A grinding device and a grinding method thereof

Abstract

The present invention provides a grinding device, which relates to the field of grinding technology, including: a robot, a fixture clamp, a paper tearing mechanism and a placement rack; the robot includes a manipulator and a grinding mechanism and a clamping mechanism configured on the manipulator; the fixture clamp is used to receive and place the workpiece to be ground transferred via the clamping mechanism; the paper tearing mechanism includes an embedding component and a tightening component, and the manipulator can be moved to insert the sandpaper of the sandpaper assembly on its side between the embedding component and the tightening component, and move out along the sandpaper tearing direction; the placement rack is provided with a number of sandpaper placement mechanisms equivalent to the number of sandpaper assemblies; the sandpaper assembly after tearing off the sandpaper moves to the corresponding sandpaper placement mechanism under the drive of the manipulator, and can fit and fix the sandpaper contained in the sandpaper placement mechanism on the sandpaper assembly by pressing and tightening. By using the grinding device, the disadvantages of manually replacing sandpaper can be avoided, the grinding efficiency can be improved, and the grinding accuracy is high. The present application also provides a grinding method.

Description

Technical Field

[0001] The present invention relates to the field of grinding technology, in particular to a grinding device and a grinding method thereof. Background Art

[0002] At present, the most common way to grind workpieces is manual grinding, but manual grinding is time-consuming and labor-intensive, and the quality of grinding is not stable enough due to the different skills and experience of processing workers. The safety hazards, high labor costs, and unstable product quality caused by traditional manual grinding operations make manual grinding operations obviously unsuitable for the long-term development of enterprises.

[0003] Then came the automatic grinding machine. However, when the grinding equipment is grinding products, the grinding components such as sandpaper are worn and need to be replaced regularly. The traditional method is to replace them manually. However, manual replacement is time-consuming and prone to irregular replacement operations, which leads to abnormal grinding quality, affects the grinding effect, and causes product rework and scrapping. Summary of the invention

[0004] The invention discloses a grinding device and a grinding method thereof, aiming to improve the problems of poor operability and automation of the grinding device.

[0005] The present invention adopts the following scheme:

[0006] The present application provides a grinding device for grinding the sealing surface of a workpiece, comprising: a robot, a fixture, a paper tearing mechanism and a placement rack; the robot comprises a manipulator and a grinding mechanism and a clamping mechanism arranged on the manipulator, the grinding mechanism has a plurality of independent sandpaper assemblies arranged in different orientations, and the grinding degree of each sandpaper assembly is different; the clamping mechanism is arranged at the end of the manipulator, and the sandpaper assemblies are rotatably arranged on different sides of the manipulator, and the sandpaper can be arranged on the sandpaper assembly in a detachable and fitting manner; the fixture is used to receive and place the workpiece to be ground transferred via the clamping mechanism, and it has a clamping mechanism for clamping the workpiece in the horizontal direction and a limiting mechanism for buckling the workpiece on the fixture in the longitudinal direction; the workpiece limit is fixed on the fixture and can Driven by the external rotating mechanism, the workpiece can be rotated along the horizontal axis to adjust the position; the paper tearing mechanism includes an embedded component that can be inserted into the sandpaper assembly to separate the sandpaper and a tightening component that cooperates with the embedded component to press and pinch the sandpaper to be replaced, and the manipulator can be moved to insert the sandpaper of the sandpaper assembly on its side between the embedded component and the tightening component, and move out along the sandpaper tearing direction; the placement rack is provided with sandpaper placement mechanisms equal to the number of sandpaper assemblies, and the sandpaper placement mechanisms are arranged on the placement rack at intervals and side by side, and one sandpaper placement mechanism can provide sandpaper of one specification; the sandpaper assembly after tearing off the sandpaper moves to the corresponding sandpaper placement mechanism driven by the manipulator, and the sandpaper accommodated in the sandpaper placement mechanism can be fixed on the sandpaper assembly by pressing and tightening.

[0007] As a further improvement, the robot is constructed as a multi-axis manipulator with a mounting portion, and the clamping mechanism is arranged outwardly on the lower end surface of the mounting portion so as to be able to clamp and transfer the workpiece; the sandpaper assembly is arranged on the outer side surface of the mounting portion, and includes a fitting surface for sticking and fixing the sandpaper and a driving member capable of driving the fitting surface to rotate, and the driving member is extended and arranged on the outer side surface of the mounting portion and is roughly flush with the mounting portion.

[0008] As a further improvement, the fitting surface and the sandpaper on its end surface are assembled and fixed by Velcro fitting; wherein the sandpaper accommodated in the sandpaper placement mechanism is constructed to be consistent with the sandpaper on the fitting surface.

[0009] As a further improvement, a probe assembly is separately configured on one of the outer side surfaces of the mounting portion, and the probe assembly and each sandpaper assembly are arranged on different sides of the mounting portion.

[0010] As a further improvement, the placement rack is roughly a T-shaped bracket, and each sandpaper placement mechanism is placed horizontally at the lateral end of the placement rack; wherein the sandpaper placement mechanism includes a accommodating cylinder with a bottom opening and sandpapers stacked in the accommodating cylinder, and each sandpaper is confined in the accommodating cylinder in a lateral clamping manner.

[0011] As a further improvement, the accommodating cylinder forms a chamber for clamping and accommodating sandpaper by means of a plurality of limiting columns arranged around the circumference of the sandpaper, and its opening is arranged in the same shape as the sandpaper and the sandpaper assembly to allow the manipulator to move to push the sandpaper assembly from bottom to top into the chamber with sandpaper.

[0012] As a further improvement, the paper tearing mechanism is arranged at the vertical end of the placement rack; the embedded component has a fixed knife part, and the fixed knife part is constructed to be able to cut into and be placed between the sandpaper component and the sandpaper; the tightening component has a movable part, and the movable part can move in the direction approaching or away from the fixed knife part, and after approaching, it cooperates with the fixed knife part to form a kneading member to clamp and fix the sandpaper to be replaced.

[0013] As a further improvement, the cutting edge of the fixed blade portion is arranged to face downward in the longitudinal direction, and the movable portion moves closer to or farther away from the fixed blade portion in the transverse direction.

[0014] As a further improvement, the rotating mechanism includes a rotating component and a driven component that are arranged opposite to each other, at least one of the rotating component and the driven component can be arranged on the workholding clamp along a transverse sliding manner, and the clamping mechanism is respectively arranged on the transmission component and the driven component, and can rotate the workpiece along the axis under the drive of the rotating component after clamping and tightening the workpiece.

[0015] The present application further provides a grinding method, which uses the above-mentioned grinding device to grind a workpiece, and comprises the following steps:

[0016] S1: Get the initial position of the workpiece, control the robot to move above the workpiece, grab the workpiece through the clamping mechanism and transfer it to the fixture clamp;

[0017] S2: After determining that the workpiece is in place, the grip of the workpiece by the clamping mechanism is released, so that the workpiece is limited and fastened on the fixture clamping table under the cooperation of the clamping mechanism and the limiting mechanism, and the workpiece is driven by the rotary mechanism to adjust the grinding position;

[0018] S3: The robot moves to fit the grinding assembly onto the workpiece, grinds the sealing surface of the workpiece multiple times, and uses sandpaper assemblies with different grinding degrees to grind the same grinding area in a cross-alternation manner from fine grinding to coarse grinding and then to fine grinding;

[0019] S4: After finishing the grinding of a grinding area, the robot is controlled to move close to the paper tearing mechanism, and the fitting surface between the sandpaper assembly and the sandpaper is directly inserted into the embedding assembly, and the pressing assembly is moved close to the embedding assembly to press and pinch the sandpaper to be replaced.

[0020] S5: driving the robot arm to withdraw along the tearing direction of the sandpaper, and continuing to replace the sandpapers of different sandpaper assemblies until all the sandpapers of the sandpaper assemblies have been replaced;

[0021] S6: Control the manipulator to move to the placement rack, move the manipulator to enable the sandpaper assembly to be pressed and tightened to the sandpaper placement mechanism, fit and fix the new sandpaper on the sandpaper assembly, and continue to fit and fix the sandpaper on different sandpaper assemblies in their corresponding sandpaper placement mechanisms.

[0022] By adopting the above technical solution, the present invention can achieve the following technical effects:

[0023] The grinding equipment of the present application controls the manipulator to automatically clamp and place the workpiece, and automatically grind the workpiece, and can automatically tear open the sandpaper assembly configured on the manipulator and replace the new sandpaper under the cooperation of the manipulator, the tearing mechanism and the sandpaper placing mechanism, thereby avoiding the disadvantages of manually replacing the sandpaper, improving the grinding efficiency, and achieving high grinding accuracy. Among them, the robot grabs the workpiece to the fixture clamp table through the clamping mechanism configured on the manipulator, and the clamping mechanism configured on the fixture clamp table can clamp the workpiece horizontally, and the limit mechanism can buckle the workpiece on the clamp table longitudinally, and under the drive of the external rotating mechanism, the workpiece can be rotated along the horizontal axis to adjust the position, so that the manipulator can further grind it, the workpiece is in a stable state and can be flexibly rotated to adjust its grinding area to the side facing the manipulator, and the grinding is convenient and easy to operate. In addition, the tearing mechanism uses a pressing and pinching method. After the manipulator drives the sandpaper assembly to insert the sandpaper into the embedding assembly, the pressing assembly moves to cooperate with the embedding assembly to grasp the sandpaper, so that when the manipulator withdraws along the tearing direction, the sandpaper to be replaced is retained in the tearing mechanism, and the sandpaper is quickly replaced, and the sandpaper of different sandpaper assemblies is replaced one by one. Then the sandpaper assembly after the sandpaper is torn off is moved to the corresponding sandpaper placement mechanism, and the sandpaper contained in the sandpaper placement mechanism is fixed on the sandpaper assembly by pressing and tightening, and the sandpaper replacement is completed. The operation is simple and the effect is significant. It is different from the existing manual replacement and automatic replacement methods, has obvious differences and uniqueness, and has a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0025] Figure 1 is a schematic structural diagram of a grinding device according to an embodiment of the present invention at a first viewing angle;

[0026] Figure 2 is a schematic structural diagram of a grinding device according to an embodiment of the present invention at a second viewing angle;

[0027] Figure 3 yes Figure 2 An enlarged schematic diagram of position I in FIG.

[0028] Figure 4 is a schematic structural diagram of a grinding device according to an embodiment of the present invention from a third viewing angle;

[0029] Figure 5 is a schematic structural diagram of a grinding device according to an embodiment of the present invention at a fourth viewing angle;

[0030] Figure 6 yes Figure 5 An enlarged schematic diagram of II in FIG.

[0031] Figure 7 is a schematic structural diagram of a placement rack for a grinding device according to an embodiment of the present invention;

[0032] Figure 8 It is a schematic flow chart of a grinding method according to another embodiment of the present invention.

[0033] Icons: 1-robot; 11-manipulator; 111-installation part; 12-clamping mechanism; 13-sandpaper assembly; 131-fitting surface; 132-driving part; 14-probe assembly; 2-tooling clamp; 21-clamping mechanism; 22-limiting mechanism; 23-rotating mechanism; 231-rotating assembly; 232-driven assembly; 3-paper tearing mechanism; 31-embedded assembly; 311-fixed knife part; 32-tightening assembly; 321-movable part; 4-placing rack; 41-sandpaper placing mechanism; 411-receiving cylinder; 412-limiting column; A-workpiece. DETAILED DESCRIPTION

[0034] In order to make the purpose, 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 in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the invention claimed for protection, but merely represents the selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0035] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present invention.

[0036] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0037] In the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0038] In the present invention, unless otherwise clearly specified and limited, a first feature being "above" or "below" a second feature may include that the first and second features are in direct contact, or may include that the first and second features are not in direct contact but are in contact through another feature between them. Moreover, a first feature being "above", "above" and "above" a second feature includes that the first feature is directly above and obliquely above the second feature, or simply indicates that the first feature is higher in level than the second feature. A first feature being "below", "below" and "below" a second feature includes that the first feature is directly below and obliquely below the second feature, or simply indicates that the first feature is lower in level than the second feature.

[0039] Example

[0040] Combination Figures 1 to 7, this embodiment provides a grinding device for grinding the sealing surface of a workpiece A, comprising: a robot 1, a fixture table 2, a paper tearing mechanism 3 and a placement rack 4. The robot 1 comprises a manipulator 11 and a grinding mechanism and a clamping mechanism 12 arranged on the manipulator 11. The grinding mechanism has a plurality of independent sandpaper assemblies 13 arranged in different orientations, and the grinding degree of each sandpaper assembly 13 is different. The clamping mechanism 12 is arranged at the end of the manipulator 11, and the sandpaper assemblies 13 are rotatably arranged on different sides of the manipulator 11, and the sandpaper can be arranged on the sandpaper assembly 13 in a detachable and fitting manner. The fixture table 2 is used to receive and place the workpiece A to be polished transferred via the clamping mechanism 12, and it has a clamping mechanism 21 that is engaged with the workpiece A in the horizontal direction and a limiting mechanism 22 that buckles the workpiece A on the fixture table 2 in the longitudinal direction. The workpiece A is fixed on the fixture clamp 2 and can be driven by the external rotating mechanism 23 so that the workpiece A can rotate along the horizontal axis to adjust the position. The paper tearing mechanism 3 includes an embedded component 31 that can be inserted into the sandpaper assembly 13 to separate the sandpaper and a tightening component 32 that cooperates with the embedded component 31 to press and pinch the sandpaper to be replaced. The manipulator 11 can move to insert the sandpaper of the sandpaper assembly 13 on its side between the embedded component 31 and the tightening component 32, and move out along the sandpaper tearing direction. The placement rack 4 is provided with a number of sandpaper placement mechanisms 41 that is equal to the number of sandpaper assemblies 13. The sandpaper placement mechanisms 41 are arranged on the placement rack 4 at intervals and side by side. One sandpaper placement mechanism 41 can provide sandpaper of one specification. After the sandpaper is torn off, the sandpaper assembly 13 moves to the corresponding sandpaper placement mechanism 41 under the drive of the manipulator 11, and the sandpaper contained in the sandpaper placement mechanism 41 can be fixed on the sandpaper assembly 13 by pressing and tightening.

[0041] The grinding equipment in this embodiment controls the manipulator 11 through the robot 1 to automatically clamp and place the workpiece A, and automatically grind the workpiece A. The sandpaper assembly 13 configured on the manipulator 11 can be automatically torn open and replaced with new sandpaper under the cooperation of the manipulator 11, the paper tearing mechanism 3 and the sandpaper placing mechanism 41, thereby avoiding the disadvantages of manual replacement of sandpaper, improving the grinding efficiency, and achieving high grinding accuracy.

[0042] Among them, the robot 1 grabs the workpiece A to the fixture clamp 2 through the clamping mechanism 12 configured on the manipulator 11, and the clamping mechanism 21 configured on the fixture clamp 2 can clamp the workpiece A horizontally, and the limiting mechanism 22 can buckle the workpiece A on the clamping table along the longitudinal direction, and under the drive of the external rotating mechanism 23, the workpiece A can be rotated along the horizontal axis to adjust the position, so that the manipulator 11 can further grind it. The workpiece A is in a stable state and can be flexibly rotated to adjust its grinding area to the side facing the manipulator 11. The grinding is convenient and easy to operate.

[0043] In addition, the tearing mechanism 3 uses a pressing and pinching method. After the manipulator 11 drives the sandpaper assembly 13 to insert the sandpaper into the embedding assembly 31, the pressing assembly 32 moves to cooperate with the embedding assembly 31 to grasp the sandpaper, so that when the manipulator 11 withdraws along the tearing direction, the sandpaper to be replaced is retained in the tearing mechanism 3, and the sandpaper is quickly replaced, and the sandpapers of different sandpaper assemblies 13 are replaced one by one. Then, the sandpaper assembly 13 after the sandpaper is torn off is moved to the corresponding sandpaper placement mechanism 41, and the sandpaper contained in the sandpaper placement mechanism 41 is fixed on the sandpaper assembly 13 by pressing and tightening, and the sandpaper replacement is completed. The operation is simple and the effect is significant. It is different from the existing manual replacement and automatic replacement methods, has obvious differences and uniqueness, and has a wide range of applications.

[0044] In one embodiment, the robot 1 is constructed as a multi-axis manipulator 11 having a mounting portion 111, and the clamping mechanism 12 is disposed outwardly and directly on the lower end surface of the mounting portion 111, so as to be able to clamp and transfer the workpiece A. The clamping mechanism 12 can be constructed as a suction cup structure or a magnetic adsorption structure. In addition, the sandpaper assembly 13 is disposed on the outer side surface of the mounting portion 111, and includes a bonding surface 131 for bonding and fixing with the sandpaper and a driving member 132 capable of driving the bonding surface 131 to rotate, and the driving member 132 is extended and disposed on the outer side surface of the mounting portion 111 and is roughly flush with the mounting portion 111. Thus, the driving member 132 directly drives the sandpaper bonded and fastened on the bonding surface 131 to rotate along the axial direction of the output end of the driving member 132, so that the manipulator 11 is driven to translate along the grinding direction under the control of the robot 1, and the sandpaper is always kept rotating under the drive of the driving member 132, so as to grind the sealing surface of the workpiece A from time to time. It should be mentioned that the adhesive force of the sandpaper at the fitting surface 131 is at least greater than the friction force during grinding, so as to ensure the normal grinding of the sandpaper assembly 13 .

[0045] In one embodiment, the fitting surface 131 and the sandpaper on its end surface are assembled and fixed in a Velcro fitting manner. The sandpaper contained in the sandpaper placement mechanism 41 is constructed to be consistent with the sandpaper on the fitting surface 131. Velcro is disposed between the fitting surface 131 and the sandpaper for detachable bonding and fixing, and the sandpaper contained in the sandpaper placement mechanism 41 is provided with Velcro matching the fitting surface 131 in the direction of pressing and tightening the sandpaper assembly 13, so as to achieve the fitting and fastening between the fitting surface 131 of the sandpaper after tearing and the new sandpaper.

[0046] In a preferred embodiment, a probe assembly 14 is separately configured on one of the outer sides of the mounting portion 111, and the probe assembly 14 and each sandpaper assembly 13 are arranged on different sides of the mounting portion 111. Therefore, before grinding, the workpiece A placed on the clamping table is detected and identified by the probe assembly 14, and the required grinding area is obtained and fed back to the robot 1 terminal, which is beneficial for the robot 1 to control the manipulator 11 and realize the precise grinding of the sandpaper assembly 13 in the grinding area.

[0047] See also Figure 5 , Figure 6 and Figure 7 , the placement rack 4 is roughly a T-shaped bracket, and each sandpaper placement mechanism 41 is placed horizontally at the lateral end of the placement rack 4. Among them, the sandpaper placement mechanism 41 includes a accommodating tube 411 with a bottom opening and sandpapers stacked in the accommodating tube 411, and each sandpaper is restricted in the accommodating tube 411 in a transverse clamping manner. Specifically, the accommodating tube 411 is formed by a plurality of limiting columns 412 arranged around the circumference of the sandpaper to clamp and accommodate the chamber of sandpaper, and its opening is configured to imitate the sandpaper and the sandpaper assembly 13 to allow the manipulator 11 to move to push the sandpaper assembly 13 from bottom to top into the chamber with sandpaper. Such a setting method enables the sandpaper stacked in the accommodating tube 411 to be restricted above the opening under the transverse clamping of the limiting column 412 to avoid the sandpaper falling off. When the sandpaper assembly 13 is pressed from bottom to top along the bottom opening, the sandpaper at the lower layer can be smoothly moved down along the arrangement direction of the limiting column 412 until it is taken out of the accommodating tube 411, which greatly improves the efficiency of replacing the sandpaper. It should be mentioned that in order to facilitate the tearing off or replacement of the sandpaper, the Velcro is constructed on the back of the sandpaper and on the fitting surface 131 to fit along the periphery, wherein the sandpaper and the fitting surface 131 are both circular in shape, and the Velcro is correspondingly constructed in a ring shape to facilitate the fitting or tearing operation.

[0048] It should be mentioned that a color code sensor (not shown) is arranged on the lateral side of the placement rack 4 facing the bottom, which is used to obtain and identify the color on the sandpaper assembly 13. When it is determined that the recognized color is the color of the sandpaper itself, the sandpaper replacement is determined to be successful. If the recognized color is the color of the fitting surface 131 of the sandpaper assembly 13, it is fed back to the robot 1 in time to alarm and remind the failure of sandpaper replacement, which plays a fool-proof role. In addition, sandpapers of different specifications have different mesh numbers and different grinding degrees, which is conducive to optional fine grinding or coarse grinding. Therefore, the mesh numbers of sandpapers used in different sandpaper assemblies 13 are different, making the grinding types more diversified, and the sandpaper specifications in different accommodating tubes 411 are consistent with the sandpaper specifications of the corresponding sandpaper assemblies 13.

[0049] See also Figure 4 , Figure 6 and Figure 7In one embodiment, the paper tearing mechanism 3 is arranged at the vertical end of the placement rack 4. The embedding component 31 has a fixed knife portion 311, and the fixed knife portion 311 is constructed to be able to cut into and be placed between the sandpaper assembly 13 and the sandpaper. The clamping component 32 has a movable portion 321, and the movable portion 321 can move in a direction close to or away from the fixed knife portion 311, and after approaching, it cooperates with the fixed knife portion 311 to form a kneading member to clamp and fix the sandpaper to be replaced. The paper tearing mechanism 3 and the sandpaper placement mechanism 41 are both arranged at the same placement rack 4, which reduces the travel during paper tearing and replacement, and are respectively arranged on the lateral side and the vertical side, which is conducive to the unified regulation of the robot 1, and is more convenient and efficient. In particular, the cutting edge of the fixed knife portion 311 is arranged downward in the longitudinal direction, and the movable portion 321 approaches or moves away from the fixed knife portion 311 in the lateral direction. Thus, the manipulator 11 moves to the same vertical position of the fixed knife part 311, and drives the fitting surface 131 of the sandpaper assembly 13 and the connection between the sandpaper and the sandpaper from bottom to top to be inserted into the cutting edge, which is consistent with the method of replacing the sandpaper, is easy to operate and use, and avoids the tedious operation of tearing and replacing the paper.

[0050] It should be noted that the movement of the movable part 321 relative to the fixed knife part 311 can be achieved by a direct-push cylinder. The movable part 321 is arranged on the output shaft of the cylinder, and the cylinder is arranged in a direction close to or away from the fixed knife part 311 to achieve mutual approach to knead the sandpaper to be replaced, or to move away from each other to avoid the sandpaper to be replaced from entering the space between the movable part 321 and the fixed knife part 311.

[0051] See also Figure 2 , Figure 4 and Figure 5 The rotary mechanism 23 includes a rotating assembly 231 and a driven assembly 232 which are arranged opposite to each other. At least one of the rotating assembly 231 and the driven assembly 232 can be arranged on the fixture clamp 2 in a lateral sliding manner, and the clamping mechanism 21 is respectively arranged on the transmission assembly and the driven assembly 232, and can rotate the workpiece A along the axis under the drive of the rotating assembly 231 after clamping and fastening the workpiece A. Among them, the rotating assembly 231 and the driven assembly 232 are both arranged on the fixture clamp 2 in the form of a slewing bearing. Among them, the slewing bearing is composed of inner and outer rings, rolling elements, etc. The slewing bearing is a large bearing that can withstand a comprehensive load and can simultaneously withstand large axial, radial loads and overturning moments, thereby facilitating efficient slewing configuration. In addition, the rotating assembly 231 drives the workpiece A to rotate via an external power source. Specifically, the driving source is connected to the power source through gear meshing and directly transmits the power to the rotating assembly 231, and the driven assembly 232 can rotate together, thereby rotating as a whole along the horizontal axis.

[0052] In particular, the rotating assembly 231 and / or the driven assembly 232 which are adjustably arranged on the clamping table can adaptively adjust their placement intervals according to the size of the workpiece A, and are suitable for clamping workpieces A of different sizes. And the clamping mechanism 21 arranged on one side of the rotating assembly 231 and the driven assembly 232 can be clamped and fixed along the position adjustment direction by means of a chuck or a top tightening limit. In order to limit and fix the workpiece A with multiple degrees of freedom, a limiting mechanism 22 is arranged on one side close to the driven assembly 232 or the rotating assembly 231, so that it can be buckled on the workpiece A in the longitudinal direction to further clamp and fix the workpiece A. Among them, the limiting mechanism 22 can be constructed as an articulated locking structure, and the workpiece A is further locked after the clamping mechanism 21 is clamped in place. It should be mentioned that the configuration of the clamping mechanism 21 or the limiting mechanism 22 on the workpiece A is set to avoid the grinding area, so as to avoid interference with the grinding work.

[0053] Combination Figure 2 and Figure 8 In this embodiment, a grinding method is further provided, which uses the above-mentioned grinding equipment to grind the workpiece A, and includes the following steps:

[0054] S1: Obtain the initial position of the workpiece A, control the robot 11 to move above the workpiece A, and grasp the workpiece A through the clamping mechanism 12 and transfer it to the fixture clamping table 2.

[0055] S2: After determining that workpiece A has been moved into position, release the grip of workpiece A by the clamping mechanism 12, so that workpiece A is limitedly fastened on the fixture table 2 with the cooperation of the clamping mechanism 21 and the limiting mechanism 22, and the workpiece A is driven by the rotating mechanism 23 to adjust the grinding position.

[0056] S3: The robot 11 moves to fit the grinding assembly onto the workpiece A, grinds the sealing surface of the workpiece A multiple times, and uses sandpaper assemblies 13 with different grinding degrees to grind the same grinding area in a cross-alternating manner from fine grinding to coarse grinding and then to fine grinding.

[0057] S4: After the grinding of a grinding area is completed, the robot 11 is controlled to move close to the paper tearing mechanism 3, and the fitting surface 131 between the sandpaper assembly 13 and the sandpaper is directly inserted into the embedding assembly 31, and the pressing assembly 32 is moved close to the embedding assembly 31 to press and pinch the sandpaper to be replaced.

[0058] S5: driving the robot 11 to withdraw along the tearing direction of the sandpaper, and continuing to replace the sandpapers of different sandpaper assemblies 13 until all the sandpapers of the sandpaper assemblies 13 have been replaced.

[0059] S6: Control the manipulator 11 to move to the placement rack 4, and move the manipulator 11 to enable the sandpaper assembly 13 to be pressed tightly against the sandpaper placement mechanism 41, fit and fix the new sandpaper on the sandpaper assembly 13, and continue to fit and fix the sandpaper on different sandpaper assemblies 13 in their corresponding sandpaper placement mechanisms 41.

[0060] Among them, after step 6, when the robot 1 determines that it is necessary to continue to grind the same workpiece A, the operation of step 3 is repeated again. When the robot 1 determines that the previous workpiece A has completed the grinding operation and needs to replace another workpiece A, it returns to step 1 to perform the grinding operation of the next workpiece A. In this embodiment, acquisition and regulation are performed through the robot 1 terminal to ensure the automation of the entire process of grinding. Among them, a grinding method such as fine grinding to coarse grinding and then to fine grinding is adopted to achieve efficient and standardized grinding operations on the same grinding area, and the grinding effect is significant. In addition, during the entire grinding process, the tearing off of the worn sandpaper or the replacement of the new sandpaper on the sandpaper assembly 13 are all achieved under the control of the manipulator 11 in conjunction with various functional mechanisms, changing the cumbersome processes that are difficult to operate automatically into simple and efficient automated operations, so as to achieve full automation of the entire grinding equipment.

[0061] The above are only preferred implementations of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention.

Claims

1. A grinding device for grinding the sealing surface of a workpiece, characterized in that: include: A robot, comprising a manipulator and a grinding mechanism and a clamping mechanism disposed on the manipulator, wherein the grinding mechanism has a plurality of independent sandpaper assemblies disposed in different orientations, and each sandpaper assembly has a different degree of grinding; the clamping mechanism is disposed at the end of the manipulator, and the sandpaper assemblies are rotatably disposed on different sides of the manipulator, and the sandpaper can be disposed on the sandpaper assembly in a detachable and fitting manner; The fixture clamping table is used to receive and place the workpiece to be polished transferred by the clamping mechanism, and has a clamping mechanism for clamping the workpiece in the horizontal direction and a limiting mechanism for buckling the workpiece on the fixture clamping table in the longitudinal direction; the workpiece is limitedly fixed on the fixture clamping table and can be driven by an external rotating mechanism so that the workpiece can be rotated along a horizontal axis to adjust its position; The paper tearing mechanism comprises an embedding component that can be inserted into the sandpaper assembly to separate the sandpaper and a pressing component that cooperates with the embedding component to press and pinch the sandpaper to be replaced. The manipulator can move to insert the sandpaper of the sandpaper assembly on its side between the embedding component and the pressing component, and move out along the sandpaper tearing direction; A placing rack, wherein the placing rack is provided with sandpaper placing mechanisms having the same number as the sandpaper assemblies, the sandpaper placing mechanisms are arranged side by side on the placing rack at intervals, and one sandpaper placing mechanism can provide sandpaper of one specification; after the sandpaper is torn off, the sandpaper assemblies are moved to the corresponding sandpaper placing mechanisms under the drive of the manipulator, and the sandpaper contained in the sandpaper placing mechanisms can be fixed on the sandpaper assemblies by pressing and tightening; The robot is constructed as a multi-axis manipulator with a mounting portion, and the clamping mechanism is arranged outwardly and directly on the lower end surface of the mounting portion so as to be able to clamp and transfer the workpiece; the sandpaper assembly is arranged on the outer side surface of the mounting portion, and includes a bonding surface for bonding and fixing the sandpaper and a driving member capable of driving the bonding surface to rotate, and the driving member is extended and arranged on the outer side surface of the mounting portion and is substantially flush with the mounting portion; The placement rack is generally a T-shaped bracket, and each sandpaper placement mechanism is placed horizontally at the lateral end of the placement rack; wherein, The sandpaper placing mechanism comprises a containing tube with a bottom opening and sandpapers stacked in the containing tube, and each sandpaper is restricted in the containing tube in a transverse clamping manner.

2. The grinding device according to claim 1, characterized in that: The fitting surface and the sandpaper on its end surface are assembled and fixed in a Velcro manner; wherein, The sandpaper accommodated in the sandpaper placement mechanism is structured to be consistent with the sandpaper on the bonding surface.

3. The grinding device according to claim 1, characterized in that: A probe assembly is separately configured on one outer side surface of the mounting portion, and the probe assembly and each sandpaper assembly are arranged on different sides of the mounting portion.

4. The grinding device according to claim 1, characterized in that: The accommodating cylinder forms a chamber for clamping and accommodating sandpaper through a plurality of limiting columns arranged around the circumference of the sandpaper, and its opening is arranged in the same shape as the sandpaper and the sandpaper assembly to allow the manipulator to move to push the sandpaper assembly from bottom to top into the chamber with sandpaper.

5. The grinding device according to claim 1, characterized in that: The paper tearing mechanism is arranged at the vertical end of the placement rack; the embedded component has a fixed knife part, and the fixed knife part is constructed to be able to cut into and be placed between the sandpaper component and the sandpaper; the tightening component has a movable part, and the movable part can move in the direction of approaching or moving away from the fixed knife part, and after approaching, it cooperates with the fixed knife part to form a kneading component to clamp and fix the sandpaper to be replaced.

6. The grinding device according to claim 5, characterized in that: The cutting edge of the fixed blade portion is arranged downward in the longitudinal direction, and the movable portion can approach or move away from the fixed blade portion in the lateral direction.

7. The grinding device according to claim 1, characterized in that: The rotating mechanism includes a rotating component and a driven component that are arranged opposite to each other. At least one of the rotating component and the driven component can be arranged on the workholding clamp in a transverse sliding manner, and the clamping mechanism is respectively arranged on the transmission component and the driven component, and can rotate the workpiece along the axis under the drive of the rotating component after clamping and tightening the workpiece.

8. A grinding method, characterized in that: The process of grinding a workpiece using the grinding device as claimed in any one of claims 1 to 7 comprises the following steps: S1: Get the initial position of the workpiece, control the manipulator to move above the workpiece, grab the workpiece through the clamping mechanism and transfer it to the fixture clamp; S2: After determining that the workpiece is in place, the grip of the workpiece by the clamping mechanism is released, so that the workpiece is limited and fastened on the fixture clamping table under the cooperation of the clamping mechanism and the limiting mechanism, and the workpiece is driven by the rotary mechanism to adjust the grinding position; S3: The robot moves to fit the grinding assembly onto the workpiece, grinds the sealing surface of the workpiece multiple times, and uses sandpaper assemblies with different grinding degrees to grind the same grinding area in a cross-alternation manner from fine grinding to coarse grinding and then to fine grinding; S4: After finishing the grinding of a grinding area, the robot is controlled to move close to the paper tearing mechanism, and the fitting surface between the sandpaper assembly and the sandpaper is directly inserted into the embedding assembly, and the pressing assembly is moved close to the embedding assembly to press and pinch the sandpaper to be replaced. S5: driving the manipulator to withdraw along the tearing direction of the sandpaper, and continuing to replace the sandpapers of different sandpaper assemblies until all the sandpapers of the sandpaper assemblies have been replaced; S6: Control the manipulator to move to the placement rack, move the manipulator to enable the sandpaper assembly to be pressed and tightened to the sandpaper placement mechanism, fit and fix the new sandpaper on the sandpaper assembly, and continue to fit and fix the sandpaper on different sandpaper assemblies in their corresponding sandpaper placement mechanisms.

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