Workpiece grinding device and grinding method

Abstract

The present invention relates to a workpiece grinding device and a grinding method, and belongs to the field of grinding equipment. The present invention includes an equipment base and an equipment cover, and the equipment cover is arranged on the equipment base. Its structural characteristics are: it also includes a positioner and a grinding device, and the positioner and the grinding device are both arranged on the equipment base, and the positioner and the grinding device are both arranged inside the equipment cover; the positioner is a single-drive positioner or a double-drive positioner, and the positioner and the grinding device are controlled by a control cabinet. The ground rail assembly and the positioner are respectively arranged on the equipment base through the ground rail leveling structure and the positioner leveling structure, so that the robot assembly can move stably on the ground rail assembly, so that the positioner can operate smoothly when changing the position of the workpiece.

Description

Technical Field

[0001] The invention relates to a workpiece grinding device and a grinding method, and belongs to the field of grinding equipment. Background Art

[0002] After the workpiece is processed into a finished product, it needs to be polished, deburred and other processing methods. Currently, most workpieces are polished by robots holding the workpiece and placing it at a polishing station, deburring station and other stations for corresponding processing. However, when polishing larger workpieces, the workpiece needs to be fixed and then processed by a robot holding an air grinder and other tools. After the workpiece is fixed, the position of the workpiece cannot be changed, so multiple surfaces of the workpiece cannot be polished.

[0003] In addition, when performing grinding, deburring and other process treatments on smaller workpieces, the robot is fixed on the base of the equipment. However, when grinding larger workpieces, the workpiece needs to be fixed and the robot uses handheld air grinders and other tools to perform corresponding treatment on the workpiece. Due to the limited range of motion of the robot, if the robot is fixed on the base of the equipment during this process, it is impossible to perform comprehensive grinding and deburring treatment on the surface of the workpiece.

[0004] When a workpiece is processed by a robot handheld air grinder or other tool, sandpaper needs to be attached to the air grinder when grinding the workpiece. After a period of time, the sandpaper needs to be replaced. In the prior art, it is inconvenient to clamp the sandpaper on the air grinder when replacing the sandpaper, and sometimes the sandpaper cannot be torn off.

[0005] In view of this, a grinding device and a working method thereof are disclosed in the patent document with application number 2020114335218. The grinding equipment disclosed in the above-mentioned prior art is only suitable for grinding smaller workpieces. During grinding, the workpiece is held by a robot and placed on a sanding machine for grinding. Summary of the Invention

[0006] The purpose of the present invention is to overcome the above-mentioned deficiencies in the prior art and to provide a workpiece grinding device and a grinding method with a reasonable structural design.

[0007] The technical solution adopted by the present invention to solve the above problems is: the workpiece grinding equipment includes an equipment base and an equipment cover, and the equipment cover is arranged on the equipment base. Its structural characteristics are: it also includes a positioner and a grinding device, and the positioner and the grinding device are both arranged on the equipment base, and the positioner and the grinding device are both arranged in the equipment cover; the positioner is a single-drive positioner or a double-drive positioner.

[0008] Furthermore, the positioner and grinding device are controlled by a control cabinet.

[0009] Furthermore, the single-drive positioner includes a positioner base, an active bracket, a driven bracket, a tooling bracket, a positioner leveling structure and a tooling fixture. The positioner base is arranged on the equipment base through the positioner leveling structure, the active bracket and the driven bracket are respectively arranged at the two ends of the positioner base, the two ends of the tooling bracket are respectively arranged on the active bracket and the driven bracket, and the tooling fixture is arranged on the tooling bracket.

[0010] Furthermore, the active support includes an active support body, an active support mounting seat, a support drive motor, a support drive reducer and a support drive flange, wherein the support drive flange is arranged on the active support body, the support drive motor is connected to the support drive reducer, the support drive reducer is connected to the support drive flange, and the support drive flange is connected to the active support mounting seat;

[0011] The driven bracket includes a driven bracket body, a driven bracket mounting seat, a driven bracket rotating shaft, a driven bracket end cover, a rotating shaft bearing and a rotating shaft bearing spacer. A driven bracket end cover is provided on each side of the driven bracket body. The driven bracket rotating shaft is provided on the driven bracket body through two rotating shaft bearings, and the driven bracket rotating shaft and the driven bracket end cover pass through each other. The rotating shaft bearing spacer is provided between the two rotating shaft bearings. The driven bracket rotating shaft is connected to the driven bracket mounting seat.

[0012] The active support body and the passive support body are respectively arranged at the two ends of the positioner base, and the two ends of the tooling support are respectively arranged on the active support mounting seat and the passive support mounting seat. The active support and the passive support can be connected through the tooling support, and the active support drives the tooling support to rotate, thereby realizing the position change of the workpiece on the tooling support; since the active support body and the passive support body are both castings, they can have a shock absorption function; the support drive motor provides power to drive the support drive reducer, so that the support drive reducer drives the support drive flange to rotate, thereby driving the tooling support to rotate; the passive support plays a supporting role, and when the tooling support rotates, the passive support shaft can rotate on the passive support body.

[0013] Furthermore, a driven bracket harness bracket is provided on the driven bracket end cover, which is used to hang the harness, air pipe and other structures.

[0014] Furthermore, tool support hoisting seats are provided at both ends of the tool support, which can be conveniently hoisted to facilitate installation of the tool support on the active support mounting seat and the driven support mounting seat.

[0015] Furthermore, the positioner leveling structure includes a No. 1 adjusting screw, a No. 1 pre-tightening nut, a No. 1 fastening bolt, a No. 1 mounting base and a No. 1 adjusting base. The No. 1 adjusting base is arranged on the positioner base. The No. 1 adjusting screw is threadedly connected to the No. 1 adjusting base, the No. 1 pre-tightening nut is threadedly connected to the No. 1 adjusting screw, and the No. 1 pre-tightening nut is in contact with the No. 1 adjusting base. The No. 1 fastening bolt passes through the No. 1 adjusting screw, and the No. 1 fastening bolt is threadedly connected to the No. 1 mounting base. One end of the No. 1 adjusting screw abuts against the mounting base, and the other end of the No. 1 adjusting screw abuts against the head of the No. 1 fastening bolt. The four corners of the positioner base can be leveled by the provided positioner leveling structure, so that the workpiece rotates smoothly, which can facilitate the robot to grind the workpiece.

[0016] Furthermore, a No. 1 adjusting washer is mounted on the No. 1 fastening bolt, and the No. 1 adjusting washer is arranged between the other end of the No. 1 adjusting screw and the head of the No. 1 fastening bolt.

[0017] Furthermore, the fixture includes a fixture base, a fixture cylinder, a fixture jaw, and a fixture pad. The fixture base and the fixture pad are both mounted on the fixture support, the fixture cylinder is mounted on the fixture base, and the fixture jaw is mounted on the fixture cylinder. When a workpiece is placed on the fixture pad, the fixture jaw is driven to retract by the fixture cylinder, and the workpiece is clamped securely by the two fixture jaws.

[0018] Furthermore, the dual-drive positioner includes a positioner base, active supports, a positioner leveling structure, and a fixture. The positioner base is mounted on the equipment base via the positioner leveling structure. There are two active supports, one at each end of the positioner base, and each active support is equipped with two fixtures. The two symmetrically arranged active supports can synchronously drive the position change of the workpiece on the fixture, thereby achieving the position change of the workpiece on the fixture.

[0019] Furthermore, the active support includes an active support body, an active support mounting seat, a support drive motor, a support drive reducer, and a support drive flange. The support drive flange is disposed on the active support body, the support drive motor is connected to the support drive reducer, the support drive reducer is connected to the support drive flange, the support drive flange is connected to the active support mounting seat, the active support body is disposed on a positioner base, and the fixture is disposed on the active support mounting seat. This allows for more stable workpiece clamping. Since the active support body is a casting, it has a shock-absorbing function. The support drive motor provides power to drive the support drive reducer, so that the support drive reducer drives the support drive flange to rotate, thereby driving the workpiece on the fixture to rotate.

[0020] Furthermore, the active support body is provided with an active support harness bracket for hanging structures such as a harness and an air pipe.

[0021] Furthermore, the positioner leveling structure includes a No. 1 adjusting screw, a No. 1 pre-tightening nut, a No. 1 fastening bolt, a No. 1 mounting base and a No. 1 adjusting base. The No. 1 adjusting base is arranged on the positioner base. The No. 1 adjusting screw is threadedly connected to the No. 1 adjusting base, the No. 1 pre-tightening nut is threadedly connected to the No. 1 adjusting screw, and the No. 1 pre-tightening nut is in contact with the No. 1 adjusting base. The No. 1 fastening bolt passes through the No. 1 adjusting screw, and the No. 1 fastening bolt is threadedly connected to the No. 1 mounting base. One end of the No. 1 adjusting screw abuts against the mounting base, and the other end of the No. 1 adjusting screw abuts against the head of the No. 1 fastening bolt. The four corners of the positioner base can be leveled by the provided positioner leveling structure, so that the workpiece rotates smoothly, which can facilitate the robot to grind the workpiece.

[0022] Furthermore, a No. 1 adjusting washer is mounted on the No. 1 fastening bolt, and the No. 1 adjusting washer is arranged between the other end of the No. 1 adjusting screw and the head of the No. 1 fastening bolt.

[0023] Furthermore, the fixture includes a fixture base, a fixture cylinder, a fixture jaw, and a fixture pad. The fixture base is mounted on the active support mounting base, the fixture cylinder and the fixture pad are both mounted on the fixture base, and the fixture jaw is mounted on the fixture cylinder. A workpiece is placed on the fixture pad, and the fixture jaw is driven by the fixture cylinder to rotate and then retract, thereby pressing the workpiece against the fixture pad via the fixture jaw. The fixture cylinder is a rotary cylinder.

[0024] The grinding device further includes a floor rail assembly, a robot assembly, a floor rail leveling structure, and a cutting tool. The cutting tool is mounted on the robot assembly, which is mounted on top of the floor rail assembly. The bottom of the floor rail assembly is mounted on the device base via the floor rail leveling structure. The robot assembly drives the robot assembly to move, and the cutting tool mounted on the robot assembly enables grinding and other processing of the workpiece.

[0025] Furthermore, the ground rail assembly includes a ground rail base, a linear rail, a gear, a rack, and a motor. The robot assembly is mounted on the ground rail base via the linear rail, the rack is mounted on the ground rail base, and the motor is mounted on the robot assembly. The gear is connected to the motor shaft of the motor, and the gear and rack mesh. The robot assembly can be driven to move, and a tool mounted on the robot assembly can be used to perform processing such as polishing a workpiece.

[0026] Furthermore, the robot assembly includes a robot and a robot base, the tool is arranged on the robot, the robot is arranged on the robot base, and the robot base is arranged on a ground rail base via a linear rail, which can be easily installed via the robot base.

[0027] Furthermore, the motor is arranged on the robot base. The motor drives the rotation of the gear, and the gear is engaged with the rack, so that the robot base can move along the linear rail on the ground rail base.

[0028] Furthermore, a fixed limit block is provided on the ground rail base, and a movable limit block is provided on the robot base. The fixed limit block cooperates with the movable limit block, and when the robot base moves, the fixed limit block and the movable limit block can play a limiting role through contact.

[0029] Furthermore, the ground rail base is connected to one end of the accordion cover, and the other end of the accordion cover is connected to the robot base. The accordion cover can cover the parts inside the ground rail assembly to prevent dust.

[0030] Furthermore, a wire support rack is provided on the ground rail base, and is used to place parts such as wires and air pipes.

[0031] Furthermore, the floor rail leveling structure includes a No. 2 adjusting screw, a No. 2 pre-tightening nut, a No. 2 fastening bolt, a No. 2 mounting base, and a No. 2 adjusting base. The No. 2 adjusting base is disposed on the floor rail base. The No. 2 adjusting screw is threadedly connected to the No. 2 adjusting base, the No. 2 pre-tightening nut is threadedly connected to the No. 2 adjusting screw, and the No. 2 pre-tightening nut contacts the No. 2 adjusting base. The No. 2 fastening bolt passes through the No. 2 adjusting screw, and the No. 2 fastening bolt is threadedly connected to the No. 2 mounting base. The floor rail leveling structure allows the floor rail base to be leveled so that the robot base can slide stably on the floor rail base.

[0032] Furthermore, an adjusting washer is sleeved on the fastening bolt, one end of the adjusting screw is in contact with the mounting base plate, and the adjusting washer is located between the other end of the adjusting screw and the head of the fastening bolt.

[0033] Furthermore, the base of the device is provided with a sandpaper replacement device, and the sandpaper replacement device is located inside the device housing. The sandpaper replacement device includes a sandpaper replacement bracket, a sandpaper silo, and a sandpaper clamping mechanism. The sandpaper silo and the sandpaper clamping mechanism are both provided on the sandpaper replacement bracket, and the sandpaper replacement bracket is provided on the device base. When the sandpaper needs to be replaced, the air grinder in the tool can be placed on the sandpaper clamping mechanism by a robot. The used sandpaper on the air grinder can be torn off by the provided sandpaper clamping mechanism. The air grinder in the tool can then be placed on the sandpaper silo by a robot. The provided sandpaper silo can be used to store unused sandpaper, and the sandpaper at the bottom of the sandpaper silo can be pasted onto the air grinder in the tool.

[0034] Furthermore, the sandpaper clamping mechanism includes a sandpaper clamping frame, a sandpaper clamping plate, a sandpaper clamping shaft, and a sandpaper clamping cylinder. The sandpaper clamping frame is mounted on the sandpaper replacement bracket, the sandpaper clamping plate is mounted on the sandpaper clamping frame via the sandpaper clamping shaft, the cylinder barrel of the sandpaper clamping cylinder is mounted on the sandpaper clamping frame, and the piston rod of the sandpaper clamping cylinder engages with the sandpaper clamping plate. The sandpaper clamping cylinder controls the sandpaper clamping plate to swing along the sandpaper clamping shaft on the sandpaper clamping frame, thereby clamping the sandpaper to be replaced via the sandpaper clamping frame and the sandpaper clamping plate.

[0035] Furthermore, the sandpaper clamping mechanism further includes a sandpaper clamping spring and a sandpaper clamping nut. The piston rod of the sandpaper clamping cylinder penetrates the sandpaper clamping plate. The sandpaper clamping nut is disposed on the piston rod of the sandpaper clamping cylinder. The sandpaper clamping spring is sleeved onto the piston rod of the sandpaper clamping cylinder, with both ends of the sandpaper clamping spring abutting the sandpaper clamping plate and the sandpaper clamping nut, respectively. A boss is disposed on the piston rod of the sandpaper clamping cylinder, and the boss contacts the sandpaper clamping plate. The sandpaper clamping plate can be controlled to open and close by the sandpaper clamping cylinder to clamp used sandpaper.

[0036] Furthermore, the sandpaper clamping frame is provided with a sandpaper clamping guide surface, and the sandpaper clamping plate is provided with sandpaper clamping teeth. The provision of the sandpaper clamping guide surface facilitates the insertion of the sandpaper clamping frame between the sandpaper and the working surface of the air grinder, and the provision of the sandpaper clamping teeth can be used to press the sandpaper against the sandpaper clamping frame.

[0037] Furthermore, a sandpaper recovery box is provided on the sandpaper replacement bracket and is located below the sandpaper clamping mechanism. The sandpaper recovery box can be used to store used and torn sandpaper.

[0038] Furthermore, a sandpaper pressing block for pressing the sandpaper downward is provided in the sandpaper silo. The sandpaper pressing block is used to press the sandpaper downward tightly.

[0039] Furthermore, the sandpaper silo includes a silo body, a silo base, a silo mounting seat, a silo clamping shaft, and a silo clamping block. The silo body is mounted on the silo base, which is mounted on the silo mounting seat. The upper portion of the silo clamping block is mounted on the silo mounting seat via the silo clamping shaft, and the silo clamping block is located below the silo body. Multiple sheets of sandpaper are stored in the silo body, and the multiple sheets of sandpaper are stacked together. The sandpaper pressing block can be used to press the stacked sandpaper downward so that the bottom sheet of sandpaper contacts the silo clamping block. When the sandpaper of the air grinder needs to be replaced, the bottom sheet of sandpaper in the silo body can be affixed to the air grinder.

[0040] Furthermore, the silo mounting seat is arranged on the sandpaper replacement bracket via the silo mounting plate, making it convenient to install the sandpaper silo.

[0041] Furthermore, the lower part of the silo block abuts against one end of a block spring, and the other end of the block spring abuts against the silo mounting seat. The silo block can be reset by the provided block spring.

[0042] Compared with the existing technology, the present invention has the following advantages: the ground rail assembly and the positioner are respectively arranged on the equipment base through the ground rail leveling structure and the positioner leveling structure, so that the robot assembly can move stably on the ground rail assembly, and the positioner can operate smoothly when changing the position of the workpiece.

[0043] The positioner can be used to fix larger workpieces, the ground rail assembly can be used to move the robot assembly, and the tool set on the robot assembly can be used to grind and deburr the larger workpiece. After the grinding, deburring and other processes on one side of the workpiece are completed, the position of the workpiece can be changed by the positioner to process the other sides of the workpiece, and the movement of the robot assembly can achieve grinding of multiple sides of the workpiece, which can increase the grinding range and make the grinding more thorough, thereby ensuring product quality.

[0044] The robot places the air grinder in the tool on the sandpaper clamping mechanism, and the used sandpaper on the air grinder can be clamped through the sandpaper clamping mechanism, torn off and dropped into the sandpaper recovery box. The robot places the air grinder under the sandpaper silo, and the sandpaper at the bottom of the sandpaper silo can be pasted on the air grinder to realize the replacement of the sandpaper. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the exploded structure of the workpiece grinding equipment according to an embodiment of the present invention.

[0046] Figure 2 It is a schematic diagram of the three-dimensional structure of a workpiece grinding device according to an embodiment of the present invention.

[0047] Figure 3 It is a schematic diagram of the three-dimensional structure of a single-drive positioner according to an embodiment of the present invention.

[0048] Figure 4 It is a schematic diagram of the main cross-sectional structure of the active bracket in the single-drive positioner according to an embodiment of the present invention.

[0049] Figure 5 It is a schematic diagram of the main cross-sectional structure of the driven bracket in the single-drive positioner according to an embodiment of the present invention.

[0050] Figure 6 It is a schematic diagram of the three-dimensional structure of a workpiece mounted on a tooling bracket in a single-drive positioner according to an embodiment of the present invention.

[0051] Figure 7 It is a schematic diagram of the three-dimensional structure of a dual-drive positioner for installing a workpiece according to an embodiment of the present invention.

[0052] Figure 8 It is a schematic diagram of the three-dimensional structure of the dual-drive positioner according to an embodiment of the present invention.

[0053] Figure 9 It is a schematic diagram of the main cross-sectional structure of the active bracket in the dual-drive positioner according to an embodiment of the present invention.

[0054] Figure 10 It is a schematic three-dimensional cross-sectional structure diagram of the positioner leveling structure in the single-drive positioner and the double-drive positioner according to an embodiment of the present invention.

[0055] Figure 11 It is a schematic diagram of the three-dimensional structure of the sandpaper replacing device according to an embodiment of the present invention.

[0056] Figure 12 It is a schematic diagram of the three-dimensional cross-sectional structure of the sandpaper silo according to an embodiment of the present invention.

[0057] Figure 13 It is a schematic diagram of the three-dimensional structure of the sandpaper clamping mechanism according to an embodiment of the present invention.

[0058] Figure 14 It is a schematic diagram of the three-dimensional structure of the sandpaper clamping mechanism according to an embodiment of the present invention.

[0059] Figure 15 It is a schematic diagram of the three-dimensional structure of the grinding device according to an embodiment of the present invention.

[0060] Figure 16 It is a schematic diagram of the three-dimensional structure of the grinding device (without the accordion cover) according to an embodiment of the present invention.

[0061] Figure 17 It is a schematic diagram of the three-dimensional structure of the grinding device (without the accordion cover) according to an embodiment of the present invention.

[0062] Figure 18 It is a schematic diagram of the three-dimensional cross-sectional structure of the ground rail leveling structure according to an embodiment of the present invention.

[0063] In the figure: positioner A, sandpaper changing device B, grinding device C, equipment base D, equipment cover E, control cabinet F,

[0064] Positioner base A1, active bracket A2, driven bracket A3, fixture bracket A4, positioner leveling structure A5, fixture A6, workpiece A7,

[0065] Positioner bracket mounting plate A11,

[0066] Active bracket body A21, active bracket mounting seat A22, bracket drive motor A23, bracket drive reducer A24, bracket drive flange A25, active bracket harness bracket A26,

[0067] Driven bracket body A31, driven bracket mounting seat A32, driven bracket shaft A33, driven bracket end cover A34, shaft bearing A35, shaft bearing spacer A36, driven bracket harness bracket A37,

[0068] Tooling bracket lifting seat A41,

[0069] No. 1 adjusting screw A51, No. 1 pre-tightening nut A52, No. 1 fastening bolt A53, No. 1 mounting base A54, No. 1 adjusting base A55, No. 1 adjusting washer A56,

[0070] Fixture base A61, fixture cylinder A62, fixture claw A63, fixture pad A64,

[0071] Sandpaper replacement bracket B1, sandpaper silo B2, sandpaper clamping mechanism B3, sandpaper recycling box B4, sandpaper pressing block B5, sandpaper B6,

[0072] Silo body B21, silo base B22, silo mounting seat B23, silo mounting plate B24, silo clamp block B25, silo clamp shaft B26,

[0073] Sandpaper clamping frame B31, sandpaper clamping plate B32, sandpaper clamping shaft B33, sandpaper clamping cylinder B34, sandpaper clamping teeth B35, sandpaper clamping guide surface B36,

[0074] Ground rail assembly C1, robot assembly C2, ground rail leveling structure C3, accordion cover C4, wire support C5, tool C6,

[0075] Ground rail base C11, linear rail C12, gear C13, rack C14, motor C15, fixed limit block C16, movable limit block C17,

[0076] Robot C21, robot base C22,

[0077] No. 2 adjusting screw C31, No. 2 pre-tightening nut C32, No. 2 fastening bolt C33, No. 2 mounting base plate C34, No. 2 adjusting base plate C35. DETAILED DESCRIPTION

[0078] The present invention will be further described in detail below with reference to the accompanying drawings and through examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0079] Example

[0080] See also Figures 1 to 18 As shown, it should be noted that the structures, proportions, sizes, etc. illustrated in the drawings of this specification are only used to match the contents disclosed in the specification for people familiar with this technology to understand and read, and are not used to limit the limiting conditions for the implementation of the present invention. Therefore, they have no substantial technical significance. Any modification of the structure, change in the proportional relationship or adjustment of the size should still fall within the scope of the technical content disclosed by the present invention without affecting the efficacy and purpose that can be achieved by the present invention. At the same time, if there are references to terms such as "upper", "lower", "left", "right", "middle" and "one" in this specification, they are only for the convenience of description and are not used to limit the scope of the implementation of the present invention. Changes or adjustments in their relative relationships should also be regarded as the scope of the implementation of the present invention without substantially changing the technical content.

[0081] The workpiece grinding equipment in this embodiment (such as Figure 1 、 2 ), including an equipment base D, an equipment cover E, a positioner A, a sandpaper changing device B and a grinding device C. The positioner A, sandpaper changing device B, grinding device C and equipment cover E are all arranged on the equipment base D, and the positioner A, sandpaper changing device B and grinding device C are all arranged in the equipment cover E. The positioner A and grinding device C are controlled by a control cabinet F. The positioner A is a single-drive positioner or a double-drive positioner.

[0082] The grinding process of the workpiece grinding equipment is as follows: the workpiece A7 is placed on the positioner A, and the surface of the workpiece A7 is ground by the grinding device C. After the grinding of one surface of the workpiece A7 is completed, the position of the workpiece A7 is changed by the positioner A, and then multiple surfaces of the workpiece A7 are ground by the grinding device C. The sandpaper B6 on the tool C6 in the grinding device C can be replaced by the sandpaper changing device B.

[0083] When the positioner A is a single-drive positioner (such as Figure 3-6 , 10).

[0084] The single-drive positioner in this embodiment includes a positioner base A1, an active bracket A2, a driven bracket A3, a tooling bracket A4, a positioner leveling structure A5 and a tooling fixture A6. The active bracket A2 and the driven bracket A3 are respectively arranged at the two ends of the positioner base A1, and the two ends of the tooling bracket A4 are respectively arranged on the active bracket A2 and the driven bracket A3. The tooling fixture A6 is arranged on the tooling bracket A4. The positioner leveling structures A5 are arranged at the four corners of the positioner base A1, and the positioner leveling structure A5 is arranged on the equipment base D.

[0085] The active support A2 in this embodiment includes an active support body A21, an active support mounting seat A22, a support drive motor A23, a support drive reducer A24 and a support drive flange A25. The active support mounting seat A22 is arranged on the active support body A21, that is, the support drive flange A25 is arranged on the active support body A21, the support drive flange A25 is connected to the active support mounting seat A22, the support drive motor A23 is connected to the support drive reducer A24, and the support drive reducer A24 is connected to the support drive flange A25.

[0086] The driven bracket A3 in this embodiment includes a driven bracket body A31, a driven bracket mounting seat A32, a driven bracket rotating shaft A33, a driven bracket end cover A34, a rotating shaft bearing A35 and a rotating shaft bearing spacer A36. The driven bracket mounting seat A32 is arranged on the driven bracket body A31, that is, the driven bracket rotating shaft A33 is arranged on the driven bracket body A31 through two rotating shaft bearings A35. The driven bracket rotating shaft A33 is connected to the driven bracket mounting seat A32. A driven bracket end cover A34 is provided on each side of the driven bracket body A31. A driven bracket wiring harness bracket A37 is provided on the driven bracket end cover A34. The driven bracket rotating shaft A33 and the driven bracket end cover A34 pass through each other, and the rotating shaft bearing spacer A36 is provided between the two rotating shaft bearings A35.

[0087] The active support body A21 and the driven support body A31 in this embodiment are respectively arranged at the two ends of the positioner base A1, and the two ends of the tooling support A4 are respectively arranged on the active support mounting seat A22 and the driven support mounting seat A32. The two ends of the tooling support A4 are provided with tooling support lifting seats A41, and the active support body A21 and the driven support body A31 are respectively arranged at the two ends of the positioner base A1 through the positioner support mounting plate A11.

[0088] The positioner leveling structure A5 in this embodiment includes a No. 1 adjusting screw A51, a No. 1 pre-tightening nut A52, a No. 1 fastening bolt A53, a No. 1 mounting base A54 and a No. 1 adjusting base A55. The No. 1 adjusting base A55 is arranged on the positioner base A1. The No. 1 adjusting screw A51 is threadedly connected to the No. 1 adjusting base A55. The No. 1 pre-tightening nut A52 is threadedly connected to the No. 1 adjusting screw A51, and the No. 1 pre-tightening nut A52 is threadedly connected to the No. 1 adjusting screw A51. The No. 1 adjusting base plate A55 is in contact, the No. 1 fastening bolt A53 and the No. 1 adjusting screw A51 pass through, and the No. 1 fastening bolt A53 is threadedly connected to the No. 1 mounting base plate A54, and the No. 1 fastening bolt A53 is sleeved with the No. 1 adjusting washer A56, one end of the No. 1 adjusting screw A51 is in contact with the No. 1 mounting base plate A54, and the No. 1 adjusting washer A56 is located between the other end of the No. 1 adjusting screw A51 and the head of the No. 1 fastening bolt A53.

[0089] The tooling fixture A6 in this embodiment includes a fixture base A61, a fixture cylinder A62, a fixture claw A63 and a fixture pad A64. The fixture base A61 and the fixture pad A64 are both set on the tooling bracket A4, the fixture cylinder A62 is set on the fixture base A61, and the fixture claw A63 is set on the fixture cylinder A62.

[0090] Specifically, when installing the single-drive positioner, the No. 1 mounting base A54 is installed on the equipment base D, and the No. 1 pre-tightening nut A52 is loosened so that there is a distance between the No. 1 pre-tightening nut A52 and the No. 1 adjustment base A55. Since one end of the No. 1 adjustment screw A51 is in contact with the No. 1 mounting base A54, the distance between the No. 1 adjustment base A55 and the No. 1 mounting base A54 can be adjusted when the No. 1 adjustment screw A51 is turned. When the positioner base A1 is adjusted to a horizontal state, the No. 1 pre-tightening nut A52 can be tightened, and then the No. 1 fastening bolt A53 is tightened so that one end of the No. 1 adjustment screw A51 is pressed against the No. 1 mounting base A54, and the positioner base A1 is fixed, thereby ensuring the stability of the positioner during operation.

[0091] When the single-drive positioner is working, the workpiece A7 is placed on the fixture pad A64 and the fixture cylinder A62 is controlled by the electromagnetic valve, so that the two relatively arranged fixture cylinders A62 synchronously retract the fixture claws A63 to complete the clamping of the workpiece A7; when the robot handheld air grinder completes the grinding of one surface of the workpiece A7, the bracket drive motor A23 can drive the bracket drive reducer A24, so that the bracket drive reducer A24 drives the bracket drive flange A25 to rotate, and the rotation of the bracket drive flange A25 drives the active bracket mounting seat A22 to rotate. Since the active bracket mounting seat A22 and the driven bracket mounting seat A32 are connected through the tooling bracket A4, the driven bracket mounting seat A32 can be rotated on the driven bracket body A31 through the driven bracket rotating shaft A33. By driving the rotation of the tooling bracket A4, the position of the workpiece A7 clamped by the tooling fixture A6 on the tooling bracket A4 can be changed, and multiple surfaces of the workpiece A7 can be ground.

[0092] Since the workpiece A7 is only driven by the support driving motor A23 in the active support A2 when changing its position, and the driven support A3 only plays a supporting role, it is necessary to connect the active support mounting seat A22 and the driven support mounting seat A32 through the tooling support A4, and then fix the workpiece A7 on the tooling support A4 through the tooling fixture A6, so as to achieve synchronous rotation of the active support mounting seat A22 and the driven support mounting seat A32. Otherwise, the active support mounting seat A22 and the driven support mounting seat A32 will not be able to rotate synchronously. If the two ends of the workpiece A7 are directly fixed on the active support mounting seat A22 and the driven support mounting seat A32 respectively, when the active support mounting seat A22 and the driven support mounting seat A32 cannot rotate synchronously, the workpiece A7 will be deformed, affecting product quality.

[0093] When the positioner A is a double-drive positioner (such as Figure 7-10 ).

[0094] The dual-drive positioner in this embodiment includes a positioner base A1, an active bracket A2, a positioner leveling structure A5 and a tooling fixture A6. The tooling fixture A6 is arranged on the active bracket A2. There are two active brackets A2, and the two active brackets A2 are respectively arranged at the two ends of the positioner base A1. Each active bracket A2 is provided with two tooling fixtures A6. The positioner leveling structures A5 are provided at the four corners of the positioner base A1, and the positioner leveling structure A5 is provided on the equipment base D.

[0095] The active bracket A2 in this embodiment includes an active bracket body A21, an active bracket mounting seat A22, a bracket drive motor A23, a bracket drive reducer A24 and a bracket drive flange A25. The tooling fixture A6 is arranged on the active bracket mounting seat A22, and the active bracket mounting seat A22 is arranged on the active bracket body A21, that is, the bracket drive flange A25 is arranged on the active bracket body A21, and the bracket drive flange A25 is connected to the active bracket mounting seat A22, the bracket drive motor A23 is connected to the bracket drive reducer A24, and the bracket drive reducer A24 is connected to the bracket drive flange A25. The active bracket body A21 is arranged on the positioner base A1 through the positioner bracket mounting plate A11, and an active bracket wiring harness bracket A26 is arranged on the active bracket body A21.

[0096] The positioner leveling structure A5 in this embodiment includes a No. 1 adjusting screw A51, a No. 1 pre-tightening nut A52, a No. 1 fastening bolt A53, a No. 1 mounting base A54 and a No. 1 adjusting base A55. The No. 1 adjusting base A55 is arranged on the positioner base A1. The No. 1 adjusting screw A51 is threadedly connected to the No. 1 adjusting base A55. The No. 1 pre-tightening nut A52 is threadedly connected to the No. 1 adjusting screw A51, and the No. 1 pre-tightening nut A52 is threadedly connected to the No. 1 adjusting screw A51. The No. 1 adjusting base plate A55 is in contact, the No. 1 fastening bolt A53 and the No. 1 adjusting screw A51 pass through, and the No. 1 fastening bolt A53 is threadedly connected to the No. 1 mounting base plate A54, and the No. 1 fastening bolt A53 is sleeved with the No. 1 adjusting washer A56, one end of the No. 1 adjusting screw A51 is in contact with the No. 1 mounting base plate A54, and the No. 1 adjusting washer A56 is located between the other end of the No. 1 adjusting screw A51 and the head of the No. 1 fastening bolt A53.

[0097] The tooling fixture A6 in this embodiment includes a fixture base A61, a fixture cylinder A62, a fixture claw A63 and a fixture pad A64. The fixture base A61 is set on the active support mounting seat A22, the fixture cylinder A62 and the fixture pad A64 are both set on the fixture base A61, and the fixture claw A63 is set on the fixture cylinder A62.

[0098] Specifically, when installing the dual-drive positioner, the No. 1 mounting base A54 is installed on the equipment base D, and the No. 1 pre-tightening nut A52 is loosened so that there is a distance between the No. 1 pre-tightening nut A52 and the No. 1 adjustment base A55. Since one end of the No. 1 adjustment screw A51 is in contact with the No. 1 mounting base A54, the distance between the No. 1 adjustment base A55 and the No. 1 mounting base A54 can be adjusted when the No. 1 adjustment screw A51 is turned. When the positioner base A1 is adjusted to a horizontal state, the No. 1 pre-tightening nut A52 can be tightened, and then the No. 1 fastening bolt A53 is tightened so that one end of the No. 1 adjustment screw A51 is pressed against the No. 1 mounting base A54, and the positioner base A1 is fixed, thereby ensuring the stability of the positioner during operation.

[0099] When the dual-drive positioner is working, the workpiece A7 is placed on the fixture pad A64 and the fixture cylinder A62 is controlled by the electromagnetic valve. The fixture cylinder A62 is a rotary cylinder, so that the fixture cylinder A62 controls the rotation of the fixture claw A63, and then controls the retraction of the fixture claw A63 by the fixture cylinder A62. The workpiece A7 can be pressed against the fixture pad A64 by the fixture claw A63, thereby completing the pressing of the workpiece A7. When the robot handheld air grinder has finished grinding one surface of the workpiece A7, it can be fixed by two active supports. The bracket drive motor A23 in A2 synchronously drives the bracket drive reducer A24, so that the bracket drive reducer A24 drives the bracket drive flange A25 to rotate, and the rotation of the bracket drive flange A25 drives the active bracket mounting seat A22 to rotate. Since the workpiece A7 is fixed on the active bracket mounting seat A22, the synchronous rotation of the two active bracket mounting seats A22 can drive the rotation of the workpiece A7, thereby realizing the position change of the workpiece A7 and then realizing the grinding processing of multiple surfaces of the workpiece A7.

[0100] Since the workpiece A7 is driven synchronously by the support drive motors A23 in the two active supports A2 when changing its position, the two ends of the workpiece A7 can be rotated synchronously without connecting the two active support mounting seats A22 through the tooling support A4. Therefore, deformation of the workpiece A7 caused by the inability to rotate synchronously at the two ends of the workpiece A7 can be avoided, thereby ensuring product quality.

[0101] The sandpaper replacement device B in this embodiment (such as Figure 11-14 ), including a sandpaper replacement bracket B1, a sandpaper hopper B2, and a sandpaper clamping mechanism B3. A sandpaper pressing block B5 for pressing down the sandpaper B6 is provided in the sandpaper hopper B2. The sandpaper hopper B2 and the sandpaper clamping mechanism B3 are both provided on the sandpaper replacement bracket B1. A sandpaper recovery box B4 is provided on the sandpaper replacement bracket B1, and the sandpaper recovery box B4 is located below the sandpaper clamping mechanism B3.

[0102] The sandpaper clamping mechanism B3 in this embodiment includes a sandpaper clamping frame B31, a sandpaper clamping plate B32, a sandpaper clamping shaft B33, a sandpaper clamping cylinder B34, a sandpaper clamping spring B37 and a sandpaper clamping nut B38. The sandpaper clamping frame B31 is arranged on the sandpaper replacement bracket B1, the sandpaper clamping plate B32 is arranged on the sandpaper clamping frame B31 through the sandpaper clamping shaft B33, the cylinder barrel of the sandpaper clamping cylinder B34 is arranged on the sandpaper clamping frame B31, the piston rod of the sandpaper clamping cylinder B34 cooperates with the sandpaper clamping plate B32, the sandpaper clamping frame B31 is provided with a sandpaper clamping guide surface B36, and the sandpaper clamping plate B32 is provided with sandpaper clamping teeth B35.

[0103] In this embodiment, the piston rod of the sandpaper clamping cylinder B34 passes through the sandpaper clamping plate B32, the sandpaper clamping nut B38 is set on the piston rod of the sandpaper clamping cylinder B34, the sandpaper clamping spring B37 is sleeved on the piston rod of the sandpaper clamping cylinder B34, and the two ends of the sandpaper clamping spring B37 are respectively in contact with the sandpaper clamping plate B32 and the sandpaper clamping nut B38. A boss B39 is provided on the piston rod of the sandpaper clamping cylinder B34, and the boss B39 is in contact with the sandpaper clamping plate B32.

[0104] The sandpaper hopper B2 in this embodiment includes a hopper body B21, a hopper base B22, a hopper mounting seat B23, a hopper clamping shaft B26 and a hopper clamping block B25. The hopper body B21 is arranged on the hopper base B22, the hopper base B22 is arranged on the hopper mounting seat B23, the hopper mounting seat B23 is arranged on the sandpaper replacement bracket B1 through the hopper mounting plate B24, the upper part of the hopper clamping block B25 is arranged on the hopper mounting seat B23 through the hopper clamping shaft B26, the hopper clamping block B25 is located below the hopper body B21, the lower part of the hopper clamping block B25 abuts against one end of the clamping block spring B27, and the other end of the clamping block spring B27 abuts against the hopper mounting seat B23.

[0105] Specifically, the process of replacing the sandpaper B6 by the sandpaper changing device B is as follows: the air grinder in the tool C6 is moved to the sandpaper clamping mechanism B3 by the robot C21, and the sandpaper clamping guide surface B36 provided on the sandpaper clamping frame B31 can be used to insert the sandpaper clamping frame B31 between the sandpaper B6 and the working surface of the air grinder B8 in the tool C6, and the sandpaper clamping cylinder B34 is controlled by the electromagnetic valve to extend the piston rod of the sandpaper clamping cylinder B34, and at the same time, the boss B39 provided on the piston rod of the sandpaper clamping cylinder B34 contacts the sandpaper clamping plate B32, thereby driving the sandpaper clamping plate B32 to rotate along the sandpaper clamping axis B33, so that the sandpaper clamping plate B32 can be set. The sandpaper clamping teeth B35 on the sandpaper clamping plate B32 press the sandpaper B6 onto the sandpaper clamping frame B31. The robot C21 drives the movement of the air grinder B8 in the tool C6 to clamp the sandpaper B6 on the sandpaper clamping plate B32 and the sandpaper clamping frame B31. The sandpaper clamping cylinder B34 is controlled by the solenoid valve to retract the piston rod of the sandpaper clamping cylinder B34. The sandpaper clamping plate B32 can be reset by the sandpaper clamping spring B37, so that the sandpaper clamping plate B32 rotates along the sandpaper clamping axis B33, so that the sandpaper clamping plate B32 and the sandpaper clamping frame B31 can be separated, and then torn off and dropped into the sandpaper recycling box B4.

[0106] The air grinder B8 in the tool C6 is moved to the bottom of the sandpaper silo B2 by the robot C21. The sandpaper pressing block B5 placed in the silo main body B21 can press the sandpaper B6 stacked in the silo main body B21, so that the sandpaper B6 in the bottom layer of the multiple sandpapers B6 stacked in the silo main body B21 contacts the silo card block B25. When the bottom layer of sandpaper B6 is attached to the working surface of the air grinder B8 in the tool C6, the working surface of the air grinder B8 in the tool C6 can compress the card block spring B27. When the air grinder B8 in the tool C6 is moved out from the bottom of the silo main body B21, the silo card block B25 can be reset by the card block spring B27, and then the bottom layer of sandpaper B6 in the silo main body B21 can be blocked by the silo card block B25, thereby realizing the replacement of the sandpaper B6.

[0107] The grinding device C in this embodiment (such as Figure 15-18 ), including a ground rail component C1, a robot component C2, a ground rail leveling structure C3 and a tool C6, the tool C6 is set on the robot component C2, the robot component C2 is set on the top of the ground rail component C1, and the bottom of the ground rail component C1 is set on the equipment base D through the ground rail leveling structure C3.

[0108] The floor rail assembly C1 in this embodiment includes a floor rail base C11, a linear rail C12, a gear C13, a rack C14 and a motor C15. The robot assembly C2 is set on the floor rail base C11 through the linear rail C12. The rack C14 is set on the floor rail base C11. The motor C15 is set on the robot assembly C2. The gear C13 is connected to the motor shaft of the motor C15, and the gear C13 is engaged with the rack C14. The floor rail base C11 is connected to one end of the accordion cover C4, and the other end of the accordion cover C4 is connected to the robot base C22. A wire support rack C5 is set on the floor rail base C11.

[0109] The robot assembly C2 in this embodiment includes a robot C21 and a robot base C22. The tool C6 is set on the robot C21, and the robot C21 is set on the robot base C22. The robot base C22 is set on the ground rail base C11 through the linear rail C12. The motor C15 is set on the robot base C22. A fixed limit block C16 is set on the ground rail base C11, and a movable limit block C17 is set on the robot base C22. The fixed limit block C16 cooperates with the movable limit block C17.

[0110] The floor rail leveling structure C3 in this embodiment includes a No. 2 adjusting screw C31, a No. 2 pre-tightening nut C32, a No. 2 fastening bolt C33, a No. 2 mounting base plate C34 and a No. 2 adjusting base plate C35. The No. 2 adjusting base plate C35 is arranged on the floor rail base C11. The No. 2 adjusting screw C31 is threadedly connected to the No. 2 adjusting base plate C35. The No. 2 pre-tightening nut C32 is threadedly connected to the No. 2 adjusting screw C31, and the No. 2 pre-tightening nut C32 is in contact with the No. 2 adjusting base plate C35. The No. 2 fastening bolt C33 passes through the No. 2 adjusting screw C31, and the No. 2 fastening bolt C33 is threadedly connected to the No. 2 mounting base plate C34. An adjusting washer is mounted on the No. 2 fastening bolt C33. One end of the No. 2 adjusting screw C31 abuts against the No. 2 mounting base plate C34. The No. 2 adjusting washer is located between the other end of the No. 2 adjusting screw C31 and the head of the No. 2 fastening bolt C33.

[0111] Specifically, when installing the grinding device C, the No. 2 mounting base C34 is installed on the equipment base D, and the No. 2 pre-tightening nut C32 is loosened so that there is a distance between the No. 2 pre-tightening nut C32 and the No. 2 adjustment base C35. Since one end of the No. 2 adjusting screw C31 is in contact with the No. 2 mounting base C34, the distance between the No. 2 adjustment base C35 and the No. 2 mounting base C34 can be adjusted when the No. 2 adjusting screw C31 is turned. When the floor rail base C11 is adjusted to a horizontal state, the No. 2 pre-tightening nut C32 can be tightened, and the No. 2 fastening bolt C33 is tightened so that one end of the No. 2 adjusting screw C31 is pressed against the No. 2 mounting base C34, and the floor rail base C11 is fixed, thereby ensuring the stability of the floor rail assembly C1 during operation.

[0112] When the grinding device C is working, the motor C15 drives the gear C13 to rotate. Since the gear C13 is engaged with the rack C14, and the rack C14 is set on the ground rail base C11, the robot base C22 can be moved on the ground rail base C11 along the linear rail C12. The fixed limit block C16 and the movable limit block C17 can be used to limit the robot base C22. The tool C6 set on the robot C21 can fully perform process treatments such as grinding and deburring on the surface of the workpiece. The accordion cover C4 can prevent dust from entering the interior of the ground rail assembly C1 and affecting the service life of the components.

[0113] In addition, it should be noted that the shapes and names of the parts and components of the specific embodiments described in this specification may be different, and the above content described in this specification is only an example of the structure of the present invention. Any equivalent changes or simple changes made based on the structure, features and principles described in the patent concept of the present invention are included in the protection scope of the patent of the present invention. Those skilled in the art of the technology to which the present invention belongs can make various modifications or additions to the specific embodiments described or replace them in a similar manner. As long as they do not deviate from the structure of the present invention or exceed the scope defined by the claims, they should all fall within the protection scope of the present invention.

Claims

1. A workpiece grinding device, comprising a device base (D) and a device cover (E), wherein the device cover (E) is arranged on the device base (D), and is characterized in that: The device further comprises a positioner (A) and a grinding device (C), both of which are arranged on a device base (D), and both of which are arranged in a device housing (E); the positioner (A) is a single-drive positioner or a double-drive positioner. The single-drive positioner comprises a positioner base (A1), an active support (A2), a passive support (A3), a tooling support (A4), a positioner leveling structure (A5) and a tooling fixture (A6); the positioner base (A1) is arranged on a device base (D) via the positioner leveling structure (A5); the active support (A2) and the passive support (A3) are respectively arranged at two ends of the positioner base (A1); the two ends of the tooling support (A4) are respectively arranged on the active support (A2) and the passive support (A3); and the tooling fixture (A6) is arranged on the tooling support (A4); The dual-drive positioner comprises a positioner base (A1), an active support (A2), a positioner leveling structure (A5) and a fixture (A6); the positioner base (A1) is arranged on a device base (D) via the positioner leveling structure (A5); there are two active supports (A2), which are respectively arranged at two ends of the positioner base (A1); and each active support (A2) is provided with two fixtures (A6); The equipment base (D) is provided with a sandpaper replacement device (B), and the sandpaper replacement device (B) is located in the equipment outer cover (E). The sandpaper replacement device (B) includes a sandpaper replacement bracket (B1), a sandpaper silo (B2) and a sandpaper clamping mechanism (B3). The sandpaper silo (B2) and the sandpaper clamping mechanism (B3) are both arranged on the sandpaper replacement bracket (B1), and the sandpaper replacement bracket (B1) is arranged on the equipment base (D); The sandpaper clamping mechanism (B3) comprises a sandpaper clamping frame (B31), a sandpaper clamping plate (B32), a sandpaper clamping shaft (B33) and a sandpaper clamping cylinder (B34); the sandpaper clamping frame (B31) is arranged on the sandpaper replacement bracket (B1); the sandpaper clamping plate (B32) is arranged on the sandpaper clamping frame (B31) via the sandpaper clamping shaft (B33); the cylinder barrel of the sandpaper clamping cylinder (B34) is arranged on the sandpaper clamping frame (B31); and the piston rod of the sandpaper clamping cylinder (B34) cooperates with the sandpaper clamping plate (B32); The sandpaper clamping mechanism (B3) further includes a sandpaper clamping spring (B37) and a sandpaper clamping nut (B38); the piston rod of the sandpaper clamping cylinder (B34) penetrates the sandpaper clamping plate (B32); the sandpaper clamping nut (B38) is arranged on the piston rod of the sandpaper clamping cylinder (B34); the sandpaper clamping spring (B37) is sleeved on the piston rod of the sandpaper clamping cylinder (B34); and the two ends of the sandpaper clamping spring (B37) respectively abut against the sandpaper clamping plate (B32) and the sandpaper clamping nut (B38); a boss (B39) is provided on the piston rod of the sandpaper clamping cylinder (B34); and the boss (B39) contacts the sandpaper clamping plate (B32); The sandpaper clamping frame (B31) is provided with a sandpaper clamping guide surface (B36), and the sandpaper clamping plate (B32) is provided with sandpaper clamping teeth (B35).

2. The workpiece grinding device according to claim 1, characterized in that: The active support (A2) comprises an active support body (A21), an active support mounting seat (A22), a support drive motor (A23), a support drive reducer (A24), and a support drive flange (A25); the support drive flange (A25) is arranged on the active support body (A21); the support drive motor (A23) is connected to the support drive reducer (A24); the support drive reducer (A24) is connected to the support drive flange (A25); and the support drive flange (A25) is connected to the active support mounting seat (A22); The driven bracket (A3) comprises a driven bracket body (A31), a driven bracket mounting seat (A32), a driven bracket rotating shaft (A33), a driven bracket end cover (A34), a rotating shaft bearing (A35) and a rotating shaft bearing spacer (A36); a driven bracket end cover (A34) is provided on each side of the driven bracket body (A31); the driven bracket rotating shaft (A33) is provided on the driven bracket body (A31) via two rotating shaft bearings (A35); the driven bracket rotating shaft (A33) and the driven bracket end cover (A34) penetrate each other; the rotating shaft bearing spacer (A36) is provided between the two rotating shaft bearings (A35); and the driven bracket rotating shaft (A33) is connected to the driven bracket mounting seat (A32); The active support body (A21) and the driven support body (A31) are respectively arranged at the two ends of the positioner base (A1), and the two ends of the tooling support (A4) are respectively arranged on the active support mounting seat (A22) and the driven support mounting seat (A32).

3. The workpiece grinding device according to claim 1, characterized in that: The active support (A2) includes an active support body (A21), an active support mounting seat (A22), a support drive motor (A23), a support drive reducer (A24) and a support drive flange (A25); the support drive flange (A25) is arranged on the active support body (A21); the support drive motor (A23) is connected to the support drive reducer (A24); the support drive reducer (A24) is connected to the support drive flange (A25); the support drive flange (A25) is connected to the active support mounting seat (A22); the active support body (A21) is arranged on the positioner base (A1); and the tooling fixture (A6) is arranged on the active support mounting seat (A22).

4. The workpiece grinding device according to claim 1, characterized in that: The grinding device (C) comprises a floor rail assembly (C1), a robot assembly (C2), a floor rail leveling structure (C3) and a cutter (C6); the cutter (C6) is arranged on the robot assembly (C2); the robot assembly (C2) is arranged on the top of the floor rail assembly (C1); and the bottom of the floor rail assembly (C1) is arranged on the equipment base (D) through the floor rail leveling structure (C3).

5. A method for grinding a workpiece according to any one of claims 1 to 4, characterized in that: The grinding method is as follows: a workpiece (A7) is placed on a positioner (A), and the surface of the workpiece (A7) is ground by a grinding device (C); after the grinding of one surface of the workpiece (A7) is completed, the position of the workpiece (A7) is changed by the positioner (A), and multiple surfaces of the workpiece (A7) are ground by the grinding device (C); and the sandpaper (B6) on the tool (C6) in the grinding device (C) is replaced by a sandpaper replacement device (B).

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