An automatic grinding system

Abstract

The present invention relates to an automatic grinding system, including a protective room, a robot, a grinding device, a fixture rack with a fixture placed thereon, and a conveying device; the conveying device includes a frame and a conveying mechanism, a positioning mechanism, and a grabbing mechanism all mounted on the frame; the conveying mechanism includes a material unloading conveying assembly and a material loading conveying assembly; the positioning mechanism is located at the discharge end of the material loading conveying assembly; the positioning mechanism is used to drive the luggage rack to lift and leave the material loading conveying assembly; the grabbing mechanism includes a clamp, a lifting device, and a driving device. The processing system realizes automatic loading of the luggage rack through the conveying device, and the robot can quickly grab the luggage rack, and then complete the grinding and polishing of the luggage rack through the cooperation of the grinding device and other components, and then realize automatic unloading through the conveying device. It only needs to put or take off the luggage rack at the feeding end of the conveying device to complete the loading and unloading of the luggage rack, which reduces the difficulty of loading and unloading and the grabbing speed of the robot, and improves the working efficiency of the processing system.

Description

Technical Field

[0001] The present invention relates to the field of luggage rack processing equipment, and more specifically, to an automatic grinding system. Background Art

[0002] At present, luggage racks are mainly processed with special cross-section profiles as raw materials, and are manufactured through bending, failure, sawing, drilling, and painting processes. There are different luggage rack products for different models. During the production process of luggage racks, the luggage racks need to be processed. Some existing processing methods are to grind the luggage racks after grabbing them with a robot.

[0003] For example, a Chinese patent document with publication number "CN207415068U" and publication date of May 29, 2018 discloses a luggage rack grinding and polishing system, including a protective room and a workpiece positioning component installed in the protective room, a robot, a rough sanding component, a semi-fine sanding component, a fine sanding component, a rough polishing component and a fine polishing component, a multi-directional rotating clamp component is installed at the swing arm end of the robot, the workpiece positioning component is provided with a connecting component with a buffer function and a positioning frame assembly adapted to be installed with the workpiece, the connecting component is installed on the workpiece positioning component, and the positioning frame assembly and the multi-directional rotating clamp The tool parts are detachable and installable; a monitoring component is arranged outside the protection room, which can control the robot to clamp the positioning frame assembly and drive the workpiece installed on the positioning frame assembly to be connected to the coarse sanding component, the semi-fine sanding component, the fine sanding component, the rough polishing component, the fine polishing component and the workpiece positioning component in sequence, so that the workpiece can complete the loading process, the coarse sanding process, the semi-fine sanding process, the fine sanding process, the rough polishing process, the fine polishing process and the unloading process at one time; the workpiece positioning component, the robot, the coarse sanding component, the semi-fine sanding component, the fine sanding component, the rough polishing component and the fine polishing component are respectively connected to the monitoring component.

[0004] In the above technical solution, the entire polishing system lacks an important link. There is a lack of automation in the loading and unloading of the luggage rack. Both loading and unloading require manual operation of the positioning frame assembly. The luggage rack must be fixed on the positioning assembly to realize the loading of the luggage rack, which makes the loading and unloading of the luggage rack difficult, resulting in low working efficiency of the polishing system and inability to achieve fully automated polishing processing. Summary of the invention

[0005] In order to overcome the problem of low working efficiency of the polishing system in the above-mentioned prior art, the present invention provides an automatic polishing system to complete the automatic loading and unloading of luggage racks, so that the robot can quickly and continuously grab the luggage racks to be processed, thereby improving the working efficiency of the polishing system.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is: an automatic grinding system, including a protection room and a robot, a grinding device, a fixture rack with fixtures and a conveying device all installed in the protection room; one end of the conveying device is located outside the protection room, and the other end is located in the protection room; the conveying device includes a frame and a conveying mechanism for conveying luggage racks, a positioning mechanism for fixing the position of the luggage racks and a grabbing mechanism for grabbing the luggage racks, all of which are installed on the frame; the conveying mechanism includes a unloading conveying assembly and a loading conveying assembly provided with a positioning block, and the conveying directions of the loading conveying assembly and the unloading conveying assembly are opposite; the positioning mechanism is arranged at the discharge end of the loading conveying assembly; the positioning mechanism is used to drive the luggage rack to lift and leave the loading conveying assembly; the grabbing mechanism is arranged above the positioning mechanism, including a clamp, a lifting device for driving the clamp to lift and lower, and a driving device for driving the clamp to rotate; the clamp is used to clamp the luggage rack located on the positioning mechanism.

[0007] In the above technical solution, the loading conveyor assembly runs in the direction of the protection room, and the unloading conveyor assembly runs in the direction of the protection room. The staff or other devices (such as a robotic arm) that can grasp the luggage rack put the luggage rack into the positioning block on the loading conveyor assembly outside the protection room. At this time, the polished surface of the luggage rack faces upward, and the loading conveyor assembly conveys the luggage rack to the side of the discharge end. The positioning mechanism lifts the luggage rack to make the luggage rack separate from the conveying mechanism. The lifting device of the grasping mechanism drives the clamp to descend to the luggage rack, and then the lifting device resets after the clamp clamps the luggage rack. The driving device drives the clamp to rotate 90 degrees, so that the polished surface of the luggage rack can face the side of the clamp, and the inner cavity surface of the luggage rack can face the robot. A clamp for grasping the luggage rack is connected to the clamp frame, and the robot grasps the luggage rack on the clamp through the clamp. After the robot grasps the luggage rack, it moves with the luggage rack to the polishing device. By designing the running path of the robot, the luggage rack moves on the polishing device to complete the polishing of the luggage rack. After the luggage rack is polished, the robot places the luggage rack on the unloading conveying assembly, and the unloading conveying assembly conveys the luggage rack to the outside of the protective room. Finally, the luggage rack only needs to be removed from the unloading conveying assembly to complete the unloading. Among them, the loading conveying assembly can be a conveyor chain and a motor that drives the conveyor chain to operate, and the positioning block is set on the conveyor chain. The unloading conveying assembly can be an unloading conveyor belt and a motor that drives the unloading conveyor belt to operate, and the unloading conveyor belt can be located above the conveyor chain. The lifting device can be a cylinder, a hydraulic cylinder or other mechanism. The driving device can be a rotating cylinder, a motor, a steering gear or other mechanism.

[0008] Preferably, the positioning mechanism also includes a moving plate slidably connected to the frame, a pushing device for driving the moving plate to move, a first positioning assembly and a second positioning assembly, the first positioning assembly and the second positioning assembly both include a positioning latch, a limit block and a lifting device, the positioning latch and the limit block can be installed on a connecting plate, and the lifting device drives the connecting plate to rise; the first positioning assembly and the second positioning assembly are both installed on the moving plate; a detection assembly is provided on one side of the feeding end of the loading and conveying assembly, and the detection assembly is used to detect the process holes of the luggage rack. The luggage rack is divided into left and right parts, and there are some differences in the structure of the left and right parts, such as the position of the process holes and the surface curve. If the left and right parts are not distinguished, the subsequent polishing process will be affected. The first positioning assembly and the second positioning group are used to position the left and right parts respectively, and the difference between the two is that the positions of the positioning latches are different. The principle of positioning is: according to whether the luggage rack currently being processed is a left part or a right part, the moving plate is pushed by the pushing device to move so that the corresponding positioning component is located on the work station. When the luggage rack is transported to the discharge end by the feeding and conveying component, the lifting device drives the connecting plate to rise, so that the positioning pin and the limit block rise, the luggage rack falls into the limit block, and the positioning pin is inserted into the process hole of the luggage rack to achieve the positioning of the luggage rack, so as to facilitate the grasping of the grasping mechanism. In order to avoid the system from being unable to operate due to the wrong placement of the right part when processing the left part, the detection component can be a detection pin that can be inserted into the process hole or an infrared sensor that can sense the process hole. If the process hole of the left part is set to be sensed by the infrared sensor or can be inserted by the detection pin, then when the infrared sensor and the detection pin cannot detect the process hole, it proves that the luggage rack is a right part, thereby reminding the staff that the left and right parts of the luggage rack have been placed incorrectly.

[0009] Preferably, the conveying device also includes a width adjustment mechanism, which is located on both sides of the frame and includes a slide module and a baffle installed on the frame; the slide module includes a sliding bar and a pushing mechanism for pushing the sliding bar to make a linear motion, and the baffle is installed on the sliding bar. In order to avoid the staff placing the luggage rack on the conveying mechanism, the position deviation is too large, resulting in the detection component being unable to perform the detection function normally, the sliding bar is moved to a position close to the center by the pushing mechanism, and the width of the baffles on both sides is within a suitable range, which can ensure that the detection component can be detected normally after the luggage rack is placed arbitrarily, and at the same time, the luggage rack will not be difficult to place due to the small range. According to the different sizes of the luggage rack, the width adjustment mechanism is adjusted so that the device can be used for conveying luggage racks of different models. The pushing mechanism can be electric or manual. The electric form can be an electric push rod or a combination of a screw rod and a motor, and the manual form can be a manual push rod or a combination of a screw rod and a handwheel.

[0010] Preferably, an adjustment cylinder for pushing the baffle to move on the sliding bar is provided on the sliding bar of the width adjustment mechanism on one side. In order to facilitate the staff to load materials, the distance between the baffles on both sides is greater than the length of the luggage rack, so the luggage rack may deviate to the left or right, which makes it difficult for the positioning mechanism to complete the positioning, and the positioning pin may not be aligned with the process hole of the luggage rack. By adjusting the cylinder to move the baffle for a second time, the baffle pushes the luggage rack to fit with the baffle on the other side, so as to achieve the standardization of the luggage rack position and ensure that the positioning pin can be inserted into the process hole.

[0011] Preferably, the clamp includes a mounting frame and clamping assemblies fixed on both sides of the mounting frame; the mounting frame is provided with a quick connector assembly for connecting with the robot; the clamping assemblies each include a fixed plate, a first clamping finger, a second clamping finger, a first clamping finger driving device for driving the first clamping finger to move, and a second clamping finger driving device for driving the second clamping finger to move; the first clamping finger and the second clamping finger are both slidably connected to the fixed plate, and the first clamping finger driving device and the second clamping finger driving device respectively drive the first clamping finger and the second clamping finger to move in opposite directions, and the direction away from each other refers to the first clamping finger moving to the left, and the second clamping finger moving to the right. The clamp is placed on the clamp frame, and when the robot needs to install the clamp, the clamp can be connected to the robot through the quick connector assembly. The quick connector assembly is an existing technology and is not described in detail here. The luggage rack itself has a cavity. When the luggage rack is clamped by the clamp, the first clamping finger and the second clamping finger extend into the cavity of the luggage rack. The first clamping finger driving device drives the first clamping finger to move in the direction of the inner wall of the luggage rack, and the second clamping finger driving device drives the second clamping finger to move in the direction of the inner wall of the other side of the luggage rack, so that the first clamping finger and the second clamping finger respectively press the inner walls of the two sides of the luggage rack, thereby clamping the luggage rack. The first clamping finger and the second clamping finger adopt a contour design and can fit with the inner wall of the luggage rack. The first clamping finger and the second clamping finger only fit with the inner wall of the luggage rack and will not contact the outer surface of the luggage rack (the outer surface is a polished surface), so it will not affect the grinding and polishing of the outer surface of the luggage rack. A positioning rod for positioning can also be provided on the mounting frame. When the clamp moves toward the luggage rack, the positioning rod first contacts the inner bottom surface of the luggage rack. In this state, the clamping assembly starts to clamp the luggage rack to avoid excessive movement of the robot.

[0012] Preferably, a slide rail is provided on the fixed plate, and the first clamping finger and the second clamping finger are slidably connected to the slide rail through a first slider and a second slider respectively; the first clamping finger driving device and the second clamping finger driving device are both cylinders, the cylinder rod of the first clamping finger driving device is connected to the first slider, and the cylinder rod of the second clamping finger driving device is connected to the second slider. The first clamping finger driving device drives the first slider to move along the slide rail with the first clamping finger, and the second clamping finger driving device drives the second slider to move along the slide rail with the second clamping finger, and the first clamping finger and the second clamping finger can move quickly. The first clamping finger driving device and the second clamping finger driving device can also be an inflation device that respectively pushes the first slider and the second slider to move along the slide rail, specifically, one end of the slide rail takes in air while the other end lets out air, and the air pressure of the intake air pushes the first slider or the second slider to move.

[0013] Preferably, the polishing device includes several groups of polishing components, the polishing components include a cabinet, several polishing mechanisms slidably connected to the cabinet, and servo motors that drive the polishing mechanisms to move respectively; the polishing mechanism includes a mounting plate slidably connected to the cabinet, a polishing wheel group, and a driving motor that drives the polishing wheel group to rotate; the polishing wheel group and the driving motor are both installed on the mounting plate; the driving motor is electrically connected to a controller for detecting current, and the servo motor is electrically connected to the controller. The polishing of the luggage rack is divided into multiple levels from rough grinding to fine grinding, and the polishing device can set the number of polishing components as needed, and each polishing component can also be provided with multiple polishing mechanisms and servo motors, so that the polishing component can achieve at least one level of grinding. Taking the need for four levels of grinding as an example, the polishing of the luggage rack undergoes rough grinding, semi-rough grinding, semi-fine grinding and fine grinding. If each polishing component is provided with two polishing mechanisms and corresponding servo motors, then two polishing components need to be provided; if each polishing component is provided with one polishing mechanism and corresponding servo motor, then four polishing components need to be provided, and each polishing mechanism corresponds to a different grinding accuracy. When polishing, each polishing wheel group is set with a certain feed amount according to its polishing accuracy. In the process of polishing the luggage rack, the feed amount exceeds the threshold, the load of the drive motor will increase, resulting in an increase in the current of the drive motor. The controller will control the servo motor to rotate according to the received current information, and drive the polishing mechanism to move away from the luggage rack. When the feed amount is lower than the threshold, the load of the drive motor will decrease, resulting in a decrease in the current of the drive motor. The controller will control the servo motor to rotate according to the received current information, and drive the polishing mechanism to move towards the luggage rack. The change in feed amount is fed back by the current of the drive motor, and then the motion of the polishing mechanism is controlled by the servo motor, so that the polishing mechanism can complete the polishing of the luggage rack according to the set feed amount, and better control the polishing accuracy of the luggage rack.

[0014] Preferably, the polishing wheel set can be a grinding wheel, and the driving motor drives the grinding wheel to rotate. However, a more preferred solution is that the polishing wheel set includes a driving wheel, a driven wheel and a sanding belt connecting the driving wheel and the driven wheel, which are installed on the mounting plate, and the driving motor drives the driving wheel to rotate. The driving motor drives the driving wheel to operate by belt transmission, and the driven wheel can tighten the sanding belt so that the sanding belt can grind and polish the luggage rack. Since grinding tools are consumables and need to be replaced frequently, in this solution, you only need to remove the old sanding belt and replace it with a new one to continue operating. Compared with using grinding tools in the form of grinding wheels, replacement is more convenient.

[0015] Preferably, the polishing wheel assembly further includes a tensioning adjustment mechanism mounted on the mounting plate; the tensioning adjustment mechanism includes a fixing frame, a driving cylinder mounted on the fixing frame, and a roller frame connected to the cylinder rod of the driving cylinder; the driven wheel is mounted on the roller frame. When the sanding belt needs to be replaced, the driving cylinder moves, driving the roller frame to move in the direction of the driving wheel, reducing the distance between the driven wheel and the driving wheel, loosening the sanding belt and then removing it. After a new sanding belt is installed on the driving wheel and the driven wheel, the driving cylinder drives the roller frame to reset, and the driven wheel re-tensions the sanding belt, thereby realizing rapid replacement of the sanding belt. Moreover, there is no need to readjust the tension each time the sanding belt is replaced, making replacement and maintenance more convenient.

[0016] Preferably, a rack is provided on the mounting plate, and a gear meshing with the rack is installed on the output shaft of the servo motor. The servo motor drives the gear to rotate, so that the rack drives the mounting plate to move forward and backward. The servo motor controls the movement direction and amplitude of the polishing mechanism according to the change of the current of the driving motor, and the movement of the rack is a linear motion, which can convert the output torque of the servo motor into the movement of the polishing mechanism more quickly, thereby improving the corresponding speed of the polishing mechanism.

[0017] Compared with the prior art, the beneficial effects of the present invention are as follows: the processing system realizes automatic loading of the luggage rack through the conveying device and stays at a fixed position, the robot can quickly grab the luggage rack, and then complete the grinding and polishing of the luggage rack through the cooperation of the grinding device and other components. After the luggage rack is polished, the luggage rack is automatically unloaded through the conveying device. It is only necessary to put or remove the luggage rack at the feeding end of the conveying device to complete the loading and unloading of the luggage rack, reducing the difficulty of loading and unloading the luggage rack and the speed of the robot grabbing the luggage rack, thereby improving the working efficiency of the processing system. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a structural schematic diagram of an automatic grinding system of the present invention;

[0019] Figure 2It is a schematic structural diagram of the conveying device of the present invention;

[0020] Figure 3 It is a structural schematic diagram of the grabbing mechanism of the present invention;

[0021] Figure 4 It is a structural schematic diagram of the positioning mechanism of the present invention;

[0022] Figure 5 It is a structural schematic diagram of the width adjustment mechanism of the present invention;

[0023] Figure 6 It is a schematic structural diagram of the clamp of the present invention;

[0024] Figure 7 is a schematic structural diagram of the clamping assembly of the present invention;

[0025] Figure 8 is a schematic structural diagram of the polishing assembly of the present invention;

[0026] Fig. 9 is a rear view of the polishing assembly of the present invention;

[0027] Fig.10 It is a structural schematic diagram of the polishing wheel assembly of the present invention;

[0028] Fig.11 yes Figure 8 A partial enlarged view of position A. DETAILED DESCRIPTION

[0029] The drawings are only for illustrative purposes and cannot be construed as limiting the present invention. To better illustrate the present embodiment, some parts of the drawings may be omitted, enlarged, or reduced, and do not represent the size of the actual product. For those skilled in the art, it is understandable that some well-known structures and their descriptions may be omitted in the drawings. The positional relationships described in the drawings are only for illustrative purposes and cannot be construed as limiting the present invention.

[0030] The same or similar numbers in the drawings of the embodiments of the present invention correspond to the same or similar parts; in the description of the present invention, it should be understood that if the terms "upper", "lower", "left", "right", "long", "short" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, they are 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. Therefore, the terms describing the positional relationship in the drawings are only used for illustrative purposes and cannot be understood as limitations on this patent. For ordinary technicians in this field, the specific meanings of the above terms can be understood according to specific circumstances.

[0031] The technical solution of the present invention is further described in detail below through specific embodiments and in conjunction with the accompanying drawings:

[0032] Example 1

[0033] like Figure 1-3 The figure shows an embodiment of an automatic grinding system, which includes a protection room 1 and a robot 2, a grinding device 3, a fixture rack 5 on which a fixture 4 is placed, and a conveying device 6; one end of the conveying device 6 is located outside the protection room 1, and the other end is located inside the protection room 1; the conveying device 6 includes a frame 601 and a conveying mechanism 602 for conveying a luggage rack, a positioning mechanism 603 for fixing the position of the luggage rack, and a grabbing mechanism 604 for grabbing the luggage rack, all of which are installed on the frame 601; the conveying mechanism 602 includes a material unloading conveying component 6021 and a positioning block 622 1, the conveying directions of the loading conveying assembly 6022 and the unloading conveying assembly 6021 are opposite; the positioning mechanism 603 is arranged at the discharge end of the loading conveying assembly 6022; the positioning mechanism 603 is used to drive the luggage rack to be lifted and leave the loading conveying assembly 6022; the grabbing mechanism 604 is arranged above the positioning mechanism 603, including a clamping jaw 6041, a lifting device 6042 for driving the clamping jaw 6041 to rise and fall, and a driving device 6043 for driving the clamping jaw 6041 to rotate; the clamping jaw 6041 is used to clamp the luggage rack located on the positioning mechanism 603.

[0034] The working principle or workflow of this embodiment is as follows: the loading conveying assembly 6022 runs in the direction of the protection room 1, and the unloading conveying assembly 6021 runs in the direction of the protection room 1. The staff or other devices (such as a robot arm) capable of grasping the luggage rack outside the protection room 1 put the luggage rack on the positioning block 6221 on the loading conveying assembly 6022, at which time the polished surface of the luggage rack faces upward, and the loading conveying assembly 6022 conveys the luggage rack to the side of the discharge end, and the positioning mechanism 603 lifts the luggage rack to make the luggage rack separate from the conveying mechanism 602. The lifting device 6042 of the grasping mechanism 604 drives the clamping claw 6041 to descend to the luggage rack, and then the lifting device 6042 resets after the clamping claw 6041 clamps the luggage rack, and the driving device 6043 drives the clamping claw 6041 to rotate 90 degrees, so that the polished surface of the luggage rack can face the side of the clamping claw 6041, and the inner cavity surface of the luggage rack can face the robot 2. The fixture frame 5 is connected with a fixture 4 for grabbing the luggage rack, and the robot 2 grabs the luggage rack on the clamp 6041 through the fixture 4. After grabbing the luggage rack, the robot 2 moves the luggage rack to the polishing device 3 with the luggage rack, and by designing the running path of the robot 2, the luggage rack is moved on the polishing device 3 to complete the polishing of the luggage rack. After the luggage rack is polished, the robot 2 places the luggage rack on the unloading conveying assembly 6021, and the unloading conveying assembly 6021 conveys the luggage rack to the outside of the protection room 1. Finally, the luggage rack only needs to be removed from the unloading conveying assembly 6021 to complete the unloading. Among them, the loading conveying assembly 6022 can be a conveyor chain and a motor driving the conveyor chain to operate, and the positioning block 6221 is set on the conveyor chain. The unloading conveying assembly 6021 can be a unloading conveyor belt and a motor driving the unloading conveyor belt to operate, and the unloading conveyor belt can be located above the conveyor chain. The lifting device 6042 can be a cylinder, a hydraulic cylinder or other mechanism. The driving device 6043 can be a rotary cylinder, a motor, a steering gear or the like.

[0035] The beneficial effects of this embodiment are as follows: the processing system realizes automatic loading of the luggage rack through the conveying device 6 and stays at a fixed position, the robot 2 can quickly grab the luggage rack, and then complete the grinding and polishing of the luggage rack through the cooperation of the grinding device 3 and other components. After the luggage rack is completed grinding and polishing, the luggage rack is automatically unloaded through the conveying device 6. It is only necessary to put or remove the luggage rack at the feeding end of the conveying device 6 to complete the loading and unloading of the luggage rack, thereby reducing the difficulty of loading and unloading the luggage rack and the speed of the robot 2 grabbing the luggage rack, and improving the working efficiency of the processing system.

[0036] Example 2

[0037] Embodiment 2 of an automatic grinding system, the difference between this embodiment and embodiment 1 is that the conveying device 6 is further limited.

[0038] In this embodiment, the positioning mechanism 603 is located on both sides of the loading and conveying assembly 6022; Figure 4 As shown, the positioning mechanism 603 includes a moving plate 6031 slidably connected to the frame 601, a pushing device 6032 driving the moving plate 6031 to move, a first positioning component 6033 and a second positioning component 6034, the first positioning component 6033 and the second positioning component 6034 both include a positioning pin 6035, a limit block 6036 and a lifting device 6037, the positioning pin 6035 and the limit block 6036 are installed on a connecting plate, and the lifting device 6037 drives the connecting plate to rise; the first positioning component 6033 and the second positioning component 6034 are both installed on the moving plate 6031; a detection component 6222 is provided on one side of the feeding end of the feeding conveying component 6022, and the detection component 6222 is used to detect the process hole of the luggage rack. The luggage rack is divided into left and right parts, and there are some differences in the structure of the left and right parts, such as the position of the process hole and the curved surface of the surface. If the left and right parts are not distinguished, the subsequent polishing process will be affected. The first positioning assembly 6033 and the second positioning assembly 6034 are used to position the left and right parts respectively, and the difference between the two is that the positions of the positioning pins 6035 are different. The principle of positioning is: according to whether the luggage rack currently being processed is a left part or a right part, the moving plate 6031 is pushed by the pushing device 6032 to move, so that the corresponding positioning assembly is located at the work station. When the luggage rack is transported to the discharge end by the feeding conveying assembly 6022, the lifting device 6037 drives the connecting plate to rise, so that the positioning pins 6035 and the limit block 6036 rise, the luggage rack falls into the limit block 6036, and the positioning pins 6035 are inserted into the process holes of the luggage rack to realize the positioning of the luggage rack, so as to facilitate the grabbing of the grabbing mechanism 604. In order to avoid the system from being unable to operate due to the wrong placement of the right part when processing the left part, the detection assembly 6222 is an infrared sensor that can sense the process hole. If the process hole of the left piece is set to be sensed by the infrared sensor, then when the infrared sensor cannot detect the process hole, it proves that the luggage rack is a right piece, thereby reminding the staff that the left and right pieces of the luggage rack have been placed incorrectly.

[0039] like Figure 2 , Figure 5As shown, the conveying device 6 also includes a width adjustment mechanism 605, which is located on both sides of the frame 601 and includes a slide module 6051 and a baffle 6052 installed on the frame 601; the slide module 6051 includes a slide bar 6511 and a pushing mechanism 6512 that pushes the slide bar 6511 to make a linear motion, and the baffle 6052 is installed on the slide bar 6511. In order to avoid the staff from placing the luggage rack on the conveying mechanism 602, the position deviation is too large, resulting in the detection component 6222 being unable to perform the detection function normally, the slide bar 6511 is moved to a position close to the center by the pushing mechanism 6512, and the width of the baffles 6052 on both sides is within a suitable range, which can ensure that the detection component 6222 can also be normally detected after the luggage rack is placed arbitrarily, and at the same time, the luggage rack will not be difficult to place due to the small range. According to the different sizes of the luggage rack, the width adjustment mechanism 605 is adjusted so that the device can be used for the transportation of luggage racks of different models. The pushing mechanism 6512 in this embodiment is of manual type, and the manual type can be a manual push rod or a combination of a screw rod and a hand wheel.

[0040] Specifically, an adjustment cylinder 6053 is provided on the sliding bar 6511 of the width adjustment mechanism 605 on one side to push the baffle 6052 to move on the sliding bar 6511. In order to facilitate the staff to load materials, the distance between the baffles 6052 on both sides is greater than the length of the luggage rack, so the luggage rack may deviate to the left or right, which makes it difficult for the positioning mechanism 603 to complete the positioning, and the positioning pin 6035 may not be aligned with the process hole of the luggage rack. By adjusting the cylinder 6053 to move the baffle 6052 for a second time, the baffle 6052 pushes the luggage rack to fit with the baffle 6052 on the other side, so as to achieve the standardization of the luggage rack position and ensure that the positioning pin 6035 can be inserted into the process hole.

[0041] The other features, working principles and beneficial effects of this embodiment are consistent with those of Embodiment 1.

[0042] Example 3

[0043] Embodiment 3 of an automatic grinding system, the difference between this embodiment and embodiment 1 or embodiment 2 is that the clamp 4 on the clamp frame 5 is further limited.

[0044] like Figure 6-7As shown, the clamp 4 includes a mounting frame 401 and a clamping assembly 402 fixed on both sides of the mounting frame 401; a quick connector assembly 4011 for connecting to the robot 2 is provided on the mounting frame 401; the clamping assembly 402 includes a fixed plate 4021, a first clamping finger 4022, a second clamping finger 4023, a first clamping finger driving device 4024 for driving the first clamping finger 4022 to move, and a second clamping finger driving device 4025 for driving the second clamping finger 4023 to move; the first clamping finger 4022 and the second clamping finger 4023 are both slidably connected to the fixed plate 4021, and the first clamping finger driving device 4024 and the second clamping finger driving device 4025 respectively drive the first clamping finger 4022 and the second clamping finger 4023 to move in opposite directions, and the direction away from each other refers to the first clamping finger 4022 moving to the left, and the second clamping finger 4023 moving to the right. The fixture 4 is placed on the fixture frame 5. When the robot 2 needs to install the fixture 4, the fixture 4 can be connected to the robot 2 through a quick connector assembly 4011. The quick connector assembly 4011 is an existing technology and will not be described in detail here. The luggage rack itself has a cavity. When the luggage rack is clamped by the clamp 4, the first clamping finger 4022 and the second clamping finger 4023 extend into the cavity of the luggage rack, and the first clamping finger driving device 4024 drives the first clamping finger 4022 to move toward the inner wall of the luggage rack, while the second clamping finger driving device 4025 drives the second clamping finger 4023 to move toward the inner wall of the other side of the luggage rack, so that the first clamping finger 4022 and the second clamping finger 4023 respectively press the inner walls on both sides of the luggage rack, thereby clamping the luggage rack. The first clamping finger 4022 and the second clamping finger 4023 adopt a contouring design and can fit with the inner wall of the luggage rack. The first clamping finger 4022 and the second clamping finger 4023 only fit with the inner wall of the luggage rack and will not contact the outer surface of the luggage rack (the outer surface is a polished surface), so it will not affect the grinding and polishing of the outer surface of the luggage rack. The mounting frame 401 may also be provided with a positioning rod for positioning. When the clamp 4 moves toward the luggage rack, the positioning rod first contacts the inner bottom surface of the luggage rack. In this state, the clamping assembly 402 begins to clamp the luggage rack to prevent the robot 2 from excessive movement.

[0045] Specifically, a slide rail 4026 is provided on the fixed plate 4021, and the first clamping finger 4022 and the second clamping finger 4023 are slidably connected to the slide rail 4026 through the first slider 4221 and the second slider 4231 respectively; the first clamping finger driving device 4024 and the second clamping finger driving device 4025 are both cylinders, and the cylinder rod of the first clamping finger driving device 4024 is connected to the first slider 4221, and the cylinder rod of the second clamping finger driving device 4025 is connected to the second slider 4231. The first clamping finger driving device 4024 drives the first slider 4221 to move along the slide rail 4026 with the first clamping finger 4022, and the second clamping finger driving device 4025 drives the second slider 4231 to move along the slide rail 4026 with the second clamping finger 4023, so that the first clamping finger 4022 and the second clamping finger 4023 can move quickly.

[0046] Other features, working principles and beneficial effects of this embodiment are consistent with those of Embodiment 1 or Embodiment 2.

[0047] Example 4

[0048] Embodiment 3 of an automatic grinding system, the difference between this embodiment and the above-mentioned embodiment is that, Figure 8-11 As shown, the grinding device 3 is further defined.

[0049] The grinding device 3 includes two groups of polishing components 301, and the polishing components 301 include a cabinet 3011, two polishing mechanisms 3012 slidably connected to the cabinet 3011, and servo motors 3013 respectively driving the polishing mechanisms 3012 to move; the polishing mechanism 3012 includes a mounting plate 3121 slidably connected to the cabinet 3011, a polishing wheel group, and a driving motor 3122 driving the polishing wheel group to rotate; the polishing wheel group and the driving motor 3122 are both installed on the mounting plate 3121; the driving motor 3122 is electrically connected to a controller for detecting current, and the servo motor 3013 is electrically connected to the controller. Polishing of the luggage rack is divided into multiple levels from rough grinding to fine grinding. The grinding device 3 can set the number of polishing components 301 as needed, and each polishing component 301 can also be provided with multiple polishing mechanisms 3012 and servo motors 3013, so that the polishing component 301 can achieve at least one level of grinding. In this embodiment, four levels of grinding are performed on the luggage rack, and the luggage rack polishing undergoes rough grinding, semi-rough grinding, semi-fine grinding and fine grinding. In this embodiment, each polishing component 301 is provided with two polishing mechanisms 3012 and corresponding servo motors 3013, and each polishing mechanism 3012 corresponds to a different grinding accuracy. When grinding, each polishing wheel group is provided with a certain feed amount according to its grinding accuracy. In the process of grinding the luggage rack, the feed amount exceeds the threshold, the load of the drive motor 3122 will increase, resulting in an increase in the current of the drive motor 3122. The controller will control the servo motor 3013 to rotate according to the received current information, and drive the polishing mechanism 3012 to move in a direction away from the luggage rack. When the feed amount is lower than the threshold, the load of the drive motor 3122 will be reduced, resulting in a decrease in the current of the drive motor 3122. The controller will control the servo motor 3013 to rotate according to the received current information, and drive the polishing mechanism 3012 to move in the direction close to the luggage rack. The change in the feed amount is fed back by the current of the drive motor 3122, and then the servo motor 3013 is used to control the motion of the polishing mechanism 3012, so that the polishing mechanism 3012 can complete the grinding and polishing of the luggage rack according to the set feed amount, and better control the polishing accuracy of the luggage rack.

[0050] The polishing wheel assembly includes a driving wheel 3123, a driven wheel 3124, and a sanding belt 3125 connected to the driving wheel 3123 and the driven wheel 3124, which are installed on the mounting plate 3121. The driving motor 3122 drives the driving wheel 3123 to rotate. The driving motor 3122 drives the driving wheel 3123 to operate by belt transmission, and the driven wheel 3124 can tighten the sanding belt 3125, so that the sanding belt 3125 can grind and polish the luggage rack. Since the grinding tool is a consumable, it needs to be replaced frequently. In this solution, it only needs to remove the old sanding belt and replace it with a new one to continue to operate. Compared with using grinding tools in the form of grinding wheels, replacement is more convenient.

[0051] Furthermore, the polishing wheel set also includes a tensioning adjustment mechanism 3126 installed on the mounting plate 3121; the tensioning adjustment mechanism 3126 includes a fixing frame 31261, a driving cylinder 31262 installed on the fixing frame 31261, and a roller frame 31263 connected to the cylinder rod of the driving cylinder 31262; the driven wheel 3124 is installed on the roller frame 31263. When the sanding belt 3125 needs to be replaced, the driving cylinder 31262 moves, driving the roller frame 31263 to move in the direction of the driving wheel 3123, reducing the distance between the driven wheel 3124 and the driving wheel 3123, loosening the sanding belt 3125, and then removing the sanding belt 3125. After the new sanding belt 3125 is installed on the driving wheel 3123 and the driven wheel 3124, the driving cylinder 31262 drives the roller frame 31263 to reset, and the driven wheel 3124 re-tensions the sanding belt 3125, so that the sanding belt 3125 can be quickly replaced. Moreover, there is no need to readjust the tension each time the sanding belt 3125 is replaced, so replacement and maintenance are more convenient.

[0052] In this embodiment, the driving wheel 3123, the driven wheel 3124, the driving motor 3122 and the tensioning adjustment mechanism 3126 are first installed on a frame, and then the frame is installed on the mounting plate 3121, so that the two are fixed as a whole.

[0053] In addition, a rack 3127 is provided on the mounting plate 3121, and a gear 3131 meshing with the rack 3127 is installed on the output shaft of the servo motor 3013. The servo motor 3013 drives the gear 3131 to rotate, so that the rack 3127 drives the mounting plate 3121 to move forward and backward. The servo motor 3013 controls the movement direction and amplitude of the polishing mechanism 3012 according to the change of the current size of the driving motor 3122, and the movement of the rack 3127 is a linear motion, which can convert the output torque of the servo motor 3013 into the movement of the polishing mechanism 3012 more quickly, thereby improving the corresponding speed of the polishing mechanism 3012.

[0054] Other features, working principles and beneficial effects of this implementation are consistent with any of the above embodiments.

[0055] Obviously, the above embodiments of the present invention are merely examples for clearly illustrating the present invention, and are not intended to limit the embodiments of the present invention. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the embodiments here. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the protection scope of the claims of the present invention.

Claims

1. An automatic grinding system, comprising a protective room (1) and a robot (2), a grinding device (3) and a fixture rack (5) on which a fixture (4) is placed, all of which are installed in the protective room (1), characterized in that: The luggage rack (6) is also provided with a conveying device (6), one end of which is located outside the protective room (1) and the other end of which is located inside the protective room (1); the conveying device (6) comprises a frame (601) and a conveying mechanism (602) for conveying a luggage rack, a positioning mechanism (603) for fixing the position of the luggage rack, and a grabbing mechanism (604) for grabbing the luggage rack, all of which are installed on the frame (601); the conveying mechanism (602) comprises a material discharging conveying assembly (6021) and a material loading conveying assembly (6022) provided with a positioning block (6221); the material loading conveying assembly (6022) and the material discharging conveying assembly (6021) are respectively provided with a material loading conveying assembly (6022) and a material loading conveying assembly (6022). The conveying direction of the feeding assembly (6021) is opposite; the positioning mechanism (603) is arranged at the discharge end of the feeding conveying assembly (6022); the positioning mechanism (603) is used to drive the luggage rack to be lifted and leave the feeding conveying assembly (6022); the grabbing mechanism (604) is arranged above the positioning mechanism (603), and comprises a clamping claw (6041), a lifting device (6042) for driving the clamping claw (6041) to rise and fall, and a driving device (6043) for driving the clamping claw (6041) to rotate; the clamping claw (6041) is used to clamp the luggage rack located on the positioning mechanism (603); The positioning mechanism (603) comprises a moving plate (6031) slidably connected to the frame (601), a pushing device (6032) for driving the moving plate (6031) to move, a first positioning component (6033) and a second positioning component (6034), wherein the first positioning component (6033) and the second positioning component (6034) both comprise a positioning latch (6035), a limit block (6036) and a lifting device (6037), wherein the lifting device (6037) drives the positioning latch (6035) and the limit block (6036) to rise; the first positioning component (6033) and the second positioning component (6034) are both mounted on the moving plate (6031); a detection component (6222) is provided on one side of the feeding end of the feeding conveying component (6022), wherein the detection component (6222) is used to detect the process hole of the luggage rack; The clamp (4) comprises a mounting frame (401) and clamping assemblies (402) fixed on both sides of the mounting frame (401); the mounting frame (401) is provided with a quick connector assembly (4011) for connecting with the robot (2); the clamping assemblies (402) each comprise a fixing plate (4021), a first clamping finger (4022) and a second clamping finger (4023) both mounted on the fixing plate (4021), and a means for driving the first clamping finger (4022) to move. A first clamping finger driving device (4024) and a second clamping finger driving device (4025) for driving the second clamping finger (4023) to move; the first clamping finger (4022) and the second clamping finger (4023) are both slidably connected to the fixed plate (4021), and the first clamping finger driving device (4024) and the second clamping finger driving device (4025) respectively drive the first clamping finger (4022) and the second clamping finger (4023) to move in opposite directions.

2. An automatic grinding system according to claim 1, characterized in that: The conveying device (6) further comprises a width adjustment mechanism (605), wherein the width adjustment mechanism (605) is located on both sides of the frame (601), and comprises a slide module (6051) and a baffle (6052) mounted on the frame (601); the slide module (6051) comprises a slide bar (6511) and a pushing mechanism (6512) for pushing the slide bar (6511) to perform linear motion, and the baffle (6052) is mounted on the slide bar (6511).

3. An automatic grinding system according to claim 2, characterized in that: An adjustment cylinder (6053) is provided on the sliding bar (6511) of the width adjustment mechanism (605) on one side to push the baffle plate (6052) to move on the sliding bar (6511).

4. The automatic grinding system according to claim 1, characterized in that: The fixed plate (4021) is provided with a slide rail (4026), and the first clamping finger (4022) and the second clamping finger (4023) are slidably connected to the slide rail (4026) via a first slider (4221) and a second slider (4231), respectively; the first clamping finger driving device (4024) and the second clamping finger driving device (4025) are both cylinders, and the cylinder rod of the first clamping finger driving device (4024) is connected to the first slider (4221), and the cylinder rod of the second clamping finger driving device (4025) is connected to the second slider (4231).

5. The automatic grinding system according to claim 1, characterized in that: The polishing device (3) comprises a plurality of groups of polishing assemblies (301), wherein the polishing assemblies (301) comprise a cabinet (3011), a plurality of polishing mechanisms (3012) slidably connected to the cabinet (3011), and servo motors (3013) respectively driving the polishing mechanisms (3012) to move; the polishing mechanisms (3012) comprise a mounting plate (3121) slidably connected to the cabinet (3011), a polishing wheel group, and a driving motor (3122) driving the polishing wheel group to rotate; the polishing wheel group and the driving motor (3122) are both mounted on the mounting plate (3121); the driving motor (3122) is electrically connected to a controller for detecting current, and the servo motor (3013) is electrically connected to the controller.

6. An automatic grinding system according to claim 5, characterized in that: The polishing wheel assembly comprises a driving wheel (3123) mounted on the mounting plate (3121), a driven wheel (3124), and a sanding belt (3125) connecting the driving wheel (3123) and the driven wheel (3124), and the driving motor (3122) drives the driving wheel (3123) to rotate.

7. An automatic grinding system according to claim 6, characterized in that: The polishing wheel assembly further comprises a tensioning adjustment mechanism (3126) mounted on the mounting plate (3121); the tensioning adjustment mechanism (3126) comprises a fixing frame (31261), a driving cylinder (31262) mounted on the fixing frame (31261), and a roller frame (31263) connected to the cylinder rod of the driving cylinder (31262); the driven wheel (3124) is mounted on the roller frame (31263).

8. The automatic grinding system according to claim 5, characterized in that: A rack (3127) is provided on the mounting plate (3121), and a gear (3131) meshing with the rack (3127) is installed on the output shaft of the servo motor (3013).

Images