A multi-stage polishing system

Abstract

The present invention relates to a multi-stage polishing system, comprising a polishing machine and a clamping manipulator, wherein the polishing machine comprises a plurality of polishing machines with different roughness arranged in a straight line, a clamping manipulator is correspondingly arranged at the machine mouth of each polishing machine, a reciprocating transmission bracket is also arranged between the polishing machine and the clamping manipulator, and the reciprocating transmission bracket is composed of an upper cross bar, a lower cross bar, an upper cross bar driving device, a lower cross bar driving device, and a bracket reciprocating driving device, and the clamping manipulator is provided with a plurality of clamping manipulators arranged in a straight line, thereby providing a multi-stage polishing system, solving the problem that the old circular turntable form occupies a large space, and also solving the problem that the linear arrangement but the manipulator rotates and alternately clamps and feeds the material, which is time-consuming, can effectively reduce the idling time of polishing machines at all levels and improve production efficiency.

Description

Technical Field

[0001] The invention relates to a polishing machine, in particular to a multi-stage polishing system. Background Art

[0002] The surface polishing of metal parts is carried out in multiple polishing machines with different roughness levels according to the product requirements. The traditional multi-level polishing machine system consists of multiple polishing machines arranged in a circular array and multiple manipulators pointing from the center of the circle to the polishing machine. The manipulator clamps the metal parts into the polishing machine for polishing. After each level of polishing is completed, it rotates around the center of the circle and enters the next level of polishing machine for polishing. However, the circular turntable of the polishing machine system occupies a large space and is easily limited by space.

[0003] The prior art began to use a linear arrangement of polishing machines to solve the problem of space limitation. However, it caused difficulties in transferring the metal parts to be polished from the upper-level polishing machine to the lower-level polishing machine. The prior art required a rotating manipulator to transfer the metal parts polished by the upper-level polishing machine to the lower-level polishing machine. This transfer method takes a long time to transfer, increases the idling time of the polishing machines at each level, seriously reduces production efficiency and increases polishing machine wear. Summary of the invention

[0004] The purpose of the present invention is to overcome the defects of the prior art and provide a multi-stage polishing system, which solves the problem that the old circular turntable form occupies a large space, and also solves the problem that the linear arrangement but the robot rotates and alternately clamps and feeds the material, which is time-consuming. It can also effectively reduce the idle time of the sharpening of the polishing machines at each level and improve production efficiency.

[0005] In order to achieve the above-mentioned purpose, the present invention provides a multi-stage polishing system, including a polishing machine and a clamping robot, the polishing machine includes a plurality of polishing machines with different roughness arranged in a straight line, a clamping robot is correspondingly arranged at the machine mouth of each polishing machine, and a reciprocating transfer bracket is also arranged between the polishing machine and the clamping robot, the reciprocating transfer bracket is composed of an upper cross bar, a lower cross bar, an upper cross bar driving device, a lower cross bar driving device, and a bracket reciprocating driving device, the clamping robot is provided with multiple and arranged in a straight line, the clamping robot includes a clamping force arm, a clamping driving device of the clamping force arm and a forward and backward movement driving device, the clamping force arm clamps and releases the polishing product through the clamping driving device, and the clamping force arm carries the polishing product into the polishing machine for polishing and exits the polishing machine through the forward and backward movement driving device.

[0006] Preferably, the upper cross bar is arranged in parallel with the lower cross bar, and the upper cross bar is arranged above the lower cross bar. The upper cross bar makes an up and down reciprocating motion in front of the clamping robot under the action of the upper cross bar driving device, and the lower cross bar makes an up and down reciprocating motion in front of and below the clamping robot under the action of the lower cross bar driving device. The upper cross bar and the lower cross bar clamp the product to be polished transferred by the clamping robot in front of the clamping robot, and move to the front of the next clamping robot under the action of the bracket reciprocating driving device, and transfer the product to be polished to the next clamping robot, and then the upper cross bar returns to the top, the lower cross bar returns to the bottom, and the bracket reciprocating driving device drives the reciprocating transfer bracket to return.

[0007] Preferably, the upper cross bar driving device is composed of multiple upper cross bar driving cylinders, and the lower cross bar driving device is composed of multiple lower cross bar driving cylinders. The upper cross bar and the lower cross bar are fixedly connected to the bracket reciprocating driving device through the upper cross bar driving cylinders and the lower cross bar driving cylinders respectively.

[0008] Preferably, the reciprocating drive device of the bracket includes a fixed track and a pneumatic cylinder or an oil cylinder or a driving motor, and the reciprocating transmission bracket performs reciprocating motion under the limitation of the fixed track and the drive of the pneumatic cylinder or the driving motor.

[0009] Preferably, the polishing machine includes a first-level polishing machine, a second-level polishing machine, a third-level polishing machine, and a fourth-level polishing machine with different roughness, the reciprocating transfer bracket includes a first-level reciprocating transfer bracket, a second-level reciprocating transfer bracket, a third-level reciprocating transfer bracket, a fourth-level reciprocating transfer bracket, and a fifth-level reciprocating transfer bracket, and the clamping robot includes a first-level clamping robot, a second-level clamping robot, a third-level clamping robot, and a fourth-level clamping robot.

[0010] Preferably, the cycle is performed by the following specific workflow:

[0011] Step 1: The reciprocating transfer bracket of each level clamps the polished product and stays at the initial point;

[0012] Step 2: The clamping manipulator at each level moves forward to clamp the polished product;

[0013] Step 3: The upper and lower cross bars of each level of the reciprocating transfer bracket are opened, and the polished products of the five-level reciprocating transfer bracket are unloaded manually or by a robot;

[0014] Step 4: The clamping manipulator at each level carries the polished product into the corresponding polishing machine for polishing, and the reciprocating transfer bracket at each level moves toward the clamping manipulator at the upper level while being in the open state;

[0015] Step 5: The gripping manipulator at each level carries the polished product out of the current polishing machine;

[0016] Step 6: The reciprocating transfer bracket of each level first lifts the lower crossbar and then puts down the upper crossbar to clamp the polished product at the previous level clamping manipulator. The first-level reciprocating transfer bracket places a new polished product manually or by a manipulator. The clamping manipulator of each level and the transfer clamping manipulator release the polished product and then retreat;

[0017] Step 7: The round trip transfer bracket of each level returns to the initial point position.

[0018] Preferably, a transfer clamping robot is provided between the clamping robots.

[0019] Preferably, the transfer clamping robot includes a first-level transfer clamping robot, a second-level transfer clamping robot, and a third-level transfer clamping robot, which are respectively arranged between the first-level clamping robot and the second-level clamping robot, between the second-level clamping robot and the third-level clamping robot, and between the third-level clamping robot and the fourth-level clamping robot.

[0020] Preferably, the cycle is performed by the following specific workflow:

[0021] Step 1: The reciprocating transfer bracket of each level clamps the polished product and stays at the initial point;

[0022] Step 2: The clamping manipulators at each level and the transfer clamping manipulators move forward to clamp the polished product;

[0023] Step 3: The upper and lower cross bars of each level of the reciprocating transfer bracket are opened, and the polished products of the five-level reciprocating transfer bracket are unloaded manually or by a robot;

[0024] Step 4: The clamping manipulator at each level carries the polished product into the corresponding polishing machine for polishing. The reciprocating transfer bracket at each level moves toward the clamping manipulator at the upper level while in the open state. The transfer clamping manipulator at each level clamps the polished product and does not move.

[0025] Step 5: The gripping manipulator at each level carries the polished product out of the current polishing machine;

[0026] Step 6: The reciprocating transfer bracket of each level first lifts the lower crossbar at the clamping manipulator of the previous level, and the clamping manipulator and the transfer clamping manipulator of each level move forward to place the polished product on the lower crossbar, and lower the upper crossbar to clamp the polished product. The first-level reciprocating transfer bracket places a new polished product manually or by a manipulator, and the clamping manipulator and the transfer clamping manipulator release the polished product and then exit;

[0027] Step 7: The round trip transfer bracket of each level returns to the initial point position.

[0028] Beneficial effects of the present invention:

[0029] The present invention discloses a multi-stage polishing system, in which polishing machines at each stage can be arranged in a straight line. By providing a reciprocating transfer bracket and a clamping manipulator, the polishing product can be transferred between the polishing machines at each stage with high efficiency and short time, thereby reducing the idle grinding time of the polishing machines at each stage and improving production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of step 1 of the workflow of embodiment 1 of a multi-stage polishing system of the present invention;

[0031] Figure 2 This is a schematic diagram of step 2 of the workflow of embodiment 1 of a multi-stage polishing system of the present invention;

[0032] Figure 3 This is a schematic diagram of step 3 of the workflow of embodiment 1 of a multi-stage polishing system of the present invention;

[0033] Figure 4 This is a schematic diagram of step 4 of the workflow of embodiment 1 of a multi-stage polishing system of the present invention;

[0034] Figure 5 This is a schematic diagram of step 5 of the workflow of embodiment 1 of a multi-stage polishing system of the present invention;

[0035] Figure 6 This is a schematic diagram of step 6 of the workflow of Example 1 of a multi-stage polishing system of the present invention;

[0036] Figure 7 This is a schematic diagram of step 7 of the workflow of Example 1 of a multi-stage polishing system of the present invention;

[0037] Figure 8 It is a schematic diagram of opening a reciprocating transfer bracket of a multi-stage polishing system of the present invention;

[0038] Fig. 9 A schematic diagram of the closed clamping of a reciprocating transfer bracket of a multi-stage polishing system of the present invention;

[0039] Fig.10 This is a schematic diagram of step 1 of the workflow of Example 2 of a multi-stage polishing system of the present invention;

[0040] Fig.11 This is a schematic diagram of step 4 of the workflow of embodiment 2 of a multi-stage polishing system of the present invention;

[0041] Explanation of the accompanying drawings: 1. Polishing machine; 11. First-level polishing machine; 12. Second-level polishing machine; 13. Third-level polishing machine; 14. Fourth-level polishing machine; 2. Reciprocating transfer bracket; 201. Upper cross bar; 202. Lower cross bar; 203. Bracket reciprocating drive device; 204. Upper cross bar driving cylinder; 205. Lower cross bar driving cylinder; 21. First-level reciprocating transfer bracket; 22. Second-level reciprocating transfer bracket; 23. Third-level reciprocating transfer bracket; 24. Fourth-level reciprocating transfer bracket; 25. Fifth-level reciprocating transfer bracket; 3. Clamping machine; 31. First-level clamping manipulator; 32. Second-level clamping manipulator; 33. Third-level clamping manipulator; 34. Fourth-level clamping manipulator; 4. Polishing product; 5. Transit clamping manipulator; 51. First-level transit clamping manipulator; 52. Second-level transit clamping manipulator; 53. Third-level transit clamping manipulator. DETAILED DESCRIPTION

[0042] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and cannot be used to limit the protection scope of the present invention.

[0043] Example 1

[0044] like Figures 1 to 9 As shown, a multi-stage polishing system includes a polishing machine 1, a reciprocating transfer bracket 2, and a clamping manipulator 3. The polishing machine 1 includes a first-level polishing machine 11, a second-level polishing machine 12, a third-level polishing machine 13, and a fourth-level polishing machine 14 with different roughness arranged in a straight line. The reciprocating transfer bracket 2 includes a first-level reciprocating transfer bracket 21, a second-level reciprocating transfer bracket 22, a third-level reciprocating transfer bracket 23, a fourth-level reciprocating transfer bracket 24, and a fifth-level reciprocating transfer bracket 25. The clamping machine 3 includes a first-level clamping manipulator 31, a second-level clamping manipulator 32, and a third-level clamping manipulator 33. A four-stage clamping robot 34. The reciprocating transfer bracket 2 is composed of an upper cross bar 201, a lower cross bar 202, an upper cross bar driving device, a lower cross bar driving device, and a bracket reciprocating driving device 203. The clamping robot 3 includes a clamping force arm, a clamping driving device of the clamping force arm, and a forward and backward movement driving device. The clamping force arm clamps and releases the polishing product 4 through the clamping driving device. The clamping force arm carries out a forward and backward reciprocating movement to carry the polishing product 4 into the polishing machine 1 for polishing and exit the polishing machine 1 through the forward and backward movement driving device.

[0045] The upper cross bar 201 is arranged in parallel with the lower cross bar 202, and the upper cross bar 201 is arranged above the lower cross bar 202. The upper cross bar 201 makes an up and down reciprocating motion in front of and below the clamping manipulator 3 under the action of the upper cross bar driving device, and the lower cross bar 202 makes an up and down reciprocating motion in front of and below the clamping manipulator 3 under the action of the lower cross bar driving device. The upper cross bar 201 and the lower cross bar 202 clamp the product to be polished transferred by the clamping manipulator 3 in front of the clamping manipulator 3, and move to the front of the next clamping manipulator 3 under the action of the bracket reciprocating driving device 203, and transfer the product to be polished 4 to the next clamping manipulator 3, then the upper cross bar 201 returns to the top, the lower cross bar 202 returns to the bottom, and the bracket reciprocating driving device 203 drives the reciprocating transfer bracket 2 to return.

[0046] The upper cross bar driving device is composed of multiple upper cross bar driving cylinders 204, and the lower cross bar driving device is composed of multiple lower cross bar driving cylinders 205. The upper cross bar 201 and the lower cross bar 202 are fixedly connected to the bracket reciprocating driving device 203 through the upper cross bar driving cylinders 204 and the lower cross bar driving cylinders 205 respectively.

[0047] The bracket reciprocating drive device 203 includes a fixed track and a cylinder or an oil cylinder or a driving motor. The reciprocating transmission bracket 2 performs reciprocating motion under the limitation of the fixed track and the drive of the cylinder or the driving motor.

[0048] The specific workflow is as follows:

[0049] Step 1: The reciprocating transfer bracket 2 of each level clamps the polished product 4 and stays at the initial point position;

[0050] Step 2: The clamping manipulator 3 at each level moves forward to clamp the polishing product 4;

[0051] Step 3: The upper crossbar 201 and the lower crossbar 202 of each level of the reciprocating transfer bracket 2 are opened, and the polished products 4 of the five-level reciprocating transfer bracket 25 are unloaded manually or by a robot, or the polished products 4 are turned around and polished at the original clamping position;

[0052] Step 4: The clamping manipulator 3 of each level carries the polishing product 4 into the corresponding polishing machine 1 for polishing, and the reciprocating transfer bracket 2 of each level moves toward the clamping manipulator 3 of the upper level at the same time in the open state;

[0053] Step 5: The gripping robot 3 at each level carries the polished product 4 out of the current polishing machine 1;

[0054] Step 6: The reciprocating transfer bracket 2 of each level first lifts the lower crossbar 202 at the clamping robot 3 of the previous level, and the clamping robot 3 of each level moves forward to place the polished product 4 on the lower crossbar 202, and puts down the upper crossbar 201 to clamp the polished product 4. The first-level reciprocating transfer bracket 21 places a new polished product 4 manually or by a robot, and the clamping robot 3 releases the polished product 4 and then exits;

[0055] Step 7: The round-trip transfer support 2 of each level returns to the initial point position.

[0056] Example 2

[0057] like Figures 8-10 As shown, a multi-stage polishing system includes a polishing machine 1, a reciprocating transfer bracket 2, a clamping manipulator 3, and a transfer clamping manipulator 5. The polishing machine 1 includes a first-level polishing machine 11, a second-level polishing machine 12, a third-level polishing machine 13, and a fourth-level polishing machine 14 with different roughness arranged in a straight line. The reciprocating transfer bracket 2 includes a first-level reciprocating transfer bracket 21, a second-level reciprocating transfer bracket 22, a third-level reciprocating transfer bracket 23, a fourth-level reciprocating transfer bracket 24, and a fifth-level reciprocating transfer bracket 25. The clamping machine 3 It includes a first-level clamping robot 31, a second-level clamping robot 32, a third-level clamping robot 33, and a fourth-level clamping robot 34. The transfer clamping robot 5 includes a first-level transfer clamping robot 51, a second-level transfer clamping robot 52, and a third-level transfer clamping robot 53, which are respectively arranged between the first-level clamping robot 31 and the second-level clamping robot 32, between the second-level clamping robot 32 and the third-level clamping robot 33, and between the third-level clamping robot 33 and the fourth-level clamping robot 34.

[0058] The structure of the reciprocating transfer bracket 2 is the same as the reciprocating transfer bracket 2 of Example 1, and the travel of the reciprocating transfer bracket 2 is the clamping robot 3 and the adjacent transfer clamping robot 5.

[0059] The specific workflow is as follows:

[0060] Step 1: The reciprocating transfer bracket 2 of each level clamps the polished product 4 and stays at the initial point position;

[0061] Step 2: The clamping manipulator 3 and the transfer clamping manipulator 5 at each level move forward to clamp the polishing product 4;

[0062] Step 3: The upper and lower cross bars of each level of the reciprocating transfer bracket 2 are opened, and the polished products of the five-level reciprocating transfer bracket 25 are unloaded manually or by a robot, or the polished products 4 are turned around and polished on the original clamping;

[0063] Step 4: The clamping manipulator 3 of each level carries the polished product into the corresponding polishing machine 1 for polishing, and the reciprocating transfer bracket 2 of each level moves toward the clamping manipulator 3 of the upper level in the open state and stops at the transfer clamping manipulator 5, and the transfer clamping manipulator 5 of each level clamps the polished product 4 and does not move;

[0064] Step 5: The gripping robot 3 at each level carries the polished product 4 out of the current polishing machine 1;

[0065] Step 6: The reciprocating transfer bracket 2 of each level first lifts the lower crossbar 202, and the clamping manipulator 3 and the transfer clamping manipulator 5 of each level move forward to place the polished product 4 on the lower crossbar 202, and lower the upper crossbar 201 to clamp the polished product 4. The first-level reciprocating transfer bracket 21 places a new polished product 4 manually or by a manipulator, and the clamping manipulator 3 and the transfer clamping manipulator 5 release the polished product 4 and then exit;

[0066] Step 7: The round-trip transfer support 2 of each level returns to the initial point position.

[0067] By providing the transfer clamping robot 5, the stroke of the reciprocating transfer bracket 2 can be shortened by half on the basis of Example 1, the idle time of the polishing machine 1 can be reduced by half, and the productivity can be effectively improved.

[0068] The above-mentioned embodiments only express the implementation methods of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the patent of the present invention. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention. Therefore, the protection scope of the patent of the present invention shall be based on the attached claims.

Claims

1. A multi-stage polishing system, characterized in that: It includes a polishing machine and a clamping manipulator, wherein the polishing machine includes a plurality of polishing machines with different roughness arranged in a straight line, a clamping manipulator is correspondingly arranged at the machine mouth of each polishing machine, and a reciprocating transmission bracket is also arranged between the polishing machine and the clamping manipulator, and the reciprocating transmission bracket is composed of an upper cross bar, a lower cross bar, an upper cross bar driving device, a lower cross bar driving device, and a bracket reciprocating driving device, and the clamping manipulator is provided with a plurality of clamping manipulators and arranged in a straight line, and the clamping manipulator includes a clamping force arm, a clamping driving device of the clamping force arm, and a forward and backward movement driving device, and the clamping force arm clamps and releases the polishing product through the clamping driving device, and the clamping force arm carries out a forward and backward reciprocating movement of carrying the polishing product into the polishing machine for polishing and exiting the polishing machine through the forward and backward movement driving device; The upper cross bar is arranged in parallel with the lower cross bar, and the upper cross bar is arranged above the lower cross bar. The upper cross bar makes a reciprocating up and down motion above the clamping manipulator under the action of the upper cross bar driving device, and the lower cross bar makes a reciprocating up and down motion below the clamping manipulator under the action of the lower cross bar driving device. The upper cross bar and the lower cross bar clamp the product to be polished transferred by the clamping manipulator in front of the clamping manipulator, and move to the front of the next clamping manipulator under the action of the bracket reciprocating driving device to transfer the product to be polished to the next clamping manipulator, and then the upper cross bar returns to the top, the lower cross bar returns to the bottom, and the bracket reciprocating driving device drives the reciprocating transfer bracket to return; The upper crossbar driving device is composed of a plurality of upper crossbar driving cylinders, and the lower crossbar driving device is composed of a plurality of lower crossbar driving cylinders. The upper crossbar and the lower crossbar are fixedly connected to the bracket reciprocating driving device through the upper crossbar driving cylinders and the lower crossbar driving cylinders respectively; The reciprocating drive device of the support includes a fixed track and a cylinder or oil cylinder or a driving motor, and the reciprocating transmission support performs reciprocating motion under the limitation of the fixed track and the drive of the cylinder or the driving motor; The polishing machine includes a first-level polishing machine, a second-level polishing machine, a third-level polishing machine, and a fourth-level polishing machine with different roughness; the reciprocating transfer bracket includes a first-level reciprocating transfer bracket, a second-level reciprocating transfer bracket, a third-level reciprocating transfer bracket, a fourth-level reciprocating transfer bracket, and a fifth-level reciprocating transfer bracket; the clamping manipulator includes a first-level clamping manipulator, a second-level clamping manipulator, a third-level clamping manipulator, and a fourth-level clamping manipulator; A transfer clamping manipulator is also provided between the clamping manipulators; The transfer clamping manipulator includes a primary transfer clamping manipulator, a secondary transfer clamping manipulator, and a tertiary transfer clamping manipulator, and is respectively arranged between the primary clamping manipulator and the secondary clamping manipulator, between the secondary clamping manipulator and the tertiary clamping manipulator, and between the tertiary clamping manipulator and the quaternary clamping manipulator; The multi-stage polishing system is circulated by the following specific work flow: Step 1: The reciprocating transfer bracket of each level clamps the polished product and stays at the initial point; Step 2: The clamping manipulator at each level moves forward to clamp the polished product; Step 3: The upper and lower cross bars of each level of the reciprocating transfer bracket are opened, and the polished products of the five-level reciprocating transfer bracket are unloaded manually or by a robot; Step 4: The clamping manipulator at each level carries the polished product into the corresponding polishing machine for polishing, and the reciprocating transfer bracket at each level moves toward the clamping manipulator at the upper level while being in the open state; Step 5: The gripping manipulator at each level carries the polished product out of the current polishing machine; Step 6: The reciprocating transfer bracket of each level first lifts the lower crossbar and then puts down the upper crossbar to clamp the polished product at the previous level clamping manipulator. The first-level reciprocating transfer bracket places a new polished product manually or by a manipulator. The clamping manipulator of each level and the transfer clamping manipulator release the polished product and then retreat; Step 7: The round trip transfer bracket of each level returns to the initial point position.

2. A multi-stage polishing system according to claim 1, characterized in that: The specific workflow is as follows: Step 1: The reciprocating transfer bracket of each level clamps the polished product and stays at the initial point; Step 2: The clamping manipulators at each level and the transfer clamping manipulators move forward to clamp the polished product; Step 3: The upper and lower cross bars of each level of the reciprocating transfer bracket are opened, and the polished products of the five-level reciprocating transfer bracket are unloaded manually or by a robot; Step 4: The clamping manipulator at each level carries the polished product into the corresponding polishing machine for polishing. The reciprocating transfer bracket at each level moves toward the clamping manipulator at the upper level while in the open state. The transfer clamping manipulator at each level clamps the polished product and does not move. Step 5: The gripping manipulator at each level carries the polished product out of the current polishing machine; Step 6: The reciprocating transfer bracket of each level first lifts the lower crossbar at the clamping manipulator of the previous level, and the clamping manipulator and the transfer clamping manipulator of each level move forward to place the polished product on the lower crossbar, and lower the upper crossbar to clamp the polished product. The first-level reciprocating transfer bracket places a new polished product manually or by a manipulator, and the clamping manipulator and the transfer clamping manipulator release the polished product and then exit; Step 7: The round trip transfer bracket of each level returns to the initial point position.

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