A workpiece surface treatment device

Abstract

The present invention relates to the technical field of workpiece surface treatment, and relates to a workpiece surface treatment device. The upstream ends of the first circulation conveying mechanism and the second circulation conveying mechanism, as well as the downstream end of the discharge circulation conveying mechanism, can be connected to the production lines of upstream and downstream processes. Through the independently controllable first processing unit and second processing unit, in the actual production process, the simultaneous operation of the two processing units can improve the workpiece processing efficiency; or only one of the processing units can be turned on according to production needs. During the production change process, one of the processing units can continue to process, while the other processing unit stops to replace the fixture and program to achieve dynamic production change without stopping the equipment. Since the first processing unit, the second processing unit, the discharge circulation conveyor, and the discharge circulation conveying mechanism are all connected to the frame, the equipment can be directly installed during installation without debugging the installation positions of the above components on site.

Description

Technical Field

[0001] The present invention relates to the technical field of workpiece surface treatment, and particularly relates to a workpiece surface treatment device. Background Art

[0002] The workpiece surface treatment described in this patent refers to the treatment of the workpiece surface by surface treatment machines such as polishing and sanding. The existing workpiece surface treatment equipment, such as a metal inner liner surface treatment production line disclosed in Chinese Patent Document CN207788572U, includes a loading station, an unloading station, a rough sanding station, a fine sanding station and a manipulator. The manipulator includes a main shaft and three manipulators arranged outside the main shaft with the main shaft as the center. The gripper includes a first gripper, a second gripper and a third gripper. Each gripper includes an arm and a claw. The inner end of the arm is connected to the main shaft and the outer end is connected to the claw. The main shaft is driven by a first driving device to rotate intermittently forward and backward, so that the first gripper intermittently switches between the loading station and the rough sanding station, the second gripper intermittently switches between the rough sanding station and the fine sanding station, and the third gripper intermittently switches between the fine sanding station and the unloading station. The claw selectively grabs or places the workpiece.

[0003] The inventor found that due to the processing efficiency factor, the above production line can only be used as a dedicated production line. When changing the workpiece fixture, the entire line needs to be shut down and cannot be directly connected to the production lines of upstream and downstream processes. Moreover, the surface treatment device, the robot, the loading station and the unloading station are installed separately, and on-site debugging is required when installed in the workshop, which is cumbersome to operate. Summary of the Invention

[0004] The main purpose of the present invention is to solve the problems that the existing surface treatment production line cannot be directly connected to the production lines of upstream and downstream processes due to processing efficiency and the need to stop the machine to change the fixture, and on-site debugging is required during installation. This is solved by a workpiece surface treatment device configured with a first processing unit and a second processing unit that can be independently controlled and are commonly connected to the same frame.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] A workpiece surface treatment device, comprising: a frame, a first treatment unit, a second treatment unit and a discharging and circulating conveying mechanism; the first treatment unit includes a first circulating conveying mechanism, a first centering and positioning device, a first surface treatment machine, and a first planar rotating manipulator; the first circulating conveying mechanism is installed on the frame and is used for conveying workpieces from one end of the first loading end to the other end; the first centering and positioning device is arranged on the first circulating conveying mechanism and is used for centering and positioning the workpieces on the first circulating conveying mechanism; the first surface treatment machine is arranged on the side of the first circulating conveying mechanism and is connected to the frame, and has: a first rotating adapter for installing a workpiece fixture, and a first surface treatment device for performing surface treatment on the workpieces on the workpiece fixture; the first planar rotating manipulator is arranged between the first rotating adapter and the first centering and positioning device, and has: a first robotic arm and a second robotic arm arranged at an angle; a gripper arranged at the ends of the first robotic arm and the second robotic arm; a first rotating driver for driving the first robotic arm and the second robotic arm to rotate, and a first lifting driver for driving the first robotic arm and the second robotic arm to lift; the first rotating driver drives the first robotic arm to move between the positioning center of the first centering and positioning device and the first rotating adapter, and the second robotic arm moves between the first rotating adapter and the first discharging position; the second treatment unit includes a second circulating conveying mechanism, a second centering and positioning device, a second surface treatment machine and a second planar rotating manipulator; the second circulating conveying mechanism is installed on the frame side by side with the first circulating conveying mechanism and is used for conveying workpieces from one end of the second loading end to the other end; the second centering and positioning device is arranged on the second circulating conveying mechanism and is used for centering and positioning the workpieces on the second circulating conveying mechanism; the second surface treatment machine is arranged on the side of the second circulating conveying mechanism and is connected to the frame, and has: a second rotating adapter for installing a workpiece fixture, and a second surface treatment device for performing surface treatment on the workpieces on the workpiece fixture; the second planar rotating manipulator is arranged between the second rotating adapter and the second centering and positioning device, and has: a first robotic arm and a second robotic arm arranged at an angle; a gripper arranged at the ends of the first robotic arm and the second robotic arm; a first rotating driver for driving the first robotic arm and the second robotic arm to rotate, and a first lifting driver for driving the first robotic arm and the second robotic arm to lift; the second rotating driver drives the first robotic arm to move between the positioning center of the second centering and positioning device and the second rotating adapter, and the second robotic arm moves between the second rotating adapter and the second discharging position; the discharging and circulating conveying mechanism is arranged below the first circulating conveying mechanism and the second circulating conveying mechanism and is connected to the frame, and is used for receiving the workpieces at the first discharging position and the second discharging position.

[0007] Compared with the prior art, for the workpiece polishing production line of the present invention, the upstream ends of the first circulation conveying mechanism and the second circulation conveying mechanism, as well as the downstream end of the discharging circulation conveying mechanism, can be connected to the production lines of the upstream and downstream processes. Through the independently controllable first processing unit and second processing unit, during the actual production process, the simultaneous operation of the two processing units can improve the workpiece processing efficiency; or only one of the processing units can be turned on according to production needs. During the production change process, one of the processing units can continue to process, while the other processing unit stops to replace the fixture and switch the program to achieve dynamic production change without stopping the equipment. Since the first processing unit, the second processing unit, the discharging circulation conveyor, and the discharging circulation conveying mechanism are all connected to the machine frame, the equipment can be directly installed during installation without debugging the installation positions of the above components on site.

[0008] Furthermore, there are more than two first centering and positioning devices, which are arranged at intervals along the workpiece flow direction on the first circulation conveying mechanism; there are more than two second centering and positioning devices, which are arranged at intervals along the workpiece flow direction on the second circulation conveying mechanism; there are more than two first workpiece sensing elements, second workpiece sensing elements, first surface treatment machines, second surface treatment machines, first planar rotating manipulators, and second planar rotating manipulators correspondingly; by such an arrangement, each processing unit can simultaneously perform surface treatment processing on multiple workpieces, effectively increasing the processing efficiency of each processing unit.

[0009] Furthermore, it further includes: a first workpiece sensing element, a second workpiece sensing element, a first material blocking mechanism arranged downstream of the first centering and positioning device, and a second material blocking mechanism arranged downstream of the second centering and positioning device; the first workpiece sensing element is used to sense the workpiece reaching the working range of the first centering and positioning device and trigger the first centering and positioning device to work; the second workpiece sensing element is used to sense the workpiece reaching the working range of the second centering and positioning device and trigger the second centering and positioning device to work; the first material blocking mechanism is used to block the continuous movement of the workpiece after the first workpiece sensing element is triggered; the second material blocking mechanism is used to block the continuous movement of the workpiece after the second workpiece sensing element is triggered; by such an arrangement, a material blocking mechanism is configured downstream of each centering and positioning device, which is convenient for the centering and positioning device to perform centering and positioning on the workpiece and convenient for the planar rotating manipulator to transfer the workpiece.

[0010] Alternatively, it further includes a first workpiece sensing element configured for each positioning device in the first pair, a second workpiece sensing element configured for each positioning device in the second pair, a first material blocking mechanism disposed downstream of each positioning device in the first pair, and a second material blocking mechanism disposed downstream of each positioning device in the second pair; the first workpiece sensing element is used to sense the workpiece reaching the working range of the positioning device in the first pair and trigger the operation of the positioning device in the first pair; the second workpiece sensing element is used to sense the workpiece reaching the working range of the positioning device in the second pair and trigger the operation of the positioning device in the second pair; the first material blocking mechanism is used to block the continuous movement of the workpiece after the first workpiece sensing element is triggered, and at least the non-last-position first material blocking mechanism is configured to be able to extend above the upper surface of the first circulating conveyor or retract below the upper surface of the first circulating conveyor, and only when the first workpiece sensing element in the last position has been triggered, the upstream-position first workpiece sensing elements are sequentially triggered in the order from downstream to upstream, and the corresponding first material blocking mechanisms extend above the upper surface of the first circulating conveyor; the second material blocking mechanism is used to block the continuous movement of the workpiece after the second workpiece sensing element is triggered, and at least the non-last-position second material blocking mechanism is configured to be able to extend above the upper surface of the second circulating conveyor or retract below the upper surface of the second circulating conveyor, and only when the second workpiece sensing element in the last position has been triggered, the upstream-position second workpiece sensing elements are sequentially triggered in the order from downstream to upstream, and the corresponding second material blocking mechanisms extend above the upper surface of the second circulating conveyor; by such an arrangement, a material blocking mechanism is configured downstream of each centering positioning device, which facilitates the centering positioning of the workpiece by the centering positioning device and the transfer of the workpiece by the planar rotating manipulator, and better realizes the allocation of the workpieces to be processed in common for each independent surface processor in the same circulating conveyor.

[0011] Further, it further includes a plurality of ramp-type blanking connection mechanisms for connecting the first blanking position and the discharge circulating conveyor and the second blanking position and the discharge circulating conveyor; by such an arrangement, the discharge circulating conveyor is arranged below the first circulating conveyor and the second circulating conveyor, which better saves the floor space of the equipment, and moreover, by adopting the ramp-type blanking connection mechanism, it is convenient for the discharge circulating conveyor to be arranged to receive the processed workpieces.

[0012] Further, the rotation range of the first planar rotating manipulator is configured to have: a first position where the first robotic arm is above the positioning device in the first pair and the second robotic arm is above the first rotating adapter; a second position where the first robotic arm is above the first rotating adapter and the second robotic arm is at the first blanking position; and a third position where the first robotic arm is between the positioning device in the first pair and the first rotating adapter and the second robotic arm is between the first rotating adapter and the first blanking position.

[0013] The rotation range of the second planar rotating manipulator is configured to have: a first position where the first robotic arm is located above the second centering device and the second robotic arm is located above the second rotary adapter; a second position where the first robotic arm is located above the second rotary adapter and the second robotic arm is located at the second discharging position; a third position where the first robotic arm is located between the second centering device and the second rotary adapter and the second robotic arm is located between the second rotary adapter and the second discharging position.

[0014] Furthermore, the frame includes a bottom frame, a top frame, and gantry end frames respectively connecting both ends of the bottom frame and the top frame. A rectangular three-dimensional space that is open on all four sides is formed between the bottom frame and the top frame; the discharging circulating conveyor mechanism is installed on the lower side of the rectangular three-dimensional space, and the first circulating conveyor mechanism and the second circulating conveyor mechanism are installed above the discharging circulating conveyor mechanism; the first planar rotating manipulator and the second planar rotating manipulator are symmetrically installed on the top frame; with such an arrangement, the floor space occupied by the overall structure of the equipment is saved well.

[0015] Furthermore, the control electric box of the first processing unit is installed on the upper part of the gantry end frame at one end, and the control electric box of the second processing unit is installed on the upper part of the gantry end frame at the other end. Both the first surface treatment device and the second surface treatment device include: an XY moving mechanism and a polishing device. The polishing device includes a polishing wheel and a polishing rotation driver for driving the polishing wheel to rotate. The polishing device is connected to the Y-direction moving mechanism of the XY moving mechanism, and the polishing device is connected to the Y-direction moving mechanism through a swinging device. The swinging device drives the polishing wheel to swing around a swinging axis perpendicular to the rotation axis of the workpiece fixture.

[0016] Furthermore, each first surface treatment machine shares a common base, and each second surface treatment machine shares a common base; both the first surface treatment machine and the second surface treatment machine are connected to the frame through the base; with such an arrangement, by connecting the polishing device to the Y-direction moving mechanism of the XY moving mechanism and connecting the Y-direction moving mechanism through the swinging device, the offset of the polishing wheel in the XY directions relative to the fixture is small when the polishing wheel swings, the followability of the polishing wheel to the workpiece is good, the surface treatment continuity is good, and the production efficiency is improved. Description of the Drawings

[0017] Figure 1 Schematic diagram of the workpiece surface treatment equipment of the present invention

[0018] Figure 2 Schematic diagram of the workpiece surface treatment equipment of the present invention with the control electric box removed

[0019] Figure 3 Schematic diagram of the discharging circulating conveyor mechanism, the first circulating conveyor mechanism, and the second circulating conveyor mechanism

[0020] Figure 4 Schematic diagram of the first pair of centering devices or the second pair of centering devices

[0021] Figure 5 Schematic diagram of the first planar rotating manipulator or the second planar rotating manipulator

[0022] Figure 6 Schematic diagram of the first surface treatment machine or the second surface treatment machine Specific embodiments

[0023] The technical solution of the present invention will be described below in conjunction with the accompanying drawings:

[0024] Embodiment 1:

[0025] See Figures 1 to 6, a workpiece surface treatment device of the present invention includes: a frame 1, a first treatment unit 2, a second treatment unit 3, and a discharge and circulation conveying mechanism 4; the first treatment unit 2 includes a first circulation conveying mechanism 21, a first centering and positioning device 22, a first surface treatment machine, and a first planar rotating manipulator 23; the first circulation conveying mechanism 21 is installed on the frame 1 and is used to convey workpieces from one end of the first loading end to the other end; the first centering and positioning device 22 is arranged on the first circulation conveying mechanism 21 and is used to center and position the workpieces on the first circulation conveying mechanism 21; the first surface treatment machine is arranged on the side of the first circulation conveying mechanism 21 and is connected to the frame 1, and has: a first rotating adapter 25 for installing a workpiece fixture 24, and a first surface treatment device 5 for performing surface treatment on the workpieces on the workpiece fixture 24; the first planar rotating manipulator 23 is arranged between the first rotating adapter 25 and the first centering and positioning device 22, and has: a first robotic arm 231 and a second robotic arm 232 arranged at an angle; a gripper 233 arranged at the ends of the first robotic arm 231 and the second robotic arm 232; a first rotating drive 234 for driving the first robotic arm 231 and the second robotic arm 232 to rotate, and a first lifting drive 235 for driving the first robotic arm 231 and the second robotic arm 232 to lift, and the first lifting drive 235 is, for example, a rack and pinion transmission mechanism; the first rotating drive 234 drives the first robotic arm 231 to move between the positioning center of the first centering and positioning device 22 and the first rotating adapter 25, and the second robotic arm 232 moves between the first rotating adapter 25 and the first unloading position; the second treatment unit 3 includes a second circulation conveying mechanism 31, a second centering and positioning device 32, a second surface treatment machine, and a second planar rotating manipulator 33; the second circulation conveying mechanism 31 is installed on the frame 1 in parallel with the first circulation conveying mechanism 21 and is used to convey workpieces from one end of the second loading end to the other end; the second centering and positioning device 32 is arranged on the second circulation conveying mechanism 31 and is used to center and position the workpieces on the second circulation conveying mechanism 31; the second surface treatment machine is arranged on the side of the second circulation conveying mechanism 31 and is connected to the frame 1, and has: a second rotating adapter 35 for installing a workpiece fixture 24, and a second surface treatment device 6 for performing surface treatment on the workpieces on the workpiece fixture 24; the second planar rotating manipulator 33 is arranged between the second rotating adapter 35 and the second centering and positioning device 32, and has: a first robotic arm 231 and a second robotic arm 232 arranged at an angle; a gripper 233 arranged at the ends of the first robotic arm 231 and the second robotic arm 232; a first rotating drive 234 for driving the first robotic arm 231 and the second robotic arm 232 to rotate, and a first lifting drive 235 for driving the first robotic arm 231 and the second robotic arm 232 to lift, and the first lifting drive 235 is, for example, a rack and pinion transmission mechanism;The second rotating drive drives the first robotic arm 231 to move between the positioning center of the second pair of centering devices 32 and the second rotating adapter 35, and the second robotic arm 232 to move between the second rotating adapter 35 and the second unloading position; the discharging cyclic conveying mechanism 4 is arranged below the first cyclic conveying mechanism 21 and the second cyclic conveying mechanism 31 and connected to the frame 1 for receiving workpieces at the first unloading position and the second unloading position.

[0026] For the workpiece polishing production line of the present invention, the upstream ends of the first cyclic conveying mechanism 21 and the second cyclic conveying mechanism 31 and the downstream end of the discharging cyclic conveying mechanism 4 can be connected to the production lines of the upstream and downstream processes. Through the independently controllable first processing unit 2 and second processing unit 3, in the actual production process, the simultaneous operation of the two processing units can improve the workpiece processing efficiency, or only one of the processing units can be turned on according to production needs. During the production changeover, one of the processing units can continue to process, and the other processing unit can stop to replace the fixture and switch the program to achieve dynamic production changeover without stopping the equipment. Since the first processing unit 2, the second processing unit 3, the discharging cyclic conveyor and the discharging cyclic conveying mechanism 4 are all connected to the frame 1, the equipment can be directly installed during installation without debugging the installation positions of the above components on site.

[0027] In one embodiment, there are two or more first centering devices 22, which are arranged at intervals along the workpiece flow direction on the first cyclic conveying mechanism 21; there are two or more second centering devices 32, which are arranged at intervals along the workpiece flow direction on the second cyclic conveying mechanism 31; there are two or more first surface treatment machines, second surface treatment machines, first planar rotating manipulators 23 and second planar rotating manipulators 33 correspondingly; by such an arrangement, each processing unit can simultaneously perform surface treatment processing on multiple workpieces, effectively increasing the processing efficiency of each processing unit.

[0028] See Figures 1 to 4, in a further embodiment, it further includes a first workpiece induction element 26 configured for each positioning device 22 in the first pair, a second workpiece induction element 36 configured for each positioning device 32 in the second pair, a first material blocking mechanism 27 disposed downstream of each positioning device 22 in the first pair, and a second material blocking mechanism 37 disposed downstream of each positioning device 32 in the second pair. The first workpiece induction element 26 and the second workpiece induction element 36 are, for example, opposed photoelectric sensors. The first material blocking mechanism 27 and the second material blocking mechanism 37 can be mechanisms combining a material blocking rod and a telescopic push rod. The first workpiece induction element 26 is used to sense the workpiece corresponding to reaching the working range of the positioning device 22 in the first pair and trigger the positioning device 22 in the first pair to work. The second workpiece induction element 36 is used to sense the workpiece reaching the working range of the positioning device 32 in the second pair and trigger the positioning device 32 in the second pair to work. The first material blocking mechanism 27 is used to block the workpiece from continuing to move after the first workpiece induction element 26 is triggered. At least the first material blocking mechanism 27 in a non-final position is configured to be able to extend above the upper surface of the first circulating conveyor 21 or retract below the upper surface of the first circulating conveyor 21, and only when the first workpiece induction element 26 in the final position has been triggered, the first workpiece induction elements 26 in the upstream positions are sequentially triggered in the order from downstream to upstream, and the corresponding first material blocking mechanisms 27 extend above the upper surface of the first circulating conveyor 21, so as to realize that each first surface treatment machine on the first circulating conveyor 21 sequentially receives the workpiece and performs surface treatment processing on the workpiece from downstream along the upstream direction, ensuring that each first surface treatment machine can perform processing on the workpiece. The second material blocking mechanism 37 is used to block the workpiece from continuing to move after the second workpiece induction element 36 is triggered. At least the second material blocking mechanism 37 in a non-final position is configured to be able to extend above the upper surface of the second circulating conveyor 31 or retract below the upper surface of the second circulating conveyor 31, and only when the second workpiece induction element 36 in the final position has been triggered, the second workpiece induction elements 36 in the upstream positions are sequentially triggered in the order from downstream to upstream, and the corresponding second material blocking mechanisms 37 extend above the upper surface of the second circulating conveyor 31, so as to realize that each second surface treatment machine on the second circulating conveyor 31 sequentially receives the workpiece and performs surface treatment processing on the workpiece from downstream along the upstream direction, ensuring that each second surface treatment machine can perform processing on the workpiece. By such a setting, a material blocking mechanism is disposed downstream of each centering positioning device, which is convenient for the centering positioning device to perform centering positioning on the workpiece and for the planar rotating manipulator to transfer the workpiece, and moreover, it better realizes the distribution of the workpieces to be processed in common for each independent surface treatment machine in the same circulating conveyor.

[0029] See Figure 3 and Figure 4, in this embodiment, there are two first pair of centering devices 22, which are arranged at intervals along the workpiece flow direction on the first circulating conveyor mechanism 21; there are two second pair of centering devices 32, which are arranged at intervals along the workpiece flow direction on the second circulating conveyor mechanism 31; there are two first workpiece sensing elements 26, second workpiece sensing elements 36, first surface treatment machines, second surface treatment machines, first planar rotating manipulators 23 and second planar rotating manipulators 33 correspondingly; the first material blocking mechanism 27 at the upstream first position is configured to be able to extend out of the upper surface of the first circulating conveyor mechanism 21 or retract below the upper surface of the first circulating conveyor mechanism 21, and the first material blocking mechanism 27 at the last position is configured to maintain a blocking state; the second material blocking mechanism 37 at the upstream first position is configured to be able to extend out of the upper surface of the second circulating conveyor mechanism 31 or retract below the upper surface of the second circulating conveyor mechanism 31, and the second material blocking mechanism 37 at the last position is configured to maintain a blocking state. The first material blocking mechanism 27 and the second material blocking mechanism 37 at the last position may be structures including only material blocking members.

[0030] See Figure 3 , in one embodiment, the first circulating conveyor mechanism 21 and the second circulating conveyor mechanism 31 may be segmented belt conveyor mechanisms, and the belt conveyor mechanism may be an existing belt conveyor mechanism. The first material blocking mechanism 27 at a non-last position is arranged between adjacent belt conveyor mechanisms, that is, between the first circulating conveyor mechanism 21 and the second circulating conveyor mechanism 31, and can extend out of the upper surface of the first circulating conveyor mechanism 21 or retract below the upper surface of the first circulating conveyor mechanism 21; the second material blocking mechanism 37 at a non-last position is arranged between adjacent belt conveyor mechanisms and can extend out of the upper surface of the second circulating conveyor mechanism 31 or retract below the upper surface of the second circulating conveyor mechanism 31.

[0031] In other embodiments, the first circulating conveyor mechanism 21 and the second circulating conveyor mechanism 31 may be continuous roller conveyor mechanisms, and the roller conveyor mechanism may be an existing roller conveyor mechanism; the first material blocking mechanism 27 at a non-last position is arranged between adjacent rollers at corresponding positions and can extend out of the upper surface of the first circulating conveyor mechanism 21 or retract below the upper surface of the first circulating conveyor mechanism 21; the second material blocking mechanism 37 at a non-last position is arranged between adjacent rollers at corresponding positions and can extend out of the upper surface of the second circulating conveyor mechanism 31 or retract below the upper surface of the second circulating conveyor mechanism 31.

[0032] See Figure 1 and Figure 3, in one embodiment, the discharge circulation conveying mechanism 4 is a roller conveying platform, and further includes a plurality of slope-type blanking connection mechanisms 41 for connecting the first blanking position and the discharge circulation conveying mechanism 4, and the second blanking position and the discharge circulation conveying mechanism 4. The slope-type blanking connection mechanism 41 is preferably an inclined-plane roller conveying mechanism. When the second robotic arm 232 releases the workpiece to the blanking connection mechanism 41 at the first blanking position, the blanking connection mechanism 41 makes the workpiece enter the discharge circulation conveying mechanism 4 along its inclined plane. By such an arrangement, the discharge circulation conveying mechanism 4 is arranged below the first circulation conveying mechanism 21 and the second circulation conveying mechanism 31, which better saves the floor space of the equipment. Moreover, by adopting the slope-type blanking connection mechanism 41, it is convenient for the discharge circulation conveying mechanism 4 to arrange and receive the processed workpieces.

[0033] See Figure 5 , in one embodiment, the rotation range of the first planar rotating robotic arm 23 is configured to have: a first position where the first robotic arm 231 is located above the first centering positioning device 22 and the second robotic arm 232 is located above the first rotating adapter 25; a second position where the first robotic arm 231 is located above the first rotating adapter 25 and the second robotic arm 232 is located at the first blanking position; and a third position where the first robotic arm 231 is located between the first centering positioning device 22 and the first rotating adapter 25 and the second robotic arm 232 is located between the first rotating adapter 25 and the first blanking position. The third position is the starting position of the first planar rotating robotic arm 23 and the second planar rotating robotic arm 33. After the first planar rotating robotic arm 23 and the second planar rotating robotic arm 33 each complete the work of rotating from the first position to the second position, they are reset to the starting third position to ensure the integrity of the rotation working actions of the first planar rotating robotic arm 23 and the second planar rotating robotic arm 33.

[0034] See Figure 5 , in one embodiment, the rotation range of the second planar rotating robotic arm 33 is configured to have: a first position where the first robotic arm 231 is located above the second centering positioning device 32 and the second robotic arm 232 is located above the second rotating adapter 35; a second position where the first robotic arm 231 is located above the second rotating adapter 35 and the second robotic arm 232 is located at the second blanking position; and a third position where the first robotic arm 231 is located between the second centering positioning device 32 and the second rotating adapter 35 and the second robotic arm 232 is located between the second rotating adapter 35 and the second blanking position. The third position is the starting position of the second planar rotating robotic arm 33. After the second planar rotating robotic arm 33 each completes the work of rotating from the first position to the second position, it is reset to the starting third position to ensure the integrity of the rotation working actions of the second planar rotating robotic arm 33 and the second planar rotating robotic arm 33.

[0035] In one embodiment, the first robotic arm 231 and the second robotic arm 232 are arranged at a right angle; the gripper 233 is a suction cup mechanism, and the gripper 233 picks up the workpiece by means of vacuum suction and releases the workpiece by stopping the vacuum suction.

[0036] See Figure 4 , in one embodiment, each of the first centering and positioning device 22 and the second centering and positioning device 32 includes two sets of pusher columns 221 capable of relative or reverse movement, an endless synchronous belt 222, a centering drive motor 223, a centering slide rail device 224, and two connecting frames 225. The connecting frames 225 are L-shaped and extend along one side at the bottom of the first centering and positioning device 22 and the second centering and positioning device 32. The pusher columns 221 are located on the upper surfaces of the first circulating conveyor mechanism 21 and the second circulating conveyor. The centering drive motor 223 is a forward and reverse rotation motor. Each set of pusher columns 221 is connected to one end of a connecting frame 225 extending outward. The upper ends of the two connecting frames 225 are slidably arranged on the machine frame 1 through the centering slide rail device 224. The upper ends of the two connecting frames 225 are respectively connected to opposite sides of the endless synchronous belt 222. The endless synchronous belt 222 is wound around a pulley on the machine frame 1. The centering drive motor 223 drives the endless synchronous belt 222 to rotate forward and backward, so that the two sets of pusher columns 221 can move relatively or in reverse to realize the centering and positioning of the workpiece. The first workpiece sensing element 26 and the second workpiece sensing element 36 are arranged between two pusher columns 221 in the same group, so that when the workpiece moves into the working ranges of the first centering and positioning device 22 and the second centering and positioning device 32, its centering and positioning operation can be triggered.

[0037] In this embodiment, since there are two first surface treatment machines and two second surface treatment machines respectively, two adjacent first surface treatment machines share a blanking connection mechanism 41. The blanking connection mechanism 41 is arranged between two adjacent first surface treatment machines and is located in the middle of the first circulation conveyor 21 in the length direction. The first rotary adapters 25 corresponding to each adjacent first surface treatment machine are also arranged on one side close to the blanking connection mechanism 41. The pusher column 221 of the first centering and positioning device 22 of the first circulation conveyor 21 is arranged on the side close to the downstream direction, and the pusher column 221 of the last first centering and positioning device 22 of the first circulation conveyor 21 is arranged on the side close to the upstream direction, so that the two pusher columns 221 are close to the middle of the first circulation conveyor 21, facilitating the two first surface treatment machines to pick up materials and unload the workpieces to the blanking connection mechanism 41 after processing. Similarly, two adjacent second surface treatment machines share a blanking connection mechanism 41. The blanking connection mechanism 41 is arranged between two adjacent second surface treatment machines and is located in the middle of the second circulation conveyor 31 in the length direction. The second rotary adapters 35 corresponding to each adjacent second surface treatment machine are also arranged on one side close to the blanking connection mechanism 41. The pusher column 221 of the first second centering and positioning device 32 of the second circulation conveyor 31 is arranged on the side close to the downstream direction, and the pusher column 221 of the last second centering and positioning device 32 of the second circulation conveyor 31 is arranged on the side close to the upstream direction, so that the two pusher columns 221 are close to the middle of the second circulation conveyor 31, facilitating the two second surface treatment machines to pick up materials and unload the workpieces to the blanking connection mechanism 41 after processing.

[0038] See Figure 2 , in an embodiment, the frame 1 includes a bottom frame 11, a top frame 12 and gantry end frames 13 respectively connecting the two ends of the bottom frame 11 and the top frame 12. A rectangular three-dimensional space open on four sides is formed between the bottom frame 11 and the top frame 12; the discharge circulation conveyor 4 is installed on the lower side of the rectangular three-dimensional space, and the first circulation conveyor 21 and the second circulation conveyor 31 are installed above the discharge circulation conveyor 4; the first planar rotary manipulator 23 and the second planar rotary manipulator 33 are symmetrically installed on the top frame 12; by such an arrangement, the floor space occupied by the overall structure of the equipment is better saved.

[0039] See Figure 6In one embodiment, the control electrical box 20 of the first processing unit 2 is installed on the upper part of the gantry end frame 13 at one end, and the control electrical box 30 of the second processing unit 3 is installed on the upper part of the gantry end frame 13 at the other end. The first surface treatment device 5 and the second surface treatment device 6 both include: an XY moving mechanism and a polishing device 51, wherein the polishing device 51 includes a polishing wheel 52 and a polishing rotation driver 54 for driving the polishing wheel 52 to rotate, wherein the polishing device 51 is connected to the Y-moving mechanism 55 of the XY moving mechanism, and the polishing device 51 and the Y-moving mechanism 55 are connected via a swinging device 56, wherein the swinging device 56 drives the polishing wheel 52 to swing around a swinging axis perpendicular to the rotation axis of the workpiece fixture 24; each first surface treatment machine shares a base 14, and each second surface treatment machine shares a base 14; the first surface treatment machine and the second surface treatment machine are both connected to the frame 1 via the base 14; by such an arrangement, by connecting the polishing device 51 to the Y-moving mechanism 55 of the XY moving mechanism, and connecting the Y-moving mechanism 55 via the swinging device 56, the XY-direction offset of the polishing wheel 52 relative to the fixture is small when it swings, the followability of the polishing wheel 52 and the workpiece is good, the surface treatment continuity is good, and the production efficiency is improved.

[0040] See also Figure 6 In one embodiment, the swing device 56 is arranged on the Y-axis moving mechanism 55, which includes a swing rotating motor 561 and a swing connecting frame 562 transmission-connected thereto, and the polishing device 51 is arranged on the swing connecting frame 562 through a slewing support structure, and the slewing support structure is preferably a bearing; through such an arrangement, the swing device 56 is simply arranged and the manufacturing cost is low.

[0041] See also Figure 6 In one embodiment, the Y-axis moving mechanism 55 includes a vertical drive motor 551, a first screw transmission mechanism 552, a vertical guide rail device 553 and a vertical slide 554, the swing rotation motor 561 is arranged on the vertical slide 554, the vertical slide 554 is vertically guided by the vertical guide rail device 553, and the vertical drive motor 551 drives the vertical slide 554 to move in the vertical direction through the first screw transmission mechanism 552; through such an arrangement, the Y-axis moving mechanism 55 is simply arranged, and the vertical lifting and lowering driving effect of the polishing device 51 is good.

[0042] See also Figure 6, in one embodiment, the X-direction moving mechanism 57 of the XY moving mechanism includes a lateral driving motor 571, a second lead screw transmission mechanism 572, a lateral guide rail device 573 and a lateral carriage 574. The Y-direction moving mechanism 55 is disposed on the lateral carriage 574. The lateral carriage 574 is slidably mounted on the base 14 through the lateral guide rail device 573. The lateral driving motor 571 drives the lateral carriage 574 to move in the lateral direction through the second lead screw transmission mechanism 572. With such a setting, the X-direction moving mechanism 57 has a simple setting method and a good driving effect for the lateral movement of the polishing device 51.

[0043] See Figures 1 to 6 , for the workpiece surface treatment equipment of the present invention, during operation, workpieces are sequentially placed at intervals at the upstream ends of the first circulating conveyor mechanism 21 and the second circulating conveyor mechanism 31. Each first workpiece sensing element 26 and each second workpiece sensing element 36 are sequentially triggered in the order from downstream to upstream. The corresponding first material blocking mechanism 27 extends out of the upper surface of the first circulating conveyor mechanism 21 to limit the workpiece, and the first centering and positioning device 22 centers and positions the workpiece. And the corresponding second material blocking mechanism 37 extends out of the upper surface of the second circulating conveyor mechanism 31 to limit the workpiece, and the second centering and positioning device 32 centers and positions the workpiece, so that each first surface treatment machine of the first circulating conveyor mechanism 21 and each second surface treatment machine of the second circulating conveyor mechanism 31 sequentially receive the workpieces and perform surface treatment processing on the workpieces in the order from downstream to upstream, ensuring that each first surface treatment machine and each second surface treatment machine can process the workpieces; after the workpiece is blocked and centered and positioned on the first circulating conveyor mechanism 21, the first robotic arm 231 of the first planar rotating manipulator 23 transfers the centered and positioned workpiece to the workpiece fixture 24 for surface polishing treatment by the first surface treatment machine. At the same time, the second robotic arm 232 of the first planar rotating manipulator 23 transfers the workpiece that has completed the surface treatment processing to the discharge circulating conveyor mechanism 4 through the blanking connection mechanism 41; and after the workpiece is blocked and centered and positioned on the second circulating conveyor mechanism 31, the first robotic arm 231 of the second planar rotating manipulator 33 transfers the centered and positioned workpiece to the workpiece fixture 24 for surface polishing treatment by the second surface treatment machine. At the same time, the second robotic arm 232 of the first planar rotating manipulator 23 transfers the workpiece that has completed the surface treatment processing to the discharge circulating conveyor mechanism 4 through the blanking connection mechanism 41.

[0044] Embodiment 2:

[0045] The main difference between this embodiment (not shown in the figure) and the embodiment is that for the workpiece surface treatment equipment in this embodiment, one first surface treatment machine, one first planar rotating manipulator 23, and one first centering and positioning device 22 are respectively configured for the first treatment unit 2, and one second surface treatment machine, one second planar rotating manipulator 33, and one second centering and positioning device 32 are respectively configured for the second treatment unit 3.

[0046] In a further embodiment, it further includes: a first workpiece sensing element 26, a second workpiece sensing element 36, a first material blocking mechanism 27 arranged downstream of the first centering and positioning device 22, and a second material blocking mechanism 37 arranged downstream of the second centering and positioning device 32. The first material blocking mechanism 27 and the second material blocking mechanism 37 can be set to a holding state without a lifting function; the first workpiece sensing element 26 is used to sense the workpiece reaching the working range of the first centering and positioning device 22 and trigger the first centering and positioning device 22 to work; the second workpiece sensing element 36 is used to sense the workpiece reaching the working range of the second centering and positioning device 32 and trigger the second centering and positioning device 32 to work; the first material blocking mechanism 27 is used to block the workpiece from continuing to move after the first workpiece sensing element 26 is triggered; the second material blocking mechanism 37 is used to block the workpiece from continuing to move after the second workpiece sensing element 36 is triggered; by such a setting, a material blocking mechanism is configured downstream of each centering and positioning device, facilitating the centering and positioning of the workpiece by the centering and positioning device and the transfer of the workpiece by the planar rotating manipulator.

[0047] Embodiment Three:

[0048] The main difference between this embodiment (not shown in the figure) and the embodiment is that for the workpiece surface treatment equipment in this embodiment, three or more first surface treatment machines, three or more first planar rotating manipulators 23, and three or more first centering and positioning devices 22 are respectively configured for the first treatment unit 2, and three or more second surface treatment machines, three or more second planar rotating manipulators 33, and three or more second centering and positioning devices 32 are respectively configured for the second treatment unit 3.

[0049] According to the disclosure and teachings of the above specification, those skilled in the art to which the present invention pertains can also make changes and modifications to the above embodiments. The present invention is not limited to the specific embodiments disclosed and described above, and some modifications and changes to the present invention should also fall within the protection scope of the claims of the present invention.

Claims

1. A workpiece surface treatment device, characterized in that, Including: Frame; The first processing unit, having: The first circulating conveying mechanism, installed on the frame, for conveying workpieces from the first loading end to the other end; The first centering and positioning device, configured on the first circulating conveying mechanism, for centering and positioning the workpieces on the first circulating conveying mechanism; The first surface treatment machine, arranged on the side of the first circulating conveying mechanism and connected to the frame, having: the first rotary adapter for installing the workpiece fixture, and the first surface treatment device for performing surface treatment on the workpieces on the workpiece fixture; The first planar rotary manipulator, configured between the first rotary adapter and the first centering and positioning device, having: the first robotic arm and the second robotic arm arranged at an angle; the gripper configured at the ends of the first robotic arm and the second robotic arm; the first rotary drive for driving the first robotic arm and the second robotic arm to rotate, and the first lifting drive for driving the first robotic arm and the second robotic arm to lift; The first rotary drive drives the first robotic arm to move between the positioning center of the first centering and positioning device and the first rotary adapter, and the second robotic arm to move between the first rotary adapter and the first unloading position; The second processing unit, having: The second circulating conveying mechanism, installed on the frame side by side with the first circulating conveying mechanism, for conveying workpieces from the second loading end to the other end; The second centering and positioning device, configured on the second circulating conveying mechanism, for centering and positioning the workpieces on the second circulating conveying mechanism; The second surface treatment machine, arranged on the side of the second circulating conveying mechanism and connected to the frame, having: the second rotary adapter for installing the workpiece fixture, and the second surface treatment device for performing surface treatment on the workpieces on the workpiece fixture; The second planar rotary manipulator, configured between the second rotary adapter and the second centering and positioning device, having: the first robotic arm and the second robotic arm arranged at an angle; the gripper configured at the ends of the first robotic arm and the second robotic arm; the first rotary drive for driving the first robotic arm and the second robotic arm to rotate, and the first lifting drive for driving the first robotic arm and the second robotic arm to lift; The second rotary drive drives the first robotic arm to move between the positioning center of the second centering and positioning device and the second rotary adapter, and the second robotic arm to move between the second rotary adapter and the second unloading position; The discharging circulating conveying mechanism, arranged below the first circulating conveying mechanism and the second circulating conveying mechanism and connected to the frame, for receiving the workpieces at the first unloading position and the second unloading position.

2. The workpiece surface treatment device according to claim 1, characterized in that, There are two or more first centering and positioning devices, arranged at intervals along the workpiece flow direction on the first circulating conveying mechanism; there are two or more second centering and positioning devices, arranged at intervals along the workpiece flow direction on the second circulating conveying mechanism; there are two or more first surface treatment machines, second surface treatment machines, first planar rotary manipulators and second planar rotary manipulators correspondingly.

3. The workpiece surface treatment device according to claim 1, characterized in that Further including: The first workpiece sensing element, for sensing the workpiece reaching the working range of the first centering and positioning device and triggering the first centering and positioning device to work; The second workpiece sensing element is used to sense the workpiece reaching the working range of the second centering and positioning device and trigger the second centering and positioning device to work; The first material blocking mechanism arranged downstream of the first centering and positioning device is used to block the continuous movement of the workpiece after the first workpiece sensing element is triggered; The second material blocking mechanism arranged downstream of the second centering and positioning device is used to block the continuous movement of the workpiece after the second workpiece sensing element is triggered.

4. The workpiece surface treatment device according to claim 2, characterized in that, It further includes: More than two first workpiece sensing elements are used to sense the workpiece reaching the working range of the first centering and positioning device and trigger the first centering and positioning device to work; More than two second workpiece sensing elements are used to sense the workpiece reaching the working range of the second centering and positioning device and trigger the second centering and positioning device to work; The first material blocking mechanism arranged downstream of each first centering and positioning device is used to block the continuous movement of the workpiece after the first workpiece sensing element is triggered. At least the material blocking mechanisms at non-final positions are configured to be able to extend above the upper surface of the first circulating conveyor or retract below the upper surface of the first circulating conveyor, and only when the first workpiece sensing element at the final position has been triggered, the first workpiece sensing elements at upstream positions are triggered in sequence from downstream to upstream, and the corresponding first material blocking mechanisms extend above the upper surface of the first circulating conveyor; The second material blocking mechanism arranged downstream of each second centering and positioning device is used to block the continuous movement of the workpiece after the second workpiece sensing element is triggered. At least the material blocking mechanisms at non-final positions are configured to be able to extend above the upper surface of the second circulating conveyor or retract below the upper surface of the second circulating conveyor, and only when the second workpiece sensing element at the final position has been triggered, the second workpiece sensing elements at upstream positions are triggered in sequence from downstream to upstream, and the corresponding second material blocking mechanisms extend above the upper surface of the second circulating conveyor.

5. The workpiece surface treatment equipment according to claim 1, characterized in that, It further includes a number of ramp-type blanking connection mechanisms for connecting the first blanking position and the discharge circulating conveyor and the second blanking position and the discharge circulating conveyor.

6. The workpiece surface treatment device according to any one of claims 1 to 5, characterized in that, The rotation range of the first planar rotating manipulator is configured to have: The first robotic arm is in the first position above the first centering and positioning device and the second robotic arm is above the first rotary adapter; The first robotic arm is above the first rotary adapter and the second robotic arm is at the first blanking position; The first robotic arm is between the first centering and positioning device and the first rotary adapter and the second robotic arm is between the first rotary adapter and the first blanking position; The rotation range of the second planar rotating manipulator is configured to have: The first robotic arm is in the first position above the second centering and positioning device and the second robotic arm is above the second rotary adapter; The first robotic arm is above the second rotary adapter and the second robotic arm is at the second blanking position; The first robotic arm is between the second centering and positioning device and the second rotary adapter and the second robotic arm is between the second rotary adapter and the second blanking position.

7. The workpiece surface treatment device according to any one of claims 1 to 5, characterized in that The rack includes a bottom frame, a top frame, and gantry end frames respectively connecting both ends of the bottom frame and the top frame. A rectangular three-dimensional space open on four sides is formed between the bottom frame and the top frame; the discharge circulation conveyor mechanism is installed on the lower side of the rectangular three-dimensional space, and the first circulation conveyor mechanism and the second circulation conveyor mechanism are installed above the discharge circulation conveyor mechanism; the first planar rotating manipulator and the second planar rotating manipulator are symmetrically installed on the top frame.

8. The workpiece surface treatment device according to claim 7, characterized in that, The control electric box of the first processing unit is installed on the upper part of the gantry end frame at one end, and the control electric box of the second processing unit is installed on the upper part of the gantry end frame at the other end.

9. The workpiece surface treatment device according to any one of claims 1 to 5, characterized in that, Both the first surface treatment device and the second surface treatment device include: an XY moving mechanism and a polishing device. The polishing device includes a polishing wheel and a polishing rotation driver for driving the polishing wheel to rotate. The polishing device is connected to the Y-direction moving mechanism of the XY moving mechanism, and the polishing device is connected to the Y-direction moving mechanism through a swing device. The swing device drives the polishing wheel to swing around a swing axis perpendicular to the rotation axis of the workpiece fixture.

10. The workpiece surface treatment device according to claim 2 or 4, characterized in that, Each first surface treatment machine shares a common base, and each second surface treatment machine shares a common base; both the first surface treatment machine and the second surface treatment machine are connected to the rack through the base.

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