A robot grinding and processing production line

Abstract

A robotic grinding and processing production line relates to the field of robotic processing technology. It includes a grinding robotic arm, a grinding fixing device, a turning and positioning device, a part transfer device, a feeding conveyor belt, and a discharging conveyor belt. During processing, the part moves along the feeding conveyor belt to the position below the part transfer device. The part transfer device grabs the part and places it on the grinding fixing device. The grinding fixing device fixes the part to facilitate the grinding operation of the grinding robotic arm. After the grinding of one surface is completed, the part transfer device grabs the part and places it on the turning and positioning device. The turning and positioning device turns the part over, and then the part transfer device grabs it and places it on the grinding fixing device for the grinding of another surface. Finally, the part transfer device places the part on the discharging conveyor belt. The entire structure of the robotic grinding and processing production line is simple, reasonably designed, and convenient to use. It can achieve fully automated operation of the part from feeding to grinding and then to discharging, with high processing efficiency and processing accuracy.

Description

Technical Field

[0001] The present invention relates to the technical field of robot processing, and more particularly, to a robot grinding processing production line. Background Art

[0002] With the progress of the times and the development of technology, the use of robots to replace manual processing operations has attracted more and more attention. Compared with traditional manual operations, using robots to process parts not only has high efficiency and high precision, but also can maintain this high efficiency and high precision during long-term operations, thus providing better control over product quality.

[0003] However, many existing robot processing production lines still mostly remain in the conceptual stage and there is still a certain distance to be implemented in practice. In actual production, to achieve fully automatic processing of parts by robots, it is necessary to consider the entire process from part feeding, part processing to part discharging, and continuous optimization design is required for how multiple devices cooperate and how they are arranged. Summary of the Invention

[0004] The purpose of the present invention is to provide a robot grinding processing production line, which has a simple structure, reasonable design, convenient use, realizes fully automatic operation of parts from feeding to grinding and then to discharging, and has high processing efficiency and processing precision.

[0005] The embodiments of the present invention are implemented as follows:

[0006] A robot grinding processing production line includes a grinding robot arm, a grinding fixing device, a turning and positioning device, a part transfer device, a feeding conveyor belt, and a discharging conveyor belt; the turning and positioning device, the grinding fixing device, the feeding conveyor belt, and the discharging conveyor belt are arranged side by side in sequence; the turning and positioning device is provided with a turning operation area for turning parts, the grinding fixing device is provided with a grinding operation area for fixing parts, the grinding robot arm is located in front of the grinding operation area and faces the grinding operation area; the part transfer device includes a transfer track and a transfer slider slidably engaged with the transfer track, a gripping member for gripping parts is provided at the bottom of the transfer slider, and the transfer track straddles above the turning operation area, the grinding operation area, the feeding conveyor belt, and the discharging conveyor belt.

[0007] Further, in other preferred embodiments of the present invention, the flipping and positioning device includes a first bracket and a clamping member; a flipping platform is provided at the top of the first bracket. The flipping platform is hinged to the first bracket through a horizontally arranged rotating shaft and can be flipped around the rotating shaft under the drive of a first driving device; a through mounting hole is provided in the middle of the flipping platform; the clamping member is arranged in the mounting hole. The clamping member includes a fixing portion for fixedly connecting with the flipping platform, and a pair of clamping arms arranged on the fixing portion. The pair of clamping arms can be close to or away from each other under the drive of a second driving device.

[0008] Further, in other preferred embodiments of the present invention, the first driving device includes a sliding rail arranged along the width direction of the flipping platform, and a sliding member cooperating with the sliding rail. A rack is arranged on the side of the sliding member close to the flipping platform, and the rack is arranged along the width direction of the flipping platform; one end of the rotating shaft is provided with a gear, and the gear meshes with the rack; the first driving device further includes a hydraulic rod for driving the sliding member to slide along the sliding rail. The hydraulic rod is arranged along the width direction of the flipping platform. The base of the hydraulic rod is fixedly connected with the first bracket, and the movable rod of the hydraulic rod is connected with the sliding member.

[0009] Further, in other preferred embodiments of the present invention, the second driving device includes a first air cylinder. The first air cylinder includes a first fixed seat, and the first fixed seat is connected with the fixing portion and arranged along the thickness direction of the flipping platform. First telescopic rods are arranged at both ends in the length direction of the first fixed seat, and the two first telescopic rods are respectively connected with a pair of clamping arms.

[0010] Further, in other preferred embodiments of the present invention, the grinding and fixing device includes a horizontally arranged support platform. A first limiting strip and a second limiting strip perpendicular to each other, as well as a first fixing air cylinder and a second fixing air cylinder, are arranged on the top of the support platform; the base of the first fixing air cylinder is fixedly connected with the support platform, and the movable rod of the first fixing air cylinder faces the first limiting strip; the base of the second fixing air cylinder is fixedly connected with the support platform, and the movable rod of the second fixing air cylinder faces the second limiting strip.

[0011] Further, in other preferred embodiments of the present invention, a dust collection groove is arranged directly below the support platform, and a dust collection port is arranged at the top of the dust collection groove.

[0012] Further, in other preferred embodiments of the present invention, the transfer sliding member has a hydraulic lifting device arranged in the vertical direction, and the grasping member is located at the bottom end of the hydraulic lifting device; the grasping member includes a second air cylinder arranged along the length direction of the transfer track. Second telescopic rods are arranged at both ends of the second air cylinder, and grasping arms are arranged at the ends of the second telescopic rods.

[0013] Further, in other preferred embodiments of the present invention, positioning members for positioning and fixing parts are arranged on the surface of the feeding conveyor belt.

[0014] Further, in other preferred embodiments of the present invention, the discharge conveyor belt is provided with a detection area, the detection area is located below the transfer track, and first infrared detectors are arranged on both sides of the detection area of the discharge conveyor belt.

[0015] Further, in other preferred embodiments of the present invention, the robot grinding and processing production line further includes a grinding tool holder for providing tool heads to the grinding robotic arm. The grinding tool holder includes a housing, a second bracket, and a third driving device. An accommodation cavity is formed inside the housing, a first opening is provided at the top of the housing, the first opening penetrates through the housing and communicates with the accommodation cavity, and a first cover for controlling the opening and closing of the first opening is arranged at the first opening; the second bracket is located inside the accommodation cavity and is arranged along the length direction of the accommodation cavity, and a plurality of fixing members for fixing the tool heads are arranged at the top of the second bracket; the driving device is located inside the accommodation cavity and is used to drive the opening and closing of the first cover.

[0016] The beneficial effects of the embodiments of the present invention are:

[0017] The embodiments of the present invention provide a robot grinding and processing production line, which includes a grinding robotic arm, a grinding fixing device, a turning and positioning device, a part transfer device, a feeding conveyor belt, and a discharge conveyor belt. During processing, the part moves along the feeding conveyor belt to below the part transfer device, the part transfer device grabs the part and places it on the grinding fixing device, and the grinding fixing device fixes the part to facilitate the grinding operation of the grinding robotic arm. After the grinding of one surface is completed, the part transfer device grabs the part and places it on the turning and positioning device. The turning and positioning device turns the part over and then the part transfer device grabs it and places it on the grinding fixing device for grinding another surface. Until the grinding is completed, the part transfer device places the part on the discharge conveyor belt. The entire robot grinding and processing production line has a simple structure, reasonable design, and convenient use, can realize the full-automatic operation of the part from feeding to grinding and then to discharging, and has high processing efficiency and processing accuracy. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required to be used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention, and therefore should not be regarded as a limitation of the scope. For those of ordinary skill in the art, other related drawings can also be obtained based on these drawings without creative efforts.

[0019] Figure 1 It is a schematic diagram of a robot grinding and processing production line provided by an embodiment of the present invention;

[0020] Figure 2 It is a schematic diagram of the turning and positioning device of a robot grinding and processing production line provided by an embodiment of the present invention from a first perspective;

[0021] Figure 3 Partial schematic view of a turnover and positioning device of a robot grinding and processing production line provided by an embodiment of the present invention from a second perspective;

[0022] Figure 4 Partial schematic view of a turnover and positioning device of a robot grinding and processing production line provided by an embodiment of the present invention from a third perspective;

[0023] Figure 5 Schematic view of a grinding and fixing device of a robot grinding and processing production line provided by an embodiment of the present invention;

[0024] Figure 6 Enlarged schematic view of a robot grinding and processing production line provided by an embodiment of the present invention at VI;

[0025] Figure 7 Enlarged schematic view of a robot grinding and processing production line provided by an embodiment of the present invention at VII;

[0026] Figure 8 Schematic view of a grinding tool holder of a robot grinding and processing production line provided by an embodiment of the present invention from a fourth perspective;

[0027] Figure 9 Schematic view of a grinding tool holder of a robot grinding and processing production line provided by an embodiment of the present invention from a fifth perspective;

[0028] Figure 10 Internal schematic view of a grinding tool holder of a robot grinding and processing production line provided by an embodiment of the present invention.

[0029] Icons: 10 - Robot grinding processing production line; 100 - Rotary displacement device; 110 - First bracket; 111 - Rotary platform; 112 - First driving device; 1121 - Slide rail; 1122 - Sliding part; 1123 - Rack; 1124 - Hydraulic rod; 1125 - Limit vertical plate; 1126 - Buffer pad; 113 - Mounting hole; 114 - First rotating shaft; 115 - Second rotating shaft; 116 - Limit block; 117 - Limit post; 120 - First clamping part; 121 - Fixed part; 122 - Clamping arm; 123 - Second driving device; 1231 - First cylinder; 1231a - First fixed seat; 1231b - First telescopic rod; 200 - Grinding fixing device; 210 - Support platform; 211 - First limit strip; 212 - Second limit strip; 213 - First fixed cylinder; 214 - Second fixed cylinder; 220 - Dust collection tank; 221 - Dust collection port; 300 - Grinding robot arm; 310 - Tool bit; 400 - Part transfer device; 410 - Transfer track; 420 - Transfer sliding part; 430 - Hydraulic lifting device; 440 - Gripping part; 441 - Second cylinder; 442 - Second telescopic rod; 443 - Gripping arm; 500 - Feeding conveyor belt; 510 - Positioning part; 600 - Discharging conveyor belt; 610 - Baffle; 620 - First infrared detector; 700 - Grinding tool holder; 710 - Housing; 711 - Accommodation cavity; 712 - First opening; 713 - First cover; 7731 - Side plate; 7732 - Sector end plate; 714 - Cover rotating shaft; 715 - Guard plate; 716 - Hinge part; 717 - Second opening; 718 - Second cover; 720 - Second bracket; 721 - Fixed part; 722 - Second infrared detector; 730 - Third driving device; 731 - Flip hydraulic rod; 7311 - Flip hydraulic rod base; 7312 - Flip hydraulic rod movable rod; 800 - Part. Detailed implementation manners

[0030] To make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Apparently, the described embodiments are some, but not all, of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention. Therefore, the detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the present invention claimed, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.

[0031] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus cannot be construed as a limitation to the present invention.

[0032] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, the meaning of "a plurality" is two or more unless otherwise specifically defined.

[0033] In the present invention, unless otherwise clearly defined and limited, the terms such as "mounted", "connected", "connected to", "fixed" and the like should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be directly connected, or indirectly connected through an intermediate medium, and it may be the communication inside two elements or the interaction relationship between two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0034] In the present invention, unless otherwise clearly defined and limited, the first feature being "above" or "below" the second feature may include the direct contact between the first and second features, or may include the situation where the first and second features are not in direct contact but in contact through other features therebetween. Moreover, the first feature being "above", "over" and "on" the second feature includes that the first feature is directly above and obliquely above the second feature, or merely indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature being "under", "beneath" and "under" the second feature includes that the first feature is directly below and obliquely below the second feature, or merely indicates that the horizontal height of the first feature is lower than that of the second feature. Embodiment

[0035] A robot grinding and processing production line 10, as shown in reference to Figure 1 includes a turnover and positioning device 100, a grinding and fixing device 200, a grinding robotic arm 300, a part transfer device 400, a feeding conveyor belt 500, and a discharging conveyor belt 600.

[0036] Among them, the turning and positioning device 100, the grinding and fixing device 200, the feeding conveyor belt 500, and the discharging conveyor belt 600 are arranged side by side in sequence; the turning and positioning device 100 is provided with a turning operation area for turning the part 800, the grinding and fixing device 200 is provided with a grinding operation area for fixing the part 800, the grinding robot arm 300 is located in front of the grinding operation area and faces the grinding operation area; the part transfer device 400 includes a transfer track 410 and a transfer slider 420 slidably engaged with the transfer track 410. A gripper 440 for gripping the part 800 is provided at the bottom of the transfer slider 420. The transfer track 410 spans above the turning operation area, the grinding operation area, the feeding conveyor belt 500, and the discharging conveyor belt 600. It should be noted that the grinding robot arm 300, the grinding and fixing device 200, the turning and positioning device 100, the part transfer device 400, the feeding conveyor belt 500, and the discharging conveyor belt 600 are all fixed on the bottom plate. Once the positions of each device are fixed, the movement trajectories of the part 800 on each device can be accurately quantified, so as to be uniformly controlled by the central control system.

[0037] As Figure 2 and Figure 3 shown, the turning and positioning device 100 includes a first bracket 110 and a first clamping member 120. A turning platform 111 is provided at the top of the first bracket 110. The turning platform 111 is hinged to the first bracket 110 through a horizontally arranged rotating shaft (not marked) and can be turned around the rotating shaft under the drive of the first driving device 112; a through mounting hole 113 is provided in the middle of the turning platform 111; the first clamping member 120 is arranged in the mounting hole 113. The first clamping member 120 includes a fixing portion 121 for fixedly connecting with the turning platform 111 and a pair of clamping arms 122 arranged on the fixing portion 121. The pair of clamping arms 122 can be driven by the second driving device 123 to approach or separate from each other. After one side of the part 800 is ground by the grinding robot arm 300 in the grinding operation area, the part 800 is transferred to the mounting hole 113 by the part transfer device 400. The second driving device 123 drives the pair of clamping arms 122 to clamp and fix the part 800. Subsequently, the first driving device 112 drives the turning platform 111 to turn 180 degrees to turn the part 800 over, and the part transfer device 400 then transfers the turned-over part 800 back to the grinding operation area.

[0038] Further, the rotating shaft includes coaxial first and second rotating shafts 114 and 115, which are respectively located at both ends of the flipping platform 111 in the length direction. Optionally, the first and second rotating shafts 114 and 115 are located on the central axis of the flipping platform 111. With this arrangement, no matter which side of the flipping platform 111 faces upward, the horizontal and vertical positions of the mounting hole 113 remain unchanged with respect to the entire robotic grinding and machining production line 10, facilitating the positioning of the part transfer device 400 to accurately feed the part 800 into or remove it from the mounting hole 113.

[0039] As Figure 2 and Figure 4 shown, the first driving device 112 includes a slide rail 1121 arranged along the width direction of the flipping platform 111, and a sliding member 1122 cooperating with the slide rail 1121. A rack 1123 is provided on the side of the sliding member 1122 close to the flipping platform 111, and the rack 1123 is arranged along the width direction of the flipping platform 111; a gear is provided at the end of the first rotating shaft 114 away from the flipping platform 111, and the gear meshes with the rack 1123. As the sliding member 1122 slides, the rack 1123 can drive the rotation of the gear, and then drive the flipping of the flipping platform 111. Taking Figure 4 the perspective in

[0040] as an example, when the rack 1123 moves to the left, it drives the gear to rotate clockwise, and conversely, when the rack 1123 moves to the right, it drives the gear to rotate counterclockwise. Specifically in the machining process, after one side of the part 800 is ground, the part 800 is flipped 180 degrees, and after the other side of the part 800 is also ground, the part 800 is flipped 180 degrees in the reverse direction to reset.

[0041] As Figure 2 and Figure 4As shown, both ends of the slide rail 1121 are provided with limiting vertical plates 1125, and a buffer pad 1126 made of buffer material is provided on one side of each limiting vertical plate 1125 facing the sliding member 1122. Whether the part 800 is placed into or taken out of the mounting hole 113, it is required that the flipping platform 111 be in a horizontal state. The entire flipping process is that the flipping platform 111 flips 180 degrees from a horizontal state to another horizontal state and switches between the two horizontal states. Therefore, the sliding range of the sliding member 1122 is actually limited. The limiting vertical plates 1125 are provided at both ends of the slide rail 1121 to prevent the sliding member 1122 from exceeding the sliding range and causing the flipping platform 111 to flip excessively.

[0042] The second driving device 123 includes a first air cylinder 1231. The first air cylinder 1231 includes a first fixed seat 1231a which is connected to the fixing portion 121 and is arranged along the thickness direction of the flipping platform 111. Both ends in the length direction of the first fixed seat 1231a are provided with first telescopic rods 1231b, and the two first telescopic rods 1231b are respectively connected to a pair of clamping arms 122. The number of the first clamping members 120 is two, and the two first clamping members 120 are arranged oppositely. The two first clamping members 120 are respectively arranged at both ends in the length direction of the flipping platform 111, and the geometric center of the first fixed seat 1231a is located on the central axis of the flipping platform 111. Through such an arrangement, a pair of clamping arms 122 can fix the part 800 in the center of the mounting hole 113. No matter which side of the flipping platform 111 faces upward, the horizontal position and vertical position of the part 800 relative to the entire robot grinding and processing production line 10 are unchanged, which is beneficial for the part transfer device 400 to position it, so as to accurately place and grab the part 800.

[0043] As Figure 2 and Figure 4 shown, a limiting block 116 is provided on one side of the flipping platform 111 in its length direction, and limiting columns 117 for abutting against the limiting block 116 are provided on both sides of the flipping platform 111 by the first bracket 110. The limiting columns 117 are also used to limit the excessive flipping of the flipping platform 111 and keep it in a horizontal state when the part 800 is placed and taken out. A pressure sensor (not shown in the figure) is provided at the top of the limiting column 117. The signal of the pressure sensor can be connected to the central control system of the entire robot grinding and processing production line 10. When the pressure sensor senses a pressure change, it means that the flipping platform 111 has flipped to the specified position, and the central control system receiving this information controls the part transfer device 400 to place the part 800 into the mounting hole 113 or take it out of the mounting hole 113.

[0044] Furthermore, as Figure 5As shown, the grinding and fixing device 200 includes a horizontally arranged support platform 210, which is located within the grinding operation area. On the top of the support platform 210, there are a first limiting strip 211 and a second limiting strip 212 that are perpendicular to each other, as well as a first fixing cylinder 213 and a second fixing cylinder 214; the base of the first fixing cylinder 213 is fixedly connected to the support platform 210, and the movable rod of the first fixing cylinder 213 faces the first limiting strip 211; the base of the second fixing cylinder 214 is fixedly connected to the support platform 210, and the movable rod of the second fixing cylinder 214 faces the second limiting strip 212. The first fixing cylinder 213 and the second fixing cylinder 214 are connected to the central control system for unified control. When the part transfer device 400 places the part 800 on the support platform 210, the movable rods of the first fixing cylinder 213 and the second fixing cylinder 214 extend simultaneously, pushing the part 800 towards the first limiting strip 211 and the second limiting strip 212 to complete the fixing of the part 800, facilitating the grinding robot arm 300 to grind the part 800. It should be noted that the fixing method of the grinding and fixing device 200 in this embodiment is mainly designed for square parts 800, and in actual production, the fixing method can be modified accordingly according to the specific shape of the part 800. In addition, a dust collection groove 220 is provided directly below the support platform 210, and a dust collection port 221 is provided at the top of the dust collection groove 220. The dust collection groove 220 can collect the debris generated during the grinding process, and the dust collection groove 220 can be connected to a vacuum pump (not shown in the figure) to form a negative pressure for a better dust collection effect.

[0045] As Figure 1 and Figure 6As shown, the transfer slider 420 is provided with a hydraulic lifting device 430 arranged in the vertical direction, and the gripper 440 is located at the bottom end of the hydraulic lifting device 430; the gripper 440 includes a second cylinder 441 arranged along the length direction of the transfer track 410, and second telescopic rods 442 are arranged at both ends of the second cylinder 441, and gripper arms 443 are arranged at the ends of the second telescopic rods 442. Similarly, the hydraulic lifting device 430 and the second cylinder 441 are connected to the central control system for unified control. When grasping is required, the second telescopic rods 442 extend to separate a pair of gripper arms 443 to leave enough space for the part 800. Subsequently, the hydraulic lifting device 430 controls the gripper 440 to move downward so that a pair of gripper arms 443 are located on both sides of the part 800, and the second telescopic rods 442 contract to clamp the part 800. The hydraulic lifting device 430 then controls the gripper 440 to move upward. Subsequently, the gripper 440 moves along the transfer track 410 between different devices together with the transfer slider 420 to complete the transfer of the part 800. The number of grippers 440 can be multiple. Specifically, two grippers 440 are provided in this embodiment. The two grippers 440 are arranged at intervals along the length direction of the transfer track 410. The two grippers 440 can achieve the simultaneous transfer of two parts 800. For example, at this time, a part 800 has completed the grinding operation of one surface in the grinding operation area. The part transfer device 400 can first move to the feeding conveyor belt 500 and use one gripper 440 to grasp the unprocessed part 800 on the feeding conveyor belt 500, then move to the grinding operation area and use the other gripper 440 to grasp the semi-finished part 800 in the grinding operation area. As the semi-finished part 800 leaves, the grinding operation area becomes vacant, and just the unprocessed part 800 can be placed in the grinding operation area, and then the semi-finished part 800 is transported to the flipping device 100 for flipping. Through the synchronous operation of multiple parts 800, the purpose of improving work efficiency is achieved.

[0046] Further, as Figure 1 and Figure 7As shown, a positioning member 510 for positioning and fixing the part 800 is provided on the surface of the feeding conveyor belt 500. Since the grasping position of the grasping member 440 is preset in the central control system, the position of the part 800 is required to be accurate when it is grasped. The positioning member 510 plays such a role to prevent the part 800 from sliding and shifting during the conveyance on the feeding conveyor belt 500. In contrast, the discharging conveyor belt 600 only needs to place the part 800 on it without any requirement for the position. Therefore, there is no need to set a positioning member 510. Only baffles 610 are provided on both sides of the discharging conveyor belt 600 to prevent the part 800 from sliding out of the discharging conveyor belt 600. The discharging conveyor belt 600 is provided with a detection area, which is located below the transfer track 410. First infrared detectors 620 are provided on both sides of the detection area of the discharging conveyor belt 600. The first infrared detectors 620 can detect whether there is a part 800 entering and transmit a signal to the central control system, and then the central control system controls the discharging conveyor belt 600 to transfer the part 800 in time.

[0047] In addition, as Figure 1 and Figure 8 shown, the robot grinding processing production line 10 further includes a grinding tool holder 700 that provides the tool head 310 for the grinding robotic arm 300. The tool head 310 of the grinding robotic arm 300 is prone to wear during continuous processing, resulting in a reduction in the processing accuracy of the part 800. Setting the grinding tool holder 700 can provide a replacement tool head 310 for the grinding robotic arm 300 to ensure the smooth progress of the processing process.

[0048] As Figure 8 and Figure 9 shown, the grinding tool holder 700 includes a housing 710, a second bracket 720, and a third driving device 730. Among them, the housing 710 is generally in the shape of a cube, and an accommodation cavity 711 is formed inside it. A first opening 712 is provided at the top of the housing 710. The first opening 712 penetrates the housing 710 and communicates with the accommodation cavity 711. A first cover body 713 for controlling the opening and closing of the first opening 712 is provided at the first opening 712. The second bracket 720 is located inside the accommodation cavity 711 and is arranged along the length direction of the accommodation cavity 711. A plurality of fixing members 721 for fixing the tool head 310 are provided at the top of the second bracket 720. The third driving device 730 is located inside the accommodation cavity 711 and is used to drive the opening and closing of the first cover body 713. When the tool changing operation is not performed, the third driving device 730 drives the first cover body 713 to be in a closed state, playing a role in isolating dust. When changing the tool, the third driving device 730 drives the first cover body 713 to open, and the robotic arm directly runs to the position of the fixing member 721 to complete the assembly with the tool head 310.

[0049] Further, the first cover body 713 is hinged to the outer shell 710 through a cover body rotating shaft 714 arranged along the length direction of the accommodating cavity 711, so that the first cover body 713 can rotate around the cover body rotating shaft 714. The first cover body 713 includes an arc-shaped side plate 7731 and sector end plates 7732 located at both ends in the length direction of the side plate 7731. The cover body rotating shaft 714 passes through the center positions of the two sector end plates 7732. At the same time, an arc-shaped shielding plate 715 is arranged at the top of the outer shell 710. The shielding plate 715 is located on one side of the first cover body 713. The central angle of the sector end plate is 100° to 140°, and the corresponding degree of the shielding plate 715 is 40° to 80°. The first cover body 713 can rotate around the cover body rotating shaft 714 into the shielding plate 715, thereby exposing the first opening 712. When the first cover body 713 is rotated out from inside the shielding plate 715, the first opening 712 can be completely covered.

[0050] As Figure 8 and Figure 10 shown, the third driving device 730 includes a flip cover hydraulic rod 731. The flip cover hydraulic rod 731 includes a flip cover hydraulic rod base 7311 and a flip cover hydraulic rod movable rod 7312. One end of the flip cover hydraulic rod base 7311 away from the flip cover hydraulic rod movable rod 7312 is hinged to the second bracket 720, and one end of the flip cover hydraulic rod movable rod 7312 away from the flip cover hydraulic rod base 7311 is hinged to the sector end plate 7732. The sector end plate 7732 has a hinge member 716 hinged to the flip cover hydraulic rod movable rod 7312. The hinge member 716 is arranged at the edge of the sector end plate 7732 and is spaced from the center of the sector end plate 7732. When the flip cover hydraulic rod movable rod 7312 extends, the first cover body 713 can be pushed out from inside the shielding plate 715 to complete the covering of the first opening 712. When the flip cover hydraulic rod movable rod 7312 contracts, the first cover body 713 rotates into the shielding plate 715, and the first opening 712 is exposed.

[0051] Each fixing member 721 includes a fixing piece (not labeled). One end of the fixing piece is connected to the second bracket 720, and a fixing hole (not labeled) is arranged at the end of the fixing piece away from the second bracket 720. The fixing hole is arranged in the vertical direction. A plurality of fixing members 721 are arranged at equal intervals along the length direction of the second bracket 720. The cutter head 310 can be vertically inserted into the fixing hole. When changing the cutter, the grinding robot arm 300 moves above one of the fixing holes, aligns with the cutter head 310 below, and then the grinding robot arm 300 moves down to complete the docking with the cutter head 310. The whole cutter changing process does not require manual participation.

[0052] Optionally, as Figure 9 and Figure 10As shown in the figure, a second infrared detector 722 is provided on one side of each fixing piece. The second infrared detector 722 faces the area directly below the fixing hole and is used to detect whether a tool head 310 is fixed in the fixing hole at this position. In actual production, the second infrared detector 722 is connected to the central control system of the robot grinding and processing production line 10. The second infrared detector 722 transmits the detected position information of the tool head 310 placement to the central control system, and the central control system controls the grinding robot arm 300 to rotate above the fixing hole where the tool head 310 is placed for tool change. In addition, when it is detected that the stock of the tool head 310 on the grinding tool holder 700 is insufficient, the central control system will also issue a warning to the operator to remind him to replenish the tool head 310.

[0053] Furthermore, as Figure 2 shown in the figure, a second opening 717 is provided on the side wall of the housing 710. The second opening 717 penetrates the housing 710 and communicates with the accommodating cavity 711. A second cover body 718 is provided at the second opening 717, and one side of the second cover body 718 is hinged to the housing 710. By opening the second cover body 718, the second opening 717 can be exposed. Through the second opening 717, the operator can conveniently perform maintenance on the inside of the grinding tool holder 700.

[0054] When the grinding tool holder 700 of this embodiment is in use, it is connected to the central control system of the robot grinding and processing production line 10 for unified control. After the position of the grinding tool holder 700 is fixed, the horizontal and vertical positions of each fixing hole can be quantified and input into the central control system. When it is detected that the tool head 310 on the grinding robot arm 300 is severely worn, the central control system issues a tool change instruction. The grinding robot arm 300 releases the damaged tool head 310 and rotates towards the grinding tool holder 700. At the same time, the central control system drives the flip hydraulic rod 731 to contract, thereby exposing the first opening 712. The grinding robot arm 300 moves above the fixing hole where the tool head 310 is stored and aligns with the tool head 310, and then presses down to complete the docking with the tool head 310. After the tool change is completed, the central control system controls the grinding robot arm 300 to move away and drives the flip hydraulic rod 731 to extend, thereby closing the first opening 712. It should be noted that this grinding tool holder 700 can not only be used for replacing the worn tool head 310, but also can be applied to scenarios where multiple different models are required to grind parts. At this time, different models of tool heads 310 can be placed in multiple fixing holes respectively, and the timing and sequence of tool change can be preset.

[0055] In summary, the embodiment of the present invention provides a robot grinding and processing production line 10, which includes a grinding robot arm 300, a grinding fixing device 200, a turning and positioning device 100, a part transfer device 400, a feeding conveyor belt 500, and a discharging conveyor belt 600. During processing, the part 800 moves along the feeding conveyor belt 500 to the lower part of the part transfer device 400. The part transfer device 400 grabs the part 800 and places it on the grinding fixing device 200. The grinding fixing device 200 fixes the part 800 to facilitate the grinding operation of the grinding robot arm 300. After the grinding of one surface is completed, the part transfer device 400 grabs the part 800 and places it on the turning and positioning device 100. The turning and positioning device 100 turns the part 800 over, and then the part transfer device 400 grabs it and places it on the grinding fixing device 200 for grinding of another surface. Until the grinding is completed, the part transfer device 400 places the part 800 on the discharging conveyor belt 600. The structure of the entire robot grinding and processing production line 10 is simple, reasonably designed, and easy to use. It can realize the full-automatic operation of the part 800 from feeding to grinding and then to discharging, and has high processing efficiency and processing accuracy.

[0056] The foregoing is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A robot grinding and processing production line, characterized in that, It includes a grinding robotic arm, a grinding fixing device, a turning and positioning device, a part transfer device, a feeding conveyor belt, and a discharging conveyor belt; the turning and positioning device, the grinding fixing device, the feeding conveyor belt, and the discharging conveyor belt are arranged side by side in sequence; the turning and positioning device is provided with a turning operation area for turning the part, the grinding fixing device is provided with a grinding operation area for fixing the part, the grinding robotic arm is located in front of the grinding operation area and faces the grinding operation area; the part transfer device includes a transfer track and a transfer slider slidably engaged with the transfer track, and a gripping member for gripping the part is provided at the bottom of the transfer slider, and the transfer track straddles above the turning operation area, the grinding operation area, the feeding conveyor belt, and the discharging conveyor belt; The turning and positioning device includes a first bracket and a clamping member; a turning platform is provided at the top of the first bracket, the turning platform is hinged to the first bracket through a horizontally arranged rotating shaft and can be turned around the rotating shaft under the drive of a first driving device; a through mounting hole is provided in the middle of the turning platform; the clamping member is arranged in the mounting hole, the clamping member includes a fixing portion fixedly connected to the turning platform and a pair of clamping arms arranged on the fixing portion, and the pair of clamping arms can be close to or away from each other under the drive of a second driving device; the rotating shaft includes a coaxial first rotating shaft and a second rotating shaft, and the first rotating shaft and the second rotating shaft are respectively located at both ends in the length direction of the turning platform; the first rotating shaft and the second rotating shaft are located on the central axis of the turning platform; The first driving device includes a slide rail arranged along the width direction of the turning platform and a slider engaged with the slide rail, a rack is provided on the side of the slider close to the turning platform, and the rack is arranged along the width direction of the turning platform; a gear is provided at the end of the first rotating shaft away from the turning platform, and the gear meshes with the rack; the first driving device further includes a hydraulic rod for driving the slider to slide along the slide rail, the hydraulic rod is arranged along the width direction of the turning platform, the base of the hydraulic rod is fixedly connected to the first bracket, and the movable rod of the hydraulic rod is connected to the slider; as the slider slides, the rack can drive the rotation of the gear, and then drive the turning of the turning platform.

2. The robotic grinding and processing production line according to claim 1, wherein The second driving device includes a first cylinder, the first cylinder includes a first fixed seat, the first fixed seat is connected to the fixed portion and is arranged along the thickness direction of the turning platform, and first telescopic rods are provided at both ends in the length direction of the first fixed seat, and the two first telescopic rods are respectively connected to a pair of clamping arms.

3. The robotic grinding and machining production line according to claim 1, wherein The grinding and fixing device includes a horizontally arranged support platform. At the top of the support platform, there are a first limiting strip and a second limiting strip perpendicular to each other, as well as a first fixing cylinder and a second fixing cylinder. The base of the first fixing cylinder is fixedly connected to the support platform, and the movable rod of the first fixing cylinder faces the first limiting strip. The base of the second fixing cylinder is fixedly connected to the support platform, and the movable rod of the second fixing cylinder faces the second limiting strip.

4. The robotic grinding and machining production line according to claim 3, characterized in that, A dust collection groove is arranged directly below the support platform, and a dust collection port is arranged at the top of the dust collection groove.

5. The robotic grinding and machining production line according to claim 1, wherein, The transfer sliding member has a hydraulic lifting device arranged in the vertical direction, and the grasping member is located at the bottom end of the hydraulic lifting device. The grasping member includes a second cylinder arranged along the length direction of the transfer track. Second telescopic rods are arranged at both ends of the second cylinder, and grasping arms are arranged at the ends of the second telescopic rods.

6. The robotic grinding and machining production line according to claim 1, wherein Positioning members for positioning and fixing the parts are arranged on the surface of the feeding conveyor belt.

7. The robotic grinding and processing production line according to claim 1, characterized in that The discharging conveyor belt is provided with a detection area, which is located below the transfer track. First infrared detectors are arranged on both sides of the discharging conveyor belt in the detection area.

8. The robot grinding and processing production line according to claim 1, characterized in that The robot grinding and processing production line further includes a grinding tool holder for providing cutting tools for the grinding robot arm. The grinding tool holder includes a housing, a second bracket, and a third driving device. An accommodation cavity is formed inside the housing. A first opening is arranged at the top of the housing, and the first opening penetrates through the housing and communicates with the accommodation cavity. A first cover body for controlling the opening and closing of the first opening is arranged at the first opening. The second bracket is located inside the accommodation cavity and is arranged along the length direction of the accommodation cavity. A plurality of fixing members for fixing the cutting tools are arranged at the top of the second bracket. The third driving device is located inside the accommodation cavity and is used to drive the opening and closing of the first cover body.

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