horizontal pushing device adopts a pneumatic pushing device to push a new grinding wheel to the conveying belt.

The invention provides an industrial robot with an automatic grinding wheel replacing device, which comprises an industrial robot and an automatic grinding wheel replacing device, wherein the automatic grinding wheel replacing device is arranged on the industrial robot; the robot is provided with a fixing device, the fixing device is used for installing a grinding wheel of the robot, a grinding motor is arranged on the fixing device, an output shaft of the grinding motor drives the grinding wheel to rotate through a belt, and the automatic grinding wheel replacing device is arranged below the grinding wheel and used for disassembling an old grinding wheel arranged on the robot and installing a grinding wheel to be replaced on a preset position of the robot; and one side of the robot is provided with a used grinding wheel collecting box for collecting the replaced grinding wheels.

Further, the automatic grinding wheel replacing device comprises a cabinet body, a grinding wheel box, a grinding wheel lifting mechanism, a standby grinding wheel conveying device and a replacing device;

the spare grinding wheel box is arranged on one side of the cabinet body, and a spare grinding wheel set is placed in the grinding wheel box;

the grinding wheel lifting mechanism is used for transferring a grinding wheel to be replaced in the spare grinding wheel set to the spare grinding wheel conveying device;

the spare grinding wheel conveying device is used for pushing the conveyed spare grinding wheel to be replaced onto a conveying belt;

the reloading device is arranged in the cabinet body below the conveying belt and used for disassembling the old grinding wheel and installing the grinding wheel to be reloaded to the reloading preset position of the industrial robot.

Further, the grinding wheel lifting mechanism comprises a spare grinding wheel lifting screw, a spare grinding wheel lifting platform and a spare grinding wheel lifting platform control motor;

the spare grinding wheel lifting platform control motor is arranged on a spare grinding wheel box (52), the rotating shaft of the spare grinding wheel lifting platform control motor is connected with the spare grinding wheel lifting platform through a spare grinding wheel lifting screw, and the spare grinding wheel lifting platform control motor drives the spare grinding wheel lifting platform to lift up and down through the spare grinding wheel lifting screw when rotating, so that a spare grinding wheel placed on the spare grinding wheel lifting platform rises to a conveying belt in a spare grinding wheel conveying device.

Further, the spare grinding wheel conveying device comprises a spare grinding wheel horizontal pushing device, a conveying belt driving motor and a conveying belt;

the standby grinding wheel horizontal pushing device is arranged on the cabinet body and used for pushing the new grinding wheel to the conveying belt; the conveying belt driving motor is in transmission connection with the conveying belt, and the conveying belt driving motor drives the conveying belt to move along the horizontal direction when rotating, so that the to-be-replaced new grinding wheel of the conveying belt moves to a preset position;

or

The replacing device comprises a replacing positioning mechanism and a nut rotating mechanism; the replacing and positioning mechanism comprises a replacing and moving mechanism and a driving mechanism;

the replacing and moving mechanism comprises a vertical moving slide rail, a horizontal moving lead screw and a vertical moving lead screw;

the driving mechanism comprises a horizontal movement driving motor and a vertical movement driving motor;

the nut rotating mechanism comprises a nut dismounting driving motor and a nut dismounting device;

the vertical moving slide rail is arranged on one side of the cabinet body along the vertical direction, a vertical moving driving motor is arranged on the vertical moving slide rail, a vertical moving lead screw is arranged on a rotating shaft of the vertical moving driving motor, and the horizontal moving slide rail is connected with the vertical moving lead screw so as to be suitable for the horizontal moving slide rail to be capable of lifting and moving along the vertical direction under the action of the vertical moving lead screw; the horizontal movement driving motor is arranged on the horizontal movement sliding rail, a rotating shaft of the horizontal movement driving motor is connected with a horizontal movement lead screw, and the horizontal movement lead screw is connected with a nut rotating mechanism so as to be suitable for the nut rotating mechanism to move to a preset position along the horizontal direction under the action of the horizontal movement lead screw;

the horizontal movement screw rod is connected with the nut dismounting driving motor, so that the nut dismounting driving motor moves in the horizontal direction, and the rotating shaft of the nut dismounting driving motor is connected with the nut dismounting device, so that the nut dismounting device can dismount and lock the nut to be operated.

The invention has the beneficial effects that:

the invention provides an automatic grinding wheel replacing device for an industrial robot, which automatically replaces a grinding wheel arranged at the front end of the robot with a new grinding wheel through a replacing device, wherein the replacing device comprises a vertical and horizontal moving slide rail and a corresponding driving mechanism, a stepping motor is arranged on a horizontal moving slide table, and a nut dismounting device is arranged on the output end of the stepping motor. The automatic grinding wheel replacing device is reasonable in structure, can realize automatic replacement of grinding wheels, can realize automatic feeding of new grinding wheels and automatic collection of the worn grinding wheels, and greatly improves the automation degree and the working efficiency of the whole device. The whole device is reasonable in structure and wide in application occasions.

Additional advantages, objects, and features of the invention will be set forth in part in the description which follows and in part will become apparent to those having ordinary skill in the art upon examination of the following or may be learned from practice of the invention. The objectives and other advantages of the invention may be realized and attained by the means of the instrumentalities and combinations particularly pointed out hereinafter.

Drawings

In order to make the object, technical scheme and beneficial effect of the invention more clear, the invention provides the following drawings for explanation:

fig. 1 is a schematic structural view of an automatic grinding wheel changing device.

Fig. 2 is a schematic layout of an automatic sanding workstation for an industrial robot according to the present invention.

Description of reference numerals:

1-industrial robot, 2-polishing tool fixing device, 3-polishing motor, 4-grinding wheel,

5-automatically replacing the grinding wheel device,

51-cabinet body, 52-spare grinding wheel box, 53-spare grinding wheel group, 54-spare grinding wheel lifting screw, 55-spare grinding wheel lifting platform, 56-spare grinding wheel lifting platform control motor, 57-conveyor belt driving motor, 58-to-be-replaced grinding wheel, 59-conveyor belt,

6-the device is replaced and installed,

61-a spare grinding wheel horizontal pushing device, 62-a nut dismounting driving motor, 63-a nut dismounting device, 64-a horizontal moving lead screw, 65-a horizontal moving driving motor, 66-a vertical moving lead screw, 67-a vertical moving driving motor,

and 7, a used grinding wheel collecting box.

Detailed Description

The present invention is further described with reference to the following drawings and specific examples so that those skilled in the art can better understand the present invention and can practice the present invention, but the examples are not intended to limit the present invention.