Automatic grinding device with manipulator

Abstract

The invention relates to the technical field of workpiece polishing, in particular to an automatic polishing device with a manipulator, which comprises a workbench used for assembling the polishing device; and the back surface of the workbench is fixedly connected with a supporting table. According to the device, the fixed end of the grinding cutter is suspended on the rear surface of the workpiece, so that a second sensor and a positioning strip are located on the same axis, the second sensor senses the distance between the second sensor and the positioning strip, an electric telescopic rod is started through a controller, the electric telescopic rod stretches out, a toothed plate is meshed with the top of a synchronous toothed belt, and the workpiece is ground. The fixed end of the grinding cutter conducts left-right reciprocating grinding along the horizontal line, the cam column rotates, and the cam rod starts to conduct left-right reciprocating motion through limiting of the limiting frame, so that the sliding plate and the grinding tool are driven to conduct left-right reciprocating motion, the bottom of a workpiece is ground, secondary grinding of the workpiece is not needed, and the machining efficiency of the workpiece is improved.

Description

Technical Field

[0001] The invention relates to the technical field of workpiece grinding, in particular to an automatic grinding device with a manipulator. Background Art

[0002] Grinding is a type of surface modification technology. It generally refers to a processing method that uses rough objects to change the physical properties of the material surface through friction. The main purpose is to obtain a specific surface roughness.

[0003] According to a grinding device proposed in Chinese patent authorization announcement number CN114012573B, it includes a support frame, a driving mechanism, a clamping mechanism and an elastic grinding mechanism. The driving mechanism and the clamping mechanism are both arranged on the support frame. The clamping mechanism can move relative to the support frame and fix the part to be ground to the support frame. The driving mechanism is connected to the elastic grinding mechanism to drive the elastic grinding mechanism to move vertically, horizontally and longitudinally relative to the support frame. The elastic grinding mechanism is used to contact the part to be ground to grind the part. The grinding device provided by the present invention does not require manual hand-held angle grinders to operate, which can improve the efficiency of cleaning operations; However, the above-mentioned grinding mechanism cannot grind the bottom of the workpiece during grinding. After grinding, the workpiece needs to be removed, the bottom surface is placed on the top, and then ground, resulting in the need for secondary processing of the workpiece, which affects the processing efficiency of the workpiece. Summary of the invention

[0004] To this end, the present invention provides an automatic grinding device with a robot to solve the above-mentioned problems.

[0005] The present invention provides the following technical solution: an automatic grinding device with a manipulator, comprising a workbench, wherein the workbench is used for assembling the grinding device; A manipulator component, the back surface of the workbench is fixedly connected to a support table, and a manipulator component is fixedly provided on the top of the support table, and the manipulator component is used for grinding the workpiece; A clamping component is provided on the top of the workbench, and the clamping component is used for clamping the workpiece; A synchronous grinding component is provided on the top of the workbench, and the synchronous grinding component is used for grinding the bottom of the workpiece.

[0006] As a preferred solution of the present invention, the manipulator component includes a mechanical arm, the bottom of the mechanical arm is fixedly connected to the center of the top of the support platform, the output end of the mechanical arm is fixedly connected to the sharpening fixed end through a coupling, and a controller is fixedly installed at the bottom of the support platform; The clamping component includes a bidirectional screw rod, the surface of which is rotatably connected to the inner wall of the workbench, and a first slide rod is fixedly connected to the front side of the workbench, and the first slide rod and the bidirectional screw rod are symmetrically distributed front and back; The synchronous grinding component comprises an L-shaped plate, the top of the L-shaped plate is fixedly connected to the top of the inside of the workbench, there are two L-shaped plates, and the two L-shaped plates are symmetrically distributed on the left and right.

[0007] As a preferred solution of the present invention, a knife sharpening replacement platform is fixedly connected to the left side of the top of the support platform, a first sensor is fixedly connected to the top of the knife sharpening replacement platform, the output end of the controller is electrically connected to the receiving end of the first sensor, the output end of the controller is electrically connected to a robotic arm, a positioning infrared camera is fixedly installed on one side of the knife sharpening fixed end, a second sensor is fixedly connected to the bottom of the knife sharpening fixed end, an electric telescopic rod is fixedly connected to the inside of the knife sharpening fixed end, a toothed plate is fixedly connected to the protruding end of the electric telescopic rod, a screw is rotatably connected to the inner wall of the L-shaped plate on the left, a second sliding rod is fixedly connected to the inner wall of the L-shaped plate on the right, a lifting frame is threadedly sleeved on the surface of the screw, and the hole wall of the lifting frame is slidably connected to the surface of the second sliding rod.

[0008] As a preferred solution of the present invention, the output end of the controller is electrically connected to the receiving end of the sharpening fixed end, the output end of the controller is electrically connected to the receiving end of the positioning infrared camera, and the output end of the controller is electrically connected to the receiving end of the electric telescopic rod.

[0009] As a preferred solution of the present invention, the top of the lifting frame is fixedly connected to a first support plate, the top of the first support plate is fixedly connected to a knife sharpening mounting frame, the top of the knife sharpening mounting frame is penetrated by a slide groove, the top of the knife sharpening mounting frame is installed with a grinder, the bottom of the grinder is fixedly connected to a slide plate, the surface of the slide plate is slidably connected to the inner wall of the slide groove, the left and right sides of the rear side of the bottom of the knife sharpening mounting frame are fixedly connected to a second support plate, the inner wall of the second support plate is rotatably connected to a first rotating rod, the rear end of the first rotating rod is fixedly connected to a synchronous wheel, the number of the synchronous wheels is two, the surfaces of the two synchronous wheels are sleeved with synchronous toothed belts, the The toothed plate is meshed with the synchronous toothed belt, the front end of the first rotating rod on the right side is fixedly connected with a worm gear, the top of the first support plate is fixedly connected with a third support plate, the inner wall of the third support plate is rotatably connected with the second rotating rod, the surface of the second rotating rod is fixedly sleeved with a worm gear, the worm gear is meshed with the worm gear, one end of the left side of the second rotating rod is fixedly connected with a cam column, the top of the first support plate is fixedly connected with a limited position frame, the inner wall of the limited position frame is slidably connected with a movable bracket, the bottom of the movable bracket is fixedly connected with a fixed frame, the inner wall of the fixed frame is plugged into the surface of the skateboard, and the rear side of the top of the first support plate is fixedly connected with a positioning strip.

[0010] As a preferred solution of the present invention, a cam rod is fixedly connected to the rear side of one right end of the movable bracket, and the surface of the cam rod is in contact with the groove wall of the cam column.

[0011] As a preferred solution of the present invention, a first motor is fixedly connected to the bottom of the left L-shaped plate, the output end of the first motor is fixedly connected to one end of the bottom of the screw through a coupling, and the output end of the controller is electrically connected to the receiving end of the first motor.

[0012] As a preferred solution of the present invention, connecting plates are threadedly sleeved on the left and right sides of the surface of the bidirectional screw rod, the outer side of the connecting plate is fixedly connected to a U-shaped frame, the top of the U-shaped frame is fixedly connected to a clamping plate, one side of the clamping plate is provided with a fixed slot, the number of the connecting plates is four, the inner wall of the rear connecting plate is slidably connected to the surface of the first sliding rod, the right side surface of the workbench is fixedly connected to a second motor, the output end of the second motor is fixedly connected to one end on the right side of the bidirectional screw rod through a coupling, and the output end of the controller is electrically connected to the receiving end of the second motor.

[0013] As a preferred solution of the present invention, a lifting opening is provided through the center of the top of the workbench.

[0014] As a preferred solution of the present invention, both the front and rear sides of the top of the workbench are provided with movable grooves, and the inner wall of the movable groove is slidably connected to the surface of the U-shaped frame.

[0015] Compared with the prior art, the present invention has the following beneficial effects: In the present invention, the controller controls the mechanical arm and the fixed end of the sharpening knife, and firstly processes the upper surface and the front surface of the workpiece. After sharpening, the fixed end of the sharpening knife is suspended at the rear surface of the workpiece, so that the second sensor and the positioning bar are on the same axis. The second sensor is started by the controller so that the second sensor senses the distance between the second sensor and the positioning bar. At this time, the mechanical arm controls the fixed end of the sharpening knife and the sharpening knife to contact with the rear surface of the workpiece. After the distance between the second sensor and the positioning bar is determined, the electric telescopic rod is started by the controller, and the electric telescopic rod is extended so that the tooth plate is meshed with the top of the synchronous toothed belt. At this time, the controller is used to start the electric telescopic rod. The robot arm and the fixed end of the grinder are controlled to grind the back surface of the workpiece. During the grinding process, the fixed end of the grinder performs reciprocating grinding along the horizontal line, so that the synchronous toothed belt moves left or right, and the two synchronous wheels rotate synchronously, so that the first rotating rod drives the worm to rotate, and the worm drives the worm wheel to rotate, so that the second rotating rod rotates, thereby driving the cam column to rotate. Through the limitation of the limit frame, the cam rod starts to reciprocate left and right, thereby driving the slide plate and the grinder to reciprocate left and right, and grinding the bottom of the workpiece. The workpiece does not need to be ground twice, thereby improving the processing efficiency of the workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a bottom view of the local structure in the present invention; Figure 3 It is a schematic diagram of the structure of the clamping component in the present invention; Figure 4 It is a schematic diagram of the structure of the robot components in the present invention; Figure 5 An exploded view of the structure of the synchronous grinding component in the present invention; Figure 6 It is a schematic diagram of the local structure of the synchronous grinding component in the present invention; Figure 7 It is an enlarged view of the structure at A in the present invention; Figure 8 It is an enlarged view of the structure at B in the present invention; Fig. 9 It is an enlarged view of the structure at position C in the present invention; Fig.10 It is an enlarged view of the structure at D in the present invention.

[0017] In the figure: 1, workbench; 2, support table; 3, controller; 4, manipulator component; 5, clamping component; 6, synchronous grinding component; 7, first sensor; 8, moving slot; 9, lifting port; 10, knife sharpening replacement table; 401, mechanical arm; 402, knife sharpening fixed end; 403, positioning infrared camera; 404, second sensor; 405, electric telescopic rod; 406, tooth plate; 501, second motor; 502, two-way screw rod; 503, first slide rod; 504, U-shaped frame; 505, connecting plate; 506, clamping plate; 507, fixed notch; 601, L-shaped plate; 602, first motor; 603, second slide bar; 604, screw rod; 605, lifting frame; 606, first support plate; 607, sharpening mounting frame; 608, sharpening tool; 609, slide plate; 610, slide groove; 611, positioning bar; 612, second support plate; 613, synchronous toothed belt; 614, first rotating rod; 615, synchronous wheel; 616, worm; 617, third support plate; 618, second rotating rod; 619, worm wheel; 620, cam column; 621, cam rod; 622, movable bracket; 623, limit frame; 624, fixed frame. DETAILED DESCRIPTION

[0018] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0019] See also Figure 1-10 The technical solution provided by the present invention specifically includes the following embodiments: Embodiment 1: An automatic grinding device with a manipulator, comprising a workbench 1, the workbench 1 is used for assembling the grinding device, and a lifting opening 9 is opened through the center of the top of the workbench 1; A manipulator component 4, the back surface of the workbench 1 is fixedly connected with a support platform 2, the top of the support platform 2 is fixedly provided with a manipulator component 4, and the manipulator component 4 is used for grinding the workpiece; the manipulator component 4 includes a manipulator arm 401, the bottom of the manipulator arm 401 is fixedly connected to the center of the top of the support platform 2, the output end of the manipulator arm 401 is fixedly connected to a sharpening fixed end 402 through a coupling, and a controller 3 is fixedly installed at the bottom of the support platform 2; A clamping component 5 is provided on the top of the workbench 1, and the clamping component 5 is used for clamping a workpiece; the clamping component 5 includes a bidirectional screw rod 502, the surface of which is rotatably connected to the inner wall of the workbench 1, and a first slide rod 503 is fixedly connected to the front side of the workbench 1, and the first slide rod 503 and the bidirectional screw rod 502 are symmetrically distributed front and back; A synchronous grinding component 6 is provided on the top of the workbench 1, and the synchronous grinding component 6 is used for grinding the bottom of the workpiece; the synchronous grinding component 6 includes an L-shaped plate 601, and the top of the L-shaped plate 601 is fixedly connected to the top inside the workbench 1. There are two L-shaped plates 601, and the two L-shaped plates 601 are symmetrically distributed on the left and right.

[0020] Specifically, the left side of the top of the support platform 2 is fixedly connected to a knife sharpening replacement platform 10, the top of the knife sharpening replacement platform 10 is fixedly connected to a first sensor 7, the output end of the controller 3 is electrically connected to the receiving end of the first sensor 7, the output end of the controller 3 is electrically connected to a mechanical arm 401, a positioning infrared camera 403 is fixedly installed on one side of the knife sharpening fixed end 402, the bottom of the knife sharpening fixed end 402 is fixedly connected to a second sensor 404, the interior of the knife sharpening fixed end 402 is fixedly connected to an electric telescopic rod 405, the protruding end of the electric telescopic rod 405 is fixedly connected to a toothed plate 406, the inner wall of the L-shaped plate 601 on the left is rotatably connected to a screw 604, and the inner wall of the L-shaped plate 601 on the right is fixedly connected to a toothed plate 406. The wall is fixedly connected with a second slide bar 603, the surface of the screw rod 604 is threadedly sleeved with a lifting frame 605, and the hole wall of the lifting frame 605 is slidably connected with the surface of the second slide bar 603; the output end of the controller 3 is electrically connected to the receiving end of the sharpening fixed end 402, the output end of the controller 3 is electrically connected to the receiving end of the positioning infrared camera 403, and the output end of the controller 3 is electrically connected to the receiving end of the electric telescopic rod 405; the top of the lifting frame 605 is fixedly connected with a first support plate 606, the top of the first support plate 606 is fixedly connected with a sharpening mounting frame 607, the top of the sharpening mounting frame 607 is penetrated by a slide groove 610, the top of the sharpening mounting frame 607 is installed with a grinder 608, and the grinder 608 is installed on the top of the grinder 608. The bottom of 08 is fixedly connected with a slide plate 609, and the surface of the slide plate 609 is slidably connected to the inner wall of the slide groove 610. The left and right sides of the rear side of the bottom of the sharpening mounting frame 607 are fixedly connected with a second support plate 612. The inner wall of the second support plate 612 is rotatably connected with a first rotating rod 614. The rear end of the first rotating rod 614 is fixedly connected with a synchronous wheel 615. The number of synchronous wheels 615 is two. The surfaces of the two synchronous wheels 615 are sleeved with synchronous toothed belts 613. The tooth plate 406 is meshed with the synchronous toothed belt 613. The front end of the first rotating rod 614 on the right side is fixedly connected with a worm 616. The top of the first support plate 606 is fixedly connected with a third support plate 617. The inner wall of the third support plate 617 is rotatably connected with A second rotating rod 618, a worm gear 619 is fixedly sleeved on the surface of the second rotating rod 618, the worm gear 619 is meshed with the worm 616, a cam column 620 is fixedly connected to one end on the left side of the second rotating rod 618, a limit frame 623 is fixedly connected to the top of the first supporting plate 606, a movable bracket 622 is slidably connected to the inner wall of the limit frame 623, a fixed frame 624 is fixedly connected to the bottom of the movable bracket 622, the inner wall of the fixed frame 624 is plugged into the surface of the slide plate 609, a positioning strip 611 is fixedly connected to the rear side of the top of the first supporting plate 606; a cam rod 621 is fixedly connected to the rear side of one end on the right side of the movable bracket 622, and the surface of the cam rod 621 is in contact with the groove wall of the cam column 620;The bottom of the L-shaped plate 601 on the left is fixedly connected with a first motor 602, the output end of the first motor 602 is fixedly connected to one end of the bottom of the screw 604 through a coupling, and the output end of the controller 3 is electrically connected to the receiving end of the first motor 602; The transmission mode of the cam column 620 and the cam rod 621 is cam transmission. The cam column 620 is a cylindrical cam. In this cam mechanism, the relative motion between the cam column 620 and the cam rod 621 is a spatial motion, and the cam rod 621 contacts the inner wall of the cam column 620, and is a component that transmits power and realizes a predetermined motion law, generally performing reciprocating linear motion or swinging.

[0021] The knife-grinding fixed end 402 is an industrial manipulator, which has accurate movements and can effectively fix the knife-grinding and use the knife-grinding for grinding processing; The second sensor 404 is an infrared distance sensor, which emits a particularly short light pulse and measures the time from the emission to the reflection of the object, and calculates the distance to the object by measuring the time interval. By setting the second sensor 404, when the positioning infrared camera 403 is positioned, the distance between the second sensor 404 and the positioning bar 611 can be better calculated, so as to better calculate the length that the electric telescopic rod 405 needs to be extended; The positioning bar 611 is the positioning base point of the second sensor 404. By using the positioning base point in conjunction with the infrared distance sensor, the distance between the second sensor 404 and the positioning bar 611 can be effectively calculated, thereby better calculating the length that the electric telescopic rod 405 needs to extend. The robot arm 401 and the fixed end head 402 for sharpening the knife are controlled by the controller 3. The upper surface and the front surface of the workpiece are first processed. After sharpening, the fixed end head 402 for sharpening the knife is suspended at the rear surface of the workpiece, so that the second sensor 404 and the positioning bar 611 are on the same axis. The second sensor 404 is started by the controller 3 so that the second sensor 404 senses the distance between the second sensor 404 and the positioning bar 611. At this time, the robot arm 401 controls the fixed end head 402 for sharpening the knife and the sharpening knife to contact with the rear surface of the workpiece. After the distance between the second sensor 404 and the positioning bar 611 is determined, the electric telescopic rod 405 is started by the controller 3. The electric telescopic rod 405 is extended so that the tooth plate 406 is meshed with the top of the synchronous toothed belt 613 ... Device 3 controls the robot arm 401 and the fixed end 402 for grinding the back surface of the workpiece. During the grinding process, since the fixed end 402 for grinding the knife reciprocates left and right along the horizontal line, the synchronous toothed belt 613 moves left or right, so that the two synchronous wheels 615 rotate synchronously, so that the first rotating rod 614 drives the worm 616 to rotate, so that the worm 616 drives the worm wheel 619 to rotate, so that the second rotating rod 618 rotates, thereby driving the cam column 620 to rotate, and through the limiting of the limiting frame 623, the cam rod 621 starts to reciprocate left and right, thereby driving the slide plate 609 and the grinder 608 to reciprocate left and right, and grinding the bottom of the workpiece. The workpiece does not need to be ground twice, thereby improving the processing efficiency of the workpiece.

[0022] The left and right sides of the surface of the bidirectional screw rod 502 are both threadedly sleeved with connecting plates 505, the outer side of the connecting plate 505 is fixedly connected to a U-shaped frame 504, the top of the U-shaped frame 504 is fixedly connected to a clamping plate 506, one side of the clamping plate 506 is provided with a fixed notch 507, the number of connecting plates 505 is four, the inner wall of the connecting plate 505 on the rear side is slidably connected to the surface of the first slide bar 503, the right side surface of the workbench 1 is fixedly connected to the second motor 501, the output end of the second motor 501 is fixedly connected to one end on the right side of the bidirectional screw rod 502 through a coupling, the output end of the controller 3 is electrically connected to the receiving end of the second motor 501, and the front and rear sides of the top of the workbench 1 are provided with moving grooves 8, and the inner wall of the moving groove 8 is slidably connected to the surface of the U-shaped frame 504; By inputting data of various workpieces and different specifications of knife sharpening into the controller 3, and then inputting different processing parameters into the controller 3, the slide plate 609 on the grinding tool 608 matching the bottom surface of the workpiece is inserted into the fixed frame 624, and the grinding end of the grinding tool 608 is in contact with the bottom surface of the workpiece. By placing the workpiece above the knife sharpening mounting frame 607, the robot arm 401 is started through the controller 3, and the robot arm 401 drives the knife sharpening fixed end 402 to move to the workpiece, and the image of the workpiece is analyzed by the positioning infrared camera 403, and matched with the data inside the controller 3. After the result is matched, the first motor 602 is started through the controller 3, and the first motor 602 rotates forward, driving the screw rod 604 to rotate forward, and the lifting frame 605 moves horizontally upward through the limiting of the second slide rod 603, so that the lifting frame 605 pushes the first support plate 606 and the knife sharpening mounting frame 607 to rise to the position matching the parameters. At this time, the second motor 501 is started by the controller 3, and the second motor 501 rotates forward, so that the bidirectional screw rod 502 rotates forward, thereby driving the left and right symmetrical connecting plates 505 to move inward. Due to the limitation of the first sliding rod 503, the left and right symmetrical connecting plates 505 move inward horizontally and synchronously, clamping and fixing the two sides of the sharpening mounting frame 607, thereby completing the fixation of workpieces of different specifications. After fixation, the manipulator component 4 is started by the controller 3, and the manipulator component 4 drives the sharpening fixed end 402 to move to the sharpening replacement table 10. The first sensor 7 is set to prevent the sharpening fixed end 402 from excessively falling, causing damage to the sharpening fixed end of the sharpening fixed end 402. The positioning infrared camera 403 is set to collect information on the sharpening, and matches it with the data inside the controller 3. After the judgment is completed, the sharpening corresponding to the workpiece is automatically replaced, realizing fully automatic switching and grinding, high compatibility, and high efficiency; The first sensor 7 is an infrared distance sensor, which calculates the distance to the object by emitting a particularly short light pulse and measuring the time from the emission to the reflection of the light pulse by the object, thereby preventing the sharpening fixed end 402 from excessively falling and causing damage to the sharpening fixed end of the sharpening fixed end 402.

[0023] In the present scheme, an automatic grinding device with a manipulator is firstly inputted into the controller 3 for a variety of workpieces and data of different specifications of grinding knives, and then different processing parameters are inputted into the controller 3, and the slide plate 609 on the grinding tool 608 matching the bottom surface of the workpiece is inserted into the fixed frame 624, at which time the grinding end of the grinding tool 608 contacts the bottom surface of the workpiece, and the workpiece is placed above the grinding knife mounting frame 607, and the robot arm 401 is started through the controller 3, and the robot arm 401 drives the grinding knife fixed end 402 to move to the workpiece, and the image of the workpiece is analyzed by the positioning infrared camera 403, and matched with the data inside the controller 3, and after the matching result is obtained, the first motor 602 is started through the controller 3, and the first motor 602 rotates forward, driving the screw rod 604 to rotate forward, and the lifting frame 605 moves upward horizontally through the limiting of the second slide bar 603, so that the lifting frame 605 pushes the first support plate 606 and the grinding knife mounting frame 607. When the tool 502 is moved to the position matching the parameters, the second motor 501 is started by the controller 3, and the second motor 501 rotates forward, so that the bidirectional screw rod 502 rotates forward, thereby driving the left-right symmetrical connecting plate 505 to move inward. Due to the limitation of the first slide bar 503, the left-right symmetrical connecting plate 505 moves inward horizontally and synchronously, clamping and fixing the two sides of the tool grinding mounting frame 607, thereby completing the fixation of workpieces of different specifications. After fixation, the manipulator component 4 is started by the controller 3, and the manipulator component 4 drives the tool grinding fixed end 402 to move to the tool grinding replacement station 10. The first sensor 7 is set to prevent the tool grinding fixed end 402 from excessively falling, causing damage to the tool grinding fixed end of the tool grinding fixed end 402. The positioning infrared camera 403 is set to collect information on the tool grinding, and matches it with the data inside the controller 3. After the judgment is completed, the tool grinding corresponding to the workpiece is automatically replaced, realizing fully automatic switching grinding, high compatibility and high efficiency. The robot arm 401 and the fixed end head 402 for sharpening the knife are controlled by the controller 3. The upper surface and the front surface of the workpiece are first processed. After sharpening, the fixed end head 402 for sharpening the knife is suspended at the rear surface of the workpiece, so that the second sensor 404 and the positioning bar 611 are on the same axis. The second sensor 404 is started by the controller 3 so that the second sensor 404 senses the distance between the second sensor 404 and the positioning bar 611. At this time, the robot arm 401 controls the fixed end head 402 for sharpening the knife and the sharpening knife to contact with the rear surface of the workpiece. After the distance between the second sensor 404 and the positioning bar 611 is determined, the electric telescopic rod 405 is started by the controller 3. The electric telescopic rod 405 is extended so that the tooth plate 406 is meshed with the top of the synchronous toothed belt 613 ... Device 3 controls the robot arm 401 and the fixed end 402 for grinding the back surface of the workpiece. During the grinding process, since the fixed end 402 for grinding the knife reciprocates left and right along the horizontal line, the synchronous toothed belt 613 moves left or right, so that the two synchronous wheels 615 rotate synchronously, so that the first rotating rod 614 drives the worm 616 to rotate, so that the worm 616 drives the worm wheel 619 to rotate, so that the second rotating rod 618 rotates, thereby driving the cam column 620 to rotate, and through the limiting of the limiting frame 623, the cam rod 621 starts to reciprocate left and right, thereby driving the slide plate 609 and the grinder 608 to reciprocate left and right, and grinding the bottom of the workpiece. The workpiece does not need to be ground twice, thereby improving the processing efficiency of the workpiece.

[0024] While the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the invention.

Claims

1. An automatic grinding device with a manipulator, characterized in that: It comprises a workbench (1), wherein the workbench (1) is used for assembling a grinding device; A manipulator component (4), wherein the back surface of the workbench (1) is fixedly connected to a support platform (2), and a manipulator component (4) is fixedly provided on the top of the support platform (2), and the manipulator component (4) is used for grinding a workpiece; A clamping component (5), wherein the top of the workbench (1) is provided with a clamping component (5), and the clamping component (5) is used for clamping a workpiece; A synchronous grinding component (6), wherein the top of the workbench (1) is provided with a synchronous grinding component (6), and the synchronous grinding component (6) is used for grinding the bottom of a workpiece.

2. The automatic grinding device with a manipulator according to claim 1, characterized in that: The robot component (4) comprises a robot arm (401), the bottom of the robot arm (401) is fixedly connected to the center of the top of the support platform (2), the output end of the robot arm (401) is fixedly connected to a sharpening fixed end (402) via a coupling, and a controller (3) is fixedly installed at the bottom of the support platform (2); The clamping component (5) comprises a bidirectional screw rod (502), the surface of the bidirectional screw rod (502) being rotatably connected to the inner wall of the workbench (1), a first sliding rod (503) being fixedly connected to the front side of the workbench (1), and the first sliding rod (503) and the bidirectional screw rod (502) being symmetrically distributed front and back; The synchronous grinding component (6) comprises an L-shaped plate (601), the top of the L-shaped plate (601) being fixedly connected to the top of the inside of the workbench (1), and the number of the L-shaped plates (601) is two, and the two L-shaped plates (601) are symmetrically distributed on the left and right.

3. The automatic grinding device with a manipulator according to claim 2, characterized in that: A knife sharpening replacement platform (10) is fixedly connected to the left side of the top of the support platform (2), a first sensor (7) is fixedly connected to the top of the knife sharpening replacement platform (10), an output end of the controller (3) is electrically connected to a receiving end of the first sensor (7), an output end of the controller (3) is electrically connected to a mechanical arm (401), a positioning infrared camera (403) is fixedly installed on one side of the knife sharpening fixed end (402), and a second sensor (404) is fixedly connected to the bottom of the knife sharpening fixed end (402). ), the interior of the knife sharpening fixed end (402) is fixedly connected to an electric telescopic rod (405), the extended end of the electric telescopic rod (405) is fixedly connected to a toothed plate (406), the inner wall of the left L-shaped plate (601) is rotatably connected to a screw rod (604), the inner wall of the right L-shaped plate (601) is fixedly connected to a second sliding rod (603), the surface of the screw rod (604) is threadedly sleeved with a lifting frame (605), and the hole wall of the lifting frame (605) is slidably connected to the surface of the second sliding rod (603).

4. The automatic grinding device with a manipulator according to claim 3, characterized in that: The output end of the controller (3) is electrically connected to the receiving end of the knife sharpening fixed end (402), the output end of the controller (3) is electrically connected to the receiving end of the positioning infrared camera (403), and the output end of the controller (3) is electrically connected to the receiving end of the electric telescopic rod (405).

5. The automatic grinding device with a manipulator according to claim 3, characterized in that: The top of the lifting frame (605) is fixedly connected to a first support plate (606), the top of the first support plate (606) is fixedly connected to a knife sharpening mounting frame (607), a slide groove (610) is provided through the top of the knife sharpening mounting frame (607), a grinder (608) is installed on the top of the knife sharpening mounting frame (607), the bottom of the grinder (608) is fixedly connected to a slide plate (609), the surface of the slide plate (609) is slidably connected to the inner wall of the slide groove (610), the left and right sides of the rear side of the bottom of the knife sharpening mounting frame (607) are fixedly connected to second support plates (612), the inner wall of the second support plate (612) is rotatably connected to a first rotating rod (614), the rear end of the first rotating rod (614) is fixedly connected to a synchronous wheel (615), the number of the synchronous wheels (615) is two, the surfaces of the two synchronous wheels (615) are sleeved with a synchronous toothed belt (613), the tooth plate (406) and the synchronous toothed belt ( The first support plate (606) is meshed with a third support plate (613), the front end of the first rotating rod (614) on the right side is fixedly connected to a worm gear (616), the top of the first support plate (606) is fixedly connected to a third support plate (617), the inner wall of the third support plate (617) is rotatably connected to a second rotating rod (618), the surface of the second rotating rod (618) is fixedly sleeved with a worm gear (619), the worm gear (619) is meshed with the worm gear (616), one end of the left side of the second rotating rod (618) is fixedly connected to a cam column (620), the top of the first support plate (606) is fixedly connected to a limit frame (623), the inner wall of the limit frame (623) is slidably connected to a movable bracket (622), the bottom of the movable bracket (622) is fixedly connected to a fixed frame (624), the inner wall of the fixed frame (624) is plugged into the surface of the slide plate (609), and the rear side of the top of the first support plate (606) is fixedly connected to a positioning strip (611).

6. The automatic grinding device with a manipulator according to claim 5, characterized in that: A cam rod (621) is fixedly connected to the rear side of one right end of the movable bracket (622), and the surface of the cam rod (621) abuts against the groove wall of the cam column (620).

7. The automatic grinding device with a manipulator according to claim 3, characterized in that: A first motor (602) is fixedly connected to the bottom of the left L-shaped plate (601); an output end of the first motor (602) is fixedly connected to one end of the bottom of the screw rod (604) via a coupling; and an output end of the controller (3) is electrically connected to a receiving end of the first motor (602).

8. The automatic grinding device with a manipulator according to claim 2, characterized in that: The left and right sides of the surface of the bidirectional screw rod (502) are both threadedly sleeved with connecting plates (505), the outer side of the connecting plate (505) is fixedly connected to a U-shaped frame (504), the top of the U-shaped frame (504) is fixedly connected to a clamping plate (506), one side of the clamping plate (506) is provided with a fixing notch (507), the number of the connecting plates (505) is four, the inner wall of the rear connecting plate (505) is slidably connected to the surface of the first sliding rod (503), the right side surface of the workbench (1) is fixedly connected to a second motor (501), the output end of the second motor (501) is fixedly connected to one end of the right side of the bidirectional screw rod (502) through a coupling, and the output end of the controller (3) is electrically connected to the receiving end of the second motor (501).

9. The automatic grinding device with a manipulator according to claim 1, characterized in that: A lifting opening (9) is provided through the center of the top of the workbench (1).

10. The automatic grinding device with a manipulator according to claim 8, characterized in that: The front and rear sides of the top of the workbench (1) are both provided with movable grooves (8), and the inner wall of the movable groove (8) is slidably connected to the surface of the U-shaped frame (504).

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