A spoiler polishing device

Abstract

The application discloses a spoiler polishing device, which comprises a workbench, a template detachably connected with the workbench and a mechanical arm arranged on one side of the workbench, wherein a free end of the mechanical arm is provided with a polishing mechanism; and the template is arranged on a workbench panel of the workbench. The template is easy to replace; the angle of the original new part needs to be adjusted up and down, and the angle is fixed now; the workbench can be turned over at three stations, the turning over positioning is fixed by the turning over angle of the workbench, the turning over angle is unchanged after the template is replaced, and it is not necessary to adjust again; the template is replaced as a whole, and the product has high universality. The polishing positioning is accurate, and the spoiler polishing device is especially suitable for injection molding products with high polishing effect requirement; the spoiler is fixed by a vacuum chuck mode, and is automatically controlled by electrical automation; after the product is polished, the vacuum chuck is directly loosened, and the product is lifted by a template bottom support, so that an operator only needs to take away the polished product, and the spoiler polishing device is convenient to operate and time-saving.

Description

[0001] This application is a divisional application of Chinese invention patent application filed on May 8, 2019, entitled "Spoiler Polishing Robot" and with application number 2019103823304. Technical Field

[0002] This invention relates to a spoiler grinding device. Background Technology

[0003] The existing sanding system is suitable for sanding blow-molded products, with a large sanding surface and high sanding force, but inaccurate positioning. It is not suitable for injection-molded products that require high sanding results. The existing sanding system lacks versatility, and adjusting the product positioning method is cumbersome. After replacing the mold with different products, it requires a long time to readjust the positioning and reprogramming. The existing sanding system fixes products by screwing them in, which wastes operation time and is inconvenient for picking up and putting down products. Patent CN207971779U: An automatic sanding device for automotive spoilers, including a main frame, a fixture fixing component, a robot sanding component, a sandpaper changing component, and a dust collection cover. The sandpaper changing component is located on one side of the main frame, and multiple layers of sandpaper are stacked on the sandpaper changing component to automatically replace the sandpaper after the sandpaper on the sanding head wears out. The dust collection cover is located on the lower side of the fixture fixing component to collect sanding dust. The advantages of this invention are that it saves manpower, improves product quality stability, avoids safety hazards, improves the workshop environment, enhances factory automation, and features a compact grinding power equipment. The robot can grind all areas requiring grinding during its operation, and the system needs to have dustproof and noise-reducing functions. However, loading and unloading still requires a series of tedious actions such as tightening and loosening screws, and also necessitates readjusting angles. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a spoiler grinding device that eliminates the need for angle adjustments when loading new parts, offering strong product versatility. It provides precise grinding positioning, making it particularly suitable for injection-molded products requiring high grinding results; operation is convenient and time-saving.

[0005] To achieve the above objectives, the technical solution of this invention is to design a spoiler grinding device, including a worktable, a template detachably connected to the worktable, and a robot arm disposed on one side of the worktable. A grinding mechanism is disposed at the free end of the robot arm; the template is disposed on the worktable panel. The template and the worktable are detachably connected by screws or other means, and the template is replaced as a whole, thus ensuring that each product is equipped with a template, which guarantees the positioning accuracy of the ground product.

[0006] A further technical solution involves fixing the template to the worktable with bolts; the template and worktable are arranged from top to bottom; several vacuum suction cups are installed inside the template. The template has several through holes running vertically through it, and the vacuum suction cups are fixedly connected to the sidewalls of these holes via connecting rods. Multiple vacuum suction cups are connected in series via connecting pipes (adjacent vacuum suction cups are connected via connecting pipes, with one side of one vacuum suction cup connected to the previous one via a connecting pipe, and the other side connected to a vacuum pump via a connecting pipe). The template is equipped with a vacuum suction clamping device to fix the product to the template. The original grinding system fixed the product by screwing, which wasted operation time and made product handling inconvenient. The current grinding equipment uses vacuum suction cups to fix the product, and is automatically controlled by electrical automation. After grinding, the suction cups are released, and the product is lifted by the support at the bottom of the template. The operator only needs to remove the ground product, making operation convenient and saving time.

[0007] A further technical solution is that the worktable includes a base and a worktable panel rotatably mounted on the base. The worktable panel is rectangular, and two tilting rods are fixedly connected to the bottom of the worktable panel. Each tilting rod is fixedly connected to a horizontal rotating shaft, which is located at the middle of the tilting rod and rotatably connected to a shaft hole in the base. The lower end of each tilting rod is connected to a tilting cylinder via a linkage mechanism, and the tilting cylinder is fixed to one side of the base. The linkage mechanism includes a first rod and a second rod. One end of the first rod is hinged to the tilting rod, and the other end of the first rod is hinged to one end of the second rod. The other end of the second rod is fixedly connected to the piston rod of the tilting cylinder.

[0008] A further technical solution involves fixing two positioning blocks on opposite sides of the base, opposite to the side of the tilting cylinder. These two positioning blocks are located on the rotation trajectory of the tilting rod and are set at a 90° angle. Each positioning block is also set at a 45° angle to the horizontal line. This configuration allows the tilting worktable to tilt at three positions. The tilting positioning is controlled by a fixed tilting angle on the worktable, and the tilting angle remains unchanged after replacing the template, eliminating the need for readjustment.

[0009] A further technical solution is to provide a groove on the product abutment surface of the mold, and to provide a spoiler lifting frame in the groove. A part of the spoiler lifting frame is located in the groove and the part located in the groove is lower than the groove opening. The part of the spoiler lifting frame not located in the groove is fixedly connected to the piston rod of the lifting cylinder.

[0010] The process is as follows: The operator places the product on the worktable panel of the polishing table. After placement, the foot switch is pressed, and the vacuum suction cup secures the product. The automatic polishing start button is then pressed, and the robot begins polishing. The worktable automatically rotates according to the program, facilitating polishing from various angles. After polishing, the vacuum suction cup automatically releases, and the lifting fork (i.e., the spoiler lifting frame) under the mold lifts up to pick up the product. The operator then places a new product, removes the polished product, and places an unpolished product on top. The automatic polishing start button is then pressed again, and the process is repeated.

[0011] Another technical solution involves a detachable electromagnetic connection between the template and the worktable. The worktable includes a base and a worktable panel rotatably mounted on the base. The worktable panel is rectangular, with an angle steel-shaped limiting abutment fixed at one corner. Both plates of the angle steel-shaped limiting abutment are perpendicular to the worktable panel. The template has contour-following positioning protrusions that mate with the limiting abutment. This ensures a tight fit between the template and the worktable, improving the accuracy of the reference and enhancing the precision of template machining.

[0012] A further technical solution involves installing electromagnets on the two plates of the limiting abutment part. The two electromagnets are positioned on the rectangular end face of the limiting abutment part, and iron blocks that cooperate with the electromagnets are fixedly installed at corresponding positions on the contour positioning protrusion of the template. An angle steel-shaped inflatable bag, made of elastic rubber and fixedly connected to the limiting abutment part, is installed between the contour positioning protrusion and the limiting abutment part. This inflatable bag between the template and the worktable ensures a very high degree of parallelism between the contour positioning protrusion of the template and the limiting abutment part of the worktable after electromagnetic engagement is activated (contact between hard surfaces inevitably results in some points being very close and others being very far apart; the inflatable bag transforms this into contact with soft surfaces, improving parallelism).

[0013] The process is as follows: The operator places the product onto the worktable panel of the grinding table. Once in place, the electromagnet activates, ensuring the mold adheres firmly to the worktable. The operator then presses the foot switch, and the vacuum suction cup secures the product. The automatic grinding start button is pressed, and the robot begins grinding. The worktable automatically rotates according to the program, facilitating grinding at various angles. After grinding, the vacuum suction cup automatically releases, and the electromagnet deactivates. The lifting fork below the mold (i.e., the spoiler lifting frame) rises to pick up the product. The operator places a new product, then removes the ground product. After removing the product, an unground product is placed on top, and the automatic grinding start button is pressed again, repeating the process.

[0014] Another technical solution involves installing electromagnets on the two plates of the limiting abutment. The two electromagnets are positioned on the rectangular end face of the limiting abutment, and iron blocks that cooperate with the electromagnets are fixedly installed at corresponding positions on the contour positioning protrusion of the template. Two rectangular plate-shaped inflatable bags are positioned between the contour positioning protrusion and the limiting abutment, and the two inflatable bags are respectively fixedly connected to the two surfaces of the limiting abutment facing the contour positioning protrusion. The split design of the inflatable bags better ensures the uniform distribution of gas within the bags (air is sufficient for filling), and further improves the parallelism between the contour positioning protrusion of the template and the limiting abutment of the worktable.

[0015] Another technical solution is that the worktable includes a base and a worktable panel rotatably mounted on the base. The worktable panel is rectangular and has a through hole that passes through both sides of the worktable panel. An elastic rope is installed inside the through hole, with one end of the elastic rope fixedly connected to one side of the worktable panel and the other end of the elastic rope wrapping around the surface of the worktable panel and extending out after passing through the through hole. The end of the elastic rope extending out of the through hole is fixedly connected to a section of hard rubber strip with a toothed surface. A gear set is fixedly installed on the base near the hard rubber strip, and the output gear of the gear set meshes with the toothed surface of the hard rubber strip. A groove penetrating both sides of the template is provided in the middle of the template. The grinding mechanism includes a grinding head housing fixed to the free end of the robot arm. A grinding motor is fixedly installed inside the grinding head housing. Both ends of the motor shaft of the grinding motor extend out of the grinding head housing, and a grinding head is fixedly connected to one of the extended parts. The other extended part of the motor shaft is fixedly connected to the axle of the input gear of the gear set via a flexible shaft. With this setup, once the grinding head starts working, the rotational energy of the grinding motor will be transmitted to the gear set through the flexible shaft. Since the elastic rope only has a rack-like structure at its end, it can be ensured that the elastic rope remains at a certain tightness after being tightened for a certain distance. This allows the template to automatically fit tightly against the worktable panel after grinding begins, eliminating the need to fix the template with bolts or other means before grinding, thus improving work efficiency and automation.

[0016] The operation process is as follows: After the robotic arm starts working and the grinding head begins to rotate, the mechanical energy of the grinding motor shaft is transmitted to the gear set. This causes the hard rubber strip meshing with the output gear to move outward from the perforation, tightening the elastic rope (before processing begins, the groove of the template is set through the elastic rope so that the template is attached to the worktable panel). After the hard rubber strip is no longer meshed with the output gear, the elastic rope tends to tighten further, causing the hard rubber strip to move back (i.e., translate towards the perforation). However, since the grinding motor is constantly rotating, the output gear is also constantly rotating. Once... When the hard rubber strip approaches the output gear, it is "pushed" away from the perforation by the output gear. This ensures that a certain degree of tension (fixed tension distance of the rope) is maintained during grinding, and it is automatically maintained without manual operation. As long as the grinding head rotates, it will automatically tighten, which will enhance the fit between the template and the worktable, ensure the accuracy of the reference, and improve the grinding precision. To further enhance the fit between the template and the worktable, multiple elastic ropes and hard rubber strips can be set up in conjunction with the gear set. The bottom wall of the template groove can be equipped with multiple stepped recessed grooves to hold the elastic ropes.

[0017] The advantages and beneficial effects of this invention are as follows: The template is easy to replace; previously, adjusting the angle required to load a new part was necessary, but now the angle is fixed. The rotating worktable can rotate in three positions, and the rotation positioning is fixed by the worktable's rotation angle. Replacing the template does not change the rotation angle, eliminating the need for readjustment. The overall template replacement method enhances product versatility. Grinding positioning is precise, especially suitable for injection molded products requiring high grinding results. The baffle is fixed using a vacuum suction cup, automatically controlled by electrical automation. After grinding, the suction cup is released, and the product is lifted by the template's bottom support. Operators only need to remove the ground product, making operation convenient and time-saving. The template and worktable are detachably connected via screws, allowing for overall template replacement. This ensures each product has its own template, guaranteeing accurate positioning during grinding. The template is equipped with a suction cup vacuum clamping device to fix the product to the template. Previously, grinding systems fixed products using screws, wasting operation time and making product handling inconvenient. The existing grinding equipment uses vacuum suction cups to fix the product, and is automatically controlled by electrical automation. After grinding, the suction cups are released, and the product is lifted by the bottom support of the mold. The operator only needs to remove the ground product, which is convenient and saves time. The rotating worktable can rotate in three positions. The rotation positioning is controlled by the fixed rotation angle of the worktable. After replacing the mold, the rotation angle remains unchanged and does not need to be readjusted. An air bag is installed between the mold and the worktable. After the electromagnetic attraction is activated, it ensures that the contour positioning protrusion of the mold and the limiting abutment of the worktable maintain a very high degree of parallelism (the contact between hard surfaces inevitably results in some points being very close and others being very far apart. The air bag transforms this into a soft surface contact, improving parallelism). The air bag is designed as a split type, which further ensures the uniform distribution of gas within the air bag (the air bag is filled with air), further improving the parallelism between the contour positioning protrusion of the mold and the limiting abutment of the worktable. Once the grinding head starts working, the rotational energy of the grinding motor is transmitted to the gear set via a flexible shaft. Because the elastic rope has a rack-like structure at only one end, it maintains a certain level of tension after being tightened for a certain distance. This allows the template to automatically adhere to the worktable panel after grinding begins, eliminating the need to fix the template with bolts or other means before grinding, thus improving work efficiency and automation. The template is easy to replace; the product and template can be replaced as a whole (accommodating the processing of various products), overcoming the previous problem of needing to readjust the angle when mounting and dismounting parts. The flipping angle is fixed. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of a first embodiment of a spoiler grinding device according to the present invention; Figure 2 yes Figure 1 A diagram from another perspective; Figure 3 This is a front view of Embodiment 1 of the present invention; Figure 4 yes Figure 3 Top view; Figure 5 yes Figure 3 The left view; Figure 6 This is a top view from another perspective of the present invention; Figure 7 yes Figure 6 A partially enlarged schematic diagram; Figure 8 This is a schematic diagram of Embodiment 2 of the present invention; Figure 9 yes Figure 8 A top view with an enlarged schematic diagram in the lower left corner; Figure 10 This is an exploded view of the template and the worktable panel in Embodiment 3 of the present invention; Figure 11 yes Figure 10 Enlarged schematic diagram of the perforated section; Figure 12 This is a schematic diagram of the workbench panel and its connection to the robotic arm in Embodiment 3 of the present invention.

[0019] In the diagram: 1. Template; 2. Workbench panel; 3. Vacuum suction cup; 4. Connecting rod; 5. Connecting pipe; 6. Air pump; 7. Base; 8. Flipping rod; 9. Rotating shaft; 10. Flipping cylinder; 11. Positioning block; 12. Spoiler lifting frame; 13. Lifting cylinder; 14. Limiting and abutting part; 15. Contouring positioning protrusion; 16. Electromagnet; 17. Iron block; 18. Inflatable bag; 19. Perforation; 20. Elastic rope; 21. Hard rubber strip; 22. Gear set; 23. Groove; 24. Robotic arm; 25. Grinding motor; 26. Grinding head; 27. Flexible shaft. Detailed Implementation

[0020] The specific embodiments of the present invention will be further described below with reference to the accompanying drawings and examples. The following examples are only used to more clearly illustrate the technical solutions of the present invention and should not be construed as limiting the scope of protection of the present invention. Example 1

[0021] like Figures 1 to 7 As shown (for ease of illustration), Figure 1(Discrete spoiler not shown). This invention is a spoiler grinding device, including a worktable, a template 1 detachably connected to the worktable, and a robot arm 24 disposed on one side of the worktable. The free end of the robot arm 24 is equipped with a grinding mechanism. The template 1 is disposed on the worktable panel 2 of the worktable. The template 1 is fixedly connected to the worktable by bolts. The template 1 and the worktable are arranged from top to bottom. Several vacuum suction cups 3 are disposed inside the template 1. The template 1 has several through holes running vertically through it. Vacuum suction cups 3 are fixedly connected to the side wall of the through holes via connecting rods 4. Multiple vacuum suction cups 3 are connected in series via connecting pipes 5 (adjacent vacuum suction cups 3 are connected via connecting pipes 5, one side of one vacuum suction cup 3 is connected to the previous vacuum suction cup 3 via connecting pipe 5, and the other side is connected to the air pump 6 via connecting pipe 5). The worktable includes a base 7 and a worktable panel 2 rotatably mounted on the base 7. The worktable panel 2 is rectangular. Two flip rods 8 are fixedly connected to the bottom of the worktable panel 2. The flip rods 8 are fixedly connected to a horizontal rotating shaft 9. The horizontal rotating shaft 9 is connected to the middle of the flip rods 8 and is rotatably connected to the shaft hole of the base 7. The lower end of the flip rods 8 is connected to a flip cylinder 10 via a linkage mechanism. The flip cylinder 10 is fixed to one side of the base 7. The base 7 has two positioning blocks 11 fixedly installed on opposite sides of the side of the flipping cylinder 10. The two positioning blocks 11 are located on the rotation trajectory of the flipping rod 8 and are set at a 90° angle. The two positioning blocks 11 are set at a 45° angle to the horizontal line. The template 1 has a groove 23 on its product abutment surface. A spoiler lifting frame 12 is set in the groove 23. A part of the spoiler lifting frame 12 is located in the groove 23 and the part located in the groove 23 is lower than the groove opening. The part of the spoiler lifting frame 12 not located in the groove 23 is fixedly connected to the piston rod of the lifting cylinder 13. Example 2

[0022] The difference from Embodiment 1 is that, as Figure 8 , Figure 9 As shown, the template 1 and the worktable are detachably connected by electromagnetic means. The worktable includes a base and a worktable panel 2 rotatably mounted on the base. The worktable panel 2 is rectangular. An angle steel-shaped limiting abutment 14 is fixedly provided at one corner of the worktable panel 2, and the two plates of the angle steel-shaped limiting abutment 14 are perpendicular to the worktable panel 2. The template 1 is provided with a contour positioning protrusion 15 that matches the limiting abutment 14. Electromagnets 16 are respectively provided on the two plates of the limiting abutment 14. The two electromagnets 16 are located on the rectangular end face of the limiting abutment 14. Iron blocks 17 that cooperate with the electromagnets 16 are fixedly provided at corresponding positions on the contour positioning protrusion 15 of the template 1. Two rectangular plate-shaped air bags 18 are provided between the contour positioning protrusion 15 and the limiting abutment 14. The two air bags 18 are respectively fixedly connected to the two surfaces of the limiting abutment 14 facing the contour positioning protrusion 15. Example 3

[0023] The difference from Embodiment 1 is that, as Figures 10 to 12 As shown, the workbench includes a base and a workbench panel 2 rotatably mounted on the base. The workbench panel 2 is rectangular and has a through hole 19 that passes through both sides of the workbench panel 2. An elastic rope 20 is installed inside the through hole 19. One end of the elastic rope 20 is fixedly connected to one side of the workbench panel 2, and the other end of the elastic rope 20 passes around the surface of the workbench panel 2, passes through the through hole 19, and extends out. The end of the elastic rope 20 extending out of the through hole 19 is fixedly connected to a hard rubber strip 21 with a toothed surface. The base 7 is close to the hard rubber strip. A gear set 22 is fixedly mounted on a portion of the rubber strip 21. The output gear of the gear set 22 meshes with the toothed surface of the hard rubber strip 21. A groove 23 is provided in the middle of the template 1, penetrating both sides of the template 1. The grinding mechanism includes a grinding head 26 housing fixed to the free end of the robot arm 24. A grinding motor 25 is fixedly mounted inside the grinding head 26 housing. Both ends of the motor shaft of the grinding motor 25 extend out of the grinding head 26 housing, and the grinding head 26 is fixedly connected to one of the extended parts. The other extended part of the motor shaft is fixedly connected to the axle of the input gear of the gear set 22 via a flexible shaft 27.

[0024] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A spoiler grinding device, characterized in that, It includes a worktable, a template detachably connected to the worktable, and a robot arm set on one side of the worktable. The free end of the robot arm is equipped with a grinding mechanism; the template is set on the worktable panel of the worktable. The template is fixedly connected to the worktable by bolts; the template and the worktable are arranged from top to bottom; several vacuum suction cups are set inside the template; several through holes are set on the template, and the vacuum suction cups are fixedly connected to the side wall of the through holes by connecting rods; multiple vacuum suction cups are connected in series by connecting pipes. The template and the worktable are detachably connected by electromagnetic means. The worktable includes a base and a worktable panel rotatably mounted on the base. The worktable panel is rectangular. An angle steel-shaped limiting abutment is fixed on one corner of the worktable panel, and the two plates of the angle steel-shaped limiting abutment are perpendicular to the worktable panel. The template is provided with a contour positioning protrusion that matches the limiting abutment. Electromagnets are provided on the two plates of the limiting abutment part. The two electromagnets are set on the rectangular end face of the limiting abutment part. Iron blocks that cooperate with the electromagnets are fixedly set on the corresponding positions of the contour positioning protrusion of the template. An angle steel-shaped air bag is set between the contour positioning protrusion and the limiting abutment part. The air bag is made of elastic rubber material and is fixedly connected to the limiting abutment part. The workbench includes a base and a workbench panel rotatably mounted on the base. The workbench panel is rectangular in shape. Two flip rods are fixedly connected to the bottom of the workbench panel. The flip rods are fixedly connected to a horizontal rotating shaft. The horizontal rotating shaft is connected to the middle of the flip rods and is rotatably connected to the shaft hole of the base. The lower end of the flip rod is connected to a flip cylinder through a linkage mechanism. The flip cylinder is fixed on one side of the base. The base has two positioning blocks fixedly installed on the opposite side of the side of the flipping cylinder. The two positioning blocks are located on the rotation trajectory of the flipping rod and are set at a 90° angle. The two positioning blocks are set at a 45° angle to the horizontal line. The template has a groove on its product abutment surface, and a spoiler lifting frame is set in the groove. A part of the spoiler lifting frame is located in the groove and the part located in the groove is lower than the groove opening. The part of the spoiler lifting frame not located in the groove is fixedly connected to the piston rod of the lifting cylinder. The process is as follows: The operator places the product on the worktable panel of the polishing table. Once in place, the electromagnet activates to firmly attach the template to the worktable. Then, the foot switch is pressed, and the vacuum suction cup secures the product. The automatic polishing start button is pressed, and the robot begins polishing. The worktable automatically rotates according to the program, facilitating polishing at various angles. After polishing is complete, the vacuum suction cup automatically releases and the electromagnet is deactivated. The lifting fork under the template rises to pick up the product. The operator places a new product and then removes the polished product. After removing the product, an unpolished product is placed on top, and the automatic polishing start button is pressed again. This process is repeated sequentially.

2. The spoiler grinding device according to claim 1, characterized in that, Electromagnets are provided on the two plates of the limiting abutment part. The two electromagnets are set on the rectangular end face of the limiting abutment part. Iron blocks that cooperate with the electromagnets are fixedly set on the corresponding positions of the contour positioning protrusion of the template. Two rectangular plate-shaped air bags are set between the contour positioning protrusion and the limiting abutment part. The two air bags are fixedly connected to the two surfaces of the limiting abutment part facing the contour positioning protrusion.

3. A spoiler grinding device, characterized in that, A grinding mechanism is installed at the free end of the robotic arm; a template is set on the worktable panel of the workbench. The workbench includes a base and a workbench panel rotatably mounted on the base. The workbench panel is rectangular in shape. Two flip rods are fixedly connected to the bottom of the workbench panel. The flip rods are fixedly connected to a horizontal rotating shaft. The horizontal rotating shaft is connected to the middle of the flip rods and is rotatably connected to the shaft hole of the base. The lower end of the flip rod is connected to a flip cylinder through a linkage mechanism. The flip cylinder is fixed on one side of the base. The base has two positioning blocks fixedly installed on the opposite side of the side of the flipping cylinder. The two positioning blocks are located on the rotation trajectory of the flipping rod and are set at a 90° angle. The two positioning blocks are set at a 45° angle to the horizontal line. The template has a groove on its product abutment surface, and a spoiler lifting frame is set in the groove. A part of the spoiler lifting frame is located in the groove and the part located in the groove is lower than the groove opening. The part of the spoiler lifting frame not located in the groove is fixedly connected to the piston rod of the lifting cylinder. A perforation is provided on the workbench panel, passing through both sides of the workbench panel. An elastic rope is installed inside the perforation. One end of the elastic rope is fixedly connected to one side of the workbench panel, and the other end of the elastic rope passes around the surface of the workbench panel and extends out after passing through the perforation. A hard rubber strip with a toothed surface is fixedly connected to the end of the elastic rope extending out of the perforation. A gear set is fixedly installed on the part of the base near the hard rubber strip. The output gear of the gear set meshes with the toothed surface of the hard rubber strip. A groove is provided in the middle of the template, penetrating both sides of the template. The grinding mechanism includes a grinding head housing fixed to the free end of the robot arm. A grinding motor is fixedly installed inside the grinding head housing. Both ends of the motor shaft of the grinding motor extend out of the grinding head housing, and the grinding head is fixedly connected to one of the extended parts. The other extended part of the motor shaft is fixedly connected to the axle of the input gear of the gear set through a flexible shaft. The operation process is as follows: After the robot arm starts working and the grinding head starts rotating, the mechanical energy of the rotation of the grinding motor shaft is transmitted to the gear set. This causes the hard rubber strip that meshes with the output gear to move outward from the hole, which tightens the elastic rope. After the hard rubber strip is no longer meshed with the output gear, the elastic rope tends to tighten, causing the hard rubber strip to move back. However, since the grinding motor is constantly rotating, the output gear is constantly rotating. Once the hard rubber strip gets close to the output gear, it is pushed away from the hole by the output gear. This ensures that a certain degree of tightening is maintained during grinding.

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