An automatic polishing production line suitable for cookware of various specifications

Abstract

The present invention relates to an automatic polishing production line suitable for cookware of various specifications, comprising: an input line and an output line arranged side by side, and a plurality of polishing systems distributed on the sides of the input line and the sides of the output line and corresponding to each other, each polishing system corresponding to polishing cookware within a size range; a plurality of robot grabbing loading and unloading mechanisms are arranged above the input line and the output line and in sequence along the conveying direction of the input line; an identification end is arranged at the end of the input line. Compared with the prior art, the present invention has strong adaptability and a wide range of applications. Through the provided identification end, the robot grabbing loading and unloading mechanism, the visual positioning mechanism, and a plurality of polishing systems, cookware of various specifications can be automatically identified, and the cookware can be grabbed into the corresponding polishing system for automatic polishing, thereby realizing the problem of automatic polishing of cookware of various specifications. Not only the polishing efficiency is improved, but also the polishing cost is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of cookware polishing, and in particular to an automatic polishing production line suitable for cookware of various specifications. Background Art

[0002] With the continuous development of society, the quality requirements for products are also gradually changing, gradually developing towards high precision, high aesthetics, and high consistency. Therefore, the manufacturing industry must adapt to the development of the times. As a commonly used cookware in people's daily lives, during the production process, the surface of the cookware is prone to roughness or burrs due to process factors or human factors. Therefore, in order to improve the aesthetics and usability, and also to facilitate the handling, packaging and transportation, it is necessary to polish the cookware after it is manufactured.

[0003] There are two existing ways to polish pots, one is manual polishing and the other is semi-automatic polishing. On the one hand, the polishing efficiency of this method is not high, and on the other hand, the semi-automatic polishing method can only polish pots of one specification and size, which has great limitations. However, there is no polishing production line on the market that can realize automatic polishing of pots and polish pots of various specifications. Summary of the invention

[0004] In order to solve the above technical problems, the present invention proposes an automatic polishing production line suitable for cookware of various specifications.

[0005] The technical problem to be solved by the present invention is achieved by adopting the following technical solutions:

[0006] An automatic grinding production line suitable for cookware of various specifications, comprising:

[0007] An input line and an output line are arranged side by side, and a plurality of grinding systems are distributed on the sides of the input line and the sides of the output line and correspond to each other, and each grinding system is corresponding to grinding pots within a size range;

[0008] A plurality of robot loading and unloading mechanisms are arranged above the input line and the output line and in sequence along the conveying direction of the input line. The robot loading and unloading mechanisms perform loading and unloading grabbing actions on the grinding systems correspondingly arranged on both sides thereof.

[0009] An identification end is provided at the feeding end of the input line, which is used to identify the size of the pot after manual loading and transmit the identified size data to the robot grabbing loading and unloading mechanism, so that the corresponding robot grabbing loading and unloading mechanism grabs it to the corresponding polishing system.

[0010] Furthermore, the identification end includes a feeding rack connected to the feeding end of the input line, and a visual 3D camera is provided above the feeding rack.

[0011] Further, the grinding system comprises: a grinding station, a loading platform, and a unloading platform;

[0012] The loading platform is used to place the pots grabbed by the robot loading and unloading mechanism from the input line and feed the polishing station. The table top of the loading platform has a certain slope, and a visual positioning mechanism is provided at the lower end of the loading platform.

[0013] The polishing station is used to grab the pots positioned on the visual positioning mechanism and bring them into the station for polishing;

[0014] The unloading table is used to place the pots polished by the polishing station, and the polished pots are placed on the output line through the robot grabbing the loading and unloading mechanism. The table top of the unloading table also has a certain slope and is consistent with the inclination angle of the loading table and the inclination direction is opposite.

[0015] Furthermore, the visual positioning mechanism includes a visual positioning frame whose table top is flush with the lower end of the loading table, and a visual 3D camera 2 arranged above the visual positioning frame. The table top of the visual positioning frame is provided with symmetrically distributed positioning rails, and a pushing cylinder located at the middle rear position between the positioning rails, and the positioning rails are correspondingly provided with symmetrically distributed positioning blocks, and the axial end of the pushing cylinder is provided with a double-headed cylinder connected to the symmetrically distributed positioning blocks.

[0016] Furthermore, the grinding station comprises:

[0017] A grinding table, comprising at least a first grinding unit, a second grinding unit and a third grinding unit that can work independently;

[0018] The first grinding robot adopts a contoured first clamp to clamp the pot from the outside of the pot mouth in a self-centering manner, generates motion instructions according to the contour shape of the inner wall of the pot and the inner shape of the pot handle, and drives the first grinding robot according to the instructions to work in coordination with the first grinding unit and the third grinding unit to grind the inner side of the pot handle, the inner bottom of the pot and the inner wall of the pot;

[0019] The second polishing robot uses the polished inner wall of the pot and the inner side of the handle as the support and grasping position for positioning and grasping, generates motion instructions according to the shape of the pot, and drives the second polishing robot to grasp the pot according to the instructions to work with the polishing unit 2 and the polishing unit 3 to polish the flash of the pot mold line, the outer wall of the pot and the outer bottom of the pot;

[0020] Among them, after the polishing robot No. 1 completes the polishing task, it moves the pot to the designated position in the space that the polishing robot No. 2 can grasp. The polishing robot No. 2 reaches into the pot and clamps and grasps it. After the two robots complete the docking of the pot, the polishing robot No. 1 releases the clamp and retreats.

[0021] Furthermore, the first grinding robot comprises:

[0022] Robot 1;

[0023] A clamp No. 1 located at one end of the manipulator;

[0024] Among them, clamp No. 1 includes a first power source, a second power source, a pot shape clamp driven by the first power source to clamp the shape of the pot mouth to achieve self-centering positioning of the pot, a pot handle contour clamp driven by the second power source to buckle the pot handle by pulling back to lock and fix the pot and used in pairs, and a limit rod that serves as a limit to further strengthen the fixation of the pot. The installation position of the second power source is adjustable so that the pot handle contour clamp can adapt to buckling the pot handle within a certain size range.

[0025] Furthermore, the pot-shaped clamp comprises four pot-shaped clamps connected to a first power source, and driven by the first power source, the four clamps of the four pot-shaped clamps synchronously move toward the center to clamp the pot, and a No. 1 clamping contact point is correspondingly provided on the inner side of the ends of the four clamps used for clamping on the four pot-shaped clamps.

[0026] Furthermore, the pot shape profiling jaws include pot shape profiling jaws which are connected to the first power source via a connecting rod mechanism and are used in pairs. The first power source transmits power via the connecting rod mechanism to drive the paired pot shape profiling jaws to synchronously move closer to each other to clamp the pot. A second clamping contact point is correspondingly provided on the inner side of the end of the pot shape profiling jaw used for clamping.

[0027] Furthermore, the second grinding robot comprises:

[0028] Robot 2;

[0029] The second clamp located at the second end of the robot;

[0030] Among them, the No. 2 clamp includes a third power source, a fourth power source, four claws of the inner wall of the pot driven by the fourth power source to simultaneously radially press against the inner wall of the pot for applying an external supporting force to achieve center positioning of the pot, and inner inner supporting contoured claws of the pot handle driven by the third power source to buckle the inside of the pot handle by opening outwards to buckle and fix the pot after the pot is center positioned, and inner supporting tightening contact points are provided on the ends of the four claws of the inner wall of the pot used for internal support, and the installation position of the third power source is adjustable so that the inner inner supporting contoured claws of the pot handle can adapt to buckling pot handles within a certain size range.

[0031] Furthermore, the robot grasping loading and unloading mechanism includes a mounting frame arranged above the input line and the output line, a grasping robot arranged on the mounting frame, and an electromagnet adsorption fixture located at the end of the grasping robot.

[0032] The beneficial effects of the present invention are:

[0033] Compared with the prior art, the present invention has strong adaptability and a wide range of applications. Through the identification end, robot grabbing and loading and unloading mechanism, visual positioning mechanism, and several grinding systems, it can automatically identify cookware of various specifications and grab them to the corresponding grinding system for automatic grinding, thus realizing the problem of automatic grinding of cookware of various specifications. It not only improves the grinding efficiency, but also reduces the grinding cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] The present invention is further described below in conjunction with the accompanying drawings and embodiments:

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 It is a schematic diagram of the external structure of the grinding station in the present invention;

[0037] Figure 3 It is a schematic diagram of the internal structure of the grinding station in the present invention;

[0038] Figure 4 Schematic diagram of the structure of clamp No. 1 in Embodiment 1 of the present invention;

[0039] Figure 5 This is a schematic diagram of the structure of a clamp No. 1 in Embodiment 2 of the present invention;

[0040] Figure 6 This is a schematic diagram of the structure of the second clamp in the first embodiment of the present invention;

[0041] Figure 7 It is a structural schematic diagram of the identification end in the present invention;

[0042] Figure 8 It is a structural schematic diagram of the visual positioning mechanism in the present invention;

[0043] Fig. 9 It is a structural schematic diagram of the robot grabbing and loading and unloading mechanism in the present invention;

[0044] Fig.10 It is a structural schematic diagram of the material blocking mechanism in the present invention. DETAILED DESCRIPTION

[0045] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below with reference to the accompanying drawings and embodiments.

[0046] Embodiment 1:

[0047] like Figure 1As shown, an automatic grinding production line suitable for cookware of various specifications comprises:

[0048] An input line 1 and an output line 2 are arranged side by side, and a plurality of grinding systems are distributed on the sides of the input line 1 and the sides of the output line 2 and correspond to each other, and each grinding system is corresponding to grinding pots within a size range;

[0049] A plurality of robot loading and unloading mechanisms are arranged above the input line 1 and the output line 2 and in sequence along the conveying direction of the input line 1. The robot loading and unloading mechanisms perform loading and unloading grabbing actions on the grinding systems correspondingly arranged on both sides thereof;

[0050] An identification end is provided at the end of the input line 1, which is used to identify the size of the pot after manual loading and transmit the identified size data to the robot grabbing loading and unloading mechanism, so that the corresponding robot grabbing loading and unloading mechanism grabs it to the corresponding polishing system.

[0051] As a further improvement of the present invention, the production line also includes a PLC integrated control system, which is used to control the grinding work of the above-mentioned several grinding systems, to process the size data sent by the identification end, and to control the corresponding robot grabbing loading and unloading mechanism to grab the corresponding pot to the corresponding grinding system, and to control the robot grabbing loading and unloading mechanism to perform unloading work.

[0052] As a further improvement of the present invention, the input line 1 is located at the front side, the output line 2 is located at the rear side, the right end of the input line 1 is the manual loading area, and the right end of the output line 2 is the manual taking area.

[0053] There are eight grinding systems distributed on the front side of the input line 1 and the back side of the output line 2. The four grinding systems located on the front side of the input line 1 are grinding system one, grinding system two, grinding system three, and grinding system four from right to left; the four grinding systems located on the back side of the output line 2 are grinding system five, grinding system six, grinding system seven, and grinding system eight from left to right.

[0054] Among them, grinding system one corresponds to grinding system eight front and back, grinding system two corresponds to grinding system seven front and back, grinding system three corresponds to grinding system six front and back, and grinding system four corresponds to grinding system five front and back.

[0055] Each grinding system is designed to grind cookware within a certain size range. For a better understanding, here are some examples:

[0056] Grinding system 1 is used to grind pots within the range of 100-130mm (including 130mm);

[0057] Grinding system 2 is suitable for grinding pots within the range of 130-160mm (including 160mm);

[0058] Polishing system three is for polishing pots within the range of 160-190mm (including 190mm);

[0059] Polishing system 4 is for polishing pots within the range of 190-220mm (including 220mm);

[0060] Polishing system 5 is for polishing pots within the range of 220-250mm (including 250mm);

[0061] Polishing system six is ​​for polishing pots within the range of 250-280mm (including 280mm);

[0062] Polishing system seven is for polishing pots within the range of 280-310mm (including 310mm);

[0063] Grinding system eight is suitable for grinding pots within the range of 310-340mm (including 340mm).

[0064] The size range in the present invention is not limited to the size range in the above examples. In actual use, it can be customized according to customer needs or scene usage requirements.

[0065] As a further improvement of the present invention, there are four robot grabbing loading and unloading mechanisms distributed in sequence from right to left.

[0066] Starting from the right, the first robot grabbing loading and unloading mechanism can realize the material picking action of grinding system one, the material loading action of grinding system two, the material picking action of grinding system seven, and the material loading action of grinding system eight.

[0067] The second robot's grabbing and loading and unloading mechanism can realize the material taking action of grinding system two, the material loading action of grinding system three, the material taking action of grinding system six, and the material loading action of grinding system seven;

[0068] The third robot's grabbing and loading and unloading mechanism can realize the material taking action of grinding system three, the material loading action of grinding system four, the material taking action of grinding system five, and the material loading action of grinding system six;

[0069] The fourth robot's grabbing and loading and unloading mechanism can realize the material picking action of grinding system four and the material loading action of grinding system five.

[0070] As a further improvement of the present invention, Fig. 9As shown, the robot grasping and loading and unloading mechanism includes a mounting frame 11 arranged above the input line 1 and the output line 2, a grasping robot 111 arranged on the mounting frame 11, and an electromagnet adsorption fixture 112 located at the end of the grasping robot 111. The electromagnet adsorption fixture 112 can realize rapid adsorption and grasping of the pots, thereby maximizing the polishing efficiency.

[0071] As a further improvement of the present invention, Fig.10 As shown, each robot is provided with a corresponding material blocking mechanism below the loading and unloading mechanism and on the input line 1. The material blocking mechanism includes a material blocking frame 12 and a material blocking cylinder 121 installed on the material blocking frame 12. The material blocking cylinder 121 is connected to a material blocking plate 122.

[0072] The function of the material blocking mechanism is to prevent the pots on the input line 1 from missing when the robot grabs the loading and unloading mechanism to grab the pots into the polishing system or grabs the polished pots from the polishing system to the output line 2, thereby playing a blocking role.

[0073] As a further improvement of the present invention, Figure 7 As shown, the identification end is a product classification visual photography station, the purpose of which is to distinguish the sizes of products that are randomly loaded manually and then transport them to the corresponding polishing system.

[0074] The identification end includes a feed rack 3 connected to the feed end of the input line 1, a feed belt line 32 is provided on the feed rack 3, and a visual 3D camera 31 is provided above the feed belt line 32 and located on the feed rack 3.

[0075] Among them, the pots on the feeding belt line 32 are manually loaded, and the pots are transported to the input line 1 through the feeding belt line 32. The visual 3D camera 31 can distinguish the size of the pots randomly loaded by humans, and then transmit the size data to the robot grabbing loading and unloading mechanism, and the robot grabbing loading and unloading mechanism grabs the pots to the corresponding polishing system for polishing.

[0076] As a further improvement of the present invention, each grinding system includes a grinding station 41, a loading platform 42, and a unloading platform 43. Among the grinding systems 1 to 4, the loading platform 42 is located on the left, the grinding station 41 is located in the middle, and the unloading platform 43 is located on the right. In the grinding systems 5 to 8, the positions of the loading platform 42 and the unloading platform 436 are swapped.

[0077] like Figure 1As shown, the loading table 42 is used to place the pots and pans grabbed by the robot's loading and unloading mechanism from the input line 1 and feed the polishing station 41. The table top of the loading table 42 has a certain slope, and its inclination direction is from the middle to the front and rear sides; a visual positioning mechanism is provided at the end of the loading table 42; the visual positioning mechanism is a product orientation station, and its purpose is to accurately position the product for polishing.

[0078] The polishing station 41 is used to grab the pots positioned on the visual positioning mechanism and carry out polishing work in the station;

[0079] The unloading table 43 is used to place the pots polished by the polishing station 41, and the polished pots are placed on the output line 2 through the robot grabbing loading and unloading mechanism. The table top of the unloading table 43 also has a certain slope and is opposite to the inclination direction of the loading table 42.

[0080] Among them, the pots on the loading table 42 in the grinding system one are manually loaded, and the pots on the unloading table 43 in the grinding system eight are manually unloaded.

[0081] As a further improvement of the present invention, Figure 8 As shown, the visual positioning mechanism includes a visual positioning frame 5 whose table top is flush with the lower end of the loading table 42, and a visual 3D camera 51 arranged above the visual positioning frame 5. The table top of the visual positioning frame 5 is provided with symmetrically distributed positioning guide rails 52, and a pushing cylinder 53 located at the middle rear position between the positioning guide rails 52. The positioning guide rails 52 are correspondingly provided with symmetrically distributed positioning blocks 54, and the axial end of the pushing cylinder 53 is provided with a double-headed cylinder 55 connected to the symmetrically distributed positioning blocks 54.

[0082] In order to prevent overcutting or underprocessing during product grinding, which may affect product quality, the shooting angle error of the visual 3D camera 1 31 and the visual 3D camera 2 54 shall not exceed 0.2 degrees.

[0083] The positioning cylinder 52 pushes the positioning blocks 53 to gather in the middle to achieve the clamping and positioning of the cookware. The setting of the positioning guide rail 51 can adjust the position of the cookware on the visual positioning frame 5, making the cookware easier to grasp.

[0084] As a further improvement of the present invention, Figure 2 , Figure 3 As shown, each polishing station 41 is a relatively closed polishing room, and a protective door 411 is provided on the left side of the front wall of the polishing room. When the protective door 411 is opened, there will be a manipulator debugging channel for manipulator debugging. Windows 41a are provided on the corresponding two sides of the polishing room to facilitate the pots to enter and take out of the station.

[0085] The grinding station 41 includes a grinding table 412, a first grinding robot, a second grinding robot, an electrical control system, a human-machine operation terminal connected to the electrical control system, and a dust removal system.

[0086] As a further improvement of the present invention, Figure 3 As shown, the grinding table 412 includes a grinding unit 1, a grinding unit 2 and a grinding unit 3, and the grinding unit 3 is located between the grinding unit 1 and the grinding unit 2.

[0087] Among them, the No. 1 polishing robot adopts a contoured No. 1 clamp to clamp the pot in a self-centering manner from the outside of the mouth of the pot, generates motion instructions according to the contour shape of the inner wall of the pot and the inner shape of the pot handle, and drives the No. 1 polishing robot according to the instructions issued by the PLC integrated control system to work in coordination with polishing unit 1 and polishing unit 3 to polish the inside of the pot handle, the inner bottom of the pot and the inner wall of the pot.

[0088] The No. 2 polishing robot uses the polished inner wall of the pot and the inner side of the handle as the support and grasping position for positioning and grasping, generates motion instructions according to the shape of the pot, and drives the No. 2 polishing robot to grasp the pot according to the instructions issued by the PLC integrated control system to work with the polishing unit 2 and the polishing unit 3 to polish the flash of the pot mold line, the outer wall of the pot, and the outer bottom of the pot. Among them, the advantage of using the polished inner wall of the pot and the inner side of the handle as the support and grasping position is that the inner wall of the pot and the inner side of the handle have been polished at this time, and the position is relatively accurate, which ensures the subsequent polishing accuracy.

[0089] After the first polishing robot completes the polishing task, it moves the pot to the designated position in the space that the second polishing robot can grasp. The second polishing robot reaches into the pot and clamps and grasps it. After the two robots complete the pot docking, the first polishing robot releases the clamp and returns. The purpose of designing the above-mentioned aerial docking is to avoid the secondary positioning of the pot, thereby generating unnecessary positioning errors and affecting the polishing effect.

[0090] As a further improvement of the present invention, Figure 3 As shown, the grinding unit 1 includes a floating spindle 61 and a No. 1 impeller drive motor 62 which are sequentially arranged on the grinding table 412, and the floating spindle 61 and the No. 1 impeller drive motor 62 are respectively connected with a diamond conical grinding head 64 and a No. 1 impeller 65. The No. 1 impeller 65 is used to grind the inner wall of the pot.

[0091] The second grinding unit comprises a cast iron grinding diamond wheel drive motor 71 and a second impeller wheel drive motor 72 which are sequentially arranged on the grinding table 412. The cast iron grinding diamond wheel drive motor 71 and the second impeller wheel drive motor 72 are respectively connected to a cast iron grinding diamond wheel 73 and a second impeller wheel 74. The second impeller wheel 74 is used to grind the outer wall of the pot.

[0092] The grinding unit three includes a shutter wheel driving motor 63 disposed on the grinding table 412 , and the shutter wheel driving motor 63 is connected to a shutter wheel 66 .

[0093] Among them, the specification of the floating main shaft 61 is 800W; the parameters of the No. 1 flap wheel drive motor 62 and the No. 2 flap wheel drive motor 72 are 2.2KW, and the rotation speed is 2400r / min; the parameters of the louver wheel drive motor 63 are 2.2KW, and the rotation speed is 2400r / min; the parameters of the cast iron grinding diamond wheel drive motor 71 are 2.2KW, and the rotation speed is 2400r / min.

[0094] In addition, the grinding table 412 is also provided with an outer sheet metal shield 413 for covering the floating spindle 61, the first flap wheel drive motor 62, the shutter wheel drive motor 63, the cast iron grinding diamond wheel drive motor 71, and the second flap wheel drive motor 72 to provide protection and dustproof.

[0095] Specific polishing process:

[0096] The No. 1 grinding robot first moves the positioned pot from the visual positioning frame 5 to the diamond conical grinding head 64 to grind the narrow corner inside the pot handle; then, it moves to the No. 1 flap wheel 65 to grind the inner wall of the pot; then, it moves to the flap wheel 66 to grind the inner bottom of the pot.

[0097] After the No. 1 polishing robot completes its polishing process, it transfers the semi-finished pot to the No. 2 polishing robot through aerial docking.

[0098] The No. 2 grinding robot moves the pot to the cast iron grinding diamond wheel 73 to grind the outer edge of the pot's mold line; then, it moves to the No. 2 flap wheel 74 to grind the outer wall of the pot; then, it moves to the louver wheel 66 to grind the outer bottom of the pot.

[0099] After the cookware is polished, the second polishing robot places the polished cookware on the unloading table 43, and then the robot grabs the loading and unloading mechanism to place the polished cookware on the output line 2.

[0100] As a further improvement of the present invention, Figure 3 As shown, the grinding robot No. 1 includes:

[0101] Manipulator 8, a clamp No. 1 located at the end of manipulator 8.

[0102] As a further improvement of the present invention, Figure 3 and Figure 4 As shown, the clamp No. 1 includes a first connecting flange 81 connected to the manipulator 8, a first mounting plate 82 connected to the first connecting flange 81, a first power source arranged on the first mounting plate 82, a second power source, a pot shape clamp driven by the second power source to clamp the shape of the pot mouth to achieve self-centering positioning of the pot, a pot handle contour clamp 87 driven by the second power source to buckle the pot handle by pulling back to lock and fix the pot and used in pairs, and a limit rod 88 that serves to limit and further strengthen the fixation of the pot.

[0103] In the first embodiment, the first power source is the first cylinder 83, and the second power source is the second cylinder 84. The first cylinder 83 is installed in the middle of the first mounting plate 82, and the second cylinder 84 is located on both sides of the first mounting plate 82 and is symmetrically distributed.

[0104] The bottom of both sides of the first mounting plate 132 is correspondingly provided with a first connecting rod 85 which is slidably connected to the pair of pot handle shaped claws 87. When the second cylinder 84 is pushed downward, the two pairs of pot handle shaped claws 87 are opened under the guidance of the first connecting rod 85; when the second cylinder 84 is pulled upward, the two pairs of pot handle shaped claws 87 are closed under the guidance of the first connecting rod 85.

[0105] First adjustment mounting holes 82a are correspondingly provided on both sides of the first mounting plate 132, and the second cylinder 84 is correspondingly installed on the first adjustment mounting holes 82a through the first cylinder adjustment plate 841. Through the coordinated installation of the first cylinder adjustment plate 841 and the first adjustment mounting hole 82a, the position of the second cylinder 84 can be adjusted within a certain range, thereby enabling the cookware handle contoured clamp 87 to clamp cookware within a certain size range.

[0106] The pot-shaped clamp includes a pot-shaped four-claw 86 connected to a first power source. Driven by the first power source, the four claws of the pot-shaped four-claw 86 are synchronously moved toward the center to clamp the pot. The inner sides of the four claws of the pot-shaped four-claw 86 for clamping are respectively provided with a first clamping contact point 861. Four limit rods 88 are provided, which are respectively distributed at positions between the four claws.

[0107] As a further improvement of the present invention, Figure 3 As shown, the second grinding robot comprises:

[0108] Robot arm 2 9; clamp No. 2 located at the end of robot arm 2 9.

[0109] As a further improvement of the present invention, Figure 6 As shown, the second clamp includes a second connecting flange 91 connected to the second manipulator 9, a second mounting plate 92 connected to the second connecting flange 91, a third power source arranged on the second mounting plate 92, a fourth power source, four inner supporting claws 96 of the inner wall of the pot driven by the fourth power source to simultaneously radially abut against the inner wall of the pot for applying an external supporting force to achieve center positioning of the pot, and inner supporting contour claws 97 of the inner handle of the pot driven by the third power source to buckle the inside of the pot handle in a way of opening outwards to buckle and fix the pot after the pot is center positioned and used in pairs.

[0110] In the first embodiment, the third power source is the third cylinder 94, and the fourth power source is the fourth cylinder 93. The fourth cylinder 93 is located at the bottom of the middle of the second mounting plate 92, and the third cylinder 94 is located on both sides of the second mounting plate 92 and is symmetrically distributed.

[0111] The bottom of both sides of the second mounting plate 92 is provided with a second connecting rod 95 which is slidably connected to the paired inner support contoured clamping claws 97 of the cookware handle. When the third cylinder 94 pushes downward, the inner support contoured clamping claws 97 of the cookware handle are opened under the guidance of the second connecting rod 95. When the third cylinder 94 is pulled upward, the inner support contoured clamping claws 97 of the cookware handle are closed under the guidance of the second connecting rod 95.

[0112] Second adjustment mounting holes 92a are correspondingly provided on both sides of the second mounting plate 92, and the third cylinder 94 is correspondingly mounted on the second adjustment mounting holes 92a through the second cylinder adjustment plate 941. Through the coordinated installation of the second cylinder adjustment plate 941 and the second adjustment mounting hole 92a, the position of the third cylinder 94 can be adjusted within a certain range, thereby enabling the inner supporting contoured clamping claws 97 inside the cookware handle to clamp cookware within a certain size range.

[0113] The four inner claws of the four inner supporting claws 96 for the inner wall of the cookware are all provided with inner supporting contact points 961, and the inner supporting contact points 961 enable the four inner supporting claws 96 for the inner wall of the cookware to be pressed tightly against the inner wall of the cookware within a certain size range.

[0114] As a further improvement of the present invention, Figure 3 As shown, the dust removal system comprises:

[0115] The grinding pin collecting funnel 10 is provided with five grinding pin collecting funnels 10, which are respectively distributed below the grinding unit 1 and the grinding unit 2, and are used to collect dust generated when the grinding unit 1 and the grinding unit 2 grind the cookware.

[0116] The air collecting box 101 is interconnected with the five wear pin collecting funnels 10 through five exhaust air ducts 102, and is used to generate suction to suck away the dust in the wear pin collecting funnels 10.

[0117] The exhaust pipe 103, air filter 104 and discharge drawer 105 are correspondingly arranged on the air collecting box 101. The air filter 104 is used to filter the air containing dust to prevent the air containing dust from being discharged out of the grinding station 41 through the exhaust pipe 103 to cause environmental pollution; the discharge drawer 105 is used to collect the dust in the grinding pin collecting funnel 10.

[0118] Embodiment 2:

[0119] The difference from the first embodiment is that, Figure 5 As shown, the pot shape clamp includes a pot shape profiling clamp 136 which is connected to the first power source through a connecting rod mechanism and is used in pairs. The end of the pot shape profiling clamp 136 for clamping is an arc-shaped structure, and two No. 2 clamping contact points 1361 are correspondingly provided on the inner arc wall of each clamping end.

[0120] As a further improvement of the present invention, Figure 5 As shown, the connecting rod mechanism includes a connecting hinge rod 138 which is arranged at the bottom of both sides of the first mounting plate 82 and is correspondingly connected to the two pot shape profiling claws 136, and a connecting plate 139 connected to the first cylinder 83. The two ends of the connecting plate 139 are respectively connected to the two pot shape profiling claws 136 through connecting rods 1310.

[0121] By transmitting power through the connecting rod mechanism, the first cylinder 83 can drive the paired pan shape-contacting clamping jaws 136 to move synchronously toward each other to clamp the pan.

[0122] In the second embodiment, four limiting rods 88 are also provided. The difference from the first embodiment is that the four limiting rods 88 are respectively installed around the connecting plate 139 .

[0123] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. An automatic polishing production line suitable for cookware of various specifications, characterized by: include: An input line (1) and an output line (2) are arranged side by side, and a plurality of grinding systems are distributed on the side of the input line (1) and the side of the output line (2) and correspond to each other, each grinding system is corresponding to grinding pots within a size range; A plurality of robot grabbing loading and unloading mechanisms are arranged above the input line (1) and the output line (2) and in sequence along the conveying direction of the input line (1), and the robot grabbing loading and unloading mechanisms perform loading and unloading grabbing actions on the grinding systems correspondingly arranged on both sides thereof; The feeding end of the input line (1) is provided with an identification end, which is used to identify the size of the pot after manual loading and transmit the identified size data to the robot grabbing loading and unloading mechanism, so that the corresponding robot grabbing loading and unloading mechanism grabs it to the corresponding polishing system; The identification end comprises a feeding rack (3) connected to the feeding end of the input line (1), and a visual 3D camera (31) is provided above the feeding rack (3); The grinding system comprises: a grinding station (41), a loading platform (42), and a unloading platform (43); The loading platform (42) is used to place the pots and pans grabbed by the robot loading and unloading mechanism from the input line (1) and to feed the polishing station (41). The surface of the loading platform (42) has a certain slope, and a visual positioning mechanism is provided at the lower end of the loading platform (42); The polishing station (41) is used to grab the pot that has been positioned on the visual positioning mechanism and bring it into the station for polishing; The unloading table (43) is used to place the pots polished by the polishing station (41), and the polished pots are placed on the output line (2) by means of a robot grabbing loading and unloading mechanism. The table top of the unloading table (43) also has a certain slope and is consistent with the tilt angle of the loading table (42) and has an opposite tilt direction. The grinding station (41) comprises: A grinding table (412) having at least a first grinding unit, a second grinding unit and a third grinding unit that work independently; The first grinding robot adopts a contoured first clamp to clamp the pot from the outside of the pot mouth in a self-centering manner, generates motion instructions according to the contour shape of the inner wall of the pot and the inner shape of the pot handle, and drives the first grinding robot according to the instructions to work in coordination with the first grinding unit and the third grinding unit to grind the inner side of the pot handle, the inner bottom of the pot and the inner wall of the pot; The second polishing robot uses the polished inner wall of the pot and the inner side of the handle as the support and grasping position for positioning and grasping, generates motion instructions according to the shape of the pot, and drives the second polishing robot to grasp the pot according to the instructions to work with the polishing unit 2 and the polishing unit 3 to polish the flash of the pot mold line, the outer wall of the pot and the outer bottom of the pot; After the polishing task is completed by the No. 1 polishing robot, the pot is moved to the designated position in the space that the No. 2 polishing robot can grasp. The No. 2 polishing robot reaches into the pot and clamps and grasps it. After the two robots complete the docking of the pot, the No. 1 polishing robot releases the clamp and returns. The grinding robot No. 1 comprises: Robot 1 (8); A clamp No. 1 located at the end of the robot arm 1 (8); The first clamp comprises a first power source, a second power source, a pot shape clamp driven by the first power source and used to clamp the shape of the pot mouth to achieve self-centering positioning of the pot, a pot handle profiling clamp (87) driven by the second power source and used in pairs to clamp the pot handle by pulling back to lock and fix the pot, and a limiting rod (88) used to limit and further strengthen the fixation of the pot, and the installation position of the second power source is adjustable so that the pot handle profiling clamp (87) is suitable for clamping pot handles within a certain size range; The second grinding robot comprises: Robot II (9); Clamp No. 2 located at the end of robot arm No. 2 (9); The second clamp comprises a third power source, a fourth power source, four inner wall inner support claws (96) driven by the fourth power source to simultaneously radially abut against the inner wall of the pot for applying an external support force to achieve center positioning of the pot, and inner inner support profiling claws (97) driven by the third power source to buckle the inside of the pot handle by expanding outwards to buckle and fix the pot after the pot is centrally positioned and used in pairs, wherein the inner support tightening contact points (961) are provided on the ends of the inner wall inner support claws (96) used for inner support, and the installation position of the third power source is adjustable so that the inner inner support profiling claws (97) of the pot handle are adapted to buckle pot handles within a certain size range.

2. The automatic polishing production line applicable to cookware of various specifications according to claim 1 is characterized in that: The visual positioning mechanism comprises a visual positioning frame (5) whose table top is flush with the lower end of the loading table (42), and a second visual 3D camera (51) arranged above the visual positioning frame (5). The table top of the visual positioning frame (5) is provided with symmetrically distributed positioning guide rails (52), and a driving cylinder (53) located at the middle rear side position between the positioning guide rails (52), and the positioning guide rails (52) are correspondingly provided with symmetrically distributed positioning blocks (54), and the axial end of the driving cylinder (53) is provided with a double-headed cylinder (55) connected to the symmetrically distributed positioning blocks (54).

3. The automatic polishing production line applicable to cookware of various specifications according to claim 1 is characterized in that: The pot-shaped clamp comprises four pot-shaped clamps (86) connected to a first power source. When driven by the first power source, the four clamps of the pot-shaped clamps (86) are synchronously moved toward the center to clamp the pot. A first clamping contact point (861) is correspondingly provided on the inner side of the ends of the four clamps for clamping on the pot-shaped clamps (86).

4. The automatic polishing production line applicable to cookware of various specifications according to claim 1 is characterized in that: The pot shape clamping jaws include pot shape profiling clamping jaws (136) connected to a first power source via a connecting rod mechanism and used in pairs. The first power source transmits power via the connecting rod mechanism to drive the paired pot shape profiling clamping jaws (136) to synchronously move closer to each other to clamp the pot. A second clamping contact point (1361) is correspondingly provided on the inner side of the end portion of the pot shape profiling clamping jaws (136) used for clamping.

5. The automatic polishing production line applicable to cookware of various specifications according to claim 1 is characterized in that: The robot grasping and loading and unloading mechanism comprises a mounting frame (11) arranged above an input line (1) and an output line (2), a grasping robot (111) arranged on the mounting frame (11), and an electromagnet adsorption fixture (112) located at the end of the grasping robot (111).

Images