An unmanned automatic polishing system

Abstract

The present invention provides an unmanned automatic polishing system, belonging to the technical field of automotive trim polishing. The system comprises: a logistics chain unit comprising a main logistics chain route and at least one logistics chain branch route, the logistics chain branch route being connected to the main logistics chain route; and at least one polishing unit, the polishing unit comprising a robot, a polishing element, and a platform element, the robot being equipped with a polishing jig, the logistics chain branch route being adjacent to the platform element. The present invention has the beneficial effect of achieving automatic polishing without requiring human intervention during the automatic polishing process, significantly improving the degree of automation and preventing harm to personnel caused by noise and dust during polishing.

Description

Technical Field

[0001] The invention belongs to the technical field of automobile trim polishing and relates to an unmanned automatic polishing system. Background Art

[0002] During the production process of aluminum decorative parts for automobiles, they usually need to be polished. The robotic polishing process generally involves a robot arm holding a tooling fixture containing the workpiece and polishing it with a polishing wheel to obtain a workpiece with a bright and smooth surface.

[0003] Currently, when polishing aluminum decorative parts for automobiles, independent robotic polishing units are generally used to complete the polishing process, and the workpiece placement and pick-up actions of the polishing units are completed manually. Each or several polishing units require an operator to complete the workpiece placement and pick-up tasks.

[0004] Therefore, at present, when polishing automotive trim strips, operators are required to cooperate in taking and placing the workpieces. Since the polishing process generates a lot of noise and dust, which may cause certain harm to the operators, there is room for improvement. Summary of the Invention

[0005] The purpose of the present invention is to address the above-mentioned problems in the prior art and to propose an unmanned automatic polishing system.

[0006] The purpose of the present invention can be achieved through the following technical solutions: an unmanned automatic polishing system, comprising:

[0007] A logistics chain unit, comprising a logistics chain main road and at least one logistics chain branch road, wherein the logistics chain branch road is connected to the logistics chain main road;

[0008] There is at least one polishing unit, and the polishing unit includes a robot, a polishing element, and a platform element. The robot is provided with a polishing jig, and the logistics chain branch is close to the platform element.

[0009] Preferably, it also includes a polishing hanger, which can move on the main road of the logistics chain and the branch road of the logistics chain. The rack element can grab the polishing hanger from the branch road of the logistics chain or hang the polishing hanger on the branch road of the logistics chain. The robot can grab the polishing hanger from the rack element or hang the polishing hanger on the rack element through the polishing jig.

[0010] Preferably, the polishing rack is provided with a first chuck for mounting the workpiece, the polishing jig is provided with a first clamping cylinder, a second chuck and a profile block for supporting the workpiece, and the polishing rack can be connected to the polishing jig. When the polishing rack is connected to the polishing jig, the first clamping cylinder clamps the polishing rack and the second chuck clamps the workpiece on the polishing rack.

[0011] Preferably, the second chuck includes a locking cylinder, a locking rod and a locking block, the locking cylinder is fixedly connected to the polishing jig, the locking rod is slidably connected to the polishing jig, and the locking rod is linked to the piston rod of the locking cylinder, and the locking block is connected to the locking rod and can clamp the workpiece.

[0012] Preferably, the platform element includes a platform, and the platform includes a frame, a column, a common plate and a back plate. The frame is provided with a first linear guide rail, and the column is movably connected to the frame through the first linear guide rail. The column is provided with a second linear guide rail, and the common plate is movably connected to the column through the second linear guide rail. The back plate is connected to the common plate, and the polishing hanger can be connected to the back plate.

[0013] Preferably, the back plate is provided with a positioning pin and a second clamping cylinder, and the polishing hanger is provided with a water drop-shaped positioning hole. When the polishing hanger is connected to the back plate, the positioning pin is passed through the positioning hole and the second clamping cylinder clamps the polishing hanger.

[0014] Preferably, the frame is also provided with a first cylinder, the piston rod of the first cylinder is connected to the column and can drive the column to move along the first linear guide rail, and the column is provided with a second cylinder, the piston rod of the second cylinder is connected to the common plate and can drive the common plate to move along the second linear guide rail.

[0015] Preferably, there are two racks, one of which is used to grab the polishing rack from the logistics chain branch, and the other of which is used to hang the polishing rack on the logistics chain branch.

[0016] Preferably, the polishing elements include a large polishing auxiliary machine and a small polishing auxiliary machine, and the number of the large polishing auxiliary machine and the small polishing auxiliary machine is at least two, and each of the large polishing auxiliary machine and the small polishing auxiliary machine surrounds the robot.

[0017] Preferably, the number of the logistics chain branches is the same as the number of the polishing units and is at least two, each logistics chain branch is arranged in a one-to-one correspondence with each polishing unit, and each polishing unit is connected in series through the logistics chain unit.

[0018] Compared with the prior art, the present invention has the following beneficial effects:

[0019] 1. The polishing system can achieve the effect of automatic polishing, and no human participation is required during the automatic polishing process, which greatly improves the degree of automation and avoids the damage to personnel caused by noise and dust during polishing.

[0020] 2. Through the structure of the polishing jig and the polishing hanger, the polishing hanger can be embedded in the polishing jig, which does not require manual repeated installation and removal of parts. Combined with automated logistics, the online production of polishing and oxidation can be realized, which has the characteristics of high production efficiency and high degree of automation.

[0021] 3. The stand can automatically take the polishing hanger out of the logistics chain branch, and can also automatically send the polishing hanger into the logistics chain for polishing. Therefore, there is no need for manual participation when loading and unloading the polishing hanger, which greatly improves the efficiency of loading and unloading the polishing hanger, improves the product production yield, and also has the characteristics of a high degree of automation.

[0022] 4. During polishing, the loading platform takes the polishing hanger out of the logistics chain branch, and then the robot grabs the polishing hanger from the loading platform. After polishing is completed, the robot places the polishing hanger on the unloading platform, and then the unloading platform hangs the polishing hanger on the logistics chain branch. The two platforms realize the purpose of automatic loading and unloading in an orderly manner.

[0023] 5. The number of second chucks can be set to two or more groups, in which the locking cylinder can drive the locking rod to move, and the locking rod can drive the locking block to move when moving, and the locking block and the profile block can cooperate to further clamp the workpiece. When the polishing hanger is connected to the polishing jig to form a polishing tooling, the first chuck and the second chuck can cooperate to fix the workpiece to ensure that the workpiece remains firm during polishing. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a structural schematic diagram of the unmanned automatic polishing system of the present invention.

[0025] Figure 2 It is a front view of the unmanned automatic polishing system of the present invention.

[0026] Figure 3 This is a structural schematic diagram of the unmanned automatic polishing system of the present invention including two polishing units.

[0027] Figure 4 This is a structural schematic diagram of the unmanned automatic polishing system of the present invention, which includes three polishing units.

[0028] Figure 5 It is a structural schematic diagram of the rear triangular polishing hanger and the polishing jig of the present invention.

[0029] Figure 6 It is a structural schematic diagram of the rear triangle polishing fixture of the present invention.

[0030] Figure 7 It is a structural schematic diagram of the water-cut decorative strip polishing hanger and the polishing jig of the present invention.

[0031] Figure 8 It is a structural schematic diagram of the water-cut decorative strip polishing jig of the present invention.

[0032] Figure 9 It is a structural schematic diagram of the stand and polishing rack of the present invention.

[0033] Figure 10 It is a structural schematic diagram of the stand of the present invention.

[0034] In the figure, 100, the main road of the logistics chain; 200, the branch road of the logistics chain; 300, the polishing unit; 400, the robot; 510, the large polishing auxiliary machine; 520, the small polishing auxiliary machine; 600, the stand; 610, the frame; 611, the first linear guide rail; 612, the first cylinder; 620, the column; 621, the second linear guide rail; 622, the second cylinder; 630, the common plate; 640, the support plate; 641, the positioning pin; 642, the second clamping cylinder; 700, the polishing jig; 710, the first clamping cylinder; 720, the second chuck; 721, the locking cylinder; 722, the locking rod; 723, the locking block; 730, the profile block; 800, the polishing hanger; 810, the first chuck; 820, the positioning hole. DETAILED DESCRIPTION

[0035] The following are specific embodiments of the present invention and the accompanying drawings to further describe the technical solutions of the present invention, but the present invention is not limited to these embodiments.

[0036] like Figure 1-10 As shown, an unmanned automatic polishing system includes: a logistics chain unit and a polishing unit 300, wherein the logistics chain unit includes a logistics chain main road 100 and at least one logistics chain branch road 200, and the logistics chain branch road 200 is connected to the logistics chain main road 100; the number of polishing units 300 is at least one, and the polishing unit 300 includes a robot 400, a polishing element and a stand 600 element, the robot 400 is provided with a polishing jig 700, and the logistics chain branch road 200 is close to the stand 600 element.

[0037] It should be added that, in the actual structure, the rack 600 elements and the logistics chain branches 200 are arranged in correspondence with each other up and down or left and right.

[0038] Preferably, the logistics chain unit is similar to a conveyor belt or a conveyor track, wherein all logistics chain branches 200 are connected to the logistics chain main road 100, each polishing unit 300 corresponds to a logistics chain branch 200, and the logistics chain branch 200 can transport the workpiece to the corresponding polishing unit 300 for polishing, and each polishing unit 300 is connected in series through the logistics chain unit.

[0039] During polishing, the polishing hanger 800 can flow from the logistics chain main road 100 to the logistics chain branch road 200. After polishing is completed, the polishing hanger 800 can flow from the logistics chain branch road 200 to the logistics chain main road 100. When there are multiple logistics chain branches 200, the switching between the logistics chain branch road 200 and the logistics chain main road 100 can be achieved through a fork, similar to the switching of train tracks.

[0040] The whole working principle is: the stand 600 component can grab the polishing component on the logistics chain branch 200, the robot 400 can grab the polishing hanger 800 on the stand 600 component through the polishing fixture 700, and then grab the polishing hanger 800 to the polishing component for polishing. After polishing, the robot 400 can place the polishing hanger 800 on the stand 600 component, and then the stand 600 component places the polishing hanger 800 on the logistics chain branch 200, and is driven by the logistics chain branch 200 to the logistics chain main road 100 for storage.

[0041] The system achieves the purpose of automatic polishing through the robot 400 and the polishing elements. On this basis, the system cleverly automatically transports the polishing hanger 800 to one or more logistics chain branches 200 through the logistics chain main road 100. The stand 600 elements and the logistics chain branches 200 can cooperate to achieve the effect of automatic picking up and placing of parts, and the robot 400 can be used to grab the polishing hanger 800 through the polishing fixture 700. Therefore, no human participation is required in the entire polishing process, truly realizing unmanned operation, and the degree of automation is extremely high, avoiding the damage to personnel caused by noise and dust during polishing.

[0042] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 7 、 Figure 9As shown, on the basis of the above embodiment, it also includes a polishing hanger 800, which can be moved on the logistics chain main road 100 and the logistics chain branch road 200, and the platform 600 element can grab the polishing hanger 800 from the logistics chain branch road 200 or hang the polishing hanger 800 on the logistics chain branch road 200, and the robot 400 can grab the polishing hanger 800 from the platform 600 element or hang the polishing hanger 800 on the platform 600 element through the polishing jig 700.

[0043] Preferably, the polishing hanger 800 is used to mount the workpiece (the workpiece here refers to aluminum water-cut decorative parts for automobiles). The polishing hanger can be detachably connected to the logistics chain main road 100 and the logistics chain branch road 200. The polishing hanger 800 can also be grabbed by the stand 600 component, and the polishing jig 700 can clamp the polishing hanger 800. It should be emphasized that the polishing hanger 800 can be combined with the polishing jig 700 to form a polishing tooling, which can reliably fix the workpiece during polishing.

[0044] During polishing, the polishing hanger 800 is hung on the main road 100 of the logistics chain, and then flows from the main road 100 of the logistics chain to the branch road 200 of the logistics chain. The branch road 200 of the logistics chain drives the polishing hanger 800 close to the component of the stand 600, and then the component of the stand 600 grabs the polishing hanger 800. The robot 400 then grabs the polishing hanger 800 from the component of the stand 600 through the polishing fixture 700, and drives the workpiece to the polishing component for polishing.

[0045] After polishing, the robot 400 drives the polishing hanger 800 to the stand 600 component, the stand 600 component grabs the polishing hanger 800, the polishing fixture 700 releases the polishing hanger 800, and then the stand 600 component hangs the polishing hanger 800 on the logistics chain branch 200, and then is driven by the logistics chain branch 200 to the logistics chain main road 100.

[0046] like Figure 1 、 Figure 2 、 Figure 5 、 Figure 6 、 Figure 7 、 Figure 8 As shown, on the basis of the above embodiment, the polishing hanger 800 is provided with a first chuck 810 for mounting the workpiece, and the polishing jig 700 is provided with a first clamping cylinder 710, a second chuck 720 and a forming block 730 for supporting the workpiece. The polishing hanger 800 can be connected to the polishing jig 700. When the polishing hanger 800 is connected to the polishing jig 700, the first clamping cylinder 710 clamps the polishing hanger 800 and the second chuck 720 clamps the workpiece on the polishing hanger 800.

[0047] The polishing jig 700 can clamp or release the polishing hanger 800 , and the polishing jig 700 and the polishing hanger 800 can be connected to form a polishing tool. The robot 400 moves with the polishing tool to drive the workpiece to polish on the polishing element.

[0048] Preferably, the workpiece can be mounted on the polishing hanger 800 by the first chuck 810, and the polishing hanger 800 can be installed on the polishing jig 700 or removed from the polishing jig 700; when the polishing hanger 800 is installed on the polishing jig 700, the first clamping cylinder 710 can clamp the polishing hanger 800, thereby combining the polishing hanger 800 with the polishing jig 700, and at the same time, the second chuck 720 cooperates with the first chuck 810 to clamp the workpiece, thereby connecting the workpiece to the polishing jig 700; the profile block 730 has a profile that matches the shape of the workpiece, so the workpiece can fit on the profile block 730 and support the workpiece through the profile block 730.

[0049] The structures of the polishing jig 700 and the polishing hanger 800 are compatible. The polishing hanger 800 can be embedded in the polishing jig 700, and there is no need for manual repeated installation and removal of parts. With the help of automated logistics, the online production of polishing and oxidation can be realized, which has the characteristics of high production efficiency and high degree of automation.

[0050] Preferably, the workpiece is pre-installed on the polishing hanger 800, and the robot 400 is connected to the polishing jig 700 to grasp the polishing hanger 800. At this time, the multiple groups of first clamping cylinders 710 on the polishing jig 700 are pre-opened, and the multiple groups of second chucks 720 on the polishing jig 700 are also pre-loosened. When the polishing hanger 800 is embedded in the polishing jig 700, the multiple groups of first clamping cylinders 710 of the polishing jig 700 are clamped at the same time, forcing the polishing hanger 800 to be installed in place on the polishing jig 700 to form a polishing tool. At this time, the inner surface of the workpiece is in place with the multiple groups of profile blocks 730 on the polishing jig 700, and then the multiple groups of second chucks 720 are actuated to further clamp the workpiece to ensure that the workpiece is firmly fixed.

[0051] The polishing hanger 800 serves as a carrier for workpieces, and can realize batch loading of workpieces onto the polishing fixture 700. It can be used only for automatic logistics flow of the polishing process, and can also be connected to the automatic logistics of the oxidation line to realize the online production of polishing and oxidation.

[0052] like Figure 5 、 Figure 6 、 Figure 7 、 Figure 8As shown, based on the above embodiment, the second chuck 720 includes a locking cylinder 721, a locking rod 722 and a locking block 723, the locking cylinder 721 is fixedly connected to the polishing jig 700, the locking rod 722 is slidably connected to the polishing jig 700, and the locking rod 722 is linked to the piston rod of the locking cylinder 721, and the locking block 723 is connected to the locking rod 722 and can clamp the workpiece.

[0053] Preferably, the number of second chucks 720 can be set to two groups or more, wherein the locking cylinder 721 can drive the locking rod 722 to move, and the locking rod 722 can drive the locking block 723 to lock when moving. When the polishing hanger 800 is connected to the polishing jig 700 to form a polishing tool, the first chuck 810 and the second chuck 720 can cooperate to fix the workpiece, ensuring that the workpiece remains firm during polishing.

[0054] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 9 、 Figure 10 As shown, on the basis of the above embodiment, the stand 600 element includes a stand 600, and the stand 600 includes a frame 610, a column 620, a common plate 630 and a back plate 640. The frame 610 is provided with a first linear guide rail 611, and the column 620 is movably connected to the frame 610 through the first linear guide rail 611. The column 620 is provided with a second linear guide rail 621, and the common plate 630 is movably connected to the column 620 through the second linear guide rail 621. The back plate 640 is connected to the common plate 630, and the polishing hanger 800 is detachably connected to the back plate 640.

[0055] The first linear guide rail 611 is arranged longitudinally, so it can guide the column 620 to move forward and backward. The second linear guide rail 621 is arranged vertically, so it can guide the common plate 630 to move up and down. The stand 600 can automatically take out the polishing hanger 800 from the logistics chain branch 200, and can also automatically send the polishing hanger 800 into the logistics chain for polishing. Therefore, there is no need for manual participation when loading and unloading the polishing hanger 800, which greatly improves the efficiency of loading and unloading the polishing hanger 800, improves the product production yield, and also has the characteristics of a high degree of automation.

[0056] Specifically, the column 620 can move back and forth on the frame 610, and the common plate 630 can move up and down on the column 620, so the column 620 can drive the support plate 640 to move back and forth through the common plate 630 to approach or move away from the polishing hanger 800 on the logistics branch. The common plate 630 can drive the support plate 640 to move up and down, so that the support plate 640 can grab the polishing hanger 800 and remove it from the logistics chain branch 200 or hang the polishing hanger 800 on the logistics chain branch 200. The robot 400 can grab the polishing hanger 800 from the support plate 640 and place the polishing hanger 800 on the support plate 640.

[0057] Through the above-mentioned stand 600, the polishing rack 800 can be horizontally separated from the logistics chain, or the polishing rack 800 can be placed on the logistics chain, thereby achieving the purpose of automatic loading and unloading of the polishing rack 800, greatly improving production efficiency, and facilitating polishing and oxidation line production.

[0058] like Figure 9 、 Figure 10 As shown, on the basis of the above embodiment, the support plate 640 is provided with a positioning pin 641 and a second clamping cylinder 642, and the polishing hanger 800 is provided with a positioning hole 820 in the shape of a water droplet. When the polishing hanger 800 is connected to the support plate 640, the positioning pin 641 is passed through the positioning hole 820 and the second clamping cylinder 642 clamps the polishing hanger 800.

[0059] Preferably, the polishing rack 800 can be positioned on the back plate 640 by the positioning pin 641 to ensure the precise positioning of the polishing rack 800 and the back plate 640. The second clamping cylinder 642 is used to cooperate with the back plate 640 to clamp the polishing rack 800, thereby connecting the polishing rack 800 and the back plate 640 together.

[0060] When the polishing hanger 800 automatically picks up the items, the second clamping cylinder 642 is first opened, the support plate 640 approaches the polishing hanger 800 on the logistics chain branch 200, and then the polishing hanger 800 is positioned on the support plate 640 through the positioning pin 641, and then the second clamping cylinder 642 is actuated to clamp the polishing hanger 800. When the polishing hanger 800 automatically places the items, the support plate 640 drives the polishing hanger 800 close to the logistics chain branch 200, and then the second clamping cylinder 642 is released, thereby automatically hanging the polishing hanger 800 on the logistics chain branch 200.

[0061] It should be added that the number of positioning holes 820 and positioning pins 641 is the same and there are at least two. Among them, the shape of the positioning hole 820 is relatively special. In order to achieve the purpose of automatic positioning and rapid positioning, the positioning hole 820 is specially set to be in the shape of a water drop, with a small upper end and a large lower end. This is conducive to the positioning pin 641 to quickly pass through the positioning hole 820, and the positioning pin 641 is attached to the upper end of the positioning hole 820 through the gravity of the polishing hanger 800 itself, ensuring fast and accurate positioning.

[0062] like Figure 9 、 Figure 10 As shown, on the basis of the above embodiment, the frame 610 is further provided with a first cylinder 612, the piston rod of the first cylinder 612 is connected to the column 620 and can drive the column 620 to move along the first linear guide rail 611, and the column 620 is provided with a second cylinder 622, the piston rod of the second cylinder 622 is connected to the common plate 630 and can drive the common plate 630 to move along the second linear guide rail 621.

[0063] The first cylinder 612 can drive the column 620 to move forward and backward, and the second cylinder 622 can drive the common plate 630 to move up and down. The first cylinder 612 and the second cylinder 622 can enable the stage 600 to automatically take out and put out parts, further improving the degree of automation of the polishing system.

[0064] like Figure 1 、 Figure 2 、 Figure 3 、 Figure 4 、 Figure 9 、 Figure 10 As shown, based on the above embodiment, the number of the stands 600 is two, one stand 600 is used to grab the polishing hanger 800 from the logistics chain branch 200, and the other stand 600 is used to hang the polishing hanger 800 on the logistics chain branch 200.

[0065] Preferably, the two racks 600 are respectively a loading rack 600 and an unloading rack 600. During polishing, the loading rack 600 takes the polishing hanger 800 out of the logistics chain branch 200, and then the robot 400 grabs the polishing hanger 800 from the loading rack 600. After polishing is completed, the robot 400 places the polishing hanger 800 on the unloading rack 600, and then the unloading rack 600 hangs the polishing hanger 800 on the logistics chain branch 200. The purpose of automatic loading and automatic unloading is achieved in an orderly manner through the two racks 600.

[0066] It should be pointed out that the action sequence of the loading platform 600 and the unloading platform 600 can be reversed, so that the purpose of taking and placing parts can be achieved.

[0067] like Figure 1-4 As shown, based on the above embodiment, the polishing element includes a large polishing auxiliary machine 510 and a small polishing auxiliary machine 520, and the number of the large polishing auxiliary machine 510 and the small polishing auxiliary machine 520 is at least two, and each of the large polishing auxiliary machine 510 and each of the small polishing auxiliary machine 520 surrounds the robot 400.

[0068] Preferably, each large polishing auxiliary machine 510 and each small polishing auxiliary machine 520 can cooperate to thoroughly polish the workpiece on the polishing hanger 800. In the actual structure, the number of large polishing auxiliary machines 510 is two, and the number of small polishing auxiliary machines 520 is three. The robot 400 can carry the polishing hanger 800 to polish on each large polishing auxiliary machine 510 and each small polishing auxiliary machine 520, so the effect is better during automatic polishing, and the polishing surface of each workpiece can be reliably processed.

[0069] like Figure 1 、 Figure 3 、 Figure 4 As shown, based on the above embodiment, the number of the logistics chain branches 200 is the same as the number of the polishing units 300 and is at least two, each of the logistics chain branches 200 is arranged in one-to-one correspondence with each of the polishing units 300, and each of the polishing units 300 is connected in series through the logistics chain unit.

[0070] Preferably, each polishing unit 300 can be connected in series through each logistics chain branch 200, and the polishing hanger 800 can be manually hung on the logistics chain main road 100. Then, the logistics chain main road 100 and each logistics chain branch 200 can be switched by a fork. The polishing hanger 800 can flow from the logistics chain main road 100 to the corresponding logistics chain branch 200, and then polished by the polishing unit 300 corresponding to the logistics chain branch 200, thereby realizing unmanned operation of multiple polishing units 300.

[0071] It should be pointed out that different polishing hangers 800 can be hung on the logistics chain main road 100, such as a water-cut decorative strip polishing hanger 800 or a rear triangle polishing hanger 800, and then transported to the corresponding polishing unit 300 by the logistics chain branch road 200 for polishing.

[0072] like Figure 1-10 As shown, when the entire polishing system is working, the workpiece is pre-installed on the polishing hanger 800, and then the polishing hanger 800 is hung on the logistics chain main road 100. Then the logistics chain main road 100 transports the polishing hanger 800 to the corresponding logistics chain branch road 200, and the loading platform 600 on the polishing unit 300 corresponding to the logistics chain branch road 200 grabs the polishing hanger 800.

[0073] When the loading platform 600 grabs the polishing hanger 800, the polishing hanger 800 is docked at the designated position on the logistics chain branch 200, the second clamping cylinder 642 on the support plate 640 is in the open state, the column 620 on the frame 610 is in the rear position, and the support plate 640 is in the lower position. At this time, the first cylinder 612 drives the column 620 to move forward, and the positioning pin 641 is aligned with the center position of the large hole inserted into the positioning hole 820 on the polishing hanger 800. Then the second cylinder 622 drives the common plate 630 to drive the support plate 640 to move upward, and the positioning pin 641 on the support plate 640 moves upward. The relative position of the positioning pin 641 and the positioning hole 820 moves upward from the center position pointing to the large hole to the center position of the small hole and fits into the small hole. Then the second clamping cylinder 642 clamps the polishing hanger 800. After the polishing hanger 800 is forced to be lifted, the polishing hanger 800 can be taken out from the logistics chain branch 200. Then the first cylinder 612 retracts, driving the column 620 to move backward, and the support plate 640 carrying the polishing hanger 800 is horizontally separated from the logistics chain branch 200. Then the second cylinder 622 drives the common plate 630 to move downward, thereby achieving the purpose of automatic picking up of the loading platform 600, and then the robot 400 grabs the polishing hanger 800 from the support plate 640.

[0074] When the robot 400 grabs the polishing hanger 800, a polishing jig 700 is provided on the robot 400. The robot 400 drives the polishing jig 700 to move toward the support plate 640. The first clamping cylinder 710 on the polishing jig 700 is opened, and the locking cylinder 721 pulls the locking block 723 through the locking rod 722 to open the second chuck 720. The polishing jig 700 is fitted with the polishing hanger 800, and the workpiece mounted on the first chuck 810 on the polishing hanger 800 is fitted with the profile block 730. The first clamping cylinder 710 clamps the polishing hanger 800, and the locking cylinder 721 pulls the locking block 723 through the locking rod 722 to clamp the workpiece so that the second chuck 720 clamps the workpiece, so that the polishing jig 700 and the polishing hanger 800 are embedded together to form a polishing tool, and the robot 400 can grasp the polishing tool to polish the workpiece on each large polishing auxiliary machine 510 and each small polishing auxiliary machine 520.

[0075] After polishing is completed, the robot 400 drives the polishing hanger 800 to the support plate 640 of the unloading platform 600, and the second clamping cylinder 642 on the support plate 640 clamps the polishing hanger 800. The first clamping cylinder 710 and the second clamping head 720 are opened, and then the first cylinder 612 and the second cylinder 622 of the unloading platform 600 are moved to drive the support plate 640 to move. The support plate 640 hangs the polishing hanger 800 back on the logistics chain branch 200, and then the logistics chain branch 200 brings the polishing hanger 800 back to the logistics chain main road 100.

[0076] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative position relationship and movement status of various components under a specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0077] In addition, in the present invention, descriptions such as "first," "second," and "one" are for descriptive purposes only and should not be understood to indicate or imply their relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0078] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0079] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

Claims

1. An unmanned automatic polishing system, characterized in that: include: A logistics chain unit, comprising a logistics chain main road and at least one logistics chain branch road, wherein the logistics chain branch road is connected to the logistics chain main road; There is at least one polishing unit, the polishing unit comprising a robot, a polishing element, and a platform element, the robot being provided with a polishing jig, and the logistics chain branch being close to the platform element; The polishing rack is movable between the main logistics chain and the branch logistics chain. The rack element can grab the polishing rack from the branch logistics chain or hang the polishing rack on the branch logistics chain. The robot can grab the polishing rack from the rack element or hang the polishing rack on the rack element through the polishing jig. The polishing rack is provided with a first chuck for mounting a workpiece, and the polishing jig is provided with a first clamping cylinder, a second chuck, and a profile block for supporting the workpiece. The polishing rack can be connected to the polishing jig. When the polishing rack is connected to the polishing jig, the first clamping cylinder clamps the polishing rack and the second chuck clamps the workpiece on the polishing rack; The second chuck includes a locking cylinder, a locking rod, and a locking block, wherein the locking cylinder is fixedly connected to the polishing jig, the locking rod is slidably connected to the polishing jig, and the locking rod is linked to the piston rod of the locking cylinder, and the locking block is connected to the locking rod and can clamp the workpiece; The platform element includes a platform, which includes a frame, a column, a common plate and a back plate. The back plate is provided with a positioning pin and a second clamping cylinder. The polishing hanger is provided with a water drop-shaped positioning hole. When the polishing hanger is connected to the back plate, the positioning pin is passed through the positioning hole and the second clamping cylinder clamps the polishing hanger.

2. The unmanned automatic polishing system according to claim 1, characterized in that: The frame is provided with a first linear guide rail, the column is movably connected to the frame via the first linear guide rail, the column is provided with a second linear guide rail, the common plate is movably connected to the column via the second linear guide rail, the back plate is connected to the common plate, and the polishing hanger can be connected to the back plate.

3. The unmanned automatic polishing system according to claim 2, characterized in that: The frame is also provided with a first cylinder, the piston rod of the first cylinder is connected to the column and can drive the column to move along the first linear guide rail, and the column is provided with a second cylinder, the piston rod of the second cylinder is connected to the common plate and can drive the common plate to move along the second linear guide rail.

4. The unmanned automatic polishing system according to claim 3, characterized in that: There are two racks, one of which is used to grab the polishing rack from the logistics chain branch, and the other of which is used to hang the polishing rack on the logistics chain branch.

5. The unmanned automatic polishing system according to claim 1, characterized in that: The polishing elements include a large polishing auxiliary machine and a small polishing auxiliary machine. The number of the large polishing auxiliary machine and the number of the small polishing auxiliary machines are at least two, and each of the large polishing auxiliary machines and the small polishing auxiliary machines surrounds the robot.

6. The unmanned automatic polishing system according to claim 1, characterized in that: The number of the logistics chain branches is the same as the number of the polishing units and is at least two. Each logistics chain branch is arranged in a one-to-one correspondence with each polishing unit, and each polishing unit is connected in series through the logistics chain unit.

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