A fully automatic multi-station polishing robot

Abstract

The present application relates to the technical field of polishing processing, in particular to a full-automatic multi-station polishing robot, comprising a machine body; further comprising a grabbing mechanical arm, a pressure sensor, a grabbing manipulator, two polishing mechanical arms, two polishing mechanisms and two monitoring units, the grabbing mechanical arm is installed in the middle of the front end face of the machine body in a liftable manner, the pressure sensor is installed at the end of the grabbing mechanical arm, the grabbing manipulator is installed on the pressure sensor, the two polishing mechanical arms are oppositely installed on the left and right sides of the front end face of the machine body in a liftable manner, the polishing mechanisms are installed at the ends of the two polishing mechanical arms, the two polishing mechanisms are used for polishing the two sides of the workpiece, the two monitoring units are installed on the upper part of the machine body, the two monitoring units are respectively located on the left and right sides of the two grabbing mechanical arms, and the two monitoring units are used for monitoring the polishing conditions of the two polishing mechanisms on the workpiece; the full-automatic multi-station polishing work of the workpiece can be carried out at one station through the setting of the grabbing mechanism, and the universality is good.

Description

Technical Field

[0001] This invention relates to the technical field of grinding and polishing, and in particular to a fully automated multi-station grinding robot. Background Technology

[0002] In machining processes, it is often necessary to grind the finished workpieces. Since the workpieces have many surfaces and cavities to be ground, they need to pass through multiple stations for comprehensive grinding. To improve grinding efficiency and quality, various grinding robots have been disclosed in the prior art. For example, the grinding robot proposed in Chinese Utility Model Patent Publication No. CN216940010U involves a grinding device used to contact and grind aluminum strips. A distance control device adjusts the contact position between the grinding device and the aluminum strip, enabling it to grind aluminum strips of varying thicknesses. A position adjustment device adjusts the position of the distance control device, thereby adjusting the position of the grinding device. Another example is the grinding robot proposed in Chinese Invention Patent Publication No. CN114178921B, which includes at least two grinding devices. Each grinding device can move and rotate in any direction within the workspace to reach two or more areas to be ground and perform grinding simultaneously, thus improving grinding efficiency.

[0003] However, the aforementioned grinding robots lack a workpiece gripping mechanism during operation. When grinding the workpiece, it is necessary to fix and clamp it. Once the workpiece is fixed, only one grinding surface or cavity can be ground at a single station. Therefore, it is inconvenient to perform fully automatic multi-station grinding operations and has poor versatility. Summary of the Invention

[0004] To solve the above-mentioned technical problems, the present invention provides a fully automatic multi-station grinding robot that can perform fully automatic multi-process grinding of workpieces in one station by setting up a gripping mechanism, and has good versatility.

[0005] This invention discloses a fully automated multi-station grinding robot, comprising a body; it also includes a gripping robotic arm, a pressure sensor, a gripping manipulator, two grinding robotic arms, two grinding mechanisms, and two monitoring units. The gripping robotic arm is vertically and flexibly mounted on the center of the front end face of the body. A pressure sensor is installed at the end of the gripping robotic arm, and the gripping manipulator is mounted on the pressure sensor. The gripping manipulator is used to grip the workpiece. The two grinding robotic arms are vertically and flexibly mounted on the left and right sides of the front end face of the body, respectively. Grinding mechanisms are installed at the ends of both grinding robotic arms, and the two grinding mechanisms are used to grind both sides of the workpiece. The two monitoring units are mounted on the upper part of the body, and the two monitoring units are respectively located at... Two monitoring units are located on either side of the two gripping robotic arms to monitor the grinding process of the two grinding mechanisms on the workpiece. The control units for the gripping robotic arms and the two grinding robotic arms are installed inside the machine body. During operation, the machine body is mounted on the workpiece grinding station. The gripping robotic arm moves to grab a workpiece to be ground between the two grinding robotic arms. The two grinding robotic arms then move to press the two grinding mechanisms against both sides of the workpiece, causing both sides of the workpiece to be subjected to force simultaneously. The two grinding mechanisms grind both sides of the workpiece simultaneously. During the grinding process, pressure sensors detect the thrust acting on the workpiece in real time. This thrust is generated by the pressure exerted by the two grinding robotic arms on both sides of the workpiece. As a force difference is generated, the control unit adjusts the pressure of the two grinding robotic arms on both sides of the workpiece in real time according to the aforementioned thrust value, so that the thrust is maintained at around 0, that is, the pressure of the two grinding robotic arms on both sides of the workpiece is basically the same, thereby making the grinding force on both sides of the workpiece basically the same, achieving uniform grinding of both sides of the workpiece. The two grinding robotic arms can adjust the relative angle between the two grinding mechanisms and the workpiece, and the gripping robotic arm can adjust the angle of the workpiece through the gripping manipulator, so that the two grinding mechanisms can automatically grind multiple grinding surfaces and cavities of the workpiece. During the grinding process, two monitoring units monitor the grinding scene of the two grinding mechanisms on both sides of the workpiece, and obtain visual information. The recognition technology compares the reflectivity of the polished areas in the image to analyze whether there are any areas that have not been polished properly. It then enables the polishing mechanism to repeatedly polish the areas that have not been polished properly. After polishing is completed, two polishing robotic arms drive two polishing mechanisms to open to both sides. The gripping robotic arm moves to place the polished workpiece in the designated position. Compared with the existing technology that automatically grabs the workpiece through gripping robotic arms and gripping robotic hands, this technology can flexibly adjust the position and angle of the workpiece. With the cooperation of two polishing robotic arms and polishing mechanisms, it can perform uniform polishing of multiple polishing surfaces and cavities on both sides of the workpiece in one station, thus performing fully automatic multi-station polishing work with good versatility.

[0006] Preferably, the gripping robotic arm includes an upper arm and a lower arm. The upper arm has a fixed end and a hinged end. The fixed end of the upper arm is slidably mounted on the middle of the front end face of the body. The lower arm has a hinged end and a mounting end. The hinged end of the lower arm is hinged to the hinged end of the upper arm. A pressure sensor is mounted on the mounting end of the lower arm. Both the upper arm and the lower arm have multiple degrees of freedom. The upper arm and the lower arm are composed of mechanical rods and servo motors. The servo motors drive the multiple mechanical rods to move, realizing multiple degrees of freedom, making the gripping robotic arm more flexible, convenient for gripping workpieces, and convenient for flexibly adjusting the position and angle of the workpieces. The technology is mature and reliable.

[0007] Preferably, the device also includes two crossbars and two scanners. The two crossbars are respectively installed on the left and right sides of the lower arm, and the two scanners are respectively installed on the two crossbars. The two scanners are used to scan and construct digital models of both sides of the workpiece. The two scanners are devices with scanning capabilities, such as LiDAR or range-measuring cameras. After the gripping robot grasps the workpiece, the two scanners scan both sides of the workpiece to construct digital models of both sides of the workpiece. Based on the digital models, G-code programs for the actions of the two grinding robotic arms and two grinding mechanisms are generated. The two grinding robotic arms and two grinding mechanisms operate according to the above G-code programs to perform fully automatic grinding on both sides of the workpiece. During the grinding process, combined with the monitoring function of two monitoring units, the G-code programs that are not ground properly are optimized. The two scanners scan both sides of the workpiece and the two grinding mechanisms in real time. Through digital twin technology, the grinding process is simulated in real time, improving the control accuracy of the grinding robotic arms and grinding mechanisms, and optimizing the grinding path of the grinding mechanism. This enables the robot to have an autonomous optimization and learning function. In this way, as the workpiece grinding work progresses, the grinding quality and grinding efficiency will continue to improve.

[0008] Preferably, the gripping robot includes a rotary motor, a gripping cylinder, a lifting sleeve, a threaded ring, a drive motor, an upper mounting base, a pull rod, grippers, and a lower mounting base. The rotary motor is mounted on the detection end of a pressure sensor. The upper end of the gripping cylinder is concentrically connected to the rotating end of the rotary motor. The gripping cylinder is tubular, with multiple external vertical grooves evenly distributed around its outer circumference. The outer wall of the gripping cylinder has external threads. The lifting sleeve is slidably fitted onto the outer wall of the gripping cylinder. Multiple sliders are provided on the inner wall of the lifting sleeve, and these sliders are slidably installed in the multiple external vertical grooves. The threaded ring is rotatably mounted on the upper end of the lifting sleeve, and its inner wall is threadedly connected to the external threads of the gripping cylinder. A gear ring is provided on the outer wall of the threaded ring. The drive motor is mounted on the lifting sleeve, and a gear is concentrically mounted on the output shaft of the drive motor, meshing with the gear ring. Four upper mounting bases, a pull rod, grippers, and lower mounting bases are provided and arranged around the periphery of the gripping cylinder. The upper mounting base is mounted on the lower part of the lifting sleeve. The upper end of the pull rod is rotatably connected to the upper mounting base, and the lower end of the pull rod is rotatably connected to the upper end of the gripper. The lower end of the gripper is used to hold the workpiece, and the middle part of the gripper is rotatably connected to the lower mounting base, which is installed at the lower end of the gripping cylinder. The drive motor drives the gear to rotate, and the drive motor meshes with the gear ring to drive the threaded ring to rotate. The threaded ring engages with the external thread of the gripping cylinder to drive the lifting sleeve to rise or fall along the gripping cylinder. When the lifting sleeve rises, it pulls multiple pull rods upward through multiple upper mounting bases. The multiple pull rods pull the upper ends of multiple grippers, causing the lower ends of multiple grippers to rotate outward around multiple lower mounting bases, causing the lower ends of the four grippers to open and release the workpiece. When the lifting sleeve falls, it pushes multiple pull rods downward through multiple upper mounting bases. The multiple pull rods push the upper ends of multiple grippers, causing the lower ends of multiple grippers to rotate inward around multiple lower mounting bases, causing the lower ends of the four grippers to come together and grip the workpiece. It has good practicality.

[0009] Preferably, it also includes two double-headed push rods. A first annular track is provided on the lower outer wall of the lifting sleeve, and four upper mounting seats are slidably mounted on the first annular track. A second annular track is provided on the lower outer wall of the gripping cylinder, and four lower mounting seats are slidably mounted on the second annular track. Both ends of the piston rod of the double-headed push rod are equipped with piston rods. The piston cylinders and piston rods of both double-headed push rods are arc-shaped. The fixed ends of the two double-headed push rods are installed opposite each other on both sides of the lifting sleeve. The two double-headed push rods are concentrically arranged with the lifting sleeve. The two piston rods of the double-headed push rods are respectively connected to the two upper mounting seats. The four piston rods of the two double-headed push rods are respectively connected to the four upper mounting seats. The four piston rods at both ends of the two double-headed push rods extend or retract simultaneously, pushing the four upper mounting seats to move along the first annular track of the lifting sleeve, thereby adjusting the relative positions of the four upper mounting seats. Simultaneously, the four lower mounting seats move under the drive of the four grippers and four pull rods, thereby adjusting the relative positions of the four grippers, allowing the four grippers to adapt to different workpieces and improving clamping versatility.

[0010] Preferably, it also includes a lifting motor, a threaded wheel, a push rod, and an adsorption head. The inner wall of the gripping cylinder has an internal thread, and multiple internal vertical grooves are evenly distributed around the circumference of the inner wall. The push rod is located inside the gripping cylinder, and multiple sliders are provided on the outer wall of the push rod. These sliders are slidably installed in the multiple internal vertical grooves. The threaded wheel is concentrically mounted on the output shaft of the lifting motor and is threadedly connected to the internal thread of the gripping cylinder. The upper end of the push rod is connected to the lifting motor, and the lower end of the push rod is fitted with an adsorption head. The adsorption head is an electromagnet or a suction cup, etc., and operates... When the lower ends of the four grippers open, the lifting motor drives the threaded wheel to rotate. The threaded wheel engages with the internal thread of the gripping cylinder, thereby driving the lifting motor to move up and down. When the lifting motor descends, it drives the push rod to extend out of the lower end of the gripping cylinder, causing the push rod to drive the suction head to adsorb the edge of the workpiece. When the lifting motor rises, it drives the push rod to retract into the interior of the gripping cylinder, thereby lifting one end of the workpiece so that the lifted end of the workpiece enters between the lower ends of the four grippers, making it easier for the four grippers to hold and grasp the workpiece, especially improving the gripping efficiency of flat workpieces.

[0011] Preferably, the grinding robotic arm includes an inner arm section 1 and an outer arm section 1. The inner arm section 1 is provided with a fixed end 2 and a hinged end 3. The fixed end 2 of the inner arm section 1 is slidably mounted on the front end side of the machine body. The outer arm section 1 is provided with a hinged end 4 and a mounting end 2. The hinged end 3 of the inner arm section 1 is hinged to the hinged end 4 of the outer arm section 1. The grinding mechanism is mounted on the mounting end 2 of the outer arm section 1. Both the inner arm section 1 and the outer arm section 1 are provided with multiple degrees of freedom. The inner arm section 1 and the outer arm section 1 are composed of mechanical rods 2 and servo motors 2. The servo motors 2 drive the multiple mechanical rods 2 to move, realizing multiple degrees of freedom, which allows for convenient and flexible adjustment of the position and angle of the grinding mechanism, and convenient, flexible and efficient grinding of workpieces. The technology is mature and reliable.

[0012] Preferably, the grinding mechanism includes a grinding motor, a mounting wheel, and a grinding disc. The grinding motor is mounted on the motor frame at the mounting end of the outer arm. The output shaft of the grinding motor is concentrically mounted on the mounting wheel, and the grinding disc is concentrically mounted on the end face of the mounting wheel. During operation, the grinding motor drives the mounting wheel to rotate, and the mounting wheel drives the grinding disc to rotate at high speed, so that the grinding disc grinds the workpiece. The technology is mature and reliable.

[0013] Preferably, it also includes multiple blades, a ventilation hole in the middle of the grinding disc, an annular channel on the end face of the mounting wheel, the annular channel being aligned with the ventilation hole, and multiple blades being evenly installed around the circumference of the annular channel of the mounting wheel, all of which are inclined; when the grinding motor drives the mounting wheel and the grinding disc to grind the workpiece, the multiple blades rotate synchronously, and the multiple blades push air toward the grinding surface, so that the air impacts the grinding surface, which is beneficial to blowing away the dust generated during grinding.

[0014] Preferably, it also includes a shaft, a support rod, a deflector plate, a spring, and a protrusion. The motor frame of the outer arm part one is hinged to the mounting end two of the outer arm part one. The mounting end two of the outer arm part one is provided with a socket. The shaft is rotatably installed in the socket of the outer arm part one. The support rod is installed on the shaft and is arranged in the opposite direction to the grinding motor. A half-circle spiral groove is provided on the outer wall of the shaft. The deflector plate is scalably installed on the side wall of the mounting end two of the outer arm part one. A lever is provided at the inner end of the deflector plate. The lever is slidably connected to the half-circle spiral groove of the shaft. The outer end of the deflector plate extends out of the mounting end two of the outer arm part one. The upper end of the spring is connected to the mounting end two of the outer arm part one, and the lower end of the spring is connected to the deflector plate. The protrusion is installed on the motor frame of the outer arm part one and can push the deflector plate upward. After one round of grinding is completed on both sides of the workpiece, the motor frame of the outer arm part one rotates 90 degrees under the drive of the servo motor two. The motor frame of the outer arm part one drives the protrusion to rotate. This causes the protrusion to push the actuating plate upwards, and the lever of the actuating plate moves from the lower end to the upper end of the half-turn spiral groove of the shaft. During this process, the lever of the actuating plate presses the half-turn spiral groove of the shaft, causing the shaft to rotate the gripper 0 degrees. This causes the shaft to drive the support rod to rotate to the outside of the mounting end 2 of the outer arm. At this time, the two grinding robotic arms move, causing the two support rods to cooperate in clamping the workpiece. Then, the four grippers open to release the workpiece. The gripping robotic arm moves to change the relative position of the four grippers and the workpiece. The four grippers close again to clamp the workpiece after grinding. The motor frame of the outer arm rotates 90 degrees in the opposite direction under the drive of the servo motor 2 to reset, causing the protrusion to disengage from the actuating plate. The spring force pushes the actuating plate downwards to reset, thereby causing the shaft and support rod to rotate and reset. At this time, the two grinding mechanisms continue to grind the part covered by the four grippers, realizing all-round automatic grinding of the workpiece, which is very practical.

[0015] Compared with the prior art, the beneficial effects of the present invention are as follows: by automatically gripping the workpiece with gripping robotic arms and gripping robotic hands, the position and angle of the workpiece can be flexibly adjusted. With the cooperation of two grinding robotic arms and grinding mechanism, multiple grinding surfaces and cavities on both sides of the workpiece can be uniformly ground in one station, thereby performing fully automatic multi-station grinding work with good versatility. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the structure of the present invention;

[0017] Figure 2 This is an isometric schematic diagram of the present invention when gripping a workpiece for grinding;

[0018] Figure 3 This is a schematic diagram of the front structure of the present invention;

[0019] Figure 4 This is a side sectional view of the present invention;

[0020] Figure 5This is a structural diagram of the gripping robotic arm, pressure sensor, crossbar, scanner, and gripping robot.

[0021] Figure 6 yes Figure 1 A magnified schematic diagram of the local structure at point A;

[0022] Figure 7 yes Figure 4 A magnified schematic diagram of the local structure at point C;

[0023] Figure 8 This is a structural diagram showing the disassembled state of the gripping robotic arm and gripping robotic hand;

[0024] Figure 9 This is a structural diagram of the gripping robot in its disassembled state;

[0025] Figure 10 This is a structural diagram of the grinding robotic arm and grinding mechanism;

[0026] Figure 11 yes Figure 1 A magnified view of the structure at point B in the middle;

[0027] Figure 12 This is a structural diagram showing the disassembled state of the grinding robotic arm and grinding mechanism.

[0028] The attached diagram shows the following components: 1. Body; 2. Gripping robotic arm; 3. Pressure sensor; 4. Grinding robotic arm; 5. Grinding mechanism; 6. Monitoring unit; 7. Upper arm section 1; 8. Lower arm section 1; 9. Crossbar; 10. Scanner; 11. Rotary motor 1; 12. Gripping cylinder; 13. Lifting sleeve; 14. Threaded ring; 15. Drive motor; 16. Upper mounting base; 17. Pull rod; 18. Gripper; 19. Lower mounting base; 20. Double-headed push rod; 21. Lifting motor; 22. Threaded wheel; 23. Push rod; 24. Adsorption head; 25. Inner arm section 1; 26. Outer arm section 1; 27. Grinding motor; 28. Mounting wheel; 29. ​​Grinding disc; 30. Blade; 31. Shaft; 32. Support rod; 33. Actuating plate; 34. Spring; 35. Protrusion. Detailed Implementation

[0029] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. The present invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

[0030] Example 1

[0031] Example 1, such as Figures 1 to 4As shown, a fully automatic multi-station grinding robot includes a body 1; it also includes a gripping robotic arm 2, a pressure sensor 3, a gripping manipulator, two grinding robotic arms 4, two grinding mechanisms 5, and two monitoring units 6. The gripping robotic arm 2 is vertically mounted on the center of the front end face of the body 1. The pressure sensor 3 is installed at the end of the gripping robotic arm 2, and the gripping manipulator is mounted on the pressure sensor 3. The gripping manipulator is used to grip the workpiece. The two grinding robotic arms 4 are vertically mounted on the left and right sides of the front end face of the body 1, respectively. The grinding mechanism 5 is installed at the end of each of the two grinding robotic arms 4. The two grinding mechanisms 5 are used to grind the two sides of the workpiece. The two monitoring units 6 are installed on the upper part of the body 1, and are located on the left and right sides of the two gripping robotic arms 2, respectively. The two monitoring units 6 are used to monitor the grinding status of the workpiece by the two grinding mechanisms 5.

[0032] The machine body 1 houses a control unit for a gripping robotic arm 2 and two grinding robotic arms 4. During operation, the machine body 1 is mounted on the workpiece grinding station. The gripping robotic arm 2 moves to grip a workpiece to be ground between the two grinding robotic arms 4. The two grinding robotic arms 4 then move to press two grinding mechanisms 5 against both sides of the workpiece, ensuring simultaneous force on both sides. During grinding, a pressure sensor 3 continuously monitors the thrust applied to the workpiece. This thrust is generated by the pressure difference between the two grinding robotic arms 4 and the workpiece. The control unit adjusts the pressure of the two grinding robotic arms 4 on both sides of the workpiece based on this thrust value, maintaining the thrust at approximately 0, meaning the pressure from the two grinding robotic arms 4 is essentially the same on both sides of the workpiece. This ensures uniform grinding on both sides of the workpiece. The two grinding robotic arms 4 can adjust the relative position of the two grinding mechanisms 5 to the workpiece. The angle of the workpiece is adjusted by the gripping robotic arm 2, which in turn can automatically grind multiple grinding surfaces and cavities of the workpiece by the two grinding mechanisms 5. During the grinding process, two monitoring units 6 monitor the grinding images of the two grinding mechanisms 5 on both sides of the workpiece. By comparing the reflectivity of the grinding areas in the images using visual recognition technology, they analyze whether there are any areas that have not been ground properly and cause the grinding mechanisms 5 to repeat the grinding of the areas that have not been ground properly. After grinding is completed, the two grinding robotic arms 4 drive the two grinding mechanisms 5 to open to both sides, and the gripping robotic arm 2 moves to place the ground workpiece in the designated position. Compared with the existing technology that automatically grips the workpiece by the gripping robotic arm 2 and the gripping robotic hand, the position and angle of the workpiece can be flexibly adjusted. With the cooperation of the two grinding robotic arms 4 and the grinding mechanisms 5, multiple grinding surfaces and cavities on both sides of the workpiece can be uniformly ground in one station, thus performing fully automatic multi-station grinding work.

[0033] Example 2, as Figures 1 to 9As shown, based on Embodiment 1, the gripping robotic arm 2 includes an upper arm 7 and a lower arm 8. The upper arm 7 has a fixed end and a hinge end. The fixed end of the upper arm 7 is slidably mounted on the center of the front end face of the body 1. The lower arm 8 has a hinge end and a mounting end. The hinge end of the lower arm 8 is hinged to the hinge end of the upper arm 7. A pressure sensor 3 is mounted on the mounting end of the lower arm 8. Both the upper arm 7 and the lower arm 8 have multiple degrees of freedom. It also includes two crossbars 9 and two scanners 10. The two crossbars 9 are respectively mounted on the left and right sides of the lower arm 8, and the two scanners 10 are respectively mounted on the two crossbars 9. The two scanners 10 are used for... Scan and construct digital models of both sides of the workpiece; the gripping robot includes a rotary motor 11, a gripping cylinder 12, a lifting sleeve 13, a threaded ring 14, a drive motor 15, an upper mounting base 16, a pull rod 17, grippers 18, and a lower mounting base 19. The rotary motor 11 is mounted on the detection end of the pressure sensor 3. The upper end of the gripping cylinder 12 is concentrically connected to the rotating end of the rotary motor 11. The gripping cylinder 12 is tubular, and multiple external vertical sliding grooves are evenly arranged on the outer circumference of the outer wall of the gripping cylinder 12. External threads are provided on the outer wall of the gripping cylinder 12. The lifting sleeve 13 is slidably fitted onto the outer wall of the gripping cylinder 12. Multiple sliders are arranged on the inner wall of the lifting sleeve 13, and the multiple sliders are slidably mounted on the multiple external vertical sliding grooves. In the groove, a threaded ring 14 is rotatably mounted on the upper end of the lifting sleeve 13. The inner wall of the threaded ring 14 is threadedly connected to the external thread of the gripping cylinder 12. A gear ring is provided on the outer wall of the threaded ring 14. A drive motor 15 is mounted on the lifting sleeve 13. A gear is concentrically mounted on the output shaft of the drive motor 15, and the gear meshes with the gear ring. Four upper mounting seats 16, pull rods 17, grippers 18, and lower mounting seats 19 are provided and arranged around the periphery of the gripping cylinder 12. The upper mounting seat 16 is mounted on the lower end of the lifting sleeve 13. The upper end of the pull rod 17 is rotatably connected to the upper mounting seat 16, and the lower end of the pull rod 17 is rotatably connected to the upper end of the gripper 18. The lower end of the gripper 18 is used to clamp the workpiece, and the middle part of the gripper 18 is connected to the lower mounting seat. 19 is rotatably connected, and the lower mounting seat 19 is installed at the lower end of the gripping cylinder 12; it also includes two double-headed push rods 20, and the lower end of the outer wall of the lifting sleeve 13 is provided with a ring track one, and four upper mounting seats 16 are slidably installed on the ring track one. The lower end of the outer wall of the gripping cylinder 12 is provided with a ring track two, and four lower mounting seats 19 are slidably installed on the ring track two. Both ends of the piston rod of the double-headed push rod 20 are provided with piston rods. The piston cylinders and piston rods of the two double-headed push rods 20 are arc-shaped. The fixed ends of the two double-headed push rods 20 are installed opposite each other on both sides of the lifting sleeve 13. The two double-headed push rods 20 are arranged concentrically with the lifting sleeve 13. The two piston rods of the double-headed push rods 20 are respectively connected to the two upper mounting seats 16.It also includes a lifting motor 21, a threaded wheel 22, a push rod 23, and an adsorption head 24. The inner wall of the gripping cylinder 12 is provided with internal threads, and multiple internal vertical sliding grooves are evenly arranged around the circumference of the inner wall of the gripping cylinder 12. The push rod 23 is located inside the gripping cylinder 12, and multiple sliders are provided on the outer wall of the push rod 23. These sliders are slidably installed in the multiple internal vertical sliding grooves. The threaded wheel 22 is concentrically mounted on the output shaft of the lifting motor 21 and is threadedly connected to the internal threads of the gripping cylinder 12. The upper end of the push rod 23 is connected to the lifting motor 21, and the lower end of the push rod 23 is fitted with the adsorption head 24.

[0034] The upper arm 7 and the lower arm 8 are composed of mechanical rods and servo motors. The servo motors drive multiple mechanical rods to move, realizing multiple degrees of freedom, making the gripping robot more flexible, convenient for gripping workpieces, and convenient for flexibly adjusting the position and angle of the workpieces.

[0035] The four piston rods of the two double-headed push rods 20 are respectively connected to the four upper mounting seats 16. The four piston rods at both ends of the two double-headed push rods 20 extend or retract simultaneously, pushing the four upper mounting seats 16 to move along the annular track of the lifting sleeve 13, thereby adjusting the relative position of the four upper mounting seats 16. At the same time, the four lower mounting seats 19 move under the drive of the four jaws 18 and the four pull rods 17, thereby adjusting the relative position of the four jaws 18, so that the four jaws 18 can adapt to different workpieces and improve the clamping versatility.

[0036] The adsorption head 24 is an electromagnet or a suction cup, etc. When working, the lower ends of the four grippers 18 open, and the lifting motor 21 drives the threaded wheel 22 to rotate. The threaded wheel 22 engages with the internal thread of the gripping cylinder 12, thereby driving the lifting motor 21 to rise and fall. When the lifting motor 21 descends, it drives the push rod 23 to extend out of the lower end of the gripping cylinder 12, so that the push rod 23 drives the adsorption head 24 to adsorb the edge of the workpiece. When the lifting motor 21 rises, it drives the push rod 23 to retract into the interior of the gripping cylinder 12, thereby lifting one end of the workpiece, so that the lifted end of the workpiece enters between the lower ends of the four grippers 18, which makes it convenient for the four grippers 18 to clamp and grasp the workpiece, especially improving the gripping efficiency of flat workpieces.

[0037] The drive motor 15 drives the gear to rotate, and the drive motor 15 meshes with the gear ring to drive the threaded ring 14 to rotate. The threaded ring 14 engages with the external thread of the gripping cylinder 12, causing the lifting sleeve 13 to rise or fall along the gripping cylinder 12. When the lifting sleeve 13 rises, the lifting sleeve 13 pulls multiple pull rods 17 upward through multiple upper mounting seats 16. The multiple pull rods 17 pull the upper ends of multiple grippers 18, causing the lower ends of multiple grippers 18 to rotate outward around multiple lower mounting seats 19, causing the lower ends of the four grippers 18 to open and release the workpiece. When the lifting sleeve 13 falls, the lifting sleeve 13 pushes multiple pull rods 17 downward through multiple upper mounting seats 16. The multiple pull rods 17 push the upper ends of multiple grippers 18, causing the lower ends of multiple grippers 18 to rotate inward around multiple lower mounting seats 19, causing the lower ends of the four grippers 18 to come together and grip the workpiece.

[0038] Two scanners 10, such as LiDAR or range-measuring cameras, are used to scan both sides of the workpiece after the gripping robot grasps it. This creates digital models of both sides of the workpiece and generates G-code programs for the actions of the two grinding robotic arms 4 and two grinding mechanisms 5 based on these models. The two grinding robotic arms 4 and two grinding mechanisms 5 operate according to these G-code programs, thus performing fully automatic grinding on both sides of the workpiece. During the grinding process, the monitoring functions of the two monitoring units 6 are combined to optimize the G-code programs that are not properly ground. The two scanners 10 scan both sides of the workpiece and the two grinding mechanisms 5 in real time, simulating the grinding process in real time through digital twin technology. This improves the control accuracy of the grinding robotic arms 4 and grinding mechanisms 5 and optimizes the grinding path of the grinding mechanisms 5, giving the robot an autonomous optimization and learning function. As the workpiece grinding work progresses, the grinding quality and efficiency will continue to improve.

[0039] Example 3, as Figures 1 to 4 , Figure 10 , Figure 11 and Figure 12As shown, based on Embodiment 1, the grinding robotic arm 4 includes an inner arm portion 25 and an outer arm portion 26. The inner arm portion 25 is provided with a fixed end 2 and a hinge end 3. The fixed end 2 of the inner arm portion 25 is slidably mounted on the front end side of the body 1. The outer arm portion 26 is provided with a hinge end 4 and a mounting end 2. The hinge end 3 of the inner arm portion 25 is hinged to the hinge end 4 of the outer arm portion 26. The grinding mechanism 5 is mounted on the mounting end 2 of the outer arm portion 26. Both the inner arm portion 25 and the outer arm portion 26 are provided with multiple degrees of freedom. 5 includes a grinding motor 27, a mounting wheel 28, and a grinding disc 29. The grinding motor 27 is mounted on the motor frame of the mounting end 2 of the outer arm part 1 26. The output shaft of the grinding motor 27 is concentrically mounted on the mounting wheel 28, and the grinding disc 29 is concentrically mounted on the end face of the mounting wheel 28. It also includes multiple blades 30. A ventilation hole is provided in the middle of the grinding disc 29. An annular channel is provided on the end face of the mounting wheel 28. The annular channel is aligned with the ventilation hole. Multiple blades 30 are evenly installed around the circumference of the annular channel of the mounting wheel 28. All multiple blades 30 are inclined.

[0040] The inner arm 25 and the outer arm 26 are composed of mechanical rod 2 and servo motor 2. The servo motor 2 drives multiple mechanical rod 2 to move, realizing multiple degrees of freedom, which makes it convenient and flexible to adjust the position and angle of the grinding mechanism 5, and to grind the workpiece in a convenient, flexible and efficient manner. When working, the grinding motor 27 drives the mounting wheel 28 to rotate, and the mounting wheel 28 drives the grinding disc 29 to rotate at high speed, so that the grinding disc 29 grinds the workpiece. Multiple blades 30 rotate synchronously, and multiple blades 30 push air toward the grinding surface, so that the air impacts the grinding surface, which helps to blow away the dust generated during grinding.

[0041] It also includes a shaft 31, a support rod 32, a toggle plate 33, a spring 34, and a protrusion 35. The motor frame of the outer arm 26 is hinged to the mounting end 2 of the outer arm 26. The mounting end 2 of the outer arm 26 is provided with a socket. The shaft 31 is rotatably installed in the socket of the outer arm 26. The support rod 32 is installed on the shaft 31 and is arranged in the opposite direction to the grinding motor 27. A semi-circular spiral groove is provided on the outer wall of the shaft 31. The toggle plate 33 is mounted in a height-adjustable manner. On the side wall of the second mounting end of the outer arm 26, a lever is provided at the inner end of the actuating plate 33. The lever is slidably connected to the half-turn spiral groove of the shaft 31. The outer end of the actuating plate 33 extends out of the second mounting end of the outer arm 26. The upper end of the spring 34 is connected to the second mounting end of the outer arm 26, and the lower end of the spring 34 is connected to the actuating plate 33. The protrusion 35 is mounted on the motor frame of the outer arm 26. The protrusion 35 can push the actuating plate 33 upward.

[0042] After one round of grinding is completed on both sides of the workpiece, the motor frame of the outer arm 26 rotates 90 degrees under the drive of the servo motor 2. The motor frame of the outer arm 26 drives the protrusion 35 to rotate, causing the protrusion 35 to push the actuating plate 33 upward. The lever of the actuating plate 33 moves from the lower end to the upper end of the half-turn spiral groove of the shaft 31. During this process, the lever of the actuating plate 33 presses the half-turn spiral groove of the shaft 31, causing the shaft 31 to rotate the gripper 180 degrees. This causes the shaft 31 to drive the support rod 32 to rotate to the outside of the mounting end 2 of the outer arm 26. At this time, the two grinding robotic arms 4 move, causing the two support rods 32 to rotate. 2. The workpiece is clamped and held. At this time, the four grippers 18 open to release the workpiece. The gripping robot arm 2 changes the relative position of the four grippers 18 and the workpiece. The four grippers 18 close again to clamp the workpiece after grinding. The motor frame of the outer arm 26 rotates 90 degrees in the opposite direction to reset under the drive of the servo motor 2, so that the protrusion 35 disengages from the actuating plate 33. The elastic force of the spring 34 pushes the actuating plate 33 downward to reset, so that the shaft 31 and the support rod 32 rotate to reset. At this time, the two grinding mechanisms 5 continue to grind the part covered by the four grippers 18, realizing the all-round automatic grinding of the workpiece.

[0043] like Figures 1 to 12As shown, this invention discloses a fully automatic multi-station grinding robot. During operation, the robot body 1 is first installed on the workpiece grinding station. The gripping robotic arm 2 moves to move the gripper to grasp a workpiece to be ground between two grinding robotic arms 4. Two scanners 10 scan both sides of the workpiece, thereby constructing a digital model of both sides of the workpiece. Based on the digital model, a G-code program is generated for the actions of the two grinding robotic arms 4 and two grinding mechanisms 5. Then, the two grinding robotic arms 4 and two grinding mechanisms 5 operate according to the aforementioned G-code program. The actions of the two grinding robotic arms 4 move the two grinding mechanisms 5 to press against both sides of the workpiece, so that both sides of the workpiece are simultaneously subjected to force. The two grinding mechanisms 5 simultaneously grind both sides of the workpiece. During the grinding process, a pressure sensor 3 detects the thrust force on the workpiece in real time. This thrust force is generated by the pressure difference between the two grinding robotic arms 4 and the two sides of the workpiece. The control unit adjusts the pressure of the two grinding robotic arms 4 on the two sides of the workpiece in real time according to the thrust force value, so that the thrust force is maintained at approximately 0, that is, the pressure of the two grinding robotic arms 4 on the two sides of the workpiece is basically the same, thereby making the workpiece... The grinding intensity on both sides is basically the same, achieving uniform grinding of both sides of the workpiece. Then, the two grinding robotic arms 4 adjust the relative angle between the two grinding mechanisms 5 and the workpiece, and the gripping robotic arm 2 can adjust the angle of the workpiece through the gripping robot, so that the two grinding mechanisms 5 can automatically grind multiple grinding surfaces and cavities of the workpiece. During the grinding process, two monitoring units 6 monitor the grinding images of the two grinding mechanisms 5 on both sides of the workpiece, and use visual recognition technology to compare the reflectivity of the grinding areas in the image to analyze whether there is any grinding inconsistency. The workpiece is positioned correctly, and the grinding mechanism 5 repeatedly grinds the areas that are not properly ground. The G-code program for areas that are not properly ground is optimized. Two scanners 10 scan both sides of the workpiece and the two grinding mechanisms 5 in real time. The grinding process is simulated in real time through digital twin technology, which improves the control accuracy of the grinding robotic arm 4 and the grinding mechanism 5 and optimizes the grinding path of the grinding mechanism 5. Finally, after the grinding is completed, the two grinding robotic arms 4 drive the two grinding mechanisms 5 to open to both sides, and the gripping robotic arm 2 moves to place the ground workpiece in the designated position.

[0044] The main functions achieved by this invention are:

[0045] 1. By setting up a gripping mechanism, it can perform fully automatic multi-process grinding of workpieces at one station, with good versatility;

[0046] 2. It adopts a three-robotic arm structure, which can perform uniform grinding work on multiple grinding surfaces and cavities on both sides of the workpiece;

[0047] 3. By temporarily clamping the workpiece and adjusting the clamping position, the workpiece is thoroughly polished;

[0048] 4. It can disperse the dust generated during polishing, thus improving environmental friendliness;

[0049] 5. It has an auxiliary gripping mechanism to improve the gripping efficiency of flat workpieces.

[0050] The fully automatic multi-station grinding robot of this invention uses common mechanical methods for installation, connection, or setup, and any method that achieves the desired beneficial effect can be implemented. The robot body 1, gripping robotic arm 2, pressure sensor 3, grinding robotic arm 4, grinding mechanism 5, monitoring unit 6, upper arm 7, lower arm 8, scanner 10, rotary motor 11, drive motor 15, double-headed push rod 20, lifting motor 21, push rod 23, suction head 24, outer arm 26, inner arm 25, grinding motor 27, mounting wheel 28, grinding disc 29, blade 30, and spring 34 are all commercially available. Those skilled in the art only need to install and operate the robot according to the accompanying instruction manual, without requiring any creative effort from those skilled in the art.

[0051] The above description is only a preferred embodiment of the present invention. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the technical principles of the present invention, and these improvements and modifications should also be considered within the scope of protection of the present invention.

Claims

1. A fully automated multi-station grinding robot, comprising a body (1); characterized in that, It also includes a gripping robotic arm (2), a pressure sensor (3), a gripping manipulator, two grinding robotic arms (4), two grinding mechanisms (5), and two monitoring units (6). The gripping robotic arm (2) is mounted in the middle of the front face of the machine body (1) in a height-adjustable manner. The pressure sensor (3) is installed at the end of the gripping robotic arm (2). The gripping manipulator is mounted on the pressure sensor (3) and is used to grip the workpiece. The two grinding robotic arms (4) are mounted in a height-adjustable manner on the left and right sides of the front face of the machine body (1). The grinding mechanism (5) is installed at the end of each of the two grinding robotic arms (4). The two grinding mechanisms (5) are used to grind the two sides of the workpiece. The two monitoring units (6) are installed on the upper part of the machine body (1). The two monitoring units (6) are located on the left and right sides of the gripping robotic arm (2) respectively. The two monitoring units (6) are used to monitor the grinding of the workpiece by the two grinding mechanisms (5). The grinding robot arm (4) includes an inner arm part (25) and an outer arm part (26). The inner arm part (25) is provided with a fixed end two and a hinge end three. The fixed end two of the inner arm part (25) is slidably mounted on the front side of the machine body (1). The outer arm part (26) is provided with a hinge end four and a mounting end two. The hinge end three of the inner arm part (25) is hinged to the hinge end four of the outer arm part (26). The grinding mechanism (5) is mounted on the mounting end two of the outer arm part (26). Both the inner arm part (25) and the outer arm part (26) are provided with multiple degrees of freedom. The grinding mechanism (5) includes a grinding motor (27), a mounting wheel (28), and a grinding disc (29). The grinding motor (27) is mounted on the motor frame of the mounting end of the outer arm (26). The output shaft of the grinding motor (27) is concentrically mounted on the mounting wheel (28), and the grinding disc (29) is concentrically mounted on the end face of the mounting wheel (28). It also includes a shaft (31), a support rod (32), a toggle plate (33), a spring (34), and a protrusion (35). The motor frame of the outer arm part one (26) is hinged to the mounting end two of the outer arm part one (26). The mounting end two of the outer arm part one (26) is provided with a socket. The shaft (31) is rotatably installed in the socket of the outer arm part one (26). The support rod (32) is installed on the shaft (31). The support rod (32) is arranged in the opposite direction to the grinding motor (27). A semi-circular spiral groove is provided on the outer wall of the shaft (31). The toggle plate (33) can be raised and lowered. The plate (33) is mounted on the side wall of the mounting end 2 of the outer arm part 1 (26). The inner end of the actuating plate (33) is provided with a lever. The lever is slidably connected to the half-turn spiral groove of the shaft (31). The outer end of the actuating plate (33) extends out of the mounting end 2 of the outer arm part 1 (26) and is connected to the outside. The upper end of the spring (34) is connected to the mounting end 2 of the outer arm part 1 (26), and the lower end of the spring (34) is connected to the actuating plate (33). The protrusion (35) is mounted on the motor frame of the outer arm part 1 (26). The protrusion (35) can push the actuating plate (33) upward.

2. The fully automated multi-station grinding robot as described in claim 1, characterized in that, The gripping robotic arm (2) includes an upper arm (7) and a lower arm (8). The upper arm (7) is provided with a fixed end and a hinge end. The fixed end of the upper arm (7) is slidably mounted on the front end face of the body (1). The lower arm (8) is provided with a hinge end and a mounting end. The hinge end of the lower arm (8) is hinged to the hinge end of the upper arm (7). The pressure sensor (3) is mounted on the mounting end of the lower arm (8). Both the upper arm (7) and the lower arm (8) are provided with multiple degrees of freedom.

3. The fully automated multi-station grinding robot as described in claim 2, characterized in that, It also includes two crossbars (9) and two scanners (10). The two crossbars (9) are installed on the left and right sides of the lower arm (8) respectively, and the two scanners (10) are installed on the two crossbars (9) respectively. The two scanners (10) are used to scan and build digital models of both sides of the workpiece.

4. The fully automated multi-station grinding robot as described in claim 2, characterized in that, The gripping robot includes a rotary motor (11), a gripping cylinder (12), a lifting sleeve (13), a threaded ring (14), a drive motor (15), an upper mounting base (16), a pull rod (17), grippers (18), and a lower mounting base (19). The rotary motor (11) is mounted on the detection end of the pressure sensor (3). The upper end of the gripping cylinder (12) is concentrically connected to the rotating end of the rotary motor (11). The gripping cylinder (12) is tubular, and multiple external vertical sliding grooves are evenly arranged on the circumference of the outer wall of the gripping cylinder (12). External threads are provided on the outer wall of the gripping cylinder (12). The lifting sleeve (13) is slidably fitted on the outer wall of the gripping cylinder (12). Multiple sliders are provided on the inner wall of the lifting sleeve (13). The multiple sliders are slidably installed in the multiple external vertical sliding grooves. The threaded ring (14) is rotatably installed on the upper part of the lifting sleeve (13). At the end, the inner wall of the threaded ring (14) is threadedly connected to the outer thread of the gripping cylinder (12). The outer wall of the threaded ring (14) is provided with a gear ring. The drive motor (15) is installed on the lifting sleeve (13). The output shaft of the drive motor (15) is concentrically mounted with a gear. The gear meshes with the gear ring. The upper mounting seat (16), the pull rod (17), the gripper (18) and the lower mounting seat (19) are all provided in four and arranged around the gripping cylinder (12). The upper mounting seat (16) is installed at the lower end of the lifting sleeve (13). The upper end of the pull rod (17) is rotatably connected to the upper mounting seat (16). The lower end of the pull rod (17) is rotatably connected to the upper end of the gripper (18). The lower end of the gripper (18) is used to clamp the workpiece. The middle part of the gripper (18) is rotatably connected to the lower mounting seat (19). The lower mounting seat (19) is installed at the lower end of the gripping cylinder (12).

5. The fully automated multi-station grinding robot as described in claim 4, characterized in that, It also includes two double-headed push rods (20), a ring track one is provided on the lower outer wall of the lifting sleeve (13), four upper mounting seats (16) are slidably installed on the ring track one, a ring track two is provided on the lower outer wall of the gripping cylinder (12), four lower mounting seats (19) are slidably installed on the ring track two, piston rods are provided at both ends of the piston rod of the double-headed push rod (20), the piston cylinder and piston rod of the two double-headed push rods (20) are both arc-shaped, the fixed ends of the two double-headed push rods (20) are installed opposite to each other on both sides of the lifting sleeve (13), the two double-headed push rods (20) are arranged concentrically with the lifting sleeve (13), and the two piston rods of the double-headed push rods (20) are respectively connected to the two upper mounting seats (16).

6. The fully automated multi-station grinding robot as described in claim 4, characterized in that, It also includes a lifting motor (21), a threaded wheel (22), a push rod (23), and an adsorption head (24). The inner wall of the gripping cylinder (12) is provided with an internal thread, and multiple internal vertical sliding grooves are evenly provided on the circumference of the inner wall of the gripping cylinder (12). The push rod (23) is located inside the gripping cylinder (12), and multiple sliders are provided on the outer wall of the push rod (23). The multiple sliders are slidably installed in the multiple internal vertical sliding grooves. The threaded wheel (22) is concentrically installed on the output shaft of the lifting motor (21). The threaded wheel (22) is threadedly connected to the internal thread of the gripping cylinder (12). The upper end of the push rod (23) is connected to the lifting motor (21), and the lower end of the push rod (23) is installed with the adsorption head (24).

7. The fully automated multi-station grinding robot as described in claim 1, characterized in that, It also includes multiple blades (30), a ventilation hole is provided in the middle of the grinding disc (29), an annular channel is provided on the end face of the mounting wheel (28), the annular channel is aligned with the ventilation hole, multiple blades (30) are evenly installed in the annular channel of the mounting wheel (28), and the multiple blades (30) are all inclined.

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