A double-wire matching grinding system and method

Abstract

The present invention relates to a double-line coordinated grinding system and method applied to the technical field related to plane grinding. A feeding assembly line is equipped with two rows of grinding equipment and grinds the workpiece at the same time, so as to achieve the effect of double-line synchronous grinding. Compared with the prior art, the floor space occupied by the entire grinding assembly line is greatly reduced, and the grinding efficiency is improved. At the same time, during the grinding process, under the setting of a revolving grinding disc and a corrugated auxiliary rotating column with opposite rotation directions, the material disc can be synchronously rotated during grinding, so that the workpiece on the material disc can be cross-grinded in two different directions at the same time, which is convenient for cutting off the fine burrs formed by grinding. Compared with the prior art, the grinding uniformity is greatly improved, and the grinding efficiency is further improved. In addition, the surface roughness of the corrugated auxiliary rotating column is adjustable, so as to realize the control of the rotation speed of the corrugated auxiliary rotating column without affecting the grinding area of ​​the workpiece on the material disc, so as to adapt to the grinding needs of workpieces of different materials.

Description

Technical Field

[0001] The present invention relates to a grinding system and method, and in particular to a double-line matching grinding system and method applied in the technical field related to plane grinding. Background Art

[0002] For some smaller workpieces, when grinding the surface, in order to improve the grinding efficiency, the small workpiece is usually placed on a tray and ground at one time.

[0003] The general grinding method is to fix one of the material disc or the grinding piece and move the other one to achieve mutual friction grinding. However, in this grinding method, the grinding direction is fixed, resulting in certain limitations on the grinding uniformity and speed. In addition, when grinding the workpieces on these material discs, generally an assembly line is equipped with one or more loading and unloading robots and one or a group of grinding equipment. However, due to the large size of the assembly line equipment, grinding equipment, automatic loading and unloading robots, etc., the entire grinding system occupies a large area and has a high cost investment. Summary of the invention

[0004] In view of the above-mentioned prior art, the technical problem to be solved by the present invention is that the grinding system in the prior art has a large area and high cost investment, and when grinding the workpiece, the fixed direction leads to certain limitations on the grinding effect and efficiency.

[0005] In order to solve the above problems, the present invention provides a double-line coordinated grinding system and method, comprising two rows of grinding equipment, a material conveying line located between the two rows of grinding equipment, a plurality of robots arranged between the material conveying line and each row of grinding equipment, and a control center for controlling the grinding equipment, the robots and the material conveying line. The material conveying line is used to transport a material tray containing workpieces to be ground, and a plurality of robots are arranged between the material conveying line and each row of grinding equipment. A double-layer fixture is installed at the end of the robot through an electric rotating shaft. The double-layer fixture comprises a central support rod and two suction plates respectively fixedly connected to the upper and lower ends of the central support rod, and a plurality of electromagnetic columns installed thereon and distributed in a ring array. The electromagnetic columns on the two suction plates are respectively located on the end surfaces of the two suction plates that are away from each other.

[0006] The grinding equipment includes a grinding equipment body, three L-shaped arms fixedly connected to the upper end of the grinding equipment body, and a vertical limit unit installed on the L-shaped arms. The upper ends of the multiple L-shaped arms are fixedly connected to each other. The vertical limit unit includes an electric cylinder and a follower sleeve rotatably connected to the extended end of the electric cylinder. A plurality of electromagnetic adsorption points are fixedly inlaid on the bottom of the follower sleeve. A revolving grinding disc is installed on the upper end of the grinding equipment through an electric turntable. A plurality of redirecting units distributed in a circular array are arranged outside the revolving grinding disc. The plurality of redirecting units are respectively spaced apart from the plurality of L-shaped arms. The redirecting unit includes an arc-edge redirecting plate, an electric turntable installed between one end of the arc-edge redirecting plate away from the revolving grinding disc and the upper end of the grinding equipment body, and two corrugated auxiliary rotation columns rotatably connected to the middle of the arc-edge redirecting plate and one end of the arc-edge redirecting plate away from the electric turntable. A motor is installed on the upper middle end of the arc-edge redirecting plate, and the rotating shaft of the motor is fixedly connected to the upper end of the middle corrugated auxiliary rotation column.

[0007] In the above-mentioned dual-line coordinated grinding system, one feeding line can be equipped with two rows of grinding equipment to grind the workpiece at the same time, achieving the effect of dual-line synchronous grinding. Compared with the existing technology, the footprint of the entire grinding line is greatly reduced, while the grinding efficiency is improved. In addition, during the grinding process, the workpiece on the feed tray can be cross-grinded in two different directions at the same time, which can greatly improve the grinding uniformity and further improve the grinding efficiency.

[0008] As a further improvement of the present application, an inverted U-shaped mounting plate is provided at the upper end of the L-shaped arm, and a limited flat hole is drilled on the inverted U-shaped mounting plate. The inverted U-shaped mounting plate is slidably connected to the upper end of the L-shaped arm through the limited flat hole, and the fixed end of the electric cylinder is slidably fixedly connected to the middle part of the upper end of the inverted U-shaped mounting plate. A lower electric push rod is installed at the lower end of the L-shaped arm, and the extended end of the lower electric push rod is fixedly connected to the U-shaped fork plate. The lower end of the inverted U-shaped mounting plate extends to both sides of the U-shaped fork plate and is fixedly connected to the U-shaped fork plate. The extended end of the electric cylinder moves through the U-shaped fork plate of the L-shaped arm in sequence, and the outer end of the follower sleeve matches the U-shaped fork plate.

[0009] As a further improvement of the present application, a plurality of L-shaped arms are distributed in a circular array around the central axis of the revolving grinding disc, and the midlines of the horizontal sections of the plurality of L-shaped arms are perpendicular to the central axis of the revolving grinding disc.

[0010] As a further improvement of the present application, a plurality of limit arc holes are drilled at the end of the arc-edge redirecting plate opposite to the electric turntable, and a plurality of limit columns corresponding to the plurality of limit arc holes are fixedly connected to the upper end of the electric turntable, and the upper ends of the limit columns are inserted into the limit arc holes, and the span at both ends of the limit arc holes does not exceed 45°.

[0011] As a further improvement of the present application, of the two corrugated rotating column, the middle corrugated rotating column is located on the outside of the revolving grinding disk, and the other corrugated rotating column is located above the revolving grinding disk; the corrugated rotating column includes a center rod movably penetrating the arc edge redirecting plate and an outer corrugated sleeve fixedly connected to the center rod at the outer end of the center rod, the outer corrugated sleeve is located below the arc edge redirecting plate, and the rotating shaft of the motor is fixedly connected to the center rod of the middle corrugated rotating column.

[0012] As a further improvement of the present application, the straight-line distance between the two corrugated rotation-assisting columns is smaller than the diameter of the material disc, and the distance between the arc-edge redirecting plate and the revolving grinding disc is larger than the thickness of the material disc;

[0013] The rotation direction of the corrugated rotation-assisting column in the middle is consistent with that of the orbiting grinding disc, and the rotation direction of the orbiting grinding disc is: from the center point of the arc-shaped part of the corrugated rotation-assisting column toward the direction of the arc edge redirecting plate.

[0014] As another improvement of the present application, the cross-section of the outer corrugated sleeve is a wavy structure, and a roughening unit is arranged at the trough of the wavy structure, the roughening unit includes a plurality of shaping arc strips, a deformation ring arranged between the shaping arc strips and the inner wall of the outer corrugated sleeve, and a plurality of inner electric push rods respectively fixedly connected between the plurality of shaping arc strips and the center rod, the deformation ring is an annular structure with an elastic seal filled with magnetorheological fluid arranged inside, a plurality of through holes are opened at the trough of the outer corrugated sleeve, and the deformation ring is partially embedded in the through holes.

[0015] As another improved supplement of the present application, the control arc strip includes a plurality of isolation sheets and a plurality of electromagnetic thick sheets respectively fixedly embedded between two adjacent isolation sheets. The two adjacent control arc strips are close to each other but not in contact, and the width of the electromagnetic thick sheet is not less than 5 times the thickness of the isolation sheet.

[0016] As another improvement supplement of the present application, a monitoring unit is fixedly embedded in the trough of the outer corrugated sleeve, and the monitoring unit includes a plurality of elastic gaskets distributed in a ring array and a pressure sensor installed at the outer end of the elastic gasket, and the test end of the pressure sensor protrudes from the surface of the outer corrugated sleeve.

[0017] A double-wire matching grinding system, the grinding method of which comprises the following steps:

[0018] S1. First, the workpiece to be ground is automatically loaded onto the material trough of the material tray by the automatic material finishing machine in the prior art. If necessary, the position of some workpieces can be manually adjusted, and then the material trays are transferred one by one by the material conveying line;

[0019] S2, multiple robots first control the double-layer clamps at the end to be energized so that they have magnetism, and then absorb the material tray on the conveying line. After that, the robots control the double-layer clamps to flip through the electric shaft so that the end of the material tray that is not absorbed faces downward;

[0020] S3, at this time, the follower sleeve on the revolving grinding disc of the adjacent grinding equipment is controlled to be powered off and the electric cylinder is controlled to be shortened, and at the same time, the redirection unit is controlled to rotate and be displaced up and down with the material disc, so that the restriction of the material disc where the workpiece has been ground is released. At this time, the robot first absorbs the material disc on the revolving grinding disc that has been ground through the double-layer clamp, and then controls the double-layer clamp to flip again, and places the material disc to be ground on the revolving grinding disc, and then controls the redirection unit to reset, and puts the ground material disc back on the feeding line again;

[0021] S4, control the revolving grinding disc to rotate 1 circle first, so that the material disc moves with the revolving grinding disc, and gradually contacts with the two corrugated auxiliary rotating columns on the adjacent redirecting unit at the same time, so as to adjust the position of the material disc, and then control the electric cylinder to reset so that the follower sleeve contacts with the material disc, and then control the follower sleeve to be energized so that it is adsorbed with the material disc and forms a whole;

[0022] S5. Grinding starts at this time, and the orbiting grinding disc is controlled to rotate again. At the same time, the corrugated auxiliary rotating column in the middle is controlled by the motor to rotate, and the material disc is driven to rotate under the action of friction. At this time, the rotation direction of the orbiting grinding disc and the rotation direction of the material disc form a cross, which is convenient for cutting off the fine burrs formed by grinding, and improving the grinding uniformity and grinding effect of the workpiece on the material disc.

[0023] In summary, a feeding line can be equipped with two rows of grinding equipment to grind the workpiece at the same time, achieving the effect of dual-line synchronous grinding. Compared with the existing technology, the floor space of the entire grinding line is greatly reduced, while the grinding efficiency is improved. At the same time, during the grinding process, with the setting of the revolving grinding disc and the corrugated rotary column with opposite rotation directions, the material disc can be rotated synchronously during grinding, so that the workpiece on the material disc can be cross-grinded in two different directions at the same time, which is convenient for cutting off the fine burrs formed by grinding. Compared with the existing technology, the grinding uniformity is greatly improved, and the grinding efficiency is further improved. In addition, the surface roughness of the corrugated rotary column is adjustable, thereby realizing the control of the rotation speed of the corrugated rotary column without affecting the grinding area of ​​the workpiece on the material disc, so as to adapt to the grinding needs of workpieces of different materials. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is a schematic diagram of the main layout of the first embodiment of the present application;

[0025] Figure 2 This is a three-dimensional diagram of the grinding device according to the first embodiment of the present application when in use;

[0026] Figure 3 This is a three-dimensional view of the grinding device of the first embodiment of the present application when not in use;

[0027] Figure 4 A three-dimensional diagram of a double-layer clamp according to a first embodiment of the present application;

[0028] Figure 5 This is a three-dimensional diagram of a vertical limit unit according to a first embodiment of the present application;

[0029] Figure 6 This is a three-dimensional diagram of a plurality of material discs of the first embodiment of the present application being located on a revolving grinding disc;

[0030] Figure 7 This is a three-dimensional diagram of the revolving grinding disc when no material disc is placed in the first embodiment of the present application;

[0031] Figure 8 A partial three-dimensional diagram of a redirection unit according to a first embodiment of the present application;

[0032] Fig. 9 A three-dimensional diagram of a corrugated rotation-assisting column according to a first embodiment of the present application;

[0033] Fig.10 This is a schematic diagram of the principle of the first embodiment of the present application during grinding;

[0034] Fig.11 This is a front view of a corrugated rotation-assisting column according to a second embodiment of the present application;

[0035] Fig.12 A cross-sectional view of a trough portion of a corrugated rotation-assisting column according to a second embodiment of the present application;

[0036] Fig.13 A partial top cross-sectional view of a roughening unit according to a second embodiment of the present application;

[0037] Fig.14 This is a front view of a corrugated rotation-assisting column according to a third embodiment of the present application;

[0038] Description of the numbers in the figure:

[0039] 1 grinding equipment, 2 robot, 21 suction plate, 22 electromagnetic column, 23 center support rod, 3 feeding line, 11 grinding equipment body, 12 L-shaped arm, 13 electric cylinder, 101 follower sleeve, 102 lower electric push rod, 103 limit flat hole, 4 revolving grinding disc, 5 redirection unit, 51 arc edge redirection plate, 52 corrugated auxiliary rotation column, 521 center rod, 522 outer corrugated sleeve, 53 electric turntable, 501 motor, 502 limit arc hole, 503 limit column, 6 roughening unit, 601 through hole, 61 denaturation ring, 62 control arc strip, 621 isolation sheet, 622 electromagnetic thick sheet, 63 inner electric push rod, 71 elastic gasket, 72 pressure sensor. DETAILED DESCRIPTION

[0040] Three implementation modes of the present application are described in detail below with reference to the accompanying drawings.

[0041] The first implementation method:

[0042] Figure 1 A double-line coordinated grinding system and method is shown, in which a represents a material tray, comprising two rows of grinding equipment 1, a feed line 3 located between the two rows of grinding equipment 1, a plurality of robots 2 arranged between the feed line 3 and each row of grinding equipment 1, and a control center for controlling the grinding equipment 1, the robots 2 and the feed line 3. The feed line 3 is used to transport a material tray containing workpieces to be ground, and a plurality of robots 2 are arranged between the feed line 3 and each row of grinding equipment 1. One feed line 3 can be configured with two rows of grinding equipment 1 to grind the workpieces at the same time, thereby achieving the effect of double-line synchronous grinding. Compared with the prior art, the floor space occupied by the entire grinding line is greatly reduced, while the grinding efficiency is improved.

[0043] like Figure 4 A double-layer clamp is installed at the end of the robot 2 through an electric rotating shaft. The double-layer clamp includes a central support rod 23 and two suction plates 21 respectively fixedly connected to the upper and lower ends of the central support rod 23, and a plurality of electromagnetic columns 22 installed thereon and distributed in a circular array. The electromagnetic columns 22 on the two suction plates 21 are respectively located on the end surfaces of the two suction plates 21 that are away from each other. The operation of adsorbing and putting down the material tray can be controlled by turning on and off the power of the electromagnetic columns 22.

[0044] Figure 3 As shown, the grinding device 1 includes a grinding device body 11, three L-shaped arms 12 fixedly connected to the upper end of the grinding device body 11, and a vertical limit unit installed on the L-shaped arm 12. The upper ends of the multiple L-shaped arms 12 are fixedly connected to each other. The vertical limit unit includes an electric cylinder 13 and a follower sleeve 101 rotatably connected to the extended end of the electric cylinder 13. The bottom of the follower sleeve 101 is fixedly inlaid with multiple electromagnetic adsorption points. A revolving grinding disc 4 is installed on the upper end of the grinding device 1 through an electric turntable. The multiple L-shaped arms 12 are distributed in a circular array around the central axis of the revolving grinding disc 4, and the horizontal section midlines of the multiple L-shaped arms 12 are perpendicular to the central axis of the revolving grinding disc 4. Figure 2 During grinding, the electric cylinder 13 can be used to control the follower sleeve 101 to move down and contact the material tray, and then the electromagnetic adsorption point is controlled to be energized to adsorb the material tray, thereby temporarily forming a whole with the material tray, so that the follower sleeve 101 can limit the material tray in the vertical direction and is not easy to affect the rotation of the material tray, thereby effectively ensuring the stable and efficient grinding process.

[0045] like Figure 5The upper end of the L-shaped arm 12 is provided with an inverted U-shaped mounting plate, and a limited flat hole 103 is drilled on the inverted U-shaped mounting plate. The inverted U-shaped mounting plate is slidably connected to the upper end of the L-shaped arm 12 through the limited flat hole 103. The fixed end of the electric cylinder 13 is slidably fixedly connected to the middle part of the upper end of the inverted U-shaped mounting plate. The lower end of the L-shaped arm 12 is installed with a lower electric push rod 102, and the extended end of the lower electric push rod 102 is fixedly connected to a U-shaped fork plate. The lower end of the inverted U-shaped mounting plate extends to both sides of the U-shaped fork plate and is fixedly connected to the U-shaped fork plate. The extended ends of the electric cylinder 13 are sequentially The L-shaped arm 12 is movable through the U-shaped fork plate, and the outer end of the follower sleeve 101 matches the U-shaped fork plate. The distance between the electric cylinder 13 and the central axis of the revolving grinding disk 4 can be controlled by the lower electric push rod 102, so that the relative position of the follower sleeve 101 at the lower end of the electric cylinder 13 and the revolving grinding disk 4 can be changed. When the revolving grinding disk 4 is used to grind material discs of different sizes with workpieces to be ground, the relative position of the follower sleeve 101 and the material disc can be adjusted through the above adjustment to adapt to material discs of different sizes, thereby making the grinding equipment 1 more applicable.

[0046] like Figure 7-Figure 8 The revolving grinding disc 4 is provided with a plurality of redirecting units 5 distributed in a circular array, and the plurality of redirecting units 5 are respectively spaced apart from the plurality of L-shaped arms 12. The redirecting unit 5 comprises an arc-edge redirecting plate 51, an electric turntable 53 installed between the end of the arc-edge redirecting plate 51 away from the revolving grinding disc 4 and the upper end of the grinding equipment body 11, and two corrugated auxiliary rotating columns 52 respectively rotatably connected to the middle of the arc-edge redirecting plate 51 and the end of the arc-edge redirecting plate 51 away from the electric turntable 53. A motor 501 is installed at the middle upper end of the arc-edge redirecting plate 51, and the rotating shaft of the motor 501 is fixedly connected to the upper end of the middle corrugated auxiliary rotating column 52. When in use, the arc-edge redirecting plate 51 can be controlled to rotate by the electric turntable 53, so that its relative position on the revolving grinding disc 4 changes, so that before and after grinding, the robot 2 can load and unload the material disc through the double-layer clamp.

[0047] A plurality of limit arc holes 502 are formed at the end of the arc-edge redirecting plate 51 opposite to the electric turntable 53. A plurality of limit columns 503 corresponding to the plurality of limit arc holes 502 are fixedly connected to the upper end of the electric turntable 53, and the upper ends of the limit columns 503 are inserted into the limit arc holes 502. The span at both ends of the limit arc holes 502 does not exceed 45°. The limit arc holes 502 and the limit columns 503 can effectively limit the rotation range of the arc-edge redirecting plate 51, thereby reducing the energy consumption caused by excessive rotation each time loading and unloading.

[0048] like Figure 6 and Fig.10The straight-line distance between the two corrugated rotation-assisting columns 52 is smaller than the diameter of the material disc, which effectively ensures that when the revolving grinding disc 4 rotates to grind the material disc, the material disc can be restricted by the two corrugated rotation-assisting columns 52, so that it will not move synchronously with the revolving grinding disc 4, effectively ensuring the grinding effect. The distance between the arc-edge redirecting plate 51 and the revolving grinding disc 4 is larger than the thickness of the material disc, so that the arc-edge redirecting plate 51 will not produce vertical extrusion on the material disc, which facilitates the self-rotation of the material disc under the action of the middle corrugated rotation-assisting column 52, effectively ensuring the cross-grinding of the material disc in two different directions, thereby effectively ensuring the grinding effect.

[0049] The rotation direction of the corrugated rotating column 52 in the middle is consistent with the rotation direction of the revolving grinding disc 4. The rotation direction of the revolving grinding disc 4 is: from the center point of the arc-shaped part of the corrugated rotating column 52 toward the direction of the arc-shaped redirection plate 51, so that when the revolving grinding disc 4 rotates, a driving force can be generated in the direction toward the two corrugated rotating columns 52, so that it conflicts with the corrugated rotating columns 52 and effectively maintains the stability of the position of the material disc. Fig.10 When the middle corrugated auxiliary rotating column 52 rotates, it can generate a lateral driving force on the material disc, and the rotation direction of the corrugated auxiliary rotating column 52 is consistent with the orbiting grinding disc 4, so that the lateral driving force is not easily consumed by the force generated on the material disc when the orbiting grinding disc 4 rotates, thereby effectively ensuring that the material disc can rotate on its own, and realizing cross grinding of the workpiece on the material disc in different directions.

[0050] like Figure 9-10 , of the two corrugated rotation-assisting columns 52, the middle corrugated rotation-assisting column 52 is located outside the revolving grinding disc 4, and the other corrugated rotation-assisting column 52 is located above the revolving grinding disc 4; the corrugated rotation-assisting column 52 includes a center rod 521 that movably penetrates the arc-edge redirecting plate 51 and an outer corrugated sleeve 522 that is fixedly connected to the center rod 521 at the outer end of the center rod 521, the cross-section of the outer corrugated sleeve 522 is a wavy structure, and the outer corrugated sleeve 522 is a hard shaped structure, the outer corrugated sleeve 522 is located below the arc-edge redirecting plate 51, the rotating shaft of the motor 501 is fixedly connected to the center rod 521 of the middle corrugated rotation-assisting column 52, during grinding, when the material disc contacts the two corrugated rotation-assisting columns 52, the edge of the material disc just corresponds to one of the troughs of the outer corrugated sleeve 522, and the multiple troughs of the outer corrugated sleeve 522 can adapt to material discs of different thicknesses, thereby improving practicality.

[0051] In addition, it is worth noting that in order to improve the control effect of the corrugated auxiliary rotation column 52 on the rotation of the material tray, the edge of the material tray can be set to a convex arc corresponding to the trough of the outer corrugated sleeve 522.

[0052] A double-wire matching grinding system, the grinding method of which comprises the following steps:

[0053] S1. First, the workpiece to be ground is automatically loaded onto the material trough of the material tray by the automatic material finishing machine in the prior art, and then the material tray is transferred one by one by the material conveying line 3; if necessary, the position of some workpieces can be manually adjusted to make the position of each workpiece on the material trough stable, which is convenient for stable grinding. This part is the prior art, so it will not be described in detail;

[0054] S2, multiple robots 2 first control the double-layer clamps at the end to be energized so that they have magnetism, and then absorb the material tray on the feeding assembly line 3. After that, the robot 2 controls the double-layer clamps to flip through the electric shaft so that the end of the material tray that is not absorbed faces downward;

[0055] S3, at this time, the follower sleeve 101 on the revolving grinding disc 4 of the adjacent grinding equipment 1 is controlled to be powered off and the electric cylinder 13 is controlled to be shortened, and at the same time, the redirection unit 5 is controlled to rotate and be displaced up and down with the material disc, so that the restriction of the material disc of the workpiece that has been ground is released. At this time, the robot 2 first absorbs the material disc that has been ground on the revolving grinding disc 4 through the double-layer clamp, and then controls the double-layer clamp to flip again, and places the material disc to be ground on the revolving grinding disc 4, and then controls the redirection unit 5 to reset, and puts the ground material disc back on the feeding line 3 again;

[0056] S4, control the revolving grinding disc 4 to rotate one circle first, so that the material disc moves with the revolving grinding disc 4, and gradually contacts with the two corrugated rotation-assisting columns 52 on the adjacent redirecting unit 5 at the same time, so as to adjust the position of the material disc, and then control the electric cylinder 13 to reset so that the follower sleeve 101 contacts with the material disc, and then control the follower sleeve 101 to be energized so that it is adsorbed with the material disc and forms a whole;

[0057] S5. Grinding starts at this time, and the revolving grinding disc 4 is controlled to rotate again. At the same time, the corrugated auxiliary rotating column 52 in the middle is controlled to rotate through the motor 501, and the material disc is driven to rotate under the action of friction. At this time, the rotation direction of the revolving grinding disc 4 and the rotation direction of the material disc form an intersection, which is convenient for cutting off the fine burrs formed by grinding, and improving the grinding uniformity and grinding effect of the workpiece on the material disc.

[0058] In summary, a feeding line 3 can be equipped with two rows of grinding equipment 1 to grind the workpiece at the same time, achieving the effect of dual-line synchronous grinding. Compared with the existing technology, the floor space of the entire grinding line is greatly reduced, and the grinding efficiency is improved. At the same time, during the grinding process, under the setting of the revolving grinding disc 4 and the corrugated rotating column 52 with opposite rotation directions, the material disc can be rotated synchronously during grinding, so that the workpiece on the material disc can be cross-grinded in two different directions at the same time, which is convenient for cutting off the fine burrs formed by grinding. Compared with the existing technology, the grinding uniformity is greatly improved, and the grinding efficiency is further improved. In addition, the surface roughness of the corrugated rotating column 52 is adjustable, thereby realizing the control of the rotation speed of the corrugated rotating column 52 without affecting the grinding area of ​​the workpiece on the material disc, so as to adapt to the grinding needs of workpieces of different materials.

[0059] The second implementation method:

[0060] This embodiment is based on the first embodiment, and a roughening unit 6 is added, and the rest of the parts are consistent with the first embodiment.

[0061] Figure 11-13 As shown, a roughening unit 6 is arranged at the trough of the wave-shaped structure of the outer corrugated sleeve 522 of the middle part 52, and the roughening unit 6 includes a plurality of shape-controlling arc strips 62, a degeneration ring 61 arranged between the shape-controlling arc strips 62 and the inner wall of the outer corrugated sleeve 522, and a plurality of inner electric push rods 63 respectively fixedly connected between the plurality of shape-controlling arc strips 62 and the center rod 521, the degeneration ring 61 is an annular structure with an elastic seal filled with magnetorheological fluid arranged inside, a plurality of through holes 601 are drilled at the trough of the outer corrugated sleeve 522, and the degeneration ring 61 is partially embedded in the through holes 601, the shape-controlling arc strips 62 include a plurality of isolation sheets 621 and a plurality of electromagnetic thick sheets 622 respectively fixedly embedded between two adjacent isolation sheets 621, and the two adjacent shape-controlling arc strips 62 are mutually Close to but not touching, the width of the electromagnetic thick sheet 622 is not less than 5 times the thickness of the isolation sheet 621. When the material tray rotates slowly, or the corrugated auxiliary rotating column 52 is difficult to stably drive the material tray to rotate, the control center can control the inner electric push rod 63 to extend, so that the multiple control arc strips 62 gradually squeeze the degeneration ring 61, so that the deformation of the part of the degeneration ring 61 embedded in the through hole 601 is aggravated and continues to extend outside the through hole 601 until it extends to the surface of the outer corrugated sleeve 522, and then the control arc strip 62 is controlled to be energized to generate a magnetic field, so that the degeneration ring 61 is hardened under the action of the magnetic field, thereby increasing the outer surface roughness of the outer corrugated sleeve 522 at the trough, thereby increasing the friction between the corrugated auxiliary rotating column 52 and the material tray, so that the effect of driving the material tray to rotate is better.

[0062] Compared with the first embodiment, when this embodiment is implemented, the roughness of the surface of the outer corrugated sleeve 522 can be adjusted according to actual needs to improve the grinding efficiency and grinding effect of the workpiece on the material disc.

[0063] The third implementation method:

[0064] This embodiment adds a monitoring unit on the basis of the second embodiment, and the rest of the parts are consistent with the second embodiment.

[0065] Fig.14 As shown, a monitoring unit is fixedly embedded in the trough of the outer corrugated sleeve 522, and the monitoring unit includes a plurality of elastic gaskets 71 distributed in a ring array and a pressure sensor 72 installed at the outer end of the elastic gasket 71. The elasticity of the elastic gasket 71 enables it to retract when subjected to force, and is not easy to affect the rotation of the material disc. The test end of the pressure sensor 72 protrudes from the surface of the outer corrugated sleeve 522. As the grinding process proceeds, the workpiece on the material disc gradually becomes smoother before and after grinding, and the friction between it and the revolving grinding disc 4 gradually decreases, and the thrust generated by the revolving grinding disc 4 on the material disc gradually decreases. Therefore, when the predetermined grinding time is about to be reached, the electromagnetic adsorption point on the follower sleeve 101 can be controlled to be powered off. While maintaining the speed of 4 unchanged, the force data on the pressure sensor 72 will also decrease. When its data is reduced to the standard data, the grinding can be stopped, effectively avoiding excessive grinding or inadequate grinding. Compared with the second embodiment, it can further improve the grinding effect and the grinding efficiency.

[0066] It is worth noting that in step S4, when the position of the material tray is adjusted, when the force data generated on the pressure sensor 72 tends to be stable, it can be indicated that the material tray has reached the target position. At this time, the data can be recorded as standard data.

[0067] In view of current practical needs, the above-mentioned implementation mode adopted in this application is not limited to the scope of protection. Various changes made within the knowledge scope of technical personnel in this field without departing from the concept of this application still fall within the scope of protection of the present invention.

Claims

1. A double-line grinding system, characterized in that: The invention comprises two rows of grinding equipment (1), a material conveying line (3) located between the two rows of grinding equipment (1), a plurality of robots (2) arranged between the material conveying line (3) and each row of grinding equipment (1), and a control center for controlling the grinding equipment (1), the robots (2) and the material conveying line (3), wherein the material conveying line (3) is used to transport a material tray containing workpieces to be ground, a plurality of robots (2) are arranged between the material conveying line (3) and each row of grinding equipment (1), a double-layer fixture is installed at the end of each robot (2) via an electric rotating shaft, the double-layer fixture comprises a central support rod (23) and two material suction plates (21) respectively fixedly connected to the upper and lower ends of the central support rod (23), and a plurality of electromagnetic columns (22) arranged on the material suction plate (21) and distributed in a ring array, wherein the electromagnetic columns (22) on the two material suction plates (21) are respectively located on the end surfaces of the two material suction plates (21) that are away from each other; The grinding device (1) comprises a grinding device body (11), three L-shaped arm frames (12) fixedly connected to the upper end of the grinding device body (11), and a vertical limit unit installed on the L-shaped arm frames (12), the upper ends of the plurality of L-shaped arm frames (12) being fixedly connected to each other, the vertical limit unit comprising an electric cylinder (13) and a follower sleeve (101) rotatably connected to the extended end of the electric cylinder (13), the bottom of the follower sleeve (101) being fixedly inlaid with a plurality of electromagnetic adsorption points, the upper end of the grinding device (1) being installed with a revolving grinding disc (4) via an electric turntable, the revolving grinding disc (4) being provided with a plurality of redirecting units distributed in a ring array. Element (5), a plurality of the redirecting units (5) are respectively spaced apart from a plurality of L-shaped arm frames (12), the redirecting units (5) comprising an arc-edge redirecting plate (51), an electric turntable (53) installed between an end of the arc-edge redirecting plate (51) away from the revolving grinding disc (4) and an upper end of a grinding device body (11), and two corrugated rotation-assisting columns (52) respectively rotatably connected to a middle portion of the arc-edge redirecting plate (51) and an end of the arc-edge redirecting plate (51) away from the electric turntable (53), a motor (501) being installed at an upper end of the middle portion of the arc-edge redirecting plate (51), and a rotating shaft of the motor (501) being fixedly connected to an upper end of the middle corrugated rotation-assisting column (52); A plurality of limit arc holes (502) are formed at the end of the arc-edge redirecting plate (51) opposite to the electric turntable (53); a plurality of limit columns (503) corresponding to the plurality of limit arc holes (502) are fixedly connected to the upper end of the electric turntable (53); the upper ends of the limit columns (503) are inserted into the limit arc holes (502); and the span of the two ends of the limit arc holes (502) does not exceed 45°; Of the two corrugated rotation-assisting columns (52), the middle corrugated rotation-assisting column (52) is located outside the revolving grinding disc (4), and the other corrugated rotation-assisting column (52) is located above the revolving grinding disc (4); the corrugated rotation-assisting column (52) comprises a center rod (521) movably penetrating the arc-edge redirecting plate (51) and an outer corrugated sleeve (522) fixedly connected to the center rod (521) at the outer end of the center rod (521); the outer corrugated sleeve (522) is located below the arc-edge redirecting plate (51); and the rotating shaft of the motor (501) The central rod (521) is fixedly connected to the central corrugated rotation-assisting column (52) in the middle, the straight-line distance between the two corrugated rotation-assisting columns (52) is smaller than the diameter of the material disc, and the distance between the arc-edge redirecting plate (51) and the revolving grinding disc (4) is larger than the thickness of the material disc; the rotation direction of the central corrugated rotation-assisting column (52) is consistent with the rotation direction of the revolving grinding disc (4), and the rotation direction of the revolving grinding disc (4) is from the center point of the arc-shaped part of the corrugated rotation-assisting column (52) toward the arc-edge redirecting plate (51); The cross-section of the outer corrugated sleeve (522) is a wave-shaped structure, and a roughening unit (6) is arranged at the trough of the wave-shaped structure of the middle corrugated auxiliary rotating column (52), the roughening unit (6) comprising a plurality of shape-controlling arc strips (62), a degeneration ring (61) arranged between the shape-controlling arc strips (62) and the inner wall of the outer corrugated sleeve (522), and a plurality of inner electric push rods (63) respectively fixedly connected between the plurality of shape-controlling arc strips (62) and the center rod (521), the degeneration ring (61) being an annular structure with an elastic seal filled with magnetorheological fluid arranged inside, a plurality of through holes (601) being drilled at the trough of the outer corrugated sleeve (522), and the degeneration ring (61) being partially embedded in the through holes (601).

2. A double-wire coordinated grinding system according to claim 1, characterized in that: An inverted U-shaped mounting plate is provided at the upper end of the L-shaped arm frame (12), a limited flat hole (103) is drilled on the inverted U-shaped mounting plate, and the inverted U-shaped mounting plate is slidably connected to the upper end of the L-shaped arm frame (12) through the limited flat hole (103). The fixed end of the electric cylinder (13) is fixedly connected to the middle of the upper end of the inverted U-shaped mounting plate. A lower electric push rod (102) is installed at the lower end of the L-shaped arm frame (12), and the extended end of the lower electric push rod (102) is fixedly connected to a U-shaped fork plate. The lower end of the inverted U-shaped mounting plate extends to both sides of the U-shaped fork plate and is fixedly connected to the U-shaped fork plate. The extended end of the electric cylinder (13) moves through the U-shaped fork plate of the L-shaped arm frame (12) in sequence, and the outer end of the follower sleeve (101) matches the U-shaped fork plate.

3. A double-wire coordinated grinding system according to claim 2, characterized in that: The plurality of L-shaped arm frames (12) are distributed in a ring array around the central axis of the revolving grinding disc (4), and the midlines of the horizontal sections of the plurality of L-shaped arm frames (12) are perpendicular to the central axis of the revolving grinding disc (4).

4. A double-wire coordinated grinding system according to claim 1, characterized in that: The shape-controlling arc strip (62) comprises a plurality of isolation thin sheets (621) and a plurality of electromagnetic thick sheets (622) respectively fixedly embedded between two adjacent isolation thin sheets (621), two adjacent shape-controlling arc strips (62) are close to each other but not in contact, and the width of the electromagnetic thick sheet (622) is not less than 5 times the thickness of the isolation thin sheet (621).

5. A double-wire coordinated grinding system according to claim 1, characterized in that: A monitoring unit is fixedly embedded in the trough of the outer corrugated sleeve (522), the monitoring unit comprising a plurality of elastic gaskets (71) distributed in a ring array and a pressure sensor (72) mounted on the outer end of the elastic gasket (71), the test end of the pressure sensor (72) protruding from the surface of the outer corrugated sleeve (522).

6. A double-wire coordinated grinding system according to claim 1, characterized in that: The grinding method comprises the following steps: S1. First, the workpieces to be ground are automatically loaded onto the material trough of the material tray by the automatic material finishing machine. If necessary, the positions of some workpieces can be manually adjusted, and then the material feeding line (3) transfers the material trays one by one; S2, the multiple robots (2) first control the double-layer clamps at the end to be energized so as to be magnetic, and then absorb the material tray on the material conveying line (3), and then the robots (2) control the double-layer clamps to flip through the electric shaft so that the end of the material tray that is not absorbed faces downward; S3, at this time, the follower sleeve (101) on the revolving grinding disc (4) of the adjacent grinding equipment (1) is controlled to be powered off and the electric cylinder (13) is controlled to be shortened, and at the same time, the redirection unit (5) is controlled to rotate and be displaced up and down with the material disc, so that the restriction of the material disc on which the workpiece has been ground is released. At this time, the robot (2) first absorbs the material disc on the revolving grinding disc (4) that has been ground, and then controls the double-layer clamp to flip again, and places the material disc to be ground on the revolving grinding disc (4), and then controls the redirection unit (5) to reset, and puts the ground material disc back on the feeding line (3) again; S4, controlling the revolving grinding disc (4) to rotate one circle first, so that the material disc moves along with the revolving grinding disc (4), and gradually contacts with two corrugated rotation-assisting columns (52) on the adjacent redirecting unit (5) at the same time, so as to adjust the position of the material disc, and then controlling the electric cylinder (13) to reset so that the follower sleeve (101) contacts with the material disc, and then controlling the follower sleeve (101) to be energized so that it is adsorbed with the material disc and forms a whole; S5. Grinding begins at this time, the revolving grinding disc (4) is controlled to rotate again, and at the same time, the corrugated auxiliary rotating column (52) in the middle is controlled to rotate by the motor (501), and the material disc is driven to rotate under the action of friction. At this time, the rotation direction of the revolving grinding disc (4) and the rotation direction of the material disc form an intersection, which is convenient for cutting off the fine burrs formed by grinding, thereby improving the grinding uniformity and grinding effect of the workpiece on the material disc.

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