A grinding device for a workpiece curved surface

Abstract

The present application relates to the technical field of workpiece grinding, in particular to a kind of grinding device for workpiece curved surface.It includes lifting grinding main body and polishing main body and is set between lifting grinding main body and polishing main body transport mechanical arm, also include setting in the moving end of transport mechanical arm clamping mechanism and circulating water removal mechanism.The present application utilizes the opposite clamping assembly of transport mechanical arm transport end to clamp the workpiece completed grinding, and is transported to the side of polishing main body by transport mechanical arm, in the process, by gas generation main body to the inclined spray head and horizontal spray head inside introduction high pressure airflow, and by the drive of two driving pieces respectively, make inclined spray head move horizontally along the curved surface section direction of workpiece, and horizontal spray head is vertically moved, let airflow form the staggered airflow covering the clamping end of opposite clamping assembly, to complete the multi-dimensional, multi-angle peeling of workpiece curved surface residual water.

Description

Technical Field

[0001] This invention relates to the field of workpiece grinding technology, and more particularly to a grinding apparatus for curved surfaces of workpieces. Background Technology

[0002] In precision workpiece machining, when grinding curved surfaces, the curvature of the surface can affect the precision of the grinding process, thus impacting the usability of the workpiece. In such cases, high-precision magnetorheological polishing technology is used to polish the curved surfaces with high precision, thereby improving the workpiece's accuracy.

[0003] Currently, when performing surface grinding, water spraying is often required at the grinding location to achieve a cooling effect. However, after the surface grinding is completed, some of the water sprayed at the grinding location tends to flow back and accumulate at the bottom of the surface, affecting the subsequent magnetorheological polishing effect. Summary of the Invention

[0004] This invention provides a grinding apparatus for curved surfaces of workpieces, which utilizes a robotic arm to remove the ground workpiece. While the robotic arm is handling the workpiece, an air jet device removes water accumulated within the curved surface. After dehydration, the workpiece proceeds to the polishing process, thereby solving the problems mentioned in the background art.

[0005] After the curved surface is ground, some of the water sprayed on the grinding position is prone to backflow and accumulation at the bottom of the workpiece surface, affecting the subsequent magnetorheological polishing effect.

[0006] To achieve the above objectives, the present invention provides a grinding device for workpiece curved surfaces, including a lifting grinding body and a polishing body, and a transfer robotic arm disposed between the lifting grinding body and the polishing body. The polishing body is a device for polishing by magnetorheological technology. The device also includes a clamping mechanism and a circulating dewatering mechanism disposed at the moving end of the transfer robotic arm.

[0007] The clamping mechanism includes opposing clamping components that clamp the workpiece at its edge;

[0008] The circulating dewatering mechanism includes an inclined dewatering component mounted above the clamping mechanism and a side dewatering component mounted on one side of the clamping mechanism. The inclined dewatering component includes an inclined nozzle, which faces the cross-section of the workpiece's curved surface. The side dewatering component includes a horizontal nozzle facing one side of the workpiece's curved surface. The opposing clamping components are provided with driving components that drive the inclined nozzle and the horizontal nozzle to move respectively.

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

[0010] The driving component includes a control push rod, a guide rail, and a pipe placement block. The guide rail is disposed on the side wall of the connecting seat, the control push rod is disposed against one side of the connecting seat, the pipe placement block is slidably mounted on the guide rail, and the pushing end of the control push rod is connected to the pipe placement block.

[0011] The pipe mounting block has a through groove for the pipe to pass through and be limited, so that the pipe of the gas generating body passes through the pipe mounting block and then connects to the inclined nozzle and the horizontal nozzle.

[0012] Two driving components drive the tilting nozzle and the horizontal nozzle to move respectively. The tilting nozzle moves along the length of the connecting seat, while the horizontal nozzle moves vertically on the side wall of the connecting seat. This causes the gas ejected by the tilting nozzle and the horizontal nozzle to form an alternating gas coverage area at the clamping end of the opposing clamping assembly, thereby completing the dehydration of the workpiece surface during the clamping and transfer of the workpiece by the opposing clamping assembly.

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

[0014] In this technical solution, by setting up inclined nozzles and horizontal nozzles on the clamping structure for transfer, and combining the independent motion control of the drive components, the inclined nozzles move horizontally along the cross-section of the workpiece surface, while the horizontal nozzles move vertically, forming a network that covers all angles of the workpiece surface and creates an interlaced airflow network, thereby achieving multi-dimensional and multi-angle stripping of residual water from the surface.

[0015] As a further improvement to this technical solution, the opposing clamping assembly includes a connecting seat, a positioning block, and a control cylinder. The connecting seat is located at the moving end of the transfer robotic arm and is a concave plate seat. The positioning blocks are mirror-symmetrically arranged on both sides of the connecting seat. The control cylinder is located on both sides of the connecting seat, and the output end of the control cylinder is connected to the positioning block, so that the two positioning blocks can move relative to each other on the connecting seat. Elastic elements are respectively provided between the two positioning blocks and the connecting seat. A guide groove is provided on the inner wall of the connecting seat, and a guide rod is provided inside the guide groove. One end of the positioning block is slidably arranged against the guide groove, and the guide rod passes through the end of the positioning block. The elastic elements are arranged around the outside of the guide rod.

[0016] Two positioning blocks are driven by two control cylinders to move in opposite directions on the connecting seat, thereby clamping the workpiece. During the clamping process, the positioning blocks will pull the elastic element to extend. When the control cylinders stop driving the positioning blocks, the positioning blocks will be pulled back to their original position under the reverse force of the elastic element, thus facilitating the next clamping. The elastic clamping design of the positioning blocks with the elastic element resets ensures clamping stability and avoids damage to curved workpieces caused by rigid clamping.

[0017] In this technical solution, the opposing clamping component and the circulating dewatering mechanism are integrated at the end of the transfer robotic arm, so that the dewatering action is completed while the transfer robotic arm is transferring the workpiece.

[0018] As a further improvement to this technical solution, the lifting grinding body includes a lifting grinding wheel assembly, a control base, and a workpiece clamping component. The lifting grinding wheel assembly is a mechanism for grinding through the grinding wheel, and a cooling spray mechanism is provided on one side of the grinding position. The control base is located below the grinding end of the lifting grinding wheel assembly, and the workpiece clamping component is located on the moving end of the control base. The control base can control the workpiece clamping component to move horizontally and vertically, thereby controlling the workpiece to move after the workpiece clamping component clamps the workpiece. After the workpiece has finished grinding, the control base controls the workpiece to move closer to the side of the transfer robot arm.

[0019] When the moving end of the control base reaches the edge near the side of the transfer robot arm, after reaching the preset position, the opposing clamping component of the transfer robot arm can face the workpiece held by the workpiece clamping component and be aligned with the center. The opposing clamping component completes the clamping of the workpiece, achieving precise clamping and handover.

[0020] The workpiece clamping component includes an opposing clamping component and a feeding push rod disposed on the moving end of the control base. The output end of the feeding push rod passes through the opposing clamping component and faces the transfer end of the transfer robot arm. When clamping the workpiece, the opposing clamping component at the end of the transfer robot arm can push one side of the workpiece through the feeding push rod, so that the workpiece fits against the inner wall of the connecting seat, preventing gaps between the workpiece and the connecting seat.

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

[0022] Compared with the prior art, the present invention provides a grinding device for curved surfaces of workpieces, which has the following advantages:

[0023] This invention utilizes the opposing clamping components at the transfer end of a transfer robotic arm to clamp the workpiece that has been ground, and then transfers it to the polishing body via the transfer robotic arm. During the process, a high-pressure airflow is introduced into the inclined nozzle and the horizontal nozzle by the gas generating body, and driven by two driving components, the inclined nozzle moves horizontally along the cross-section of the workpiece's curved surface, while the horizontal nozzle moves vertically, so that the airflow forms an interlaced airflow covering the clamping end of the opposing clamping components, thereby completing the multi-dimensional and multi-angle stripping of residual water from the curved surface of the workpiece. Attached Figure Description

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

[0025] Figure 2 This is a schematic diagram of the structure of the lifting grinding body in this invention;

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

[0027] Figure 4 This is a structural distribution diagram of the workpiece clamping component and the opposing clamping assembly after the removal of the transfer robotic arm in this invention;

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

[0029] Figure 6 for Figure 5 Enlarged view of the structure at point A in the middle;

[0030] Figure 7 This is a schematic diagram showing the structural distribution of the opposing clamping components and the circulating dewatering mechanism in this invention.

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

[0032] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] Reference Figure 1 , Figure 3 , Figure 4 and Figure 5This invention provides a grinding device for workpiece curved surfaces. In order to quickly remove residual water accumulated on the workpiece curved surface when the workpiece is quickly transferred by a robotic arm, and to ensure the accuracy of subsequent polishing, the device includes a lifting grinding body 1 and a polishing body 2, as well as a transfer robotic arm 3 disposed between the lifting grinding body 1 and the polishing body 2. The polishing body 2 is a device that performs polishing using magnetorheological technology, which will not be described in detail here. The device also includes a clamping mechanism 4 and a circulating water removal mechanism disposed at the moving end of the transfer robotic arm 3.

[0034] The clamping mechanism 4 includes an opposing clamping assembly 41, which clamps the workpiece at its edge.

[0035] See Figure 6 and Figure 7 As shown, the opposing clamping assembly 41 includes a connecting seat 411, a positioning block 412, and a control cylinder. The connecting seat 411 is located at the moving end of the transfer robotic arm 3. The connecting seat 411 is a concave plate seat. The positioning blocks 412 are mirror-symmetrically arranged on both sides of the connecting seat 411. The control cylinder is located on both sides of the connecting seat 411, and the output end of the control cylinder is connected to the positioning block 412, so that the two positioning blocks 412 can move relative to each other on the connecting seat 411.

[0036] Two positioning blocks 412 are respectively provided with elastic elements 413 between the two positioning blocks 412 and the connecting seat 411. The inner wall of the connecting seat 411 is provided with a guide groove, and a guide rod is provided inside the guide groove. One end of the positioning block 412 is slidably set against the guide groove, and the guide rod passes through the end of the positioning block 412. The elastic element 413 is arranged around the outside of the guide rod. The elastic element 413 is a helical spring.

[0037] Specifically, two positioning blocks 412 are driven by two control cylinders to move in opposite directions on the connecting seat 411, thereby clamping the workpiece. During the clamping process, the positioning blocks 412 will pull the elastic element 413 to extend. In addition, when the control cylinders no longer drive the positioning blocks 412, the positioning blocks 412 will be pulled back to their original position under the reverse force of the elastic element 413, thus facilitating the next clamping.

[0038] The circulating dewatering mechanism includes an inclined dewatering component 5 mounted above the clamping mechanism 4 and a side dewatering component 6 mounted on one side of the clamping mechanism 4.

[0039] The inclined dewatering assembly 5 includes an inclined nozzle 51, and the inclined nozzle 51 is directly facing the cross-section of the workpiece surface.

[0040] The side dewatering assembly 6 includes a horizontal nozzle 61 facing the curved surface of the workpiece;

[0041] The opposing clamping assembly 41 is provided with a drive component 7 that drives the tilting nozzle 51 and the horizontal nozzle 61 to move respectively;

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

[0043] like Figure 5 and Figure 6 As shown, the driving component 7 includes a control push rod 71, a guide rail 72, and a pipe mounting block 73. The guide rail 72 is disposed on the side wall of the connecting seat 411. The control push rod 71 is disposed against one side of the connecting seat 411. The pipe mounting block 73 is slidably mounted on the guide rail 72, and the pushing end of the control push rod 71 is connected to the pipe mounting block 73.

[0044] The pipe mounting block 73 has a through groove for the pipe to pass through and be limited, so that the pipe of the gas generating body 8 passes through the pipe mounting block 73 and then connects to the inclined nozzle 51 and the horizontal nozzle 61.

[0045] like Figure 7 As shown, the two driving components 7 drive the inclined nozzle 51 and the horizontal nozzle 61 to move respectively. The inclined nozzle 51 moves along the length of the connecting seat 411, while the horizontal nozzle 61 moves vertically on the side wall of the connecting seat 411. This causes the gas ejected by the inclined nozzle 51 and the horizontal nozzle 61 to form an alternating gas coverage area at the clamping end of the opposing clamping assembly 41. Thus, during the process of clamping and transferring the workpiece by the opposing clamping assembly 41, the water removal of the curved surface of the workpiece is completed.

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

[0047] like Figure 2 As shown, the lifting grinding body 1 includes a lifting grinding wheel assembly 11, a control base 12, and a workpiece clamping component 13. The lifting grinding wheel assembly 11 is a mechanism for grinding through the grinding wheel, and a cooling spray mechanism is provided on one side of the grinding position, which will not be described in detail here. The control base 12 is located below the grinding end of the lifting grinding wheel assembly 11, and the workpiece clamping component 13 is located on the moving end of the control base 12. The control base 12 can control the workpiece clamping component 13 to move horizontally and vertically, so that after the workpiece clamping component 13 clamps the workpiece, it controls the workpiece to move. When the workpiece is finished grinding, the control base 12 controls the workpiece to move closer to the side of the transfer robot arm 3.

[0048] When the moving end of the control base 12 reaches the edge near the side of the transfer robotic arm 3, after reaching the preset position, the opposing clamping component 41 of the transfer robotic arm 3 can face the workpiece held by the workpiece clamping component 13 and be aligned with the center. The workpiece is clamped by the opposing clamping component 41, and the precise clamping and handover is achieved.

[0049] The workpiece clamping component 13 includes an opposing clamping component 131 and a feeding push rod 132. The opposing clamping component 131 is disposed on the moving end of the control base 12, and the feeding push rod 132 is disposed on the side of the opposing clamping component 131 away from the transfer robot arm 3. The output end of the feeding push rod 132 passes through the opposing clamping component 131 and faces 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 the workpiece clamping, it can push the workpiece to one side through the feeding push rod 132, so that the workpiece fits against the inner wall of the connecting seat 411, preventing gaps between the workpiece and the connecting seat 411.

[0050] The opposing clamping member 131 and the opposing clamping assembly 41 clamp the workpiece at their respective positions on both sides of the workpiece, so that the workpiece will not be disturbed when changing clamps.

[0051] Working principle: First, the workpiece is clamped by the opposing clamping member 131. The lifting grinding wheel assembly 11 is started, and the workpiece is moved below the grinding end of the lifting grinding wheel assembly 11 by the control base 12 to complete the grinding. During the grinding process, the spray mechanism on one side of the grinding end of the lifting grinding wheel assembly 11 sprays water to cool it down. After the grinding is completed, the workpiece is moved to the side close to the transfer robot arm 3 by the control base 12. At this time, the transfer robot arm 3 is started, and the opposing clamping member 41 at the transfer end of the transfer robot arm 3 approaches the workpiece. At this time, the concave part of the connecting seat 411 is in contact with one side of the workpiece. Then, the opposing clamping member 131 releases the clamp, and the unloading push rod 132 is started to push the workpiece to be in contact with the concave part of the connecting seat 411. Then, the two positioning blocks 412 are driven by two control cylinders to position the connecting seat 411. The upper and lower parts move in opposite directions, so that the positioning block 412 clamps the workpiece on both sides, completing the clamping of the workpiece. At this time, the gas generating body 8 can be activated to introduce high-pressure gas into the inclined nozzle 51 and the horizontal nozzle 61 through the pipe. Then, the control push rod 71 controls the pipe placement block 73 to move along the guide rail 72. The driving action of the two driving parts 7 drives the inclined nozzle 51 to move along the length direction of the connecting seat 411, while the horizontal nozzle 61 moves vertically on the side wall of the connecting seat 411. This makes the gas sprayed by the inclined nozzle 51 and the horizontal nozzle 61 form a tangential and parallel gas coverage area on the curved surface of the workpiece. Thus, during the process of the transfer robotic arm 3 transferring the workpiece to one side of the polishing body 2, the residual cooling water on the curved surface of the workpiece is removed, allowing the workpiece to enter 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 to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A grinding apparatus for workpiece curved surfaces, comprising a lifting grinding body (1) and a polishing body (2) and a transfer robotic arm (3) disposed between the lifting grinding body (1) and the polishing body (2), characterized in that, Also includes: The clamping mechanism (4) is located at the moving end of the transfer robot arm (3) and includes a counter clamping assembly (41) for clamping the workpiece. The circulating dewatering mechanism includes an inclined dewatering component (5) disposed above the opposing clamping component (41) and a side dewatering component (6) disposed on one side of the opposing clamping component (41). The tilted water removal assembly (5) includes a tilted nozzle (51), and the tilted nozzle (51) is directly facing the cross-section of the workpiece surface; The side dewatering assembly (6) includes a horizontal nozzle (61) facing the curved side of the workpiece. The opposing clamping assembly (41) is provided with a driving member (7) that drives the tilting nozzle (51) and the horizontal nozzle (61) to move respectively, so that the tilting nozzle (51) and the horizontal nozzle (61) form an interlaced gas coverage area at the clamping end of the opposing clamping assembly (41). The circulating dewatering mechanism also includes a gas generating body (8), and the gas generating body (8) is connected to an inclined nozzle (51) and a horizontal nozzle (61) through a pipe. The driving component (7) includes a control push rod (71) fixed on the side wall of the connecting seat (411) and a guide rail (72) set on the side wall of the connecting seat (411). A pipe mounting block (73) is slidably installed on the guide rail (72). The output end of the control push rod (71) is connected to the pipe mounting block (73). The pipe mounting block (73) has a through groove for fixing the pipes connecting the gas generating body (8) to the inclined nozzle (51) and the horizontal nozzle (61); The tilting nozzle (51) moves along the length of the connecting seat (411) via the drive member (7), and the horizontal nozzle (61) moves vertically on the side wall of the connecting seat (411) via the drive member (7). The spraying areas of the tilting nozzle (51) and the horizontal nozzle (61) overlap and cover the recess of the connecting seat (411).

2. The grinding apparatus for curved surfaces of workpieces according to claim 1, characterized in that, The opposing clamping assembly (41) includes a connecting seat (411) fixed to the moving end of the transfer robotic arm (3) and positioning blocks (412) slidably disposed 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 mirror-symmetrically disposed on both sides of the connecting seat (411). Among them, control cylinders are provided on both sides of the connecting seat (411), and the output end of the control cylinder is connected to the corresponding positioning block (412), driving the positioning block (412) to move in opposite directions to clamp the workpiece.

3. A grinding device for workpiece curved surfaces according to claim 2, characterized in that, The inner wall of the connecting seat (411) is provided with a guide groove, and a guide rod that penetrates the positioning block (412) is provided on the inner side of the guide groove. The opposing clamping assembly (41) also includes an elastic element (413), which is disposed between the positioning block (412) and the connecting seat (411).

4. A grinding apparatus for workpiece curved surfaces according to claim 3, characterized in that, The elastic element (413) is a helical spring and is arranged around the outside of the guide rod.

5. A grinding apparatus for curved surfaces of workpieces according to claim 1, characterized in that, The lifting grinding body (1) includes a lifting grinding wheel assembly (11), a control base (12), and a workpiece clamping component (13). The lifting grinding wheel assembly (11) is used to perform grinding operations. The control base (12) is located below the grinding part of the lifting grinding wheel assembly (11), and the moving end of the control base (12) can move horizontally and vertically. The workpiece clamping component (13) is fixed on the moving end of the control base (12) and is used to clamp and move the workpiece to the clamping range of the transfer robotic arm (3).

6. A grinding apparatus for workpiece curved surfaces according to claim 5, characterized in that, The workpiece clamping member (13) includes opposing clamping members (131) for clamping both sides of the workpiece and a discharge push rod (132), wherein the discharge push rod (132) is located on the side of the opposing clamping member (131) away from the transfer robot arm (3).

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