A dual-station interactive robot polishing device

Abstract

The present application relates to a dual-station interactive robot grinding device, including a feed table, a first worktable, a second worktable, a discharge table and a control module, the first worktable is equipped with a first multi-axis robot for transporting a workpiece from the feed table to the first worktable, the first worktable is provided with a rigid milling cutter, a floating wire brush and a floating file for cooperating with the first multi-axis robot to grind the five surfaces of the workpiece, the second worktable is equipped with a second multi-axis robot for transporting the workpiece from the first worktable to the second worktable, the second worktable is equipped with a rigid milling cutter, a floating wire brush and a floating file for cooperating with the second multi-axis robot to grind the sixth surface of the workpiece, and the control module is used to control the above-mentioned equipment. The present application performs automatic grinding of the workpiece through the interactive cooperation of the first and second multi-axis robots, with high grinding efficiency and good grinding effect.

Description

Technical Field

[0001] The present application relates to the field of grinding equipment, and in particular to a dual-station interactive robot grinding equipment. Background Art

[0002] With the development and progress of industrial casting technology, the shapes of castings that can be cast in one go are becoming more and more complex, which makes it increasingly difficult to manually grind the burrs of castings under objective conditions. Especially when grinding complex cavities and small holes, multiple clamping is required, which makes the grinding efficiency low and multiple clamping makes it more prone to errors, which is not conducive to the production of large quantities of castings. Summary of the invention

[0003] In order to solve the problem of poor grinding efficiency caused by traditional manual grinding of complex-shaped castings, the present application provides a dual-station interactive robot grinding device.

[0004] The present application provides a dual-station interactive robot grinding device that adopts the following technical solution:

[0005] A double-station interactive robot polishing equipment comprises a feed table, a first work table, a second work table, a discharge table and a control module, wherein a first multi-axis robot is installed on the first work table for transporting a workpiece from the feed table to the first work table, a rigid milling cutter, a floating wire brush and a floating file are provided on the first work table for cooperating with the first multi-axis robot to polish the five surfaces of the workpiece, a second multi-axis robot is installed on the second work table for transferring the workpiece from the first work table to the second work table, a rigid milling cutter, a floating wire brush and a floating file are installed on the second work table for cooperating with the second multi-axis robot to polish the sixth surface of the workpiece, and the second multi-axis robot is also used to transfer the workpiece from the second work table to the discharge table for discharge, and the control module is used to control the action of the above equipment.

[0006] During grinding, the workpiece is grabbed from the feed table by the first multi-axis robot and transferred to the first workbench. Then, the workpiece is positioned by the first multi-axis robot, and the five sides of the workpiece are grinded and deburred with the help of a rigid milling cutter, a floating wire brush and a floating file. After removal, the first multi-axis robot places the workpiece on the discharge side of the first workbench. Then, the second multi-axis robot clamps and fixes the workpiece, and then transfers it to the second workbench to grind the remaining side of the workpiece with the help of a rigid milling cutter, a floating wire brush and a floating file. After grinding, the workpiece is placed on the discharge table by the second multi-axis robot. During the whole process, except for placing the workpiece on the feed table and removing the workpiece from the feed table, which require manual operation, the whole process is clamped, polished and transferred by the multi-axis robot at one time. While the grinding efficiency is high, the one-time clamping makes the grinding accuracy high, and it is not easy to have clamping errors caused by multiple clamping, which leads to large final grinding errors. At the same time, the overall labor cost is low.

[0007] Optionally, a workpiece zeroing device is provided on the feed table, and the workpiece zeroing device includes two zeroing baffles and two pressure sensors, the two zeroing baffles are vertically installed on the table top of the feed table, and the zeroing baffles are perpendicular to each other, and the two pressure sensors are respectively installed on the opposite sides of the two zeroing baffles, and a first push plate and a second push plate are provided on the feed table. A first electric cylinder and a second electric cylinder are also provided on the feed table, the first push plate is installed on the piston rod of the first electric cylinder, and the second push plate is installed on the piston rod of the second electric cylinder, the first push plate and one of the zeroing baffles are parallel and corresponding, the second push plate and the other zeroing baffle are parallel and corresponding, and the pressure sensor and the first electric cylinder and the second electric cylinder are all electrically connected to the control module.

[0008] After placing the workpiece on the loading table in the correct direction, the first electric cylinder and the second electric cylinder are started, and the workpiece is pushed by the first push plate and the second push plate until the workpiece and the two zeroing baffles are tightly pressed against each other. At this time, the pressure sensor senses the pressure and feeds back to the control module. The control module controls the first electric cylinder and the second electric cylinder to retract their piston rods to complete the zeroing of the workpiece on the loading table.

[0009] Optionally, the feed table is rectangular, and the two zeroing baffles are respectively located on adjacent sides of the feed table. A travel switch is provided on the side wall of the feed table on the side where the zeroing baffle is located. The first push plate and the second push plate are both provided with a limit rod for cooperating with the travel switch to limit the first push plate or the second push plate. When the first push plate pushes the workpiece against the zeroing baffle, the limit rod of the first push plate contacts the travel switch, and when the second push plate pushes the workpiece against the zeroing baffle, the limit rod of the second push plate contacts the travel switch.

[0010] When the workpiece is placed in the wrong direction, the limit rod on the first push plate or one of the second push plates will definitely trigger the travel switch. After the travel switch is triggered, feedback is sent to the control module, and the control module stops all equipment and then alarms to avoid the misalignment of the position in a series of subsequent operations due to the wrong placement of the workpiece, thereby avoiding damage to the equipment and workpiece due to misoperation.

[0011] Optionally, a slide rail is horizontally arranged on different side walls of the loading platform, a magnetic strip is arranged on the slide rail along its length direction, a base is slidably installed on the slide rail, a positioning plate made of magnetic material is installed on the bottom wall of the base, the positioning plate is in contact with the magnetic strip, and the travel switch is installed on the base.

[0012] For workpieces of different sizes, the positions of the first push plate and the second push plate when pushing the workpiece against the zeroing baffle are different. The travel switch is installed on the base so that the travel switch can slide horizontally with the base to adjust its position to meet the limit requirements of the first push plate and the second push plate with different travels.

[0013] Optionally, the two slide rails are respectively arranged on the side walls of the loading platform on which the zeroing baffle is installed.

[0014] The above-mentioned installation position of the slide rail means that there is no need to avoid the limit rod when designing the first push plate and the second push plate, and the design and manufacture of the first push plate and the second push plate are simpler.

[0015] Optionally, a mounting hole is provided on the bottom wall of the base, a fixed block is slidably installed in the mounting hole, a magnet is embedded on the side wall of the fixed block facing the hole opening of the mounting hole, a roller is rotatably installed in the base, a pull rope is wound around the roller, one end of the pull rope is connected to the fixed block, and the other end of the pull rope slides through the base and is located outside, and a pull ring is installed on the end of the pull rope located outside.

[0016] Before adjusting the base, pull the pull rope to separate the magnet from the magnetic strip. Then slide the base to the appropriate position, release the pull rope, and the magnet will be adsorbed on the magnetic strip to reinforce the base, making it difficult to move during daily use.

[0017] Optionally, a first track is horizontally arranged on the first workbench, a first slider is slidably installed on the first track, the first multi-axis robot is installed on the first slider, a first screw rod is rotatably installed on the first track, the axis of the first screw rod is parallel to the length direction of the first track, a first servo motor is arranged on the first track, the first servo motor is transmission-connected to the first screw rod, the first screw rod passes through the first slider and threadedly cooperates with the first slider, the first track extends to the second workbench and the loading table, a second track is horizontally arranged on the second workbench, a second slider is slidably installed on the second track, the first servo motor and the first screw rod are arranged on the second track in the same way as the first track, the first servo motor and the first screw rod drive the second slider to slide in the same way as the first track, the second multi-axis robot is installed on the second slider, and the second track extends to the unloading table.

[0018] Compared with the method of arranging workbenches around the multi-axis robot to achieve multi-station operation of the multi-axis robot, the multi-station operation of the multi-axis robot is achieved by sliding the multi-axis robot on a track, so that the workbenches can be distributed along a straight line, which conforms to the layout of most factories, can make more reasonable use of factory space, reduce space waste, and also facilitate maintenance personnel to carry out maintenance.

[0019] Optionally, a plurality of vertical polished rods are installed on the first workbench, a first bracket is arranged on the polished rod, all the polished rods slide through the first bracket, a second bracket is horizontally slidably installed on the first bracket, the floating file and the floating wire brush are both installed on the second bracket, a second servo motor and a second screw are installed on the first workbench, the second screw is vertically rotatably installed and passes through the first bracket, the second screw is threadedly engaged with the first bracket, the second servo motor is transmission-connected to the second screw, a third servo motor and a third screw are installed on the first bracket, the third screw is rotationally installed along the sliding direction of the second bracket, the third screw passes through the second bracket and is threadedly engaged with the second bracket, the third servo motor is transmission-connected to the third screw; the floating file and wire brush on the second workbench are installed in the same manner as the first workbench.

[0020] When deburring the workpiece, the vertical sliding of the first bracket and the horizontal sliding of the second bracket drive the floating file and the floating wire brush to move in the three-dimensional coordinate system, and then cooperate with the multi-axis robot to perform all-round burr cleaning and grinding on castings with complex shapes. Compared with fixed floating files and floating wire brushes, it has a better grinding effect.

[0021] Optionally, a switching bracket is rotatably mounted on both of the two second brackets, the floating wire brush and the floating file are mounted on the switching bracket, a switching motor is mounted on each of the second brackets, and the switching motor is transmission-connected to the switching bracket.

[0022] Install the floating wire brush and the floating file in the same position and switch them when using. Since both are located in the same position when in use, the calculation of one working position can be reduced when designing the program, the overall program design difficulty is reduced, and the possibility of bugs in the program is also reduced.

[0023] Optionally, the first slider is provided with jet holes on the two opposite side walls along the sliding direction of the first track, and the jet holes spray in the direction of the first track. The jet holes are connected to the air compressor through an air pipe. The same jet holes are also provided on the second slider and are connected to the air compressor in the same way. An electromagnetic valve is installed on the air outlet of the air compressor, and the electromagnetic valve is controlled by the control module.

[0024] When the first slider slides, the control module starts the solenoid valve, and the air compressor delivers compressed air to the jet hole for ejection. The ejected high-pressure gas cleans up the debris and iron filings on the first track to keep the first track clean. The first slider is not easily disturbed by the debris and iron filings on the first track when sliding, and is not prone to jamming or even getting stuck. As a result, the overall grinding process will not have grinding errors due to the jamming of the first slider. The structure on the second slider has the same effect.

[0025] To summarize, the present application realizes fully automatic grinding and deburring after the casting is transported to the loading table through the mutual cooperation between two multi-axis robots and multiple servo motors, which has the beneficial effects of improving grinding efficiency and grinding effect and reducing labor costs. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 This is a three-dimensional structural diagram of the present application, in which the control module, air compressor and solenoid valve are not shown.

[0027] Figure 2 yes Figure 1 An enlarged schematic diagram of part A in FIG.

[0028] Figure 3 yes Figure 1 An enlarged schematic diagram of part B in FIG.

[0029] Figure 4 It is a schematic diagram of the three-dimensional structure of the first workbench of the present application, in which the first workbench and the first bracket are cut.

[0030] Figure 5It is a schematic diagram of the three-dimensional structure of the loading platform of the present application in another direction.

[0031] Figure 6 It is a cross-sectional schematic diagram of the base of the present application.

[0032] Those skilled in the art will appreciate that elements in the drawings are illustrated for simplicity and clarity and are not necessarily drawn to scale. For example, the size and position of some elements in the drawings may be exaggerated relative to other elements to help improve understanding of embodiments of the present invention.

[0033] Figure numerals: 1. feeding table; 11. slide rail; 12. magnetic strip; 13. travel switch; 14. base; 141. positioning plate; 142. mounting hole; 143. fixing block; 144. magnet; 145. roller; 146. pull rope; 147. pull ring; 2. first workbench; 21. first track; 22. first slider; 23. first screw rod; 24. first servo motor; 3. second workbench; 31. second track; 32. second slider; 4. unloading table; 5. first multi-axis robot; 6. first Two multi-axis robots; 7. Workpiece zeroing device; 71. Zeroing baffle; 72. Pressure sensor; 73. First push plate; 74. Second push plate; 75. First electric cylinder; 76. Second electric cylinder; 77. Limit rod; 8. Rigid milling cutter; 81. Floating wire brush; 82. Floating file; 9. Polish rod; 91. First bracket; 92. Second bracket; 93. Second servo motor; 94. Second screw rod; 95. Third servo motor; 96. Third screw rod; 97. Switch bracket; 98. Switch motor; 10. Jet hole. DETAILED DESCRIPTION

[0034] The following is combined with Figure 1-6 This application is described in further detail.

[0035] The present application embodiment discloses a dual-station interactive robot grinding device, referring to Figure 1 , including a feeding table 1, a first working table 2, a second working table 3 and a discharging table 4 arranged in a straight line, and a control module.

[0036] Reference Figure 1 A first multi-axis robot 5 and a second multi-axis robot 6 are respectively arranged on the first workbench 2 and the second workbench 3. After the finished blank casting is placed on the feed table 1, the first multi-axis robot 5 will gradually grab it from the feed table 1 and transport it to the first workbench 2 for grinding and finishing to remove burrs.

[0037] Reference Figure 1 and Figure 5A workpiece zeroing device 7 is provided on the feed table 1 to place the casting placed on the feed table 1 to a standard position for easy subsequent grabbing. The workpiece zeroing device 7 includes two zeroing baffles 71 vertically mounted on the surface of the feed table 1, and pressure sensors 72 are mounted on opposite sides of the two zeroing baffles 71. The two zeroing baffles 71 are perpendicular to each other, and the two zeroing baffles 71 are respectively located on the adjacent two sides of the workbench.

[0038] Reference Figure 1 and Figure 5 The workpiece zeroing device 7 also includes a first electric cylinder 75 and a second electric cylinder 76. The first electric cylinder 75 and the second electric cylinder 76 are both mounted on the loading platform. A first push plate 73 and a second push plate 74 are fixedly mounted on the piston rods of the first electric cylinder 75 and the second electric cylinder 76, respectively. The first push plate 73 is parallel to one of the zeroing baffles 71, and the second push plate 74 is parallel to the other zeroing baffle 71. After the casting is placed on the loading platform, the first electric cylinder 75 starts to push the casting to the zeroing baffle 71 through the first push plate 73. After the pressure sensor 72 of the zeroing baffle 71 senses the pressure, the first electric cylinder 75 stops pushing and returns to its original position. Then the second electric cylinder 76 starts to push the casting to the pressure sensor 72 of the other zeroing baffle 71 in the same way, and then the second electric cylinder 76 returns to zero, completing the positioning of the casting.

[0039] Reference Figure 2 and Figure 5 The first electric cylinder 75, the second electric cylinder 76 and the two pressure sensors 72 are all electrically connected to the control module, and the operation of the above-mentioned equipment is controlled by the control module. At the same time, a horizontal slide rail 11 is installed on the side walls of both sides of the loading platform where the zeroing baffle 71 is installed, and a magnetic attraction strip 12 is fixedly installed on the slide rail 11 along its length direction.

[0040] Reference Figure 2 , Figure 5 and Figure 6 A base 14 is slidably installed on the slide rail 11, and a travel switch 13 is fixedly installed on the base 14. A positioning plate 141 made of magnetic metal material is fixedly embedded on the bottom wall of the base 14. The positioning plate 141 is preliminarily fixed to the base 14 through magnetic attraction with the magnetic attraction bar 12. At the same time, the positioning plate 141 made of metal material facilitates the base 14 to slide more smoothly.

[0041] Reference Figure 5 and Figure 6A mounting hole 142 is provided on the bottom wall of the base 14, a fixing block 143 is slidably installed in the mounting hole 142, a magnet 144 is embedded on the side of the fixing block 143 facing the opening of the mounting hole 142, a roller 145 is rotatably installed inside the base 14, a pull rope 146 is wound around the roller 145, one end of the pull rope 146 is fixedly connected to the fixing block 143, the other end of the pull rope 146 slides through the base 14 and is located outside, and a pull ring 147 is fixedly installed on the end of the pull rope 146 located outside. After adjusting the base 14 to the corresponding position, loosen the pull rope 146, and the magnet 144 is adsorbed on the magnetic strip 12 to fix the base 14.

[0042] Reference Figure 5 and Figure 6 A limit rod 77 is fixedly mounted on each of the first push plate 73 and the second push plate 74. The limit rod 77 is used to cooperate with the travel switch 13 to limit the first push plate 73 or the second push plate 74. When the pushing stroke of the first push plate 73 or the second push plate 74 is excessive, the limit rod 77 will contact the travel switch 13, and the travel switch 13 will stop the movement of the first electric cylinder 75 or the second electric cylinder 76 after being triggered. The first electric cylinder 75, the second electric cylinder 76 and the travel switch 13 are also controlled by the control module.

[0043] Reference Figure 1 and Figure 4 , a horizontal first rail 21 is fixedly installed on the first workbench 2, a first slider 22 is slidably installed in the first rail 21, and a first multi-axis robot 5 is fixedly installed on the first slider 22. A first screw rod 23 is horizontally installed and rotated along the length direction of the first rail 21, and a first servo motor 24 is also fixedly installed on the first rail 21. The first servo motor 24 is transmission-connected with the first screw rod 23, and the first screw rod 23 passes through the first slider 22 and is threadedly engaged with the first slider 22. The first slider 22 is driven by the cooperation between the first servo motor 24 and the first screw rod 23. A second rail 31 is horizontally fixedly installed on the second workbench 3 on one side relative to the first rail 21, and the second rail 31 is parallel to the first rail 21. A second slider 32 is slidably installed on the second rail 31, and a first screw rod and a first servo motor 24 are also installed on the second rail 31. The second slider 32 is driven in the same way as the first rail 21, and the second multi-axis robot 6 is fixedly installed on the second slider 32.

[0044] Reference Figure 3 and Figure 4The first slider 22 and the second slider 32 are provided with an air jet hole 10 on the opposite side walls along the sliding direction thereof, and the air jet hole 10 sprays toward the first track 21 or the second track 31. At the same time, the air jet hole 10 is connected to the air compressor through an air pipe, and a solenoid valve is installed on the air outlet of the air compressor to control the air outlet. The solenoid valve is also electrically connected to the control module.

[0045] Reference Figure 3 and Figure 4 When the first slider 22 or the second slider 32 slides, the control module opens the solenoid valve, and the air compressor delivers compressed air to the jet hole 10 to blow away the impurities and iron filings on the first track 21 or the second track 31, thereby preventing the first slider 22 or the second slider 32 from sliding, getting stuck, or even getting stuck due to the impurities or iron filings.

[0046] Reference Figure 1 The two first servo motors 24 and the first multi-axis robot 5 and the second multi-axis robot 6 are also controlled by the control module. At the same time, the two ends of the first track 21 extend to the loading platform and the second workbench 3 respectively, so that the first multi-axis robot 5 can pick up the castings that have been polished on five sides and transport them to the second workbench 3 to be docked with the second multi-axis robot 6 to polish the remaining side. One end of the second track 31 extends to the unloading platform 4, so that the second multi-axis robot 6 can transport the polished castings to the unloading platform 4 for shipment.

[0047] Reference Figure 1 and Figure 4 , along the length direction of the first rail 21, a rigid milling cutter 8 is first rotatably installed on the first workbench 2 to remove burrs on the plane of the casting. At the same time, three polished rods 9 are vertically fixedly installed on the first workbench 2 and a second screw rod 94 is vertically rotatably installed. The three polished rods 9 and the second screw rod 94 are distributed in a rectangular shape. A first bracket 91 is slidably installed on the three polished rods 9, and the second screw rod 94 passes through the first bracket 91 and is threadedly matched with the first bracket 91. A second servo motor 93 is fixedly installed on the first workbench 2, and the second servo motor 93 is transmission-connected to the second screw rod 94 to drive the first bracket 91 to rise and fall.

[0048] Reference Figure 1 and Figure 4 A second bracket 92 is horizontally slidably mounted on the first bracket 91, and a third screw rod 96 is also horizontally rotatably mounted on the first bracket 91. The third screw rod 96 passes through the second bracket 92 and is threadedly engaged with the second bracket 92. A third servo motor 95 transmission-connected to the third screw rod 96 is fixedly mounted on the first bracket 91, and the second bracket 92 is driven to slide horizontally through the cooperation between the third servo motor 95 and the third screw rod 96.

[0049] Reference Figure 1 and Figure 4 A switching bracket 97 is horizontally rotatably mounted on the bottom wall of the second bracket 92, and a floating wire brush 81 and a floating file 82 are fixedly mounted on both ends of the switching bracket 97. A switching motor 98 is fixedly mounted on the second bracket 92 to drive the switching bracket 97 to rotate. A rigid milling cutter 8 is also mounted on the second workbench 3, and a floating wire brush 81 and a floating file 82 are also mounted in the same manner.

[0050] The implementation principle of the double-station interactive robot polishing device of the embodiment of the present application is as follows: initially, a casting is placed on the loading table, and then the first electric cylinder 75 is started to push the casting until it is close to the pressure sensor 72 and then stops, and after the pull rope 146 is pulled to separate the magnet 144 from the magnetic strip 12, the base 14 is slid until the travel switch 13 contacts the limit rod 77 on the first push plate 73, and then the pull rope 146 is loosened to make the magnet 144 adsorbed on the magnetic strip 12 to fix the base 14. Then, the other base 14 is positioned in the same way to complete the preparation work.

[0051] To start deburring the casting, the operator first places the casting on the loading table in the desired direction, then starts the equipment, and the first electric cylinder 75 and the second electric cylinder 76 work in sequence to push the casting until its adjacent sides are respectively pressed against the two zeroing baffles 71 to complete the alignment of the casting position. The first multi-axis robot 5 slides to the loading table to clamp one of the faces of the casting, and then slides with the casting to the first workbench 2, and the casting is deburred by the rigid milling cutter 8, the floating wire brush 81 and the floating file 82. Five of the surfaces are deburred and polished. After completion, the first multi-axis robot 5 slides to the second workbench 3. The second multi-axis robot 6 clamps the end of the casting opposite to the first multi-axis robot 5. Then the first multi-axis robot 5 is released and reset to zero. The second multi-axis robot 6 uses the rigid milling cutter 8, floating wire brush 81 and floating file 82 on the second workbench 3 to deburr and polish the remaining surfaces of the casting. After polishing, the second multi-axis robot 6 slides to the unloading table 4 and places the casting on the unloading table 4 for unloading.

[0052] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A dual-station interactive robot polishing device, comprising a feed table (1), a first work table (2), a second work table (3), a discharge table (4) and a control module, characterized in that: The first workbench (2) is provided with a first multi-axis robot (5) for transporting a workpiece from the feed table (1) to the first workbench (2); the first workbench (2) is provided with a rigid milling cutter (8), a floating wire brush (81) and a floating file (82) for cooperating with the first multi-axis robot (5) to grind the five surfaces of the workpiece; the second workbench (3) is provided with a second multi-axis robot (6) for transporting the workpiece from the first workbench (2) to the second workbench (3); the second workbench (3) is provided with a rigid milling cutter (8), a floating wire brush (81) and a floating file (82) for cooperating with the second multi-axis robot (6) grinding the sixth surface of the workpiece, the second multi-axis robot (6) is also used to transfer the workpiece from the second workbench (3) to the discharge table (4) for discharge, and the control module is used to control the operation of the above-mentioned equipment; the feed table (1) is provided with a workpiece zeroing device (7), the workpiece zeroing device (7) comprises two zeroing baffles (71) and two pressure sensors (72), the two zeroing baffles (71) are vertically mounted on the table surface of the feed table (1), and the zeroing baffles (71) are perpendicular to each other, the two pressure sensors (72) are respectively mounted on the opposite sides of the two zeroing baffles (71), and the feed table (1) is provided with a first push plate (7 3) and a second push plate (74), the feed table (1) is also provided with a first electric cylinder (75) and a second electric cylinder (76), the first push plate (73) is mounted on the piston rod of the first electric cylinder (75), the second push plate (74) is mounted on the piston rod of the second electric cylinder (76), the first push plate (73) and one of the zeroing baffles (71) are parallel to and correspond to each other, the second push plate (74) and the other zeroing baffle (71) are parallel to and correspond to each other, the pressure sensor (72) and the first electric cylinder (75) and the second electric cylinder (76) are all electrically connected to the control module; the feed table (1) is rectangular, and the two zeroing baffles (71) are respectively located at the feed table (1) and the second electric cylinder (76). On the adjacent two sides of the material table (1), a travel switch (13) is arranged on the side wall of the feed table (1) on the side where the zeroing baffle (71) is located, and a limit rod (77) is arranged on the first push plate (73) and the second push plate (74) for cooperating with the travel switch (13) to limit the first push plate (73) or the second push plate (74); when the first push plate (73) pushes the workpiece against the zeroing baffle (71), the limit rod (77) of the first push plate (73) contacts the travel switch (13); when the second push plate (74) pushes the workpiece against the zeroing baffle (71), the limit rod (77) of the second push plate (74) contacts the travel switch (13);A slide rail (11) is horizontally arranged on different side walls of the feed table, a magnetic strip (12) is arranged on the slide rail (11) along its length direction, a base (14) is slidably installed on the slide rail (11), a positioning plate (141) made of magnetic material is installed on the bottom wall of the base (14), the positioning plate (141) is in contact with the magnetic strip (12), and the travel switch (13) is installed on the base (14); the two slide rails (11) are respectively arranged on the side walls of the feed table where the zeroing baffle (71) is installed; the bottom wall of the base (14) is provided with A mounting hole (142), a fixing block (143) is slidably mounted in the mounting hole (142), a magnet (144) is embedded on a side wall of the fixing block (143) facing the opening of the mounting hole (142), a roller (145) is rotatably mounted in the base (14), a pull rope (146) is wound around the roller (145), one end of the pull rope (146) is connected to the fixing block (143), the other end of the pull rope (146) slides through the base (14) and is located outside, and a pull ring (147) is installed on the end of the pull rope (146) located outside. ; 2. A dual-station interactive robot polishing device according to claim 1, characterized in that: A first rail (21) is horizontally arranged on the first workbench (2), a first slider (22) is slidably mounted on the first rail (21), the first multi-axis robot (5) is mounted on the first slider (22), a first screw rod (23) is rotatably mounted on the first rail (21), the axis of the first screw rod (23) is parallel to the length direction of the first rail (21), a first servo motor (24) is arranged on the first rail (21), the first servo motor (24) is transmission-connected to the first screw rod (23), the first screw rod (23) passes through the first slider (22) and is threadedly engaged with the first slider (22), and the first rail (21) extends to the second workbench (3) and the feeding table, the second workbench (3) is horizontally provided with a second rail (31), a second slider (32) is slidably installed on the second rail (31), the second rail (31) is provided with the first servo motor (24) and the first screw rod (23) in the same manner as the first rail (21), the first servo motor (24) and the first screw rod (23) drive the second slider (32) to slide in the same manner as the first rail (21), the second multi-axis robot (6) is installed on the second slider (32), and the second rail (31) extends to the discharging table (4).

3. A dual-station interactive robot polishing device according to claim 1, characterized in that: A plurality of vertical polished rods (9) are mounted on the first workbench (2), a first bracket (91) is arranged on the polished rods (9), all of the polished rods (9) slide through the first bracket (91), a second bracket (92) is horizontally slidably mounted on the first bracket (91), a floating file (82) and the floating wire brush (81) are mounted on the second bracket (92), a second servo motor (93) and a second screw rod (94) are mounted on the first workbench (2), the second screw rod (94) is vertically rotatably mounted and passes through the first bracket (91), and the second screw rod (94) is rotatably mounted on the first workbench (2). A bracket (91) is threadedly engaged, the second servo motor (93) is transmission-connected to the second screw rod (94), a third servo motor (95) and a third screw rod (96) are installed on the first bracket (91), the third screw rod (96) is rotationally installed along the sliding direction of the second bracket (92), the third screw rod (96) passes through the second bracket (92) and is threadedly engaged with the second bracket (92), and the third servo motor (95) is transmission-connected to the third screw rod (96); the floating file (82) and the wire brush on the second workbench (3) are installed in the same manner as the first workbench (2).

4. A dual-station interactive robot polishing device according to claim 3, characterized in that: A switching bracket (97) is rotatably mounted on each of the two second brackets (92); the floating wire brush (81) and the floating file (82) are mounted on the switching bracket (97); a switching motor (98) is mounted on each of the second brackets (92); and the switching motor (98) is in driving connection with the switching bracket (97).

5. The dual-station interactive robot polishing device according to claim 2, characterized in that: The first sliding block (22) is provided with jet holes (10) on both side walls opposite to each other along the sliding direction of the first track (21), and the jet holes (10) spray in the direction of the first track (21). The jet holes (10) are connected to the air compressor via an air pipe, and the second sliding block (32) is also provided with the same jet holes (10) and is connected to the air compressor in the same manner.

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