Automatic polishing and grinding equipment for comb teeth of wooden comb

Abstract

The application discloses a kind of wood comb tooth automatic polishing processing equipment, including rack and automatic polishing control system, the rack is provided with feeder, manipulator, sandpaper assembly and unloading area, the feeder is used to convey comb embryo to the material taking position of manipulator, the manipulator is used to grab comb embryo and moves to sandpaper assembly and is polished, after polishing is completed, manipulator places comb embryo in unloading area, and the automatic polishing control system is used to control feeder, manipulator and sandpaper assembly to execute corresponding action to complete the automatic polishing of comb embryo.The equipment can replace traditional simple polishing equipment and polishing method, eliminate high-intensity manual labor, improve the processing consistency of comb tooth quality, and improve polishing operation efficiency.

Description

Technical Field

[0001] This invention relates to the technical field of comb tooth processing, and in particular to an automated polishing and grinding equipment for wooden comb teeth. Background Technology

[0002] Combs are an essential tool for combing hair in people's daily lives. In the wooden comb industry, after the comb teeth are opened, the cross-sectional shape of the comb teeth is square. In order to avoid damaging the hair and scalp when combing, the edges and corners of the comb teeth must be polished smooth and rounded. This comb teeth polishing process is called tooth polishing.

[0003] Currently, most tooth polishing in the industry is done manually on simple polishing machines. These machines mainly consist of a frame, motor, a rotating shaft, and a polishing gear mounted on the shaft. Operators need to sit in front of the polishing gear for extended periods, typically requiring four different sizes of sandpaper wheels to polish just one comb. During operation, the operator holds the comb, ensuring its surface is in close contact with the polishing gear, making frequent reciprocating movements and constantly flipping the comb to achieve comprehensive tooth polishing. This existing manual polishing method suffers from high labor intensity, inconsistent tooth quality, and low work efficiency.

[0004] Therefore, there is an urgent need to develop an automated polishing equipment for wooden comb teeth to replace traditional simple polishing equipment and methods, eliminate high-intensity manual labor, improve the consistency of comb tooth quality processing, and increase polishing efficiency. Summary of the Invention

[0005] In view of this, the present invention provides an automated polishing and grinding equipment for wooden comb teeth, which replaces the traditional simple polishing and grinding equipment and methods, eliminates high-intensity manual labor, improves the processing consistency of comb teeth quality, and increases the efficiency of polishing and grinding operations.

[0006] The automated polishing equipment for wooden comb teeth provided by this invention adopts the following technical solution:

[0007] An automated polishing and grinding equipment for wooden comb teeth is characterized by comprising a frame and an automatic polishing and grinding control system. The frame is equipped with a feeder, a robotic arm, a sandpaper assembly, and a discharge area. The feeder is used to transport the comb blank to the picking position of the robotic arm. The robotic arm is used to grab the comb blank and transfer it to the sandpaper assembly for polishing. After polishing, the robotic arm places the comb blank into the discharge area. The automatic polishing and grinding control system is used to control the feeder, robotic arm, and sandpaper assembly to perform corresponding actions to complete the automatic polishing and grinding of the comb blank.

[0008] Optionally, the feeder includes a feeder base, a drive unit, a sprocket, a chain, and a material sensing device. The drive unit drives the chain to move in steps via the sprocket. A material trough is provided on the chain. The feeder base is provided with a right baffle, a left baffle, a height adjustment plate, and a rear limit block. The distance between the right baffle and the left baffle is adjustable and is used for positioning in the combing length direction. The height of the height adjustment plate is adjustable and is used for adjusting and positioning in the combing height direction. The front and rear positions of the rear limit block are adjustable and are used for positioning in the combing thickness direction. The material sensing device is located near the material picking position of the robot and is used to provide the robot with combing position information.

[0009] Optionally, the robotic arm includes a motion slide assembly, a clamping body, and a solenoid valve assembly. The motion slide assembly includes an X-axis slide mounted above the main frame and a Z-axis slide connected to the sliding part of the X-axis slide. Both the X-axis slide and the Z-axis slide are equipped with driving devices. The clamping body is disposed on the sliding part of the Z-axis slide. The clamping body includes a clamping base plate, a combing blank X-axis positioning assembly, a combing blank holding assembly, and a combing blank Z-axis positioning assembly. The solenoid valve assembly is used to control the pneumatic movements of each component of the robotic arm.

[0010] Optionally, the comb blank X-axis positioning assembly includes a right top cylinder and a guide rail disposed on the left side of the fixture base plate, a slider disposed on the guide rail, a connecting plate connected to the slider, a left top plate disposed on the connecting plate, a fixed seat disposed on the right side of the fixture base plate, and a right top plate disposed on the fixed seat. The slider on the guide rail is connected to the movable part of the right top cylinder. The comb blank clamping assembly includes a first pair of center finger cylinders located on the right side of the left top plate and connected to the connecting plate, and a second pair of center finger cylinders located on the left side of the right top plate and connected to the fixed seat. The grippers of the finger cylinders are provided with clamping plates adapted to the comb blank angle. The clamping plates are used for centering, positioning, and clamping in the thickness direction of the comb blank. The comb blank Z-axis positioning assembly includes a lower top cylinder and a lower top rod. The lower top cylinder is located on the left side of the second pair of center finger cylinders and connected to the cylinder body of the second pair of center finger cylinders. The lower top rod is connected to the sliding part of the lower top cylinder.

[0011] Optionally, the sandpaper assembly includes two feed slides, two sandpaper wheels, and a dust collection hood. The feed slides are mounted on the frame along the Y direction. The two sandpaper wheels are respectively disposed on the sliders of the two feed slides. The position and spacing of the sandpaper wheels can be adjusted by the feed slides. One end of each sandpaper wheel is provided with a rotary motor, and the other end is equipped with a sandpaper disc. The two sandpaper wheels rotate in opposite directions for simultaneously polishing the front and back sides of the comb blank. The dust collection hood is disposed along the outer circumference of the sandpaper disc.

[0012] Optionally, the automatic polishing control system includes an auxiliary motion process control system, a polishing trajectory control system, and a polishing feed control system. The auxiliary motion process control system is used to control the start-up, stop, and action sequence of the feeder, robot arm, and sandpaper assembly. The polishing trajectory control system is used to direct the robot arm to perform polishing actions in the XZ plane according to a pre-programmed trajectory path. The polishing feed control system is used to drive the sandpaper on the feed slide to move along the Y direction.

[0013] Optionally, the polishing feed control system includes a comb blank thickness measuring device and a sandpaper radius measuring device installed at each station. The comb blank thickness measuring device is used to measure the thickness value of the comb blank, and the sandpaper radius measuring device is used to measure the radius value of the sandpaper. The measured comb blank thickness data and sandpaper radius data are automatically fed back to the polishing feed control system for real-time calculation of the sandpaper feed amount, so that the sandpaper maintains good contact with the comb blank tooth surface during the polishing process.

[0014] Optionally, the unloading area of ​​the frame is equipped with an unloading box, and the robot arm puts the polished comb workpiece into the unloading box.

[0015] Optionally, the frame is provided with multiple workstations, each of which is equipped with a robotic arm and a sandpaper assembly. A transfer fixture is provided between adjacent workstations for temporary storage when comb blanks are transferred between workstations.

[0016] Optionally, the workstation includes a tooth surface polishing workstation, a tooth root polishing workstation, a tooth tip polishing workstation, and a comb tooth rounding polishing workstation arranged along the X direction.

[0017] In summary, the present invention has at least one of the following beneficial technical effects: it replaces traditional simple polishing equipment and polishing methods, eliminates high-intensity manual labor, improves the processing consistency of comb teeth quality, and enhances polishing efficiency. Attached Figure Description

[0018] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0019] Figure 1 This is a schematic diagram of the overall structure of an embodiment of the present invention;

[0020] Figure 2 This is a front view of an embodiment of the present invention;

[0021] Figure 3This is a top view of an embodiment of the present invention;

[0022] Figure 4 This is a left view of an embodiment of the present invention;

[0023] Figure 5 This is a schematic diagram of the structure of the feeder according to an embodiment of the present invention;

[0024] Figure 6 This is a schematic diagram of the clamping assembly according to an embodiment of the present invention;

[0025] Figure 7 This is a schematic diagram of the sandpaper assembly according to an embodiment of the present invention.

[0026] Explanation of reference numerals in the attached diagram: 1. Main frame; 2. Upper frame; 3. Feeder; 31. Geared servo motor; 32. Sprocket; 33. Material trough; 34. Material sensing device; 35. Right baffle; 36. Left baffle; 37. Height adjustment plate; 38. Feeder base; 39. Rear limit block; 4. Four-wheel linear motor; 5. Rack and pinion slide; 6. Fixture body; 61. Solenoid valve assembly; 62. Fixture base plate; 63. Fixed base; 64. Centering finger cylinder; 65. Lower lifting cylinder; 66. Right lifting cylinder; 6 7. Guide rail; 68. Clamping plate; 69. Lower top rod; 70. Right top plate; 71. Connecting plate; 72. Left top plate; 7. Comb blank; 8. Sandpaper assembly; 81. Sandpaper holder; 82. Sandpaper motor; 83. Sandpaper shaft; 84. Sandpaper disc; 85. Dust hood; 9. Two-moving linear motor; 91. Two-moving slider; 10. Transfer fixture; 11. Unloading box; 12. Measuring device; 13. Control console; 14. Motor control box; 15. Dust removal duct; 16. Touch screen controller; 17. Main control box. Detailed Implementation

[0027] The following specific examples illustrate the implementation of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0028] The following is in conjunction with the appendix Figure 1-7 The present invention will be described in further detail below.

[0029] This invention discloses an automated polishing and grinding equipment for wooden comb teeth.

[0030] Reference Figure 1 , Figure 2 , Figure 3 , Figure 4An automated polishing and grinding equipment for wooden comb teeth includes a main frame 1 and an automatic polishing and grinding control system. The main frame 1 is equipped with a feeder 3, a sandpaper assembly 8, and a discharge box 11. A robotic arm is mounted on an upper frame 2. The feeder 3 transports the comb blank 7 to the robotic arm's picking position. The robotic arm picks up the comb blank 7 from the feeder 3 and places it in the sandpaper assembly 8. The sandpaper assembly 8 polishes the comb blank 7. After polishing, the robotic arm places the comb blank 7 into the discharge box 11. This equipment can replace traditional simple polishing equipment and methods, eliminating high-intensity manual labor, improving the consistency of comb tooth quality, and increasing polishing efficiency. The automatic polishing and grinding control system controls the feeder 3, robotic arm, and sandpaper assembly 8 to perform corresponding actions to automatically polish the comb blank. This invention replaces traditional simple polishing equipment and methods, eliminating high-intensity manual labor, improving the consistency of comb tooth quality, and increasing polishing efficiency.

[0031] The main frame 1 is equipped with a control console 13, a motor control box 14, a touch screen controller 16 and a main control box 17. The motor control box 14 is located inside the main frame 1, and the main control box 17 and the touch screen controller 16 are located on the front left side of the main frame 1. The start-up, shutdown and operation of the equipment are controlled by the touch screen controller 16 and the control console 13.

[0032] The main frame 1 is equipped with, from left to right, a tooth surface polishing station, a tooth root polishing station, a tooth tip polishing station, and a comb tooth rounding polishing station. Each station is equipped with a robot arm, a sandpaper assembly 8, and a measuring device 12. The robot arms corresponding to the tooth surface polishing station, tooth root polishing station, tooth tip polishing station, and comb tooth rounding polishing station are, in order, the first robot arm, the second robot arm, the third robot arm, and the fourth robot arm.

[0033] Reference Figure 5 The feeder 3 includes a feeder base 38, a drive unit 31, a sprocket 32 ​​and a chain. Multiple material troughs 33 are installed on the chain. In this embodiment, the drive unit 31 adopts a geared servo motor. The geared servo motor drives the sprocket 32 ​​to make stepping motion, so that the comb blanks 7 step into the feeding area one by one, realizing the automatic feeding function of the comb blanks.

[0034] The feeder base 38 is provided with a right baffle 35 and a left baffle 36. The left baffle 36 is set in a way that can slide along the X direction and can be locked. By adjusting the position of the left baffle 36, the distance between the right baffle 35 and the left baffle 36 can be adjusted to meet the X-direction positioning needs of comb blanks 7 of different specifications.

[0035] The feeder base 38 is equipped with a height adjustment plate 37. The height adjustment plate 37 is set in a way that can slide along the Z direction and can be locked. By adjusting the position of the height adjustment plate 37, the position of the comb blank 7 in the XZ plane can be adjusted so that its posture is consistent with the grinding motion trajectory.

[0036] The feeder 3 is equipped with a rear limit block 39, which is used to position the comb blank 7 in the Y direction.

[0037] The feeder 3 is equipped with a material sensing device 34, which is used to determine whether there is a comb at the position where the robot arm picks up the material. Its principle and control method are existing technologies and will not be described in detail here.

[0038] The above structural design enables the initial positioning of the comb blank 7 before it is grasped, so that the first robotic arm can accurately pick up the material each time.

[0039] In this embodiment, the comb blanks 7 are manually fed into the feed trough 33 of the feeder 3 in batches and periodically replenished. In other embodiments, an automatic replenishment method can also be used.

[0040] Reference Figure 6 Each robotic arm includes a motion slide assembly, a gripper 6, and a solenoid valve assembly 61. In this embodiment, the motion slide assembly consists of a four-moving linear motor 4 mounted on the upper frame and four rack slides 5. The four-moving linear motor 4 has four sliders that can move independently along the X direction. The gear seats of the four rack slides 5 are fixedly mounted on the four sliders of the four-moving linear motor 4. The racks of the rack slides 5 can move independently along the Z direction. The gripper 6 is mounted on the racks of the rack slides 5. In this embodiment, the clamping body 6 consists of a clamping base plate 62, a comb blank X-axis positioning assembly, a comb blank clamping assembly, and a comb blank Z-axis positioning assembly. The clamping base plate 62 is connected to the rack portion of the rack slide 5. The comb blank X-axis positioning assembly consists of a right top cylinder 66 mounted on the left side of the clamping base plate 62, a guide rail 67, a connecting plate 71 connected to the slider of the guide rail 67, a left top plate 72 mounted on the connecting plate 71, a fixed seat 63 mounted on the right side of the clamping base plate 62, and a right top plate 70 mounted on the fixed seat 63. The slider of the guide rail 67 is connected to the movable portion of the right top cylinder 66. The comb blank clamping assembly includes a first centering finger cylinder located on the right side of the left top plate 72 and connected to the connecting plate 71, and a second centering finger cylinder located on the left side of the right top plate 70 and connected to the fixed seat 63. The finger cylinders have grippers with clamping plates 68 adapted to the comb blank angle. The clamping plates 68 are used for centering and clamping the comb blank 7 in the thickness direction. The Z-axis positioning assembly of the comb blank 7 consists of a lower top cylinder 65 and a lower top rod 69. The lower top cylinder 65 is located to the left of the second pair of middle finger cylinders and is connected to the cylinder body of the second pair of middle finger cylinders. The lower top rod 69 is connected to the sliding part of the lower top cylinder 65. In this embodiment, four sets of solenoid valve groups 61 are respectively installed on the back of four sets of rack slides 6 to control the pneumatic action of the clamping body.

[0041] In this embodiment, each group of robotic arms is responsible for picking up, positioning, clamping, polishing, transferring and unloading the comb blanks 7 at their respective workstations.

[0042] Reference Figure 7 A transfer fixture 10 is provided between each workstation for temporary storage of the comb blank 7 during transfer between workstations. In this embodiment, there are three transfer fixtures 10. The installation position of the transfer fixture 10 is both the unloading position of the previous set of robots and the picking position of the next set of robots. When gripping the comb blank 7, the clamp body 6 moves above the transfer fixture 10 under the drive of the four-movement linear motor 4 and the rack and pinion slide 5. The lower push cylinder 65 drives the lower push rod 69 to push the comb blank workpiece 7 towards the bottom surface of the transfer fixture 10, realizing the positioning of the comb blank in the width direction (Z direction). Then, the right push cylinder 66 moves, driving the left top plate 72 to push the comb blank 7 towards the right top plate 70, realizing the positioning of the comb blank in the length direction (X direction). Finally, the four clamping plates 68 on the finger cylinder gripper clamp the non-toothed areas at the front and rear ends of the comb blank 7, realizing the centering and clamping of the comb blank 7 in the thickness direction (Y direction).

[0043] Reference Figure 7 This embodiment includes four sets of sandpaper assemblies 8. Each set of sandpaper assemblies 8 includes a two-moving linear motor 9, two sandpaper wheels, and a dust collection cover 85. The two-moving linear motor 9 is mounted on the frame along the Y direction and has two sliders 91 that can move independently along the Y direction. The sandpaper wheel includes a sandpaper seat 81, a sandpaper motor 82, a sandpaper shaft 83, and a sandpaper disc 84. The sandpaper disc 84 is mounted on the sandpaper shaft 83, which is mounted on the shaft of the sandpaper motor 82 and driven to rotate by the sandpaper motor 82. The sandpaper motor 82 is mounted on the sandpaper seat 81, which is mounted on the sliders 91 of the two-moving linear motor 9. The two sandpaper wheels of each set of sandpaper assemblies 8 are respectively set on both sides of the transfer clamp 10 and rotate in opposite directions. Driven by the two-moving linear motor 9, the two-moving sliders 91 drive the sandpaper wheels to approach the comb blank 7 from both sides, and polish the front and back sides of the comb blank 7 simultaneously. A dust collection hood 85 is provided on the outer circumference of the sandpaper disc 84, and a dust collection pipe 15 is provided on the dust collection hood 85. The dust generated during sanding is discharged through the dust collection hood 85 and the dust collection pipe 15. Specifically, the dust collection hood 85 is provided on the outer circumference of the sandpaper disc 84, and the dust collection pipe is located below the left and right dust collection hoods 85. The dust generated during sanding is collected centrally through the dust collection hood 85 and the dust collection pipe 15. A fan can be installed in the dust collection pipe 15. The above structural design can effectively reduce dust pollution, improve the polishing effect, and avoid the impact of dust on polishing.

[0044] In this embodiment, the unloading area is located on the right side of the main frame 1, and the fourth robot arm puts the polished comb blank 7 into the unloading box 11 of the unloading area.

[0045] In this embodiment, an automatic polishing control system is provided. The automatic polishing control system includes an auxiliary motion process control system, a polishing trajectory control system, and a polishing feed control system. The auxiliary motion process control system is used to control the start, stop, and motion process of the feeder 3, the robot arm, and the sandpaper assembly 8. The polishing trajectory control system is used to control the robot arm to perform polishing actions in the XZ plane according to a pre-programmed trajectory path. The polishing feed control system is used to drive the two-moving linear motor 9 to move, thereby driving the sandpaper 84 to move along the Y direction.

[0046] In this embodiment, a set of measuring devices 12 is provided at each workstation. A comb blank thickness detection sensor is installed on one side of the measuring device 12, and a sandpaper blade radius detection sensor is installed on the other side. The comb blank thickness measuring device is used to measure the thickness value of the comb blank 7, and the sandpaper blade radius measuring device is used to measure the radius value of the sandpaper blade 84. The measured comb blank thickness value data and sandpaper blade radius value data are automatically fed back to the polishing feed control system for real-time calculation and control of the feed amount of the sandpaper blade 84, so that the sandpaper blade 84 always maintains good contact with the tooth surface of the comb blank 7 during the polishing process.

[0047] In this embodiment, the polishing content and polishing trajectory of each group of robots are different in the tooth surface polishing station, tooth root polishing station, tooth tip polishing station and comb tooth rounding polishing station. The specific processing flow is as follows.

[0048] Single-action machining process:

[0049] A: The first set of robotic arms first picks up, positions and clamps the material in the trough 33 on the feeder 3, and then runs to the first set of sandpaper wheels to polish the tooth surface. After polishing, the comb blank workpiece 7 is placed into the first transfer fixture 10.

[0050] B: The second set of robotic arms picks up the material in the first transfer fixture 10, and then moves to the second set of sandpaper wheels to polish the tooth roots. After polishing, the comb blank workpiece 7 is placed into the second transfer fixture 10.

[0051] C: The third set of robotic arms picks up the material in the second transfer fixture 10, and then runs to the third set of sandpaper wheels to polish the tooth tips. After polishing, the comb blank workpiece 7 is placed into the third transfer fixture 10.

[0052] D: The fourth set of robotic arms picks up the material in the third transfer fixture 10, and then runs to the fourth set of sandpaper wheels to perform rounding and polishing of the comb teeth. After polishing, it runs to the unloading area and puts the comb blank workpiece 7 into the unloading box 11 to complete the four-process processing of a single comb blank.

[0053] Linked processing flow:

[0054] Initial processing stage:

[0055] A: The first set of robotic arms clamps and picks up the material on the feeder 3, runs to the first set of sandpaper wheels for tooth surface polishing, and after polishing is completed, puts it into the first transfer fixture 10;

[0056] B: The first set of robotic arms repeats action A. The second set of robotic arms clamps and picks up the material in the first transfer fixture 10, and then moves to the second set of sandpaper wheels to polish the tooth roots. After polishing, the comb blank is placed into the second transfer fixture 10.

[0057] C: The first and second sets of robotic arms repeat actions A and B respectively. The third set of robotic arms clamps and picks up the material in the second transfer fixture 10, and then runs between the third set of sandpaper wheels to polish the tooth tips. After polishing, the comb blank is placed into the third transfer fixture 10.

[0058] D: The first, second, and third robotic arms repeat actions A, B, and C respectively. The fourth robotic arm clamps the material in the third transfer fixture 10 and then runs to the fourth sandpaper wheel to perform rounding and polishing of the comb teeth. After polishing, it runs to the unloading area and puts the comb blank into the unloading box 11.

[0059] Continuous operation phase:

[0060] A: The first, second, third, and fourth robotic arms simultaneously perform actions A, B, C, and D, respectively;

[0061] End of processing stage:

[0062] B: The first robotic arm stops its movement; the second, third, and fourth robotic arms execute actions B, C, and D respectively;

[0063] C: The first and second robotic arms stop moving; the third and fourth robotic arms execute actions C and D respectively;

[0064] D: The first, second, and third robotic arms stop moving, and the fourth robotic arm performs action D;

[0065] Stop all robotic arm movements, and place all the robotic arm comb blanks 7 into the unloading box 11. The processing is now complete.

[0066] This embodiment employs a linear, four-station assembly line to complete the polishing of the comb teeth, including the tooth surface, tooth root, tooth tip, and rounding. The sandpaper wheel can polish both sides of the comb simultaneously. The processing is controlled by an automatic polishing control system, requiring no manual intervention, effectively reducing labor intensity and improving work efficiency.

[0067] In this embodiment, the X direction is the length direction of the comb blank 7, the Y direction is the thickness direction of the comb blank 7, the Z direction is the width direction of the comb blank 7, the side closer to the feeder 3 is defined as the left side, and the side closer to the unloading box is defined as the right side.

[0068] This article uses specific examples to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. The above descriptions are only preferred embodiments of the present invention. It should be noted that due to the limitations of textual expression, and the objective existence of infinite specific structures, those skilled in the art can make several improvements, modifications, or changes without departing from the principles of the present invention, and can also combine the above technical features in an appropriate manner; these improvements, modifications, changes, or combinations, or the direct application of the inventive concept and technical solution to other situations without modification, should all be considered within the scope of protection of the present invention.

Claims

1. An automated polishing and grinding equipment for wooden comb teeth, characterized in that: The system includes a frame and an automatic polishing control system. The frame is equipped with a feeder, a robotic arm, a sandpaper assembly, and a discharge area. The feeder transports the comb blank to the robotic arm's picking position. The robotic arm grabs the comb blank and moves it to the sandpaper assembly for polishing. After polishing, the robotic arm places the comb blank into the discharge area. The automatic polishing control system controls the feeder, robotic arm, and sandpaper assembly to perform corresponding actions to complete the automatic polishing of the comb blank. The robotic arm includes a motion slide assembly, a gripper body, and a solenoid valve assembly. The motion slide assembly includes an X-axis slide mounted on the frame and a Z-axis slide connected to the sliding part of the X-axis slide. Both the X-axis slide and the Z-axis slide are equipped with driving devices. The gripper body is disposed on the sliding part of the Z-axis slide. The gripper body includes a gripper base plate, a comb X-axis positioning assembly, a comb clamping assembly, and a comb Z-axis positioning assembly. The solenoid valve assembly is used to control the pneumatic movements of each component of the robotic arm. The comb blank X-axis positioning assembly includes a right top cylinder and a guide rail disposed on the left side of the fixture base plate, a slider disposed on the guide rail, a connecting plate connected to the slider, a left top plate disposed on the connecting plate, a fixed seat disposed on the right side of the fixture base plate, and a right top plate disposed on the fixed seat. The slider on the guide rail is connected to the movable part of the right top cylinder. The comb blank clamping assembly includes a first pair of center finger cylinders located on the right side of the left top plate and connected to the connecting plate, and a second pair of center finger cylinders located on the left side of the right top plate and connected to the fixed seat. The grippers of the finger cylinders are provided with clamping plates adapted to the comb blank angle. The clamping plates are used for centering, positioning, and clamping in the thickness direction of the comb blank. The comb blank Z-axis positioning assembly includes a lower top cylinder and a lower top rod. The lower top cylinder is located on the left side of the second pair of center finger cylinders and connected to the cylinder body of the second pair of center finger cylinders. The lower top rod is connected to the sliding part of the lower top cylinder.

2. The automated polishing equipment for wooden comb teeth according to claim 1, characterized in that: The feeder includes a feeder base, a drive unit, a sprocket, a chain, and a material sensing device. The drive unit drives the chain to move in steps via the sprocket. A material trough is provided on the chain. The feeder base is provided with a right baffle, a left baffle, a height adjustment plate, and a rear limit block. The distance between the right baffle and the left baffle is adjustable and is used for positioning in the combing length direction. The height adjustment plate is adjustable and is used for adjusting and positioning in the combing height direction. The rear limit block is adjustable in its front and rear positions and is used for positioning in the combing thickness direction. The material sensing device is located near the material picking position of the robot and is used to provide the robot with combing position information.

3. The automated polishing equipment for wooden comb teeth according to claim 1, characterized in that: The sandpaper assembly includes two feed slides, two sandpaper wheels, and a dust collection hood. The feed slides are mounted on the frame along the Y direction. The two sandpaper wheels are respectively disposed on the sliders of the two feed slides. The position and spacing of the sandpaper wheels can be adjusted by the feed slides. One end of each sandpaper wheel is provided with a rotary motor, and the other end is equipped with a sandpaper disc. The two sandpaper wheels rotate in opposite directions for simultaneously polishing the front and back sides of the comb blank. The dust collection hood is disposed along the outer circumference of the sandpaper disc.

4. The automated polishing equipment for wooden comb teeth according to claim 3, characterized in that: The automatic polishing control system includes an auxiliary motion process control system, a polishing trajectory control system, and a polishing feed control system. The auxiliary motion process control system is used to control the start-up, stop, and action sequence of the feeder, robot arm, and sandpaper assembly. The polishing trajectory control system is used to direct the robot arm to perform polishing actions in the XZ plane according to a pre-programmed trajectory path. The polishing feed control system is used to drive the sandpaper on the feed slide to move along the Y direction.

5. The automated polishing equipment for wooden comb teeth according to claim 4, characterized in that: The polishing feed control system includes a comb blank thickness measuring device and a sandpaper radius measuring device installed at each station. The comb blank thickness measuring device is used to measure the thickness value of the comb blank, and the sandpaper radius measuring device is used to measure the radius value of the sandpaper. The measured comb blank thickness data and sandpaper radius data are automatically fed back to the polishing feed control system to calculate the sandpaper feed amount in real time, so that the sandpaper maintains good contact with the comb blank tooth surface at all times during the polishing process.

6. The automated polishing equipment for wooden comb teeth according to claim 1, characterized in that: The unloading area of ​​the frame is equipped with an unloading box, and the robot arm puts the polished comb workpiece into the unloading box.

7. The automated polishing equipment for wooden comb teeth according to claim 1, characterized in that: The frame is equipped with multiple workstations, each of which is equipped with a robotic arm and a sandpaper assembly. A transfer fixture is provided between adjacent workstations for temporary storage when comb blanks are transferred between workstations.

8. The automated polishing equipment for wooden comb teeth according to claim 7, characterized in that: The multiple workstations include a tooth surface polishing workstation, a tooth root polishing workstation, a tooth tip polishing workstation, and a comb tooth rounding polishing workstation arranged along the X direction.

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