Metal part manipulator grinding, polishing and dust removal control integrated workstation

Abstract

The invention relates to the technical field of metal piece grinding and polishing, and discloses a metal piece manipulator grinding and polishing and dust removal control integrated workstation. Metal pieces needing to be ground and polished after earlier-stage machining are sequentially placed in the containing grooves of the workpiece storage box, the workpiece storage box is moved to the machining position from the integral assembly position through the workpiece conveying system, and the intelligent grabbing system grabs and moves the workpieces to the grinding and polishing system for grinding and polishing. Meanwhile, through the arrangement of the dust trapping system, the position of a dynamic trapping opening is moved according to the dust generation position, the dust trapping system can treat the trapped dust, dissipation of the dust can be avoided, dust pollution is prevented, and the service life of the dust trapping system is prolonged. After the workpieces are ground and polished, the intelligent grabbing system can put the workpieces back to the original containing groove of the workpiece storage box again, the workpieces can be ground and polished circularly and continuously, and the grinding and polishing procedures of the workpieces are completed in order.

Description

Technical Field

[0001] The present invention relates to the technical field of metal part grinding and polishing, and particularly to an integrated workstation for grinding, polishing and dust removal control of metal parts by a manipulator. Background Art

[0002] With the rapid development of intelligent manufacturing, in the field of metal precision machining, the efficiency, precision and environmental friendliness of surface treatment processes have become the core competitive factors. Traditional grinding and polishing operations rely on manual operation or fixed automation equipment, resulting in significant defects: poor process adaptability, serious dust pollution, and insufficient equipment flexibility when producing small batches of multiple varieties. There are problems such as poor process adaptability, dust pollution, and insufficient equipment flexibility.

[0003] In the field of metal processing, surface quality and machining precision are the core factors affecting product performance and lifespan. Metal surface roughness defects (such as tool marks, burrs, scratches, etc.) are mainly caused by factors such as tool parameters, cutting speed, machine tool vibration, and material properties, and need to be prevented by optimizing process parameters, improving tool design, etc. In view of the limitations of traditional polishing techniques (such as low efficiency of manual polishing and dead corners in mechanical polishing), magnetic force polishing and grinding machines achieve dead - corner - free and highly uniform polishing by driving grinding media through a magnetic field, and are particularly suitable for the treatment of complex - shaped workpieces (metal parts). However, in large - scale production, equipment selection still needs attention. Small - sized polishing machines are difficult to meet the requirements due to insufficient efficiency and stability, while large - sized equipment can ensure quality consistency although the cost is relatively high; In terms of dynamic matching, traditional manipulators rely on fixed tooling fixtures, with long change - over time (accounting for 20% - 30% of the production cycle), and are unable to quickly adapt to the three - dimensional features of complex workpieces (such as irregular curved surfaces). Insufficient positioning accuracy leads to machining deviations; process parameter adjustment depends on manual experience, lacking self - adaptive ability, and it is difficult to cope with the hardness differences and surface roughness requirement changes when processing multiple materials (such as aluminum alloy and titanium alloy), easily resulting in excessive wear or uneven polishing problems; in the dust control system, the primary filtration device (such as a bag filter) has a capture efficiency of less than 70% for fine particles (PM0.3 level), and has a large air resistance (pressure loss > 1500 Pa), high dust - cleaning energy consumption. At the same time, the dust diffusion path and the manipulator movement trajectory are not dynamically coordinated, and the risk of secondary pollution is significant; the equipment flexibility is insufficient, the process library coverage is limited, and tool replacement requires shutdown operation, making it difficult to meet the agile production requirements of small batches of multiple varieties. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an integrated workstation for grinding, polishing and dust removal control of metal parts by a manipulator.

[0005] A metal part manipulator grinding, polishing and dust removal control integrated workstation, including a protective station house, inside which there is a workpiece transportation system, an intelligent grasping system, a grinding and polishing system and a dust collection system; the workpiece transportation system includes at least two workpiece storage boxes, each of the workpiece storage boxes includes several storage slots, and each storage slot can independently load metal parts. The workpiece transportation system can independently transport each workpiece storage box carrying metal parts from the assembly position to the processing position; the intelligent grasping system can grasp the workpiece from any storage slot of the workpiece storage box located at the processing position, and move the workpiece to the grinding and polishing system for grinding and polishing. After the workpiece is ground and polished, the intelligent grasping system can put the workpiece back into the original storage slot of the workpiece storage box; the dust collection system includes a dynamic collection port. The dust collection system can monitor the dust generation position inside the protective station house and move the position of the dynamic collection port according to the dust generation position. The dust collection system can also process the collected dust.

[0006] Preferably, the dust collection system includes a collection intake mechanism and a dust treatment mechanism. The collection intake mechanism includes a collection intake box body, a collection intake fan, a collection drive bracket and several dynamic collection ports. Inside the collection intake box body, there are an air flow channel and a water flow channel, and the air flow channel and the water flow channel have an intersection part; the dust treatment mechanism includes a water flow adsorption pool, a water waterfall generator and a sewage processor. The water flow adsorption pool is arranged at the bottom end of the collection intake box body, and the water waterfall generator is arranged inside the collection intake box body.

[0007] Preferably, the water waterfall generated by the water waterfall generator can fall into the water flow adsorption pool through the water flow channel; one end of each dynamic collection port is connected to the top end of the collection intake box body through a corrugated air pipe, and the collection drive bracket can drive each dynamic collection port to move to the dust generation position within the deformation range of the corresponding corrugated air pipe; under the action of the collection intake fan, an air flow can be generated from each dynamic collection port to the collection intake fan, and the air flow moves along the path restricted by the air flow channel inside the collection intake box body.

[0008] Preferably, the intelligent grasping system includes a robotic arm and a manipulator. The manipulator is arranged at the movable end of the robotic arm. The robotic arm includes at least three free dimensions, and the cooperation of each free dimension can drive the manipulator to move in the space inside the protective station house.

[0009] Preferably, the robotic arm includes a support base, a horizontal rotating shaft arm, a vertical rotating shaft arm, and a terminal movable shaft arm. The horizontal rotating shaft arm is rotatably connected to the top of the support base. The vertical rotating shaft arm is provided at the free end of the horizontal rotating shaft arm. The terminal movable shaft arm is provided at the free end of the vertical rotating shaft arm. The manipulator is provided at the free end of the terminal movable shaft arm. The manipulator includes a connecting plate. On one side of the connecting plate, a grasping rod is fixedly provided. On the other side of the connecting plate, a grasping driving cylinder is provided. The output end of the grasping driving cylinder is provided with a clamping rod. The grasping rod can establish a connection with the workpiece. Driven by the grasping driving cylinder, the clamping rod can approach the grasping rod to stably limit the workpiece between the grasping rod and the clamping rod.

[0010] Preferably, the workpiece transportation system further includes a positioning workbench, which includes a plurality of positioning track groups and a plurality of transfer platforms. A limiting groove is formed at the top of each transfer platform, and each workpiece storage box can be embedded into the limiting groove. Each positioning track group can independently drive one of the transfer platforms to move, indirectly driving the workpiece storage box to carry the metal parts from the assembly position to the processing position.

[0011] Preferably, each positioning track group includes a driving guide rail, a plurality of limiting guide rails, and positioning guide columns. The bottom ends of the transfer platforms fit with the corresponding limiting guide rails, and the bottom ends of the transfer platforms are fixed to the driving sliders of the driving guide rails. Driven by the driving guide rail, the driving sliders and the transfer platforms move under the limitation of the corresponding limiting guide rails, and the positioning guide columns can limit the position of the transfer platforms moving towards the intelligent grasping system side, moving the workpiece storage boxes carried by the transfer platforms to the processing position.

[0012] Preferably, the grinding and polishing system includes two symmetrically arranged mounting frames, a grinding mechanism, and a polishing mechanism. The grinding mechanism and the polishing mechanism are respectively fixed inside the two mounting frames. The mounting frames are slidably connected to the protective station house. A frame driving guide rail is provided on one side of the mounting frame, and the frame driving guide rail can drive the mounting frame to approach and move away from the intelligent grasping system.

[0013] Preferably, the grinding mechanism includes at least two grinding components, each of which includes a grinding drive motor and a grinding belt mounting component. The output shaft of the grinding drive motor can be assembled with a grinding wheel, and the output shaft of the grinding drive motor can also be assembled with a grinding belt pulley. The grinding belt pulley and the grinding belt mounting component can cooperate to install a grinding belt; the polishing mechanism includes at least two polishing components, each of which includes a polishing drive motor and a polishing belt mounting component. The output shaft of the polishing drive motor can be assembled with a polishing wheel, and the output shaft of the polishing drive motor can also be assembled with a polishing belt pulley. The polishing belt pulley and the polishing belt mounting component can cooperate to install a polishing belt.

[0014] Preferably, the protective station building includes a fixed station building and a movable station building. The movable station building can be separated from the fixed station building, and the fixed station building can be used independently.

[0015] Preferably, a working condition detection system is also provided. The working condition detection system can detect the working conditions of the workstation. The working condition detection system includes a workstation working condition state control system, a workstation control display screen, a workstation working condition parameter display screen, a real-time display of workstation working condition parameters, and an audible and visual alarm for the safe working condition of the workstation; the workstation working condition state control system includes a number of suspended particle sensors, visual monitors, temperature sensors, and water flow sensors; each of the suspended particle sensors can detect the concentration of suspended particles in the area where it is located and can control the dynamic capture port to move to the position with the highest concentration of suspended particles.

[0016] Compared with the prior art, the present invention provides an integrated workstation for grinding, polishing, and dust removal control of metal parts by a manipulator, which has the following beneficial effects: 1. For this integrated workstation for grinding, polishing, and dust removal control of metal parts by a manipulator, the grinding and polishing process of the metal parts is isolated inside the protective station building through the function of the protective station building. The metal parts that need to be ground and polished after the previous processing are sequentially placed in the respective storage slots of the workpiece storage box, and then the entire workpiece storage box is placed inside the workpiece transportation system. The workpiece transportation system moves the workpiece storage box from the assembly position to the processing position. The intelligent grasping system grabs the workpiece from any storage slot of the workpiece storage box located at the processing position and moves the workpiece to the grinding and polishing system for grinding and polishing. During the grinding and polishing process of the workpiece, through the setting of the dust collection system, the dust collection system monitors the dust generation position inside the protective station building and moves the position of the dynamic capture port according to the dust generation position. The dust collection system can also process the captured dust, thereby avoiding the escape of dust and preventing dust pollution. After the grinding and polishing of the workpiece is completed, the intelligent grasping system can put the workpiece back into the original storage slot of the workpiece storage box, and can continuously cycle the grinding and polishing of the workpiece, and orderly complete the grinding and polishing process of the workpiece.

[0017] 2. For this integrated workstation for robotic grinding, polishing and dust removal control of metal parts, the waterfall generated by the waterfall generator can fall into the water flow adsorption pool through the water flow channel. Under the action of the capture intake fan, an air flow can be generated from each dynamic capture port to the capture intake fan. Under the action of the water flow, while adsorbing the dust carried in the air flow, through the intersection of the waterfall and the air flow, a more effective dust adsorption effect can be achieved. The sewage processor filters the sewage adsorbed with dust step by step in the sewage flow channel to ensure the treatment effect of the sewage adsorbed with dust, and the treated water can be re-input to the waterfall generator to reduce water waste.

[0018] 3. For this integrated workstation for robotic grinding, polishing and dust removal control of metal parts, through the setting of multiple transfer tables, and each transfer table can be driven to move by each positioning track group. When in use, only one transfer table carries the workpiece storage box and moves to the processing position, and the other transfer tables are located in areas that do not interfere with the grasping and moving range of the robot under the drive of the drive guide rails. It is convenient to take out the workpiece storage box from the limit slot of the transfer table, take out the polished workpiece from the workpiece storage box, or take out the entire workpiece storage box with the polished workpiece and then replace it with the entire workpiece storage box with unpolished workpieces, while avoiding the interference of the operation of taking out the workpiece storage box on the workpiece taking process of the robot, and improving the efficiency of each workpiece taking of the robot.

[0019] 4. For this integrated workstation for robotic grinding, polishing and dust removal control of metal parts, through the setting of the frame drive guide rail, the frame drive guide rail can drive the installation frame to approach and move away from the intelligent grasping system, thereby changing the distance between the grinding mechanism and the polishing mechanism and the intelligent grasping system, and being able to match the size of the workpiece. Then, through the cooperation of the intelligent grasping system, it can effectively ensure the coverage of the grinding and polishing range of various workpieces, reduce the steps of placing and re-grasping workpieces due to insufficient grinding and polishing range in the conventional process, and effectively improve the grinding and polishing efficiency to ensure the production efficiency of workpieces; through the replaceable setting of the grinding wheel and grinding belt of the grinding mechanism and the setting of the polishing wheel and polishing belt of the polishing mechanism, according to the different grinding process requirements of various different workpieces in the grinding area and position, and cooperating with the intelligent grasping system to move the workpiece, different process grinding and polishing processes can be carried out on the workpiece, reducing the time consumption in the process replacement to ensure the production efficiency of workpieces. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 One of the three-dimensional structural schematic diagrams of an integrated workstation for robotic grinding, polishing and dust removal control of metal parts according to the present invention; Figure 2This is the second schematic three-dimensional structure diagram of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 3 This is the schematic internal structure diagram of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 4 This is the first schematic three-dimensional structure diagram of the installation frame, grinding mechanism, polishing mechanism, capture intake mechanism and dust treatment mechanism of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 5 This is the second schematic three-dimensional structure diagram of the installation frame, grinding mechanism, polishing mechanism, capture intake mechanism and dust treatment mechanism of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 6 This is the first schematic three-dimensional structure diagram of the capture intake mechanism and dust treatment mechanism of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 7 This is the schematic diagram of the air flow and water flow directions of the capture intake mechanism and dust treatment mechanism of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 8 This is the schematic three-dimensional structure diagram of the intelligent grasping system, workpiece storage box and positioning workbench of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 9 This is the schematic three-dimensional structure diagram of the intelligent grasping system of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 10 This is the schematic three-dimensional structure diagram of the manipulator of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 11 This is the first schematic three-dimensional structure diagram of the workpiece storage box and positioning workbench of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention; Figure 12 This is the second schematic three-dimensional structure diagram of the workpiece storage box and positioning workbench of an integrated workstation for grinding, polishing and dust removal control of a metal part manipulator according to the present invention.

[0021] In the figure: 1. Protective station house; 11. Fixed station house; 12. Movable station house; 2. Intelligent grasping system; 21. Manipulator arm; 211. Support base; 212. Horizontal rotating shaft arm; 213. Vertical rotating shaft arm; 214. End movable shaft arm; 22. Manipulator; 221. Connecting plate; 222. Grasping rod; 223. Grasping driving cylinder; 224. Clamping rod; 3. Workpiece storage box; 4. Positioning workbench; 41. Positioning track group; 411. Driving guide rail; 412. Limiting track; 413. Positioning guide post; 42. Transfer table; 421. Limiting groove; 5. Installation frame; 51. Frame driving guide rail; 6. Grinding mechanism; 61. Grinding driving motor; 62. Grinding sand belt installation component; 63. Assembled grinding wheel; 64. Assembled grinding belt pulley; 65. Installed grinding sand belt; 7. Polishing mechanism; 71. Polishing driving motor; 72. Polishing sand belt installation component; 73. Polishing wheel; 74. Polishing belt pulley; 75. Polishing sand belt; 8. Trapping air intake mechanism; 81. Trapping air intake box body; 82. Trapping air intake fan; 83. Trapping driving bracket; 84. Dynamic trapping port; 85. Corrugated air pipe; 9. Dust treatment mechanism; 91. Water flow adsorption pool; 92. Waterfall generator; 93. Sewage processor. Detailed implementation mode

[0022] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0023] As introduced in the background art, there are deficiencies in the prior art. To solve the above technical problems, the present application proposes an integrated workstation for grinding, polishing and dust removal control of metal parts by a manipulator.

[0024] Embodiment 1:

[0025] Please refer to Figures 1 - 12, A metal part manipulator grinding, polishing and dust removal control integrated workstation, including a protective station house 1. Inside the protective station house 1, there is a workpiece transportation system, an intelligent grasping system 2, a grinding and polishing system and a dust collection system; the workpiece transportation system includes at least two workpiece storage boxes 3, each workpiece storage box 3 includes several holding grooves, and each holding groove can independently load metal parts. The workpiece transportation system can independently transport each workpiece storage box 3 carrying metal parts from the assembly position to the processing position; the intelligent grasping system 2 can grasp the workpiece from any holding groove of the workpiece storage box 3 located at the processing position and move the workpiece to the grinding and polishing system for grinding and polishing. After the workpiece is ground and polished, the intelligent grasping system 2 can put the workpiece back into the original holding groove of the workpiece storage box 3; the dust collection system includes a dynamic collection port 84. The dust collection system can monitor the dust generation position inside the protective station house 1 and move the position of the dynamic collection port 84 according to the dust generation position. The dust collection system can also process the collected dust.

[0026] In specific use, this metal part manipulator grinding, polishing and dust removal control integrated workstation can be placed inside the factory building. Through the function of the protective station house 1, the grinding and polishing process of the metal parts is isolated inside the protective station house 1. The metal parts that need to be ground and polished after the previous processing are sequentially placed inside each holding groove of the workpiece storage box 3, and then the entire workpiece storage box 3 is placed inside the workpiece transportation system (at this time, the workpiece storage box 3 should be located at the assembly position). The workpiece transportation system moves the workpiece storage box 3 from the assembly position to the processing position (the processing position is within the grasping range of the manipulator). The intelligent grasping system grasps the workpiece from any holding groove of the workpiece storage box 3 located at the processing position (the workpiece grasped at this time is an unground and polished part. The specific identification process can be through the identification method of machine vision or by configuring the program of the intelligent grasping system to take out the workpiece from the holding groove one by one according to the arrangement of the holding grooves of the workpiece storage box 3), moves the workpiece to the grinding and polishing system for grinding and polishing. During the grinding and polishing process of the workpiece, through the setting of the dust collection system, the dust collection system monitors the dust generation position inside the protective station house 1 and moves the position of the dynamic collection port 84 according to the dust generation position (in specific implementation, a dynamic collection port 84 with an independent driving range can be set to collect the escaped dust). The dust collection system can also process the collected dust, and can avoid the escape of dust and prevent dust pollution. After the workpiece is ground and polished, the intelligent grasping system can put the workpiece back into the original holding groove of the workpiece storage box 3, and can continuously carry out the grinding and polishing of the workpiece, and orderly complete the grinding and polishing process of the workpiece.

[0027] Embodiment 2:

[0028] Please refer to Figures 1 - 12, different from the above embodiments, the dust collection system includes a capture intake mechanism 8 and a dust treatment mechanism 9. The capture intake mechanism 8 includes a capture intake box body 81, a capture intake fan 82, a capture drive bracket 83, and a plurality of dynamic capture ports 84. An air flow channel and a water flow channel are arranged inside the capture intake box body 81, and the air flow channel and the water flow channel have an intersection part; the dust treatment mechanism 9 includes a water flow adsorption pool 91, a water waterfall generator 92, and a sewage processor 93. The water flow adsorption pool 91 is arranged at the bottom end of the capture intake box body 81, and the water waterfall generator 92 is arranged inside the capture intake box body 81.

[0029] The water waterfall generated by the water waterfall generator 92 can fall into the water flow adsorption pool 91 from the water flow channel; one end of each dynamic capture port 84 is connected between the top end of the capture intake box body 81 through a corrugated air pipe 85, and the capture drive bracket 83 can drive each dynamic capture port 84 to move to the dust generation position within the deformation range of the corresponding corrugated air pipe 85; under the action of the capture intake fan 82, an air flow from each dynamic capture port 84 to the capture intake fan 82 can be generated, and the air flow moves along the path restricted by the air flow channel inside the capture intake box body 81.

[0030] During specific use, the position of the dynamic capture port 84 can be set at other movable positions. For example, the dynamic capture port 84 can also be set on the intelligent grasping system 2 and move along with the free end of the intelligent grasping system 2. Through the dynamic capture port 84, the gas capture of the dust generation area during the grinding and polishing process can be carried out, and the gas containing dust can be effectively extracted; During use, the capture driving bracket 83 drives each dynamic capture port 84 to move to the dust generation position within the deformation range of the corresponding corrugated air pipe 85. The waterfall generated by the waterfall generator 92 (the waterfall at the intersection of the air flow channel and the water flow channel is not sufficient to cause the air flow to be unable to pass through the waterfall) can fall into the water flow adsorption pool 91 from the water flow channel. Under the action of the capture intake fan 82, an air flow can be generated from each dynamic capture port 84 to the capture intake fan 82. The air flow moves along the path restricted by the air flow channel inside the capture intake box body 81. Thus, under the action of the water flow continuously generated by the waterfall generator 92, while the dust carried in the air flow can be adsorbed, through the intersection of the waterfall and the air flow, a more effective dust adsorption effect can be achieved. In addition, the water flow inside the water flow adsorption pool 91 can carry the adsorbed dust into the sewage processor 93 for treatment. The water flow rate inside the water flow adsorption pool 91 can be adjusted according to the air flow rate of the dust capture system (the air flow rate of the dust capture system can be monitored and adjusted according to the dust amount inside the protection station house 1), so as to ensure the dust adsorption efficiency of the water flow adsorption pool 91 during the grinding and polishing process. Through the step-by-step filtration of the sewage with adsorbed dust by the sewage processor 93 in the sewage flow channel, the treatment effect of the sewage with adsorbed dust can be ensured, and the treated water can be re-input to the waterfall generator 92 to reduce water waste.

[0031] Embodiment Three:

[0032] Please refer to Figures 1 - 12 , which is different from the above embodiment in that the intelligent grasping system 2 includes a robotic arm 21 and a manipulator 22. The manipulator 22 is arranged at the movable end of the robotic arm 21. The robotic arm 21 includes at least three free dimensions, and the cooperation of each free dimension can drive the manipulator 22 to move within the space inside the protection station house 1.

[0033] The robotic arm 21 includes a support base 211, a horizontal rotating shaft arm 212, a vertical rotating shaft arm 213, and a terminal movable shaft arm 214. The horizontal rotating shaft arm 212 is rotatably connected to the top of the support base 211. The vertical rotating shaft arm 213 is arranged at the free end of the horizontal rotating shaft arm 212. The terminal movable shaft arm 214 is arranged at the free end of the vertical rotating shaft arm 213. The manipulator 22 is arranged at the free end of the terminal movable shaft arm 214; The manipulator 22 includes a connecting plate 221. A grasping rod 222 is fixedly arranged on one side of the connecting plate 221. A grasping driving cylinder 223 is arranged on the other side of the connecting plate 221. A clamping rod 224 is arranged at the output end of the grasping driving cylinder 223. The grasping rod 222 can establish a connection with the workpiece; under the drive of the grasping driving cylinder 223, the clamping rod 224 can approach the grasping rod 222 to stably restrict the workpiece between the grasping rod 222 and the clamping rod 224.

[0034] During use, through the cooperation of the horizontal rotating shaft arm 212, the vertical rotating shaft arm 213, and the end movable shaft arm 214 of the robotic arm 21, the robotic hand 22 can be driven to move to any spatial position inside the protective station building 1 along with the free end of the end movable shaft arm 214, ensuring the movement freedom of the robotic hand 22. Furthermore, it can effectively pick up workpieces from each storage slot of the workpiece storage box 3 located at the processing position, and can cooperate with the grinding and polishing system to change the position of the grasped workpiece. During specific use, through the shape setting of the storage slot, the positions of the workpiece that do not need to be ground are corresponding to the grasping positions of the robotic hand 22, and the entire grinding process of the workpiece can be completed through the movement range of the robotic hand 22.

[0035] Embodiment 4:

[0036] Please refer to Figures 1 - 12 , which is different from the above embodiment in that the workpiece transportation system further includes a positioning workbench 4. The positioning workbench 4 includes a plurality of positioning track groups 41 and a plurality of transfer platforms 42. A limiting groove 421 is opened at the top of each transfer platform 42, and each workpiece storage box 3 can be embedded inside the limiting groove 421; each positioning track group 41 can independently drive a transfer platform 42 to move, indirectly driving the workpiece storage box 3 to carry the metal parts from the assembly position to the processing position.

[0037] Each positioning track group 41 includes a driving guide rail 411, a plurality of limiting guide rails 412, and a positioning guide post 413. The bottom ends of the transfer platforms 42 fit with the corresponding limiting guide rails 412, and the bottom ends of the transfer platforms 42 are fixed to the driving sliders of the driving guide rail 411; the driving guide rail 411 drives the driving sliders and the transfer platforms 42 to move under the restriction of the corresponding limiting guide rails 412, and the positioning guide post 413 can limit the position of the transfer platform 42 moving in the direction towards the intelligent grasping system 2, moving the workpiece storage box 3 carried by the transfer platform 42 to the processing position.

[0038] During use, through the setting of multiple transfer platforms 42, and each positioning track group 41 can drive the movement of each transfer platform 42 respectively. During use, only one transfer platform 42 carries the workpiece storage box 3 to move to the processing position, and the other transfer platforms 42 are located in areas that do not interfere with the grasping and moving range of the robotic hand 22 under the drive of the driving guide rail 411, facilitating the removal of the workpiece storage box 3 from the limiting groove 421 of the transfer platform 42, taking out the ground workpiece from the workpiece storage box 3, or taking out the entire workpiece storage box 3 with the ground and polished workpiece, and then replacing it with the entire workpiece storage box 3 with unground workpieces, while avoiding the interference of the operation of removing the entire workpiece storage box 3 on the workpiece picking process of the robotic hand 22, improving the efficiency of each workpiece picking of the robotic hand 22.

[0039] The grinding and polishing system includes two symmetrically arranged mounting frames 5, a grinding mechanism 6 and a polishing mechanism 7. The grinding mechanism 6 and the polishing mechanism 7 are respectively fixed inside the two mounting frames 5. The mounting frame 5 is slidably connected to the protective station house 1. A frame driving guide rail 51 is provided on one side of the mounting frame 5, and the frame driving guide rail 51 can drive the mounting frame 5 to approach and move away from the intelligent grasping system 2.

[0040] The grinding mechanism 6 includes at least two grinding components. Each grinding component includes a grinding driving motor 61 and a grinding abrasive belt mounting component 62. The output shaft of the grinding driving motor 61 can be assembled with a grinding wheel 63, and the output shaft of the grinding driving motor 61 can also be assembled with a grinding belt pulley 64. The grinding belt pulley 64 and the grinding abrasive belt mounting component 62 can cooperate to install a grinding abrasive belt 65. The polishing mechanism 7 includes at least two polishing components. Each polishing component includes a polishing driving motor 71 and a polishing abrasive belt mounting component 72. The output shaft of the polishing driving motor 71 can be assembled with a polishing wheel 73, and the output shaft of the polishing driving motor 71 can also be assembled with a polishing belt pulley 74. The polishing belt pulley 74 and the polishing abrasive belt mounting component 72 can cooperate to install a polishing abrasive belt 75.

[0041] During use, due to the setting of the frame driving guide rail 51, the frame driving guide rail 51 can drive the mounting frame 5 to approach and move away from the intelligent grasping system 2, thereby changing the distance between the grinding mechanism 6 and the polishing mechanism 7 and the intelligent grasping system 2, and being able to match the size of the workpiece. Furthermore, through the cooperation of the intelligent grasping system 2, it can effectively ensure the coverage of the grinding and polishing range of various workpieces, reduce the steps of placing the workpiece and re-grasping the workpiece caused by insufficient grinding and polishing range in the conventional process, and effectively improve the grinding and polishing efficiency to ensure the production efficiency of the workpiece. Through the replaceable setting of the grinding wheel 63 and the grinding abrasive belt 65 of the grinding mechanism 6, and the setting of the polishing wheel 73 and the polishing abrasive belt 75 of the polishing mechanism 7, according to the different grinding process requirements of the grinding area and position on various different workpieces, by cooperating with the intelligent grasping system 2 to move the workpiece, different process grinding and polishing processes can be carried out on the workpiece, reducing the time consumption in the process replacement to ensure the production efficiency of the workpiece.

[0042] The protective station house 1 includes a fixed station house 11 and a movable station house 12. The movable station house 12 can be separated from the fixed station house 11, and the fixed station house 11 can be used independently, ensuring the applicable range of this integrated workstation for metal part manipulator grinding, polishing and dust removal control.

[0043] Example Five:

[0044] Please refer to Figures 1 - 12, different from the above embodiments, a metal part manipulator grinding, polishing and dust removal control integrated workstation is further provided with a working condition detection system, which can detect the working conditions of the workstation. The working condition detection system includes a workstation working condition state control system, a workstation control display screen, a workstation working condition parameter display screen, a workstation working condition parameter real-time display, and a workstation safety working condition sound and light alarm; The workstation working condition state control system includes several suspended particle sensors, visual monitors, temperature sensors and water flow sensors; Each suspended particle sensor can detect the suspended particle concentration (dust concentration) in the area where it is located, and can control the dynamic capture port 84 to move to the position with the highest suspended particle concentration. In specific use, when there are multiple dynamic capture ports 84, each dynamic capture port 84 can be driven to move to each position with a relatively high suspended particle concentration ranking; The visual monitor can respectively record whether each workpiece inside the workpiece storage box 3 located at the processing position has completed the grinding and polishing process. If all the workpieces inside the workpiece storage box 3 located at the processing position have completed the grinding and polishing, the workpiece storage box 3 located at the processing position can be controlled to exchange positions with the workpiece storage box 3 located at the assembly position to continuously carry out the grinding and polishing process of the workpiece and ensure the processing efficiency of the workpiece; The temperature sensors are arranged near each grinding component and each polishing component of the grinding and polishing system. They can detect the working states of each grinding component and each polishing component according to the temperatures near each grinding component and each polishing component, and can stop the operation of each grinding component and each polishing component whose temperature exceeds the set value in time to avoid excessive wear of each grinding component and each polishing component; The water flow sensor is arranged inside the water flow adsorption tank 91 to monitor the water flow of the water flow adsorption tank 91, so as to be able to judge the dust content inside the water flow adsorption tank 91 according to the monitored water flow data, and can also judge whether the water flow of the water flow adsorption tank 91 matches according to the average dust concentration inside the workstation detected by each suspended particle sensor, so as to control the increase or decrease of the water flow of the water flow adsorption tank 91 to match the dust concentration inside the workstation and effectively treat the dust inside the workstation; In specific use, the workstation control display screen, the workstation working condition parameter display screen and the workstation working condition parameter real-time display can be integrated on the same display screen, or can be used in a combination of multiple display screens, indicating lights and mechanical instrument panels. The working condition parameters of the workstation can be displayed through the workstation working condition parameter display screen and the workstation working condition parameter real-time display, and the operation process of each component inside the workstation can be interrupted and started through the workstation control display screen; The audible and visual alarm for the safe operating condition of the workstation can be respectively connected to the suspended particle sensor and the temperature sensor, and can judge whether to output the audible and visual alarm signal according to the detected dust concentration and temperature data inside the workstation.

[0045] Although the embodiments of the present invention have been shown and described, those of ordinary skill in the art can understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of the present invention. The scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A metal parts manipulator grinding and polishing and dust removal control integrated workstation, including a protective station building, characterized in that: The protection station is equipped with a workpiece transportation system, an intelligent grasping system, a grinding and polishing system and a dust collection system; The workpiece transport system comprises at least two workpiece reserve boxes, each of which comprises a plurality of holding slots, each of which can independently load metal parts, and the workpiece transport system can independently transport the metal parts carried by each workpiece reserve box from the assembly position to the processing position; The intelligent grasping system can grasp the workpiece from any holding slot of the workpiece reserve box located at the processing position, and move the workpiece to the grinding and polishing system for grinding and polishing. After the grinding and polishing of the workpiece is completed, the intelligent grasping system can put the workpiece back into the original holding slot of the workpiece reserve box; The dust collection system includes a dynamic collection port. The dust collection system can monitor the dust generation position inside the protection station and move the position of the dynamic collection port according to the dust generation position. The dust collection system can also process the captured dust.

2. According to claim 1, a metal parts manipulator grinding and polishing and dust removal control integrated workstation is characterized by: The dust collection system includes a collection air intake mechanism and a dust treatment mechanism, wherein the collection air intake mechanism includes a collection air intake box, a collection air intake fan, a collection drive bracket and a plurality of dynamic collection ports, and an air flow channel and a water flow channel are arranged inside the collection air intake box, and the air flow channel and the water flow channel have a cross section; The dust treatment mechanism includes a water flow adsorption pool, a water waterfall generator and a sewage treatment device. The water flow adsorption pool is arranged at the bottom end of the capture air intake box, and the water waterfall generator is arranged inside the capture air intake box.

3. According to claim 2, a metal parts manipulator grinding and polishing and dust removal control integrated workstation is characterized by: The water waterfall generated by the water waterfall generator can fall into the water flow adsorption pool through the water flow channel; One end of each of the dynamic capture ports is connected to the top of the capture air inlet box through a corrugated air pipe, and the capture drive bracket can drive each of the dynamic capture ports to move to a dust generation position within the deformation range of the corresponding corrugated air pipe; Under the action of the capture air intake fan, an airflow from each of the dynamic capture ports to the capture air intake fan can be generated, and the airflow moves along a path restricted by the airflow channel inside the capture air intake box.

4. According to claim 1, a metal parts manipulator grinding and polishing and dust removal control integrated workstation is characterized by: The intelligent grasping system includes a robotic arm and a robotic arm. The robotic arm is arranged at the movable end of the robotic arm. The robotic arm includes at least three free dimensions. The free dimensions cooperate together to drive the robotic arm to move in the space inside the protection station building.

5. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 4 is characterized by: The mechanical arm comprises a support base, a horizontal rotation shaft arm, a vertical rotation shaft arm and a terminal movable shaft arm, wherein the horizontal rotation shaft arm is rotatably connected to the top of the support base, the vertical rotation shaft arm is arranged at the free end of the horizontal rotation shaft arm, the terminal movable shaft arm is arranged at the free end of the vertical rotation shaft arm, and the mechanical hand is arranged at the free end of the terminal movable shaft arm; The manipulator comprises a connecting plate, a grabbing rod is fixedly arranged on one side of the connecting plate, a grabbing driving cylinder is arranged on the other side of the connecting plate, a clamping rod is arranged at the output end of the grabbing driving cylinder, and the grabbing rod can establish a connection with the workpiece; Under the drive of the grab driving cylinder, the clamping rod can be close to the grabbing rod to stably confine the workpiece between the grabbing rod and the clamping rod.

6. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 1 is characterized by: The workpiece transport system further comprises a positioning workbench, which comprises a plurality of positioning track groups and a plurality of transfer platforms, each of which has a limiting groove at the top, and each of which can be embedded in the limiting groove; Each positioning track group can independently drive one of the transfer platforms to move, thereby indirectly driving the workpiece storage box carrying the metal parts to move from the assembly position to the processing position.

7. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 6, characterized in that: Each of the positioning rail groups includes a driving rail, a plurality of limiting rails and a positioning guide column, the bottom end of the transfer platform is fitted with the corresponding limiting rail, and the bottom end of the transfer platform is fixed to the driving slider of the driving rail; The driving guide rail drives the driving slider and the transfer platform to move under the restriction of the corresponding limiting rail, and the positioning guide column can limit the position of the transfer platform moving toward the side of the intelligent grasping system, and move the workpiece storage box carried by the transfer platform to the processing position.

8. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 1 is characterized by: The grinding and polishing system comprises two symmetrically arranged mounting frames, a grinding mechanism and a polishing mechanism, wherein the grinding mechanism and the polishing mechanism are respectively fixed inside the two mounting frames; The installation frame is slidably connected to the protection station house, and a frame driving guide rail is provided on one side of the installation frame. The frame driving guide rail can drive the installation frame to approach and move away from the intelligent grasping system.

9. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 8, characterized in that: The grinding mechanism comprises at least two grinding assemblies, each of which comprises a grinding drive motor and a grinding belt installation assembly, the output shaft of the grinding drive motor can be equipped with a grinding wheel, the output shaft of the grinding drive motor can also be equipped with a grinding pulley, and the grinding pulley and the grinding belt installation assembly can cooperate to install a grinding belt; The polishing mechanism includes at least two polishing components, each polishing component includes a polishing drive motor and a polishing belt mounting assembly, the output shaft of the polishing drive motor can be equipped with a polishing wheel, the output shaft of the polishing drive motor can also be equipped with a polishing pulley, and the polishing pulley and the polishing belt mounting assembly can cooperate to install a polishing belt.

10. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 1, characterized in that: The protection station building includes a fixed station building and a movable station building. The movable station building can be separated from the fixed station building, and the fixed station building can be used independently.

11. The integrated workstation for metal parts manipulator grinding, polishing and dust removal control according to claim 1, characterized in that: A working condition detection system is also provided, which can detect the working condition of the workstation, and the working condition detection system includes a workstation working condition state control system, a workstation control display screen, a workstation working condition parameter display screen, a workstation working condition parameter real-time display and a workstation safety working condition sound and light alarm; The workstation working state control system includes a number of suspended particle sensors, visual monitors, temperature sensors and water flow sensors; Each of the suspended particle sensors can detect the suspended particle concentration in the area where it is located, and can control the dynamic capture port to move to a position where the suspended particle concentration is the highest.

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