Grinding device for curved surface of workpiece

Abstract

The invention relates to the technical field of workpiece grinding, in particular to a grinding device for a curved surface of a workpiece. The device comprises a lifting grinding main body, a polishing main body and a transfer mechanical arm arranged between the lifting grinding main body and the polishing main body, and further comprises a clamping mechanism and a circulating water removal mechanism which are arranged at the moving end of the transfer mechanical arm. According to the polishing device, a ground workpiece is clamped through the opposite clamping assembly at the transfer end of the transfer mechanical arm and is transferred to one side of the polishing body through the transfer mechanical arm, in the process, high-pressure airflow is guided into the inclined spray head and the horizontal spray head through the gas generation body, and two driving parts are used for driving the inclined spray head and the horizontal spray head correspondingly; the inclined nozzle horizontally moves in the tangent plane direction of the curved surface of the workpiece, the horizontal nozzle vertically moves, the airflow forms staggered airflow covering the clamping end of the opposite clamping assembly, and therefore multi-dimensional and multi-angle stripping of residual water on the curved surface of the workpiece is completed.

Description

Technical Field

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

[0002] In precision workpiece machining, when grinding the curved surface of the workpiece, the curvature of the curved surface causes the grinding accuracy to be low, which affects the use of the workpiece. At this time, high-precision magnetorheological polishing technology is used to polish the curved surface with high precision to improve the workpiece accuracy.

[0003] Currently, when performing curved surface grinding, since most workpiece grinding processes require spraying water at the grinding position to achieve a cooling effect, after the curved surface is ground, part of the water sprayed at the curved surface grinding position is prone to flow back and gather at the bottom of the workpiece curved surface, affecting the subsequent magnetorheological polishing effect. Summary of the invention

[0004] The present invention provides a grinding device for a workpiece curved surface, which uses a manipulator to take down the workpiece that has been ground. When the manipulator takes down the workpiece, water accumulated on the curved surface is removed by a jet device. After the water is removed, the workpiece is allowed to enter a polishing process, thereby solving the problems raised in the above-mentioned background technology, namely:

[0005] After the curved surface is ground, part of the water sprayed on the grinding position of the curved surface tends to flow back and gather at the bottom of the workpiece surface, affecting the subsequent magnetorheological polishing effect.

[0006] In order to achieve the above-mentioned object, the present invention provides a grinding device for a workpiece curved surface, comprising a lifting grinding body and a polishing body and a transfer mechanical arm arranged between the lifting grinding body and the polishing body, the polishing body is a device for polishing by magnetorheological technology, and also comprises a clamping mechanism and a circulating water removal mechanism arranged at the moving end of the transfer mechanical arm;

[0007] The clamping mechanism comprises a facing clamping assembly, and the facing clamping assembly forms a clamp on the edge of the workpiece;

[0008] The circulating water removal mechanism includes an inclined water removal component arranged above the clamping mechanism and a side water removal component arranged on one side of the clamping mechanism, the inclined water removal component includes an inclined nozzle, and the inclined nozzle faces the cut surface of the workpiece curved surface, the side water removal component includes a horizontal nozzle facing one side of the workpiece curved surface, and the opposing clamping components are provided with driving parts for driving the inclined nozzle and the horizontal nozzle to move respectively;

[0009] The circulating water removal mechanism also includes a gas generating body, and the gas generating body is connected to the inclined nozzle and the horizontal nozzle through a pipeline. The gas generating body provides high-pressure injection gas to the inclined nozzle and the horizontal nozzle to complete the water removal.

[0010] The driving member includes a control push rod, a guiding track, and a pipe mounting block. The guiding track is arranged on the side wall of the connecting seat. The control push rod is arranged in contact with one side of the connecting seat. The pipe mounting block is slidably mounted on the guiding track, and the pushing end of the control push rod is connected to the pipe mounting block.

[0011] Wherein, a through groove for the pipe to pass through and be limited is formed on the pipe mounting block, so that the pipe of the gas generating main body passes through the pipe mounting block and then is connected to the inclined nozzle and the horizontal nozzle.

[0012] Two driving members respectively drive the inclined nozzle and the horizontal nozzle to move. The inclined nozzle moves along the length direction of the connecting seat, and the horizontal nozzle moves vertically on the side wall of the connecting seat, so that the gas ejected by the inclined nozzle and the horizontal nozzle forms an interleaved gas coverage area at the clamping end of the opposing clamping assembly. Thus, during the process of the opposing clamping assembly clamping and transporting the workpiece, water removal from the curved surface of the workpiece is completed.

[0013] It should be clear that the gas coverage areas of the inclined nozzle and the horizontal nozzle continuously remove water during the workpiece transportation process, ensuring that the workpiece enters the polishing main body in a dry state to complete the polishing process.

[0014] In this technical solution, on the clamping structure during transportation, by setting the inclined nozzle and the horizontal nozzle, combined with the independent movement control of the driving member, the inclined nozzle moves horizontally along the tangential direction of the workpiece curved surface, and the horizontal nozzle moves vertically, forming a coverage of all angles of the curved surface of the clamped workpiece and forming an interleaved air flow network, realizing the multi-dimensional and multi-angle peeling of the residual water body on the curved surface.

[0015] As a further improvement of this technical solution, the opposing clamping assembly includes a connecting seat, positioning blocks, and control cylinders. The connecting seat is arranged at the mobile end of the transfer robotic arm. The connecting seat is a concave plate seat. The positioning blocks are arranged symmetrically on both sides of the connecting seat. The control cylinders are arranged on both sides of the connecting seat, and the output ends of the control cylinders are connected to the positioning blocks, so that the two positioning blocks can move relative to each other on the connecting seat. Elastic members are respectively arranged between the two positioning blocks and the connecting seat. A guiding groove is formed on the inner wall of the connecting seat, and a guiding rod is arranged inside the guiding groove. One end of the positioning block is slidably arranged in contact with the guiding groove, and the guiding rod penetrates through the end of the positioning block. The elastic member is arranged around the outside of the guiding rod.

[0016] The two control cylinders drive the two positioning blocks to move towards each other on the connecting seat, so as to clamp the workpiece. During the clamping process, the positioning blocks will pull the elastic members to stretch. When the control cylinders no longer drive the positioning blocks, under the reverse acting force of the elastic members, the positioning blocks will be pulled back to their original positions, thus facilitating clamping again next time. Through the elastic clamping design of resetting the positioning blocks by the elastic members, both the clamping stability is ensured, and the damage to the curved surface workpiece caused by rigid clamping is avoided.

[0017] In this technical solution, the opposing clamping assembly and the circulating water removal mechanism are integrated at the end of the transfer robotic arm, and the water removal action is completed while the transfer robotic arm transfers the workpiece.

[0018] As a further improvement of this technical solution, the lifting grinding body includes a lifting grinding wheel assembly, a control base, and a workpiece clamping member. The lifting grinding wheel assembly is a mechanism for grinding with a grinding wheel, and a spraying mechanism for cooling is provided on one side of the grinding position. The control base is arranged below the grinding end of the lifting grinding wheel assembly, and the workpiece clamping member is arranged on the moving end of the control base. The control base can control the workpiece clamping member to move horizontally and vertically, so as to control the movement of the workpiece after the workpiece clamping member clamps the workpiece. When the grinding of the workpiece is completed, the control base controls the workpiece to approach one side of the transfer robotic arm;

[0019] Wherein, when the moving end of the control base reaches the edge close to one side of the transfer robotic arm and reaches the preset position, the opposing clamping assembly of the transfer robotic arm can be directly opposite to the workpiece clamped by the workpiece clamping member, and the centers are aligned, and the workpiece is clamped through the opposing clamping assembly to achieve precise clamping and handover.

[0020] The workpiece clamping member includes an opposing clamping member and a blanking push rod arranged on the moving end of the control base. The output end of the blanking push rod passes through the opposing clamping member and is directly opposite to the transfer end of the transfer robotic arm. When the opposing clamping assembly at the end of the transfer robotic arm clamps the workpiece, it can push one side of the workpiece through the blanking push rod to make the workpiece fit against the inner wall of the connecting seat, preventing a gap from appearing between the workpiece and the connecting seat;

[0021] The clamping position of the opposing clamping member on the workpiece is on one side of the workpiece, while the clamping position of the opposing clamping assembly on the workpiece is on the other side of the workpiece, so that the two sets of structures will not interfere with each other when clamping the workpiece.

[0022] Compared with the prior art, the present invention provides a grinding device for the curved surface of a workpiece, which has the following beneficial effects:

[0023] The present invention uses the opposing clamping assembly at the transfer end of the transfer robotic arm to clamp the workpiece that has completed grinding, and transfers it to one side of the polishing main body through the transfer robotic arm. During the process, the gas generating main body introduces high-pressure air flow into the inclined nozzle and the horizontal nozzle, and through the respective driving of the two driving members, the inclined nozzle moves horizontally along the tangential direction of the workpiece curved surface, and the horizontal nozzle moves vertically, so that the air flow forms an intersecting air flow covering the clamping end of the opposing clamping assembly, thereby completing the multi-dimensional and multi-angle peeling of the residual water body on the workpiece curved surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0025] Figure 2 It is a schematic structural diagram of the lifting grinding main body in the present invention;

[0026] Figure 3 It is a front view of the overall structure of the present invention;

[0027] Figure 4 It is a structural distribution diagram of the workpiece clamping member and the opposing clamping assembly after removing the transfer robotic arm in the present invention;

[0028] Figure 5 It is a structural distribution diagram of the workpiece clamping member, the transfer robotic arm and the opposing clamping assembly in the present invention;

[0029] Figure 6 is Figure 5 an enlarged view of the structure at position A in

[0030] Figure 7 It is a schematic structural distribution diagram of the opposing clamping assembly and the circulating water removal mechanism in the present invention.

[0031] In the figure: 1. Lifting grinding main body; 11. Lifting grinding wheel assembly; 12. Control base; 13. Workpiece clamping member; 131. Opposing clamping member; 132. Blanking push rod; 2. Polishing main body; 3. Transfer robotic arm; 4. Clamping mechanism; 41. Opposing clamping assembly; 411. Connecting seat; 412. Positioning block; 413. Elastic member; 5. Inclined water removal assembly; 51. Inclined nozzle; 6. Side water removal assembly; 61. Horizontal nozzle; 7. Driving member; 71. Control push rod; 72. Guide track; 73. Pipe placement block; 8. Gas generation main body. Detailed implementation manners

[0032] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with 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. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0033] Refer to Figure 1 、 Figure 3 、 Figure 4 and Figure 5, the present invention provides a grinding device for a workpiece curved surface. In order to quickly remove the residual and accumulated water on the workpiece curved surface when using a robotic arm to quickly transfer the workpiece and ensure the accuracy of subsequent polishing, a lifting grinding main body 1, a polishing main body 2, and a transfer robotic arm 3 arranged between the lifting grinding main body 1 and the polishing main body 2 are provided. The polishing main body 2 is a device for polishing by magnetorheological technology, which will not be elaborated here. It also includes a clamping mechanism 4 and a circulating water removal mechanism arranged at the mobile end of the transfer robotic arm 3;

[0034] The clamping mechanism 4 includes an opposing clamping assembly 41, and the opposing clamping assembly 41 forms a clamping of the edge of the workpiece;

[0035] See Figure 6 and Figure 7 As shown in

[0036] and

[0037] shown, the opposing clamping assembly 41 includes a connecting seat 411, positioning blocks 412, and control cylinders. The connecting seat 411 is arranged at the mobile end of the transfer robotic arm 3. The connecting seat 411 is a concave plate seat. The positioning blocks 412 are arranged symmetrically on both sides of the connecting seat 411. The control cylinders are arranged on both sides of the connecting seat 411, and the output ends of the control cylinders are connected to the positioning blocks 412, so that the two positioning blocks 412 can move relatively on the connecting seat 411;

[0036] Elastic members 413 are respectively arranged between the two positioning blocks 412 and the connecting seat 411. Guide grooves are formed on the inner wall of the connecting seat 411, and guide rods are arranged inside the guide grooves. One end of the positioning block 412 is slidably arranged in contact with the guide grooves, and the guide rods penetrate through the ends of the positioning blocks 412. The elastic members 413 are arranged around the outer sides of the guide rods, and the elastic members 413 are spiral springs;

[0037] Specifically, the two control cylinders drive the two positioning blocks 412 to move towards each other on the connecting seat 411, so as to clamp the workpiece. During the clamping process, the positioning blocks 412 will pull the elastic members 413 to stretch. In addition, when the control cylinders no longer drive the positioning blocks 412, under the reverse acting force of the elastic members 413, the positioning blocks 412 will be pulled back to their original positions, so as to facilitate clamping again next time.

[0038] The circulating water removal mechanism includes an inclined water removal assembly 5 arranged above the clamping mechanism 4 and a side water removal assembly 6 arranged on one side of the clamping mechanism 4;

[0039] The inclined water removal assembly 5 includes an inclined spray head 51, and the inclined spray head 51 is directly opposite to the tangent plane of the workpiece curved surface;

[0040] The side water removal assembly 6 includes a horizontal spray head 61 directly opposite to one side of the workpiece curved surface;

[0041] A driving member 7 for respectively driving the inclined spray head 51 and the horizontal spray head 61 to move is arranged on the opposing clamping assembly 41;

[0042] As Figure 4 and Figure 5 shown, the circulating water removal mechanism further includes a gas generating body 8, and the gas generating body 8 is connected to the inclined nozzle 51 and the horizontal nozzle 61 through pipelines. The gas generating body 8 provides high-pressure jet gas for the inclined nozzle 51 and the horizontal nozzle 61 to complete water removal.

[0043] As Figure 5 and Figure 6 shown, the driving member 7 includes a control push rod 71, a guiding track 72 and a pipeline placement block 73. The guiding track 72 is arranged on the side wall of the connecting seat 411. The control push rod 71 is arranged in contact with one side of the connecting seat 411. The pipeline placement block 73 is slidably installed on the guiding track 72, and the pushing end of the control push rod 71 is connected to the pipeline placement block 73;

[0044] Among them, a through groove for the pipeline to pass through and be limited is formed on the pipeline placement block 73, so that the pipeline of the gas generating body 8 passes through the pipeline placement block 73 and then is connected to the inclined nozzle 51 and the horizontal nozzle 61.

[0045] As Figure 7 shown, two driving members 7 respectively drive the inclined nozzle 51 and the horizontal nozzle 61 to move. The inclined nozzle 51 moves along the length direction of the connecting seat 411, and the horizontal nozzle 61 moves vertically on the side wall of the connecting seat 411, so that the gas ejected by the inclined nozzle 51 and the horizontal nozzle 61 forms an interleaved gas coverage area at the clamping end of the opposing clamping assembly 41. Thus, during the process of the opposing clamping assembly 41 clamping and transporting the workpiece, water removal of the workpiece surface is completed.

[0046] It should be clear that the gas coverage areas of the inclined nozzle 51 and the horizontal nozzle 61 continuously remove water during the workpiece transportation process, ensuring that the workpiece enters the polishing main body 2 in a dry state to complete the polishing process.

[0047] As Figure 2 shown, the lifting and grinding main body 1 includes a lifting and grinding wheel assembly 11, a control base 12 and a workpiece clamping member 13. The lifting and grinding wheel assembly 11 is a mechanism for grinding by a grinding wheel, and a spraying mechanism for cooling is arranged on one side of the grinding position, which will not be elaborated here. The control base 12 is arranged below the grinding end of the lifting and grinding wheel assembly 11. The workpiece clamping member 13 is arranged on the moving end of the control base 12. The control base 12 can control the workpiece clamping member 13 to move horizontally and vertically, so as to control the movement of the workpiece after the workpiece clamping member 13 clamps the workpiece. When the workpiece is ground, the control base 12 controls the workpiece to approach one side of the transfer robot arm 3;

[0048] When the mobile end of the control base 12 reaches the edge close to the side of the transfer robot arm 3 and reaches the preset position, the opposing clamping component 41 of the transfer robot arm 3 can be directly opposite to the workpiece clamped by the workpiece clamping member 13, and the centers are aligned. The workpiece is clamped through the opposing clamping component 41, realizing precise clamping and handover.

[0049] The workpiece clamping member 13 includes an opposing clamping member 131 and a blanking push rod 132. The opposing clamping member 131 is arranged on the mobile end of the control base 12, and the blanking push rod 132 is arranged on the side of the opposing clamping member 131 away from the transfer robot arm 3. The output end of the blanking push rod 132 passes through the opposing clamping member 131 and is directly opposite to the transfer end of the transfer robot arm 3. When the opposing clamping component 41 at the end of the transfer robot arm 3 completes workpiece clamping, the blanking push rod 132 can push one side of the workpiece, making the workpiece fit against the inner wall of the connecting seat 411, preventing a gap from appearing between the workpiece and the connecting seat 411.

[0050] The clamping positions of the opposing clamping member 131 and the opposing clamping component 41 on the workpiece are located on both sides of the workpiece respectively, so that there will be no interference when the workpiece is replaced for clamping.

[0051] Working principle: First, use the opposing clamping member 131 to clamp the workpiece, start the lifting grinding wheel assembly 11, and move the workpiece carried by the control base 12 under the grinding end of the lifting grinding wheel assembly 11 through control to complete grinding. During the grinding process, the spraying mechanism on one side of the grinding end of the lifting grinding wheel assembly 11 will spray out water for cooling. After grinding, use the control base 12 to move the workpiece to the side close to the transfer robot arm 3. At this time, start the transfer robot arm 3, and use the opposing clamping component 41 at the transfer end of the transfer robot arm 3 to approach the workpiece. At this time, the concave part of the connecting seat 411 fits against one side of the workpiece. At this time, the opposing clamping member 131 releases the clamping, start the blanking push rod 132, push the workpiece to fit against the concave part of the connecting seat 411, and then drive two positioning blocks 412 to move towards each other on the connecting seat 411 through two control cylinders, so that the positioning blocks 412 clamp on both sides of the workpiece to complete the clamping of the workpiece. At this time, the gas generating main body 8 can be started, and the high-pressure gas is introduced into the inclined nozzle 51 and the horizontal nozzle 61 through the pipeline. Then, use the control push rod 71 to control the pipeline placement block 73 to move along the guiding track 72, and use the driving action of the two driving members 7 to drive the inclined nozzle 51 to move along the length direction of the connecting seat 411, and the horizontal nozzle 61 moves vertically on the side wall of the connecting seat 411, so that the gas sprayed by the inclined nozzle 51 and the horizontal nozzle 61 forms a gas coverage area that is tangent and parallel and staggered on the curved surface of the workpiece. Thus, during the process of the transfer robot arm 3 transferring the workpiece to the side of the polishing main body 2, the residual cooling water on the curved surface of the workpiece is removed, and the workpiece enters the polishing process in a dry state.

[0052] The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above embodiments, and the above embodiments and the descriptions in the specification are only preferred examples of the present invention and are not used to limit the present invention. Without departing from the spirit and scope of the present invention, the present invention will have various changes and improvements, and these changes and improvements all fall within the scope of the present invention claimed. The scope of the present invention claimed is defined by the appended claims and their equivalents.

Claims

1. A grinding device for a workpiece curved surface, comprising a lifting grinding main body (1), a polishing main body (2), and a transfer robotic arm (3) arranged between the lifting grinding main body (1) and the polishing main body (2), characterized in that, It further includes: A clamping mechanism (4), the clamping mechanism (4) is arranged at the mobile end of the transfer robotic arm (3), and the clamping mechanism (4) includes an opposing clamping component (41) for clamping the workpiece; A circulating water removal mechanism, the circulating water removal mechanism includes an inclined water removal component (5) arranged above the opposing clamping component (41) and a side water removal component (6) arranged on one side of the opposing clamping component (41); The inclined water removal component (5) includes an inclined nozzle (51), and the inclined nozzle (51) faces the tangent plane of the workpiece surface; The side water removal component (6) includes a horizontal nozzle (61) facing one side of the workpiece surface; A driving member (7) is arranged on the opposing clamping component (41) to drive the inclined nozzle (51) and the horizontal nozzle (61) to move respectively, so that the inclined nozzle (51) and the horizontal nozzle (61) form an interleaved gas coverage area at the clamping end of the opposing clamping component (41).

2. The grinding device for a workpiece curved surface according to claim 1, characterized in that, The opposing clamping component (41) includes a connecting seat (411) fixed to the mobile end of the transfer robotic arm (3) and positioning blocks (412) slidably arranged on both sides of the connecting seat (411). The connecting seat (411) is in the shape of a concave plate, and the positioning blocks (412) are arranged symmetrically on both sides of the connecting seat (411) in a mirror image; Wherein, control cylinders are arranged on both sides of the connecting seat (411), and the output ends of the control cylinders are connected to the corresponding positioning blocks (412) to drive the positioning blocks (412) to move towards each other to clamp the workpiece.

3. A grinding device for a workpiece curved surface according to claim 2, characterized in that, Guide grooves are formed on the inner wall of the connecting seat (411), and guide rods penetrating through the positioning blocks (412) are arranged inside the guide grooves. The opposing clamping component (41) further includes an elastic member (413), and the elastic member (413) is arranged between the positioning blocks (412) and the connecting seat (411).

4. A grinding device for a workpiece curved surface according to claim 3, characterized in that, The elastic member (413) is a spiral spring and is arranged around the outside of the guide rod.

5. A grinding device for a workpiece curved surface according to claim 2, characterized in that, The circulating water removal mechanism further includes a gas generating main body (8), and the gas generating main body (8) is connected to the inclined nozzle (51) and the horizontal nozzle (61) through pipelines.

6. The grinding device for a workpiece curved surface according to claim 5, characterized in that, The driving member (7) includes a control push rod (71) fixed to the side wall of the connecting seat (411) and a guide track (72) arranged on the side wall of the connecting seat (411). A pipeline placement block (73) is slidably installed on the guide track (72), and the output end of the control push rod (71) is connected to the pipeline placement block (73); Wherein, the pipeline placement block (73) is provided with a through groove for fixing the pipelines connecting the gas generating main body (8) with the inclined nozzle (51) and the horizontal nozzle (61).

7. The grinding device for a workpiece curved surface according to claim 6, wherein, The inclined nozzle (51) moves along the length direction of the connecting seat (411) through the driving member (7), the horizontal nozzle (61) moves vertically on the side wall of the connecting seat (411) through the driving member (7), and the spraying areas of the inclined nozzle (51) and the horizontal nozzle (61) are interleaved and covered at the concave part of the connecting seat (411).

8. A grinding device for a workpiece curved surface according to claim 1, characterized in that, The lifting grinding main body (1) includes a lifting grinding wheel assembly (11), a control base (12) and a workpiece clamping member (13). The lifting grinding wheel assembly (11) is used to perform grinding operations. The control base (12) is arranged below the grinding part of the lifting grinding wheel assembly (11), and the mobile end of the control base (12) can move horizontally and vertically. The workpiece clamping member (13) is fixed on the mobile end of the control base (12) and is used to clamp and move the workpiece to the clamping range of the transfer robot arm (3).

9. The grinding device for a workpiece curved surface according to claim 8, characterized in that, The workpiece clamping member (13) includes an opposing clamping member (131) for clamping both sides of the workpiece and a blanking push rod (132). The blanking push rod (132) is arranged on the side of the opposing clamping member (131) away from the transfer robot arm (3).

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