A kind of equipment for grinding and polishing the edge section of western tableware

Abstract

The present invention provides a western tableware edge section grinding and polishing equipment, which relates to the field of tableware processing technology, including a feeding device, a five-axis mechanical arm device, a fixture device, a double sanding belt machine device, a water spray cooling and circulation device, and a PLC controller. The western tableware edge section grinding and polishing equipment adopts a split structure, and the feeding device, the five-axis mechanical arm device, the fixture device, the double sanding belt machine device, the water spray cooling and circulation device are all connected to the PLC controller, and the double sanding belt machine device includes two sanding belt machine mechanisms. It can act continuously in production, and the design of the double sanding belt machine can be configured with different sanding belts, for example, the lower sanding belt machine mechanism is configured with a coarse sanding belt, and the upper sanding belt machine mechanism is configured with a fine sanding belt; the diversified configuration can automatically complete the grinding process of multiple different positions of the workpiece.

Description

Technical Field

[0001] The invention relates to the technical field of tableware processing, in particular to a device for grinding and polishing the edge section of western tableware. Background Art

[0002] In the process of western tableware processing, after the stainless steel plate is punched and sheared, the edge of the workpiece will form shear and fracture edges, which need to be polished to produce a smooth arc surface to meet the requirements of the product. At present, there are three traditional processing methods.

[0003] 1. The original manual grinding method is adopted, that is, the workpiece is held on a grinding machine or an emery belt machine for grinding. After multiple passes of coarse and fine sand manual grinding, although a smooth arc surface can be formed on the cross section of the workpiece, the manual processing method will result in poor product consistency, uneven quality, unstable quality, a lot of dust at the work site, serious pollution, and harm to the occupational health of the operator. In addition, the process is backward, the labor intensity is high, and the production capacity is extremely low.

[0004] 2. Mechanical grinding is the most widely used method at present. It is processed by a single-axis grinding machine with diamond sand as the abrasive. That is, a cloth wheel is strung on a long steel hexagonal shaft. After applying glue on the surface of the cloth wheel, the diamond sand is rolled and adhered in the sand groove. After drying, an emery cloth wheel is formed and installed on the grinder. The operator uses a special fixture to clamp the workpiece side by side and place it on the bracket below the emery cloth wheel. The workbench is operated to move the workpiece up and down, front and back, left and right for grinding. During the grinding process, polishing wax is applied to the surface of the emery cloth wheel to increase the grinding intensity and cool down at the same time to avoid high-temperature discoloration of the polished surface. After the workpiece is polished, a smooth surface is formed. The process has high labor intensity. Although the production capacity has been greatly improved, the workpieces are closely arranged and there is no gap. After passing through the coarse-grained grinding wheel, the workstation is changed for fine-grained sand grinding to form a workpiece edge section that can be polished to a smooth surface effect, but the arc-shaped section requirement cannot be achieved, which reduces the quality of the workpiece appearance requirement. At the same time, the work site is seriously polluted by dust and polishing wax. The labor input cost is high and the number of workers required is large.

[0005] 3. Automatic grinding machines can realize automatic loading and automatic grinding. They use sandpaper belts as grinding materials, which saves labor and reduces labor intensity. At the same time, they can also achieve a smooth arc surface effect. The production capacity is higher than the original manual grinding capacity, but much lower than the mechanical grinding method. Although the product quality is improved, the production and processing costs cannot be reduced due to the low production capacity. Multiple sanding machines work at the same time, resulting in a large footprint and a large amount of dust on site. The decentralized machine structure cannot effectively recycle dust, and the on-site working environment is not conducive to occupational health.

[0006] Therefore, as the tableware industry faces increasing labor costs and higher requirements for production capacity and quality, it has become an urgent problem that needs to be solved by technicians in this field. Summary of the invention

[0007] Technical issues solved

[0008] In view of the shortcomings of the prior art, the present invention provides a device for grinding and polishing the edge sections of western tableware, which solves the problems of the existing process of edge section grinding, including high labor input, low output, poor product consistency, large footprint, dust pollution, high labor intensity and high cost. At the same time, it can process the edge section of tableware to achieve a smooth arc effect.

[0009] Technical Solution

[0010] To achieve the above objectives, the present invention is implemented through the following technical solutions: a western tableware edge section grinding and polishing equipment, including a feeding device, a five-axis robotic arm device, a tooling fixture device, a double sanding belt machine device, a water spray cooling and circulation device, and a PLC controller. The western tableware edge section grinding and polishing equipment adopts a split structure. The feeding device, the five-axis robotic arm device, the tooling fixture device, the double sanding belt machine device, the water spray cooling and circulation device are all connected to the PLC controller. The double sanding belt machine device includes two sanding belt machine mechanisms. The feeding device clamps the tableware to be processed from the tooling fixture device; the tableware to be processed is moved to the double sanding belt machine device through the feeding device for grinding, and is collected by the tooling fixture device after grinding.

[0011] Preferably, the loading device comprises a loading workbench, a tooling table, a unloading workbench, and a material box;

[0012] The tooling table is installed on the loading workbench, and the material box is installed on the unloading workbench.

[0013] Preferably, the five-axis robotic arm device comprises a first base, a first column, one axis, two axes, three axes, four axes, and five axes;

[0014] The first base is provided with a first column, the first column is provided with an axis, the one axis is provided with two axes, the two axes are provided with three axes, the three axes are provided with four axes, and the four axes are provided with five axes.

[0015] Preferably, the fixture device includes a mechanical arm connecting plate, a cylinder fixing plate, a supporting rib plate, a bottom plate, a fixture rod fixing plate, a clamping cylinder, a rotary joint, a connecting rod, a first synchronous belt, a third synchronous wheel, a fixture rod, a clamping claw, a first L-shaped connecting plate, a first servo motor, a belt pressure roller, and a bearing;

[0016] The mechanical arm connecting plate is fixedly connected to the output end of the five-axis, the bearing is sequentially mounted on the clamp rod fixing plate, the clamp rod fixing plate is mounted on the base plate, the clamp rod is sequentially mounted on the clamp rod fixing plate and fixedly connected with a lock nut, the clamp claw is sequentially mounted on the clamp rod, the connecting rod is sequentially mounted on the clamp rod and fixedly connected with the clamp claw and the rotary joint, the third synchronous wheel is sequentially mounted on the clamp rod, the pressure roller is sequentially mounted on the clamp rod fixing plate and fixedly connected with a nut, the first L-shaped connecting plate is mounted on the bottom of the base plate, the first servo motor is mounted on the first L-shaped connecting plate, the first synchronous belt is installed between the third synchronous wheel, the pressure roller and the output end of the first servo motor, the cylinder fixing plate and the supporting rib plate are mounted on the base plate, the clamping cylinder is sequentially mounted on the cylinder fixing plate and fixedly connected with the rotary joint, and the mechanical arm connecting plate is mounted on the cylinder fixing plate and the clamp rod fixing plate.

[0017] Preferably, the double belt sander device includes a second base, a first guide rail, a first slider, a front and rear moving plate, a second servo motor, a motor integrated seat, a ball screw, a screw nut, a screw nut bracket, a screw support seat, a large vertical plate, a first large vertical plate rib plate, a second large vertical plate rib plate, a second guide rail, a second slider, a motor fixed seat, a gear, a third servo motor, a grinding belt, a driving wheel, a driven wheel, an auxiliary wheel, a first spindle bearing seat, a driving spindle, a second spindle bearing seat, a first synchronous Wheel, second synchronous belt, second synchronous wheel, L-shaped angle piece, motor, synchronous belt guard, front plate of sanding machine, middle connecting plate of sanding machine, rear plate of sanding machine, rack, driven wheel connecting plate, first pin shaft, tensioning cylinder, second pin shaft, first profiling connecting plate, second profiling connecting plate, third guide rail, third slide block, profiling shaft, profiling shaft connecting plate, pressure sensor, pressure sensor fixing plate, support rod column, slide cylinder, second L-shaped connecting plate, low friction cylinder, upper support rod, lower support rod;

[0018] The first guide rail is mounted on the second base, the first slider is slidably mounted with the first guide rail, the motor integrated base, the second servo motor, the ball screw, the screw nut, the screw nut bracket, and the screw support base constitute a horizontal linear motion assembly, the horizontal linear motion assembly is mounted on the second base, the second servo motor is mounted to the motor integrated base and fixedly connected to the ball screw by a coupling, the front and rear moving plates are mounted on the first slider and fixedly connected to the screw support base, the large vertical plate, the first large vertical plate rib plate, and the second large vertical plate rib plate are mounted on the front and rear moving plates, the second guide rail is mounted on the large vertical plate, and the second slider is slidably mounted with the second guide rail;

[0019] The motor fixing seat, gear, and third servo motor form a vertical moving assembly installed on the large vertical plate, the motor fixing seat is fixedly connected to the outer wall of the large vertical plate, the gear is rotatably connected to the inner wall of the large vertical plate, the gear is fixedly connected to the output end of the third servo motor, and the third servo motor is fixedly connected to the inner wall of the motor fixing seat.

[0020] Preferably, the rear plate of the sanding machine is mounted on the second sliding block, the rack is fixedly connected to the outer wall of the rear plate of the sanding machine, the rack is meshed with the gear, the middle connecting plate of the sanding machine is mounted on the rear plate of the sanding machine through the groove opened on the surface of the large vertical plate, the front plate of the sanding machine is mounted on the middle connecting plate of the sanding machine, the first main shaft bearing seat is mounted on the front plate of the sanding machine, the second main shaft bearing seat is mounted on the rear plate of the sanding machine, the driving spindle is mounted between the first main shaft bearing seat and the second main shaft bearing seat, the driving wheel is fixedly connected to the driving spindle, the auxiliary wheel is sequentially mounted on the front plate of the sanding machine, the driven wheel is mounted on the driven wheel connecting plate and is fixedly connected to the front plate of the sanding machine through the first pin shaft, the movable end of the tensioning cylinder is connected to the driven wheel connecting plate and is fixedly connected to the front plate of the sanding machine through the second pin shaft, and the grinding belt is fixed by passing around the driving wheel, the driven wheel and the auxiliary wheel under the action of the tensioning cylinder;

[0021] The first synchronous wheel is installed on the driving spindle, the L-shaped angle piece is installed on the rear plate of the sanding machine, the motor is installed on the L-shaped angle piece, the second synchronous wheel is installed on the output end of the motor, the second synchronous belt passes around the first synchronous wheel and the second synchronous wheel to be tightened and fixed, the synchronous belt guard is installed on the rear plate of the sanding machine, the first profiling connecting plate, the second profiling connecting plate, the third guide rail, the third slider, the profiling shaft, the profiling shaft connecting plate, the pressure sensor, and the pressure sensor fixing plate constitute a sensor assembly installed on the front plate of the sanding machine, and the sanding machine mechanism includes a sensor assembly, a rear plate of the sanding machine, a second slider, a rack, a middle connecting plate of the sanding machine, a front plate of the sanding machine, a middle connecting plate of the sanding machine, a first spindle bearing seat, a second spindle bearing seat, a driving wheel, a driving spindle, an auxiliary wheel, a driven wheel, a driven wheel connecting plate, a first pin shaft, a tightening cylinder, a second pin shaft, and a grinding belt.

[0022] Preferably, the weight of the lower belt sander mechanism and the lower belt sander mechanism reaches a force balance on the gear, and the third servo motor simultaneously drives the two belt sander mechanisms to move relative to each other.

[0023] Preferably, the two support rod columns are installed on the second base, the two slide cylinders are installed on the two support rod columns in turn, the second L-shaped connecting plate is installed on the telescopic ends of the two slide cylinders, the three pairs of low-friction cylinders in opposite directions are installed on the second L-shaped connecting plate in turn, and the upper support rod and the lower support rod are installed on the output ends of the relative low-friction cylinders in turn.

[0024] Preferably, the water spray cooling and circulation device comprises a circulating water tank, a water pump, a filter tank, a nozzle, a waterproof shield, an upper door, a lower door, a middle sliding door, and a lifting cylinder;

[0025] The waterproof shield is installed on the large vertical plate, the upper door and the lower door are installed on the waterproof shield, the middle sliding door is installed in the middle position of the waterproof shield and connected to the lifting cylinder, and the lifting cylinder is controlled by PLC to reach the required working window. The nozzle is installed on the second L-shaped connecting plate, the filter tank is installed on the second base and is located directly below the drain outlet of the waterproof shield, the water pump is installed on the circulating water tank, and the water inlet of the circulating water tank is placed directly below the drain outlet of the filter tank. The cooling water returns to the circulating water tank through the filter cotton in the filter tank.

[0026] Beneficial Effects

[0027] The present invention provides a device for grinding and polishing the edge sections of western tableware. It has the following beneficial effects: it can operate continuously in the production process of grinding the edge sections of western tableware, wherein the design of the double-belt machine device can be configured with abrasive belts of different grinding grain sizes and widths, so that one abrasive belt machine can achieve the functions of multiple abrasive belt machines, for example, the lower abrasive belt machine mechanism is configured with a coarse abrasive belt, and the upper abrasive belt machine mechanism is configured with a fine abrasive belt; the diversified configuration can automatically complete the grinding of multiple different positions of the workpiece, thereby improving work efficiency, and its unique structural method occupies a smaller area, is simple and easy to learn to operate, has higher safety, reduces labor input costs, and saves consumables. The water spray cooling and circulation device improves the working environment and the health of personnel. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 A three-dimensional diagram of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0029] Figure 2 A stereoscopic view from another perspective of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0030] Figure 3 This is a front view of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0031] Figure 4 It is a left view of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0032] Figure 5 It is a rear view of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0033] Figure 6It is a partial schematic diagram of one side of a loading device of a western tableware edge section grinding and polishing device proposed by the present invention;

[0034] Figure 7 It is a partial schematic diagram of one side of the clamping jaws of a western tableware edge section grinding and polishing device proposed by the present invention;

[0035] Figure 8 It is a partial schematic diagram of one side of the first servo motor of a western tableware edge section grinding and polishing device proposed by the present invention;

[0036] Fig. 9 It is a partial schematic diagram of a five-axis mechanical arm device of a western tableware edge section grinding and polishing equipment proposed by the present invention;

[0037] Fig.10 It is a partial schematic diagram of a double-belt machine device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0038] Fig.11 It is a partial schematic diagram of one side of the sanding machine mechanism of a western tableware edge section grinding and polishing device proposed by the present invention;

[0039] Fig.12 It is a partial schematic diagram of one side of the driving wheel of a western tableware edge section grinding and polishing device proposed by the present invention;

[0040] Fig.13 It is a partial schematic diagram of one side of the lower support rod of a western tableware edge section grinding and polishing device proposed by the present invention;

[0041] Fig.14 It is a partial schematic diagram of one side of a water spray cooling and circulation device of a western tableware edge section grinding and polishing equipment proposed by the present invention;

[0042] Fig.15 It is a partial schematic diagram of one side of the belt-pressing wheel of a western tableware edge section grinding and polishing device proposed by the present invention;

[0043] Fig.16 It is a partial schematic diagram of one side of a screw support seat of a western tableware edge section grinding and polishing device proposed by the present invention;

[0044] Fig.17 It is a partial structural exploded diagram of a device for grinding and polishing the edge section of western tableware proposed by the present invention;

[0045] Fig.18 It is a partial schematic diagram of one side of the synchronous belt guard of a western tableware edge section grinding and polishing equipment proposed by the present invention;

[0046] Fig.19 The invention provides a device for grinding and polishing the edge section of western tableware. Fig.10 Enlarged view of part A in the middle;

[0047] Fig. 20 The invention provides a device for grinding and polishing the edge section of western tableware. Fig.12 Enlarged view of part B in the middle.

[0048] Among them, 1. Loading device; 2. Five-axis robotic arm device; 3. Fixture device; 4. Double belt sander device; 5. Water spray cooling and circulation device;

[0049] 101. Loading workbench; 102. Workbench; 103. Unloading workbench; 104. Material box;

[0050] 201, first base; 202, first column; 203, first axis; 204, second axis; 205, third axis; 206, fourth axis; 207, fifth axis;

[0051] 301, mechanical arm connecting plate; 302, cylinder fixing plate; 303, supporting rib plate; 304, bottom plate; 305, clamp rod fixing plate; 306, clamping cylinder; 307, rotary joint; 308, connecting rod; 309, first synchronous belt; 310, third synchronous wheel; 311, clamp rod; 312, clamping claw; 313, first L-shaped connecting plate; 314, first servo motor; 315, belt pressing roller; 316, bearing; 317, profiling station;

[0052] 401, second base; 402, first guide rail; 403, first slider; 404, forward and backward moving plate; 405, second servo motor; 406, motor integrated seat; 407, ball screw; 408, screw nut; 409, screw nut bracket; 410, screw support seat; 411, large vertical plate; 412, first large vertical plate rib plate; 413, second large vertical plate rib plate; 414, second guide rail; 415, second slider; 416, motor fixed seat; 417, gear; 418, third servo motor; 419, grinding belt; 420, driving wheel; 421, driven wheel; 422, auxiliary wheel; 423, first spindle bearing seat; 424, driving spindle; 425, second spindle bearing seat; 426, first synchronous wheel; 427, second synchronous wheel Step belt; 428, second synchronous wheel; 429, L-shaped angle piece; 430, motor; 431, synchronous belt cover; 432, front plate of sanding machine; 433, middle connecting plate of sanding machine; 434, rear plate of sanding machine; 435, rack; 436, driven wheel connecting plate; 437, first pin shaft; 438, tensioning cylinder; 439, second pin shaft; 440, first profiling connecting plate; 441, second profiling connecting plate; 442, third guide rail; 443, third slider; 444, profiling shaft; 445, profiling shaft connecting plate; 446, pressure sensor; 447, pressure sensor fixing plate; 448, support rod column; 449, slide cylinder; 450, second L-shaped connecting plate; 451, low friction cylinder; 452, upper support rod; 453, lower support rod;

[0053] 501. Circulating water tank; 502. Water pump; 503. Filter tank; 504. Nozzle; 505. Waterproof shield; 506. Upper door; 507. Lower door; 508. Middle sliding door; 509. Lifting cylinder. DETAILED DESCRIPTION

[0054] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] like Figure 1-18As shown, an embodiment of the present invention provides a device for grinding and polishing the edge section of western tableware, comprising a feeding device 1, a five-axis robotic arm device 2, a fixture device 3, a double sanding belt machine device 4, a water spray cooling and circulation device 5, and a PLC controller. The device for grinding and polishing the edge section of western tableware adopts a split structure. The feeding device 1, the five-axis robotic arm device 2, the fixture device 3, the double sanding belt machine device 4, the water spray cooling and circulation device 5 are all connected to the PLC controller. The double sanding belt machine device 4 includes two sanding belt machine mechanisms. The feeding device 1 clamps the tableware to be processed from the fixture device 3; the tableware to be processed is moved to the double sanding belt machine device 4 through the feeding device 1 for grinding, and is collected by the fixture device 3 after grinding.

[0056] The loading device 1 includes a loading workbench 101, a tooling table 102, a unloading workbench 103, and a material box 104; the tooling table 102 is installed on the loading workbench 101, and the material box 104 is installed on the unloading workbench 103. By setting up the unloading workbench 103, the tableware can be neatly arranged on its surface, thereby facilitating the clamping of the tableware to be processed.

[0057] The five-axis robot arm device 2 includes a first base 201, a first column 202, an axis 203, an axis 204, a third axis 205, an axis 206, and a fifth axis 207; the first base 201 is provided with a first column 202, the first column 202 is provided with an axis 203, the axis 203 is provided with an axis 204, the axis 204 is provided with a third axis 205, the axis 205 is provided with an axis 206, and the axis 206 is provided with an axis 207. The first axis 203, the second axis 204, the third axis 205, the fourth axis 206 and the fifth axis 207 all include servo motors. The first axis 203, the second axis 204, the third axis 205, the fourth axis 206 and the fifth axis 207 are connected by connecting rods. The first axis 203 can be raised and lowered on the surface of the first column 202, and the remaining two axes 204, three axes 205, four axes 206 and five axes 207 are responsible for rotation adjustment, thereby improving the degree of freedom of the robot arm connecting plate 301.

[0058] The fixture device 3 includes a robot arm connecting plate 301, a cylinder fixing plate 302, a supporting rib plate 303, a bottom plate 304, a clamp rod fixing plate 305, a clamping cylinder 306, a rotary joint 307, a connecting rod 308, a first synchronous belt 309, a third synchronous wheel 310, a clamp rod 311, a clamping claw 312, a first L-shaped connecting plate 313, a first servo motor 314, a pressure roller 315, and a bearing 316; the robot arm connecting plate 301 is fixedly connected to the output end of the five-axis 207, the bearing 316 is sequentially installed on the clamp rod fixing plate 305, the clamp rod fixing plate 305 is installed on the bottom plate 304, the clamp rod 311 is sequentially installed on the clamp rod fixing plate 305 and fixedly connected with a lock nut, the clamping claw 312 is sequentially installed on the clamp rod 311, and the connecting rod 308 is sequentially installed It is installed on the clamp rod 311 and fixedly connected with the clamp claw 312 and the rotary joint 307. The third synchronous wheel 310 is installed on the clamp rod 311 in turn. The belt pressure roller 315 is installed on the clamp rod fixed plate 305 in turn and fixedly connected with a nut. The first L-shaped connecting plate 313 is installed on the bottom of the base plate 304. The first servo motor 314 is installed on the first L-shaped connecting plate 313. The first synchronous belt 309 is installed between the third synchronous wheel 310, the belt pressure roller 315 and the output end of the first servo motor 314. The cylinder fixing plate 302 and the supporting rib plate 303 are installed on the base plate 304. The clamping cylinder 306 is installed on the cylinder fixing plate 302 in turn and fixedly connected with the rotary joint 307. The robot arm connecting plate 301 is installed on the cylinder fixing plate 302 and the clamp rod fixing plate 305. By providing the first synchronous belt 309 , the third synchronous wheel 310 , the belt pressing wheel 315 , and the first servo motor 314 , the plurality of clamp rods 311 , the clamping claws 312 and the profiling station 317 can move synchronously, thereby improving production efficiency.

[0059] The double-belt machine device 4 includes a second base 401, a first guide rail 402, a first slider 403, a front and rear moving plate 404, a second servo motor 405, a motor integrated seat 406, a ball screw 407, a screw nut 408, a screw nut bracket 409, a screw support seat 410, a large vertical plate 411, a first large vertical plate rib plate 412, a second large vertical plate rib plate 413, a second guide rail 414, a second slider 415, a motor fixing seat 416, a gear 417, a third servo motor 418, a grinding belt 419, a driving wheel 420, a driven wheel 421, an auxiliary wheel 422, a first spindle bearing seat 423, a driving spindle 424, a second spindle bearing seat 425, a first synchronous wheel 426, and a second Synchronous belt 427, second synchronous wheel 428, L-shaped angle piece 429, motor 430, synchronous belt shield 431, sanding machine front plate 432, sanding machine middle connecting plate 433, sanding machine rear plate 434, rack 435, driven wheel connecting plate 436, first pin 437, tensioning cylinder 438, second pin 439, first profiling connecting plate 440, second profiling connecting plate 441, third guide rail 442, third slider 443, profiling shaft 444, profiling shaft connecting plate 445, pressure sensor 446, pressure sensor fixing plate 447, support rod column 448, slide cylinder 449, second L-shaped connecting plate 450, low friction cylinder 451, upper support rod 452, lower support rod 453;

[0060] The first guide rail 402 is installed on the second base 401, the first slider 403 is installed in sliding cooperation with the above-mentioned first guide rail 402, the motor integrated base 406, the second servo motor 405, the ball screw 407, the screw nut 408, the screw nut bracket 409, and the screw support base 410 constitute a horizontal linear moving assembly, and the horizontal linear moving assembly is installed on the second base 401, the second servo motor 405 is installed to the motor integrated base 406 and is fixedly connected to the ball screw 407 by a coupling, the front and rear moving plate 404 is installed on the first slider 403 and is fixedly connected to the screw support base 410, the large vertical plate 411, the first large vertical plate rib plate 412, and the second large vertical plate rib plate 413 are installed on the front and rear moving plate 404, the second guide rail 414 is installed on the large vertical plate 411, and the second slider 415 is installed in sliding cooperation with the second guide rail 414;

[0061] The motor fixing base 416, gear 417, and the third servo motor 418 constitute a vertical moving assembly installed on the large vertical plate 411. The motor fixing base 416 is fixedly connected to the outer wall of the large vertical plate 411, and the gear 417 is rotatably connected to the inner wall of the large vertical plate 411. The gear 417 is fixedly connected to the output end of the third servo motor 418, and the third servo motor 418 is fixedly connected to the inner wall of the motor fixing base 416.

[0062] The back plate 434 of the sanding machine is installed on the second slider 415, the rack 435 is fixedly connected to the outer wall of the back plate 434 of the sanding machine, the rack 435 is meshed with the gear 417, the middle connecting plate 433 of the sanding machine is installed on the back plate 434 of the sanding machine through the groove opened on the surface of the large vertical plate 411, the front plate 432 of the sanding machine is installed on the middle connecting plate 433 of the sanding machine, the first spindle bearing seat 423 is installed on the front plate 432 of the sanding machine, the second spindle bearing seat 425 is installed on the back plate 434 of the sanding machine, and the driving spindle 424 is installed on the first spindle bearing seat 423 and the second spindle bearing seat 425. The driving wheel 420 is fixedly connected to the driving main shaft 424 between the main shaft bearing seats 425, the auxiliary wheel 422 is sequentially mounted on the front plate 432 of the belt sander, the driven wheel 421 is mounted on the driven wheel connecting plate 436 and is fixedly connected to the front plate 432 of the belt sander through the first pin shaft 437, the movable end of the tensioning cylinder 438 is connected to the driven wheel connecting plate 436 and is fixedly connected to the front plate 432 of the belt sander through the second pin shaft 439, and the grinding belt 419 passes around the driving wheel 420, the driven wheel 421, and the auxiliary wheel 422 and is fixed under the action of the tensioning cylinder 438;

[0063] The first synchronous wheel 426 is installed on the driving spindle 424, the L-shaped angle piece 429 is installed on the rear plate 434 of the sanding machine, the motor 430 is installed on the L-shaped angle piece 429, the second synchronous wheel 428 is installed on the output end of the motor 430, the second synchronous belt 427 passes around the first synchronous wheel 426 and the second synchronous wheel 428 to be tightened and fixed, the synchronous belt guard 431 is installed on the rear plate 434 of the sanding machine, the first profiling connecting plate 440, the second profiling connecting plate 441, the third guide rail 442, the third slider 443, the profiling shaft 444, the profiling shaft connecting plate 445, the pressure sensor 446, the sensor assembly consisting of a pressure sensor fixing plate 447 is installed on the front plate 432 of the sanding machine. The sanding machine mechanism includes a sensor assembly, a sanding machine rear plate 434, a second slider 415, a rack 435, a sanding machine middle connecting plate 433, a sanding machine front plate 432, a sanding machine middle connecting plate 433, a first spindle bearing seat 423, a second spindle bearing seat 425, a driving wheel 420, a driving spindle 424, an auxiliary wheel 422, a driven wheel 421, a driven wheel connecting plate 436, a first pin shaft 437, a tensioning cylinder 438, a second pin shaft 439, and a grinding belt 419.

[0064] The weight of the lower belt sander mechanism and the lower belt sander mechanism reaches a force balance on the gear 417, and the third servo motor 418 drives the two belt sander mechanisms to move relative to each other at the same time.

[0065] Two support rod columns 448 are installed on the second base 401, two slide cylinders 449 are installed on the two support rod columns 448 in turn, the second L-shaped connecting plate 450 is installed on the telescopic ends of the two slide cylinders 449, three pairs of low-friction cylinders 451 in opposite directions are installed on the second L-shaped connecting plate 450 in turn, and the upper support rod 452 and the lower support rod 453 are installed on the output ends of the relative low-friction cylinders 451 in turn.

[0066] The water spray cooling and circulation device 5 includes a circulating water tank 501, a water pump 502, a filter tank 503, a nozzle 504, a waterproof shield 505, an upper door 506, a lower door 507, a middle sliding door 508, and a lifting cylinder 509; the waterproof shield 505 is installed on the large vertical plate 411, the upper door 506 and the lower door 507 are installed on the waterproof shield 505, and the middle sliding door 508 is installed in the middle position of the waterproof shield 505 and connected to the lifting cylinder 509, and the lifting cylinder is controlled by the PLC 509 reaches the required working window, the nozzle 504 is installed on the second L-shaped connecting plate 450, the filter tank 503 is installed on the second base 401, and is located directly below the drain outlet of the waterproof shield 505, the water pump 502 is installed on the circulating water tank 501, and the water inlet of the circulating water tank 501 is placed directly below the drain outlet of the filter tank 503, and the cooling water returns to the circulating water tank 501 through the filter cotton in the filter tank 503. By setting the water spray cooling and circulation device 5, the dust on the work site can be effectively reduced.

[0067] The five-axis robot arm device 2 drives the fixture device 3 to move to the predetermined position of the loading workbench 101 to clamp the workpiece, and then transfer it to the working position of the sanding machine mechanism below the double sanding machine device 4; the double sanding machine device 4 is running, and the sanding machine mechanism below rises, and after contacting the starting point of the workpiece, the grinding trajectory of the sanding machine is precisely controlled by the pressure sensor in the profiling device, and the fixture device 3 carried by the five-axis robot arm device 2 clamps the tableware and swings left and right until the end point completes the grinding of the lower section of the tableware; the sanding machine mechanism below, the five-axis mechanical The arm device 2 drives the tableware clamped by the tooling fixture device 3 to move to the working position of the upper belt sander mechanism; after the upper belt sander mechanism contacts the starting point of the workpiece, the pressure sensor in the profiling device precisely controls the grinding trajectory of the belt sander, and the fixture tooling device carried by the five-axis robotic arm clamps the tableware and swings left and right until the end point completes the grinding of the upper section of the metal tableware; the upper belt sander mechanism, the five-axis robotic arm device 2 drives the tableware clamped by the tooling fixture device 3 to move to the unloading workbench 103, and puts down the material; the single operation program is completed.

[0068] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A device for grinding and polishing the edge section of western tableware, characterized in that: The device comprises a feeding device (1), a five-axis mechanical arm device (2), a fixture device (3), a double-belt sanding machine device (4), a water spray cooling and circulation device (5), and a PLC controller. The western tableware edge section grinding and polishing equipment adopts a split structure. The feeding device (1), the five-axis mechanical arm device (2), the fixture device (3), the double-belt sanding machine device (4), and the water spray cooling and circulation device (5) are all connected to the PLC controller. The double-belt sanding machine device (4) comprises two sanding machine mechanisms. The fixture device (3) clamps the tableware to be processed from the feeding device (1); the tableware to be processed is moved to the double-belt sanding machine device (4) by the fixture device (3) for grinding; and after grinding, the tableware is collected by the feeding device (1); The loading device (1) comprises a loading workbench (101), a tooling table (102), a unloading workbench (103), and a material box (104); The tooling table (102) is installed on the loading workbench (101), and the material box (104) is installed on the unloading workbench (103); The five-axis robot arm device (2) comprises a first base (201), a first column (202), a first axis (203), a second axis (204), a third axis (205), a fourth axis (206), and a fifth axis (207); The first base (201) is provided with a first column (202), the first column (202) is provided with a shaft (203), the shaft (203) is provided with two shafts (204), the two shafts (204) are provided with a third shaft (205), the three shafts (205) are provided with a fourth shaft (206), and the fourth shaft (206) is provided with a fifth shaft (207); The fixture device (3) comprises a mechanical arm connecting plate (301), a cylinder fixing plate (302), a supporting rib plate (303), a bottom plate (304), a clamp rod fixing plate (305), a clamping cylinder (306), a rotary joint (307), a connecting rod (308), a first synchronous belt (309), a third synchronous wheel (310), a clamp rod (311), a clamping claw (312), a first L-shaped connecting plate (313), a first servo motor (314), a belt pressure roller (315), and a bearing (316); The mechanical arm connecting plate (301) is fixedly connected to the output end of the five-axis (207), the bearing (316) is sequentially mounted on the clamp rod fixing plate (305), the clamp rod fixing plate (305) is mounted on the bottom plate (304), the clamp rod (311) is sequentially mounted on the clamp rod fixing plate (305) and fixedly connected with a lock nut, the clamp claw (312) is sequentially mounted on the clamp rod (311), the connecting rod (308) is sequentially mounted on the clamp rod (311) and fixedly connected with the clamp claw (312) and the rotary joint (307), the third synchronous wheel (310) is sequentially mounted on the clamp rod (311), and the belt pressing wheel (315) is sequentially mounted on the clamp rod fixing plate (3 05) and fixedly connected with nuts, the first L-shaped connecting plate (313) is installed at the bottom of the base plate (304), the first servo motor (314) is installed on the first L-shaped connecting plate (313), the first synchronous belt (309) is installed between the third synchronous wheel (310), the belt pressure wheel (315) and the output end of the first servo motor (314), the cylinder fixing plate (302) and the supporting rib plate (303) are installed on the base plate (304), the clamping cylinder (306) is installed on the cylinder fixing plate (302) in turn and fixedly connected with the rotary joint (307), and the mechanical arm connecting plate (301) is installed on the cylinder fixing plate (302) and the clamp rod fixing plate (305); The double-belt sander device (4) comprises a second base (401), a first guide rail (402), a first slider (403), a front-rear moving plate (404), a second servo motor (405), a motor integrated seat (406), a ball screw (407), a screw nut (408), a screw nut bracket (409), a screw support seat (410), a large vertical plate (411), a first large vertical plate rib plate (412), a second large vertical plate rib plate (413), a second guide rail (414), a second slider (415), a motor fixing seat (416), a gear (417), a third servo motor (418), a grinding belt (419), a driving wheel (420), a driven wheel (421), an auxiliary wheel (422), a first spindle bearing seat (423), a driving spindle (424), a second spindle bearing seat (425), a first synchronous wheel (426), and a third servo motor (418). Second synchronous belt (427), second synchronous wheel (428), L-shaped angle piece (429), motor (430), synchronous belt guard (431), sanding machine front plate (432), sanding machine middle connecting plate (433), sanding machine rear plate (434), rack (435), driven wheel connecting plate (436), first pin (437), tensioning cylinder (438), second pin (439), first profiling connecting plate (440), second profiling connecting plate (441), third guide rail (442), third slide block (443), profiling shaft (444), profiling shaft connecting plate (445), pressure sensor (446), pressure sensor fixing plate (447), support rod column (448), slide cylinder (449), second L-shaped connecting plate (450), low friction cylinder (451), upper support rod (452), lower support rod (453); The first guide rail (402) is mounted on the second base (401), the first slider (403) is slidably mounted on the first guide rail (402), the motor integrated base (406), the second servo motor (405), the ball screw (407), the screw nut (408), the screw nut bracket (409), and the screw support base (410) constitute a horizontal linear motion component, and the horizontal linear motion component is mounted on the second base (401), and the second servo motor (405) is mounted on the second base (401). The motor is mounted on the integrated seat (406) and fixedly connected to the ball screw (407) by a coupling; the front-rear movable plate (404) is mounted on the first slider (403) and fixedly connected to the screw support seat (410); the large vertical plate (411), the first large vertical plate rib plate (412), and the second large vertical plate rib plate (413) are mounted on the front-rear movable plate (404); the second guide rail (414) is mounted on the large vertical plate (411); and the second slider (415) is mounted in a sliding manner with the second guide rail (414); The motor fixing seat (416), the gear (417), and the third servo motor (418) form a vertical moving assembly installed on the large vertical plate (411); the motor fixing seat (416) is fixedly connected to the outer wall of the large vertical plate (411); the gear (417) is rotatably connected to the inner wall of the large vertical plate (411); the gear (417) is fixedly connected to the output end of the third servo motor (418); and the third servo motor (418) is fixedly connected to the inner wall of the motor fixing seat (416); The sanding machine rear plate (434) is mounted on the second slider (415); the rack (435) is fixedly connected to the outer wall of the sanding machine rear plate (434); the rack (435) is meshed with the gear (417); the sanding machine middle connecting plate (433) is mounted on the sanding machine rear plate (434) through a groove provided on the surface of the large vertical plate (411); the sanding machine front plate (432) is mounted on the sanding machine middle connecting plate (433); the first spindle bearing seat (423) is mounted on the sanding machine front plate (432); the second spindle bearing seat (425) is mounted on the sanding machine rear plate (434); the driving spindle (424) is mounted on the first spindle bearing seat (423); The driving wheel (420) is fixedly connected to the driving main shaft (424), the auxiliary wheel (422) is sequentially mounted on the front plate (432) of the sanding machine, the driven wheel (421) is mounted on the driven wheel connecting plate (436) and is fixedly connected to the front plate (432) of the sanding machine via a first pin shaft (437), the movable end of the tensioning cylinder (438) is connected to the driven wheel connecting plate (436) and is fixedly connected to the front plate (432) of the sanding machine via a second pin shaft (439), and the sanding belt (419) passes around the driving wheel (420), the driven wheel (421) and the auxiliary wheel (422) and is fixed under the action of the tensioning cylinder (438); The water spray cooling and circulation device (5) comprises a circulating water tank (501), a water pump (502), a filter tank (503), a nozzle (504), a waterproof shield (505), an upper door (506), a lower door (507), a middle sliding door (508), and a lifting cylinder (509); The waterproof shield (505) is mounted on the large vertical plate (411); the upper door (506) and the lower door (507) are mounted on the waterproof shield (505); the middle sliding door (508) is mounted at the middle position of the waterproof shield (505) and connected to the lifting cylinder (509); the lifting cylinder (509) is controlled by the PLC to reach a required working window; the nozzle (504) is mounted on the second L-shaped connecting plate (450); the filter tank (503) is mounted on the second base (401) and is located directly below the drainage port of the waterproof shield (505); the water pump (502) is mounted on the circulating water tank (501); the water inlet of the circulating water tank (501) is placed directly below the drainage port of the filter tank (503); and the cooling water returns to the circulating water tank (501) through the filter cotton in the filter tank (503); The first synchronous wheel (426) is mounted on the driving spindle (424), the L-shaped angle piece (429) is mounted on the rear plate (434) of the sanding machine, the motor (430) is mounted on the L-shaped angle piece (429), the second synchronous wheel (428) is mounted on the output end of the motor (430), the second synchronous belt (427) passes around the first synchronous wheel (426) and the second synchronous wheel (428) to be tightened and fixed, the synchronous belt guard (431) is mounted on the rear plate (434) of the sanding machine, the first profiling connecting plate (440), the second profiling connecting plate (441), the third guide rail (442), the third slider (443), the profiling shaft (444), the profiling shaft connecting plate (445), A pressure sensor (446) and a pressure sensor fixing plate (447) form a sensor assembly mounted on a front plate (432) of a sanding machine. The sanding machine mechanism comprises a sensor assembly, a rear plate (434) of a sanding machine, a second slider (415), a rack (435), an intermediate connecting plate (433) of a sanding machine, a front plate (432) of a sanding machine, an intermediate connecting plate (433) of a sanding machine, a first main shaft bearing seat (423), a second main shaft bearing seat (425), a driving wheel (420), a driving main shaft (424), an auxiliary wheel (422), a driven wheel (421), a driven wheel connecting plate (436), a first pin shaft (437), a tensioning cylinder (438), a second pin shaft (439), and a sanding belt (419).

2. The edge section grinding and polishing device for western tableware according to claim 1 is characterized in that: The weight of the upper belt sander mechanism and the lower belt sander mechanism achieves a force balance on the gear (417), and the third servo motor (418) simultaneously drives the two belt sander mechanisms to perform relative motion.

3. The device for grinding and polishing the edge section of western tableware according to claim 1, characterized in that: The two support rod columns (448) are mounted on the second base (401), the two slide cylinders (449) are mounted on the two support rod columns (448) in sequence, the second L-shaped connecting plate (450) is mounted on the telescopic ends of the two slide cylinders (449), the three pairs of low-friction cylinders (451) in opposite directions are mounted on the second L-shaped connecting plate (450) in sequence, and the upper support rod (452) and the lower support rod (453) are mounted on the output ends of the relative low-friction cylinders (451) in sequence.

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