Integrated polisher

Abstract

The application discloses an integrated polishing machine which comprises a rack, a jig module, a hole polishing module, a cleaning module, a transfer module, a first mechanical arm, a peripheral polishing module, a blanking module and a second mechanical arm arranged on the rack, wherein the cleaning module, the transfer module, the peripheral polishing module and the blanking module are sequentially arranged around the peripheral side of the second mechanical arm, the jig module and the hole polishing module are both located on the side of the cleaning module away from the second mechanical arm, the hole polishing module is located above the jig module, and the first mechanical arm is located above the jig module and the cleaning module. The integrated polishing machine realizes automatic replacement of the whole polishing process of the workpiece, and manual intervention is not needed in the intermediate transfer, which is beneficial to improving the polishing efficiency and avoiding human damage to the workpiece in the transfer.

Description

Technical Field

[0001] This invention relates to the field of polishing equipment technology, and more specifically to an integrated polishing machine. Background Technology

[0002] Polishing is a processing method that uses mechanical, chemical, or electrochemical processes to reduce the surface roughness of a workpiece in order to obtain a bright and smooth surface.

[0003] Currently, polishing different sides or parts of a workpiece requires separate polishing on different equipment. For example, polishing a mobile phone back cover first requires polishing the through-hole for the camera, then manually transferring the polished back cover to a peripheral polishing machine to polish the sides. This results in low efficiency and increases the risk of damage to the back cover during manual transfer. The above solution is only for understanding the solution in this application and is not intended to limit the prior art. Summary of the Invention

[0004] The main objective of this invention is to provide an integrated polishing machine to solve the technical problem of low efficiency in existing mobile phone back cover polishing methods.

[0005] To achieve the above objectives, the integrated polishing machine proposed in this invention includes a frame and a fixture module, a polishing module, a cleaning module, a transfer module, a first robotic arm, a peripheral polishing module, a material unloading module, and a second robotic arm disposed on the frame. The cleaning module, transfer module, peripheral polishing module, and material unloading module are arranged sequentially around the periphery of the second robotic arm. The fixture module and the polishing module are both located on the side of the cleaning module away from the second robotic arm, and the polishing module is located above the fixture module. The first robotic arm is located above the fixture module and the cleaning module.

[0006] The fixture module is used to place workpieces, the blasting module is used to blast holes in the workpieces located on the fixture module, the cleaning module is used to clean the workpieces after blasting, the transfer module is used to store the cleaned workpieces, the first robot arm is used to pick up the workpieces located on the fixture module and transfer them to the cleaning module and the workpieces located in the cleaning module and transfer them to the transfer module, the circumferential polishing module is used to circumferentially polish the workpieces, the unloading module is used to store the circumferentially polished workpieces, and the second robot arm is used to pick up the workpieces located on the transfer module and transfer them to the circumferential polishing module and the workpieces located in the circumferential polishing module and transfer them to the unloading module.

[0007] Preferably, the perforation module includes:

[0008] A first slide plate, which is mounted on the frame and moves in a straight line;

[0009] A first drive mechanism is mounted on the frame and drives the first slide plate to move.

[0010] At least one coarse throwing assembly, the coarse throwing assembly including a coarse throwing head and a second drive mechanism disposed on the first slide plate and driving the coarse throwing head to move in a vertical direction;

[0011] At least one precision polishing component, the precision polishing component including a precision polishing head and a third drive mechanism disposed on the first slide plate and driving the precision polishing head to move in a vertical direction.

[0012] Preferably, the fixture module includes a polishing fixture, which includes a first base, a pressure plate, and two snap-fit ​​members. The first base has a positioning cavity with an open end. The pressure plate covers the first base and seals the open end of the positioning cavity. The two snap-fit ​​members are arranged opposite to each other on the periphery of the first base. Each snap-fit ​​member includes a movable block that is movably configured and can move toward the positioning cavity. The movable block has a snap-fit ​​part that snaps into the pressure plate.

[0013] Preferably, the snap-fit ​​component further includes a mounting block and an elastic element. The mounting block is detachably mounted on the first base. The movable block is rotatably connected to the mounting block via a rotating shaft. The elastic element is a torsion spring sleeved on the rotating shaft and connected to both the mounting block and the movable block. The movable block has an abutment portion on one side away from the first base that can abut against the free end of the first robotic arm.

[0014] Preferably, the pressure plate has at least one positioning hole on one side facing the first base, and the first base has positioning pins on one side facing the pressure plate, the number of which is the same as the number of positioning holes, with each positioning pin inserted into one positioning hole.

[0015] Preferably, the first robotic arm includes:

[0016] First driving force;

[0017] The first working part includes a first picking head and a second picking head connected to the driving end of the first driving body. The first picking head includes an abutment and a gripping member. The abutment includes a mounting plate and two abutment bars. The mounting plate is connected to the driving end of the first driving body. The two abutment bars are disposed opposite each other on the periphery of the mounting plate. The gripping member is disposed on the mounting plate and located between the two abutment bars.

[0018] Preferably, the second material handling head includes a double-headed cylinder and two clamps. The cylinder body of the double-headed cylinder is connected to the driving end of the first driving body, and the two clamps are respectively connected to the two output ends of the double-headed cylinder.

[0019] Preferably, the fixture module further includes a fourth drive mechanism, the fourth drive mechanism comprising:

[0020] A first drive assembly is mounted on the rack;

[0021] Mounting base, the mounting base being connected to the output terminal of the first drive component;

[0022] A turntable, which is rotatably mounted on the mounting base and rotates about the vertical direction;

[0023] The second slide plate is slidably mounted on the turntable;

[0024] The third slide plate is slidably disposed on the second slide plate, and the sliding direction of the third slide plate is arranged perpendicular to the sliding direction of the second slide plate in the horizontal plane;

[0025] A support plate is disposed on the third slide plate, and the support plate is provided with a fixing position for fixing the first base and a first placement position for placing the pressure plate.

[0026] Preferably, the mounting base is provided with a second drive assembly for driving the turntable to rotate, the turntable is provided with a third drive assembly for driving the second slide plate to move, and the second slide plate is provided with a fourth drive assembly for driving the third slide plate to move.

[0027] Preferably, the relay module includes:

[0028] The fifth drive mechanism is mounted on the frame; and

[0029] The second base is connected to the output end of the fifth drive mechanism, and the second base is provided with a buffer cavity.

[0030] The integrated polishing machine provided in this invention uses a blasting module to blast holes in a workpiece located on a fixture module. After blasting is completed, a first robotic arm picks up the blasted workpiece from the fixture module and places it in a cleaning module for cleaning. After cleaning, the workpiece is placed on a transfer module, and a second robotic arm places the workpiece from the transfer module onto a circumferential polishing module for circumferential polishing. After circumferential polishing, the workpiece is placed on a feeding module, thus automatically completing the overall polishing process of the workpiece. The intermediate transfer does not require manual intervention, which helps to improve polishing efficiency and avoids human damage to the workpiece during transfer. Attached Figure Description

[0031] Figure 1 This is a schematic diagram of the structure of an embodiment of the integrated polishing machine of the present invention;

[0032] Figure 2 for Figure 1 A schematic diagram of the perforation module shown in the figure;

[0033] Figure 3 for Figure 2 A schematic diagram of the coarse polishing component shown in the figure;

[0034] Figure 4 for Figure 2 A schematic diagram of the structure of the polishing component shown;

[0035] Figure 5 for Figure 1 A schematic diagram of the fixture module shown;

[0036] Figure 6 for Figure 5 A schematic diagram of the polishing fixture shown;

[0037] Figure 7 for Figure 6 A schematic diagram of the snap-fit ​​component shown in the figure;

[0038] Figure 8 for Figure 6 A schematic diagram of the structure of the pressure plate shown;

[0039] Figure 9 for Figure 6 A schematic diagram of the structure of the first base shown;

[0040] Figure 10 for Figure 1 A schematic diagram of the structure of the first robotic arm shown in the figure;

[0041] Figure 11 for Figure 10 A schematic diagram of the structure of the first material handling head shown;

[0042] Figure 12 for Figure 10 A schematic diagram of the structure of the second material handling head shown in the figure;

[0043] Figure 13 for Figure 10 A schematic diagram of the structure of the first driving body shown in the figure;

[0044] Figure 14 for Figure 5 A schematic diagram of the fourth drive mechanism shown in the figure;

[0045] Figure 15 for Figure 1 The diagram shows the structure of the second robotic arm, the transfer module, and the unloading module.

[0046] Figure 16 for Figure 15 A schematic diagram of the transfer module shown in the figure;

[0047] Figure 17 for Figure 1 A schematic diagram of the structure of the circumferential polishing module shown in the figure;

[0048] Figure 18 for Figure 15 A schematic diagram of the structure of the second robotic arm shown in the figure;

[0049] Figure 19 for Figure 15 A schematic diagram of the feeding module shown in the figure;

[0050] Figure 20 for Figure 1 The diagram shows the structure of the cleaning module. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0052] 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 positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0053] It should also be noted that when a component is described as "fixed to" or "set on" another component, it can be directly on the other component or there may be an intervening component present. When a component is described as "connected to" another component, it can be directly connected to the other component or there may be an intervening component present.

[0054] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0055] This invention proposes an integrated polishing machine, particularly suitable for polishing the back cover of mobile phones. Hereinafter, "back cover of mobile phones" will be used to refer to the workpiece. Figure 1 As shown, the integrated polishing machine includes a frame 1000 and a fixture module 2000, a blasting module 3000, a cleaning module 4000, a transfer module 5000, a first robotic arm 6000, a peripheral polishing module 7000, a material unloading module 8000, and a second robotic arm 9000, all mounted on the frame 1000. The cleaning module 4000, transfer module 5000, peripheral polishing module 7000, and material unloading module 8000 are arranged sequentially around the periphery of the second robotic arm 9000. The fixture module 2000 and the blasting module 3000 are both located on the side of the cleaning module 4000 away from the second robotic arm 9000, and the blasting module 3000 is located above the fixture module 2000. The first robotic arm 6000 is located above the fixture module 2000 and the cleaning module 4000.

[0056] The fixture module 2000 is used to place the back cover of the mobile phone; the blasting module 3000 is used to blast holes in the back cover of the mobile phone located on the fixture module 2000; the cleaning module 4000 is used to clean the back cover of the mobile phone after blasting; the transfer module 5000 is used to store the back cover of the mobile phone after cleaning; the first robotic arm 6000 is used to pick up the back cover of the mobile phone located on the fixture module 2000 and transfer it to the cleaning module 4000, and to pick up the back cover of the mobile phone located in the cleaning module 4000 and transfer it to the transfer module 5000; the peripheral polishing module 7000 is used to perform peripheral polishing on the back cover of the mobile phone; the unloading module 8000 is used to store the back cover of the mobile phone after peripheral polishing; and the second robotic arm 9000 is used to pick up the back cover of the mobile phone located on the transfer module 5000 and transfer it to the peripheral polishing module 7000, and to pick up the back cover of the mobile phone located in the peripheral polishing module 7000 and transfer it to the unloading module 8000.

[0057] The frame 1000 can utilize an existing frame structure. For ease of transport, the frame 1000 can be divided into three sequentially arranged and detachable mounting platforms. For example, the jig module 2000, polishing module 3000, first robotic arm 6000, and cleaning module 4000 are located on one end of the mounting platform; the transfer module 5000, second robotic arm 9000, and unloading module 8000 are located on the middle mounting platform; and the peripheral polishing module 7000 is located on the other end. Preferably, the frame 1000 is equipped with a first collection box 1100 and a second collection box 1200. The jig module 2000 and cleaning module 4000 are located in the first collection box 1100, and the peripheral polishing module 7000 is located in the second collection box 1200, facilitating the recovery of the polishing fluid.

[0058] The fixture module 2000 follows the existing method of automatically fixing the back cover of mobile phones. For example, the back cover of mobile phones on the fixture module 2000 can be automatically stored and opened by a drive component, or the back cover of mobile phones can be opened or stored by a robotic arm working in conjunction with the fixture module 2000.

[0059] The 3000 polishing module can be set up according to the existing form, that is, the polishing head is inserted into the through hole on the back cover of the mobile phone and polishing is performed by the rotation of the polishing head. The specific structure will not be described in detail here.

[0060] The cleaning module 4000 cleans the back cover of the phone after the polishing is completed. Specifically, the cleaning method can be to use a spray system to spray cleaning fluid to rinse the back cover of the phone after polishing, so as to remove polishing residue from the back cover of the phone.

[0061] The transfer module 5000 is used to store the cleaned mobile phone back covers. Since the number of mobile phone back covers that need to be polished once is small and the time is short, while the number of mobile phone back covers that need to be polished weekly is large and the time is long, it is convenient to use the transfer module 5000 to store the cleaned mobile phone back covers. Then, the first robotic arm 6000 picks up a preset number of mobile phone back covers and transfers them to the weekly polishing module 7000 for weekly polishing. This helps to optimize the production cycle and improve the performance utilization rate of the equipment. As for the method of storing mobile phone back covers in the transfer module 5000, it can be stored by stacking them in a cavity.

[0062] The first robotic arm 6000 can be arranged in the same way as existing three-axis or multi-axis robotic arms, so that the mobile phone back cover plate on the fixture module 2000 can be placed in the cleaning module 4000 for cleaning and then placed on the transfer module 5000. The material can be picked up by clamping or vacuum adsorption. Clamping can grab the mobile phone back cover plate on the fixture module 2000 at once, while vacuum adsorption requires multiple transports of a single piece.

[0063] The specific principle of the weekly polishing module 7000 is to drive the stacked mobile phone back cover to rotate, and use polishing parts set around its periphery to polish the side of the mobile phone back cover. At this time, the polishing parts also need to rotate and move horizontally. The specific structure is set with reference to the existing weekly polishing equipment.

[0064] The unloading module 8000 can transport polished mobile phone back covers using a conveyor belt, which facilitates unloading by manual labor or robotic arms. Alternatively, it can be a fixed location for storing the polished mobile phone back covers.

[0065] The second robotic arm 9000 can preferably be configured with reference to the existing six-axis robotic arm, so that the mobile phone back cover plates stacked on the transfer module 5000 can be placed on the weekly polishing module 7000 by clamping. After the weekly polishing module 7000 completes the weekly polishing of the mobile phone back cover plates, it is placed on the unloading module 8000.

[0066] In this embodiment, the back cover of the mobile phone located on the fixture module 2000 is perforated by the perforation module 3000. After the perforation is completed, the first robotic arm 6000 picks up the perforated back cover of the mobile phone on the fixture module 2000 and places it in the cleaning module 4000 for cleaning. After cleaning, it is placed on the transfer module 5000. Then, the second robotic arm 9000 places the back cover of the mobile phone on the transfer module 5000 on the peripheral polishing module 7000 for peripheral polishing. After peripheral polishing, the back cover of the mobile phone is placed on the unloading module 8000. In this way, the overall polishing process of the back cover of the mobile phone is automatically completed. The intermediate transfer does not require manual intervention, which helps to improve the polishing efficiency and avoid the situation of human damage to the back cover of the mobile phone during transfer.

[0067] In a preferred embodiment, such as Figures 2 to 4 As shown, the preferred perforation module 3000 includes:

[0068] The first slide plate 3100 is mounted on the frame 1000 and moves in a straight line;

[0069] The first drive mechanism 3200 is mounted on the frame 1000 and drives the first slide plate 3100 to move.

[0070] At least one coarse polishing component 3300, the coarse polishing component 3300 includes a coarse polishing head 3310 and a second drive mechanism 3320 disposed on a first slide plate 3100 and driving the coarse polishing head 3310 to move in a vertical direction;

[0071] At least one fine polishing component 3400, the fine polishing component 3400 includes a fine polishing head 3410 and a third drive mechanism 3420 disposed on a first slide plate 3100 and driving the fine polishing head 3410 to move in a vertical direction.

[0072] Preferably, the first sliding plate 3100 is mounted on the frame 1000 via a linear guide rail. The sliding direction of the first sliding plate 3100 is perpendicular to the moving direction of the polishing fixture 2100, facilitating the first robotic arm 6000 to grasp the phone back cover plate located within the polishing fixture 2100. The first drive mechanism 3200 drives the first sliding plate 3100 using a motor and lead screw or synchronous pulley. The phone back cover plate has four through holes (three large and one small). Preferably, there are two coarse polishing components 3300 and two fine polishing components 3400, arranged sequentially on the first sliding plate 3100. This allows the first sliding plate 3100 to be moved so that one coarse polishing component 3300 or one fine polishing component 3400 is positioned directly above the polishing fixture 2100. Specifically, one coarse polishing component 3300 and one fine polishing component 3400 can polish the small hole, while the other coarse polishing component 3300 and the other fine polishing component 3400 can polish the three large holes. At this time, the coarse polishing component 3300 and the fine polishing component 3400 have the same structure. The main difference is that the polishing materials used on the coarse polishing head 3310 and the fine polishing head 3410 are different. Specifically, the coarse polishing head 3310 uses a brush rod, while the fine polishing head 3410 uses a polishing rod. This allows the brush rod or polishing rod to be inserted into the through hole and polished by rotating. The second drive mechanism 3320 and the third drive mechanism 3420 both use linear modules to drive the coarse polishing head 3310 and the fine polishing head 3410 to move in the vertical direction.

[0073] In a preferred embodiment, such as Figures 5 to 7 As shown, the preferred fixture module 2000 includes a polishing fixture 2100. The polishing fixture 2100 includes a first base 2110, a pressure plate 2120, and two snap-fit ​​members 2130. The first base 2110 has a positioning cavity with an open end. The pressure plate 2120 covers the first base 2110 and blocks the open end of the positioning cavity. The two snap-fit ​​members 2130 are arranged opposite to each other on the periphery of the first base 2110. Each snap-fit ​​member 2130 includes a movable block 2131 that is movably configured and can move toward the positioning cavity. The movable block 2131 is provided with a snap-fit ​​part 2132 that snaps into the pressure plate 2120.

[0074] The size of the first base 2110 needs to be set according to the size of the positioning cavity (i.e., the back cover of the mobile phone). Taking the polishing of the back cover of the mobile phone as an example, the first base 2110 is rectangular in shape, and the positioning cavity is also rectangular. This makes it easy to place the back cover of the mobile phone in the positioning cavity for polishing. Specifically, the back cover of the mobile phone has through holes for installing cameras that need to be polished. When the pressure plate 2120 is placed on the first base 2110, the part of the back cover of the mobile phone to be polished will be exposed, so that the polishing head can be inserted into the through holes of the back cover of the mobile phone for polishing. That is, the shape and size of the pressure plate 2120 need to be set according to the polishing area of ​​the back cover of the mobile phone and the size of the opening of the positioning cavity. Preferably, there are two latching members 2130, arranged opposite each other on the periphery of the first base 2110, to increase the stability of the latching pressure plate 2120. Specifically, each latching member 2130 includes a movable block 2131, which can move by rotation or linear movement. The drive mechanism can be a spring force that rotates and latches with the pressure plate 2120. Under external force, the movable block 2131 can move away from the positioning cavity. When the external force disappears, the movable block 2131 can move towards the positioning cavity under the spring force. Alternatively, the drive mechanism can use a power component, such as a cylinder or motor, to drive the movable block 2131 to rotate or move linearly. The fourth drive mechanism 2200 can simply drive the polishing fixture 2100 to move in the horizontal plane, so as to polish the back cover of the mobile phone located in the positioning cavity by adjusting its own position. In this embodiment, the movable block 2131 moves toward or away from the positioning cavity under the action of an external force (such as the first robotic arm 6000) to realize automatic control of the engagement or release of the pressure plate 2120 between the locking part 2132 on the movable block 2131 and the pressure plate 2120. Then, the first robotic arm 6000 can be used to place the pressure plate 2120 in a specific position, and then the first robotic arm 6000 can be used to grab the mobile phone back cover in the positioning cavity and put it into the cleaning module 4000.

[0075] In a preferred embodiment, such as Figure 7As shown, the preferred snap-fit ​​component 2130 further includes a mounting block 2134 and an elastic element. The mounting block 2134 is detachably mounted on the first base 2110. The movable block 2131 is rotatably connected to the mounting block 2134 via a rotating shaft 2140. The elastic element is a torsion spring sleeved on the rotating shaft 2140 and connected to both the mounting block 2134 and the movable block 2131. The movable block 2131 has an abutment portion 2133 on its side away from the first base 2110, which can abut against the free end of the first robotic arm 6000. Preferably, the mounting block 2134 is connected to the first base 2110 by screws to facilitate the overall assembly and disassembly of the snap-fit ​​component 2130 and the adjustment of its position. For example, if the mounting block 2134 has a slotted hole, the screw passes through the slotted hole and connects to the first base 2110. The position of the snap-fit ​​component 2130 can be adjusted by adjusting the position of the screw within the slotted hole. At this time, the preferred mounting block 2134 is provided with a mounting notch, so that the mounting block 2134 is a U-shaped block. One end of the movable block 2131 is located inside the mounting notch, and the other end is located outside the mounting notch, so as to be engaged with the pressure plate 2120. The side of the movable block 2131 facing the positioning cavity abuts against the side of the first base 2110, so that the movable block 2131 is arranged vertically. During the continuous contact between the free end of the first robot 6000 and the abutment part 2133, it can be flipped towards the outside of the positioning cavity.

[0076] In a preferred embodiment, such as Figure 8 and Figure 9 As shown, preferably, the pressure plate 2120 has at least one positioning hole 2121 on the side facing the first base 2110, and the first base 2110 has positioning pins 2111 on the side facing the pressure plate 2120, the same number as the positioning holes 2121. Each positioning pin 2111 is inserted into one positioning hole 2121. Preferably, there are two positioning holes 2121 and two positioning pins 2111, so that the pressure plate 2120 can be restricted to move in the horizontal plane after the two positioning pins 2111 are respectively inserted into the corresponding positioning holes 2121. The snap-fit ​​part 2132 on the movable block 2131 abuts against the top of the pressure plate 2120 to restrict the pressure plate 2120 to move in the vertical direction, thereby increasing the stability of the pressure plate 2120 on the first base 2110.

[0077] In a preferred embodiment, such as Figure 9As shown, the preferred first base 2110 includes a base plate 2112 and four surrounding plates 2113. The four surrounding plates 2113 are arranged in pairs opposite to each other on the periphery of the base plate 2112 to form a positioning cavity. Each latching member 2130 is located on one of the surrounding plates 2113. Preferably, there is a preset distance between two adjacent surrounding plates 2113 to facilitate the first robotic arm 6000 to pick up materials by clamping. In this case, preferably, the two latching members 2130 are respectively arranged one-to-one on one of the two pairs of oppositely arranged surrounding plates 2113, and the two positioning pins 2111 are also preferably arranged on these two surrounding plates 2113.

[0078] In a preferred embodiment, such as Figure 6 and 8 As shown, the side of the preferred pressure plate 2120 is provided with a number of locking blocks 2122 that are the same as the number of locking members 2130, and each locking block 2122 engages with one locking member 2130. Where there are two locking members 2130, there are also two locking blocks 2122, and the two locking blocks 2122 are arranged opposite each other on the pressure plate 2120, thereby facilitating the engagement of the locking portion 2132 on the movable block 2131 to engage with the corresponding locking block 2122.

[0079] In a preferred embodiment, such as Figure 8 As shown, the preferred pressure plate 2120 has a detachable pad 2123 on one side facing the first base 2110, which facilitates the fixing of mobile phone back covers of different thicknesses. The pad 2123 is connected to the pressure plate 2120 by screws, so as to facilitate the replacement of pads 2123 of different thicknesses.

[0080] In a preferred embodiment, such as Figure 1 and Figure 10 As shown, the preferred first robotic arm 6000 includes:

[0081] First drive unit 6100;

[0082] The first working part 6200 includes a first picking head 6210 and a second picking head 6220 connected to the driving end of the first driving body 6100. The first picking head 6210 includes an abutment member 6211 and a gripping member 6212. The abutment member 6211 includes a mounting plate 6213 and two abutment bars 6214. The mounting plate 6213 is connected to the driving end of the first driving body 6100. The two abutment bars 6214 are disposed opposite to each other on the periphery of the mounting plate 6213. The gripping member 6212 is disposed on the mounting plate 6213 and located between the two abutment bars 6214.

[0083] The first driving body 6100 can be arranged according to existing three-axis and multi-axis robotic arms, such as a six-axis or four-axis robotic arm, so that the first working part 6200 can pick up or unload materials at any location in the working area. The two abutting bars 6214 are used to abut the abutting parts 2133 on the two movable blocks 2131 respectively when the first driving body 6100 moves in the vertical direction, so as to open the movable blocks 2131 during the continuous downward movement, so that the gripper 6212 can grasp the pressure plate 2120. Then, the first driving body 6100 drives the first picking head 6210 to move upward and place the pressure plate 2120 in a preset position. Finally, the first driving body 6100 drives the second picking head 6220 to grasp the mobile phone back cover plate located in the positioning cavity and place it on the cleaning module 4000 to complete the picking action. The lengths of the two abutment strips 6214 can be arranged according to actual conditions so that after the pressure plate 2120 gripped by the gripper 6212 rises to a preset height, the abutment strips 6214 separate from the abutment portion 2133 on the movable block 2131. The gripper 6212 can be a clamping type or a vacuum suction type. Preferably, the gripper 6212 includes at least one vacuum nozzle, so as to facilitate the gripping of the pressure plate 2120 by utilizing the suction performance of the vacuum nozzle. Preferably, there are three vacuum nozzles, and the three vacuum nozzles are arranged in a triangular state, that is, the connection of the three vacuum nozzles forms a triangle. At this time, during the material picking process of the first picking head 6210, it is preferred that the abutment 6211 separates from the abutment portion 2133 on the movable block 2131 only after the gripper 6212 has risen to a preset height. Moreover, the movable block 2131 does not affect the movement of the mobile phone back cover from the positioning cavity, thereby helping to avoid the phenomenon that the movable block 2131 obstructs the movement of the pressure plate 2120 and the mobile phone back cover from the positioning cavity. In this embodiment, the first driving body 6100 drives the first working part 6200 to move, thereby facilitating the automatic opening of the movable block 2131 in the polishing fixture 2100 using the abutment member 6211. Then, the gripping member 6212 grips the pressure plate 2120 and the second material handling head 6220 grips the back cover of the mobile phone. This enables the first robotic arm 6000 to automatically place the back cover of the mobile phone on the polishing fixture 2100 onto the cleaning module 4000, and after cleaning, place it onto the transfer module 5000. At this time, the feeding method of the polishing fixture 2100 can also refer to the first robotic arm 6000 to set up a corresponding feeding robotic arm and automatic feeding equipment for automatic feeding, which helps to improve polishing efficiency and reduce labor costs.

[0084] In a preferred embodiment, such as Figure 12As shown, the preferred second material handling head 6220 includes a double-headed cylinder 6221 and two clamps 6222. The cylinder body of the double-headed cylinder 6221 is connected to the drive end of the first drive body 6100, and the two clamps 6222 are respectively connected to the two output ends of the double-headed cylinder 6221. The double-headed cylinder 6221 can be selected according to the actual situation, while the two clamps 6222 are arranged in a relative position, forming a clamping space of variable size, which is beneficial for clamping the back cover of the mobile phone. Specifically, the clamp 6222 is preferably a U-shaped block, where the horizontal section of the U-shaped block is connected to one output end of the double-headed cylinder 6221, and the two vertical sections of the U-shaped block are the clamping parts. In this case, it is beneficial to use the space between the two vertical sections of the U-shaped block to create a clearance for the clamps 6222 in the fixture, so as to facilitate the clamping of the back cover of the mobile phone.

[0085] In a preferred embodiment, such as Figure 12 As shown, a receiving portion 6223 is preferably provided at the end of the preferred clamp 6222 away from the double-headed cylinder 6221. The receiving portion 6223 extends horizontally towards the clamping space from two vertical sections of the U-shaped block, that is, the receiving portion 6223 on one clamp 6222 protrudes towards the other clamp 6222, which helps to prevent the two clamps 6222 from falling off when clamping the back cover of the mobile phone.

[0086] In a preferred embodiment, a flexible layer is preferably provided on the opposite sides of both clamps 6222. The flexible layer is located on the side of one clamp 6222 facing the other clamp 6222, thereby facilitating flexible contact when the two clamps 6222 hold the back cover of the mobile phone, so as to prevent damage to the back cover of the mobile phone. The flexible layer can be made of flexible materials such as rubber or silicone.

[0087] In a preferred embodiment, such as Figure 13 As shown, the preferred first drive body 6100 includes:

[0088] First linear drive mechanism 6110;

[0089] The second linear drive mechanism 6120 has its body connected to the output end of the first linear drive mechanism 6110, and the driving direction of the second linear drive mechanism 6120 and the driving direction of the first linear drive mechanism 6110 are arranged to intersect in the horizontal plane.

[0090] The third linear drive mechanism 6130 has its body connected to the output end of the second linear drive mechanism 6120. The driving direction of the third linear drive mechanism 6130 is arranged in the vertical direction. The first material handling head 6210 is connected to the output end of the third linear drive mechanism 6130.

[0091] The fourth linear drive mechanism 6140 is connected to the output end of the second linear drive mechanism 6120. The driving direction of the fourth linear drive mechanism 6140 is arranged in the vertical direction. The second material handling head 6220 is connected to the output end of the fourth linear drive mechanism 6140.

[0092] Preferably, the driving direction of the second linear drive mechanism 6120 is arranged perpendicularly to the driving direction of the first linear drive mechanism 6110 in the horizontal plane. That is, the first linear drive mechanism 6110 and the second linear drive mechanism 6120 can be arranged with reference to the X-axis and Y-axis drive mechanisms of the three-axis manipulator, while the third linear drive mechanism 6130 and the fourth linear drive mechanism 6140 can be arranged with reference to the Z-axis drive mechanism of the three-axis manipulator, so as to drive the first picking head 6210 and the second picking head 6220 to move in the vertical direction, respectively.

[0093] In a preferred embodiment, such as Figure 13 As shown, preferably, the first linear drive mechanism 6110, the second linear drive mechanism 6120, and the fourth linear drive mechanism 6140 are all linear modules, while the third linear drive mechanism 6130 is a linear cylinder. The use of linear modules in the first linear drive mechanism 6110, the second linear drive mechanism 6120, and the fourth linear drive mechanism 6140 improves drive accuracy, while the use of a linear cylinder in the third linear drive mechanism 6130 enables the corresponding function and helps reduce costs.

[0094] In a preferred embodiment, such as Figure 5 and Figure 14 As shown, the preferred fixture module 2000 further includes a fourth drive mechanism 2200, which includes:

[0095] First drive assembly 2210, the first drive assembly 2210 is mounted on rack 1000;

[0096] Mounting base 2220, which is connected to the output terminal of the first drive component 2210;

[0097] Turntable 2230 is rotatably mounted on mounting base 2220 and rotates around the vertical direction;

[0098] The second slide plate 2240 is slidably mounted on the turntable 2230;

[0099] The third slide plate 2250 is slidably mounted on the second slide plate 2240, and the sliding direction of the third slide plate 2250 is perpendicular to the sliding direction of the second slide plate 2240 in the horizontal plane.

[0100] The support plate 2260 is mounted on the third slide plate 2250. The support plate 2260 is provided with a fixing position 2261 for fixing the first base 2110 and a first placement position 2262 for placing the pressure plate 2120.

[0101] Preferably, the first driving component 2210 is a linear module, with the mounting base 2220 connected to the output end of the linear module. This allows the linear module to drive the mounting base 2220 to move horizontally, and the direction of movement of the mounting base 2220 is perpendicular to the direction of movement of the first slide plate 3100 in the aforementioned hole-punching module 3000. The turntable 2230 is rotatably mounted on the mounting base 2220. The second slide plate 2240 is mounted on the turntable 2230 via a linear slide rail, and the third slide plate 2250 is also mounted on the second slide plate 2240 via a linear slide rail. The support plate 2260 is detachably connected... The first base 2110 is installed on the third slide plate 2250 by means such as snap-fit ​​or screw connection. The fixing position 2261 on the support plate 2260 can be composed of multiple screw holes, so that the first base 2110 can be fixed on the support plate 2260 by screws. Alternatively, the fixing position 2261 can be composed of multiple pins, so that the first base 2110 can be fixed on the support plate 2260 by plugging. The first placement position 2262 can be composed of two spaced-apart support blocks, so that the robot can place the pressure plate 2120 on the first placement position 2262 and continue to pick up the material. In this embodiment, the angle of the polishing fixture 2100 located on the support plate 2260 can be adjusted by rotating the turntable 2230. The position of the polishing fixture 2100 in the horizontal plane can be adjusted by sliding the second slide plate 2240 and / or the third slide plate 2250, so that the polishing module 3000 can polish the mobile phone back cover plate located in the polishing fixture 2100.

[0102] In a preferred embodiment, such as Figure 14 As shown, the preferred mounting base 2220 is provided with a second drive assembly 2270 for driving the turntable 2230 to rotate, the turntable 2230 is provided with a third drive assembly 2280 for driving the second slide plate 2240 to move, and the second slide plate 2240 is provided with a fourth drive assembly 2290 for driving the third slide plate 2250 to move.

[0103] The second drive assembly 2270 preferably adopts the form of a motor + synchronous pulley, which facilitates the rotation of the turntable 2230. The third drive assembly 2280 and the fourth drive assembly 2290 are both preferably in the form of a lead screw. The third drive assembly 2280 will be described in detail below. The nut on the lead screw is connected to the second slide plate 2240. Both ends of the lead screw are rotatably connected to the turntable 2230, and one end of the lead screw is provided with a rotating part, which facilitates the adjustment of the second slide plate 2240 by manually turning the rotating part. Of course, it can also be automatically driven by a motor.

[0104] In a preferred embodiment, such as Figure 14 As shown, the preferred support plate 2260 is also provided with a second placement position 2263. The second placement position 2263 can be a cavity formed by multiple first limiting posts, which facilitates the placement of several partitions in the cavity. Specifically, when placing multiple stacked mobile phone back covers in the positioning cavity, a partition is placed between two adjacent mobile phone back covers by a robotic arm or manually, that is, a partition is placed before another mobile phone back cover is placed, so as to avoid damage caused by friction between two adjacent mobile phone back covers.

[0105] In a preferred embodiment, such as Figure 15 and Figure 16 As shown, the preferred transfer module 5000 includes:

[0106] The fifth drive mechanism 5100 is mounted on the frame 1000; and

[0107] The second base 5200 is connected to the output end of the fifth drive mechanism 5100, and the second base 5200 is provided with a buffer cavity.

[0108] The fifth drive mechanism 5100 is preferably a linear module to facilitate reciprocating movement between the unloading point of the first robot 6000 and the loading point of the second robot 9000. Preferably, the second base 5200 includes a first substrate 5210 connected to the output end of the fifth drive mechanism 5100 and four baffles 5220 surrounding the first substrate 5210. The four baffles 5220 can enclose and form the aforementioned buffer cavity, wherein two adjacent baffles 5220 are fixedly mounted on the first substrate 5210, and the other two baffles 5220 are movably mounted. Specifically, the first substrate 5210 or the frame 1000 is provided with a fifth drive assembly 5300 and a sixth drive assembly 5400. Preferably, both the fifth drive assembly 5300 and the sixth drive assembly 5400 are linear cylinders. The fifth drive assembly 5300 and the sixth drive assembly 5400 respectively drive two movable baffles 5220 to move toward or away from the buffer cavity, so that after the first robotic arm 6000 places the cleaned mobile phone back cover on the first substrate 5210, it can use the two movable baffles 5220 to position the mobile phone back cover. At this time, preferably, the first substrate 5210 has a first clearance notch recessed inward on one side facing one of the movable baffles 5220, so that the second gripping head on the first robotic arm 6000 can place the gripped mobile phone back cover on the first substrate 5210, and also facilitate the second robotic arm 9000 to grip the mobile phone back cover located on the first substrate 5210.

[0109] In a preferred embodiment, such as Figure 17 As shown, the preferred weekly polishing module 7000 includes:

[0110] Rotary base 7100, which is rotatably mounted on frame 1000;

[0111] The sixth drive mechanism 7200 is mounted on the frame 1000 and connected to the rotary table 7100;

[0112] The pressure head 7300 is located directly above the rotary table 7100 and can move toward or away from the rotary table 7100;

[0113] The seventh drive mechanism is mounted on the frame 1000 and rotatably connected to the pressure head 7300;

[0114] Two polishing cylinders 7400 are arranged opposite each other on the circumferential direction of the rotary base 7100;

[0115] The eighth drive mechanism 7500 has its output end connected to two polishing barrels 7400.

[0116] The rotating base 7100 is used to hold the back cover of the mobile phone. Preferably, the rotating base 7100 also has a second clearance notch to allow the second robotic arm 9000 to place the back cover of the mobile phone on the rotating base 7100. The sixth drive mechanism 7200 preferably adopts the form of a motor + reducer to drive the rotating base 7100 to rotate. The seventh drive mechanism preferably adopts a linear cylinder to drive the pressure head 7300 to move towards the rotating base 7100, thereby cooperating with the rotating base 7100 to clamp the back cover of the mobile phone located on the rotating base 7100. The pressure head 7300 is rotatably connected to the output end of the linear cylinder, so that the pressure head 7300 can rotate with the rotating base 7100. The two polishing cylinders 7400 are a carpet cylinder and a bristle cylinder, respectively, to polish the sides of the back cover of the mobile phone by using the rotation of the polishing cylinder 7400. At this time, the eighth drive mechanism 7500 includes two seventh drive components, two eighth drive components, and one ninth drive component. The two seventh drive components are preferably in the form of a motor + reducer to drive the two polishing cylinders 7400 to rotate respectively. The two eighth drive components are preferably in the form of a motor + lead screw to drive the two polishing cylinders 7400 to move relative to or away from each other respectively. The ninth drive component is preferably in the form of a motor + cam structure to drive the two polishing cylinders 7400 to move up and down as a whole, thereby increasing polishing efficiency.

[0117] In a preferred embodiment, such as Figure 15 and Figure 18As shown, the second robotic arm 9000 includes a second drive body 9100 and a second working part 9200. The second drive body 9100 preferably takes the form of a six-axis robotic arm, and the second working part 9200 preferably takes the form of a clamping device. This facilitates the use of the second drive body 9100 to drive the second working part 9200 to place a mobile phone back cover plate located on the transfer module 5000 onto the weekly polishing module 7000 in one go, or to place a mobile phone back cover plate located on the weekly polishing module 7000 onto the unloading module 8000 in one go.

[0118] In a preferred embodiment, such as Figure 15 and Figure 19 As shown, the preferred unloading module 8000 includes a ninth drive mechanism 8100 mounted on the frame 1000 and a third base 8200 connected to the output end of the ninth drive mechanism 8100. Preferably, the ninth drive mechanism 8100 is a linear module, with one end facing the second robot 9000. The third base 8200 has an unloading cavity for receiving the phone's back cover. The third base 8200 includes a second substrate connected to the output end of the linear module and several first limiting posts mounted on the second substrate. Preferably, one side of the second substrate has a third clearance notch, facilitating the second robot 9000 to place the phone's back cover on the second substrate, where the first limiting posts enclose the unloading cavity. The side of the second substrate with the third clearance notch does not require first limiting posts, allowing the phone's back cover, gripped by the second robot 9000, to be placed on the third base 8200 and then removed from the third clearance notch.

[0119] In a preferred embodiment, such as Figure 1 and Figure 20As shown, the preferred cleaning module 4000 includes a third collection box 4100, a tenth drive mechanism 4200 disposed within the third collection box 4100, a fourth base 4300 connected to the output end of the tenth drive mechanism 4200, and a spray drying system 4400. The third collection box 4100 has a material handling notch at one end of its top for handling materials. The tenth drive mechanism 4200 is preferably a motor + lead screw mechanism. The fourth base 4300 has a cleaning chamber for storing a mobile phone back cover. The liquid outlet of the spray drying system 4400 and the air outlet of the drying system are located within the third collection box 4100. Specifically, the preferred fourth base 4300 includes a third base plate connected to the output end of the tenth drive mechanism 4200 and a plurality of second limiting posts disposed on the third base plate, the plurality of second limiting posts forming the aforementioned cleaning chamber. In this embodiment, the tenth drive mechanism 4200 drives the fourth base 4300 to move directly below the material pick-and-place notch, so that the first robotic arm 6000 can place the back cover of the mobile phone into the cleaning chamber. Then, the tenth drive mechanism 4200 drives the fourth base 4300 to move away from the material pick-and-place notch and to be located directly below the liquid outlet for cleaning. After cleaning is completed, the tenth drive mechanism 4200 drives the fourth base 4300 to move toward the material pick-and-place notch, so that the first robotic arm 6000 can grab the back cover of the mobile phone after cleaning.

[0120] The above are only some or preferred embodiments of the present invention. Neither the text nor the drawings should limit the scope of protection of the present invention. All equivalent structural transformations made using the content of the present invention's specification and drawings under the overall concept of the present invention, or direct / indirect applications in other related technical fields, are included within the scope of protection of the present invention.

Claims

1. An integrated polisher characterized by comprising: The device comprises a rack and a jig module, a hole drilling module, a cleaning module, a transfer module, a first mechanical arm, a peripheral hole drilling module, a blanking module and a second mechanical arm arranged on the rack, the cleaning module, the transfer module, the peripheral hole drilling module and the blanking module are arranged around the peripheral side of the second mechanical arm in sequence, the jig module and the hole drilling module are located on the side of the cleaning module away from the second mechanical arm, and the hole drilling module is located above the jig module, and the first mechanical arm is located above the jig module and the cleaning module; The jig module is used for placing workpieces, the hole drilling module is used for drilling holes in the workpieces placed on the jig module, the cleaning module is used for cleaning the workpieces after hole drilling, the transfer module is used for storing the workpieces after cleaning, the first mechanical arm is used for grabbing the workpieces on the jig module to the cleaning module and grabbing the workpieces in the cleaning module to the transfer module, the peripheral hole drilling module is used for peripheral hole drilling of the workpieces, the blanking module is used for storing the workpieces after peripheral hole drilling, and the second mechanical arm is used for grabbing the workpieces on the transfer module to the peripheral hole drilling module and grabbing the workpieces in the peripheral hole drilling module to the blanking module; The jig module comprises a polishing jig, the polishing jig comprises a first base, a pressing plate and two clamping pieces, the first base has a positioning cavity with an open end, the pressing plate is arranged on the first base and covers the open end of the positioning cavity, and the two clamping pieces are arranged on the peripheral side of the first base in opposition, and the clamping piece comprises a movable block movably arranged and movable towards the positioning cavity, and the movable block is provided with a clamping portion clamped with the pressing plate; The clamping piece further comprises a mounting block and a resilient member, the mounting block is detachably arranged on the first base, the movable block is rotationally connected with the mounting block through a rotating shaft, and the resilient member is a torsion spring sleeved on the rotating shaft and connected with the mounting block and the movable block respectively, and the side surface of the movable block away from the first base is provided with an abutting portion abutting with the free end of the first mechanical arm.

2. The unitized polisher of claim 1, wherein, The hole drilling module comprises: A first sliding plate arranged on the rack and moving along a straight line; A first driving mechanism arranged on the rack and driving the first sliding plate to move; At least one rough polishing assembly comprising a rough polishing head and a second driving mechanism arranged on the first sliding plate and driving the rough polishing head to move in a vertical direction; At least one fine polishing assembly comprising a fine polishing head and a third driving mechanism arranged on the first sliding plate and driving the fine polishing head to move in a vertical direction.

3. The unitized polisher of claim 1, wherein, The side surface of the pressing plate facing the first base is provided with at least one positioning hole, and the side surface of the first base facing the pressing plate is provided with positioning pins consistent in number with the positioning holes, and each positioning pin is inserted into one positioning hole.

4. The unitized polisher of claim 3, wherein, The first mechanical arm comprises: A first driving body; The first working part comprises a first material taking head and a second material taking head connected with the driving end of the first driving body.

5. The unitized polisher of claim 4, wherein, The second material taking head comprises a double-head cylinder and two clamping heads.

6. The unitized polisher of claim 1, wherein, The jig module further comprises a fourth driving mechanism, which comprises: A first driving assembly arranged on the rack; A mounting seat connected with the output end of the first driving assembly; A rotating disc rotatably arranged on the mounting seat and rotating around the vertical direction; A second sliding plate slidingly arranged on the rotating disc; A third sliding plate slidingly arranged on the second sliding plate, and the sliding direction of the third sliding plate is perpendicular to the sliding direction of the second sliding plate in the horizontal plane; A bearing plate arranged on the third sliding plate, and the bearing plate is provided with a fixing position for fixing the first base and a first placement position for placing the pressing plate.

7. The unitized polisher of claim 6, wherein, The mounting seat is provided with a second driving assembly for driving the rotating disc to rotate, the rotating disc is provided with a third driving assembly for driving the second sliding plate to move, and the second sliding plate is provided with a fourth driving assembly for driving the third sliding plate to move.

8. The unitized polisher of claim 1, wherein, The transfer module comprises: A fifth driving mechanism arranged on the rack; and A second base connected with the output end of the fifth driving mechanism, and the second base is provided with a buffer cavity.

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