阅读说明：本技术 一种工业机器人自动化喷砂及回收装置 (Automatic sandblast of industrial robot and recovery unit ) 是由 陈楚庞 卢海裕 郑哲宇 卢旭 陈伟俊 罗浩彬 林树发 洪福 于 2021-03-12 设计创作，主要内容包括：本发明涉及一种工业机器人自动化喷砂及回收装置,工件上下料及输送机构的输送转台设置于喷砂室的内部,喷砂室通过分隔板分隔为上下料区及喷砂区,工件工装呈环形列阵布设于输送转台,激光定位组件设置于喷砂室的内部并控制每个工件的定位,输送转台控制工件工装的转动；喷砂机构的机器人外包裹防护服而设置于喷砂室内部的机架上,由喷枪对喷砂区的工件进行喷砂处理；供砂及回收机构的喷砂砂粒经由旋风分离器接出的送砂管道连接喷枪喷射而出,机架设置的漏斗对多余砂粒回收经回砂管道进入旋风分离器；除尘机构对旋风分离器排风除尘；上位机通过控制软件的操作界面对机器人控制动作。具有代替人工喷砂而提高喷砂效率、充分回收喷砂粉尘的优点。(The invention relates to an automatic sand blasting and recycling device of an industrial robot.A conveying rotary table of a workpiece feeding and discharging and conveying mechanism is arranged in a sand blasting chamber, the sand blasting chamber is divided into a feeding and discharging area and a sand blasting area by a partition plate, workpiece tools are distributed on the conveying rotary table in an annular array, a laser positioning assembly is arranged in the sand blasting chamber and controls the positioning of each workpiece, and the conveying rotary table controls the rotation of the workpiece tools; the robot of the sand blasting mechanism is wrapped with protective clothing and arranged on a frame in the sand blasting chamber, and a spray gun is used for carrying out sand blasting treatment on the workpiece in a sand blasting area; the sand blasting sand of the sand supply and recovery mechanism is connected with a spray gun through a sand sending pipeline connected with the cyclone separator and is sprayed out, and a funnel arranged on the frame recovers the redundant sand and enters the cyclone separator through a sand return pipeline; the dust removing mechanism exhausts air to remove dust of the cyclone separator; and the upper computer controls the robot to act through an operation interface of the control software. Has the advantages of replacing manual sand blasting to improve the sand blasting efficiency and fully recycling sand blasting dust.)

1. The utility model provides an automatic sandblast of industrial robot and recovery unit which characterized in that: the device comprises a workpiece feeding, discharging and conveying mechanism, a sand blasting mechanism, a sand supplying and recovering mechanism, a dust removing mechanism and an upper computer;

the workpiece feeding, discharging and conveying mechanism comprises a conveying rotary table (1), workpiece tools (2), a laser positioning component, a servo motor (3) and a speed reducer (4), the conveying rotary table is arranged inside a sand blasting chamber (5), the sand blasting chamber is divided into a feeding and discharging area and a sand blasting area through a partition plate (6) fixed inside the sand blasting chamber, the workpiece tools are distributed on the conveying rotary table in an annular array mode, the laser positioning component is arranged inside the sand blasting chamber and controls the positioning of each workpiece (7), and the conveying rotary table controls the rotation of the workpiece tools through the driving of the servo motor and the transmission of the speed reducer;

the sand blasting mechanism comprises six industrial robots (8) and spray guns (9) connected with the six industrial robots, the six industrial robots are wrapped with protective clothing and arranged on a frame (10) in a sand blasting chamber, and the spray guns are used for performing sand blasting treatment on workpieces in a sand blasting area;

the sand supply and recovery mechanism comprises a cyclone separator (11), a sand feeding pipeline (12) and a sand return pipeline (13), sand blasting sand is ejected out by connecting a sand feeding pipeline connected from the lower part of the cyclone separator with a spray gun, and a funnel (14) arranged below the rack recovers redundant sand during sand blasting and enters the upper part of the cyclone separator through the sand return pipeline;

the dust removal mechanism removes dust in the exhaust air of the cyclone separator through a dust collection pipeline (15); and the upper computer (26) controls the action of the six-axis industrial robot through an operation interface of the control software.

2. The automatic sandblasting and recovery device of an industrial robot as claimed in claim 1, wherein: the workpiece tool is provided with a positioning pin (16), a positioning guide bar (17) and a workpiece locking mechanism (18), and the workpiece is erected on the positioning guide bar and locked through the workpiece locking mechanism and is fixedly positioned on the workpiece tool through the positioning pin.

3. The automatic sandblasting and recovery device of an industrial robot as claimed in claim 1, wherein: the connector of the spray gun connected with the sand conveying pipeline is a sand inlet (19), an air inlet (20) is arranged on the same side of the sand inlet of the spray gun, and a sand outlet (21) is arranged on the other side of the spray gun.

4. The automatic sandblasting and recovery device of an industrial robot as claimed in claim 1, wherein: an observation door (22) is arranged at the front side of the sand blasting chamber, and an opening and closing door (23) is arranged at the material loading and unloading side of the sand blasting chamber.

5. The automatic sandblasting and recovery device of an industrial robot as claimed in claim 1, wherein: the dust removal mechanism is provided with a filter element dust remover (24), and the dust removal mechanism is provided with an overhaul ladder (25).

Technical Field

The invention relates to the field of machining and manufacturing, in particular to an automatic sand blasting and recycling device of an industrial robot.

Background

At present, industrial robots are widely applied to various industries, and along with gradual deepening of traditional Chinese industry upgrading and further improvement of labor environment requirements of workers, the robots increasingly play a significant role in the production process of the spraying industry.

The sand blasting is to spray high-speed sand particles to the surface of a workpiece to be treated by a spray gun by means of air pressure, remove residues such as oxide skin, oil stains and the like on the outer surface of the workpiece, improve the smoothness and fatigue resistance of the workpiece, make the outer surface of the workpiece more beautiful and beautiful, and improve the mechanical property of the surface.

In the existing sand blasting operation production, a workpiece to be subjected to sand blasting is mainly placed on a sand blasting station through a worker, the worker carries out manual sand blasting treatment through a handheld sand blasting gun, the efficiency is low, once sand floating in the air in the sand blasting process is sucked by a human body, harm is easily caused to the human body, and meanwhile, floating sand dust in the sand blasting process is difficult to effectively recover, so that resource waste is caused.

Disclosure of Invention

The invention aims to solve the problems and provides an automatic sand blasting and recycling device of an industrial robot, which is simple to operate, can perform sand blasting instead of manual work through the industrial robot, improves the sand blasting efficiency and fully recycles sand blasting dust.

The purpose of the invention is realized as follows: the device comprises a workpiece feeding, discharging and conveying mechanism, a sand blasting mechanism, a sand supplying and recovering mechanism, a dust removing mechanism and an upper computer; the workpiece feeding, discharging and conveying mechanism comprises a conveying rotary table, workpiece tools, laser positioning components, a servo motor and a speed reducer, the conveying rotary table is arranged inside a sand blasting chamber, the sand blasting chamber is divided into a feeding and discharging area and a sand blasting area through a partition plate fixed inside the sand blasting chamber, the workpiece tools are distributed on the conveying rotary table in an annular array mode, the laser positioning components are arranged inside the sand blasting chamber and control the positioning of each workpiece, and the conveying rotary table controls the rotation of the workpiece tools through the driving of the servo motor and the transmission of the speed reducer; the sand blasting mechanism comprises six industrial robots and spray guns connected with the six industrial robots, the six industrial robots are wrapped with protective clothing and arranged on a rack inside a sand blasting chamber, and the spray guns are used for performing sand blasting treatment on workpieces in a sand blasting area; the sand supply and recovery mechanism comprises a cyclone separator, a sand feeding pipeline and a sand return pipeline, sand blasting sand is ejected out by connecting a sand feeding pipeline connected out from the lower part of the cyclone separator with a spray gun, and a funnel arranged below the frame recovers redundant sand during sand blasting and enters the upper part of the cyclone separator through the sand return pipeline; the dust removing mechanism removes dust in the exhaust air of the cyclone separator through a dust absorption pipeline; and the upper computer controls the action of the six-axis industrial robot through an operation interface of the control software.

According to the invention, the workpiece tool is provided with a positioning pin, a positioning guide bar and a workpiece locking mechanism, and the workpiece is erected on the positioning guide bar, locked by the workpiece locking mechanism and fixedly positioned on the workpiece tool by the positioning pin.

According to the invention, the interface of the spray gun connected with the sand feeding pipeline is a sand inlet, an air inlet is arranged on the same side of the sand inlet of the spray gun, and a sand outlet is arranged on the other side of the spray gun.

According to the invention, the front side of the sand blasting chamber is provided with the observation door, and the loading and unloading sides of the sand blasting chamber are provided with the opening and closing door.

According to the invention, the dust removal mechanism is provided with the filter element dust remover, and the dust removal mechanism is provided with the maintenance ladder.

The invention has the following beneficial effects:

1) the industrial robot replaces manual work to carry out sand blasting operation, accurate positioning control is carried out on a sand blasting path of the robot through the servo motor, the sand blasting effect of each workpiece can be ensured to be consistent, the thickness of a sand layer is uniform, the qualified rate of products is greatly increased, meanwhile, the industrial robot replaces manual work to carry out sand blasting operation, workers are prevented from contacting sand blasting dust for a long time, and harm to a human body is greatly reduced;

2) through installing the frock subassembly on carrying the revolving stage, the staff can place the sandblast work piece in frock subassembly department in advance to use laser positioning assembly to fix a position, ensure that every treats sandblast work piece position unanimous, guarantee the sandblast effect. Meanwhile, the partition plate is used for separating the feeding and discharging area and the sand blasting area, and workers can control sand blasting of fed workpieces through software of the upper computer while feeding, so that labor is saved, and sand blasting efficiency is greatly improved;

3) the sand blasting operation is carried out by using the six-axis industrial robot, the sand blasting machine is compared with the existing sand blasting machine, the sand blasting range is larger, the posture is more flexible, the operation requirement of multi-angle sand blasting of the workpiece can be met, the sand blasting thickness is uniform, secondary sand blasting is not needed, and the economic benefit is improved.

The following examples are provided to further illustrate the present invention in conjunction with the description of the figures.

Drawings

FIG. 1 is a schematic perspective view of one embodiment of the present invention;

FIG. 2 is a schematic structural diagram of the main body of the workpiece loading, unloading and conveying mechanism and the sand blasting mechanism of the embodiment shown in FIG. 1;

FIG. 3 is a schematic structural diagram of the main body of the conveying mechanism of the embodiment in FIG. 1;

FIG. 4 is a schematic perspective view of the turntable of the embodiment of FIG. 1;

FIG. 5 is a schematic perspective view of the workpiece fixture in the embodiment of FIG. 1;

fig. 6 is a perspective view of the spray gun of the embodiment of fig. 1.

In the figure, 1, a conveying turntable; 2. workpiece tooling; 3. a servo motor; 4. a speed reducer; 5. a sand blasting chamber; 6. a partition plate; 7. a workpiece; 8. a six-axis industrial robot; 9. a spray gun; 10. a frame; 11. a cyclone separator; 12. a sand conveying pipeline; 13. a sand return pipeline; 14. a funnel; 15. a dust collection duct; 16. a pin; 17. positioning the conducting bar; 18. a workpiece locking mechanism; 19. a sand inlet; 20. an air inlet; 21. a sand outlet; 22. an observation door; 23. opening and closing the door; 24. a filter element dust remover; 25. an overhaul ladder; 26. and (4) an upper computer.

Detailed Description

Referring to fig. 1 to 6, the embodiment is an automatic sand blasting and recycling device for an industrial robot, which includes a workpiece feeding, discharging and conveying mechanism, a sand blasting mechanism, a sand supplying and recycling mechanism, a dust removing mechanism and an upper computer; the workpiece feeding, discharging and conveying mechanism comprises a conveying rotary table 1, a workpiece tool 2, a laser positioning assembly, a servo motor 3 and a speed reducer 4, wherein the conveying rotary table is arranged inside a sand blasting chamber 5, the sand blasting chamber is divided into a feeding, discharging and sand blasting area through a partition plate 6 fixed inside the sand blasting chamber, a transparent PVC plate is arranged in the middle of the partition plate and used for manually observing the sand blasting working process, the workpiece tools are distributed on the conveying rotary table in an annular array mode, the laser positioning assembly is arranged inside the sand blasting chamber and controls the positioning of six workpieces 7, and the conveying rotary table controls the rotation of the workpiece tool through the driving of the servo motor and the transmission of the speed reducer; the sand blasting mechanism comprises a six-axis industrial robot 8 and a spray gun 9 connected with the six-axis industrial robot, the six-axis industrial robot is wrapped by a protective clothing and arranged on a frame 10 in the sand blasting chamber, and the spray gun performs sand blasting treatment on the workpiece in a sand blasting area; the sand supply and recovery mechanism comprises a cyclone separator 11, a sand feeding pipeline 12 and a sand return pipeline 13, sand blasting sand is ejected out by connecting a sand feeding pipeline connected out from the lower part of the cyclone separator with a spray gun, and a funnel 14 arranged below the frame recovers redundant sand during sand blasting and enters the upper part of the cyclone separator through the sand return pipeline; the dust removing mechanism removes dust in the exhaust air of the cyclone separator through a dust suction pipeline 15; the upper computer 26 controls the six-axis industrial robot to act through an operation interface of the control software; the workpiece fixture is provided with a positioning pin 16, a positioning guide bar 17 and a workpiece locking mechanism 18, a workpiece is erected on the positioning guide bar and locked by the workpiece locking mechanism and is fixedly positioned on the workpiece fixture by the positioning pin, the positioning guide bar is freely adjusted according to the length and the height of the workpiece and is matched with the workpiece locking mechanism, the workpiece is pressed, and the locking requirements of workpieces with different sizes are met by adjusting the front and rear positions of the locking mechanism in a slotted hole; the interface of the spray gun connected with the sand feeding pipeline is a sand inlet 19, an air inlet 20 is arranged on the same side of the sand inlet of the spray gun, and a sand outlet 21 is arranged on the other side of the spray gun; an observation door 22 is arranged at the front side of the sand blasting chamber, and an opening and closing door 23 is arranged at the material loading and unloading side of the sand blasting chamber; the dust removing mechanism is provided with a filter element dust remover 24, and the dust removing mechanism is provided with an overhaul ladder 25.

This embodiment, host computer and upper computer system include 15 cun all-in-one computers and upper computer control software, it has a square groove to open at sandblast room side panel metal, the all-in-one computers nestification is fixed in the panel metal, and communicate through the TCP/IP mode with six industrial robot system PLC, upper computer control software installs in the all-in-one computers, carry out robot program's call through upper computer control software operation interface, control six industrial robot operation programs sandblast, stop, scram, acceleration and deceleration, production state display function.

The working process of the invention is as follows: the workpiece to be subjected to sand blasting is fed in the feeding and discharging area through an operator, is fixedly locked through a workpiece tool, is confirmed by an upper computer and an upper computer system, and is conveyed into the sand blasting area through the workpiece feeding, discharging and conveying mechanism after the confirmation is finished; after the workpiece is conveyed in place, a control system of the industrial robot automatically identifies the model of the workpiece, automatically runs a corresponding program, ejects sand grains stored in the cyclone separator through a sand conveying pipeline through a sand blasting gun, controls the sand blasting gun to blast sand through the six-axis industrial robot, and uniformly sprays the sand grains on the workpiece; after the sand blasting of the workpiece is finished, conveying the sand-blasted workpiece to an upper blanking area through a workpiece feeding, blanking and conveying mechanism; in the conveying process, the automatic air blowing cleaning device blows off residual sand, dust and impurities on the surface of the workpiece to finish the automatic sand blasting process of the whole workpiece; in the sandblast process, unnecessary sand in the sandblast room falls into the funnel of sandblast frame automatically under the effect of recovery unit dust shaker suction, carries out recycle through sending sand pipeline and recovery pipeline, cyclone, carries out the dust removal of dust in the sand through the filter core dust remover, avoids unnecessary impurity to sneak into the sand, causes the work piece sandblast bad, improves the qualification rate of work piece sandblast.

In addition, in this embodiment, six workpiece fixtures and two sand outlets are provided, and the number of the workpiece fixtures and the number of the sand outlets can be increased or decreased according to actual needs according to actual sand blasting process requirements and the size of the workpiece, so as to achieve a better sand blasting effect.