Automatic polishing process method for square outer cover surface and positioning and picking clamp

Abstract

The invention discloses an automatic polishing process method for the surface of a square outer cover and a positioning and picking clamp, and the method comprises the steps that after square outer cover parts are manually placed into a material disc, a robot automatically positions and picks up the square outer cover through the clamp, and then the square outer cover is brought to a working area of a sanding system; the surface of the square outer cover is ground through abrasive particles on the surface of the abrasive belt to meet the roughness requirement. In the process, all joints of the manipulator drive the square outer cover to replace the polishing position through six-degree-of-freedom movement such as X-axis translation, Y-axis translation and Z-axis rotation so as to achieve polishing operation of five surfaces and corners. A cylinder piston rod and two cylinder air inlets are arranged on a cylinder of the clamp; one end of the pull rod is a pull rod conical surface; a chuck conical surface is arranged on the square outer cover positioning chuck; a piston rod of the air cylinder is fixedly connected with the other end of the limiting pin after being connected with the pull rod limiting groove; and the chuck conical surface is matched with the pull rod conical surface.

Description

Technical Field

[0001] The invention relates to an automatic polishing process method for a square outer cover surface and a positioning and picking fixture. Background Art

[0002] The surface quality of the balanced force relay product cover after die stretching cannot meet customer requirements. The five surfaces outside the cover need to be polished to eliminate the surface stretching lines. Figure 1-3 As shown in the figure, this part plays the role of isolating the relay product from external environmental interference (dust-proof, moisture-proof, and foreign matter-proof) and is a key part.

[0003] The existing polishing process is manual rough grinding, semi-finishing polishing, and fine polishing on a rotary polishing machine, which has the following problems: 1. Safety hazards caused by flying parts and injuring people; 2. The surface texture direction and polishing amount are inconsistent after polishing; 3. Polishing is labor-intensive and has low production efficiency. Summary of the Invention

[0004] The present invention aims to solve the safety hazards of flying parts and injuring people in the existing polishing process, as well as the technical problems of inconsistent surface texture direction and polishing amount after polishing, high polishing labor intensity and low production efficiency.

[0005] In order to solve the above technical problems, the present invention adopts the following technical solutions: A method for automatically polishing the surface of a square cover, comprising the following steps: Step 1: After the square cover parts are manually placed into the tray, the robot automatically locates and picks up the square cover through the positioning and picking fixture; Step 2: Bring the square cover to the working area of ​​the sandblasting system; Step 3: The robot's manipulator joints move through six degrees of freedom, such as X, Y, and Z axis translation and rotation, to drive the square cover to change the polishing position to achieve polishing operations on five surfaces and corners; Step 4: Grind the surface of the square cover with abrasive grains on the sand belt surface and use the robot's manipulator joints again to drive the square cover to change the polishing position through six degrees of freedom such as X, Y, and Z axis translation and rotation to achieve polishing operations on five surfaces and corners to meet the roughness requirements.

[0006] A fixture for automatically polishing, positioning, and picking up a square cover surface includes a cylinder, a cylinder piston rod, a cylinder air inlet, a pull rod, a pull rod tapered surface, a pull rod limiting groove, a square cover positioning chuck, a chuck tapered surface, and a limiting pin; The cylinder 1 is provided with a cylinder piston rod and two cylinder air inlets; One end of the pull rod is a pull rod tapered surface, and the other end is a pull rod limiting groove; The square outer cover positioning chuck is provided with a chuck conical surface; The upper portion of the cylinder is connected to one end of a limit pin, and the cylinder piston rod is connected to the pull rod limit groove and then fixedly connected via the other end of the limit pin; The chuck conical surface and the pull rod conical surface cooperate with each other.

[0007] The beneficial technical effects of adopting the above technical solution are: 1. The positioning and picking fixture of the present invention is convenient and accurate in positioning. Through the characteristics of independent movement of each axis of the robot manipulator, the polishing work of all surfaces of the square outer cover is completed. The processing efficiency is more than three times higher than that of manual polishing, and the promotion and application value is high.

[0008] 2. When polishing the square outer cover in the present invention, different specifications of sand belts can be selected according to the surface roughness requirements and installed in the sandblasting system for rough polishing and fine polishing, or the sand belt can be replaced with a more flexible drawing wheel to complete the fine polishing work.

[0009] 3. As the polishing operation progresses, the sanding belt or drawing wheel will produce different degrees of wear. The robot can automatically adjust the extrusion force between the workpiece and the sanding belt or drawing wheel surface according to the wear condition and execute the CNC polishing route. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic diagram of the structure of the outer cover parts.

[0011] Figure 2 for Figure 1 Top view.

[0012] Figure 3 for Figure 1 Sectional view.

[0013] Figure 4 This is a schematic diagram of the use status of the automatic polishing positioning and picking fixture for the square outer cover surface of the present invention.

[0014] Figure 5 This is a schematic diagram of the structure of the automatic polishing positioning and picking fixture for the square outer cover surface of the present invention.

[0015] Figure 6 for Figure 5 Schematic diagram of the center tie rod structure.

[0016] Figure 7 for Figure 6 Schematic diagram of the cone structure of the middle tie rod.

[0017] Figure 8 for Figure 6 Schematic diagram of the center tie rod limit slot structure.

[0018] Figure 9 for Figure 5 Schematic diagram of the connection between the middle square outer cover positioning chuck and the pull rod tapered surface.

[0019] Figure 10 for Figure 5 Schematic diagram of the chuck cone structure of the medium square outer cover positioning chuck.

[0020] Figure 11 Schematic diagram of the structure of the automated polishing unit.

[0021] Figure 12 This is a partial schematic diagram of the robot arm cooperating with the fixture.

[0022] In the figure: 1-cylinder, 1.1-cylinder piston rod, 1.2-cylinder air inlet, 2-pull rod, 2.1-pull rod cone, 2.2-pull rod limit groove, 3-square outer cover positioning chuck, 3.1-chuck cone, 4-limit pin, 8-material tray, 9-robot, 10-sandblasting system, 11-sanding belt. DETAILED DESCRIPTION

[0023] In order to make the objectives, technical solutions and advantages of the present invention more clear, the present invention will be further described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0024] A method for automatically polishing the surface of a square cover, comprising the following steps: Step 1: After the square cover parts are manually placed into the tray 8, the robot 9 automatically locates and picks up the square cover through the positioning and picking fixture; Step 2: Bring the square cover to the working area of ​​the sandblasting system 10; Step 3: The robot 9's manipulator joints move through six degrees of freedom, such as X, Y, and Z axis translation and rotation, to drive the square cover to change the polishing position to achieve polishing operations on five surfaces and corners; Step 4: Grind the surface of the square cover with abrasive grains on the sand belt 11 and use the joints of the robot 9 again to drive the square cover to change the polishing position through six degrees of freedom such as X, Y, and Z axis translation and rotation to achieve polishing operations on five surfaces and corners to meet the roughness requirements.

[0025] The present invention uses an abrasive belt 11 as a polishing tool. The abrasive belt 11 has good flexibility and regular arrangement of abrasive grains on the surface, and can achieve the surface roughness requirement without damaging the outer cover body during the polishing process.

[0026] A square cover surface automatic polishing positioning and picking fixture comprises a cylinder 1, a cylinder piston rod 1.1, a cylinder air inlet 1.2, a pull rod 2, a pull rod tapered surface 2.1, a pull rod limiting groove 2.2, a square cover positioning chuck 3, a chuck tapered surface 3.1, and a limiting pin 4; The cylinder 1 is provided with a cylinder piston rod 1.1 and two cylinder air inlets 1.2; One end of the pull rod 2 is a pull rod conical surface 2.1, and the other end is a pull rod limiting groove 2.2; The square outer cover positioning chuck 3 is provided with a chuck conical surface 3.1; The top of the cylinder 1 is connected to one end of the limit pin 4, and the cylinder piston rod 1.1 is connected to the pull rod limit groove 2.2 and fixedly connected through the other end of the limit pin 4 to limit the position; The chuck conical surface 3.1 and the pull rod conical surface 2.1 cooperate with each other.

[0027] Positioning and picking fixture matching principle: The fixture is mainly composed of a pull rod 2 and a square outer cover positioning chuck 3. The pull rod 2 passes through the center hole of the square outer cover positioning chuck 3 and is connected to the cylinder piston rod 1.1 through the limit groove 2.2. At the same time, the pull rod 2 and the conical surface of the square outer cover positioning chuck 3 form a matching state. When compressed air is introduced from the two air inlets 1.2 in the cylinder 1, the piston rod 1.1 in the cylinder drives the pull rod 2 to move axially through reciprocating linear motion, and the square outer cover positioning chuck 3 generates an expansion force through the axial relative motion of the pull rod 2 and the conical surface of the square outer cover positioning chuck 3 to achieve Figure 9 and Figure 10 The middle chuck has the effects of closing (the initial state of the pull rod) and expanding (the pull rod is pulled down), thereby respectively realizing the loosening and positioning of the square outer cover.

[0028] According to the structure of the outer cover parts, this paper designs and manufactures an outer cover positioning and picking fixture. After the fixture is matched with the cylinder, a robot automatically picks up and positions the outer cover and then polishes it.

Claims

1. A method for automatically polishing the surface of a square cover, characterized by: It includes the following steps: Step 1: After the square outer cover parts are manually placed into the material tray (8), the robot (9) automatically positions and picks up the square outer cover through the positioning and picking fixture; Step 2: Bring the square cover to the working area of ​​the sandblasting system (10); Step 3: The joints of the manipulator of the robot (9) drive the square cover to change the polishing position through the six degrees of freedom of movement such as X, Y, and Z axis translation and rotation to achieve polishing operations on the five surfaces and corners; Step 4: Grind the surface of the square cover with abrasive grains on the sand belt (11) and use the robot (9) again to move the square cover through the six degrees of freedom of translation and rotation in the X, Y, and Z axes to change the polishing position and achieve polishing operations on the five surfaces and corners to meet the roughness requirements.

2. The positioning and picking fixture according to claim 1, wherein: It comprises a cylinder (1), a cylinder piston rod (1.1), a cylinder air inlet (1.2), a pull rod (2), a pull rod conical surface (2.1), a pull rod limiting groove (2.2), a square outer cover positioning chuck (3), a chuck conical surface (3.1), and a limiting pin (4); The cylinder (1) is provided with a cylinder piston rod (1.1) and two cylinder air inlets (1.2); One end of the pull rod (2) is a pull rod conical surface (2.1), and the other end is a pull rod limiting groove (2.2); The square outer cover positioning chuck (3) is provided with a chuck conical surface (3.1); The upper portion of the cylinder (1) is connected to one end of a limit pin (4), and the cylinder piston rod (1.1) is connected to the pull rod limit groove (2.2) and then fixedly connected via the other end of the limit pin (4); The chuck conical surface (3.1) and the pull rod conical surface (2.1) cooperate with each other.

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