Six-axis mechanical arm polishing structure and mold polishing equipment and method capable of recycling waste

Abstract

The invention belongs to the technical field of polishing equipment, particularly relates to a six-axis mechanical arm polishing structure and mold polishing equipment and method capable of recycling waste, and aims to solve the problems that the later-stage polishing precision is affected due to loss of an existing polishing wheel and an existing polishing disc, and metal scraps and fine sand cannot be synchronously separated and recycled in the polishing process. According to the technical scheme, the polishing device comprises a base, a polishing box is fixed to the top of the base, a six-axis mechanical arm is rotationally arranged in the polishing box, a rotating box is rotationally arranged at the tail end of the six-axis mechanical arm, and a polishing wheel and a polishing disc are arranged on the two sides of the rotating box correspondingly; in order to control the polishing precision of the polishing wheel and the polishing disc on the workpiece, when the polishing disc and the polishing wheel are used for polishing operation, the pressure applied to the workpiece by the polishing disc and the polishing wheel can be always guaranteed under the condition that the polishing disc and the polishing wheel are damaged, and the polishing precision of the workpiece is guaranteed.

Description

Technical Field

[0001] The present invention relates to the technical field of polishing equipment, and in particular to a 6-axis mechanical arm polishing structure and a polishing equipment and method for recyclable waste materials. Background Art

[0002] A 6-axis robot arm refers to an industrial robot with six rotating joints. This structure provides extremely high flexibility and range of motion, and is suitable for complex three-dimensional space operations. The 6-axis robot arm, in conjunction with a polishing mechanism, can accurately grind and polish the surface of metal workpieces.

[0003] However, in the existing technology, the 6-axis robot arm still has the following shortcomings during the polishing operation: 1. During the polishing and grinding process of the workpiece, the grinding wheel is generally ground through the side parts, and the grinding disc is ground through the side end. As the grinding time increases, both the grinding wheel and the grinding disc are worn out. When the grinding wheel and the grinding disc are worn out, it is impossible to judge the degree of wear and tear, which causes the robot arm to maintain the original force for grinding, so there is an error in the grinding accuracy of the workpiece surface; 2. When grinding and polishing metal workpieces, metal debris generated during the grinding process and fine sand on the grinding wheel and grinding disc are discharged along with the coolant, causing the metal debris and fine sand to mix, and the two cannot be separated and recovered simultaneously during the grinding process.

[0004] In view of the above problems, the present invention document proposes a 6-axis robotic arm polishing structure and a polishing device and method for recyclable waste. Summary of the invention

[0005] The purpose of the present invention is to solve the shortcomings of existing grinding wheels and grinding discs that affect the later grinding accuracy due to wear and tear and cannot simultaneously separate and recycle metal debris and fine sand during the grinding process, and to propose a 6-axis robotic arm polishing structure and a polishing device and method for recyclable waste.

[0006] In order to achieve the above object, the present invention adopts the following technical solutions: A 6-axis mechanical arm polishing structure, which is used to ensure the grinding accuracy of the polishing tool on the workpiece when polishing a metal workpiece, comprises a base, a polishing box is fixed on the top of the base, a 6-axis mechanical arm is rotatably arranged in the polishing box, a rotating box is rotatably arranged at the end of the 6-axis mechanical arm, and a grinding wheel and a grinding disc are respectively arranged on both sides of the rotating box; In order to control the polishing accuracy of the grinding wheel and the grinding disc on the workpiece, a control structure is provided on the outer wall of the rotating box, and the control structure includes a first detection structure and a second detection structure. The first detection structure is used to monitor the loss of the grinding wheel diameter so as to control the feed compensation of the grinding wheel later. The first detection structure includes a second sliding box sliding on the outer wall of the rotating box; The second detection structure is used to ensure the grinding accuracy of the grinding disc on the workpiece when the grinding disc is worn out, and the second detection structure includes a first sliding box sliding on the outer wall of the rotating box; In order to enable the first detection structure and the second detection structure to respectively complete the precise polishing operation, a turning structure is provided on the outer wall of the rotating box, which is used to select the corresponding grinding wheel and grinding disc for polishing when polishing different workpieces; In order to separate metal debris from fine sand during polishing, a separation mechanism is provided at the bottom of the polishing box. The separation mechanism includes a rotating wheel and a first scraper. The first scraper is used to scrape off the metal debris adsorbed on the surface of the rotating wheel.

[0007] In a possible design, a driving structure is provided in the rotating box for providing power for the rotation of the grinding wheel and the grinding disc. The first detection structure and the second detection structure also include transmission components, and both sets of transmission connections cooperate with the driving structure.

[0008] In a possible design, the first detection structure also includes a second rotating shaft that rotates and passes through the second sliding box, a second mounting sleeve is fixed to the end of the second rotating shaft away from the rotating box, the second mounting sleeve is detachably matched with the grinding wheel, and when the second rotating shaft rotates, the grinding wheel is driven to rotate by the second mounting sleeve to complete the polishing operation of the outer wall of the workpiece, and a strip mounting plate is provided at the bottom of the second sliding box, and a laser sensor is fixedly embedded on one side of the top of the strip mounting plate, and the laser sensor is located below the grinding wheel and is used to monitor the loss of the grinding wheel diameter when the grinding wheel rotates, so as to facilitate the subsequent six-axis robotic arm to control the feed distance of the grinding wheel during polishing; the cooperation of the driving motor and the first turntable can drive the second rotating shaft and the grinding wheel to rotate for polishing operation; during the polishing process, the laser sensor can detect the distance of the grinding wheel diameter in real time, judge its loss, and then control the feeding distance of the grinding wheel through the six-axis robotic arm, so as to complete the distance compensation of the grinding wheel, so that the grinding wheel can stably polish the workpiece and ensure its polishing accuracy.

[0009] In a possible design, the second detection structure also includes a first rotating shaft that rotates and passes through the first sliding box, the outer wall of the first rotating shaft is provided with a sliding sleeve through a slider and a slide groove sliding sleeve, a fixed column is provided in the sliding sleeve, the fixed column and the sliding sleeve are fixed with the same first mounting platform at one end away from the first rotating shaft, the first mounting platform is detachably connected to the grinding disc, one side of the fixed column slides and extends into the first rotating shaft and is fixed with a pressure sensor by bolts, a spring is fixed with bolts on the inner wall of the first rotating shaft at one side away from the grinding disc, one end of the spring is in conflict with the pressure sensor, and pressure is applied to the pressure sensor by the spring, so as to detect the pressure of the grinding disc on the workpiece during polishing, and when the grinding disc is worn, the pressure sensor monitors that the pressure becomes smaller, and the grinding disc is increased by the six-axis robotic arm The pressure on the workpiece ensures that the pressure value applied to the workpiece by the grinding disc during polishing is constant, thereby ensuring the polishing accuracy; the first turntable synchronously drives the second turntable to rotate through the first magnet and the second magnet, thereby driving the grinding disc to rotate to complete the polishing operation. In order to enable the grinding disc to effectively polish, the six-axis robotic arm needs to apply pressure to the grinding disc in the direction of the workpiece. At this time, the pressure sensor can detect the pressure of the spring on it. When the end of the grinding disc is worn out, the thickness of the grinding disc decreases. At this time, the grinding disc moves under the elastic force of the spring to continue to fit the surface of the workpiece, and the pressure sensor monitors the decrease in pressure applied by the spring. The six-axis robotic arm increases the pressure applied to the workpiece through the grinding disc until the pressure value of the pressure sensor reaches the threshold value, thereby enabling the grinding disc to perform polishing operations under constant pressure, thereby ensuring its polishing accuracy.

[0010] In a possible design, the driving structure includes a driving motor fixed in a rotating box, a first rotating disk is fixed to an output shaft of the driving motor, a plurality of first magnets are fixedly arranged in a ring shape on one side of the first rotating disk, a through hole is provided on one side of the rotating box, and the first rotating disk extends into the through hole, so as to make the first magnet closer to the transmission member; The transmission component includes a second rotating disk, a plurality of second magnets are fixed on a side of the second rotating disk close to the rotating box, and the plurality of second magnets are arranged in a ring shape, and a magnetic attraction force is formed between the second magnets and the first magnets, and then when the first rotating disk rotates, the magnetic attraction force between the first magnets and the second magnets can synchronously drive the second rotating disk to rotate; The two second rotating discs are respectively fixed on the second rotating shaft and the end of the first rotating shaft close to the rotating box, and are used to drive the grinding wheel and the grinding disc to rotate.

[0011] In a possible design, the separation mechanism includes a discharge pipe fixedly passing through the inner wall at the bottom of the polishing box, the bottom end of the discharge pipe extends to the bottom of the polishing box, an arc cover is welded on one side of the discharge pipe, the rotating wheel is rotatably connected in the arc cover, one side of the rotating wheel extends into the discharge pipe, and is used to contact metal debris and fine sand entrained in the coolant, the outer wall of the rotating wheel is wrapped with a magnet layer, and is used to adsorb the metal debris entrained in the coolant on the outer wall of the rotating wheel to complete the separation of metal debris and fine sand, a discharge port is provided on one side of the arc cover, the first scraper is fixed in the discharge port, and is used to scrape off and collect the metal debris adsorbed on the outside of the rotating wheel, and the inner wall of one side of the discharge pipe close to the arc cover is fixed. A second scraper is fixed, and the second scraper is located below the rotating wheel to prevent the coolant from flowing back into the arc cover. A liquid guide inclined plate is fixed on the inner wall of the discharge pipe on the side away from the arc cover. The liquid guide inclined plate is located above the rotating wheel to guide the coolant to flow through the outer wall of the rotating wheel so that the rotating wheel can fully absorb the metal debris. Two baffles are fixed on the bottom inner wall of the polishing box. The two baffles are located at both ends of the discharge pipe to prevent the coolant from passing through the discharge pipe from both ends of the rotating wheel to ensure that the rotating wheel can fully absorb the metal debris in the coolant; a gantry is fixed on the top of the polishing box, a drainage pan is fixed on the top inner wall of the gantry, a hose is fixed on the top of the drainage pan, and the hose is connected to the external coolant The storage box is connected and is used to inject coolant into the drain pan to facilitate the later polishing of the workpiece. A plurality of spray nozzles are fixed at the bottom of the drain pan to fully spray coolant on the workpiece to avoid dust during the polishing process. The arrangement of the plurality of spray nozzles increases the discharge amount of the coolant. A large amount of coolant can wash away the metal debris and fine sand deposited at the bottom of the polishing box during the polishing process and discharge them to the outside through the discharge pipe, which is convenient for the later adsorption and separation of the metal debris. A placement table located below the drain pan is rotatably arranged on the inner wall of the bottom of the polishing box. A plurality of electromagnets are embedded on the top of the placement table through bolts to adsorb the metal workpiece firmly on the placement table. A rotating motor is fixed in the base The output shaft of the rotating motor is sealed and rotated to pass through the bottom of the polishing box and is fixedly connected to the placement table, so as to drive the placement table to rotate, so as to facilitate the multi-angle polishing of the workpiece; a large amount of coolant can wash away the metal debris and fine sand deposited at the bottom of the polishing box during the grinding process and discharge them to the outside through the discharge pipe, and the motor drives the rotating wheel to rotate counterclockwise, and the outer wall of the rotating wheel is wrapped with a magnet layer on one side, and the coolant entrains the metal debris and fine sand to flow through the surface of the rotating wheel, and the magnet layer on its surface can adsorb the metal debris. After the rotating wheel rotates counterclockwise, the first scraper can scrape off the metal debris adsorbed on the rotating wheel and discharge it through the first scraper, so as to complete the separation of metal debris and fine sand and the collection of metal debris;In addition, the center of the rotating wheel is located in the arc cover, and one side of the outer wall extends into the discharge pipe, so when the coolant flows through the outer wall of the rotating wheel, it flows downward along the outer wall to prevent the coolant from flowing into the arc cover, thereby preventing the coolant from leaking. At the same time, the second scraper can also prevent the coolant from flowing back into the arc cover. ;

[0012] In a possible design, the switching structure includes a bevel gear ring rotatably mounted on the outer wall of a rotating box, the second sliding box and the first sliding box are symmetrically slidably mounted on the outer wall of the rotating box, one side of the bevel gear ring is fixedly connected to the first sliding box and the second sliding box, the bevel gear ring is used to drive the first sliding box and the fixed column to rotate to complete the direction switching, one side of the rotating box is fixed with a stepper motor through a frame, the output shaft of the stepper motor is fixed with a bevel gear meshing with the bevel gear ring, which is used to drive the bevel gear ring to rotate, thereby completing the switching of the first sliding box and the second sliding box, and facilitating the polishing operation of the grinding disc and the grinding wheel.

[0013] In a possible design, a clearance groove is provided at the bottom of the second sliding box, and a connecting plate is slidably connected in the clearance groove, and the connecting plate is fixed on the top of the strip mounting plate. A reciprocating screw is rotatably connected to the second sliding box through the base, and the connecting plate slides with the spiral groove on the outer wall of the reciprocating screw to drive the strip mounting plate to move back and forth in a straight line, so that the laser sensor monitors the diameter of the grinding wheel at different positions, and the outer wall fixing sleeve of the reciprocating screw is provided with a second gear, and the outer wall fixing sleeve of the second rotating shaft is provided with a first gear, and the first gear is meshed with the second gear to provide driving force for the rotation of the reciprocating screw; when the driving motor drives the second rotating shaft and the grinding wheel to rotate, the second rotating shaft drives the reciprocating screw to rotate through the cooperation of the first gear and the second gear, and the reciprocating screw drives the strip mounting plate to move back and forth in a straight line through the connecting plate, and the laser sensor can monitor the diameter loss at different positions of the laser sensor, so that the six-axis robotic arm can accurately control the tool compensation of the grinding wheel.

[0014] The mold polishing equipment capable of recycling waste materials comprises the above-mentioned 6-axis robot arm polishing structure.

[0015] In the present application, the method for using the casting equipment for recyclable waste materials comprises the following steps: S1. Place the metal workpiece on the top of the placement table, and energize the electromagnet to adsorb and fix the workpiece; when grinding, inject coolant into the drain pan through the hose and spray it through the spray nozzle to prevent dust; S2. Multiple spray nozzles at the bottom of the drain pan discharge a large amount of coolant, which is collected in the polishing box, washes away metal debris and fine sand, and is discharged through the discharge pipe; the motor drives the rotating wheel to rotate counterclockwise, and the magnet layer on its outer wall absorbs the metal debris, which is scraped off and discharged by the first scraper, so as to separate and collect the metal debris and fine sand; S3, the six-axis robot arm polishes and grinds the workpiece at multiple angles; the driving motor drives the first turntable, and the first magnet cooperates with the second magnet to drive the second turntable and the grinding disc to rotate and polish; the pressure sensor monitors the spring pressure, adjusts the pressure applied by the six-axis robot arm to the workpiece, maintains constant pressure polishing, and ensures precision; S4. When the side wall of the grinding wheel needs to be polished, the stepper motor drives the bevel gear to rotate, so that the bevel gear ring rotates 180°, and the second sliding box and the first sliding box are swapped; the laser sensor detects the grinding wheel diameter loss in real time, and the six-axis robot controls the grinding wheel feeding distance to complete the distance compensation, stabilize the polishing, and ensure precision; S5. When the driving motor drives the second rotating shaft and the grinding wheel to rotate, the first gear and the second gear cooperate to drive the reciprocating screw rod to rotate, driving the strip mounting plate to move back and forth in a straight line; the laser sensor monitors the diameter loss at different positions of the grinding wheel, and the six-axis robot arm accurately controls the tool compensation of the grinding wheel.

[0016] Beneficial effect: In the present invention, one end of the second rotating shaft is connected to a grinding wheel through a second mounting sleeve, a strip mounting plate is provided at the bottom of the second sliding box, and a laser sensor is fixedly embedded on one side of the top of the strip mounting plate; during the polishing process, the laser sensor can detect the distance of the grinding wheel diameter in real time, judge its loss, and then control the feeding distance of the grinding wheel through the six-axis mechanical arm, so as to complete the distance compensation of the grinding wheel, so that the grinding wheel can stably polish the workpiece and ensure its polishing accuracy; In the present invention, the outer wall sliding sleeve of the first rotating shaft is provided with a sliding circular sleeve, one side of the fixed column slides and extends into the first rotating shaft and is fixedly embedded with a pressure sensor, and the inner wall of the first rotating shaft away from the grinding disc is fixed with a spring by a bolt; the first rotating shaft drives the grinding disc to rotate for polishing, and the pressure sensor can detect the pressure of the spring on it. When the end of the grinding disc is worn out, the thickness of the grinding disc decreases, and the pressure applied by the spring monitored by the pressure sensor decreases. The six-axis robot arm increases the pressure applied to the workpiece through the grinding disc until the pressure value of the pressure sensor reaches the threshold value, so that the grinding disc can perform polishing under a constant pressure, thereby ensuring the accuracy of its polishing; In the present invention, the rotating wheel is rotatably connected in the arc cover, the outer wall of the rotating wheel is wrapped with a magnet layer, a first scraper is fixed in the discharge port, and a liquid guide inclined plate is fixed on the inner wall of the discharge pipe on the side away from the arc cover, and the liquid guide inclined plate is located above the rotating wheel; a large amount of coolant can wash away metal debris and fine sand and discharge them to the outside through the discharge pipe, and the coolant entrains the metal debris and fine sand and flows through the surface of the rotating wheel, and the magnet layer on its surface can adsorb the metal debris. After the rotating wheel rotates counterclockwise, the first scraper can scrape off the metal debris adsorbed on the rotating wheel and discharge it through the first scraper, thereby completing the separation of metal debris and fine sand and the collection of metal debris.

[0017] In the present invention, when the polishing operation is performed by the grinding disc and the grinding wheel, the pressure applied by the grinding disc and the grinding wheel to the workpiece can be always guaranteed in the case that the grinding disc and the grinding wheel are worn out, thereby ensuring the polishing accuracy of the workpiece. In addition, by spraying a large amount of coolant on the workpiece, not only can the precipitated metal debris and fine sand be washed away, but also the metal debris and fine sand can be separated and the metal debris can be collected. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic diagram of a three-dimensional structure of a 6-axis robotic arm polishing structure provided in Example 1 of the present invention; Figure 2 A three-dimensional cross-sectional structural schematic diagram of a six-axis robotic arm polishing structure provided in Example 1 of the present invention; Figure 3 A schematic diagram of a three-dimensional exploded structure of a rotating box and a bevel gear ring of a 6-axis robotic arm polishing structure provided in Example 1 of the present invention; Figure 4 A schematic diagram of a three-dimensional cross-sectional structure of a rotating box, a first sliding box and a second sliding box of a 6-axis mechanical arm polishing structure provided in Example 1 of the present invention; Figure 5 A schematic diagram of a three-dimensional exploded cross-sectional structure of a first sliding box, a first rotating shaft, a sliding sleeve, and a second rotating disk of a six-axis mechanical arm polishing structure provided in Example 1 of the present invention; Figure 6 A schematic diagram of a three-dimensional exploded cross-sectional structure of a second sliding box, a second rotating shaft, and a second rotating disk of a six-axis mechanical arm polishing structure provided in Example 1 of the present invention; Figure 7 A schematic diagram of a three-dimensional exploded structure of a placement table and an electromagnet of a 6-axis robotic arm polishing structure provided in Example 1 of the present invention; Figure 8 A schematic diagram of a three-dimensional cross-sectional structure of a discharge pipe and a rotating wheel of a 6-axis robotic arm polishing structure provided in Example 1 of the present invention; Fig. 9 A schematic diagram of a three-dimensional cross-sectional structure of a drain pan of a 6-axis robotic arm polishing structure provided in Example 1 of the present invention; Fig.10 A schematic diagram of a three-dimensional cross-sectional structure of a second sliding box and a rotating box of a six-axis mechanical arm polishing structure provided in Example 2 of the present invention; Fig.11 A schematic diagram of a three-dimensional exploded structure of a second rotating shaft, a first gear and a strip-shaped mounting plate of a six-axis robotic arm polishing structure provided in Example 2 of the present invention.

[0019] In the figure: 1, base; 2, polishing box; 3, six-axis robot; 4, rotating box; 5, driving motor; 6, first turntable; 7, first magnet; 8, through hole; 9, first sliding box; 10, first rotating shaft; 11, sliding round sleeve; 12, first mounting table; 13, grinding disc; 14, fixing column; 15, pressure sensor; 16, spring; 17, second sliding box; 18, second rotating shaft; 19, second mounting sleeve; 20, grinding wheel; 21, strip mounting plate; 22, laser sensor; 23, second Turntable; 24, second magnet; 25, placement table; 26, electromagnet; 27, rotating motor; 28, gantry; 29, drain pan; 30, spray nozzle; 31, discharge pipe; 32, arc cover; 33, rotating wheel; 34, discharge port; 35, first scraper; 36, second scraper; 37, liquid guide inclined plate; 38, baffle; 39, give way groove; 40, reciprocating screw; 41, connecting plate; 42, first gear; 43, second gear; 44, bevel gear ring; 45, stepping motor; 46, bevel gear. DETAILED DESCRIPTION

[0020] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0021] Example 1: Reference Figure 1-Figure 3 The polishing structure relates to the technical field of polishing equipment, which is used to ensure the grinding accuracy of the workpiece by the polishing tool when polishing the metal workpiece, and includes a base 1, a polishing box 2 is fixed on the top of the base 1, a six-axis mechanical arm 3 is rotatably provided in the polishing box 2, a rotating box 4 is rotatably provided at the end of the six-axis mechanical arm 3, a grinding wheel 20 and a grinding disc 13 are respectively provided on both sides of the rotating box 4, and a driving structure is provided in the rotating box 4 for providing power for the rotation of the grinding wheel 20 and the grinding disc 13.

[0022] Among them, the model of the six-axis robot arm 3 is Erbi LM1000-E-6.

[0023] Reference Figure 3-Figure 6 In order to control the polishing accuracy of the grinding wheel 20 and the grinding disc 13 on the workpiece, a control structure is provided on the outer wall of the rotating box 4, and the control structure includes a first detection structure and a second detection structure.

[0024] Reference Figure 3 , Figure 4 and Figure 6The first detection structure is used to monitor the loss of the diameter of the grinding wheel 20, so as to control the feed compensation of the grinding wheel 20 in the later stage. The first detection structure includes a second sliding box 17 sliding on the outer wall of the rotating box 4. A strip mounting plate 21 is provided at the bottom of the second sliding box 17. A laser sensor 22 is fixedly embedded on one side of the top of the strip mounting plate 21. The laser sensor 22 is located below the grinding wheel 20 and is used to monitor the loss of the diameter of the grinding wheel 20 when the grinding wheel 20 rotates, so as to facilitate the six-axis robot 3 to control the feed distance of the grinding wheel 20 during polishing in the later stage. The first detection structure also includes a second rotating shaft 18 that rotates through the second sliding box 17. A second mounting sleeve 19 is fixed to the end of the second rotating shaft 18 away from the rotating box 4. The second mounting sleeve 19 is detachably matched with the grinding wheel 20. When the second rotating shaft 18 rotates, the grinding wheel 20 is driven to rotate through the second mounting sleeve 19 to complete the polishing operation of the outer wall of the workpiece.

[0025] Specifically, during the polishing process, the laser sensor 22 can detect the diameter distance of the grinding wheel 20 in real time, determine its loss, and then control the feeding distance of the grinding wheel 20 through the six-axis robot arm 3, so as to complete the distance compensation of the grinding wheel 20, so that the grinding wheel 20 can stably polish the workpiece and ensure its polishing accuracy.

[0026] Reference Figure 3-Figure 5 The second detection structure is used to ensure the grinding accuracy of the grinding disc 13 on the workpiece when the grinding disc 13 is worn out. The second detection structure includes a first sliding box 9 sliding on the outer wall of the rotating box 4. The first sliding box 9 and the second sliding box 17 also include transmission components, and the two sets of transmission connections are coordinated with the driving structure.

[0027] Reference Figure 5 , the design of the second detection structure is intended to optimize the precise control of pressure during the polishing process. Specifically, a first rotating shaft 10 is provided in the second detection structure, and the rotating shaft rotates through the first sliding box 9, ensuring the stability and flexibility of the structure. The outer wall of the first rotating shaft 10 is provided with a sliding circular sleeve 11 through the cooperation of the slider and the slide groove. This design allows the sliding circular sleeve 11 to move smoothly on the first rotating shaft 10 while maintaining good stability. Inside the sliding circular sleeve 11, a fixed column 14 is provided, and the fixed column 14 and the end of the sliding circular sleeve 11 away from the first rotating shaft 10 jointly fix a first mounting platform 12. A detachable connection is adopted between the first mounting platform 12 and the grinding disc 13, which is convenient for replacing or adjusting the grinding disc 13 according to actual needs.

[0028] Reference Figure 5In order to accurately monitor the polishing pressure, one side of the fixed column 14 slides and extends into the first rotating shaft 10, and a pressure sensor 15 is fixedly installed by bolts. A spring 16 is also fixed by bolts on the inner wall of the first rotating shaft 10 away from the grinding disc 13. One end of the spring 16 contacts the pressure sensor 15, and the elastic force of the spring 16 applies pressure to the pressure sensor 15.

[0029] Specifically, during the polishing process, when the grinding disc 13 contacts the workpiece and applies pressure, the pressure sensor 15 can monitor the changes in the pressure applied by the spring 16 in real time. As the grinding disc 13 gradually wears, its thickness decreases, resulting in the grinding disc 13 continuing to fit the surface of the workpiece under the elastic force of the spring 16. At this time, the pressure applied by the spring 16 monitored by the pressure sensor 15 will decrease. In order to keep the pressure value applied to the workpiece constant during the polishing process, the six-axis robot 3 will increase the pressure of the grinding disc 13 on the workpiece in a timely manner according to the feedback of the pressure sensor 15 until the pressure value of the pressure sensor 15 reaches the preset threshold.

[0030] Reference Figure 4 and Figure 5 In addition, the polishing structure also includes a driving structure for driving the grinding disc 13 and the grinding wheel 20 to rotate. In the driving structure, the driving motor 5 is fixed in the rotating box 4, and its output shaft is fixed with a first rotating disk 6. A plurality of first magnets 7 are fixedly arranged in a ring shape on one side of the first rotating disk 6, and the first rotating disk 6 extends into a through hole 8 on one side of the rotating box 4, so that the first magnets 7 are closer to the transmission member.

[0031] Reference Figure 5 and Figure 6 The transmission member includes a second rotating disk 23, and a plurality of second magnets 24 are fixed on one side of the second rotating disk 23 close to the rotating box 4. The second magnets are arranged in a ring shape and form a magnetic attraction with the first magnet 7. When the driving motor 5 drives the first rotating disk 6 to rotate, the second rotating disk 23 can be synchronously driven to rotate through the magnetic attraction between the first magnet 7 and the second magnet 24. The two second rotating disks 23 are respectively fixed to the second rotating shaft 18 and the end of the first rotating shaft 10 close to the rotating box 4, thereby driving the grinding wheel 20 and the grinding disc 13 to rotate.

[0032] Reference Figure 2 and Figure 8In order to separate metal debris from fine sand during polishing, a separation mechanism is provided at the bottom of the polishing box 2. The separation mechanism includes a rotating wheel 33 and a first scraper 35. The first scraper 35 is used to scrape off the metal debris adsorbed on the surface of the rotating wheel 33. The mechanism also includes a discharge pipe 31 fixedly penetrating the inner wall of the bottom of the polishing box 2, and its bottom end extends to the bottom of the polishing box 2. An arc cover 32 is welded on one side of the discharge pipe 31. The rotating wheel 33 is rotatably connected in the arc cover 32, and one side of it extends into the discharge pipe 31 to contact the metal debris and fine sand entrained in the coolant. The outer wall of the rotating wheel 33 is wrapped with a magnetic layer, which can adsorb the metal debris entrained in the coolant to complete the separation of metal debris and fine sand. A discharge port 34 is provided on one side of the arc cover 32, and a first scraper 35 is fixed in it to scrape off and collect the metal debris adsorbed on the outside of the rotating wheel 33. A second scraper 36 is fixed to the inner wall of the discharge pipe 31 on one side close to the arc cover 32, and is located below the rotating wheel 33 to prevent the coolant from flowing back into the arc cover 32. At the same time, a liquid guide inclined plate 37 is fixed to the inner wall of the discharge pipe 31 on one side away from the arc cover 32, and is located above the rotating wheel 33, and is used to guide the coolant to flow through the outer wall of the rotating wheel 33, so that the rotating wheel 33 can fully absorb the metal debris.

[0033] Reference Figure 8 and Fig. 9 Two baffles 38 are also fixed to the inner wall of the bottom of the polishing box 2, located at both ends of the discharge pipe 31, to prevent the coolant from passing through the discharge pipe 31 from both ends of the rotating wheel 33, ensuring that the rotating wheel 33 can fully absorb the metal debris in the coolant. In addition, a gantry 28 is fixed to the top of the polishing box 2, and a drain pan 29 is fixed to the inner wall of the top. The top of the drain pan 29 is connected to the external coolant storage tank through a hose, which is used to inject coolant into the drain pan 29. A plurality of spray nozzles 30 are fixed to the bottom of the drain pan 29, which are used to fully spray coolant on the workpiece to avoid dust during the polishing process.

[0034] Reference Figure 2 and Figure 7 The bottom inner wall of the polishing box 2 also rotates with a placement table 25 located below the drain pan 29, and multiple electromagnets 26 are fixedly installed on the top of the polishing box 2 by bolts, which are used to firmly adsorb the metal workpiece on the placement table 25. A rotating motor 27 is fixed in the base 1, and its output shaft rotates in a sealed manner through the bottom of the polishing box 2 and is fixedly connected to the placement table 25, which is used to drive the placement table 25 to rotate, so as to facilitate multi-angle polishing of the workpiece.

[0035] Specifically, a large amount of coolant can wash away the metal debris and fine sand deposited at the bottom of the polishing box 2 during the grinding process, and discharge them to the outside through the discharge pipe 31. The rotating wheel 33 is driven by the motor to rotate counterclockwise, and the magnet layer wrapped on its outer wall can absorb the metal debris flowing through its surface. After the rotating wheel 33 rotates counterclockwise, the first scraper 35 can scrape off the metal debris adsorbed on the rotating wheel 33 and discharge it through the discharge port 34, completing the separation of metal debris and fine sand and the collection of metal debris. At the same time, the second scraper 36 can prevent the coolant from flowing back into the arc cover 32, ensuring the stable operation of the entire separation mechanism.

[0036] Reference Figure 3 In order to enable the first detection structure and the second detection structure to respectively complete the precise polishing operation, a turning structure is provided on the outer wall of the rotating box 4 for selecting the corresponding grinding wheel 20 and grinding disc 13 for polishing when polishing different workpieces.

[0037] Reference Figure 3 The turning structure includes a bevel gear ring 44 rotatably sleeved on the outer wall of the rotating box 4, and the bevel gear ring forms a circumferential limit fit with the outer wall of the rotating box through an annular guide structure. The first sliding box 9 and the second sliding box 17 are symmetrically installed on the outer walls of both sides of the rotating box 4, and the inner side thereof is rigidly connected to the outer side surface of the bevel gear ring 44 through a fixed bracket. The stepper motor 45 is vertically fixed to the side of the rotating box 4 through a frame, and its output shaft passes through the side wall of the rotating box and is coaxially fixed with the bevel gear 46, and the bevel gear 46 and the tooth portion of the bevel gear ring 44 are kept in meshing state.

[0038] Specifically, when the stepper motor 45 receives a command from the control system, it drives the bevel gear 46 to rotate around its own axis. Through the meshing action of the bevel gear 46 and the bevel gear ring 44, the bevel gear ring 44 drives the first sliding box 9 and the second sliding box 17 to synchronously rotate 0-180° around the axis of the rotating box 4. This rotation movement enables the grinding disc 13 installed on the first sliding box 9 and the grinding wheel 20 on the second sliding box 17 to adjust the spatial orientation in real time. A double-row ball bearing is arranged between the bevel gear ring 44 and the rotating box 4 to ensure that the rotation process is smooth and reliable.

[0039] The turning structure realizes double-station synchronous turning through bevel gear transmission, with a turning accuracy of up to ±0.02° and a response speed of less than 0.3s.

[0040] The laser sensor 22 is a KJT-FG30 sensor, which has excellent resistance to ambient light interference and is suitable for outdoor or light-changing environments. It uses advanced laser technology and precision optical systems to achieve millimeter-level precision measurement.

[0041] The laser sensor 22 can monitor the diameter loss of the grinding wheel 20 in real time, and cooperates with high-speed sampling and filtering algorithms during monitoring.

[0042] The high-speed sampling technology is: using three-dimensional laser mapping, dual-mirror collaborative scanning and nanosecond time difference ranging. The 500-megahertz sampling rate device can instantly generate a three-dimensional model (Anfu Technology solution), which is suitable for dynamic measurement scenarios such as robot navigation and real-time monitoring of automated production lines.

[0043] The filtering algorithm can use a straight-through filter to set a threshold in the specified dimension of the point cloud (such as ±60 meters in the X direction and ±20 meters in the Y direction) to quickly eliminate invalid data.

[0044] The filtering algorithm can also use a Gaussian filter, which uses a weighted average method and is suitable for smoothing data with a normal distribution, retaining details while removing noise.

[0045] The mold polishing equipment capable of recycling waste materials comprises the above-mentioned 6-axis robot arm polishing structure.

[0046] Example 2: Reference Fig.10 and Fig.11 , improved on the basis of Example 1: a through-type clearance groove 39 is opened at the bottom of the second sliding box 17, and the groove width matches the width of the connecting plate 41. The strip mounting plate 21 is vertically fixed on the lower surface of the connecting plate 41, and the connecting plate 41 forms a sliding guide with the side wall of the clearance groove 39 through a dovetail slider structure. The reciprocating screw 40 is horizontally installed inside the second sliding box 17. The spiral groove of the reciprocating screw 40 forms a spiral pair with the nut structure on the inner side of the connecting plate 41. When the reciprocating screw 40 rotates, the connecting plate 41 drives the strip mounting plate 21 to make a linear reciprocating motion along the clearance groove 39. A second gear 43 is fixedly sleeved on the right end of the reciprocating screw 40, and a first gear 42 is fixedly sleeved at the position where the second rotating shaft 18 passes through the second sliding box 17. The two gears have the same module and pressure angle and maintain a constant meshing state.

[0047] Specifically, when the driving motor 5 drives the second rotating shaft 18 to drive the grinding wheel 20 to rotate, the first gear 42 rotates synchronously and drives the second gear 43 to rotate through meshing. The rotation is converted into a linear motion of the connecting plate 41 through the reciprocating screw 40, so that the laser sensor 22 is driven by the strip mounting plate 21 to perform periodic scanning along the radial direction of the grinding wheel 20. The laser sensor 22 obtains the diameter data of the grinding wheel at different radial positions through multi-point sampling. The control system controls the six-axis robot 3 to adjust the feed amount of the grinding wheel 20 according to the monitoring results to achieve dynamic compensation of tool wear.

[0048] With the cooperation of the reciprocating movement of the strip mounting plate 21, the measurement range of the laser sensor 22 covers 80% of the radial area of ​​the grinding wheel, and the measurement resolution reaches 0.01mm. With the compensation algorithm of the robot arm, the grinding accuracy can be improved by 40%. The transmission efficiency of the double gear transmission chain is higher than 95%, and it can still maintain a stable monitoring cycle under the working condition of 2000rpm, effectively extending the online calibration interval of the grinding equipment.

[0049] The method for using the casting equipment for recyclable waste includes the following steps: S1. Place the metal workpiece on the top of the placement table 25, and energize the electromagnet 26 (a battery is provided in the placement table 25 to provide power for the electromagnet 26, and the battery can be removed in the placement table 25 for easy replacement). The electromagnet 26 generates a magnetic attraction on the metal workpiece, so that the metal workpiece is stably placed on the placement table 25, which is convenient for later grinding. In addition, during the grinding process, the external coolant is injected into the drain pan 29 through a hose, and sprayed onto the metal workpiece through a spray nozzle 30 to avoid dust during the grinding process; S2. Since a plurality of spray nozzles 30 are arranged at the bottom of the drain pan 29, the amount of coolant discharged is relatively large, so a large amount of coolant is collected in the polishing box 2, and a large amount of coolant can wash away the metal debris and fine sand deposited at the bottom of the polishing box 2 during the grinding process and discharge them to the outside through the discharge pipe 31. The motor drives the rotating wheel 33 to rotate counterclockwise, and the outer wall of the rotating wheel 33 is wrapped with a magnet layer on one side. The coolant carries the metal debris and fine sand through the surface of the rotating wheel 33, and the magnet layer on its surface can adsorb the metal debris. When the rotating wheel 33 rotates counterclockwise, the coolant flows through the surface of the rotating wheel 33. After the needle rotates, the first scraper 35 can scrape off the metal debris adsorbed on the rotating wheel 33 and discharge it through the first scraper 35, completing the separation of the metal debris and the fine sand and the collection of the metal debris; in addition, the center of the rotating wheel 33 is located in the arc cover 32, and one side of the outer wall extends into the discharge pipe 31, so when the coolant flows through the outer wall of the rotating wheel 33, it flows downward along its outer wall, preventing the coolant from flowing into the arc cover 32, thereby preventing the coolant from leaking. At the same time, the second scraper 36 can also prevent the coolant from flowing back into the arc cover 32; S3. During the grinding process, the six-axis robot 3 can polish and grind the workpiece at the right angle. When polishing and grinding the end of the grinding disc 13, the driving motor 5 drives the first turntable 6 to rotate. The first turntable 6 and the second turntable 23 are matched with the first magnets 7 and the second magnets 24. The first magnets 7 and the second magnets 24 generate magnetic attraction. The first turntable 6 drives the second turntable 23 to rotate synchronously through the first magnets 7 and the second magnets 24, and then drives the grinding disc 13 to rotate to complete the polishing operation. In order to effectively polish the grinding disc 13, the six-axis robot 3 needs to The grinding disc 13 applies pressure in the direction of the workpiece, and the pressure sensor 15 can detect the pressure of the spring 16 on it. When the end of the grinding disc 13 is worn out, the thickness of the grinding disc 13 decreases. At this time, the grinding disc 13 moves under the elastic force of the spring 16 to continue to fit the surface of the workpiece, and the pressure sensor 15 monitors the decrease in the pressure applied by the spring 16. The six-axis robot 3 increases the pressure applied to the workpiece through the grinding disc 13 until the pressure value of the pressure sensor 15 reaches the threshold value, so that the grinding disc 13 can perform polishing operations under constant pressure, thereby ensuring the accuracy of its polishing; S4. When the side wall of the grinding wheel 20 needs to be polished, the stepper motor 45 arranged on the rotating box 4 drives the bevel gear 46 to rotate, and the bevel gear 46 meshes with the bevel gear ring 44 to drive the bevel gear ring 44 to rotate 180°. The bevel gear ring 44 drives the second sliding box 17 and the first sliding box 9 to rotate synchronously, and the positions of the second sliding box 17 and the first sliding box 9 are swapped. At this time, the second turntable 23 on one side of the spray nozzle 30 cooperates with the first turntable 6, and the cooperation of the driving motor 5 and the first turntable 6 can drive the second rotating shaft 18 and the grinding wheel 20 to rotate for polishing operation; during the polishing process During the process, the laser sensor 22 can detect the distance of the grinding wheel 20 diameter in real time (the laser sensor 22 is a KJT-FG30 sensor, which has excellent anti-ambient light interference characteristics and can resist interference factors such as coolant, oil, dust, etc., and the laser sensor 22 can accurately monitor the loss of the grinding wheel 20 diameter in combination with high-speed sampling and filtering algorithms), judge its loss, and then control the distance of the grinding wheel 20 through the six-axis robot 3, so as to complete the distance compensation of the grinding wheel 20, so that the grinding wheel 20 can stably polish the workpiece and ensure its polishing accuracy; S5. In addition, when the driving motor 5 drives the second rotating shaft 18 and the grinding wheel 20 to rotate, the second rotating shaft 18 drives the reciprocating screw 40 to rotate through the cooperation of the first gear 42 and the second gear 43. The reciprocating screw 40 drives the strip mounting plate 21 to move back and forth in a straight line through the connecting plate 41. The laser sensor 22 can monitor the diameter loss at different positions of the laser sensor 22, so that the six-axis robot arm 3 can accurately control the tool compensation of the grinding wheel 20.

[0050] However, as is well known to those skilled in the art, the working principles and wiring methods of the laser sensor 22, drive motor 5, rotary motor 27, stepper motor 45 and pressure sensor 15 are commonplace, and are conventional means or common knowledge, and will not be elaborated here. Those skilled in the art may make any optional selections according to their needs or convenience.

[0051] The drawings in the specification of this application are for illustration only, and the sizes and shapes of the components shown therein are not actually limited, but are only for illustration. In the actual implementation process, the components can be reasonably configured and adjusted according to specific needs and actual conditions.

[0052] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can make equivalent replacements or changes according to the technical scheme and inventive concept of the present invention within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A 6-axis robot arm polishing structure, which is used to ensure the polishing accuracy of the workpiece by the polishing tool when polishing the metal workpiece, characterized in that: The invention comprises a base (1), a polishing box (2) being fixed on the top of the base (1), a six-axis mechanical arm (3) being rotatably provided in the polishing box (2), a rotating box (4) being rotatably provided at the end of the six-axis mechanical arm (3), and a grinding wheel (20) and a grinding disc (13) being respectively provided on two sides of the rotating box (4); In order to control the polishing accuracy of the grinding wheel (20) and the grinding disc (13) on the workpiece, a control structure is provided on the outer wall of the rotating box (4), the control structure comprising a first detection structure and a second detection structure, the first detection structure being used to monitor the loss of the diameter of the grinding wheel (20) so as to control the feed compensation of the grinding wheel (20) later, the first detection structure comprising a second sliding box (17) sliding on the outer wall of the rotating box (4); The second detection structure is used to ensure the grinding accuracy of the grinding disc (13) on the workpiece when the grinding disc (13) is worn out, and the second detection structure comprises a first sliding box (9) sliding on the outer wall of the rotating box (4); In order to enable the first detection structure and the second detection structure to respectively complete precise polishing operations, a rotation structure is provided on the outer wall of the rotating box (4) for selecting corresponding grinding wheels (20) and grinding discs (13) for polishing different workpieces; In order to separate metal debris from fine sand during polishing, a separation mechanism is provided at the bottom of the polishing box (2), the separation mechanism comprising a rotating wheel (33) and a first scraper (35), the first scraper (35) being used to scrape off the metal debris adsorbed on the surface of the rotating wheel (33).

2. A 6-axis robotic arm polishing structure according to claim 1, characterized in that: The rotating box (4) is provided with a driving structure for providing power for the rotation of the grinding wheel (20) and the grinding disc (13), and the first detection structure and the second detection structure both include transmission components, and both sets of transmission connections cooperate with the driving structure.

3. A 6-axis robotic arm polishing structure according to claim 2, characterized in that: The first detection structure also includes a second rotating shaft (18) that rotates and passes through the second sliding box (17); a second mounting sleeve (19) is fixed to one end of the second rotating shaft (18) away from the rotating box (4); the second mounting sleeve (19) is detachably matched with the grinding wheel (20); when the second rotating shaft (18) rotates, the grinding wheel (20) is driven to rotate through the second mounting sleeve (19) to complete the polishing operation of the outer wall of the workpiece; a strip mounting plate (21) is provided at the bottom of the second sliding box (17); a laser sensor (22) is fixedly embedded on one side of the top of the strip mounting plate (21); the laser sensor (22) is located below the grinding wheel (20) and is used to monitor the loss of the diameter of the grinding wheel (20) when the grinding wheel (20) rotates, so as to facilitate the six-axis robot arm (3) to control the feed distance of the grinding wheel (20) during polishing in the later stage.

4. A 6-axis robot arm polishing structure according to claim 3, characterized in that: The second detection structure also includes a first rotating shaft (10) that rotates and passes through the first sliding box (9); the outer wall of the first rotating shaft (10) is provided with a sliding sleeve (11) through a slider and a sliding groove sliding sleeve; a fixing column (14) is provided inside the sliding sleeve (11); the fixing column (14) and the sliding sleeve (11) are fixed with a same first mounting platform (12) at one end away from the first rotating shaft (10); the first mounting platform (12) is detachably connected to the grinding disc (13); one side of the fixing column (14) slides and extends into the first rotating shaft (10) and is fixed by bolts and embedded with a pressure sensor A spring (16) is fixed to the inner wall of the first rotating shaft (10) on one side away from the grinding disc (13) by bolts, one end of the spring (16) contacts the pressure sensor (15), and pressure is applied to the pressure sensor (15) by the spring (16), so that the pressure of the grinding disc (13) on the workpiece during polishing can be detected. When the grinding disc (13) is worn, the pressure monitored by the pressure sensor (15) decreases, and the pressure of the grinding disc (13) on the workpiece is increased by the six-axis robot arm (3), so that the pressure value applied to the workpiece by the grinding disc (13) during polishing is guaranteed to be constant, thereby ensuring the polishing accuracy.

5. A 6-axis robot arm polishing structure according to claim 4, characterized in that: The driving structure comprises a driving motor (5) fixed in a rotating box (4); a first rotating disk (6) is fixed to an output shaft of the driving motor (5); a plurality of first magnets (7) are fixedly arranged in a ring shape on one side of the first rotating disk (6); a through hole (8) is provided on one side of the rotating box (4), and the first rotating disk (6) extends into the through hole (8), so as to bring the first magnets (7) closer to the transmission component; The transmission component comprises a second rotating disk (23), a plurality of second magnets (24) being fixed on a side of the second rotating disk (23) close to the rotating box (4), the plurality of second magnets (24) being arranged in a ring shape, a magnetic attraction force being formed between the second magnets (24) and the first magnets (7), and thus when the first rotating disk (6) rotates, the magnetic attraction force between the first magnets (7) and the second magnets (24) can synchronously drive the second rotating disk (23) to rotate; The two second rotating discs (23) are respectively fixed to the second rotating shaft (18) and the end of the first rotating shaft (10) close to the rotating box (4), and are used to drive the grinding wheel (20) and the grinding disc (13) to rotate.

6. A 6-axis robot arm polishing structure according to claim 5, characterized in that: The separation mechanism comprises a discharge pipe (31) fixedly penetrating the inner wall of the bottom of the polishing box (2), the bottom end of the discharge pipe (31) extending to the bottom of the polishing box (2), a curved cover (32) welded to one side of the discharge pipe (31), the rotating wheel (33) rotatably connected in the curved cover (32), one side of the rotating wheel (33) extending into the discharge pipe (31) for contacting metal debris and fine sand entrained in the coolant, the outer wall of the rotating wheel (33) wrapped with a magnet layer for adsorbing the metal debris entrained in the coolant on the outer wall of the rotating wheel (33) to complete the separation of the metal debris and the fine sand, a discharge port (34) is provided on one side of the curved cover (32), and the first scraper (35) is fixed to the discharge port (34). ) for scraping and collecting metal debris adsorbed on the outside of the rotating wheel (33); a second scraper (36) is fixed to the inner wall of the discharge pipe (31) on one side close to the arc cover (32); the second scraper (36) is located below the rotating wheel (33) and is used to prevent the coolant from flowing back into the arc cover (32); a liquid guide inclined plate (37) is fixed to the inner wall of the discharge pipe (31) on one side away from the arc cover (32); the liquid guide inclined plate (37) is located above the rotating wheel (33) and is used to guide the coolant to flow through the outer wall of the rotating wheel (33) so that the rotating wheel (33) can fully adsorb the metal debris; two baffles (38) are fixed to the inner wall of the bottom of the polishing box (2); the two baffles (38) are located on both sides of the discharge pipe (31). The end is used to prevent the coolant from passing through the discharge pipe (31) from both ends of the rotating wheel (33), thereby ensuring that the rotating wheel (33) can fully absorb the metal debris in the coolant; a gantry (28) is fixed on the top of the polishing box (2), a drain pan (29) is fixed on the top inner wall of the gantry (28), a hose is fixed on the top of the drain pan (29), and the hose is connected to the external coolant storage box, and is used to inject coolant into the drain pan (29) to facilitate the later polishing of the workpiece; a plurality of spray nozzles (30) are fixed on the bottom of the drain pan (29), and are used to fully spray coolant on the workpiece to avoid dust during the polishing process; and the provision of a plurality of spray nozzles (30) increases the discharge amount of coolant, and a large amount of The coolant can wash away the metal debris and fine sand deposited on the bottom of the polishing box (2) during the grinding process and discharge them to the outside through the discharge pipe (31), so as to facilitate the adsorption and separation of the metal debris in the later stage; the bottom inner wall of the polishing box (2) is rotatably provided with a placement table (25) located below the drain pan (29); the top of the placement table (25) is fixedly embedded with a plurality of electromagnets (26) by bolts, and is used to adsorb the metal workpiece firmly on the placement table (25); a rotating motor (27) is fixed inside the base (1); the output shaft of the rotating motor (27) is sealed and rotatably penetrates the bottom of the polishing box (2) and is fixedly connected to the placement table (25), so as to drive the placement table (25) to rotate, so as to facilitate the multi-angle polishing of the workpiece.

7. The 6-axis robot arm polishing structure according to claim 6, characterized in that: The rotation structure comprises an umbrella tooth ring (44) rotatably sleeved on the outer wall of the rotation box (4); the second sliding box (17) and the first sliding box (9) are symmetrically slidably arranged on the outer wall of the rotation box (4); one side of the umbrella tooth ring (44) is fixedly connected to the first sliding box (9) and the second sliding box (17); the umbrella tooth ring (44) is used to drive the first sliding box (9) and the fixed column (14) to rotate to complete the direction rotation; one side of the rotation box (4) is fixed with a stepper motor (45) through a frame; the output shaft of the stepper motor (45) is fixed with a umbrella gear (46) meshing with the umbrella tooth ring (44) to drive the umbrella tooth ring (44) to rotate, thereby completing the rotation of the first sliding box (9) and the second sliding box (17), and facilitating the polishing operation of the grinding disc (13) and the grinding wheel (20).

8. The 6-axis robot arm polishing structure according to claim 7, characterized in that: A clearance groove (39) is provided at the bottom of the second sliding box (17), and a connecting plate (41) is slidably connected in the clearance groove (39), and the connecting plate (41) is fixed on the top of the strip mounting plate (21). A reciprocating screw rod (40) is rotatably connected in the second sliding box (17) through a base, and the connecting plate (41) is slidably matched with the spiral groove on the outer wall of the reciprocating screw rod (40) to drive the strip mounting plate (21) to move back and forth linearly, so that the laser sensor (22) monitors the diameter of the grinding wheel (20) at different positions. The outer wall fixing sleeve of the reciprocating screw rod (40) is provided with a second gear (43), and the outer wall fixing sleeve of the second rotating shaft (18) is provided with a first gear (42), and the first gear (42) is meshed with the second gear (43) to provide a driving force for the rotation of the reciprocating screw rod (40).

9. A casting device for recyclable waste, characterized in that: Including a 6-axis robotic arm polishing structure as described in claim 8.

10. A method for using a mold-casting device for recyclable waste, applied to the mold-casting device for recyclable waste as claimed in claim 9, characterized in that: The following steps are involved: S1. Place the metal workpiece on top of the placement table (25), and energize the electromagnet (26) to adsorb and fix the workpiece; during grinding, inject coolant into the drain pan (29) through a hose and spray it through a spray nozzle (30) to prevent dust; S2, a plurality of spray nozzles (30) at the bottom of the drain pan (29) discharge a large amount of coolant, which is collected in the polishing box (2), washes away the metal debris and fine sand, and is discharged through the discharge pipe (31); the motor drives the rotating wheel (33) to rotate counterclockwise, and the magnet layer on its outer wall absorbs the metal debris, which is scraped off and discharged by the first scraper (35), thereby achieving separation and collection of the metal debris and fine sand; S3, the six-axis robot arm (3) polishes and grinds the workpiece at multiple angles; the driving motor (5) drives the first rotating disk (6), and drives the second rotating disk (23) and the grinding disk (13) to rotate and polish through the cooperation of the first magnet (7) and the second magnet (24); The pressure sensor (15) monitors the pressure of the spring (16) and adjusts the pressure applied by the six-axis robot (3) to the workpiece to maintain constant pressure polishing and ensure precision; S4, when the side wall of the grinding wheel (20) needs to be polished, the stepper motor (45) drives the bevel gear (46) to rotate, so that the bevel gear ring (44) rotates 180 degrees, so that the second sliding box (17) and the first sliding box (9) are swapped; the laser sensor (22) detects the diameter loss of the grinding wheel (20) in real time, and the six-axis robot arm (3) controls the feeding distance of the grinding wheel (20) to complete the distance compensation, stabilize the polishing, and ensure accuracy; S5, when the driving motor (5) drives the second rotating shaft (18) and the grinding wheel (20) to rotate, the first gear (42) and the second gear (43) cooperate to drive the reciprocating screw rod (40) to rotate, thereby driving the strip-shaped mounting plate (21) to move back and forth in a straight line; the laser sensor (22) monitors the diameter loss of the grinding wheel (20) at different positions, and the six-axis robot arm (3) accurately controls the tool compensation of the grinding wheel (20).

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