Full-automatic mechanical hand gate grinding sand belt machine and gate grinding process

Abstract

The application discloses a full-automatic mechanical hand nozzle grinding sand belt machine and a nozzle grinding process, wherein the steps are rationally designed, (1) a dustproof and explosion-proof servo motor is directly connected with a front sand wheel, direct connection power is increased, a front drive is compared in the market, and then the cutting force of the front sand wheel and the sand belt close to the product to be ground is increased, the processing speed is high, and the sand belt is not prone to be broken; (2) the buffering action of a spring is utilized, the mechanical hand load is small, and then the mechanical hand is protected and the grinding amount of the workpiece is prevented from being overcut; (3) since the mechanical automatic nozzle grinding process is designed by utilizing the front drive and the spring buffering sand belt machine body, the front sand wheel and the sand belt close to the product to be ground in the process have sufficient cutting force, the processing speed is high, the mechanical hand load is small, the mechanical hand is protected, the grinding amount of the workpiece is prevented from being overcut, and the sand belt is not prone to be broken.

Description

Technical Field

[0001] This invention relates to the field of grinding technology, and in particular to a fully automatic robotic gating gate grinding process using a gate grinding sander. Background Technology

[0002] Traditional gate grinding is done manually, which is labor-intensive and time-consuming. The operation is unstable and arbitrary during product polishing. The product precision is difficult to control. The working environment is poor, with operators easily inhaling dust and generating noise.

[0003] Traditional manual gate grinding process: cutting – rough grinding – fine grinding – inspection – shot blasting;

[0004] The cutting process includes: (1) Parameters: Use a manual cutting machine to cut the product gate. The cutting blade of the manual cutting machine is φ400*3.0mm thick and the speed is 1800-2200r / min; (2) Control points: Visually cut the product with a margin of ≤3.5mm; the product must not be damaged.

[0005] Rough grinding process: (1) Parameters: Rough grinding is performed using a regular belt sander / manual operation / one person per operation, Deer brand 60# sander belt, sander belt width 50mm*2 meters, speed 1800-2200r / min, feed is manually controlled, rubber wheel φ350*50mm wide, cutting angle 45°; (2) Control points: visually leave ≤0.15mm on the product surface; the product surface must not be over-cut or scratched.

[0006] Fine grinding process: (1) Parameters: Fine grinding is performed using a regular belt sander / manual operation, Deer brand sander belt 180#, sander belt width 50mm*2 meters, speed 1800-2200r / min, feed is manually controlled, rubber wheel φ350*50mm wide, cutting angle 45°; (2) Control points: visually inspect the product surface to ensure the dimensions are smooth; the product surface must not be over-cut or scratched.

[0007] Inspection procedures: (1) Parameters: 5W light, visual acuity 1.0-1.2; (2) Control points: manual visual inspection.

[0008] Shot blasting process: (1) Parameters: Use a shot blasting machine for tumbling, steel shot φ3.0, blasting for 900 seconds; (2) Control point: shot blasting surface roughness grade 3.2.

[0009] To solve the technical problems of manual gate grinding, the existing technology provides a Chinese utility model patent with authorization announcement number CN207710498U and patent name "A Multifunctional Fully Automatic Robotic Arm Belt Sander", which replaces the ordinary belt sander in the traditional manual gate grinding process with a multifunctional fully automatic robotic arm belt sander, thereby achieving the purpose of mechanical automation of gate grinding. Among them, compared with manual gate grinding, mechanical automation has the following advantages: (1) Manual gate grinding is not suitable for the different operating techniques of skilled and unskilled operators, resulting in large fluctuations in product appearance quality and difficulty in controlling the external dimensions; it is time-consuming and labor-intensive, and the working environment of operators is poor, with the problem of easy inhalation of dust. (2) Mechanical automation replaces manual gate grinding, and the operating actions are standardized; the processed products are highly precise, and the grinding and cutting mold is controlled according to the system standardization; when the belt sander is driven, the sanding belt is stable during operation; one person can operate multiple machines for processing, improving efficiency; and improving the working environment of personnel.

[0010] The shortcomings of the existing technology are as follows: Commercially available belt sanders are rear-drive, meaning that a motor drives a rear drive wheel, which in turn uses an abrasive belt to rotate a front grinding wheel. Because this indirect connection reduces power, the front grinding wheel and belt near the product being ground lack sufficient cutting force, resulting in slow processing speed, high load on the robotic arm, and a tendency for the abrasive belt to break. Therefore, even if those skilled in the art use the aforementioned multi-functional fully automatic robotic belt sander to achieve automated gate grinding, the rear-drive nature of the machine means that the automated gate grinding process designed using it will still suffer from the same technical problems: insufficient cutting force near the front grinding wheel and belt, slow processing speed, high load on the robotic arm, and a tendency for the abrasive belt to break. Summary of the Invention

[0011] The purpose of this invention is to provide a fully automatic manipulator for grinding gates using a sanding belt machine, in order to solve the technical problems that exist in the market. Sanding belt machines are rear-driven, so the mechanical automation gate grinding process designed using them also has the problems of insufficient cutting force for the front grinding wheel and sanding belt near the product to be ground, slow processing speed, high load on the manipulator, and easy breakage of the sanding belt.

[0012] To achieve the above objectives, the present invention provides a fully automated manipulator-based gate grinding sander process, comprising the following steps:

[0013] S1. Product Positioning: Use tooling trays to position the product;

[0014] S2. Robotic arm picking up parts: The robotic arm automatically picks up products from the tooling tray;

[0015] S3, Coarse / Fine Grinding: The robotic arm moves the gripped product to the abrasive belt on the grinding wheel in front of the belt sander for coarse / fine grinding of the gate; the belt sander includes a frame and a belt sanding mechanism mounted on the frame, the belt sanding mechanism including a mounting plate and several grinding wheels, the grinding wheels being rotatably mounted on the upper front side, lower front side, upper rear side, and lower rear side of the mounting plate, with a sanding belt wound around the grinding wheels; the mounting plate is also provided with a slide rail, the slide rail including a fixing part fixed to the mounting plate and a part that can be positioned relative to the fixing part. The sliding part slides back and forth. A baffle fixed to the mounting plate is provided behind the slide rail. A spring connects the sliding part and the baffle. A connecting rod and a dustproof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the upper front, lower front, and lower rear sides are respectively rotatably mounted on the connecting rod. The output end of the dustproof and explosion-proof servo motor is connected to the grinding wheel on the upper front or lower front side through a transmission belt. A sanding belt tensioning cylinder is also provided on the mounting plate. The grinding wheel on the upper rear side is rotatably mounted on the drive end of the sanding belt tensioning cylinder.

[0016] After the grinding wheel in front is subjected to force, it drives the connecting rod and the sliding part of the slide rail to move backward in sequence. Then the spring is compressed. During the rough / fine grinding of the gate of the product, the spring gradually returns to its original position. Finally, the rough / fine grinding of the gate of the product is completed.

[0017] S4. Robotic arm placement: The robotic arm automatically releases the product from the tooling tray.

[0018] Furthermore, before step S1, there is step S0, vibrating and breaking the gate: first, the gate of the product is broken by vibrating the shell machine, and then the product is placed on the tooling tray;

[0019] After step S4, there is step S5, shot blasting: the product on the tooling tray is placed into the shot blasting machine, and the product is blasted by the shot blasting machine.

[0020] Further, in step S0, the parameters of the shell vibrating machine are: pneumatic pressure of 0.6-1.0 MPa, and vibration interruption time of 35-50 seconds per tree group;

[0021] In step S5, the parameters of the shot blasting machine are: tumbling blasting, steel shot φ3.0mm, blasting time 900 seconds; shot blasting surface roughness grade 3.2.

[0022] Furthermore, the robotic arm body and the material conveying frame are mounted in front of the belt sander body. The material conveying frame is mounted on the left or right side of the robotic arm body. The material conveying frame is equipped with two slide rails extending horizontally and a drive cylinder. The two slide rails and the drive cylinder are distributed along the front and back. The drive cylinder is located between the two slide rails. The two slide rails are slidably connected to the front and rear ends of the tooling tray, respectively. The drive end of the drive cylinder is connected and fixed to the middle of the tooling tray.

[0023] Operators randomly inspect the product surface / product arrangement on the tooling tray, and the operators are isolated from the sander body by a dust extraction room to avoid contact with dust.

[0024] Furthermore, the tooling tray is a wood-based contour tooling, and the shape of the product placement groove on the tooling tray matches the shape of the product.

[0025] The movable end of the robotic arm body is equipped with a finger cylinder. The finger cylinder of the robotic arm body can grasp and release products by opening and closing in the horizontal direction, so as to achieve accurate and consistent grasping direction of the finger cylinder with product positioning.

[0026] Furthermore, the number of the sanding belt mechanism is set to two or more, with at least one sanding belt mechanism having a coarse grinding sanding belt and at least one sanding belt mechanism having a fine grinding sanding belt.

[0027] The robotic arm body is a six-axis robotic arm. Utilizing the motion principle of a six-axis robotic arm, a standard motion trajectory is established to realize the grinding of the gate and the selection of the sanding belt.

[0028] Based on the robot's motion principle and the wear of the sand belt, multiple processing programs were designed, and incremental compensation was added to the grinding gate to ensure the stability of product dimensions and quality.

[0029] Furthermore, the number of the sanding belt mechanisms is set to four groups, which are respectively located on the upper left, lower left, upper right, and lower right sides of the frame; among the sanding belt mechanisms on the left and right sides, the sanding belts of the two groups on one side are set to fine grinding sanding belts, and the sanding belts of the two groups on the other side are set to coarse grinding sanding belts; the front end of the frame is provided with two waste recovery plates, one of which is located between the upper and lower sanding belt mechanisms, and the other is located below the lower sanding belt mechanism.

[0030] Furthermore, the parameters of the coarse grinding belt are: 3M belt 36#, linear speed 26 m / s, belt width 100mm*4.6m; the parameters of the fine grinding belt are: 3M belt 120#, linear speed 26 m / s, belt width 100mm*4.6m, and both belts are fed simultaneously using a robotic arm with a feed rate of 0.05-0.2mm / s; the parameters of the grinding wheel on the upper front or lower front side are: φ350*100mm width, cutting angle 55°.

[0031] Furthermore, the baffle has a through-hole in the middle, the rear end of the sliding part is threadedly connected to the front end of the first screw rod, the rear end of the first screw rod passes through the through-hole and is provided with a first screw head, the outer diameter of the first screw head is larger than the inner diameter of the through-hole;

[0032] The baffle has guide holes that extend from front to back on its upper and lower sides respectively. The sliding part has guide rods that extend backward on its upper and lower rear sides respectively. The guide rods pass through the guide holes of the baffle. The springs are respectively sleeved on the guide rods on the upper and lower sides. The outer diameter of the springs is larger than the inner diameter of the guide holes of the baffle.

[0033] The slide rail is located inside the sanding belt, the connecting rod is fixed to the side of the sliding part near the mounting plate, and the dustproof and explosion-proof servo motor is fixed to the side of the sliding part away from the mounting plate.

[0034] Furthermore, the sanding belt tensioning cylinder is located inside the sanding belt, with its drive end facing rearward. A U-shaped block is located behind the drive end of the sanding belt tensioning cylinder. The U-shaped block includes a connecting arm and two support arms. The two support arms are respectively located on the left and right sides of the rear end of the connecting arm. The drive end of the sanding belt tensioning cylinder is connected to the connecting arm, and the left and right ends of the upper rear side of the grinding wheel are rotatably connected to the connecting arms on the left and right sides, respectively.

[0035] An adjusting block fixed to a mounting plate is provided behind the drive end of the sanding belt tensioning cylinder. The adjusting block has an adjusting opening that extends through the front and rear. The connecting arm is located inside the adjusting opening. The drive end of the sanding belt tensioning cylinder is rotatably connected to the connecting arm. A second screw rod is vertically provided on the upper left, upper right, lower left, and lower right sides of the adjusting block. One end of the second screw rod can extend into the adjusting opening to press against the U-shaped block. The other end of the second screw rod is provided with a second screw head.

[0036] The connecting arms on both the left and right sides are respectively provided with rotating holes that pass through from left to right. The width of the rotating holes in the front-to-back direction is greater than the width in the vertical direction. The left and right ends of the central shaft of the grinding wheel on the upper rear side are respectively rotatably connected to the rotating holes on the left and right sides. The support arm on the side of the U-shaped block away from the mounting plate is provided with a support block. The support block is located in front of the rotating hole. The support block is provided with a third screw rod. The front end of the third screw rod is provided with a third screw head. The rear end of the third screw rod abuts against the end of the central shaft away from the mounting plate. The support arm on the side of the U-shaped block near the mounting plate is provided with a vertical mounting hole. The vertical mounting hole is provided with a fulcrum shaft that passes through the rotating hole. The fulcrum shaft is located in front of or behind the central shaft.

[0037] In summary, the technical solution of the present invention has the following beneficial effects: The steps of the present invention are reasonably designed. (1) A slide rail is provided on the mounting plate. The slide rail includes a fixed part fixed on the mounting plate and a sliding part that can slide back and forth relative to the fixed part. A baffle fixed on the mounting plate is provided behind the slide rail. A spring is connected between the sliding part and the baffle. A connecting rod and a dustproof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the upper front side, lower front side, and lower rear side are respectively rotated and set on the connecting rod. The output end of the dustproof and explosion-proof servo motor is connected to the grinding wheel on the upper front side or the lower front side through a transmission belt. Thus, the dustproof and explosion-proof servo motor is directly connected to the grinding wheel in front. The direct connection increases the power. Compared with the market, a front drive is made, which increases the cutting force of the grinding wheel and the sand belt close to the product to be ground. The processing speed is fast and the sand belt is not easy to break (this is because in the two cases of front drive and rear drive, although the sand belt tension does not change, in the grinding gate process, when the cutting power is insufficient, the gate pressure is easy to cut the sand belt). (2) A spring is connected between the sliding part of the slide rail and the baffle. When the robot arm picks up the product to be ground from the tooling tray and places it on the abrasive belt on the front grinding wheel for polishing, the front grinding wheel is subjected to force and drives the connecting rod and the sliding part of the slide rail to move backward in sequence. Then the spring is compressed. Then, during the grinding of the gate, the spring gradually returns to its original position. The buffering effect of the spring makes the load on the robot arm small, thereby protecting the robot arm and avoiding excessive grinding of the workpiece. (3) Since the present invention uses the front-drive and spring-buffered abrasive belt machine body to design a mechanically automated grinding gate process, the front grinding wheel and abrasive belt near the product to be ground will have sufficient cutting force, the processing speed is fast, the load on the robot arm is small, the robot arm is protected and excessive grinding of the workpiece is avoided, and the abrasive belt is not easy to break. Attached Figure Description

[0038] Figure 1 This is a three-dimensional structural diagram of the fully automatic robotic arm grinding gate sander used in this invention;

[0039] Figure 2 This is a three-dimensional structural schematic diagram of the belt sander body used in this invention from a first perspective;

[0040] Figure 3 This is a three-dimensional structural diagram of the belt sander body used in this invention, taken from a first perspective and with the right side wall removed.

[0041] Figure 4 This is a three-dimensional structural schematic diagram of the belt sander body used in this invention from a second perspective;

[0042] Figure 5 This is a three-dimensional structural diagram of the belt sander body used in this invention from a second perspective, with the left side wall removed.

[0043] Figure 6 This is a schematic diagram of a first partial structure of the belt sander body used in this invention;

[0044] Figure 7 This is a three-dimensional structural diagram of the baffle of the belt sander body used in this invention;

[0045] Figure 8 This is a schematic diagram of a second partial structure of the belt sander body used in this invention;

[0046] Figure 9 yes Figure 8 An enlarged schematic diagram of region A;

[0047] Figure 10 This is a three-dimensional structural diagram of the U-shaped block of the belt sander body used in this invention;

[0048] Explanation of reference numerals in the attached drawings: 1-Manipulator body, 2-Material conveyor frame, 201-Slide rail, 202-Tooling tray, 3-Belt sander body, 4-Frame, 401-Waste recycling plate, 5-Belt sanding mechanism, 501-Mounting plate, 502-Grinding wheel, 5021-Central shaft, 503-Sanding belt, 6-Slide rail, 601-Fixing part, 602-Sliding part, 603-Connecting rod, 604-Dustproof and explosion-proof servo motor, 605-First screw rod, 6051-First screw head, 7- Baffle, 701-Modular hole, 702-Guide hole, 8-Spring, 801-Guide rod, 9-Abrasive belt tensioning cylinder, 900-Drive plate, 901-U-shaped block, 9011-Connecting arm, 9012-Support arm, 9013-Rotating hole, 9014-Support block, 9015-Third screw rod, 9016-Third screw head, 9017-Vertical mounting hole, 902-Adjusting block, 9021-Adjusting opening, 9022-Second screw rod, 9023-Second screw head. Detailed Implementation

[0049] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention, but this does not constitute a limitation on the scope of protection of the present invention.

[0050] In this invention, for clarity, the following description is provided: The observer faces the attached... Figure 1In this observation, the left side of the observer is designated as front, the right side as rear, the front of the observer as right, the rear of the observer as left, the top of the observer as up, and the bottom of the observer as down. It should be noted that the terms "front end," "rear end," "left side," "right side," "middle," "above," and "below" used in this document indicate orientations or positional relationships based on the accompanying drawings. These are merely for the purpose of clearly describing the invention and do not indicate or imply that the structures or components referred to must have a specific orientation or be constructed in a specific orientation; therefore, they should not be construed as limitations on the invention. Furthermore, the terms "first," "second," "third," and "fourth" are used only for the purpose of clarity or simplification of description and should not be construed as indicating or implying relative importance or quantity.

[0051] See Figures 1 to 10 This embodiment provides a fully automated manipulator gate grinding sander process, including the following steps:

[0052] S1. Product Positioning: Use tooling tray 202 to position the product;

[0053] S2, Robotic arm picking up parts: The robotic arm body 1 automatically picks up the product on the tooling tray 202;

[0054] S3, Rough / Fine Grinding: The robotic arm 1 moves the gripped product to the abrasive belt 503 on the abrasive wheel 502 in front of the belt sander 3 for rough / fine grinding of the gate; the belt sander 3 includes a frame 4 and a belt sander mechanism 5 mounted on the frame 4. The belt sander mechanism 5 includes a mounting plate 501 and several abrasive wheels 502, which are rotatably mounted on the upper front side, lower front side, upper rear side, and lower rear side of the mounting plate 501, respectively. Abrasive belts 503 are wound around the abrasive wheels 502; the mounting plate 501 is also provided with a slide rail 6, which includes a fixing part 601 fixed to the mounting plate 501 and a sliding part 603 that can slide back and forth relative to the fixing part 601. The sliding part 602 has a baffle 7 fixed to the mounting plate 501 behind the slide rail 6. A spring 8 connects the sliding part 602 and the baffle 7. A connecting rod 603 and a dustproof and explosion-proof servo motor 604 are fixed on the sliding part 602. The grinding wheels 502 on the upper front, lower front, and lower rear sides are rotatably mounted on the connecting rod 603. The output end of the dustproof and explosion-proof servo motor 604 is connected to the grinding wheel 502 on the upper front or lower front side through a transmission belt. The mounting plate 501 is also equipped with a sanding belt tensioning cylinder 9. The grinding wheel 502 on the upper rear side is rotatably mounted on the drive end of the sanding belt tensioning cylinder 9. Note: The sanding belt tension can be adjusted by the sanding belt tensioning cylinder.

[0055] After the front grinding wheel 502 is subjected to force, it drives the connecting rod 603 and the sliding part 602 of the slide rail 6 to move backward in sequence. Then the spring 8 is compressed. Then, during the process of rough / fine grinding of the gate of the product, the spring 8 gradually returns to its original position. Finally, the rough / fine grinding of the gate of the product is completed.

[0056] S4. Robotic arm placement: The robotic arm body 1 automatically releases the product from the tooling tray 202.

[0057] Function: (1) The mounting plate is also equipped with a slide rail, which includes a fixed part fixed on the mounting plate and a sliding part that can slide back and forth relative to the fixed part. A baffle fixed on the mounting plate is provided behind the slide rail. A spring is connected between the sliding part and the baffle. A connecting rod and a dustproof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the upper front, lower front, and lower rear sides are respectively rotated and set on the connecting rod. The output end of the dustproof and explosion-proof servo motor is connected to the grinding wheel on the upper front or lower front side through a transmission belt. Thus, the dustproof and explosion-proof servo motor is directly connected to the grinding wheel in front. The direct connection increases the power. Compared with the market, a front drive is made, which increases the cutting force of the grinding wheel and the sand belt close to the product to be ground. The processing speed is fast and the sand belt is not easy to break (this is because in the two cases of front drive and rear drive, although the sand belt tension does not change, in the grinding gate process, when the cutting power is insufficient, the gate pressure is easy to cut the sand belt). (2) A spring is connected between the sliding part of the slide rail and the baffle. When the robot arm picks up the product to be ground from the tooling tray and places it on the abrasive belt on the front grinding wheel for polishing, the front grinding wheel is subjected to force and drives the connecting rod and the sliding part of the slide rail to move backward in sequence. Then the spring is compressed. Then, during the grinding of the gate, the spring gradually returns to its original position. The buffering effect of the spring makes the load on the robot arm small, thereby protecting the robot arm and avoiding excessive grinding of the workpiece. (3) Since the present invention uses the front-drive and spring-buffered abrasive belt machine body to design a mechanically automated grinding gate process, the front grinding wheel and abrasive belt near the product to be ground will have sufficient cutting force, the processing speed is fast, the load on the robot arm is small, the robot arm is protected and excessive grinding of the workpiece is avoided, and the abrasive belt is not easy to break.

[0058] Specifically, before step S1, there is step S0, vibrating to break the gate: first, the gate of the product is broken by vibrating the shell machine, and then the product is placed on the tooling tray 202; function: the gate is broken by the shell machine using pneumatic impact, which facilitates the subsequent rough / fine grinding. Since the shell machine is existing technology, it will not be described in detail here.

[0059] Following step S4 is step S5, shot blasting: the product on the tooling tray 202 is placed into the shot blasting machine, and the product is tumble-blasted using the shot blasting machine. Purpose: Tumble blasting is a process that smooths the surface of the product's gate. Since shot blasting machines are existing technology, they will not be described in detail here.

[0060] Specifically, in step S0, the parameters of the shell vibrating machine are: pneumatic pressure of 0.6-1.0 MPa and vibration breaking time of 35-50 seconds per group of trees; function: such parameters have a better vibration breaking effect on the product gate.

[0061] In step S5, the parameters of the shot blasting machine are: tumbling blasting, steel shot φ3.0mm, blasting time 900 seconds; shot blasting surface roughness grade 3.2. Purpose: These parameters provide good tumbling blasting effect for the product gate.

[0062] Specifically, the robot body 1 and the material conveying frame 2 are located in front of the sander body 3. The material conveying frame 2 is located on the left or right side of the robot body 1. The material conveying frame 2 is equipped with two slide rails 201 extending from left to right and a drive cylinder. The two slide rails 201 and the drive cylinder are distributed from front to back. The drive cylinder is located between the two slide rails 201. The two slide rails 201 are slidably connected to the front and rear ends of the tooling tray 202, respectively. The drive end of the drive cylinder is connected and fixed to the middle of the tooling tray 202.

[0063] Operators randomly inspect the product surface / product arrangement on tooling tray 202, and the operators are isolated from the sander body 3 by a dust collection room to avoid contact with dust.

[0064] In actual operation: The tooling tray is fixed horizontally by two slide rails, and then driven by a drive cylinder to move the tooling tray left and right. Since the tooling tray can position the product, it can cooperate with the robot arm to automatically pick up the part from the tooling tray. When changing products, the fixed tooling tray is changed, the finger cylinder on the robot arm is changed, the program is changed, and the robot arm can use the connection to start processing. It can be used to switch between different products. Function: The operator only needs to inspect the surface of the tooling tray / workpiece product placement; the operator and the polishing machine are isolated by a dust collection room to avoid dust contact; one person can operate multiple machines to grind the gate.

[0065] Specifically, the tooling tray 202 is a wood-based contour tooling, and the shape of the product placement slot in the tooling tray 202 matches the shape of the product. Function: By using the wood-based contour tooling to position the product, the shape of the installation position is well adapted to the shape of the product, so that the gripping direction of the finger cylinder is accurately consistent with the product positioning.

[0066] The movable end of the robotic arm body 1 is equipped with a finger cylinder. The finger cylinder of the robotic arm body 1 can grasp and release products by opening and closing in the horizontal direction, so as to achieve accurate alignment between the grasping direction of the finger cylinder and the product positioning. Function: By adding a horizontal grasping fixture for the finger cylinder to the robotic arm, the horizontal opening and closing of the cylinder can be used to grasp products.

[0067] Specifically, the number of sanding belt mechanisms 5 is set to two or more, with at least one sanding belt mechanism 5 having a sanding belt 503 for coarse grinding and at least one sanding belt mechanism 5 having a sanding belt 503 for fine grinding. Function: Setting up coarse grinding and fine grinding sanding belts allows the robot arm to carry the product to be ground to complete the two processes of coarse grinding and fine grinding on one sanding machine, thereby improving work efficiency.

[0068] The robot body 1 is set as a six-axis robot. Utilizing the motion principle of a six-axis robot, a standard motion trajectory is formulated to realize the gate grinding action. Sand belt 503 is selected. Function: Utilizing the motion principle of a six-axis robot, a standard motion trajectory can be formulated to realize the gate grinding action instead of manual grinding.

[0069] Based on the compensation principle of the robot arm's motion and the wear of the 503 abrasive, multiple processing programs were designed, and incremental compensation was added to the grinding gate to ensure the stability of product dimensions and quality.

[0070] Specifically, the number of abrasive belt mechanisms 5 is set to four sets, which are respectively located on the upper left, lower left, upper right, and lower right sides of the frame 4. Of the abrasive belt mechanisms 5 on the left and right sides, the abrasive belts 503 of the two sets on one side are for fine grinding, and the abrasive belts 503 of the two sets on the other side are for coarse grinding. The purpose of setting four sets of abrasive belts is to reduce the frequency of belt changes; according to product requirements, two abrasive belts can be installed for both coarse and fine grinding; when an abrasive belt wears out, it can automatically switch to the next set of abrasive belts for processing, reducing process waiting time, improving machine utilization, and reducing the number of personnel required to monitor the machine, allowing one person to operate multiple machines. The front end of the frame 4 is equipped with two waste recovery plates 401, one located between the upper and lower abrasive belt mechanisms 5, and the other located below the lower abrasive belt mechanism 5. Function: The waste recycling plate can collect the waste generated during the grinding process and also prevent interference between the upper and lower sand belt mechanisms.

[0071] Specifically, the parameters for the rough grinding belt are: 3M belt #36, linear speed 26 m / s, belt width 100mm*4.6m; the parameters for the fine grinding belt are: 3M belt #120, linear speed 26 m / s, belt width 100mm*4.6m, with both belts fed simultaneously using a robotic arm at a speed of 0.05-0.2mm / s; the parameters for the 502 grinding wheel on the upper or lower front side are: φ350*100mm width, cutting angle 55°. Purpose: Setting these parameters improves the results of both rough and fine grinding.

[0072] Specifically, the baffle 7 has a through-hole 701 in the middle, and the middle of the rear end of the sliding part 602 is threadedly connected to the front end of the first screw rod 605. The rear end of the first screw rod 605 passes through the through-hole 701 and has a first screw head 6051. The outer diameter of the first screw head 6051 is larger than the inner diameter of the through-hole 701. Function: The robot grabs the product to be ground on the material conveyor and moves it to the abrasive belt on the front grinding wheel for grinding the gate. After the front grinding wheel is subjected to force, it drives the connecting rod and the sliding part of the slide rail to move backward in sequence. Then the rear end of the first screw rod moves through the through-hole. During the process of the spring gradually returning to its original position, the first screw head restricts the forward movement of the first screw rod, thereby restricting the forward movement of the sliding part of the slide rail.

[0073] The baffle 7 has guide holes 702 extending from front to back on its upper and lower sides. Guide rods 801 extending backward are fixed to the upper and lower rear ends of the sliding part 602, passing backward through the guide holes 702 of the baffle 7. Springs 8 are fitted onto the guide rods 801 on both sides, with the outer diameter of the springs 8 being larger than the inner diameter of the guide holes 702 of the baffle 7. Function: The robotic arm grabs the product to be ground from the material conveyor and moves it to the abrasive belt on the front grinding wheel for gate grinding. After the front grinding wheel is subjected to force, it sequentially drives the connecting rod and the sliding part of the slide rail to move backward. Then, the guide rod moves in the guide hole, the spring is compressed, and the baffle limits the backward movement of the sliding part of the slide rail. As the gate grinding continues, the spring gradually returns to its forward position. Therefore, due to the guiding effect of the guide rod and the guide hole, large deviations in the direction of spring movement can be avoided; and the two springs can better ensure a more balanced force distribution on the sliding part of the slide rail.

[0074] The slide rail 6 is located inside the sanding belt 503, the connecting rod 603 is fixed to the sliding part 602 near the mounting plate 501, and the dustproof and explosion-proof servo motor 604 is fixed to the sliding part 602 away from the mounting plate 501. Function: This facilitates the transmission between the dustproof and explosion-proof servo and the front grinding wheel on the connecting rod via the drive belt. Preferably, the diameter of the grinding wheel that is driven by the dustproof and explosion-proof servo via the drive belt is larger than the diameter of other grinding wheels to better drive the sanding belt.

[0075] Specifically, the belt tensioning cylinder 9 is located inside the belt 503, with its drive end facing rearward. A U-shaped block 901 is located behind the drive end of the belt tensioning cylinder 9. The U-shaped block 901 includes a connecting arm 9011 and two support arms 9012. The two support arms 9012 are respectively located on the left and right sides of the rear end of the connecting arm 9011. The drive end of the belt tensioning cylinder 9 is connected to the connecting arm 9011, and the left and right ends of the upper rear grinding wheel 502 are rotatably connected to the connecting arms 9011 on the left and right sides, respectively. Function: By setting the U-shaped block, the drive end of the belt tensioning cylinder can better drive the upper rear grinding wheel to move back and forth.

[0076] An adjusting block 902 fixed to the mounting plate 501 is provided behind the drive end of the sanding belt tensioning cylinder 9. The adjusting block 902 has an adjustment opening 9021 that runs through the front and back, and the connecting arm 9011 is located inside the adjustment opening 9021. The drive end of the sanding belt tensioning cylinder 9 is rotatably connected to the connecting arm 9011. The upper left, upper right, lower left, and lower right sides of the adjusting block 902 are each vertically provided with a second screw rod 9022. One end of the second screw rod 9022 can extend into the adjustment opening 9021 to press against the U-shaped block 901, and the other end of the second screw rod 9022 is provided with a second screw head 9023. Function: Since the drive end of the sanding belt tensioning cylinder is rotatably connected to the connecting arm, the U-shaped block can rotate. Therefore, when the second screw rods on the upper left, upper right, lower left, and lower right sides are adjusted differently, the U-shaped block will be driven to rotate, so as to realize the up and down rotation adjustment of the U-shaped block, thereby realizing the up and down balance adjustment of the sanding belt. Preferably, the driving end of the belt tensioning cylinder is a cuboid driving plate 900, with the long side of the driving plate 900 along the vertical direction and the short side along the horizontal direction. The width of the long side of the driving plate 900 is greater than the vertical width of the adjustment opening, so as to limit the backward movement of the driving end of the belt tensioning cylinder.

[0077] The left and right connecting arms 9011 are respectively provided with rotating holes 9013 that pass through from left to right. The width of the rotating holes 9013 in the front-to-back direction is greater than its width in the vertical direction. The left and right ends of the central shaft 5021 of the upper rear grinding wheel 502 are rotatably connected to the rotating holes 9013 on the left and right sides respectively. A support block 9014 is provided on the support arm 9012 on the side of the U-shaped block 901 away from the mounting plate 501. The support block 9014 is located in front of the rotating holes 9013. A third screw rod 9015 is provided on 9014. The front end of the third screw rod 9015 has a third screw head 9016, and the rear end of the third screw rod 9015 abuts against the end of the central shaft 5021 away from the mounting plate 501. A vertical mounting hole 9017 is provided on the support arm 9012 of the U-shaped block 901 near the mounting plate 501. A fulcrum shaft passing through the rotation hole 9013 is provided in the vertical mounting hole 9017. The fulcrum shaft is located in front of or behind the central shaft 5021. Function: When the fulcrum shaft is located in front of or behind one end of the central shaft, the rear end of the third screw rod abuts against the other end of the central shaft, thus making the fulcrum shaft a fulcrum for adjusting the front and rear of the central shaft. Through the back and forth movement of the third screw rod, the central shaft drives the grinding wheel to adjust back and forth, thereby achieving the front and rear balance adjustment of the sanding belt.

[0078] In practical operation, the fully automatic robotic gating gate grinding sander of this invention utilizes a system-programmed, self-controlled process, processing each piece in 15-40 seconds, with product dimensions controlled within 0.02-0.2mm, achieving product inspection-free operation. The robotic arm enables automated operation, allowing one person to oversee multiple machines, with one machine simultaneously completing both roughing and finishing processes, resulting in a significant increase in efficiency.

[0079] The above description represents the preferred embodiments of the present invention. It should be noted that those skilled in the art can make various improvements and modifications without departing from the principles of the present invention, and these improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A fully automatic robotic gate grinding sander process, characterized in that, Includes the following steps: S1. Product Positioning: Use tooling trays to position the product; S2. Robotic arm picking up parts: The robotic arm automatically picks up products from the tooling tray; S3, Coarse / Fine Grinding: The robotic arm moves the gripped product to the abrasive belt on the grinding wheel in front of the belt sander for coarse / fine grinding of the gate. The belt sander includes a frame and a belt sanding mechanism mounted on the frame. The belt sanding mechanism includes a mounting plate and several grinding wheels, which are rotatably mounted on the upper front, lower front, upper rear, and lower rear sides of the mounting plate. Abrasive belts are wound around the grinding wheels. The mounting plate also has a slide rail, which includes a fixed part fixed to the mounting plate and a sliding part that can slide back and forth relative to the fixed part. A baffle fixed to the mounting plate is located behind the slide rail, and a spring connects the sliding part and the baffle. A connecting rod and a dustproof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the upper front, lower front, and lower rear sides are rotatably mounted on the connecting rod. The output end of the dustproof and explosion-proof servo motor is driven by the upper front or lower front grinding wheel through a transmission belt. The mounting plate also has a belt sanding tension cylinder, and the upper rear grinding wheel is rotatably mounted on the drive end of the belt sanding tension cylinder. After the grinding wheel in front is subjected to force, it drives the connecting rod and the sliding part of the slide rail to move backward in sequence. Then the spring is compressed. During the rough / fine grinding of the gate of the product, the spring gradually returns to its original position. Finally, the rough / fine grinding of the gate of the product is completed. S4. Robotic arm placement: The robotic arm automatically releases the product from the tooling tray; The sanding belt tensioning cylinder is located inside the sanding belt, with the drive end of the sanding belt tensioning cylinder facing rearward. A U-shaped block is located behind the drive end of the sanding belt tensioning cylinder. The U-shaped block includes a connecting arm and two support arms. The two support arms are respectively located on the left and right sides of the rear end of the connecting arm. The drive end of the sanding belt tensioning cylinder is connected to the connecting arm. The left and right ends of the upper rear grinding wheel are rotatably connected to the connecting arms on the left and right sides, respectively. An adjusting block fixed to the mounting plate is provided behind the drive end of the sanding belt tensioning cylinder. The adjusting block has an adjusting opening that runs through the front and rear, and the connecting arm is located inside the adjusting opening. The drive end of the sanding belt tensioning cylinder is rotatably connected to the connecting arm. The upper left, upper right, lower left, and lower right sides of the adjusting block are each vertically provided with a second screw rod. One end of the second screw rod can extend into the adjusting opening to press against the U-shaped block, and the other end of the second screw rod is provided with a second screw head. The left and right connecting arms are respectively provided with rotating holes that pass through from left to right. The width of the rotating holes in the front-to-back direction is greater than the width in the vertical direction. The left and right ends of the central shaft of the grinding wheel on the upper rear side are rotatably connected to the rotating holes on the left and right sides respectively. The support arm on the side of the U-shaped block away from the mounting plate is provided with a support block. The support block is located in front of the rotating hole. The support block is provided with a third screw rod. The front end of the third screw rod is provided with a third screw head. The rear end of the third screw rod abuts against the end of the central shaft away from the mounting plate. The support arm on the side of the U-shaped block close to the mounting plate is provided with a vertical mounting hole. A fulcrum shaft passing through the rotating hole is provided in the vertical mounting hole. The fulcrum shaft is located in front of or behind the central shaft.

2. The fully automatic manipulator gate grinding sander process according to claim 1, characterized in that, Before step S1, there is step S0, vibrating the gate: first, the gate of the product is vibrated and broken using a vibrating shell machine, and then the product is placed on the tooling tray. After step S4, there is step S5, shot blasting: the product on the tooling tray is placed into the shot blasting machine, and the product is blasted by the shot blasting machine.

3. The fully automatic robotic gate grinding sander process according to claim 2, characterized in that, In step S0, the parameters of the shell vibrating machine are: pneumatic pressure of 0.6-1.0 MPa and vibration interruption time of 35-50 seconds per tree group; In step S5, the parameters of the shot blasting machine are: tumbling blasting, steel shot φ3.0mm, blasting time 900 seconds; shot blasting surface roughness grade 3.

2.

4. The fully automatic robotic gate grinding sander process according to any one of claims 1 to 3, characterized in that, The robot body and material conveyor frame are located in front of the belt sander body. The material conveyor frame is located on the left or right side of the robot body. The material conveyor frame is equipped with two slide rails and a drive cylinder that extend from left to right. The two slide rails and the drive cylinder are distributed from front to back. The drive cylinder is located between the two slide rails. The two slide rails are slidably connected to the front and rear ends of the tooling tray, respectively. The drive end of the drive cylinder is connected and fixed to the middle of the tooling tray. Operators randomly inspect the product surface / product arrangement on the tooling tray, and the operators are isolated from the sander body by a dust extraction room to avoid contact with dust.

5. The fully automatic robotic gate grinding sander process according to any one of claims 1 to 3, characterized in that, The tooling tray is designed as a wooden contour tooling, and the shape of the product placement slot on the tooling tray matches the shape of the product. The movable end of the robotic arm is equipped with a finger cylinder. The finger cylinder of the robotic arm can grasp and release products by opening and closing in the horizontal direction, so as to achieve accurate alignment between the grasping direction of the finger cylinder and the product positioning.

6. The fully automatic robotic gate grinding sander process according to any one of claims 1 to 3, characterized in that, The number of belt abrasive mechanisms is set to two or more, with at least one belt abrasive mechanism having a coarse grinding belt and at least one belt abrasive mechanism having a fine grinding belt. The robot body is designed as a six-axis robot. Utilizing the motion principle of a six-axis robot, a standard motion trajectory is established to realize the grinding of the gate and the selection of the sand belt. Based on the compensation principle of the robotic arm and the wear of the sand belt, multiple processing programs are designed, and incremental compensation is added in the grinding gate to ensure the stability of product dimensions and quality.

7. The fully automatic robotic gate grinding sander process according to claim 6, characterized in that, The number of belt abrasive mechanisms is set to four sets, which are respectively located on the upper left, lower left, upper right, and lower right sides of the frame. Among the belt abrasive mechanisms on the left and right sides, the belts of the two sets of belt abrasive mechanisms on one side are set to fine grinding belts, and the belts of the two sets of belt abrasive mechanisms on the other side are set to coarse grinding belts. There are two waste recovery plates at the front end of the frame. One waste recovery plate is located between the upper and lower belt abrasive mechanisms, and the other waste recovery plate is located below the lower belt abrasive mechanism.

8. The fully automatic robotic gate grinding sander process according to claim 6, characterized in that, The parameters for the coarse grinding belt are: 3M belt #36, linear speed 26 m / s, belt width 100mm*4.6m; the parameters for the fine grinding belt are: 3M belt #120, linear speed 26 m / s, belt width 100mm*4.6m. Both belts are fed simultaneously using a robotic arm with a feed rate of 0.05-0.2mm / s; the parameters for the grinding wheel on the upper front or lower front side are: φ350 * 100 mm width, cutting angle 55°.

9. The fully automatic manipulator gate grinding sander process according to any one of claims 1 to 3 and 7 to 8, characterized in that, The baffle has a through-hole in the middle, and the rear end of the sliding part is threadedly connected to the front end of the first screw rod. The rear end of the first screw rod passes through the through-hole and is provided with a first screw head. The outer diameter of the first screw head is larger than the inner diameter of the through-hole. The upper and lower sides of the baffle are respectively provided with guide holes that pass through from front to back. The upper and lower sides of the rear end of the sliding part are respectively fixed with guide rods extending backward, which pass through the guide holes of the baffle. Springs are respectively sleeved on the guide rods on the upper and lower sides, and the outer diameter of the springs is larger than the inner diameter of the guide holes of the baffle. The slide rail is located inside the sanding belt, the connecting rod is fixed to the side of the sliding part near the mounting plate, and the dustproof and explosion-proof servo motor is fixed to the side of the sliding part away from the mounting plate.

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