Polishing device and polishing equipment

Abstract

The invention discloses a grinding device and grinding equipment, and relates to the technical field of grinding, the grinding device comprises a mechanical arm, a grinding head structure and a driving device, the grinding head structure comprises a mounting frame, at least one grinding head and a pressure sensor, the mounting frame is detachably connected to the mechanical arm, and the grinding heads and the pressure sensor are arranged on the mounting frame; the polishing heads abut against the pressure sensor, the pressure sensor is electrically connected with the mechanical arm, the pressure sensor is arranged to detect the abutting force between the polishing heads and the product, and the mechanical arm is arranged to adjust the distance between the polishing heads and the product. According to the grinding head structure, the stress consistency in the grinding process is improved, and therefore the grinding effect is improved.

Description

Technical Field

[0001] The invention relates to the technical field of grinding, and in particular to a grinding device and a grinding equipment. Background Art

[0002] In the production process of consumer electronic products, the products need to be processed by surface grinding, such as rough grinding to remove large burrs or uneven areas, fine grinding to further improve the overall smoothness and flatness, and polishing to restore the bright surface to improve the texture.

[0003] Existing grinding equipment uses different sanding disc base materials, and the base material itself is prone to large deformation after being subjected to force (such as sponge, etc.), so the actual force acting on the product during the grinding process is inconsistent, resulting in unsatisfactory grinding effect on the product. Summary of the invention

[0004] The main purpose of the present invention is to provide a grinding device and a grinding equipment, aiming to improve the consistency of force during the grinding process through the grinding device, thereby improving the grinding effect.

[0005] To achieve the above object, the present invention provides a grinding device, which comprises: Robotic arms; and A grinding head structure, the grinding head structure comprising a mounting frame, at least one grinding head and a pressure sensor, the mounting frame being detachably connected to the robotic arm, the grinding head and the pressure sensor being arranged on the mounting frame, the grinding head abutting against the pressure sensor, and the pressure sensor being electrically connected to the robotic arm; Wherein, the pressure sensor is configured to detect the abutment force between the grinding head and the product, and the mechanical arm is configured to adjust the distance between the grinding head and the product.

[0006] In one embodiment, the mounting frame is rotatably connected to the robotic arm, and the mounting frame includes a plurality of connected grinding surfaces; The grinding head structure includes a plurality of the grinding heads, each grinding surface is provided with at least one grinding head, and the plurality of grinding heads abut against the pressure sensor.

[0007] In one embodiment, the grinding head structure includes a plurality of pressure sensors, the plurality of pressure sensors are disposed on the grinding surface, and each of the grinding heads abuts against one of the pressure sensors; Or, the grinding head structure includes a pressure sensor, and the plurality of grinding heads abut against the pressure sensor at the same time; And / or, the mounting frame is provided with a mounting cavity, each grinding surface is provided with a mounting hole corresponding to a grinding head, the pressure sensor is arranged in the mounting cavity, the grinding head is passed through the mounting hole and extends into the mounting cavity to abut against the pressure sensor.

[0008] In one embodiment, the mounting frame has a rotation axis that rotates relative to the robot arm, and the plurality of grinding surfaces are arranged around the rotation axis; The plurality of grinding heads include a rough grinding head, a fine grinding head and a polishing head, the plurality of grinding surfaces include a rough grinding surface, a fine grinding surface and a polishing surface, the rough grinding head is arranged on the rough grinding surface, the fine grinding head is arranged on the fine grinding surface, and the polishing head is arranged on the polishing surface.

[0009] In one embodiment, the grinding surface further includes a suction cup surface, the grinding head structure further includes a suction cup, the suction cup is arranged on the suction cup surface, and the suction cup surface, the rough grinding surface, the fine grinding surface and the polishing surface are arranged around the rotation axis; And / or, the grinding head comprises a base and an abrasive body, the base is detachably connected to the mounting frame, one end of the base abuts against the pressure sensor, and the other end of the base is detachably connected to the abrasive body; And / or, the grinding head structure includes a plurality of grinding heads, each grinding surface is provided with two grinding heads, and the grinding heads arranged on the same grinding surface are arranged at intervals.

[0010] The present invention also provides a grinding device, which comprises: Placement table; As the above-mentioned grinding device, the grinding device is arranged on the placing table; and A driving device, the driving device comprising a first driving member and a mounting shaft, the first driving member being arranged on the placement table, and the mounting shaft being arranged at an output end of the first driving member; Among them, the robotic arm in the grinding device places the product on the end of the installation shaft through the grinding head structure, and the first driving member drives the installation shaft to rotate to drive the product to rotate relative to the grinding head structure, and the grinding head structure grinds the product.

[0011] In one embodiment, the driving device includes two mounting shafts, the two mounting shafts are connected to the output end of the first driving member, the grinding device also includes a correction device, the correction device includes a first correction table, at least one second correction table and at least one slide table, the first correction table is arranged on the placement table, the slide table is slidably arranged on the placement table, and each of the second correction tables is arranged on one of the slide tables; The first correction table and the second correction table are both provided with a correction cavity, and the correction cavity is set to correct the product position. The sliding table drives the second correction table to slide, so that the second correction table is spaced apart from the first correction table.

[0012] In one embodiment, the correction device further comprises a detection column and at least two photoelectric sensors, wherein the detection column is disposed on the bottom wall of the correction cavity and protrudes from the bottom wall of the correction cavity; The first correction platform and the second correction platform are both provided with a conducting groove, the conducting groove is connected to the correction cavity, the photoelectric sensor is arranged on the periphery of the first correction platform, and is arranged on the periphery of the second correction platform, and the detection end of the photoelectric sensor is arranged corresponding to the conducting groove; And / or, the inner wall of the correction cavity is a curved surface or a flat surface; And / or, the diameter of the correction cavity is gradually reduced from the cavity opening of the correction cavity to the bottom wall of the correction cavity.

[0013] In one embodiment, the grinding device further includes a loading device and a unloading device, and the loading device and the unloading device both include: Two side panels, the two side panels are arranged relatively and spaced apart; Two baffles, each of which is rotatably connected to one of the side plates, and the two baffles are located between the two side plates; and A third driving member, the third driving member is arranged on the side plate, and an output end of the third driving member is connected to the two baffles; The third driving member can drive the two baffles and the two side plates to enclose and form a placement cavity for accommodating products.

[0014] In one embodiment, the grinding head includes a base and an abrasive body, the base abuts against the pressure sensor, the abrasive body is detachably connected to the base, and the grinding device also includes an abrasive replacement device, and the abrasive replacement device includes: A frame, wherein the frame is provided with at least one conducting hole; at least one second driving member, the second driving member being disposed on the frame, and an output end of each second driving member extending into one of the conducting holes; and At least one first material storage platform, the first material storage platform is arranged on a side of the frame facing away from the second driving member, the first material storage platform is provided with first material storage bins, and each of the first material storage bins is connected to one of the conducting holes; The abrasive body is stacked on the first storage bin, and the output end of each of the second driving members passes through a conducting hole and extends into a first storage bin to push the abrasive body to move away from the frame.

[0015] In one embodiment, the abrasive replacement device further comprises: A detection frame, the detection frame is arranged on the frame, and the detection frame is provided with a detection surface; a first detection member, the first detection member is disposed on the detection frame, the first detection member is electrically connected to the robot arm, and a detection end of the first detection member is parallel to and protrudes from the detection surface; and The second detecting member is arranged at one end of the first material storage platform away from the frame, the second detecting member is electrically connected to the second driving member, and the second detecting member is configured to detect the height of the abrasive body in the first material storage bin so that the abrasive body protruding from the first material storage platform is flush with the detection surface.

[0016] In one embodiment, the abrasive replacement device further comprises at least one second material storage platform, each of the second material storage platforms comprises a plurality of vertical plates, the vertical plates are movably arranged on the frame, and the plurality of vertical plates are enclosed to form a second material storage bin; And / or, the abrasive replacement device comprises at least two of the first material storage tables and / or at least two of the second material storage tables, at least two of the first material storage tables are arranged at intervals, and / or at least two of the second material storage tables are arranged at intervals, and each of the grinding head structures comprises at least two grinding heads, at least two of the grinding heads are arranged at intervals, so that the grinding heads are arranged corresponding to the first material storage tables and / or the second material storage tables; And / or, the abrasive replacement device further comprises a clamping jaw cylinder, the clamping jaw cylinder comprises a cylinder and a clamping jaw, the cylinder is arranged on the frame, and the clamping jaw is arranged on the output end of the cylinder.

[0017] The device of the technical solution of the present invention includes a robotic arm and a grinding head structure, the grinding head structure includes a mounting frame, at least one grinding head and a pressure sensor, the mounting frame is detachably connected to the robotic arm, each grinding head and pressure sensor is arranged on the mounting frame, each grinding head abuts against the pressure sensor, and the pressure sensor is electrically connected to the robotic arm; wherein, the grinding head can grind and polish the product, and the pressure sensor can detect the abutment force between the grinding head and the product during the grinding process, thereby controlling the robotic arm to adjust the distance between the grinding head and the product in real time, so as to ensure the consistency of the force applied by the grinding head to the product during the grinding process, so as to improve the grinding effect, thereby ensuring the consistency of mass production. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying creative work.

[0019] Figure 1 It is a schematic structural diagram of a grinding device in one embodiment of the present invention; Figure 2 It is a structural schematic diagram of a grinding device from another perspective in one embodiment of the present invention; Figure 3 A structural schematic diagram of a grinding device from another perspective in one embodiment of the present invention; Figure 4 It is a structural schematic diagram of a grinding head structure in one embodiment of the present invention; Figure 5 A schematic structural diagram of a grinding head structure from another perspective in one embodiment of the present invention; Figure 6 It is a schematic diagram of the structure of a correction device in one embodiment of the present invention; Figure 7 Schematic diagram of the structure of an abrasive replacement device in one embodiment of the present invention.

[0020] Description of Figure Numbers: 100. Grinding equipment; 1. Placement table; 2. Grinding head structure; 21. Mounting frame; 211. Grinding surface; 212. Mounting cavity; 213. Mounting hole; 22. Grinding head; 221. Base; 222. Abrasive body; 23. Pressure sensor; 24. Suction cup; 3. Driving device; 31. First driving member; 32. Mounting shaft; 4. Correction device; 41. First correction table; 42. Second correction table; 4a. Conducting groove; 43. Slide table; 44. Correction cavity; 45. Detection column; 46. ​​Photoelectric sensor; 5. Abrasive replacement device; 51. Frame; 52. Second driving member; 53. First material storage table; 531. First material storage bin; 54. Detection frame; 541. Detection surface; 55. First detection member; 56. Second detection member; 57. Second material storage table; 571. Vertical plate; 572. Second material storage bin; 58. Gripper cylinder; 581. Cylinder; 582. Gripper; 6. Loading device; 7. Unloading device; 6a. Side plate; 6b. Baffle plate; 6c. Placement cavity.

[0021] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0022] 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.

[0023] It should be noted that if the embodiments of the present invention involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are only used to explain the relative position relationship, movement status, etc. between the components in a certain specific posture. If the specific posture changes, the directional indication will also change accordingly.

[0024] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, the descriptions of "first", "second", etc. are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of technical features indicated. Therefore, the features limited to "first" and "second" may explicitly or implicitly include at least one of the features. In addition, if "and / or" or "and / or" appears in the full text, its meaning includes three parallel solutions. Taking "A and / or B" as an example, it includes solution A, solution B, or solutions that satisfy both A and B. In addition, the technical solutions between the various embodiments can be combined with each other, but it must be based on the ability of ordinary technicians in this field to implement. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0025] Please refer to Figures 1 to 5 As shown, the present invention proposes a grinding device, which includes a robotic arm and a grinding head structure 2. The grinding head structure 2 includes a mounting frame 21, at least one grinding head 22 and a pressure sensor 23. The mounting frame 21 is detachably connected to the robotic arm. Each grinding head 22 and the pressure sensor 23 are arranged on the mounting frame 21. Each grinding head 22 abuts against the pressure sensor 23, and the pressure sensor 23 is electrically connected to the robotic arm; wherein the pressure sensor 23 is configured to detect the abutment force between the grinding head 22 and the product, and the robotic arm is configured to adjust the distance between the grinding head 22 and the product.

[0026] In this embodiment, the grinding device is used to grind the casing or other parts of the electronic product to perform various operations such as burr removal, waterline removal, oxide layer removal, shaping, polishing, etc. on the product to be grinded. At the same time, the grinding device can grind various materials such as metal materials, fiberglass materials, plastic materials, glass materials, ceramic materials, etc. The grinding device includes a robotic arm, a grinding head structure 2 and a drive device 3, wherein the robotic arm can be a six-axis robotic arm, and the robotic arm is used to load, unload, position, transfer, support, etc. the product to be grinded, so as to realize the transfer of the product to be grinded within the whole process with multiple degrees of freedom.

[0027] In this embodiment, the grinding device is applied to the grinding device, which includes a placing table 1 and a grinding table, the placing table 1 and the grinding table are arranged at an interval, and the mechanical arm is arranged between the placing table 1 and the grinding table, wherein the grinding head structure 2 can be arranged on the placing table 1, the driving device 3 is arranged on the grinding table, and the grinding head structure 2 is detachably connected to the mechanical arm, and the grinding head structure 2 is provided with a sanding disc or a grinding wheel for grinding the product to be polished. At the same time, the grinding device also includes a driving device 3, and the driving device 3 is used to install and place the product to be polished so that the mechanical arm can be connected to the grinding head structure 2. Afterwards, the grinding head structure 2 is transferred to the driving device 3 where the product to be polished is placed, so as to polish the product to be polished. The product to be polished can be stationary on the driving device 3, and the robotic arm drives the grinding head structure 2 to rotate relative to the product to be polished, so as to polish the product to be polished. Alternatively, the robotic arm supports the grinding head structure 2 to remain stationary, and the driving device 3 drives the product to be polished to rotate relative to the grinding head structure 2, so as to achieve grinding and / or polishing of the product to be polished by the sand disc on the grinding head structure 2 through the relative rotation between the sand disc on the grinding head structure 2 and the product to be polished.

[0028] For example, the driving device 3 includes a first driving member 31 and a mounting shaft 32. The first driving member 31 can be a servo motor. The mounting shaft 32 is installed on the output shaft of the first driving member 31 to drive the mounting shaft 32 to rotate through the first driving member 31. A mounting position is provided at one end of the mounting shaft 32 away from the first driving member 31, and the product to be polished is installed at the mounting position. The product to be polished can be a rotating structure such as an annular or circular structure, so that after being installed on the mounting shaft 32, it can rotate relative to the grinding head structure 2 under the drive of the first driving member 31, and the grinding head structure 2 can be used to grind and / or polish the product to be polished.

[0029] At the same time, the grinding head structure 2 includes a mounting frame 21, at least one grinding head 22 and a pressure sensor 23, wherein the mounting frame 21 is a structural support component of the grinding head structure 2, used to support and install the grinding head 22 and the pressure sensor 23, the mounting frame 21 can be a frame structure, or a table or column structure, at the same time, the mounting frame 21 is detachably connected to the robot arm, so that the grinding head structure 2 as a whole is detachably connected to the robot arm, such as a first quick-release structure is provided on the mounting frame 21, and a second quick-release structure is provided at the moving end of the robot arm, and the detachable connection between the robot arm and the grinding head structure 2 is realized through the quick-release and quick-exchange of the first quick-release structure and the second quick-release structure. Specifically, the first quick-release structure is a quick-release structure. The first quick-release structure is a pneumatic piston, and the first quick-release structure is a locking pin. The pneumatic piston is pushed to move so as to extend into the locking pin and interlock with the locking pin to realize the connection between the first quick-release structure and the second quick-release structure, thereby realizing the mutual connection between the mechanical arm and the mounting frame 21. Alternatively, one of the first quick-release structure and the second quick-release structure is provided with a strong magnet, and the other of the first quick-release structure and the second quick-release structure is provided with a coil, and the connection between the mechanical arm and the mounting frame 21 is realized by electromagnetic adsorption of the strong magnet.

[0030] The grinding head 22 is arranged on the mounting frame 21. The grinding head 22 is arranged on the mounting frame 21. The grinding head 22 includes a base 221 and an abrasive body 222. The abrasive body 222 and the base 221 can be integrally formed or detachably connected, and the base 221 and the mounting frame 21 can also be detachably connected, such as plugging and snapping on the mounting surface, wherein the base 221 is used to support and install the abrasive body 222, such as by bonding, magnetic attraction, Velcro, screw connection, snap connection, etc. to achieve the installation and connection of the base 221 and the abrasive body 222. At the same time, the base 221 is installed on the mounting frame 21 to fix the grinding head 22 in the mounting frame 21. The abrasive body 222 can be a sponge sanding disc, a hard grinding wheel, a felt disc, a fiber disc, etc., which is not limited here.

[0031] Furthermore, the grinding head structure 2 may include a plurality of grinding heads 22, and the plurality of grinding heads 22 are arranged at intervals on the mounting frame 21. Meanwhile, the driving device 3 is also provided with a plurality of mounting shafts 32 corresponding to the plurality of grinding heads 22. Each mounting shaft 32 can be installed and placed with at least one product to be polished. The first driving member 31 can drive the plurality of mounting shafts 32 to rotate relative to the grinding head structure 2, and enable each grinding head 22 to correspond to a product to be polished, so as to perform grinding and / or polishing on the product to be polished.

[0032] In this embodiment, the grinding head structure 2 also includes a pressure sensor 23, which is arranged in the mounting frame 21. The pressure sensor 23 can be a piezoelectric force sensor, a strain force sensor, a capacitive force sensor, and a piezoresistive force sensor, etc., among which a piezoelectric force sensor is preferred. The piezoelectric force sensor uses a piezoelectric crystal to generate an electric charge under pressure to achieve force detection, so that the piezoelectric force sensor can be suitable for dynamic force measurement, especially when the mounting shaft 32 drives the product to be polished to rotate, which will produce a certain impact force on the grinding head 22.

[0033] Among them, a mounting groove or mounting platform is set in the mounting frame 21, the pressure sensor 23 is limitedly installed in the mounting groove or mounting platform, and the base 221 of the grinding head 22 is fixedly or detachably arranged on the mounting frame 21, and the end of the base 221 away from the mounting abrasive body 222 is abutted against the pressure sensor 23.

[0034] It can be understood that the product to be polished arranged on the mounting shaft 32 is driven to rotate by the first driving member 31, and the mechanical arm drives the polishing head 22 in the polishing head structure 2 to abut against the product to be polished, so that a relative movement is generated between the product to be polished and the abrasive body 222, and the abrasive body 222 is used to polish and / or polish the surface of the product to be polished. At the same time, when the abrasive body 222 of the polishing head 22 abuts against the product to be polished, one end of the polishing head 22 away from the abrasive body 222 abuts against the pressure sensor 23, and the pressure between the abrasive body 222 and the product to be polished is detected in real time through the pressure sensor 23. At the same time, the The polishing device also includes a controller, which is electrically connected to the pressure sensor 23 and the robotic arm. After the pressure sensor 23 detects the pressure between the polishing head 22 and the product to be polished, the pressure sensor 23 transmits the detected pressure data to the controller, and the controller analyzes the current pressure data to determine whether the pressure between the polishing head 22 and the product to be polished is normal. Abnormal situations include excessive pressure or too little pressure between the polishing head 22 and the product to be polished. Excessive pressure and too little pressure will result in poor polishing effect and poor polishing consistency of batch products.

[0035] Furthermore, after the controller determines the pressure between the grinding head 22 and the product to be polished by using the pressure data obtained by the pressure sensor 23, the controller can control the movement of the robotic arm, so that the robotic arm controls the overall movement of the grinding head structure 2 and adjusts the distance relative to the product to be polished, thereby realizing real-time adjustment of the contact force between the grinding head 22 and the product to be polished, ensuring that there is a stable and consistent contact force between the grinding head 22 and the product to be polished, thereby ensuring the polishing effect of a single product and the polishing consistency of batch products.

[0036] The grinding device of the present technical solution includes a robotic arm and a grinding head structure 2, the grinding head structure 2 includes a mounting frame 21, at least one grinding head 22 and a pressure sensor 23, the mounting frame 21 is detachably connected to the robotic arm, each grinding head 22 and the pressure sensor 23 are arranged on the mounting frame 21, each grinding head 22 abuts against the pressure sensor 23, and the pressure sensor 23 is electrically connected to the robotic arm, wherein the grinding head 22 can grind and polish the product, and the pressure sensor 23 can detect the abutment force between the grinding head 22 and the product during the grinding process, thereby controlling the robotic arm to adjust the distance between the grinding head 22 and the product in real time, so as to ensure the consistency of the force applied by the grinding head 22 to the product during the grinding process, so as to improve the grinding effect, thereby ensuring the consistency of mass production.

[0037] In one embodiment, if Figures 2 to 5 As shown, the mounting frame 21 is rotatably connected to the robot arm, and the mounting frame 21 includes a plurality of connected grinding surfaces 211 ; the grinding head structure 2 includes a plurality of grinding heads 22 , each grinding surface 211 is provided with at least one grinding head 22 , and the plurality of grinding heads 22 abut against the pressure sensor 23 .

[0038] In this embodiment, the mounting frame 21 is rotationally connected to the robot arm, or the robot arm drives the mounting frame 21 to rotate relative to the robot arm through the rotation of the end portion, and the robot arm can drive the mounting frame 21 to realize continuous or intermittent rotation. At the same time, the mounting frame 21 can be a columnar frame structure or a frame structure arranged in a ring shape. At the same time, the mounting frame 21 includes a plurality of grinding surfaces 211, each of which is arranged on the periphery of the mounting frame 21, so that the mounting frame 21 forms a polyhedral frame structure, and each grinding surface is connected in sequence and arranged in a surrounding manner along the direction of rotation of the mounting frame 21 relative to the robot arm, and each grinding surface is provided with at least one grinding head 22, and the grinding heads 22 arranged on the same grinding surface are arranged in an array, such as a linear array, a rectangular array or a ring array, etc., which is not limited here.

[0039] It can be understood that a plurality of grinding surfaces 211 are provided on the mounting frame 21, and at least one grinding head 22 is provided on each grinding surface, wherein each grinding head 22 can be a grinding structure of the same type, such as rough grinding of the product to be processed to remove burrs, processing marks, oxide layer treatment, etc., a coarse sand disc or coarse grinding wheel with a smaller mesh number, such as a diamond coarse grinding wheel or; or fine grinding of the product to be processed to perform micropore treatment or more refined surface treatment, a fine sand disc or fine grinding wheel with a larger mesh number, such as a ceramic fiber fine grinding disc or a nylon sand disc, etc., or polishing the product to be processed, such as using a polyurethane polishing wheel with a larger mesh number, to perform mirror restoration treatment on the product.

[0040] Preferably, each grinding head 22 is a different type of grinding structure, and the grinding head 22 includes a rough grinding head, a fine grinding head and a polishing head. At the same time, the multiple grinding surfaces include a rough grinding surface, a fine grinding surface and a polishing surface. Each grinding head 22 arranged on the same grinding surface 211 adopts the same type of grinding structure, and the grinding heads 22 arranged on different grinding surfaces 211 have different grinding types. For example, the abrasive body 222 of the grinding head 22 arranged on a rough grinding surface is a rough grinding head, and the rough grinding head is arranged on the base 221 to perform rough grinding on the product. The abrasive body 222 of the grinding head 22 arranged on another grinding surface 211, such as the fine grinding surface, is a fine grinding head, and the fine grinding head is arranged on the base 221 to perform rough grinding on the product. To perform a more refined surface treatment on the product, a grinding head 22 arranged on another grinding surface such as a polishing surface has an abrasive body 222 which is a polishing head. The polishing head is arranged on a base 221 to perform a mirror treatment on the product. Therefore, when the robot arm drives the mounting frame 21 to rotate, the grinding head 22 of each grinding surface can be set corresponding to the product to be polished. Therefore, by driving a single grinding head structure to rotate through the robot arm, the product to be polished can be subjected to multi-step full-process continuous surface treatment, without having to replace different types of grinding heads 22. The type of grinding head 22 can be changed only by driving the mounting frame 21 to rotate through the robot arm, so as to improve the grinding efficiency of the grinding device.

[0041] Therefore, when the robotic arm rotates the mounting frame 21 to the grinding head 22 of the corresponding process, the contact force between the grinding head 22 and the product to be grinded is a fixed value or a fixed interval value. By setting the pressure sensor 23, the contact force between the grinding head 22 and the product can be detected in real time. When the contact force is too large or too small, the controller can control the robotic arm to drive the mounting frame 21 to move in real time to ensure that in the current process (such as rough grinding, fine grinding and polishing processes), there is a suitable and stable contact force between the grinding head 22 and the product to be grinded, thereby ensuring the consistency of the grinding effect.

[0042] In one embodiment, the grinding head structure 2 includes multiple pressure sensors 23, multiple pressure sensors 23 are arranged on the grinding surface 211, and each grinding head 22 abuts against a pressure sensor 23; or, the grinding head structure 2 includes one pressure sensor 23, and multiple grinding heads 22 abut against the pressure sensor 23 at the same time.

[0043] It can be understood that each grinding head 22 in the grinding head structure 2 is abutted against a pressure sensor 2323, or multiple grinding heads 22 are abutted against a pressure sensor 2323 together. When performing different grinding processes, the abutment force between the grinding head 22 and the product will also be different. For example, when rough grinding the product to be polished, it is necessary to ensure that there is a greater abutment force between the grinding head 22 and the product to be polished, so as to quickly and comprehensively eliminate larger burrs, knife marks, water lines and other defects through greater external force; or when polishing, it is necessary to reduce the abutment force between the grinding head 22 and the product to be polished, so as to have more contact with the surface of the product itself and reduce the grinding effect on the product.

[0044] In one embodiment, if Figure 4 and Figure 5 As shown, the mounting frame 21 is provided with a mounting cavity 212, and each polishing surface is provided with at least one mounting hole 213, and the mounting hole 213 connects the mounting cavity 212 and the external space; the pressure sensor 23 is arranged in a ring shape in the mounting cavity 212, and each polishing head 22 is passed through the mounting hole 213 and extends into the mounting cavity 212 to abut against the pressure sensor 23.

[0045] It can be understood that the main frame structure of the mounting frame 21 encloses a mounting cavity 212, and each grinding surface is arranged around the mounting cavity 212 on the peripheral wall of the mounting frame 21, and at least one mounting hole 213 is provided on each grinding surface. The mounting hole 213 is used to install and place the grinding head 22, so that one end of the base 221 of the grinding head 22 can extend into the mounting cavity 212 to abut against the pressure sensor 23, and the other end of the base 221 of the grinding head 22 protrudes from the grinding surface to be connected to the abrasive body 222.

[0046] At the same time, each grinding head 22 arranged on each grinding surface is arranged in a ring shape, preferably in the same rotation plane around the direction of rotation of the mounting frame 21 relative to the robot arm, and the pressure sensor 23 is also an annular pressure sensor 23, so that each grinding head 22 can abut against the annular pressure sensor 23 at the same time, thereby simplifying the overall structure on the basis of arranging multiple grinding heads 22, and can detect the abutment force between multiple grinding heads 22 and the product through the annular pressure sensor 23, thereby improving the detection efficiency.

[0047] In one embodiment, if Figure 4 and Figure 5As shown, the grinding head structure 2 also includes a suction cup 24, which is arranged on one of the multiple grinding surfaces 211; it can be understood that the suction cup 24 is arranged on one of the multiple grinding surfaces 211, the suction cup 24 is a pneumatic suction cup 24, the suction cup 24 is connected to the external air circuit, the suction cup 24 is used to suck the product, and can transfer the product to the mounting shaft 32 of the drive device 3 under the drive of the robotic arm, so as to install the product at the mounting position of the mounting shaft 32, and the grinding head structure 2 can also include multiple suction cups 24, and the multiple suction cups 24 are arranged in an array on the grinding surface, such as a linear array, a rectangular array or a circular array, so that the grinding head structure 2 can absorb multiple products at one time and place them correspondingly at multiple mounting shafts 32, and at the same time, the multiple grinding heads 22 of the grinding head structure 2 can also grind multiple products at the same time, effectively improving the grinding efficiency.

[0048] In one embodiment, if Figures 1 to 5 As shown, the grinding head structure 2 includes a plurality of grinding heads 22, each grinding surface is provided with at least two grinding heads 22, and the grinding heads 22 arranged on the same grinding surface are arranged at intervals; the driving device 3 includes at least two mounting shafts 32, each mounting shaft 32 is arranged at intervals, each mounting shaft 32 is arranged to place a product, and each grinding head 22 is arranged corresponding to a product.

[0049] It can be understood that each grinding surface is provided with at least two grinding heads 22, so that the multiple grinding surfaces 211 arranged around the mounting frame 21 are provided with multiple grinding heads 22, and each grinding head 22 is arranged in an array on the same grinding surface, such as a linear array, a rectangular array, etc. Preferably, the grinding heads 22 on each grinding surface are arranged in a linear array, that is, each grinding head 22 is arranged along a straight line on each grinding surface. The driving device 3 includes at least two spaced-apart mounting shafts 32. Preferably, each mounting shaft 32 is arranged along a straight line corresponding to the arrangement of the grinding head 22, and one of the grinding surfaces is provided with at least two suction cups 24 arranged along a straight line, so that the grinding head structure 2 can absorb at least two products at a time and can be placed on at least two mounting shafts 32 accordingly. At the same time, each grinding head 22 is arranged corresponding to the product to be polished on a mounting shaft 32, so that at least two products can be polished synchronously at the same time, effectively improving the polishing efficiency, and improving the polishing consistency of the same polishing batch.

[0050] The present invention also proposes a grinding device 100, which includes a placement table 1, a grinding device as described above, and a driving device 3, wherein the driving device 3 includes a first driving member 31 and a mounting shaft 32, wherein the first driving member 31 is arranged on the placement table 1, and the mounting shaft 32 is arranged at the output end of the first driving member 31; wherein the mechanical arm in the grinding device places the product on the end of the mounting shaft 32 through the grinding head structure 2, and the first driving member 31 drives the mounting shaft 32 to rotate, so as to drive the product to rotate relative to the grinding head structure 2, and the grinding head structure 2 grinds the product. The specific structure of the grinding device refers to the aforementioned embodiment. Since the present grinding device 100 adopts all the technical solutions of all the aforementioned embodiments, it has at least all the beneficial effects brought by the technical solutions of the aforementioned embodiments, which will not be described one by one here.

[0051] In one embodiment, if Figure 6 As shown, the grinding equipment 100 also includes a placement table 1 and a correction device 4, the correction device 4 includes a first correction table 41, at least one second correction table 42 and at least one slide 43, the first correction table 41 is arranged on the placement table 1, each slide 43 is slidably arranged on the placement table 1, and each second correction table 42 is arranged on a slide 43; the first correction table 41 and the second correction table 42 are configured to place products, and the slide 43 drives the second correction table 42 to slide so that the second correction table 42 is spaced apart from the first correction table 41.

[0052] In this embodiment, the correction device 4 includes a first correction table 41 and at least one second correction table 42. The first correction table 41 and the second correction table 42 are both arranged on a placement table 1. The placement table 1 forms a placement surface, wherein the first correction table 41 is fixed on the placement surface, and each second correction table 42 is movably arranged on the placement surface, so that each second correction surface is spaced apart from the first correction surface and can move relative to the first correction table 41.

[0053] Among them, the correction device 4 also includes at least one slide 43, which is slidably connected to the placement table 1. For example, a slide rail is arranged on the placement table 1 so that the slide 43 is slidably connected to the slide rail. At the same time, each second correction table 42 is arranged on a slide 43, so that the second correction table 42 can slide relative to the placement table 1 and move relative to the first correction table 41.

[0054] It can be understood that the first correction table 41 and the second correction table are used to correct and position the product, such as making the fixed surface of the product face upward, so that the robotic arm drives the suction cup 24 to accurately and quickly absorb the product located in the first correction table 41 and the second correction table 42.

[0055] At the same time, the first correction table 41 and each second correction table 42 can place a product to be polished, so that the first correction table 41 and at least one second correction table 42 can place at least two products to be polished, the first correction table 41 and each second correction table 42 are arranged at intervals, and the grinding head structure 2 is provided with at least two suction cups 24 on a grinding surface, each suction cup 24 can absorb a product to be polished located on the first correction table 41 and the second correction table 42, so that the robot arm drives the grinding head structure 2 to absorb at least two products to be polished at one time, and the at least two products to be polished are arranged correspondingly at the mounting shaft 32.

[0056] Furthermore, each second correction table 42 can move relative to the first correction table 41, so as to adjust the relative position and spacing between the first correction table 41 and the second correction table 42 according to the relative position and spacing between each suction cup 24 and / or the relative position and spacing between each mounting axis 32 to adapt to different processing modes and product sizes.

[0057] In one embodiment, if Figure 6 As shown, the first correction platform 41 and the second correction platform 42 are both provided with a correction cavity 44. The correction cavity 44 is provided with a cavity opening connected to the outside, and the diameter of the correction cavity 44 is gradually reduced from the cavity opening to the bottom wall of the correction cavity 44.

[0058] It can be understood that the first correction table 41 and the second correction table 42 are both table or basin structures, and correction cavities 44 are provided on the first correction table 41 and the second correction table 42. The correction cavity 44 is a cavity with a one-way opening, and the inner wall of the correction cavity 44 is a complete curved surface, wherein the cavity diameter of the correction cavity 44 is gradually reduced from the cavity mouth to the bottom wall, so that the inner wall of the correction cavity 44 is an arc-shaped cone. When the product is placed in the correction cavity 44, due to the gradual contraction of the cavity wall of the correction cavity 44, products of different sizes are finally positioned and placed in a plane with the same diameter as the correction cavity 44, and kept in a horizontal state. By providing the first correction table 41 and the second correction table 42 with the correction cavity 44, the products to be polished, especially the circular products, can be quickly positioned, so that the robot arm drives the suction cup 24 to accurately and quickly absorb the products located in the first correction table 41 and the second correction table 42. Optionally, the placement surface is an arc surface or a plane.

[0059] In one embodiment, if Figure 6 As shown, the correction device 4 also includes a detection column 45 and at least two photoelectric sensors 46. The detection column 45 is arranged on the bottom wall of the correction cavity 44 and protrudes from the bottom wall of the correction cavity 44. The first correction platform 41 and the second correction platform 42 are both provided with a conducting groove 4a, and the conducting groove 4a is connected to the correction cavity 44. The photoelectric sensor 46 is arranged on the periphery of the first correction platform 41 and the periphery of the second correction platform 42. The detection end of the photoelectric sensor 46 is arranged corresponding to the conducting groove 4a.

[0060] It can be understood that the detection column 45 is a column or a protruding structure. The detection column 45 is arranged on the bottom wall of the correction cavity 44 of the first correction table 41 and the bottom wall of the correction cavity 44 of the second correction table 42. The detection column 45 is protruding from the bottom wall of the correction cavity 44. The product polished by the corresponding polishing equipment 100 is a ring structure with a middle hole. If the product to be polished falls into the correction cavity 44 under normal circumstances, the middle hole is inserted into the detection column 45, and the peripheral edge of the product to be polished abuts against the cavity wall of the correction cavity 44. At this time, the product to be polished is in a normal placement state to facilitate the subsequent suction of the suction cup 24. If the product to be polished falls into the correction cavity 44 under abnormal circumstances, such as when there are other connecting structures (such as a circuit board or a matching mounting structure) in the middle hole, the entire product to be polished will be lifted up by the detection column 45.

[0061] Furthermore, the correction device 4 also includes a photoelectric sensor 46, which is arranged on the periphery of the first correction table 41 and the periphery of the second correction table 42, and the detection end of the photoelectric sensor 46 is set toward the cavity mouth of the correction cavity 44, so that when the product to be polished is in an abnormal situation, the photoelectric sensor 46 can detect the part lifted by the detection column 45, thereby confirming that the product to be polished is not placed in place.

[0062] In addition, a conducting groove 4a is provided on the periphery of the first correction table 41 and the second correction table 42, and the conducting groove 4a is connected to the correction cavity 44. The detection end of the photoelectric sensor 46 is arranged toward the conducting groove 4a to detect the placement of the product to be polished in the correction cavity 44 through the conducting groove 4a, so as to accurately judge the current placement status of the product.

[0063] In one embodiment, if Figures 1 to 3 as well as Figure 7 As shown, the grinding equipment 100 also includes an abrasive replacement device 5, which includes a frame 51, at least one second driving member 52 and at least one first material storage table 53. The frame 51 is provided with at least one conducting hole; each second driving member 52 is arranged on the frame 51, and the output end of each second driving member 52 extends into a conducting hole; the first material storage table 53 is arranged on the side of the frame 51 facing away from the second driving member 52, and the first material storage table 53 is provided with a first material storage bin 531, and each first material storage bin 531 is connected to a conducting hole; the sand discs are stacked on the first material storage bin 531, and the output end of each second driving member 52 passes through a conducting hole and extends into a first material storage bin 531 to push the sand disc to move away from the frame 51.

[0064] In this embodiment, a frame 51 is disposed on the placement table 1, and the frame 51 is a structural support component of the abrasive replacement device 5. At the same time, the frame 51 is spaced apart from the placement surface of the placement table 1, and a second driving member 52 is provided between the frame 51 and the placement table 1. The second driving member 52 is a servo motor, and the second driving member 52 is disposed on the placement table 1, and a screw is provided at the output end of the second driving member 52. At the same time, a lifting plate is threadedly connected to the screw, and the second driving member 52 drives the screw to rotate, and the lifting plate and the top rod move together along the extension direction of the rod body of the screw.

[0065] At the same time, the abrasive replacement device 5 also includes at least one first material storage table 53, which is arranged on the side of the frame 51 facing away from the second driving member 52. Each first material storage table 53 is provided with a first material storage bin 531, and a through-hole is opened on the frame 51, and the through-hole is connected to the first material storage bin 531.

[0066] It can be understood that multiple abrasive bodies 222 (i.e. sand discs) are stacked and placed in the first storage bin 531, and the second driving member 52 is also provided with a push rod, which is arranged on the lifting plate, and the push rod passes through the guide hole and extends into the first storage bin 531 to abut the abrasive body 222 (i.e. sand disc). The second driving member 52 drives the screw to rotate, thereby driving the lifting plate to drive the push rod to move toward the first storage bin 531, and push the abrasive body 222 located in the first storage bin 531 to move away from the frame 51.

[0067] It is understandable that by providing a driving member at the bottom, the abrasive bodies 222 can be pushed and loaded one by one in a bottom-pushing manner, so that after the grinding head 22 on the grinding head structure 2 is worn, the abrasive body 222 at the end can be quickly replaced.

[0068] In one embodiment, if Figures 1 to 3 as well as Figure 7 As shown, the abrasive replacement device 5 also includes a detection frame 54, a first detection member 55 and a second detection member 56. The detection frame 54 is arranged on the frame 51, and the detection frame 54 is provided with a detection surface 541. The first detection member 55 is arranged on the detection frame 54, and the first detection member 55 is electrically connected to the robot arm. The detection end of the first detection member 55 is parallel to and protrudes from the detection surface 541. The second detection member 56 is arranged at one end of the first storage table 53 away from the frame 51, and the second detection member 56 is electrically connected to the second driving member 52. The second detection member 56 is configured to detect the height of the sand disc in the first storage bin 531 so that the sand disc protruding from the first storage table 53 is flush with the detection surface 541.

[0069] In this embodiment, the first detection member 55 and the second detection member 56 are photoelectric sensors 46. The abrasive replacement device 5 also includes a detection frame 54, which is arranged on the frame 51, and a detection surface 541 is provided at one end of the detection frame 54 away from the frame 51. The detection surface 541 is a plane flush with the placement surface of the placement table 1. The first detection member 55 is arranged on the detection frame 54, and the detection area formed by the first detection member 55 is flush with the detection surface 541 and protrudes from the detection surface 541, and is located on the side of the detection surface 541 facing away from the frame 51.

[0070] It can be understood that the first detection member 55 is electrically connected to the robotic arm, and the robotic arm drives the grinding head structure 2 to move to the detection surface 541, and keeps the grinding surface flush with the detection surface 541, and at the same time, each grinding head 22 located on the same grinding surface passes through the detection area formed by the first detection member 55, so that each grinding head 22 can be identified to confirm the position of the robotic arm and the grinding head structure 2. Furthermore, after the pressure sensor 23 obtains the abutment force between the grinding head 22 and the product to be polished, the controller controls the robotic arm in real time to adjust the distance between the grinding head 22 and the product to be polished. When the abutment force is large, the robotic arm moves the grinding head structure 2 away from the product; when the abutment force is small, the robotic arm moves the grinding head structure 2 toward the product, thereby realizing real-time detection and dynamic adjustment.

[0071] Based on the foregoing, the first detection member 55 is electrically connected to the controller. The first detection member 55 detects the position of the grinding head 22 through the detection area, and combined with the distance that the robot arm has adjusted during the grinding stage of the product, the controller controls the robot arm to repay the adjusted distance to reposition the grinding surface and the position of each grinding head 22 arranged on the grinding surface, thereby ensuring the accuracy of subsequent replacement of the abrasive body 222.

[0072] In this embodiment, the abrasive replacement device 5 also includes a second detection member 56, which is also a photoelectric sensor 46. The second detection member 56 is electrically connected to the second driving member 52. The second detection member 56 is arranged at the end of the first storage table 53 away from the frame 51. The second detection member 56 can detect the product located at the end of the first storage bin 531 away from the frame 51, so that when the second driving member 52 lifts the abrasive body 222 located in the first storage bin 531, the abrasive body 222 controls the second driving member 52 to stop when it reaches the second detection member 56, so as to prevent the abrasive body 222 from detaching from the first storage bin 531 or protruding too high from the first storage bin 531.

[0073] It is understandable that after long-term use, the abrasive body 222 of the grinding head 22 needs to be replaced due to wear, and the old abrasive body 222 located on the base 221 is removed by the clamping cylinder 58, the position of the grinding head 22 is detected by the first detection member 55, and the mechanical arm is controlled by the controller to repay the pre-adjusted distance. At this time, the plane where the end of the grinding head 22 is located is flush with the detection surface 541, and is flush with the abrasive body 222 located at the end of the first storage bin 531 away from the frame 51, so that the grinding head 22 from which the abrasive body 222 has been removed can directly abut against the new abrasive body 222 located at the end of the first storage bin 531, and directly fit or snap together, so as to replace the abrasive body 222 more quickly and accurately, thereby improving processing efficiency.

[0074] In one embodiment, if Figure 7 As shown, the abrasive replacement device 5 further includes at least one second material storage platform 57 , each second material storage platform 57 includes a plurality of vertical plates 571 , each vertical plate 571 is movably disposed on the frame 51 , and the plurality of vertical plates 571 encloses a second material storage bin 572 .

[0075] It can be understood that the second material storage table 57 includes multiple vertical plates 571, one end of the vertical plate 571 is movably arranged on the frame 51, and if an adjustment slot is provided on the frame 51, the vertical plate 571 is slidably arranged in the adjustment slot, and the other end of the vertical plate 571 extends along the extension direction of the first material storage bin 531. The multiple vertical plates 571 are jointly enclosed to form the second material storage bin 572, and the multiple vertical plates 571 can be gathered together or separated from each other through a sliding connection with the frame 51, thereby changing the size of the second material storage bin 572, so that the second material storage table 57 can adapt to abrasive bodies 222 of different types and sizes, thereby improving the versatility and adaptability of the grinding equipment 100.

[0076] In one embodiment, the abrasive replacement device 5 includes at least two first material storage tables 53 and / or at least two second material storage tables 57, each first material storage table 53 is arranged at intervals, and / or each second material storage table 57 is arranged at intervals, and each grinding head structure 2 includes at least two grinding heads 22, each grinding head 22 is arranged at intervals, so that the grinding head 22 is arranged corresponding to the first material storage table 53 and / or the second material storage table 57. Optionally, the abrasive replacement device 5 also includes a clamping cylinder 58, and the clamping cylinder 58 includes a cylinder 581 and a clamping jaw 582, the cylinder 581 is arranged on the frame 51, and the clamping jaw 582 is arranged at the execution end of the cylinder 581. It can be understood that the clamping jaw 582 includes a first claw body and a second claw body, and the first claw body and the second claw body are arranged at the two executing ends of the cylinder 581. The two executing ends can move towards or away from each other so that the first claw body and the second claw body can move towards or away from each other. By the first claw body and the second claw body approaching each other, the abrasive body 222 of the grinding head 22 arranged on the detection frame 54 can be clamped, and on the basis of the detachable connection between the abrasive body 222 and the base 221, the abrasive body 222 can be removed to disassemble and replace the abrasive body 222 after use.

[0077] Among them, the first claw body and the second claw body include a supporting section, a connecting section and a clamping section. The supporting section is connected to an execution end of the cylinder 581, the connecting section is connected to the supporting section and the clamping section, and the connecting section extends in a direction away from the supporting section. The clamping section is connected to one end of the connecting section away from the supporting section. The two connecting sections extend in a direction approaching each other, and the two clamping sections arranged on the two connecting sections can abut against each other. When the cylinder 581 drives the first claw body and the second claw body to approach each other, the two clamping sections approach and abut against each other, so as to clamp the abrasive body 222, and drive the grinding head structure 2 to move relative to the clamping cylinder 58 through the mechanical arm, so as to be able to passively separate the abrasive body 222 from the base 221, realize the unloading and removal of the abrasive body 222, improve the degree of automation of the grinding equipment 100, and improve the processing efficiency of the grinding equipment 100.

[0078] In one embodiment, if Figures 1 to 3 As shown, the grinding equipment 100 also includes a loading device 6 and a unloading device 7. The loading device 6 and the unloading device 7 each include two side plates 6a, two baffles 6b and a third driving member. The two side plates 6a are arranged relatively spaced apart, and each baffle 6b is rotatably connected to a side plate 6a. The two baffles 6b are located between the two side plates 6a. The third driving member is arranged on the side plate 6a, and the output end of the third driving member is connected to the two baffles 6b. The third driving member can drive the two baffles 6b to enclose the two side plates 6a to form a placement cavity 6c for accommodating the product.

[0079] In this embodiment, the loading device 6 is used to place products to be polished, such as multiple products to be polished are arranged in a material tray, and multiple material trays are stacked in the loading device 6, and the unloading device 7 is used to place products that have been processed, such as multiple processed products are arranged in a material tray, and multiple material trays are stacked in the unloading device 7, wherein the loading device 6 and the unloading device 7 are both arranged on the placement table 1, so that the robotic arm can clamp the material tray from the loading device 6, and absorb the products to be polished in the material tray to the mounting shaft 32 through the suction cup 24 of the grinding head structure 2, or absorb and place the polished products in the material tray, and clamp the material tray through the robotic arm to place the material tray in the unloading device 7.

[0080] It can be understood that the loading device 6 and the unloading device 7 both include two side plates 6a and two baffles 6b, wherein the two side plates 6a are arranged on the placement table 1, and the two side plates 6a are arranged relatively spaced apart, and each baffle 6b is rotatably connected to a side plate 6a so that the two side plates 6a and the two baffles 6b jointly enclose a placement cavity 6c, and the placement cavity 6c is used to place a plurality of stacked material trays, and by rotating the baffle 6b, one side cavity opening of the placement cavity 6c can be closed to ensure that the material tray is in the placement cavity 6c, and while the baffle 6b is rotating, it can also push the material tray that is not in place to completely enter the placement cavity 6c, so as to realize the positioning and fixation of the material tray, and facilitate the subsequent positioning and grasping of the robot arm.

[0081] At the same time, the loading device 6 and the unloading device 7 also include a third driving member, which can be a cylinder 581. The third driving member is arranged on the placement table 1, and the output end of the third driving member is connected to the two baffles 6b. The third driving member is connected to the baffle 6b through a pull rod, so that the third driving member pulls the baffle 6b to move, thereby causing the baffle 6b to rotate relative to the side plate 6a, and causing the baffle 6b to block the cavity opening of the placement cavity 6c and push the material tray to be completely confined in the placement cavity 6c, wherein the side plate 6a is provided with a plurality of limit grooves arranged in the vertical direction, and each material tray can be slidably arranged in a limit groove, so that a plurality of material trays are arranged in the placement cavity 6c at intervals along the vertical direction.

[0082] The above description is only an exemplary embodiment of the present invention, and does not limit the patent scope of the present invention. All equivalent structural changes made by using the contents of the present invention specification and drawings under the technical concept of the present invention, or directly / indirectly applied in other related technical fields are included in the patent protection scope of the present invention.

Claims

1. A grinding device, characterized in that: The grinding device comprises: Robotic arms; and A grinding head structure, the grinding head structure comprising a mounting frame, at least one grinding head and a pressure sensor, the mounting frame being detachably connected to the robotic arm, the grinding head and the pressure sensor being arranged on the mounting frame, the grinding head abutting against the pressure sensor, and the pressure sensor being electrically connected to the robotic arm; Wherein, the pressure sensor is configured to detect the abutment force between the grinding head and the product, and the mechanical arm is configured to adjust the distance between the grinding head and the product.

2. The grinding device according to claim 1, characterized in that: The mounting frame is rotatably connected to the mechanical arm, and the mounting frame includes a plurality of connected grinding surfaces; The grinding head structure includes a plurality of the grinding heads, each grinding surface is provided with at least one grinding head, and the plurality of grinding heads abut against the pressure sensor.

3. The grinding device according to claim 2, characterized in that: The grinding head structure includes a plurality of pressure sensors, the plurality of pressure sensors are arranged on the grinding surface, and each of the grinding heads abuts against one of the pressure sensors; Or, the grinding head structure includes a pressure sensor, and the plurality of grinding heads abut against the pressure sensor at the same time; And / or, the mounting frame is provided with a mounting cavity, each grinding surface is provided with a mounting hole corresponding to a grinding head, the pressure sensor is arranged in the mounting cavity, the grinding head is passed through the mounting hole and extends into the mounting cavity to abut against the pressure sensor.

4. The grinding device according to claim 2, characterized in that: The mounting frame has a rotation axis that rotates relative to the mechanical arm, and the plurality of grinding surfaces are arranged around the rotation axis; The plurality of grinding heads include a rough grinding head, a fine grinding head and a polishing head, the plurality of grinding surfaces include a rough grinding surface, a fine grinding surface and a polishing surface, the rough grinding head is arranged on the rough grinding surface, the fine grinding head is arranged on the fine grinding surface, and the polishing head is arranged on the polishing surface.

5. The grinding device according to claim 4, characterized in that: The grinding surface further includes a suction cup surface, and the grinding head structure further includes a suction cup, wherein the suction cup is arranged on the suction cup surface, and the suction cup surface, the rough grinding surface, the fine grinding surface and the polishing surface are arranged around the rotation axis; And / or, the grinding head comprises a base and an abrasive body, the base is detachably connected to the mounting frame, one end of the base abuts against the pressure sensor, and the other end of the base is detachably connected to the abrasive body; And / or, the grinding head structure includes a plurality of grinding heads, each grinding surface is provided with two grinding heads, and the grinding heads arranged on the same grinding surface are arranged at intervals.

6. A grinding device, characterized in that: The grinding equipment comprises: Placement table; The grinding device according to any one of claims 1 to 5, wherein the grinding device is arranged on the placement table; and A driving device, the driving device comprising a first driving member and a mounting shaft, the first driving member being arranged on the placement table, and the mounting shaft being arranged at an output end of the first driving member; Among them, the robotic arm in the grinding device places the product on the end of the installation shaft through the grinding head structure, and the first driving member drives the installation shaft to rotate to drive the product to rotate relative to the grinding head structure, and the grinding head structure grinds the product.

7. The grinding device according to claim 6, characterized in that: The driving device includes two mounting shafts, and the two mounting shafts are connected to the output end of the first driving member. The grinding device also includes a correction device, and the correction device includes a first correction table, at least one second correction table and at least one slide table. The first correction table is arranged on the placement table, the slide table is slidably arranged on the placement table, and each of the second correction tables is arranged on one of the slide tables. The first correction table and the second correction table are both provided with a correction cavity, and the correction cavity is set to correct the product position. The sliding table drives the second correction table to slide, so that the second correction table is spaced apart from the first correction table.

8. The grinding device according to claim 7, characterized in that: The correction device further comprises a detection column and at least two photoelectric sensors, wherein the detection column is arranged on the bottom wall of the correction cavity and protrudes from the bottom wall of the correction cavity; The first correction platform and the second correction platform are both provided with a conducting groove, the conducting groove is connected to the correction cavity, the photoelectric sensor is arranged on the periphery of the first correction platform, and is arranged on the periphery of the second correction platform, and the detection end of the photoelectric sensor is arranged corresponding to the conducting groove; And / or, the inner wall of the correction cavity is a curved surface or a flat surface; And / or, the diameter of the correction cavity is gradually reduced from the cavity opening of the correction cavity to the bottom wall of the correction cavity.

9. The grinding device according to claim 7, characterized in that: The grinding equipment also includes a loading device and a unloading device, and the loading device and the unloading device both include: Two side panels, the two side panels are arranged relatively and spaced apart; Two baffles, each of which is rotatably connected to one of the side plates, and the two baffles are located between the two side plates; and A third driving member, the third driving member is arranged on the side plate, and an output end of the third driving member is connected to the two baffles; The third driving member can drive the two baffles and the two side plates to enclose and form a placement cavity for accommodating products.

10. The grinding device according to claim 6, characterized in that: The grinding head comprises a base and an abrasive body, the base abuts against the pressure sensor, the abrasive body is detachably connected to the base, and the grinding device further comprises an abrasive replacement device, the abrasive replacement device comprises: A frame, wherein the frame is provided with at least one conducting hole; at least one second driving member, the second driving member being disposed on the frame, and an output end of each second driving member extending into one of the conducting holes; and At least one first material storage platform, the first material storage platform is arranged on a side of the frame facing away from the second driving member, the first material storage platform is provided with first material storage bins, and each of the first material storage bins is connected to one of the conducting holes; The abrasive body is stacked on the first storage bin, and the output end of each of the second driving members passes through a conducting hole and extends into a first storage bin to push the abrasive body to move away from the frame.

11. The grinding device according to claim 10, characterized in that: The abrasive replacement device also includes: A detection frame, the detection frame is arranged on the frame, and the detection frame is provided with a detection surface; a first detection member, the first detection member is disposed on the detection frame, the first detection member is electrically connected to the robot arm, and a detection end of the first detection member is parallel to and protrudes from the detection surface; and The second detecting member is arranged at one end of the first material storage platform away from the frame, the second detecting member is electrically connected to the second driving member, and the second detecting member is configured to detect the height of the abrasive body in the first material storage bin so that the abrasive body protruding from the first material storage platform is flush with the detection surface.

12. The grinding device according to claim 10, characterized in that: The abrasive replacement device further comprises at least one second material storage platform, each of the second material storage platforms comprises a plurality of vertical plates, the vertical plates are movably arranged on the frame, and the plurality of vertical plates are enclosed to form a second material storage bin; And / or, the abrasive replacement device comprises at least two of the first material storage tables and / or at least two of the second material storage tables, at least two of the first material storage tables are arranged at intervals, and / or at least two of the second material storage tables are arranged at intervals, and each of the grinding head structures comprises at least two grinding heads, at least two of the grinding heads are arranged at intervals, so that the grinding heads are arranged corresponding to the first material storage tables and / or the second material storage tables; And / or, the abrasive replacement device further comprises a clamping jaw cylinder, the clamping jaw cylinder comprises a cylinder and a clamping jaw, the cylinder is arranged on the frame, and the clamping jaw is arranged on the output end of the cylinder.

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