An intelligent device for removing particles from metal plate surfaces based on robot grinding technology

Abstract

The present invention discloses an intelligent device for removing granules on the surface of a metal plate based on robot polishing technology, which relates to the technical field of polishing devices, including: a conveying component for conveying a metal plate; a loading robot; a unloading robot; a material blocking component; a lifting component for lifting and fixing a metal plate; a polishing robot; and a flipping component for flipping a metal plate to throw out the polished particles. The present invention polishes the metal plate by setting six polishing robots and dividing them into three workstations. The two polishing robots at each workstation polish synchronously in a centrally symmetrical manner. The areas covered by the two polishing robots at each polishing workstation are fixed and unchanged and completely cover all welding points together, so that the polishing robot does not need to move too much distance, reducing the area that the polishing robot needs to cover, thereby improving the polishing efficiency and polishing accuracy; each workstation can work at the same time, which improves the polishing efficiency.

Description

Technical Field

[0001] The present invention relates to the technical field of grinding devices, and in particular to an intelligent device for removing particles from the surface of a metal plate based on a robot grinding technology. Background Art

[0002] In the process of cargo transportation, metal box is an important container, which provides superior protection and efficiency. It meets the requirements of metal box for cross-regional and long-distance logistics transmission equipment, that is, the structure is stable, pressure-resistant and non-deformed. After the bending process is completed, the metal plate needs to be welded to the metal frame. After welding, welding slag and other particles will remain on the surface of the metal plate. If they are not removed, they can easily scratch the user or the built-in goods.

[0003] Due to the large number of welding points, manual grinding of welding joints is time-consuming and laborious, and the processing efficiency is low. In addition, the traditional manual grinding process is also accompanied by high environmental pollution problems, generating a large amount of metal dust, affecting air quality, and having a negative impact on the surrounding environment. At the same time, the smoke and harmful gases released during welding also pose a potential threat to the health of the operator, and may cause respiratory diseases, skin irritation and other health problems. Comprehensively considered, these factors limit the application of manual welding and grinding processes in high-precision and high-efficiency production.

[0004] The existing grinding equipment generally has a low degree of automation. The grinding process relies on manual loading and unloading and fixing of workpieces, resulting in limited grinding efficiency. Specifically, the grinding process usually requires the operator to manually place the metal plate to be processed on the equipment and ensure that it is properly fixed for subsequent grinding operations. This process is not only time-consuming and labor-intensive, but also easy to cause production bottlenecks, especially in large-scale production. In addition, the slag particles on the metal plate are usually present near the surface of the metal plate, covering a wide area (the distribution of weld points is shown in Figure 2). Fig.16 As shown, these welds are distributed around the metal plate and at the connection points between the metal frame and the metal plate). The existing grinding equipment needs to move along the path of the welds for grinding. Since the path is long, the grinding structure needs to move along the path from beginning to end, which makes the grinding efficiency low and is not suitable for assembly line operation. In addition, to cover the entire surface of the metal plate, the grinding structure needs to move in a larger range, which makes the operation accuracy lower and prone to missing points. Summary of the invention

[0005] The purpose of the present invention is to provide an intelligent device for removing particles on the surface of metal plates based on robot grinding technology to solve the problem of large number of particles, wide distribution of particles and low grinding efficiency.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] The present invention provides an intelligent device for removing particles on the surface of a metal plate based on robot grinding technology, comprising a grinding component; further comprising: a conveying component, which is arranged as a roller conveyor line for conveying metal plates; a loading robot, which is arranged to place the metal plate to be ground on the conveying component; a unloading robot, which is arranged to remove the ground metal plate from the conveying component; a material blocking component, which is arranged to block the metal plate at the grinding position; a lifting component, which is arranged to lift the blocked metal plate until it is separated from the roller in the conveying component, and fix the lifted metal plate; six grinding robots are arranged, and the six grinding robots are symmetrically arranged on both sides of the conveying component, and the grinding component is installed at the movable end of the grinding robot, and the grinding robot is used to control the grinding component to move to the grinding position, each grinding component corresponds to a different grinding area on the surface of the metal plate, and the grinding component can control the grinding degree through the grinding resistance; a flipping component, which is arranged to flip the metal plate to throw out the ground particles.

[0008] The above technical solution is adopted, by arranging six grinding robots distributed on both sides of the conveying component, and the six grinding robots are divided into three groups corresponding to three grinding stations, the area covered by the two grinding robots at each grinding station is fixed, the first two grinding stations grind the four corners of the metal plate and two opposite sides thereof, and the other station corresponds to the grinding of a small section in the middle of the metal plate. During the process, the grinding robot at each station only moves within a fixed area, so that the grinding robot does not need to move too far, reducing the area that the grinding robot needs to cover, thereby improving the grinding efficiency and grinding accuracy, and reducing the number of missing points; each station can work at the same time, thereby improving the grinding efficiency (referring to the figure, the two upper left grinding robots located on both sides of the conveying component are divided into the first station, the two middle grinding robots are divided into the second station, and the two lower right grinding robots are divided into the third station).

[0009] A further improvement of the technical solution of the present invention is that: the grinding component comprises a first fixed plate, one side of the first fixed plate is rotatably connected with a sleeve shaft, one end surface of the sleeve shaft is provided with a transmission groove, one end of the sleeve shaft away from the transmission groove is fixedly connected with a locking cylinder, one side of the inner wall of the transmission groove is slidably connected with a key shaft, one end of the key shaft is rotatably connected with a core shaft, one end of the key shaft is extended to the interior of the locking cylinder and is fixedly connected with a first piston plate, the first piston plate is slidably connected with the inner wall of the locking cylinder, a first spring is fixedly connected between one side of the first piston plate and one side of the inner wall of the locking cylinder, one end of the core shaft away from the key shaft is detachably connected with a grinding wheel, and the grinding wheels located on different sides of the conveying component rotate in opposite directions; A magnet is fixedly connected to the inner wall of the transmission groove, an iron ring is fixedly connected to the outside of the core shaft, a first spiral groove is provided on the side wall of the core shaft, a first sliding ball is fixedly connected to the inner wall of the transmission groove, and the first sliding ball is slidably connected to the first spiral groove; an exhaust pipe and a return air pipe are provided on the locking cylinder, a one-way valve is provided inside the exhaust pipe, and an electric valve is provided inside the return air pipe; an installation groove is provided at one end of the sleeve shaft located in the locking cylinder, a pressure sensor is installed inside the installation groove, and the pressure sensor is used in conjunction with the first piston plate; a grinding motor is fixedly installed on one side of the first fixed plate, and the output end of the grinding motor extends to the other side of the first fixed plate and is connected to the sleeve shaft through mutually meshing gear transmission.

[0010] By adopting the above technical solution, a grinding component that can provide feedback on the size of the obstruction during the grinding process is provided, so that the grinding can be stopped when the obstruction is large, thereby avoiding excessive grinding; when the grinding wheel just starts to contact the weld or contacts the end of a sharper weld, since the contact area between the weld and the grinding wheel is small, the friction generated during the grinding process is relatively small, and with further grinding, the friction between the weld and the grinding wheel increases, so that the obstruction to the grinding wheel increases.

[0011] A further improvement of the technical solution of the present invention is that: the movable end of the grinding robot is fixedly connected to the first mounting frame, the first mounting frame is symmetrically fixedly connected to the slide rail on the side away from the grinding robot, the first slider is slidably connected to the outer side of the slide rail, the first fixed plate and the first slider are fixedly connected, and a reciprocating motor is fixedly installed on the inner side of the first mounting frame. As shown in the figure, the output end of the reciprocating motor extends to the outside of the first mounting frame and is fixedly connected to a turntable, and a sliding column is fixedly connected to the end surface of the turntable. As shown in the figure, a strip groove is opened on the side of the first fixed plate close to the slide rail, and the sliding column is slidably connected to the strip groove.

[0012] By adopting the above technical solution, a reciprocating motor is set up to drive the grinding wheel to make linear motion, so that the superimposed path of the grinding point acting on the grinding wheel is to rotate around the center of the circle while making reciprocating motion in the radial direction, thereby expanding the wear area of ​​the grinding point on the grinding wheel to the annular area covered by the reciprocating motion distance of the grinding wheel, making the wear effect on the grinding wheel more uniform, and at the same time being able to utilize more areas for work, avoiding the waste of resources caused by excessive use of a single part, increasing the service life of the grinding wheel, and reducing the poor grinding effect caused by local excessive wear.

[0013] A further improvement of the technical solution of the present invention is that the lifting component includes electric push rods symmetrically fixedly connected to both sides of the conveying component, a lifting frame is fixedly connected between the output ends of the two electric push rods, two support rods are fixedly connected to the top of the lifting frame, the support rods are arranged to be square rods with rounded corners, two bidirectional screw rods are symmetrically rotatably connected between the inner sides of the lifting frame, two clamping motors corresponding to the bidirectional screw rods are fixedly installed on one side of the lifting frame, the output end of the clamping motor extends to the inner side of the lifting frame and is fixedly connected to one end of the bidirectional screw rod, the outer side of the bidirectional screw rod is connected to two second sliding blocks by threaded cooperation, the outer side of the support rod is slidably connected to a clamping block, the clamping block is fixedly connected to the second sliding block, and the lifting frames are arranged at the central position of two adjacent rollers in the conveying component.

[0014] By adopting the above technical solution, a lifting component is set up to lift the metal plate to be polished. During the actual processing, the electric push rod is retracted to drive the lifting frame to move upward and lift the metal plate until it leaves the roller of the conveying component. At this time, the metal plate is no longer fed; then the clamping motor is controlled to drive the bidirectional screw to rotate, so that the two second slide blocks move toward each other, clamping the metal plate (when releasing, first release the lock of the metal plate and then lower it), thereby avoiding shaking during the polishing process and improving the polishing effect.

[0015] A further improvement of the technical solution of the present invention is that: the flipping component includes a transverse plate fixedly connected to the inner side of the conveying component, a through hole is opened in the middle position of the transverse plate, a lifting rod is slidably connected between the inner walls of the through hole, a suction cup is fixedly connected to the top of the lifting rod, the lifting rod is set as a hollow rod and communicates with the suction cup, a guide groove is opened on the outer wall of the lifting rod, a second sliding ball is fixedly connected to the inner wall of the through hole, and the second sliding ball is slidably connected to the guide groove; a supporting plate is fixedly connected to the side wall of the lifting rod, a through groove is opened in the middle position of the lifting frame, the bottom of the lifting rod extends to the bottom of the lifting frame through the through groove and is fixedly connected to a rotating The joint and the rotary joint are connected with the external air pump through a pipeline; the bottom of the lifting frame is symmetrically fixedly connected with a descent cylinder, on which an air inlet pipe and an air outlet pipe are arranged, and a one-way valve is arranged inside the air inlet pipe and the air outlet pipe, and the diameter of the air inlet pipe is larger than that of the air outlet pipe; the bottom of the lifting frame is slidably connected with a pull rod, the bottom of the pull rod extends to the inside of the descent cylinder and is fixedly connected with a second piston plate, the second piston plate is slidably connected to the descent cylinder, the top of the pull rod passes through the top of the lifting frame and is fixedly connected to the support plate; the bottom of the cross plate is fixedly connected with an electromagnet, and the top of the support plate is fixedly connected with an iron block used in conjunction with the electromagnet.

[0016] By adopting the above technical solution, by setting a flipping component, the metal plate can be automatically flipped as the metal plate descends after grinding, so that no additional flipping time is required, the operation process is more consistent, and the grinding efficiency is improved.

[0017] A further improvement of the technical solution of the present invention is that the material blocking component includes a cross bar fixedly connected to the inner side of the conveying component, one side of the cross bar is rotatably connected to a rocker rod through a torsion spring, one end of the rocker rod rotation axis extends to the other side of the cross bar and is fixedly connected to a transmission shaft, an outer wall of the transmission shaft is provided with a second spiral groove, one side of the cross bar is fixedly connected to a fixing frame, one side of the fixing frame is fixedly connected to a piston cylinder, a third piston plate is slidably connected between the inner walls of the piston cylinder, one side of the fixing frame is slidably connected to a sliding rod, one end of the sliding rod is fixedly connected to the third piston plate, one end of the sliding rod away from the piston plate extends to the inside of the fixing frame and is fixedly connected to a sliding sleeve, and the inner wall of the sliding sleeve is fixedly connected There is a third sliding ball, which is slidably connected to the second spiral groove; a second mounting frame is fixedly connected to the inner side of the conveying component, a valve cylinder is fixedly connected to the inner side of the second mounting frame, a valve hole is opened at the top of the valve cylinder, a valve frame is fixedly connected between the inner walls of the valve cylinder, a square rod is slidably connected to the top of the valve frame, the top of the square rod extends to the top of the valve cylinder through the valve hole and is rotatably connected to a roller, a plug is fixedly connected to the side wall of the square rod, and the plug is used in conjunction with the valve hole; the bottom of the square rod extends to the bottom of the valve frame and is fixedly connected to a limiting block, a second spring is sleeved on the outside of the square rod and between the valve frame and the plug; the valve cylinder and the piston cylinder are connected through a pipeline; a stop rod is connected to the top of the rocker arm.

[0018] By adopting the above technical solution, a material blocking component is set up, and when the metal plate reaches the grinding position, it contacts the blocking rod and is blocked by the blocking rod and cannot continue to be transported. During the flipping process after the grinding of the metal plate is completed, the blocking rod is squeezed laterally, so that the rocker connected to it is synchronously flipped around the axis, so that the rocker no longer blocks the feeding. After the flipping is completed, the conveying component transports the metal plate backward. During the process, the metal plate contacts and squeezes the roller, so that the roller presses the square rod downward and drives the plug to leave the valve hole, and the valve hole is connected. At this time, the movement of the third piston plate is no longer blocked, so the potential energy of the torsion spring can be released, so that the third piston plate is reset and the air inside the piston cylinder is discharged, and the blocking rod is reset, thereby re-blocking (before the metal plate leaves the top of the blocking rod, the blocking rod is blocked and cannot be completely reset until the metal plate leaves the blocking rod. At this time, the roller is still pressed, so that the rocker and the blocking rod are reset).

[0019] A further improvement of the technical solution of the present invention is that: a first screw is rotatably connected to one side of the rocker arm, an adjusting rod is threadedly connected to the outer side of the first screw, the adjusting rod is fixedly connected to the stop rod, a slide is symmetrically fixedly connected to both sides of the adjusting rod, a slide is symmetrically fixedly connected to both sides of the rocker arm, and the slide is slidably connected to the slide.

[0020] By adopting the above technical solution, by setting the position of the baffle rod to a structure that can be adjusted relative to the rocker arm, during actual operation, the first screw rod can be rotated according to the size of the metal plate, driving the adjusting rod to move axially on the first screw rod (the two sides of the adjusting rod are limited by the relative sliding of the slide and the slide, so no deflection will occur), so that the position of the baffle rod changes, thereby being able to block the metal plate at different positions. After adjustment, the suction cup is ensured to be facing the center of the metal plate, and the adaptation adjustment is completed, so that the equipment can adapt to metal plates of different sizes.

[0021] A further improvement of the technical solution of the present invention is that a protruding block is fixedly connected to one side of the blocking rod, and the protruding block is spherical.

[0022] By adopting the above technical solution, a protruding block is set on one side of the baffle, and the protruding block is larger than the thickness of any possible welding points and is located lower than the joint position of the metal plate and the metal frame, so that the protruding block is unlikely to contact the welding points, thereby avoiding the above-mentioned deviation.

[0023] A further improvement of the technical solution of the present invention is that: a first fixed block is symmetrically fixedly connected to the top of the conveying component, a second screw is threadedly connected to one side of the first fixed block, a turning handle is fixedly connected to the end of the second screw, and an end of the second screw away from the turning handle extends to the other side of the first fixed block and is rotatably connected to a guide plate; two guide rods are symmetrically fixedly connected to one side of the guide plate close to the second screw, a second fixed block corresponding to the guide rods is fixedly connected to the top of the conveying component, an end of the guide rod away from the guide plate passes through the second fixed block, and the guide rod is slidably connected to the second fixed block;

[0024] By adopting the above technical solution, the second screw is driven to rotate by turning the handle, so that the first fixed block moves along the axial direction of the second screw. The above adjustment is determined according to the scale on the guide rod and the width of the metal plate, thereby realizing the adjustment of the distance between the two guide plates. During the transportation of the metal plate, it moves toward the middle and is straightened under the guidance of the smooth beveled edge at the end of the guide plate, thereby facilitating subsequent grinding operations.

[0025] Due to the adoption of the above technical solution, the present invention has the following technical advances compared with the prior art:

[0026] 1. The present invention provides an intelligent device for removing particles on the surface of metal plates based on robot polishing technology. Six polishing robots are arranged on both sides of a conveying component, and the six polishing robots are divided into three groups corresponding to three polishing stations. The areas covered by the two polishing robots at each polishing station remain fixed. The first two polishing stations polish the four corners of the metal plate and two opposite sides thereof, and the other station corresponds to polishing a small section in the middle of the metal plate. During the process, the polishing robot at each station only moves within a fixed area, so that the polishing robot does not need to move too far, reducing the area that the polishing robot needs to cover, thereby improving the polishing efficiency and polishing accuracy; each station can work at the same time, thereby improving the polishing efficiency.

[0027] 2. The present invention provides a grinding component that can provide feedback on the size of the obstruction during the grinding process, so that the grinding can be stopped when the obstruction is large, thereby avoiding over-grinding; when the grinding wheel just starts to contact the weld or contacts the end of a sharper weld, the friction generated during the grinding process is relatively small due to the small contact area between the weld and the grinding wheel, and with further grinding, the friction between the weld and the grinding wheel increases, so that the obstruction to the grinding wheel increases.

[0028] 3. The present invention is provided with a reciprocating motor to drive the grinding wheel to make linear motion, so that the superimposed path of the grinding point acting on the grinding wheel is to rotate around the center of the circle and reciprocate in the radial direction at the same time, thereby expanding the wear area of ​​the grinding point on the grinding wheel to the annular area covered by the reciprocating motion distance of the grinding wheel, making the wear effect on the grinding wheel more uniform, and being able to utilize more areas for work, avoiding the waste of resources caused by excessive use of a single part, increasing the service life of the grinding wheel, and reducing the situation where the grinding effect is poor due to local excessive wear.

[0029] 4. The present invention provides a lifting component to lift the metal plate to be polished. During the actual processing, the electric push rod is retracted to drive the lifting frame to move upward and lift the metal plate until it leaves the roller of the conveying component. At this time, the metal plate is no longer fed. The clamping motor is controlled to rotate to drive the two-way screw rod to move toward the adjacent side to clamp the metal plate. When releasing the metal plate, the lock of the metal plate is first released and then lowered, thereby avoiding shaking during the polishing process and improving the polishing effect.

[0030] 5. The present invention sets a flipping component to throw out the welding slag, thereby reducing the impact of the welding slag on subsequent grinding. The flipping process occurs automatically along with the descending process of the metal plate after the grinding is completed, and will not affect the normal grinding operation. A material blocking component is set to be used together with it. When the metal plate reaches the grinding position, it contacts the blocking rod and is blocked by the blocking rod and cannot continue to be transported. During the flipping process after the grinding of the metal plate is completed, the blocking rod is squeezed laterally, so that the rocker connected to it is synchronously flipped around the axis, so that the rocker no longer blocks the feeding. After the flipping is completed, the conveying component transports the metal plate to the rear. During the process, the metal plate contacts and squeezes the roller, which can automatically reset the material blocking component. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The present invention will be further described below in conjunction with the accompanying drawings.

[0032] Figure 1 It is a schematic diagram of the structure of the present invention from the first viewing angle as a whole;

[0033] Figure 2 This is a schematic diagram of the structure of the polishing robot of the present invention;

[0034] Figure 3 It is a schematic diagram of the structure of the second viewing angle of the whole invention;

[0035] Figure 4 It is a schematic diagram of the overall structure of the grinding component of the present invention;

[0036] Figure 5 It is a schematic cross-sectional structural diagram of the sleeve shaft of the present invention;

[0037] Figure 6 It is a structural schematic diagram of the first fixing plate of the present invention;

[0038] Figure 7 It is a structural schematic diagram of the first mounting frame of the present invention;

[0039] Figure 8 An exploded view of the polishing component of the present invention;

[0040] Fig. 9 It is a schematic structural diagram of the metal plate of the present invention in three states: before flipping, during flipping, and after flipping;

[0041] Fig.10 It is a schematic diagram of the installation structure of the lifting component and the material blocking component of the present invention;

[0042] Fig.11 It is a structural schematic diagram of the lifting component of the present invention;

[0043] Fig.12 It is a schematic cross-sectional structural diagram of the flip component of the present invention;

[0044] Fig.13 It is a cross-sectional structural schematic diagram of the material blocking component of the present invention;

[0045] Fig.14 It is a structural schematic diagram of the sliding sleeve of the present invention;

[0046] Fig.15 For the present invention Figure 3 Enlarged view of point A in the middle;

[0047] Fig.16 It is a schematic structural diagram of a metal plate to be polished according to the present invention;

[0048] Fig.17 It is a schematic diagram of the structure of several welding spots with different thicknesses on the metal plate of the present invention;

[0049] Fig.18 A schematic diagram of the wear path and area of ​​the grinding wheel of the present invention;

[0050] Fig.19 It is a schematic diagram of the coverage area of ​​the metal plate by the three workstations of the present invention (in the figure, the two areas I correspond to the grinding area of ​​the first workstation; the two areas II correspond to the grinding area of ​​the second workstation; and the two areas III correspond to the grinding area of ​​the third workstation).

[0051] In the figure: 1. feeding robot; 2. conveying component; 3. grinding robot; 4. unloading robot; 5. first fixed block; 6. second fixed block; 7. second screw; 8. guide plate; 9. guide rod; 10. first slider; 11. first mounting frame; 12. reciprocating motor; 13. turntable; 14. slide column; 15. slide rail; 16. first fixed plate; 17. strip groove; 18. sleeve shaft; 19. transmission groove; 20. mandrel; 21. grinding wheel; 22. key shaft; 23. first piston plate; 24. first spring; 25. first spiral groove; 26. first sliding ball; 27. iron ring; 28. magnet; 29. ​​exhaust pipe; 30. return air pipe; 31. locking cylinder; 32. grinding motor; 33. mounting groove; 34. electric push rod; 35. lifting frame; 36. transmission shaft; 37. two-way screw rod; 38. clamping electric machine; 39, clamping block; 40, second sliding ball; 41, lifting rod; 42, guide groove; 43, suction cup; 44, rotating joint; 45, slow-down cylinder; 46, second piston plate; 47, pull rod; 48, air inlet pipe; 49, air outlet pipe; 50, support plate; 51, second sliding block; 52, cross bar; 53, swing rod; 54, stop rod; 55, fixing frame; 56, piston cylinder; 57, second mounting frame; 58, Valve cylinder; 59, valve frame; 60, square rod; 61, valve hole; 62, plug; 63, roller; 64, second spring; 65, third piston plate; 66, slide rod; 67, second spiral groove; 68, sleeve; 69, third slide ball; 70, slide table; 71, slide rack; 72, raised block; 73, cross plate; 74, first screw; 75, adjusting rod; 76, electromagnet; 77, iron block; 78, support rod. DETAILED DESCRIPTION

[0052] The present invention is further described in detail below in conjunction with embodiments:

[0053] Example 1

[0054] like Figure 1 , Figure 3 and Fig. 9As shown, the present invention provides an intelligent device for removing particles on the surface of metal plates based on robot grinding technology, including a grinding component; it also includes: a conveying component 2, which is configured as a roller conveyor line for conveying metal plates; a loading robot 1, which is used to place the metal plate to be ground on the conveying component 2; a unloading robot 4, which is used to remove the ground metal plate from the conveying component 2; a material blocking component, which is used to block the metal plate at the grinding position; a lifting component, which is used to lift the blocked metal plate until it is separated from the roller in the conveying component 2, and fix the lifted metal plate; six grinding robots 3 are provided, and the six grinding robots 3 are symmetrically arranged on both sides of the conveying component 2, and the grinding component is installed at the movable end of the grinding robot 3, and the grinding robot 3 is used to control the grinding component to move to the grinding position, each grinding component corresponds to a different grinding area on the surface of the metal plate, and the grinding component can control the grinding degree through the grinding resistance; a flipping component, which is used to flip the metal plate to throw out the ground particles.

[0055] In this embodiment, the metal plate to be polished is grabbed by the loading robot 1 with the metal frame side facing upward and placed on the conveying component 2, and the metal plate is conveyed to the central position of two of the polishing robots 3 by the conveying component 2. At this time, the metal plate is blocked by the material blocking component. An infrared sensor is arranged on the conveying component 2. When the metal plate contacts the material blocking component, the light source of the infrared sensor is blocked at the same time, and a signal is generated and the lifting component is controlled by an external controller to lift the metal plate. After being lifted, the metal plate is separated from the conveying component 2 and is no longer conveyed, and the metal plate is fixed again; six polishing robots 3 are distributed on both sides of the conveying component 2, and the six polishing robots 3 are divided into three groups corresponding to three polishing stations. The areas covered by the two polishing robots 3 at each polishing station are fixed, and the first two groups of polishing robots 3 control the polishing components to polish the four corners and two opposite edges of the metal plate. Specifically, two opposite corners of the metal plate are first polished. After the polishing is completed, the metal plate is sent to the second station by the conveying component 2 to polish the other two corners of the metal plate. The polishing process of the above four corners covers the welding points on both sides; after the polishing is completed, the metal plate is sent to another station for polishing by the conveying component 2, and the station corresponds to the small middle section of the polished metal plate. Each polishing robot 3 is responsible for moving within a fixed area and does not need to move too much distance; after each polishing is completed, the metal plate is lowered to the conveying component 2 by the lifting component, and the metal plate is flipped 90° by the flipping component during the descent process to throw out the particles on the surface of the metal plate, and at the same time, the corresponding blocking component is unblocked, and the three stations work simultaneously during the process, which reduces the waiting time between each operation and reduces the area that the polishing robot 3 needs to cover, thereby improving the polishing efficiency and polishing accuracy; when the polishing progress on the side close to the unloading area is faster, the lifting component of the subsequent station will not temporarily put down the metal plate until the front metal plate is polished, so as to avoid collision.

[0056] Reference Figure 1 , the two upper left grinding robots 3 located on both sides of the conveying component 2 are divided into the first working station, the two middle grinding robots 3 are divided into the second working station, and the two lower right grinding robots 3 are divided into the third working station, such as Fig.19 It is a schematic diagram of the coverage area of ​​the metal plate by each workstation of the present invention, wherein the area covered by two I is the area covered by the two polishing robots 3 on the first workstation, the two II are the area covered by the two polishing robots 3 on the second workstation, and the two III are the area covered by the two polishing robots 3 on the third workstation. After the polishing of the current workstation is completed, it is sent to the next workstation for polishing, and at the same time the previous workstation receives a new metal plate for polishing, so that the three workstations can operate simultaneously, and the two areas on the same workstation are arranged in central symmetry.

[0057] In addition, grinding with the center of the metal plate as the symmetric center can also avoid shaking or warping when grinding on one side.

[0058] like Figure 4 , Figure 5 and Figure 8 As shown, preferably, the grinding component includes a first fixed plate 16, one side of the first fixed plate 16 is rotatably connected with a sleeve shaft 18, one end surface of the sleeve shaft 18 is provided with a transmission groove 19, one end of the sleeve shaft 18 away from the transmission groove 19 is fixedly connected with a locking cylinder 31, one side of the inner wall of the transmission groove 19 is slidably connected with a key shaft 22, one end of the key shaft 22 is rotatably connected with a core shaft 20, one end of the key shaft 22 is rotatably connected with a core shaft 20, one end of the key shaft 22 away from the core shaft 20 extends to the inside of the locking cylinder 31 and is fixedly connected with a first piston plate 23, the first piston plate 23 is slidably connected to the inner wall of the locking cylinder 31, a first spring 24 is fixedly connected between one side of the first piston plate 23 and one side of the inner wall of the locking cylinder 31, one end of the core shaft 20 away from the key shaft 22 is detachably connected with a grinding wheel 21, and the grinding wheels 21 located on different sides of the conveying component rotate in opposite directions; the transmission groove 1 9 is fixedly connected to the inner wall of the mandrel 20 with a magnet 28, the outside of the mandrel 20 is fixedly connected to an iron ring 27, the side wall of the mandrel 20 is provided with a first spiral groove 25, the inner wall of the transmission groove 19 is fixedly connected to the first sliding ball 26, and the first sliding ball 26 is slidably connected to the first spiral groove 25; an exhaust pipe 29 and a return air pipe 30 are provided on the locking cylinder 31, a one-way valve is provided inside the exhaust pipe 29, and an electric valve is provided inside the return air pipe 30; an installation groove 33 is provided at one end of the sleeve shaft 18 located in the locking cylinder 31, a pressure sensor is installed inside the installation groove 33, and the pressure sensor is used in conjunction with the first piston plate 23; a grinding motor 32 is fixedly installed on one side of the first fixed plate 16, and the output end of the grinding motor 32 extends to the other side of the first fixed plate 16 and is connected to the sleeve shaft 18 through mutually meshing gear transmission.

[0059] The shape of the welding slag produced during the welding process is uncontrollable, and the degree of protrusion of the welding slag varies. There are cases where the welding spots are flat or sharp. Flat welding spots are relatively flat and not prone to scratches, so they require less grinding. Sharp welding spots are more likely to scratch goods or people because of their sharper ends, so they require a greater degree of grinding. It is difficult to accurately judge the degree of grinding by simply using position judgment or using a pressure sensor to detect the pressure applied by the grinding wheel 21 to the welding spot to determine whether it has been ground in place. Specifically, refer to Fig.17 The schematic diagrams of several different scenarios of solder joints are shown, among which the left side is a relatively sharp solder joint, the right side is a relatively flat solder joint, and the middle one is a solder joint between the two. The dotted line position is the position where the solder joint in the middle position is polished to with reference to the solder joint in the middle position, and the solid lines in the solder joints on the left and right sides are the positions where the sand roller is polished to the same contact area as the middle position. It can be seen that the sharp solder joints need to be polished below the dotted line, while the flat solder joints do not need to be polished too much.

[0060] In this embodiment, by providing a grinding component that can provide feedback on the size of the obstruction during the grinding process, it is possible to control the grinding to stop when the obstruction is large, thereby avoiding over-grinding; when the grinding wheel 21 just starts to contact the weld or contacts the end of a relatively sharp weld, since the contact surface between the weld and the grinding wheel 21 is small, the friction force generated during the grinding process is relatively small, and with further grinding, the friction force between the weld and the grinding wheel 21 increases, so that the obstruction to the grinding wheel 21 increases;

[0061] Specifically, the grinding motor 32 is controlled to work, and the sleeve shaft 18 is driven to rotate under the transmission of the gear, wherein the sleeve shaft 18 and the core shaft 20 are slidably matched through the first sliding ball 26 and the first spiral groove 25, and the effect achieved by the two is the same as that of the threaded connection, that is, when the sleeve shaft 18 rotates relative to the core shaft 20, the two will move relative to each other in the axial direction; but since the sleeve shaft 18 and the core shaft 20 are attracted by the magnetic force of the iron ring 27 and the magnet 28, when the force causing the two to rotate relative to each other or the force applied to the two in the axial direction is small, the two cannot move relative to each other (including linear motion and relative rotation in the axial direction), so when the sleeve shaft 18 rotates, it can drive the core shaft 20 to rotate synchronously, thereby driving the grinding wheel 21 to grind the weld. When the weld spot is small, the grinding wheel 21 is less obstructed, and it is still not enough to make the sleeve 18 and the core shaft 20 move relative to each other, so normal grinding is possible. When the obstruction is large, the sleeve 18 will rotate relative to the core shaft 20, so that under the action of the first sliding ball 26 and the first spiral groove 25, the core shaft 20 slides axially relative to the sleeve 18, so that the grinding wheel 21 moves away from the weld spot, leaves the weld spot position, and pushes the first piston plate 23 to slide in the locking cylinder 31 through the key shaft 22. The first spring 24 is compressed and the air in the locking cylinder 31 is discharged through the exhaust pipe 29 (the one-way valve is only turned on when exhausting from the locking cylinder 31 to the outside through the exhaust pipe 29). Since external air cannot enter, the grinding wheel 21 cannot be reset temporarily, thereby avoiding excessive grinding. Before sliding, the first piston plate 23 contacts and squeezes the pressure sensor in the mounting groove 33, so that the pressure sensor continues to obtain a pressure signal. After the above-mentioned sliding occurs, the first piston plate 23 no longer squeezes the pressure sensor. After losing the pressure signal, the external controller controls the grinding robot 3 at this position to move to other positions that need to be polished, and controls the electric valve in the return air pipe 30 to open during the movement, so that external air can enter the locking cylinder 31. Therefore, under the elastic force of the first spring 24, the first piston plate 23 is reset, and the key shaft 22, the core shaft 20 and the grinding wheel 21 are pushed to reset, and at the same time, the core shaft 20 rotates relative to the sleeve shaft 18 to reset.

[0062] like Fig.19 As shown in the figure, the direction of the arrow in area I is the rotation direction of the grinding wheel 21. The two grinding wheels 21 rotate in opposite directions in two different areas I, so that the torque directions of the grinding wheels 21 acting on the surface of the metal plate are opposite, which can offset the influence of the grinding wheel 21 on the metal plate to a certain extent and improve the stability of grinding.

[0063] Example 2

[0064] like Figure 2 and Figure 4As shown, on the basis of Example 1, the present invention provides a technical solution: preferably, the movable end of the grinding robot 3 is fixedly connected to the first mounting frame 11, the first mounting frame 11 is symmetrically fixedly connected to the side away from the grinding robot 3 with a slide rail 15, the outer side of the slide rail 15 is slidably connected to the first slider 10, the first fixed plate 16 is fixedly connected to the first slider 10, and the inner side of the first mounting frame 11 is fixedly installed with a reciprocating motor 12, such as Figure 7 As shown, the output end of the reciprocating motor 12 extends to the outside of the first mounting frame 11 and is fixedly connected to a turntable 13, and a slide post 14 is fixedly connected to the end surface of the turntable 13. Figure 6 As shown, a strip groove 17 is formed on one side of the first fixing plate 16 close to the slide rail 15 , and the slide post 14 is slidably connected to the strip groove 17 .

[0065] Since the grinding wheel 21 is grinding by high-speed rotation, the friction of the welding point on the grinding wheel 21 only acts on a small annular area. After multiple grindings, the area will be more worn than other areas, resulting in the grinding wheel 21 needing to be replaced only due to wear in some areas during use, and the replacement is frequent;

[0066] In this embodiment, the reciprocating motor 12 is configured to drive the grinding wheel 21 to perform linear motion, so that the superimposed path of the grinding point acting on the grinding wheel 21 is to rotate around the center of the circle while reciprocating in the radial direction, so that the wear area of ​​the grinding point acting on the grinding wheel 21 is expanded to the annular area covered by the reciprocating motion distance of the grinding wheel 21, as shown in FIG. Fig.18 As shown, the left side is a schematic diagram of the wear effect produced by directly using the grinding wheel 21 to rotate and grind, and a is the wear area under this method; the two figures on the upper right are schematic diagrams of the wear path after improvement through this solution, and correspondingly, the bottom right figure is a schematic diagram of the area where wear is produced under this method, and b is the improved wear area. Through the above scheme, the wear effect on the grinding wheel 21 can be made more uniform, and more areas can be used for work, avoiding the waste of resources caused by excessive use of a single part, increasing the service life of the grinding wheel 21, and reducing the poor grinding effect due to local excessive wear.

[0067] Specifically, by controlling the reciprocating motor 12 to work, the turntable 13 is driven to rotate, and the sliding column 14 is driven to make a circular motion around the central axis of the turntable 13. Through the action of the sliding column 14 relative to the strip groove 17, the first fixed plate 16 makes a reciprocating motion. During this process, the sliding column 14 slides back and forth in the strip groove 17.

[0068] like Fig.18 Schematic diagram of the wear path and area of ​​the grinding wheel 21 of the present invention, wherein a is the wear area of ​​the grinding wheel 21 when the grinding wheel 21 is directly used for grinding, and b is the wear area after the improvement of this solution.

[0069] Example 3

[0070] like Fig.10 and Fig.11 As shown, on the basis of Example 2, the present invention provides a technical solution: preferably, the lifting component includes electric push rods 34 symmetrically fixedly connected on both sides of the conveying component 2, a lifting frame 35 is fixedly connected between the output ends of the two electric push rods 34, and two support rods 78 are fixedly connected to the top of the lifting frame 35. The support rods 78 are set as square rods with rounded corners. Two bidirectional screw rods 37 are symmetrically rotatably connected between the inner sides of the lifting frame 35. Two clamping motors 38 corresponding to the bidirectional screw rods 37 are fixedly installed on one side of the lifting frame 35. The output end of the clamping motor 38 extends to the inner side of the lifting frame 35 and is fixedly connected to one end of the bidirectional screw rod 37. The outer side of the bidirectional screw rod 37 is connected to two second sliders 51 through threaded cooperation. The outer side of the support rod 78 is slidably connected with a clamping block 39, and the clamping block 39 is fixedly connected to the second slider 51. The lifting frames 35 are arranged at the central position of two adjacent rollers in the conveying component 2.

[0071] In order to ensure the stability of grinding, it is necessary to fix the metal plate during the grinding process. Since the metal plate is automatically conveyed and polished throughout the whole process, it is also necessary to separate the metal plate from the conveying component 2 when fixing the metal plate, otherwise the roller of the conveying component 2 will cause wear to the metal plate after fixing and during the grinding process, and affect the stability of grinding;

[0072] In this embodiment, a lifting component is provided to lift the metal plate to be polished. During the actual processing, the electric push rod 34 is controlled to be retracted (extended under normal conditions), driving the lifting frame 35 to move upward, driving the support rod 78 to rise and lift the metal plate until it leaves the roller of the conveying component 2. At this time, the metal plate is no longer fed; then the clamping motor 38 is controlled to work, driving the bidirectional screw rod 37 to rotate, so that the two second sliders 51 move toward the adjacent side to clamp the metal plate (when releasing, first release the lock on the metal plate and then lower it), thereby avoiding shaking during the polishing process and improving the polishing effect.

[0073] Example 4

[0074] like Fig.10 , Fig.11 and Fig.12As shown, on the basis of Example 3, the present invention provides a technical solution: preferably, the flipping component includes a transverse plate 73 fixedly connected to the inner side of the conveying component 2, a through hole is opened in the middle position of the transverse plate 73, a lifting rod 41 is slidably connected between the inner walls of the through hole, a suction cup 43 is fixedly connected to the top of the lifting rod 41, the lifting rod 41 is set as a hollow rod and communicates with the suction cup 43, a guide groove 42 is opened on the outer wall of the lifting rod 41, a second sliding ball 40 is fixedly connected to the inner wall of the through hole, and the second sliding ball 40 is slidably connected to the guide groove 42; the side wall of the lifting rod 41 is fixedly connected to the support plate 50, a through groove is opened in the middle position of the lifting frame 35, the bottom of the lifting rod 41 extends to the bottom of the lifting frame 35 through the through groove and is fixedly connected to a rotating joint 44, the rotary joint 44 is connected to the external air pump through a pipeline; the bottom of the lifting frame 35 is symmetrically fixedly connected with a slow-descent cylinder 45, and the slow-descent cylinder 45 is provided with an air inlet pipe 48 and an air outlet pipe 49, and the inside of the air inlet pipe 48 and the air outlet pipe 49 are both provided with a one-way valve, and the diameter of the air inlet pipe 48 is larger than the air outlet pipe 49; the bottom of the lifting frame 35 is slidably connected with a pull rod 47, the bottom of the pull rod 47 extends to the inside of the slow-descent cylinder 45 and is fixedly connected with a second piston plate 46, the second piston plate 46 is slidably connected to the slow-descent cylinder 45, and the top of the pull rod 47 passes through the top of the lifting frame 35 and is fixedly connected to the support plate 50; the bottom of the cross plate 73 is fixedly connected with an electromagnet 76, and the top of the support plate 50 is fixedly connected with an iron block 77 used in conjunction with the electromagnet 76.

[0075] In the present embodiment, when the grinding of two sides of the metal plate is completed, the clamping block 39 is released, and the electromagnetic magnet 76 is controlled to generate magnetic force, thereby adsorbing the iron block 77, so that the support plate 50 cannot move downward relative to the cross plate 73 temporarily, and the electric push rod 34 is quickly extended to push the lifting frame 35 to move downward, and the lifting frame 35 quickly loses its support for the metal plate and fits with the suction cup 43. The external air pump is used to draw a vacuum, so that the negative pressure is transmitted to the suction cup 43 through the rotary joint 44 and the lifting rod 41, thereby adsorbing the metal plate, and the slow-descent cylinder 45 is quickly lowered along with the lifting frame 35 (moving relative to the second piston plate 46), and the outside air enters from the air intake pipe 48. The diameter setting of the air intake pipe 48 here will not hinder the second piston plate 46. The second piston plate 46 moves; after the lifting frame 35 is lowered to the lowest position, the electromagnet 76 is controlled to stop working, so that the iron block 77 loses its magnetic attraction. Under the action of gravity, the lifting frame 35 loses its lifting effect on the support plate 50 in the above process. Under the action of gravity, the support plate 50 and the lifting rod 41 move downward. During the descent process, the second piston plate 46 moves downward. During the process, air is discharged from the outlet pipe 49 with a smaller diameter. Since the diameter of the outlet pipe 49 is set to be smaller, the exhaust is hindered, which limits the descent of the lifting rod 41, so that the lifting rod 41 slowly descends. During the process, the second sliding ball 40 slides relative to the guide groove 42, causing the lifting rod 41 to rotate during the axial movement, thereby driving the metal plate to flip. In the above process, the flipping of the metal plate occurs in the reset process after the grinding operation at each station, and no special cleaning operation is required, so it will not affect the grinding efficiency; when the support plate 50 lifts the lifting frame 35 (contacting each other), the metal plate is lifted by the support rod 78, and the suction cup 43 does not contact the metal plate.

[0076] Example 5

[0077] like Fig. 9 , Fig.10 and Fig.13As shown, on the basis of Example 4, the present invention provides a technical solution: preferably, the material blocking component includes a cross bar 52 fixedly connected to the inner side of the conveying component 2, one side of the cross bar 52 is rotatably connected to the rocker arm 53 through a torsion spring, one end of the rotating shaft of the rocker arm 53 extends to the other side of the cross bar 52 and is fixedly connected to the transmission shaft 36, the outer wall of the transmission shaft 36 is provided with a second spiral groove 67, one side of the cross bar 52 is fixedly connected to a fixing frame 55, one side of the fixing frame 55 is fixedly connected to a piston cylinder 56, a third piston plate 65 is slidably connected between the inner walls of the piston cylinder 56, one side of the fixing frame 55 is slidably connected to a sliding rod 66, one end of the sliding rod 66 is fixedly connected to the third piston plate 65, one end of the sliding rod 66 away from the piston plate extends to the inside of the fixing frame 55 and is fixedly connected to a sliding sleeve 68, and the inner wall of the sliding sleeve 68 is fixedly connected to the third piston plate 65. Three sliding balls 69, the third sliding ball 69 is slidably connected to the second spiral groove 67; the inner side of the conveying component 2 is fixedly connected to the second mounting frame 57, the inner side of the second mounting frame 57 is fixedly connected to the valve cylinder 58, the top of the valve cylinder 58 is provided with a valve hole 61, the inner wall of the valve cylinder 58 is fixedly connected to a valve frame 59, the top of the valve frame 59 is slidably connected to a square rod 60, the top of the square rod 60 extends to the top of the valve cylinder 58 through the valve hole 61 and is rotatably connected to a roller 63, the side wall of the square rod 60 is fixedly connected to a plug 62, the plug 62 is used in conjunction with the valve hole 61; the bottom of the square rod 60 extends to the bottom of the valve frame 59 and is fixedly connected to a limiting block, the outside of the square rod 60 and is sleeved with a second spring 64 between the valve frame 59 and the plug 62; the valve cylinder 58 is connected to the piston cylinder 56 through a pipeline; the top of the rocker 53 is connected to a stopper 54.

[0078] When the metal plate moves to the grinding position, since the lifting component cannot move and lift it immediately, and there is an error caused by the conveying position of the metal plate during the conveying process, it is necessary to set a material blocking structure to temporarily block the metal plate during the conveying process;

[0079] In this embodiment, a material blocking component is provided, and when the metal plate reaches the grinding position, it contacts the blocking rod 54, and is blocked by the blocking rod 54 and cannot be transported further, so the metal plate slips relative to the roller; at this time, the lifting component is controlled to rise quickly, thereby lifting the metal plate. After lifting, the front end of the metal plate is flush with the blocking rod 54, so the position is unified; after the grinding is completed, the metal plate is put back into the conveying component 2, and it will flip over. During the flipping of the metal plate, the blocking rod 54 is squeezed laterally, so that the rocker arm 53 connected thereto is synchronously flipped around the axis, and the torsion spring accumulates potential energy, while driving the transmission shaft 36 to rotate, and the matching of the second spiral groove 67 and the third sliding ball 69 Under the cooperation, the sliding sleeve 68 slides along the axial direction of the transmission shaft 36, and the sliding direction is the direction close to the swing rod 53, and the sliding rod 66 drives the third piston plate 65 to slide, so that negative pressure is generated inside the piston cylinder 56, and the valve cylinder 58 is evacuated. The external air pushes the plug 62 to slide, so that the valve hole 61 is connected, and the second spring 64 is compressed. After the action is completed, the plug 62 is reset under the elastic force of the second spring 64 and blocked in the valve hole 61, so that the valve hole 61 is blocked, that is, because the air inside the piston cylinder 56 cannot be discharged, the third piston plate 65 cannot move, so that the swing rod 53 cannot be reset temporarily (the torsion spring potential energy storage is not released temporarily);

[0080] After the flipping is completed, the conveying component 2 conveys the metal plate backwards. During the process, the metal plate contacts and squeezes the roller 63, so that the roller 63 presses the square rod 60 downwards and drives the plug 62 to leave the valve hole 61. The valve hole 61 is connected. At this time, the movement of the third piston plate 65 is no longer hindered, so the potential energy of the torsion spring can be released, so that the third piston plate 65 is reset and the air inside the piston cylinder 56 is discharged, and the blocking rod 54 is reset.

[0081] like Fig. 9 As shown, the left side is a schematic diagram of the metal plate in a lifted state, the middle is a schematic diagram of the metal plate in the process of descending and flipping, and the right side is a schematic diagram of the metal plate after flipping when it contacts and presses the roller 63 through conveying.

[0082] like Fig.10 and Fig.13 As shown, preferably, one side of the rocker arm 53 is rotatably connected to a first screw rod 74, the outer side of the first screw rod 74 is threadedly connected to an adjusting rod 75, the adjusting rod 75 is fixedly connected to the blocking rod 54, the two sides of the adjusting rod 75 are symmetrically fixedly connected to a slide 70, the two sides of the rocker arm 53 are symmetrically fixedly connected to a slide 71, and the slide 71 is slidably connected to the slide 70.

[0083] In the actual processing process, the sizes of metal plates vary. If a special equipment is produced for processing metal plates with small differences, the cost of the equipment will inevitably increase.

[0084] In this embodiment, by setting the position of the blocking rod 54 to a structure that can be adjusted relative to the rocker arm 53, in actual operation, the first screw rod 74 can be rotated according to the size of the metal plate, driving the adjusting rod 75 to move axially on the first screw rod 74 (the adjusting rod 75 is limited on both sides by the relative sliding of the slide 70 and the slide 71, so no deflection will occur), so that the position of the blocking rod 54 is changed, so that the metal plate can be blocked at different positions. After adjustment, the suction cup 43 is ensured to be facing the center of the metal plate, and the adaptation adjustment is completed, so that the equipment can adapt to metal plates of different sizes.

[0085] like Fig.13 and Fig.14 As shown, preferably, a protrusion 72 is fixedly connected to one side of the blocking rod 54, and the protrusion 72 is spherical.

[0086] Since the metal plate has a raised welding spot on the side, when the blocking rod 54 blocks the metal plate, when the welding spot just touches the blocking rod 54, the metal plate does not actually touch the blocking rod 54, so that the actual grinding position of the metal plate is deviated. Furthermore, the suction cup 43 is not facing the center of the metal plate, so when it is turned over, the metal plate will be misaligned in another direction, thereby affecting the confirmation of the grinding position;

[0087] In this embodiment, a protrusion 72 is provided on one side of the blocking rod 54. The protrusion 72 is larger than the thickness of any possible welding points and is located lower than the joint position between the metal plate and the metal frame, so that the protrusion 72 is unlikely to contact the welding points, thereby avoiding the above-mentioned deviation.

[0088] like Figure 3 and Fig.15 As shown, preferably, a first fixed block 5 is symmetrically fixedly connected to the top of the conveying component 2, a second screw rod 7 is threadedly connected to one side of the first fixed block 5, a turning handle is fixedly connected to the end of the second screw rod 7, an end of the second screw rod 7 away from the turning handle extends to the other side of the first fixed block 5 and is rotatably connected to a guide plate 8; two guide rods 9 are symmetrically fixedly connected to one side of the guide plate 8 close to the second screw rod 7, a second fixed block 6 corresponding to the guide rod 9 is fixedly connected to the top of the conveying component 2, an end of the guide rod 9 away from the guide plate 8 passes through the second fixed block 6, and the guide rod 9 is slidably connected to the second fixed block 6;

[0089] In this embodiment, the second screw rod 7 is driven to rotate by turning the handle, so that the first fixed block 5 can move axially along the second screw rod 7. The above adjustment is determined according to the scale on the guide rod 9 and the width of the metal plate, thereby realizing the adjustment of the distance between the two guide plates 8. During the transportation of the metal plate, it moves toward the middle and is straightened under the guidance of the smooth beveled edge at the end of the guide plate 8, thereby facilitating subsequent grinding operations.

[0090] The working principle of the intelligent device for removing metal plate surface particles based on robot grinding technology is explained in detail below.

[0091] like Figure 1-Figure 19 As shown, the metal plate to be polished is grabbed by the loading robot 1 with the metal frame side facing upward and placed on the conveying component 2, and the metal plate is conveyed to the central position of two of the polishing robots 3 through the conveying component 2. At this time, the metal plate is blocked by the material blocking component. An infrared sensor is arranged on the conveying component 2. When the metal plate contacts the material blocking component, the light source of the infrared sensor is blocked at the same time, and a signal is generated and the lifting component is controlled by an external controller to lift the metal plate. The lifted metal plate is separated from the conveying component 2, so it is no longer conveyed, and then the metal plate is fixed; six polishing robots 3 are distributed on both sides of the conveying component 2, and the six polishing robots 3 are divided into three groups corresponding to three polishing stations. The areas covered by the two polishing robots 3 on each polishing station are fixed, and the first two groups of polishing robots 3 control the polishing components to polish the four corners and two opposite sides of the metal plate. Specifically, two opposite corners of the metal plate are first polished. After the polishing is completed, the metal plate is sent to the second station by the conveying component 2 to polish the other two corners of the metal plate. The polishing process of the above four corners covers the welding points on both sides; after the polishing is completed, the metal plate is sent to another station for polishing by the conveying component 2. The station corresponds to the middle section of the polished metal plate. Each polishing robot 3 is responsible for moving within a fixed area and does not need to move too much distance; after each polishing is completed, the metal plate is lowered to the conveying component 2 by the lifting component, and the metal plate is flipped over by the flipping component during the descent. Turn 90° to throw out the particles on the surface of the metal plate. At the same time, during the flipping process, the blocking rod 54 will be pressed down below the roller, so that the corresponding blocking component will be unblocked, so that the metal plate can contact the conveying component 2 and be sent to the subsequent station for grinding. During the process, the three stations work simultaneously, which reduces the waiting time between each operation and reduces the area that the grinding robot 3 needs to cover, thereby improving the grinding efficiency and grinding accuracy; when the grinding progress on the side close to the unloading area is faster, the lifting component of the subsequent station will not put down the metal plate temporarily until the grinding of the front metal plate is completed, so as to avoid collision.

[0092] The above generally describes the present invention in detail, but it is obvious to a person skilled in the art that some modifications or improvements can be made to the present invention. Therefore, modifications or improvements that do not depart from the spirit of the present invention are within the scope of protection of the present invention.

Claims

1. An intelligent device for removing metal plate surface particles based on robot grinding technology, comprising a grinding component; characterized in that: Also includes: A conveying component (2) is configured as a roller conveyor line for conveying metal plates; A loading robot (1) for placing a metal plate to be polished on a conveying component (2); A material unloading robot (4), used for removing the polished metal plate from the conveying component (2); A material blocking component, used for blocking the metal plate at the grinding position; A lifting component, used to lift the blocked metal plate until it is separated from the rollers in the conveying component (2) and to fix the lifted metal plate, the lifting component comprising electric push rods (34) symmetrically fixedly connected to both sides of the conveying component (2), and a lifting frame (35) fixedly connected between the output ends of the two electric push rods (34); Six grinding robots (3) are provided, and the six grinding robots (3) are symmetrically arranged on both sides of the conveying component (2). The grinding component is installed at the movable end of the grinding robot (3). The grinding robot (3) is used to control the grinding component to move to a grinding position. Each of the grinding components corresponds to a different grinding area on the surface of the metal plate. The grinding component can control the degree of grinding by means of grinding resistance. The turning component is used to turn over the metal plate to throw out the polished particles, and at the same time to release the blocking of the metal plate by the blocking component; The flipping component comprises a transverse plate (73) fixedly connected to the inner side of the conveying component (2); a through hole is provided at the middle position of the transverse plate (73); a lifting rod (41) is slidably connected between the inner walls of the through hole; a suction cup (43) is fixedly connected to the top of the lifting rod (41); the lifting rod (41) is configured as a hollow rod and communicates with the suction cup (43); a guide groove (42) is provided on the outer wall of the lifting rod (41); a second sliding ball (40) is fixedly connected to the inner wall of the through hole; the second sliding ball (40) is slidably connected to the guide groove (42); a supporting plate (50) is fixedly connected to the side wall of the lifting rod (41); a through groove is provided at the middle position of the lifting frame (35); the bottom of the lifting rod (41) extends to the bottom of the lifting frame (35) through the through groove and is fixedly connected to a rotating joint (44); the rotating joint (44) is connected to an external air pump through The pipelines are connected; the bottom of the lifting frame (35) is symmetrically fixedly connected with a slow-descent cylinder (45), and the slow-descent cylinder (45) is provided with an air inlet pipe (48) and an air outlet pipe (49), and the inside of the air inlet pipe (48) and the air outlet pipe (49) are both provided with a one-way valve, and the diameter of the air inlet pipe (48) is larger than that of the air outlet pipe (49); the bottom of the lifting frame (35) is slidably connected with a pull rod (47), the bottom of the pull rod (47) extends to the inside of the slow-descent cylinder (45) and is fixedly connected with a second piston plate (46), the second piston plate (46) is slidably connected to the slow-descent cylinder (45), and the top of the pull rod (47) passes through the top of the lifting frame (35) and is fixedly connected to the support plate (50); the bottom of the cross plate (73) is fixedly connected with an electromagnet (76), and the top of the support plate (50) is fixedly connected with an iron block (77) used in conjunction with the electromagnet (76); The material blocking component comprises a cross bar (52) fixedly connected to the inner side of the conveying component (2); one side of the cross bar (52) is rotatably connected to a swing rod (53) via a torsion spring; one end of a rotation axis of the swing rod (53) extends to the other side of the cross bar (52) and is fixedly connected to a transmission shaft (36); a second spiral groove (67) is formed on an outer wall of the transmission shaft (36); one side of the cross bar (52) is fixedly connected to a fixing frame (55); one side of the fixing frame (55) is fixedly connected to a piston cylinder (56), a third piston plate (65) is slidably connected between the inner walls of the piston cylinder (56), a sliding rod (66) is slidably connected to one side of the fixing frame (55), one end of the sliding rod (66) is fixedly connected to the third piston plate (65), an end of the sliding rod (66) away from the piston plate extends to the inside of the fixing frame (55) and is fixedly connected to a sliding sleeve (68), the inner wall of the sliding sleeve (68) is fixedly connected to a third sliding ball (69), the third sliding ball (69) is connected to the second spiral groove (67) sliding connection; the inner side of the conveying component (2) is fixedly connected to a second mounting frame (57), the inner side of the second mounting frame (57) is fixedly connected to a valve cylinder (58), the top of the valve cylinder (58) is provided with a valve hole (61), the inner wall of the valve cylinder (58) is fixedly connected to a valve frame (59), the top of the valve frame (59) is slidably connected to a square rod (60), the top of the square rod (60) extends through the valve hole (61) to the top of the valve cylinder (58) and is rotatably connected A roller (63) is provided, and a plug (62) is fixedly connected to the side wall of the square rod (60), and the plug (62) is used in conjunction with the valve hole (61); the bottom of the square rod (60) extends to the bottom of the valve frame (59) and is fixedly connected to a limit block, and a second spring (64) is sleeved outside the square rod (60) and located between the valve frame (59) and the plug (62); the valve cylinder (58) and the piston cylinder (56) are connected through a pipeline; and the top of the swing rod (53) is connected to a stop rod (54).

2. According to claim 1, a device for intelligently removing particles from metal plate surfaces based on robot grinding technology is characterized in that: The grinding component comprises a first fixed plate (16), one side of the first fixed plate (16) is rotatably connected to a sleeve shaft (18), one end surface of the sleeve shaft (18) is provided with a transmission groove (19), one end of the sleeve shaft (18) away from the transmission groove (19) is fixedly connected to a locking cylinder (31), one side of the inner wall of the transmission groove (19) is slidably connected to a key shaft (22), one end of the key shaft (22) is rotatably connected to a core shaft (20), and one end of the key shaft (22) away from the core shaft (20) is fixedly connected to a locking cylinder (31). The first end of the mandrel (20) extends into the interior of the locking cylinder (31) and is fixedly connected to a first piston plate (23), the first piston plate (23) is slidably connected to the inner wall of the locking cylinder (31), a first spring (24) is fixedly connected between one side of the first piston plate (23) and one side of the inner wall of the locking cylinder (31), an end of the mandrel (20) away from the key shaft (22) is detachably connected to a grinding wheel (21), and the grinding wheels (21) located on different sides of the conveying component (2) rotate in opposite directions; the transmission groove (19 ) is fixedly connected to the inner wall of the core shaft (20) with a magnet (28), the outer part of the core shaft (20) is fixedly connected to an iron ring (27), the side wall of the core shaft (20) is provided with a first spiral groove (25), the inner wall of the transmission groove (19) is fixedly connected to a first sliding ball (26), and the first sliding ball (26) is slidably connected to the first spiral groove (25); the locking cylinder (31) is provided with an exhaust pipe (29) and a return pipe (30), the exhaust pipe (29) is provided with a one-way valve inside, and the return pipe ( An electric valve is arranged inside the locking cylinder (30); a mounting groove (33) is provided at one end of the sleeve shaft (18) located inside the locking cylinder (31), a pressure sensor is installed inside the mounting groove (33), and the pressure sensor is used in conjunction with the first piston plate (23); a grinding motor (32) is fixedly mounted on one side of the first fixing plate (16), and an output end of the grinding motor (32) extends to the other side of the first fixing plate (16) and is connected to the sleeve shaft (18) through mutually meshing gear transmission.

3. According to claim 2, the intelligent device for removing particles from the surface of metal plates based on robot grinding technology is characterized by: The movable end of the grinding robot (3) is fixedly connected to a first mounting frame (11); a side of the first mounting frame (11) away from the grinding robot (3) is symmetrically fixedly connected to a slide rail (15); the outer side of the slide rail (15) is slidably connected to a first slider (10); the first fixed plate (16) is fixedly connected to the first slider (10); a reciprocating motor (12) is fixedly installed on the inner side of the first mounting frame (11); the output end of the reciprocating motor (12) extends to the outside of the first mounting frame (11) and is fixedly connected to a turntable (13); a slide column (14) is fixedly connected to the end surface of the turntable (13); a strip groove (17) is provided on the side of the first fixed plate (16) close to the slide rail (15); the slide column (14) is slidably connected to the strip groove (17).

4. According to claim 3, the intelligent device for removing metal plate surface particles based on robot grinding technology is characterized in that: The top of the lifting frame (35) is fixedly connected to two support rods (78), and the support rods (78) are configured as square rods with rounded corners. The inner sides of the lifting frame (35) are symmetrically rotatably connected to two bidirectional screw rods (37). One side of the lifting frame (35) is fixedly installed with two clamping motors (38) corresponding to the bidirectional screw rods (37). The output end of the clamping motor (38) extends to the inner side of the lifting frame (35) and is fixedly connected to one end of the bidirectional screw rod (37). The outer sides of the bidirectional screw rods (37) are connected to two second sliders (51) through threaded engagement. The outer side of the support rod (78) is slidably connected to a clamping block (39), and the clamping block (39) is fixedly connected to the second slider (51). The lifting frame (35) is arranged at the central position of two adjacent rollers in the conveying component (2).

5. According to claim 4, the intelligent device for removing particles from the surface of metal plates based on robot grinding technology is characterized in that: One side of the swing rod (53) is rotatably connected to a first screw rod (74); the outer side of the first screw rod (74) is threadedly connected to an adjusting rod (75); the adjusting rod (75) is fixedly connected to the blocking rod (54); two sides of the adjusting rod (75) are symmetrically fixedly connected to a slide table (70); two sides of the swing rod (53) are symmetrically fixedly connected to a slide rack (71); and the slide rack (71) is slidably connected to the slide table (70).

6. The intelligent device for removing particles from the surface of metal plates based on robot grinding technology according to claim 5 is characterized in that: A protruding block (72) is fixedly connected to one side of the blocking rod (54), and the protruding block (72) is spherical.

7. The intelligent device for removing metal plate surface particles based on robot grinding technology according to claim 6 is characterized in that: The top of the conveying component (2) is symmetrically fixedly connected with a first fixed block (5), one side of the first fixed block (5) is threadedly connected with a second screw rod (7), the end of the second screw rod (7) is fixedly connected with a turning handle, the end of the second screw rod (7) away from the turning handle extends to the other side of the first fixed block (5) and is rotatably connected with a guide plate (8); the side of the guide plate (8) close to the second screw rod (7) is symmetrically fixedly connected with two guide rods (9), the top of the conveying component (2) is fixedly connected with a second fixed block (6) corresponding to the guide rods (9), the end of the guide rod (9) away from the guide plate (8) passes through the second fixed block (6), and the guide rod (9) is slidably connected to the second fixed block (6); the side wall of the guide rod (9) is provided with a scale.

Images