A fully automatic manipulator abrasive belt machine for grinding gate

Abstract

The present invention discloses a fully automatic manipulator abrasive belt machine for grinding gate. The structure of the present invention is reasonably designed. (1) A dust-proof and explosion-proof servo motor is directly connected to the grinding wheel in the front, and the direct connection increases the power. Compared with the market, it makes a front drive, so that the grinding wheel and abrasive belt in the front close to the product to be ground increase the cutting force, the processing speed is fast, and the abrasive belt is not easily broken (this is because in the two cases of front drive and rear drive, although the tension of the abrasive belt does not change, in the gate grinding process, when the cutting power is insufficient, it is easy to cut off the abrasive belt by strong pressure on the gate). (2) By using the buffering effect of the spring, the load of the manipulator is small, thereby protecting the manipulator and avoiding over-cutting of the workpiece grinding amount.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding, and in particular to a fully automatic manipulator abrasive belt grinding machine for gate grinding. Background Art

[0002] The traditional gate grinding is manual gate grinding. For manual operation, the labor intensity of workers is high, and it is time-consuming and laborious during operation; when polishing products, the operating actions are unstable and random; it is not easy to control the product accuracy; the working environment is poor, and there is a risk that operators are prone to inhale dust and generate noise.

[0003] In order to solve the above problems, the prior art provides a Chinese utility model patent with the authorization announcement number CN 207710498 U and the patent name "A Multifunctional Fully Automatic Manipulator Abrasive Belt Machine". Among them, compared with manual gate grinding in mechanical automation: (1) Manual gate grinding is not suitable for the different operating techniques of skilled and unskilled workers, resulting in large fluctuations in the appearance quality of products and difficult control of the external dimensions; it is time-consuming and laborious, and the working environment of operators is poor, making it easy to inhale dust. (2) Mechanical automation replaces manual gate grinding, with standardized operating actions; high precision in processing products, controlling the grinding and cutting die according to system standardization; when the abrasive belt machine is driven, the abrasive belt is stable during operation; one person can operate multiple devices for processing, improving efficiency; and improving the working environment of personnel.

[0004] The defect of the above prior art is that the abrasive belt machines in the market are rear-wheel drive. That is to say, the abrasive belt machines in the market are driven by a motor to rotate the rear driving wheel, and the rear driving wheel then drives the front grinding wheel to rotate using the abrasive belt. Due to the indirect connection, the power is reduced, resulting in insufficient cutting force for the front grinding wheel and the abrasive belt close to the product to be ground, slow processing speed, large load on the manipulator, and easy breakage of the abrasive belt. Summary of the Invention

[0005] The purpose of the present invention is to provide a fully automatic manipulator abrasive belt grinding machine for gate grinding to solve the technical problem that the abrasive belt machines in the market are rear-wheel drive. That is to say, the abrasive belt machines in the market are driven by a motor to rotate the rear driving wheel, and the rear driving wheel then drives the front grinding wheel to rotate using the abrasive belt. Due to the indirect connection, the power is reduced, resulting in insufficient cutting force for the front grinding wheel and the abrasive belt close to the product to be ground, slow processing speed, large load on the manipulator, and easy breakage of the abrasive belt.

[0006] To achieve the above object, the technical solution of the present invention provides a fully automatic manipulator abrasive belt machine for grinding gate, which includes a manipulator body, a material conveying rack and an abrasive belt machine body. The manipulator body and the material conveying rack are arranged in front of the abrasive belt machine body. The abrasive belt machine body includes a frame and an abrasive belt mechanism arranged on the frame. The abrasive belt mechanism includes a mounting plate and a plurality of grinding wheels. The plurality of grinding wheels are respectively rotatably arranged on the front upper side, front lower side, rear upper side and rear lower side of the mounting plate. An abrasive belt is wound around the plurality of grinding wheels; a first slide rail is further arranged on the mounting plate. The first 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 arranged behind the first slide rail. A spring is connected between the sliding part and the baffle; a connecting rod and a dust-proof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the front upper side, front lower side and rear lower side are respectively rotatably arranged on the connecting rod. The output end of the dust-proof and explosion-proof servo motor is in transmission cooperation with the grinding wheel on the front upper side or front lower side through a transmission belt; a sand belt tensioning cylinder is further arranged on the mounting plate. The grinding wheel on the rear upper side is rotatably arranged at the driving end of the sand belt tensioning cylinder.

[0007] Further, a through hole is arranged in the middle of the baffle plate in the front-rear direction. The middle of the rear end of the sliding part is threadedly connected and fixed to the front end of a 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.

[0008] Further, through holes are respectively arranged in the upper and lower sides of the baffle plate in the front-rear direction. Guide rods extending backward are respectively fixed on the upper and lower sides of the rear end of the sliding part. The guide rods pass through the through holes of the baffle plate backward; springs are respectively sleeved on the guide rods on the upper and lower sides. The outer diameter of the spring is larger than the inner diameter of the through hole of the baffle plate.

[0009] Further, the first slide rail is arranged inside the abrasive belt. The connecting rod is fixed on the side of the sliding part close to the mounting plate. The dust-proof and explosion-proof servo motor is fixed on the side of the sliding part away from the mounting plate.

[0010] Further, the sand belt tensioning cylinder is arranged inside the abrasive belt. The driving end of the sand belt tensioning cylinder faces backward. A U-shaped block is arranged behind the driving end of the sand belt tensioning cylinder; the U-shaped block includes a connecting arm and two support arms. The two support arms are respectively arranged on the left and right sides of the rear end of the connecting arm. The driving end of the sand belt tensioning cylinder is connected to the connecting arm. The left and right ends of the grinding wheel on the rear upper side are respectively rotatably connected to the connecting arms on the left and right sides.

[0011] Further, an adjusting block fixed to the mounting plate is provided behind the driving end of the abrasive belt tensioning cylinder. The adjusting block is provided with an adjusting opening penetrating through in the front-rear direction, and the connecting arm is arranged in the adjusting opening. The driving end of the abrasive belt tensioning cylinder is rotatably connected to the connecting arm. Second screw rods are vertically arranged on the upper left side, upper right side, lower left side, and lower right side of the adjusting block respectively. One end of each second screw rod can extend into the adjusting opening to abut against the U-shaped block, and a second screw head is provided at the other end of each second screw rod.

[0012] Further, rotation holes penetrating through in the left-right direction are respectively provided on the left and right connecting arms. The width of the rotation holes in the front-rear direction is greater than the width in the up-down direction. The left and right ends of the central axis of the grinding wheel at the upper rear side are respectively rotatably connected to the rotation holes on the left and right sides. A support block is provided on the support arm on the side of the U-shaped block away from the mounting plate. The support block is arranged in front of the rotation hole. A third screw rod is provided on the support block. A third screw head is provided at the front end of the third screw rod, and the rear end of the third screw rod abuts against the end of the central axis away from the mounting plate. A vertical mounting hole is provided on the support arm on the side of the U-shaped block close to the mounting plate. A fulcrum shaft passing through the rotation hole is arranged in the vertical mounting hole. The fulcrum shaft is arranged in front of or behind the central axis.

[0013] Further, the number of the abrasive belt mechanisms is set to be more than two groups. The abrasive belts of at least one group of abrasive belt mechanisms are set to be coarse abrasive belts, and the abrasive belts of at least one group of abrasive belt mechanisms are set to be fine abrasive belts.

[0014] Further, the number of the abrasive belt mechanisms is set to be four groups. The four abrasive belt mechanisms are respectively arranged on the upper left side, lower left side, upper right side, and lower right side of the machine frame. Among the abrasive belt mechanisms on the left and right sides, the abrasive belts of two groups of abrasive belt mechanisms on one side are set to be fine abrasive belts, and the abrasive belts of two groups of abrasive belt mechanisms on the other side are set to be coarse abrasive belts. Two waste material recovery plates are provided at the front end of the machine frame. One waste material recovery plate is arranged between the upper and lower abrasive belt mechanisms, and the other waste material recovery plate is arranged below the lower abrasive belt mechanism.

[0015] Further, the manipulator body is set to be a six-axis manipulator, and a finger cylinder is provided at the movable end of the manipulator body. The material conveying rack is arranged on the left or right side of the manipulator body. Two second slide rails and a driving cylinder with a length extending in the left-right direction are provided on the material conveying rack. The two second slide rails and the driving cylinder are distributed in the front-rear direction, and the driving cylinder is arranged between the two second slide rails. The two second slide rails are respectively slidably connected to the front and rear ends of the tooling pallet. The driving end of the driving cylinder is fixedly connected to the middle part of the tooling pallet. The tooling pallet is set to be a profiling tooling made of cushion wood.

[0016] In summary, by applying the technical solution of the present invention, the following beneficial effects are achieved: The structure of the present invention is reasonably designed. (1) A first slide rail is further provided on the mounting plate. The first slide rail 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 provided behind the first slide rail, and a spring is connected between the sliding part and the baffle. A connecting rod and a dust-proof and explosion-proof servo motor are fixed on the sliding part. The grinding wheels on the front upper side, front lower side, and rear lower side are respectively rotatably arranged on the connecting rod. The output end of the dust-proof and explosion-proof servo motor is in transmission cooperation with the grinding wheel on the front upper side or front lower side through a transmission belt. Thus, by directly connecting the dust-proof and explosion-proof servo motor with the front grinding wheel, the direct connection increases the power. Compared with the market, it makes a front-wheel drive, which further increases the cutting force of the front grinding wheel and abrasive belt close to the product to be ground, resulting in a fast processing speed and the abrasive belt is not easily broken (because in these two cases of front-wheel drive and rear-wheel drive, although the tension of the abrasive belt remains unchanged, in the process of grinding the gate, when the cutting power is insufficient, it is easy to cut off the abrasive belt by strong pressure on the gate). (2) A spring is connected between the sliding part of the first slide rail and the baffle. When the manipulator grabs the product to be ground from the material conveying rack and places it on the abrasive belt of the front grinding wheel for polishing, the front grinding wheel drives the connecting rod and the sliding part of the first slide rail to move backward in sequence after being stressed. Then the spring is compressed. Subsequently, during the continuous process of grinding the gate, the spring gradually returns forward. Thus, by using the buffering effect of the spring, the load of the manipulator is small, which further protects the manipulator and avoids over-grinding of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a three-dimensional structure diagram of the present invention;

[0018] Figure 2 is a three-dimensional structure diagram of the first perspective of the abrasive belt machine body of the present invention;

[0019] Figure 3 is a three-dimensional structure diagram of the first perspective of the abrasive belt machine body of the present invention with the right side wall removed;

[0020] Figure 4 is a three-dimensional structure diagram of the second perspective of the abrasive belt machine body of the present invention;

[0021] Figure 5 is a three-dimensional structure diagram of the second perspective of the abrasive belt machine body of the present invention with the left side wall removed;

[0022] Figure 6 is a first partial structure diagram of the abrasive belt machine body of the present invention;

[0023] Figure 7 is a three-dimensional structure diagram of the baffle of the abrasive belt machine body of the present invention;

[0024] Figure 8 It is the second partial structural schematic diagram of the belt sander body of the present invention;

[0025] Figure 9 is Figure 8 an enlarged schematic diagram of area A of

[0026] Figure 10 It is the three-dimensional structural schematic diagram of the U-shaped block of the belt sander body of the present invention;

[0027] Explanation of reference numerals: 1 - manipulator body, 2 - material conveying rack, 201 - second slide rail, 202 - tooling tray, 3 - belt sander body, 4 - frame, 401 - waste recycling board, 5 - belt mechanism, 501 - mounting plate, 502 - grinding wheel, 5021 - central shaft, 503 - sand belt, 6 - first slide rail, 601 - fixing part, 602 - sliding part, 603 - connecting rod, 604 - dust-proof and explosion-proof servo motor, 605 - first screw rod, 6051 - first screw head, 7 - baffle, 701 - moving hole, 702 - guiding hole, 8 - spring, 801 - guiding rod, 9 - sand belt tensioning cylinder, 900 - driving plate, 901 - U-shaped block, 9011 - connecting arm, 9012 - supporting arm, 9013 - rotating hole, 9014 - supporting 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 manners

[0028] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention, but it does not constitute a limitation to the protection scope of the present invention.

[0029] In the present invention, for clearer description, the following is stated: When the observer observes facing the attached Figure 1 drawing, the left side of the observer is set as the front, the right side of the observer is set as the rear, the front of the observer is set as the right, the rear of the observer is set as the left, the top of the observer is set as the upper, and the bottom of the observer is set as the lower. It should be noted that the terms "front end", "rear end", "left side", "right side", "middle part", "upper part", "lower part", etc. in the text indicate the orientation or position relationship based on the orientation or position relationship set in the accompanying drawings. It is only for the convenience of clearly describing the present invention, rather than indicating or implying that the structures or components referred to must have a specific orientation and be constructed in a specific orientation. Therefore, it cannot be understood as a limitation to the present invention. In addition, the terms "first", "second", "third", "fourth" are only used for the purpose of clear or simplified description, and cannot be understood as indicating or implying relative importance or quantity.

[0030] Refer to Figures 1 to 10, this embodiment provides a fully automatic manipulator abrasive belt machine for grinding gate, which includes a manipulator body 1, a material conveying frame 2 and an abrasive belt machine body 3. The manipulator body 1 and the material conveying frame 2 are arranged in front of the abrasive belt machine body 3. The abrasive belt machine body 3 includes a frame 4 and an abrasive belt mechanism 5 arranged on the frame 4. The abrasive belt mechanism 5 includes a mounting plate 501 and a plurality of grinding wheels 502. The plurality of grinding wheels 502 are respectively rotatably arranged on the front upper side, front lower side, rear upper side and rear lower side of the mounting plate 501. An abrasive belt 503 is wound around the plurality of grinding wheels 502; a first slide rail 6 is further arranged on the mounting plate 501. The first slide rail 6 includes a fixed part 601 fixed on the mounting plate 501 and a sliding part 602 that can slide back and forth relative to the fixed part 601. A baffle 7 fixed on the mounting plate 501 is arranged behind the first slide rail 6. A spring 8 is connected between the sliding part 602 and the baffle 7; a connecting rod 603 and a dust-proof and explosion-proof servo motor 604 are fixed on the sliding part 602. The grinding wheels 502 on the front upper side, front lower side and rear lower side are respectively rotatably arranged on the connecting rod 603. The output end of the dust-proof and explosion-proof servo motor 604 is in transmission cooperation with the grinding wheel 502 on the front upper side or front lower side through a transmission belt; an abrasive belt tensioning cylinder 9 is further arranged on the mounting plate 501. The grinding wheel 502 on the rear upper side is rotatably arranged on the driving end of the abrasive belt tensioning cylinder 9. Explanation: The abrasive belt tension can be adjusted through the abrasive belt tensioning cylinder. Function: (1) Since a first slide rail is further arranged on the mounting plate, the first 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 arranged behind the first slide rail, and a spring is connected between the sliding part and the baffle; a connecting rod and a dust-proof and explosion-proof servo motor are fixed on the sliding part, and the grinding wheels on the front upper side, front lower side and rear lower side are respectively rotatably arranged on the connecting rod. The output end of the dust-proof and explosion-proof servo motor is in transmission cooperation with the grinding wheel on the front upper side or front lower side through a transmission belt; thus, the dust-proof and explosion-proof servo motor is directly connected to the front grinding wheel, the direct connection increases the power, and a front drive is made in comparison with the market, so that the front grinding wheel and the abrasive belt close to the product to be ground have increased cutting force, the processing speed is fast, and the abrasive belt is not easily broken (because in these two cases of front drive and rear drive, although the abrasive belt tension does not change, but in the process of grinding the gate, when the cutting power is insufficient, the gate is easily forced to cut off the abrasive belt). (2) Since a spring is connected between the sliding part of the first slide rail and the baffle, when the manipulator grabs the product to be ground from the material conveying frame and places it on the abrasive belt of the front grinding wheel for polishing, the front grinding wheel drives the connecting rod and the sliding part of the first slide rail to move backward in sequence after being stressed, then the spring is compressed, and then during the continuous process of grinding the gate, the spring gradually returns forward, so that the buffer effect of the spring is utilized to make the load of the manipulator small, thereby protecting the manipulator and avoiding over-grinding of the workpiece.

[0031] Specifically, a movable hole 701 is provided in the middle of the baffle 7, and the middle of the rear end of the sliding part 602 is threadedly connected and fixed with the front end of the first screw rod 605. The rear end of the first screw rod 605 passes through the movable hole 701 and is provided with a first screw head 6051. The outer diameter of the first screw head 6051 is larger than the inner diameter of the movable hole 701. Function: The manipulator grabs the product to be ground on the material conveying rack and moves it to the sanding belt on the front grinding wheel for grinding gate treatment. After the front grinding wheel is subjected to force, it drives the connecting rod and the sliding part of the first slide rail to move backward in turn, and then the rear end of the first screw rod moves through the movable hole. In the process of the spring gradually returning forward, the first screw head limits the forward movement of the first screw rod, thereby limiting the forward movement of the sliding part of the first slide rail.

[0032] Specifically, the upper and lower sides of the baffle 7 are respectively provided with guide holes 702 that penetrate the front and back, and the upper and lower sides of the rear end of the sliding part 602 are respectively fixed with guide rods 801 extending backwards, and the guide rods 801 pass through the guide holes 702 of the baffle 7 backwards; the guide rods 801 on the upper and lower sides are respectively sleeved with springs 8, and the outer diameter of the spring 8 is larger than the inner diameter of the guide holes 702 of the baffle 7. Function: The manipulator grabs the product to be ground on the material conveying rack and moves it to the sanding belt on the front grinding wheel for grinding gate processing. After the front grinding wheel is subjected to force, it drives the connecting rod and the sliding part of the first slide rail to move backward in turn, and then the guide rod moves in the guide hole, the spring is compressed, and the baffle limits the amplitude of the sliding part of the first slide rail to move backward, and then in the process of continuing the grinding gate, the spring gradually resets forward. Therefore, due to the guiding effect of the guide rod and the guide hole, a large deviation in the movement direction of the spring can be avoided; and the upper and lower springs can better make the force distribution of the sliding part of the first slide rail more balanced.

[0033] Specifically, the first slide rail 6 is arranged on the inner side of the sanding belt 503, the connecting rod 603 is fixed to the side of the sliding part 602 close to the mounting plate 501, and the dustproof and explosion-proof servo motor 604 is fixed to the side of the sliding part 602 away from the mounting plate 501. Function: This makes it easier for the dustproof and explosion-proof servo to cooperate with the front grinding wheel on the connecting rod through the transmission belt. Preferably, the diameter of the grinding wheel that cooperates with the dustproof and explosion-proof servo through the transmission belt is larger than the diameter of other grinding wheels, so as to better drive the sanding belt.

[0034] Specifically, the abrasive belt tensioning cylinder 9 is arranged inside the abrasive belt 503, the driving end of the abrasive belt tensioning cylinder 9 faces backward, and a U-shaped block 901 is arranged behind the driving end of the abrasive belt tensioning cylinder 9; the U-shaped block 901 includes a connecting arm 9011 and two supporting arms 9012, and the two supporting arms 9012 are respectively arranged on the left and right sides of the rear end of the connecting arm 9011. The driving end of the abrasive 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 respectively rotatably connected to the left and right connecting arms 9011. Function: By arranging the U-shaped block, the driving end of the abrasive belt tensioning cylinder can drive the upper rear grinding wheel to move back and forth better.

[0035] Specifically, an adjusting block 902 fixed to the mounting plate 501 is arranged behind the driving end of the abrasive belt tensioning cylinder 9. An adjusting opening 9021 penetrating through the front and rear is arranged on the adjusting block 902, and the connecting arm 9011 is arranged in the adjusting opening 9021; the driving end of the abrasive belt tensioning cylinder 9 is rotatably connected to the connecting arm 9011. Second screw rods 9022 are vertically arranged on the upper left side, upper right side, lower left side, and lower right side of the adjusting block 902 respectively. One end of the second screw rod 9022 can extend into the adjusting opening 9021 to abut against the U-shaped block 901, and a second screw head 9023 is arranged at the other end of the second screw rod 9022. Function: Since the driving end of the abrasive belt tensioning cylinder is rotatably connected to the connecting arm and the U-shaped block can rotate, when the second screw rods on the upper left side, upper right side, lower left side, and lower right side are adjusted differently, the U-shaped block will be driven to rotate to realize the up and down rotation adjustment of the U-shaped block, so as to realize the up and down balance adjustment of the abrasive belt. Preferably, the driving end of the abrasive belt tensioning cylinder is set as a rectangular parallelepiped driving plate 900, the long side of the driving plate 900 is in the up and down direction, the short side is in the left and right direction, and the width of the long side of the driving plate 900 is greater than the up and down width of the adjusting opening to limit the backward movement amplitude of the driving end of the abrasive belt tensioning cylinder.

[0036] Specifically, rotation holes 9013 penetrating left and right are respectively provided on the connecting arms 9011 on the left and right sides. The width of the rotation hole 9013 in the front-back direction is greater than the width in the up-down direction. The left and right ends of the central axis 5021 of the grinding wheel 502 on the upper rear side are respectively rotationally connected to the rotation holes 9013 on the left and right sides; 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 arranged in front of the rotation hole 9013. A third screw rod 9015 is provided on the support block 9014. A third screw head 9016 is provided at the front end of the third screw rod 9015. The rear end of the third screw rod 9015 abuts against one end of the central axis 5021 away from the mounting plate 501; a vertical mounting hole 9017 is provided on the support arm 9012 on the side of the U-shaped block 901 close to 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 arranged in front of or behind the central axis 5021. Function: When the fulcrum shaft is arranged in front of or behind one end of the central axis, the rear end of the third screw rod abuts against the other end of the central axis, so that the fulcrum shaft serves as the fulcrum for the front-back adjustment of the central axis. Through the front-back movement of the third screw rod, the front-back adjustment of the central axis driving the grinding wheel is realized, so as to realize the front-back balance adjustment of the abrasive belt.

[0037] Specifically, the number of the abrasive belt mechanisms 5 is set to two or more groups. The abrasive belt 503 of at least one group of the abrasive belt mechanisms 5 is set as a coarse grinding abrasive belt, and the abrasive belt 503 of at least one group of the abrasive belt mechanisms 5 is set as a fine grinding abrasive belt. Function: By setting the coarse grinding abrasive belt and the fine grinding abrasive belt, the manipulator can complete two processes of coarse grinding and fine grinding on a single abrasive belt machine with the product to be ground, improving work efficiency.

[0038] Specifically, the number of the abrasive belt mechanisms 5 is set to four groups. The four groups of abrasive belt mechanisms 5 are respectively arranged on the upper left side, lower left side, upper right side, and lower right side of the machine frame 4; among the abrasive belt mechanisms 5 on the left and right sides, the abrasive belts 503 of two groups of the abrasive belt mechanisms 5 on one side are set as fine grinding abrasive belts, and the abrasive belts 503 of two groups of the abrasive belt mechanisms 5 on the other side are set as coarse grinding abrasive belts. Function: Setting four groups of abrasive belts is to reduce the frequency of abrasive belt replacement; two abrasive belts can be installed for coarse grinding and fine grinding according to product requirements; when the abrasive belt is worn out, the next group of abrasive belts can be automatically switched to perform processing, reducing the waiting time in the process, improving the mechanical utilization rate, and at the same time reducing the number of mechanical care personnel, enabling one person to operate multiple machines. Two waste material recovery plates 401 are provided at the front end of the machine frame 4. One waste material recovery plate 401 is arranged between the abrasive belt mechanisms 5 on the upper and lower sides, and the other waste material recovery plate 401 is arranged below the abrasive belt mechanism 5 on the lower side. Function: The waste material recovery plate can on the one hand collect the waste materials generated during the grinding of the gate, and on the other hand can also prevent interference between the upper and lower groups of abrasive belt mechanisms.

[0039] Specifically, the manipulator body 1 is a six-axis manipulator. A finger cylinder is provided at the movable end of the manipulator body 1. Function: By using the motion principle of the six-axis manipulator, a standard motion trajectory can be formulated to replace the manual grinding of the gate. By adding a finger cylinder in the manipulator to horizontally grab the tooling, the cylinder can open and close horizontally to grab the product. The material conveying rack 2 is arranged on the left or right side of the manipulator body 1. Two second slide rails 201 with lengths extending left and right and a driving cylinder are provided on the material conveying rack 2. The two second slide rails 201 and the driving cylinder are distributed front and back. The driving cylinder is arranged between the two second slide rails 201. The two second slide rails 201 are respectively slidably connected to the front and rear ends of the tooling tray 202. The driving end of the driving cylinder is fixedly connected to the middle of the tooling tray 202. The tooling tray 202 is a profiling tooling made of cushion wood. During actual operation: The tooling tray is balanced by the two second slide rails, and then the driving cylinder is used to drive the tooling tray to move left and right. Since the tooling tray can position the product, it can cooperate with the manipulator to automatically pick up parts on the tooling tray. When switching products, replace the fixed tooling tray, replace the finger cylinder on the manipulator, and adjust the program. The manipulator can be used for processing by executing according to the link, and different product switching can be applied. Function: The operator only needs to randomly inspect the surface of the tooling tray / the workpiece product on the tray; the operator is isolated from the dust by a dust suction room and does not come into contact with the dust; one person can operate multiple devices to grind the gate. By using the profiling tooling made of cushion wood to position the product, since the installation position shape has good adaptability to the shape of the product, the grasping direction of the finger cylinder is accurately consistent with the product positioning.

[0040] The above is the preferred embodiment of the present invention. It should be noted that for those of ordinary skill in the art of this technology, without departing from the principle of the present invention, several improvements and refinements can be made, and these improvements and refinements are also regarded as the protection scope of the present invention.

Claims

1. A fully automatic manipulator abrasive belt machine for grinding gate, comprising a manipulator body (1), a material conveying rack (2) and an abrasive belt machine body (3), characterized in that: The manipulator body (1) and the material conveying frame (2) are arranged in front of the sanding machine body (3); the sanding machine body (3) comprises a frame (4) and a sanding belt mechanism (5) arranged on the frame (4); the sanding belt mechanism (5) comprises a mounting plate (501) and a plurality of grinding wheels (502); the plurality of grinding wheels (502) are rotatably arranged on the front upper side, the front lower side, the rear upper side and the rear lower side of the mounting plate (501); a sanding belt (503) is wound between the plurality of grinding wheels (502); the mounting plate (501) is further provided with a first slide rail (6); the first slide rail (6) comprises a fixing portion (601) fixed on the mounting plate (501) and a sliding portion (601) which can slide forward and backward relative to the fixing portion (601); The first slide rail (6) has a baffle (7) fixed on the mounting plate (501) at the rear of the first slide rail (6), and a spring (8) is connected between 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 front upper side, the front lower side, and the rear lower side are rotatably arranged on the connecting rod (603), respectively; the output end of the dustproof and explosion-proof servo motor (604) cooperates with the grinding wheel (502) on the front upper side or the front lower side through a transmission belt transmission; a sanding belt tensioning cylinder (9) is also provided on the mounting plate (501), and the grinding wheel (502) on the rear upper side is rotatably arranged on the driving end of the sanding belt tensioning cylinder (9); The sand belt tensioning cylinder (9) is arranged on the inner side of the sand belt (503), the driving end of the sand belt tensioning cylinder (9) faces rearward, and a U-shaped block (901) is arranged behind the driving end of the sand belt tensioning cylinder (9); the U-shaped block (901) comprises a connecting arm (9011) and two supporting arms (9012), the two supporting arms (9012) are respectively arranged on the left and right sides of the rear end of the connecting arm (9011), the driving end of the sand belt tensioning cylinder (9) is connected to the connecting arm (9011), and the left and right ends of the grinding wheel (502) on the rear upper side are rotatably connected to the connecting arms (9011) on the left and right sides respectively; An adjusting block (902) fixed to the mounting plate (501) is provided at the rear of the driving end of the abrasive belt tensioning cylinder (9); an adjusting opening (9021) penetrating from front to back is provided on the adjusting block (902); the connecting arm (9011) is provided in the adjusting opening (9021); the driving end of the abrasive belt tensioning cylinder (9) is rotatably connected to the connecting arm (9011); second screw rods (9022) are vertically provided on the upper left side, the upper right side, the lower left side and the lower right side of the adjusting block (902); one end of the second screw rod (9022) can extend into the adjusting opening (9021) to support the U-shaped block (901); the other end of the second screw rod (9022) is provided with a second screw head (9023); Rotating holes (9013) penetrating left and right are respectively provided on the connecting arms (9011) on the left and right sides. The width of the rotating holes (9013) in the front-back direction is greater than the width in the up-down direction. The left and right ends of the central axis (5021) of the grinding wheel (502) on the rear upper side are respectively rotatably connected to the rotating holes (9013) on the left and right sides; 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 arranged in front of the rotating hole (9013). A third screw rod (9015) is provided on the support block (9014). A third screw head (9016) is provided at the front end of the third screw rod (9015). The rear end of the third screw rod (9015) abuts against the end of the central axis (5021) away from the mounting plate (501); a vertical mounting hole (9017) is provided on the support arm (9012) on the side of the U-shaped block (901) close to the mounting plate (501). A fulcrum shaft passing through the rotating hole (9013) is provided in the vertical mounting hole (9017). The fulcrum shaft is arranged in front of or behind the central axis (5021).

2. The fully automatic manipulator abrasive belt machine for grinding gate according to claim 1, wherein: A movable hole (701) penetrating front and back is provided in the middle of the baffle (7). The middle of the rear end of the sliding part (602) is fixedly connected to the front end of the first screw rod (605) by threading. The rear end of the first screw rod (605) passes through the movable hole (701) and is provided with a first screw head (6051). The outer diameter of the first screw head (6051) is greater than the inner diameter of the movable hole (701).

3. The fully automatic manipulator abrasive belt machine for grinding gate according to claim 1, wherein: Guide holes (702) penetrating front and back are respectively provided on the upper and lower sides of the baffle (7). Guide rods (801) extending backward are respectively fixed on the upper and lower sides of the rear end of the sliding part (602). The guide rods (801) pass through the guide holes (702) of the baffle (7) backward; Springs (8) are respectively sleeved on the guide rods (801) on the upper and lower sides. The outer diameter of the springs (8) is greater than the inner diameter of the guide holes (702) of the baffle (7).

4. The fully automatic manipulator abrasive belt machine for grinding gate according to claim 1, wherein: The first slide rail (6) is arranged inside the sand belt (503). The connecting rod (603) is fixed to the side of the sliding part (602) close to the mounting plate (501). The dust-proof and explosion-proof servo motor (604) is fixed to the side of the sliding part (602) away from the mounting plate (501).

5. The full-automatic manipulator abrasive belt machine for grinding gate according to any one of claims 1 to 4, characterized in that: The number of the sand belt mechanisms (5) is set to two or more. The sand belts (503) of at least one group of sand belt mechanisms (5) are set as coarse grinding sand belts, and the sand belts (503) of at least one group of sand belt mechanisms (5) are set as fine grinding sand belts.

6. The fully automatic manipulator abrasive belt machine for grinding gate according to claim 5, characterized in that: The number of the abrasive belt mechanisms (5) is set to four groups, and the four groups of abrasive belt mechanisms (5) are respectively arranged on the upper left side, lower left side, upper right side, and lower right side of the frame (4); among the abrasive belt mechanisms (5) on the left and right sides, the abrasive belts (503) of two groups of abrasive belt mechanisms (5) on one side are set as fine abrasive belts, and the abrasive belts (503) of two groups of abrasive belt mechanisms (5) on the other side are set as coarse abrasive belts; two waste recycling plates (401) are arranged at the front end of the frame (4), one waste recycling plate (401) is arranged between the abrasive belt mechanisms (5) on the upper and lower sides, and the other waste recycling plate (401) is arranged below the abrasive belt mechanism (5) on the lower side.

7. The full-automatic mechanical hand abrasive belt machine for grinding gate according to any one of claims 1 to 4 and 6, characterized in that: The manipulator body (1) is set as a six-axis manipulator, and a finger cylinder is arranged at the movable end of the manipulator body (1); the material conveying rack (2) is arranged on the left side or the right side of the manipulator body (1), and two second slide rails (201) with a length extending along the left and right directions and a driving cylinder are arranged on the material conveying rack (2), the two second slide rails (201) and the driving cylinder are distributed along the front and back, and the driving cylinder is arranged between the two second slide rails (201); the two second slide rails (201) are respectively slidably connected with the front and rear ends of the tooling pallet (202), and the driving end of the driving cylinder is fixedly connected with the middle part of the tooling pallet (202); the tooling pallet (202) is set as a profiling tooling made of cushion wood.

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