Integrated platform for inspection, grinding, and sandblasting of small, complex workpieces

Abstract

This invention provides an integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces, including a platform body; a gripping robot is mounted on the platform body, and a feeding conveyor line, a first vision inspection mechanism, a grinding station, and a sandblasting station are arranged around the gripping robot; a second vision inspection mechanism is arranged on one side of the grinding station; the grinding station includes a movable seat for placing the workpiece, and the movable seat is connected to a translation mechanism; a cleaning component is slidably installed inside the grinding station, and the cleaning component is connected to a locking mechanism; a support frame is fixed on the movable seat, and the support frame is equipped with a connecting mechanism for connecting to the locking mechanism; the connecting mechanism is provided with an unlocking part; the cleaning component is connected to a reset part. It integrates inspection, grinding, and sandblasting functions, realizing one-stop processing of workpieces without the need for manual transfer between multiple devices. Simultaneously, based on the vision inspection results, adaptive grinding path planning is performed, and grinding trajectories can be dynamically generated according to defect type and location.

Description

Technical Field

[0001] This invention relates to the field of small complex workpiece processing, and particularly to an integrated platform for the inspection, grinding, and sandblasting of small complex workpieces. Background Technology

[0002] Small, complex workpieces, such as various motor housings (servo motors, stepper motors, micro motors, etc.), are core components of high-end equipment such as robots, automation equipment, and new energy vehicles. Their typical characteristics are as follows: Motor housings are usually made of aluminum / cast iron and have a complex thin-walled multi-cavity structure, including end faces, stops, bearing chambers, heat dissipation fins, mounting holes, junction boxes, and other features. Their surface structure is complex.

[0003] When surface treating small, complex workpieces, multiple processes such as inspection, grinding, and sandblasting are required. Currently, the industry generally adopts a "discrete, multi-station flow" operation mode; the workpiece is repeatedly transferred and clamped between a coordinate measuring machine or vision inspection station, a manual or semi-automatic grinding table, and an independent sandblasting cabinet. This has the following problems: long transfer and waiting times affect processing efficiency; the grinding and sandblasting quality is highly dependent on worker experience, making it difficult to guarantee processing quality and resulting in poor consistency; at the same time, multiple machines and multiple operators are required, leading to high labor costs and a large footprint.

[0004] Therefore, an integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces is provided to address the above issues. Summary of the Invention

[0005] This invention provides an integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces to solve the technical problem of poor surface treatment quality.

[0006] The present invention solves the above-mentioned technical problems through the following technical solutions:

[0007] This invention provides an integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces, including a platform body; a gripping robot is mounted on the platform body, and a feeding conveyor line, a first vision inspection mechanism, a grinding station, and a sandblasting station are arranged around the gripping robot; a second vision inspection mechanism is arranged on one side of the grinding station; the grinding station includes a movable seat for placing the workpiece, and the movable seat is connected to a translation mechanism; a cleaning component is slidably installed inside the grinding station, and the cleaning component is connected to a locking mechanism; a support frame is fixed on the movable seat, and a connecting mechanism is installed on the support frame, the connecting mechanism being used to connect to the locking mechanism; an unlocking part is provided on the connecting mechanism; and a reset part is connected to the cleaning component.

[0008] Preferably, the grinding station further includes a first housing fixedly installed on the platform, a plurality of grinding robots are installed inside the first housing, and grinding parts are installed at the ends of the grinding robots; a clamping chuck for fixing and holding workpieces is installed on the top of the movable seat; a first motor is installed inside the movable seat, and the output shaft of the first motor is connected to the clamping chuck; the cleaning component is slidably installed on the top inner wall of the first housing.

[0009] Preferably, the cleaning assembly includes an air cylinder; a top cover is fixed to the top of the air cylinder, a third piston is connected inside the air cylinder, a first one-way valve and a second one-way valve are installed at the bottom of the air cylinder, the bottom of the third piston is elastically connected to the inner wall of the bottom of the air cylinder by a second spring, a movable column is fixed to the top of the third piston, the movable column abuts against a traveling surface provided on the inner wall of the top of the first housing, a connecting pipe is fixedly installed at the bottom of the first one-way valve, and the connecting pipe is fixedly connected to a blower cover; the two sides of the air cylinder are respectively connected to a locking mechanism and a reset part.

[0010] Preferably, a plurality of equally spaced protrusions are fixed on the top inner wall of the first housing. The cross-section of each protrusion is an isosceles triangle. A first ramp surface is provided on both sides of each protrusion. A downwardly raised protrusion is provided in the middle of each protrusion. A trapezoidal block is provided on one side of the first housing. A second ramp surface and a plane are provided on one side and at the bottom of the trapezoidal block, respectively. The first ramp surfaces on both sides of the plurality of protrusions, the protrusions of the plurality of protrusions, the second ramp surfaces, the plane, and the top inner wall of the first housing constitute a walking surface. The distance between the plane and the top inner wall of the first housing is greater than the distance between the protrusion and the top inner wall of the first housing.

[0011] Preferably, the connecting mechanism includes a block; a support frame is fixed to one side of the block; an insert is fixed to one side of the block, and the top and bottom of the insert are provided with locking holes; a first wedge-shaped surface is provided on the top and bottom edges of one side of the insert, and the unlocking part is installed on the block.

[0012] Preferably, the locking mechanism includes a base fixed to one side of the air cylinder, a groove is provided on the base, a first slide is provided at the top and bottom of the groove, a locking block is slidably connected to the first slide, a third spring is provided in the first slide, the locking block is elastically connected to the first slide through the third spring, and a third wedge-shaped surface is provided at the bottom of the locking block.

[0013] Preferably, the unlocking part includes a first piston, and an inner cavity is formed in the block. The first piston is fitted into the inner cavity. The end face of the inner cavity is elastically connected to the first piston through a first spring. A pressure rod is fixed on one side of the first piston. A channel is provided between the block and the insert block. A connecting cavity is provided in the insert block. The top and bottom of the connecting cavity are connected to movable cavities. The connecting cavity is connected to the inner cavity through the channel. A second piston is fitted into the movable cavity. A push plate is fixed to the second piston through a connecting rod, and the push plate is located in the lock hole.

[0014] Preferably, the reset part includes a cylinder fixedly installed on the outer wall of one side of the grinding station; a fifth spring is provided inside the cylinder, the cylinder is elastically connected to the side wall of the air cylinder through the fifth spring, and a buffer seat is fixed at one end of the cylinder.

[0015] Preferably, the limiting component includes a limiting block; a horizontal second slide is provided on the side wall of the movable column, the limiting block is slidably connected to the second slide, a fourth spring is provided in the second slide, a fourth wedge-shaped surface is provided on the bottom side of one side of the limiting block, a hole is provided on the top cover to cooperate with the movable column, a second wedge-shaped surface is provided on the top plate of one side of the hole, and a limiting hole communicating with the hole is provided on one side of the top cover.

[0016] Preferably, the limiting hole is aligned with a push rod, and the push rod is fixed to the inner wall of the first housing.

[0017] Based on common knowledge in the field, the above-mentioned preferred conditions can be combined arbitrarily to obtain various preferred embodiments of the present invention.

[0018] The positive and progressive effects of this invention are as follows:

[0019] The aforementioned integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces integrates inspection, grinding, and sandblasting functions, enabling one-stop processing of workpieces without the need for manual transfer between multiple devices, thus improving processing efficiency.

[0020] Meanwhile, grinding and sandblasting are carried out automatically by grinding and sandblasting robots. Before grinding and sandblasting, the workpiece is fully scanned by the first vision inspection mechanism and the second vision inspection mechanism. Based on the vision inspection results, adaptive grinding path planning is carried out. The grinding trajectory can be dynamically generated according to the defect type and location, ensuring the accuracy of defect handling, improving processing quality, and avoiding the problem of inconsistent processing quality caused by relying on worker experience.

[0021] Furthermore, the inspection, grinding, and sandblasting functions are integrated into a single platform, which reduces the floor space required. At the same time, the inspection, grinding, and sandblasting are performed automatically, requiring minimal manual labor.

[0022] Furthermore, a cleaning component is installed to self-clean the workpiece surface after grinding, removing attached debris to avoid affecting subsequent sandblasting operations and ensuring sandblasting quality. Moreover, when cleaning the workpiece, the cleaning component moves with the workpiece towards the exit of the grinding station, allowing the workpiece to be cleaned as it leaves the grinding station. The workpiece does not need to stay in the grinding station for an extra time, thus avoiding surface cleaning taking up extra time and ensuring processing efficiency. Attached Figure Description

[0023] Figure 1 This is a three-dimensional structural diagram of the entire invention;

[0024] Figure 2 This is a top view of the entire invention;

[0025] Figure 3 This is a schematic diagram of the structure of the first visual inspection mechanism of the present invention;

[0026] Figure 4 For the present invention Figure 3 Enlarged structural diagram of section A in the middle;

[0027] Figure 5 This is a schematic diagram of the gripping robot of the present invention;

[0028] Figure 6 This is a schematic diagram of the structure of the robotic arm and the second 3D camera of the present invention;

[0029] Figure 7 This is a schematic diagram of the sandblasting station of the present invention;

[0030] Figure 8 This is a schematic diagram of the external structure of the grinding station of the present invention;

[0031] Figure 9 This is a schematic diagram of the internal structure of the grinding station of the present invention;

[0032] Figure 10 For the present invention Figure 9 Enlarged structural diagram of section B in the middle;

[0033] Figure 11 For the present invention Figure 9 Enlarged structural diagram of section C;

[0034] Figure 12 This is a schematic diagram of the structure of the movable seat and connecting mechanism of the present invention;

[0035] Figure 13 This is a schematic diagram of the translation mechanism of the present invention;

[0036] Figure 14 This is a schematic diagram of the structure of the movable seat of the present invention in the state of being moved into the grinding station;

[0037] Figure 15 For the present invention Figure 14 Enlarged structural diagram of section D in the middle;

[0038] Figure 16 For the present invention Figure 14 Enlarged structural diagram of section E in the middle;

[0039] Figure 17 This is a schematic diagram of the structure of the present invention with the roller and the protrusion in contact.

[0040] Figure 18 This is a schematic diagram of the structure of the present invention with the roller in contact with the plane;

[0041] Figure 19 For the present invention Figure 18 Enlarged structural diagram of the middle F section;

[0042] Figure 20 This is a schematic diagram of the cleaning component, protrusion, trapezoidal block, and slide rail of the present invention.

[0043] Explanation of reference numerals in the attached figures

[0044] 1. Platform; 2. Gripping robot; 201. Gripper; 3. Feeding conveyor; 4. First vision inspection mechanism; 401. Platform; 402. Support column; 403. Frame; 404. First 3D camera; 405. 2D vision camera; 5. Grinding station; 501. First housing; 502. Movable seat; 5021. Slide; 503. Gripping chuck; 504. Grinding robot; 505. Grinding rod; 506. Grinding disc; 507. First motor; 6. Sandblasting station; 601. Second housing; 602. Conveyor; 603. Sandblasting robot; 7. Robotic arm; 701. Second 3D camera; 8. Control cabinet; 9. Translation mechanism; 901. Guide rail; 902. Rack; 903. Gear; 904. Second motor; 10. Connecting mechanism; 1001. Block; 1002. Insert block; 1003. First wedge surface; 1004. Lock hole; 1005. Inner cavity; 1006. First piston; 1007. Pressure rod; 1008. First spring; 1009. Channel; 1010. Connecting cavity; 1011. Movable cavity; 1012. Second Piston; 1013, Connecting rod; 1014, Push plate; 11, Support frame; 12, Protrusion; 1201, First ramp surface; 1202, Protrusion; 13, Trapezoidal block; 1301, Second ramp surface; 1302, Flat surface; 14, Slide rail; 15, Cleaning assembly; 1501, Connecting pipe; 1502, Blower flat cover; 1503, Air pump; 1504, First one-way valve; 1505, Second one-way valve; 1506, Second spring; 1507, Top cover; 15071, Limiting hole; 15072, Second wedge surface; 15 08. Third piston; 1509. Movable column; 1510. Roller; 16. Sliding sleeve; 17. Locking mechanism; 1701. Seat; 1702. Groove; 1703. First slide rail; 1704. Third spring; 1705. Locking block; 1706. Third wedge surface; 18. Limiting assembly; 1801. Second slide rail; 1802. Limiting block; 1803. Fourth spring; 1804. Fourth wedge surface; 19. Push rod; 20. Reset part; 2001. Cylinder; 2002. Fifth spring; 2003. Buffer seat. Detailed Implementation

[0045] The present invention will be further illustrated by way of embodiments below, but the present invention is not limited to the scope of the embodiments described herein.

[0046] like Figures 1-20 As shown, the integrated platform for the inspection, grinding, and sandblasting of small and complex workpieces includes a platform body 1.

[0047] The platform 1 is equipped with a gripping robot 2, and the gripping robot 2 is surrounded by a feeding conveyor line 3, a first vision inspection mechanism 4, a grinding station 5, and a sandblasting station 6.

[0048] A second visual inspection mechanism is provided on one side of the grinding station 5; the grinding station 5 includes a movable seat 502 for placing workpieces, and the movable seat 502 is connected to a translation mechanism 9.

[0049] A cleaning component 15 is slidably installed inside the grinding station 5. The cleaning component 15 is connected to a locking mechanism 17. A support frame 11 is fixed on the movable seat 502. A connecting mechanism 10 is installed on the support frame 11. The connecting mechanism 10 is used to connect to the locking mechanism 17. An unlocking part is provided on the connecting mechanism 10.

[0050] The cleaning component 15 is connected to a reset part 20.

[0051] like Figures 3-4 As shown, the first visual inspection mechanism 4 includes a platform 401 fixedly installed on the platform 1 and a stand 403 set on one side of the feeding conveyor line 3. A support column 402 is installed above the platform 401, and a 2D visual camera 405 is installed on the top of the support column 402. A first 3D camera 404 is installed on the top of the stand 403, and the lens of the first 3D camera 404 faces the top of one side of the feeding conveyor line 3.

[0052] like Figure 6 As shown, the second visual inspection mechanism includes a robotic arm 7 mounted on the platform 1, and a second 3D camera 701 is connected to the end of the robotic arm 7.

[0053] like Figure 9 As shown, the grinding station 5 further includes a first housing 501 fixedly installed on the platform 1. Multiple grinding robots 504 are installed inside the first housing 501, and each grinding robot 504 has a grinding section at its end. An opening for a movable seat 502 to enter and exit is provided on one side of the first housing 501. A clamping chuck 503 for fixing and holding workpieces is installed on the top of the movable seat 502. A first motor 507 is installed inside the movable seat 502, and the output shaft of the first motor 507 is connected to the clamping chuck 503. The clamping chuck 503 is a pneumatic or electric chuck. The cleaning assembly 15 is slidably installed on the top inner wall of the first housing 501.

[0054] The grinding section specifically consists of a grinding rod 505 and a grinding disc 506. An electric motor is installed at the end of the grinding robot 504. The electric motor drives the grinding rod 505 and the grinding disc 506 to rotate. The grinding robot 504 manipulates the movement of the grinding rod 505 and the grinding disc 506 to perform grinding operations on various positions of the workpiece.

[0055] like Figure 9As shown, the grinding robot 504 with grinding rod 505 and the grinding robot 506 are located at different positions inside the first housing 501, and the two grinding robots 504 are located to the side of the translational movement path of the movable seat 502. The movable seat 502 is driven to translate by the translation mechanism 9, so that the movable seat 502 carries the workpiece on it to the two grinding robots 504. The two grinding robots 504 grind the workpiece with grinding rod 505 and grinding disc 506 (grinding rod 505 and grinding disc 506 are used to adapt to different grinding requirements of the workpiece. Narrow positions are ground by grinding rod 505, and wider positions are ground by grinding disc 506).

[0056] like Figure 2 and Figure 7 As shown, the sandblasting station 6 includes a second housing 601 fixedly installed on the platform 1 and a conveyor 602; the conveyor 602 passes through the second housing 601, and one end of the conveyor 602 is located on one side of the gripping robot 2. Multiple sandblasting robots 603 are arranged inside the second housing 601.

[0057] The platform 1 is equipped with a control cabinet 8, which is used to control all components of the integrated platform.

[0058] The end of the gripping robot 2 is equipped with a gripper 201, which can be a pneumatic gripper or a pneumatic chuck (three-jaw chuck or four-jaw chuck).

[0059] The workpiece machining process is as follows:

[0060] The feeding conveyor line 3 is used to transport the workpieces to be processed into the platform. The workpieces are transported to the area below the first 3D camera 404, where the first 3D camera 404 takes pictures of the workpieces, confirms the workpiece model and gripping posture, and transmits the gripping information to the gripping robot 2 through the system in the control cabinet 8.

[0061] According to the gripping information provided by the system, the gripping robot 2 grips the workpiece through its gripper 201, moves the workpiece to the 2D vision camera 405, and scans the actual position of the burr on the bottom of the workpiece.

[0062] Then, the gripping robot 2 places the workpiece onto the clamping chuck 503 and clamps and fixes it. Next, the workpiece is inspected by the second vision inspection mechanism. Specifically, the robotic arm 7 carries the second 3D camera 701 to take pictures of the workpiece from all angles, scan for burrs, and detect sintering residues (casting defects). The grinding information and defect information are transmitted to the grinding robot 504 and the sandblasting robot 603 through the system respectively.

[0063] The translation mechanism 9 drives the movable seat 502 and the workpiece fixed thereon by the clamping chuck 503 to enter the grinding station 5 from the opening and move to the two grinding robots 504. The grinding robots 504 grind the workpiece by manipulating the grinding part on them. During the grinding process, the first motor 507 drives the clamping chuck 503 and the workpiece to rotate and adjust their positions so that the position to be ground faces the grinding robot 504.

[0064] After grinding, the translation mechanism 9 moves the movable seat 502 away from the opening, the clamping chuck 503 releases the workpiece, the gripping robot 2 grips the ground workpiece and places it on the conveyor 602. The conveyor 602 feeds the workpiece into the sandblasting station 6. The sandblasting robot 603 performs point sandblasting on the workpiece according to the information of the area to be sandblasted. After sandblasting, the workpiece is discharged through the conveyor 602. Workpieces that do not need to be sandblasted pass directly through the sandblasting station 6.

[0065] Through the above design, during the grinding and sandblasting operations of the workpiece, a comprehensive inspection and scanning of the workpiece is performed, and the scanned information is transmitted to the control system in the control cabinet 8. The control system analyzes the data and automatically generates a grinding trajectory (the grinding trajectory is the movement trajectory of the grinding robot 504 controlling the grinding unit on the workpiece) and provides information on the parts of the workpiece that need sandblasting and whether sandblasting is necessary. Compared with traditional grinding and sandblasting methods, it ensures the quality and consistency of workpiece grinding and sandblasting, and does not rely on worker experience; at the same time, its adaptive grinding path planning mechanism based on visual inspection results can dynamically generate grinding trajectories according to the type and location of defects, ensuring the accuracy of defect handling; and the workpiece inspection, grinding and sandblasting processes are carried out automatically and continuously without manual intervention, reducing labor costs.

[0066] By employing the grinding robot 504 and the sandblasting robot 603, grinding and sandblasting at different angles and positions can be facilitated, enabling automatic grinding and sandblasting operations on small and complex workpieces.

[0067] like Figures 12-13 As shown, the translation mechanism 9 includes a guide rail 901 fixed to the platform 1. The guide rail 901 is located inside the grinding station 5 and extends out from the opening. The bottom of the movable seat 502 is provided with a sliding groove 5021, which is slidably connected to the guide rail 901. A second motor 904 is installed in the movable seat 502. A gear 903 is installed on the output shaft of the second motor 904. The gear 903 meshes with a rack 902. A strip groove is provided on the platform 1, and the rack 902 is fixed in the strip groove.

[0068] The second motor 904 drives the gear 903 to rotate, and the gear 903 meshes with the rack 902, causing the gear 903 to move along the length of the rack 902, and causing the movable seat 502 to move together. During the movement, the guide rail 901 and the slide groove 5021 provide sliding guidance.

[0069] like Figure 9 and Figure 11 As shown, the cleaning assembly 15 includes an air cylinder 1503; a top cover 1507 is fixed to the top of the air cylinder 1503, and a sliding sleeve 16 is fixed to the top of the top cover 1507; a slide rail 14 is fixed to the inner top wall of the first housing 501, and the sliding sleeve 16 is slidably connected to the slide rail 14, achieving slidable installation through the sliding sleeve 16 and the slide rail 14; a third piston 1508 is connected inside the air cylinder 1503, and the bottom surface of the third piston 1508 and the inner wall of the air cylinder 1503 form an air cavity; a first one-way valve 1504 and a second one-way valve 15 are installed at the bottom of the air cylinder 1503. 05, and a filter is installed on the second one-way valve 1505. The bottom of the third piston 1508 is elastically connected to the bottom inner wall of the air cylinder 1503 through the second spring 1506. The top of the third piston 1508 is fixed with a movable column 1509. The movable column 1509 abuts against the traveling surface provided on the top inner wall of the first housing 501. The bottom of the first one-way valve 1504 is fixedly installed with a connecting pipe 1501. The connecting pipe 1501 is fixedly connected to the blower cover 1502. The two sides of the air cylinder 1503 are respectively connected to the locking mechanism 17 and the reset part 20.

[0070] A roller 1510 is rotatably mounted on the top of the movable column 1509. When the movable column 1509 moves on the walking surface, it experiences rolling friction through the roller 1510.

[0071] like Figure 9 , Figure 14 , Figure 17 and Figure 18 As shown, a plurality of equally spaced protrusions 12 are fixed on the top inner wall of the first housing 501. The cross-section of each protrusion 12 is an isosceles triangle. A first ramp surface 1201 is provided on both sides of each protrusion 12. A downwardly raised protrusion 1202 is provided in the middle of each protrusion 12. A trapezoidal block 13 is provided on the side of the first housing 501 near the opening. A second ramp surface 1301 and a plane 1302 are provided on one side and at the bottom of the trapezoidal block 13, respectively. The first ramp surfaces 1201 on both sides of the plurality of protrusions 12, the protrusions 1202 of the plurality of protrusions 12, the second ramp surface 1301, the plane 1302, and the top inner wall of the first housing 501 away from the opening constitute a walking surface. The distance between the plane 1302 and the top inner wall of the first housing 501 is greater than the distance between the protrusion 1202 and the top inner wall of the first housing 501.

[0072] The movable seat 502 carries the workpiece into the first housing 501. The workpiece moves to a position close to the blower cover 1502 (the workpiece passes by all the grinding robots 504 and completes the grinding process). The connecting mechanism 10 and the locking mechanism 17 automatically connect. As the movable seat 502 carries the workpiece away from the first housing 501, the cleaning component 15 moves together through the connecting mechanism 10 and the locking mechanism 17. This allows the movable seat 502 to clean the surface of the workpiece on its movement path away from the grinding station 5, without having to stop specifically in the grinding station 5 for workpiece cleaning.

[0073] When the movable seat 502 moves together with the cleaning component 15, the roller 1510 on the movable column 1509 moves on the walking surface, passes over multiple protrusions 12, and finally moves to the trapezoidal block 13. The connecting mechanism 10 and the locking mechanism 17 are disconnected, and the cleaning component 15 is reset to the polishing station 5 through the reset part 20.

[0074] As the movable column 1509 and roller 1510 travel on the protrusion 12, the roller 1510 moves from the first ramp surface 1201 towards the protrusion 1202. The roller 1510, movable column 1509, and third piston 1508 move downwards together, compressing the second spring 1506. The third piston 1508 pushes the gas in the air chamber. The gas is input into the blower cover 1502 through the first one-way valve 1504 and connecting pipe 1501, and then blown out from the blower cover 1502, causing the blower cover... Air 1502 blows air onto the workpiece surface, causing surface debris to be blown off. Simultaneously, the first motor 507 drives the clamping chuck 503 and the workpiece to rotate together, facilitating air cleaning of all parts of the workpiece. When the roller 1510 moves from the protrusion 1202 to the first ramp surface 1201, the elastic force of the second spring 1506 causes the third piston 1508 to reset, increasing the volume of the air chamber. The air chamber draws in outside air through the second one-way valve 1505. The air is filtered before entering the air chamber, replenishing it with clean airflow. After passing over multiple protrusions 1202, multiple air blowing cleanings and multiple air replenishments are achieved.

[0075] like Figure 10 As shown, the connecting mechanism 10 includes a block 1001; a support frame 11 is fixed to one side of the block 1001; an insert 1002 is fixed to one side of the block 1001, and a locking hole 1004 is provided at the top and bottom of the insert 1002; a first wedge-shaped surface 1003 is provided at the top and bottom edges of one side of the insert 1002, and the unlocking part is installed on the block 1001.

[0076] like Figure 11 and Figure 15As shown, the locking mechanism 17 includes a base 1701 fixed to one side of the air cylinder 1503. The base 1701 has a groove 1702. The top and bottom of the groove 1702 are provided with first slide rails 1703. The first slide rails 1703 are slidably connected to a locking block 1705. A third spring 1704 is provided in the first slide rails 1703. The locking block 1705 is elastically connected to the first slide rails 1703 through the third spring 1704. The bottom of the locking block 1705 is provided with a third wedge-shaped surface 1706.

[0077] When the movable seat 502 moves to the deepest point of the polishing station 5, the insert block 1002 is inserted into the groove 1702. The insert block 1002 presses against the third wedge surface 1706 of the locking block 1705 through the first wedge surface 1003, causing the locking block 1705 to enter the first slide rail 1703 and compressing the third spring 1704 until the insert block 1002 is fully inserted into the groove 1702. The locking block 1705 is aligned with the lock hole 1004, and the locking block 1705 is inserted into the lock hole 1004 by the elastic force of the third spring 1704, thus achieving locking. When the movable seat 502 moves out of the polishing station 5, the cleaning assembly 15 can be pulled out of the polishing station 5 together through the above-mentioned locking connection.

[0078] like Figure 10 As shown, the unlocking part includes a first piston 1006, and an inner cavity 1005 is formed inside the block 1001. The first piston 1006 is fitted into the inner cavity 1005. The end face of the inner cavity 1005 is elastically connected to the first piston 1006 by a first spring 1008. A pressure rod 1007 is fixed to one side of the first piston 1006, and the pressure rod 1007 extends out to the side of the block 1001 near the opening of the first housing 501. The block 1001 and the... A channel 1009 is provided between the blocks 1002. A connecting cavity 1010 is provided inside the insert block 1002. The top and bottom of the connecting cavity 1010 are connected to movable cavities 1011. The connecting cavity 1010 is connected to the inner cavity 1005 through the channel 1009. A second piston 1012 is connected in cooperation within the movable cavity 1011. The second piston 1012 is fixed to a push plate 1014 through a connecting rod 1013, and the push plate 1014 is located inside the lock hole 1004.

[0079] As the movable seat 502 and the cleaning component 15 move outward from the polishing station 5, the unlocking part approaches one side wall of the polishing station 5 until the pressure rod 1007 is in contact with the inner side wall of the first housing 501. The movable seat 502 continues to move outward, and the pressure rod 1007 is blocked. The pressure rod 1007 and the first piston 1006 cannot move further, causing the first piston 1006 to slide relative to the inner cavity 1005. The second piston 1012 pushes the medium in the inner cavity 1005 and compresses the first spring 1008. The medium is input into the connecting cavity 1010 through the channel 1009 and then enters the movable cavity 1011, providing pressure for the second piston 1012. The second piston 1012, the connecting rod 1013, and the push plate 1014 move together, pushing the lock block 1705 in the lock hole 1004 through the push plate 1014, causing the lock block 1705 to leave the lock hole 1004, thus completing the automatic unlocking. After unlocking, the cleaning component 15 automatically resets via the reset part 20, returning to its original state. Figure 9 The location shown.

[0080] When the movable seat 502 moves into the grinding station 5 again, the pressure rod 1007 separates from the inner wall of the first housing 501. The pressure rod 1007 and the second piston 1012 are reset by the elastic force of the first spring 1008. The second piston 1012, the connecting rod 1013 and the push plate 1014 are reset by the hydraulic action of the medium.

[0081] The inner cavity 1005, the channel 1009, and the connecting cavity 1010 all contain liquid media, such as hydraulic oil.

[0082] like Figure 11 As shown, the reset part 20 includes a cylinder 2001 fixedly installed on the outer wall of one side of the grinding station 5; a fifth spring 2002 is provided inside the cylinder 2001, and the cylinder 2001 is elastically connected to the side wall of the air cylinder 1503 through the fifth spring 2002; a buffer seat 2003 is fixed to one end of the cylinder 2001. The buffer seat 2003 is made of rubber.

[0083] When the cleaning component 15 moves outward to the polishing station 5, the fifth spring 2002 is stretched. After the locking mechanism 17 and the connecting mechanism 10 are unlocked, the cleaning component 15 is reset and moved by the elastic force of the fifth spring 2002.

[0084] like Figures 17-19As shown, the limiting component 18 includes a limiting block 1802; a horizontal second slide rail 1801 is provided on the side wall of the movable column 1509, the limiting block 1802 is slidably connected to the second slide rail 1801, a fourth spring 1803 is provided in the second slide rail 1801, a fourth wedge surface 1804 is provided on the bottom side of one side of the limiting block 1802, a hole body is provided on the top cover 1507 to cooperate with the movable column 1509, a second wedge surface 15072 is provided on the top plate of one side of the hole body, and a limiting hole 15071 communicating with the hole body is provided on one side of the top cover 1507.

[0085] The limiting hole 15071 is aligned with the push rod 19, and the push rod 19 is fixed to the inner side wall of the first housing 501.

[0086] The distance between the plane 1302 and the inner top wall of the first housing 501 is greater than the distance between the protrusion 1202 and the inner top wall of the first housing 501. Through this design, when the roller 1510 moves onto the protrusion 1202, the movable column 1509, carrying the limiting assembly 18, moves to the position... Figure 17 At the indicated position, the limiting block 1802 is not yet inserted into the hole. When the roller 1510 moves to the plane 1302, the movable column 1509 carries the limiting component 18 into the hole, and the limiting block 1802 aligns with the limiting hole 15071. During the movement of the limiting component 18 into the hole, the second wedge surface 15072 presses against the fourth wedge surface 1804, causing the limiting block 1802 to move into the second slide rail 1801 and compressing the fourth spring 1803. After the limiting block 1802 aligns with the limiting hole 15071, the elastic force of the fourth spring 1803 causes the limiting block 1802 to insert into the limiting hole 15071, thereby causing the movable column 1509 and roller 1509 to move into the hole. 10. Maintaining this position, during subsequent reset, the movable column 1509 and roller 1510 pass under the protrusion 12. The roller 1510 will not contact the protrusion 12 or be squeezed by the first ramp surface 1201. During reset, the cleaning component 15 will not perform a blowing operation to avoid unnecessary wear and tear. During reset, the limiting hole 15071 moves closer to the push rod 19, and the push rod 19 inserts into the limiting hole 15071, causing the limiting block 1802 to be pushed away from the limiting hole 15071, automatically canceling the limit. Then, through the elastic force of the second spring 1506, the movable column 1509 and roller 1510 are reset, and the roller 1510 abuts against the top inner wall of the first housing 501, as shown. Figure 16 As shown.

[0087] This invention is not limited to the embodiments described above. Any changes in shape or structure shall fall within the protection scope of this invention. The protection scope of this invention is defined by the appended claims. Those skilled in the art may make various changes or modifications to these embodiments without departing from the principles and essence of this invention, but all such changes and modifications shall fall within the protection scope of this invention.

Claims

1. An integrated platform for the inspection, grinding, and sandblasting of small, complex workpieces, comprising a platform body (1); characterized in that: The platform (1) is equipped with a gripping robot (2), and the gripping robot (2) is surrounded by a feeding conveyor line (3), a first vision inspection mechanism (4), a grinding station (5) and a sandblasting station (6). A second vision inspection mechanism is provided on one side of the grinding station (5); the grinding station (5) includes a movable seat (502) for placing workpieces, and the movable seat (502) is connected to a translation mechanism (9); A cleaning component (15) is slidably installed inside the grinding station (5). The cleaning component (15) is connected to a locking mechanism (17). A support frame (11) is fixed on the movable seat (502). A connecting mechanism (10) is installed on the support frame (11). The connecting mechanism (10) is used to connect to the locking mechanism (17). An unlocking part is provided on the connecting mechanism (10). The cleaning component (15) is connected to a reset part (20); The grinding station (5) further includes a first housing (501) fixedly installed on the platform (1), and a plurality of grinding robots (504) are installed inside the first housing (501). The grinding robots (504) are equipped with grinding parts at their ends. A clamping chuck (503) for fixing and holding workpieces is installed on the top of the movable seat (502). A first motor (507) is installed inside the movable seat (502), and the output shaft of the first motor (507) is connected to the clamping chuck (503). The cleaning component (15) is slidably installed on the top inner wall of the first housing (501). The cleaning assembly (15) includes an air cylinder (1503); a top cover (1507) is fixed to the top of the air cylinder (1503), a third piston (1508) is connected inside the air cylinder (1503), a first one-way valve (1504) and a second one-way valve (1505) are installed at the bottom of the air cylinder (1503), and the bottom of the third piston (1508) is elastically connected to the bottom inner wall of the air cylinder (1503) by a second spring (1506). The top of the third piston (1508) is fixed with a movable column (1509), which abuts against the traveling surface on the inner wall of the top of the first housing (501). The bottom of the first one-way valve (1504) is fixedly installed with a connecting pipe (1501), which is fixedly connected to a blower cover (1502). The two sides of the air cylinder (1503) are respectively connected to the locking mechanism (17) and the reset part (20). The top inner wall of the first housing (501) is fixed with a plurality of equally spaced protrusions (12). The cross section of each protrusion (12) is an isosceles triangle. Both sides of each protrusion (12) are provided with a first inclined surface (1201). The middle of each protrusion (12) is provided with a downwardly raised protrusion (1202). A trapezoidal block (13) is provided on one side of the first housing (501). A second inclined surface (1202) is provided on one side and at the bottom of the trapezoidal block (13). 301) and plane (1302), the first ramp surface (1201) on both sides of the plurality of protrusions (12), the protrusions (1202) of the plurality of protrusions (12), the second ramp surface (1301), plane (1302) and the top inner wall of the first housing (501) constitute a walking surface; the distance between the plane (1302) and the top inner wall of the first housing (501) is greater than the distance between the protrusions (1202) and the top inner wall of the first housing (501); The connecting mechanism (10) includes a block (1001); a support frame (11) is fixed to one side of the block (1001); an insert (1002) is fixed to one side of the block (1001), and a locking hole (1004) is provided at the top and bottom of the insert (1002); a first wedge-shaped surface (1003) is provided on the top and bottom edges of one side of the insert (1002); and the unlocking part is installed on the block (1001). The locking mechanism (17) includes a seat (1701) fixed to one side of the air cylinder (1503). The seat (1701) has a groove (1702). The top and bottom of the groove (1702) are provided with first slides (1703). The first slides (1703) are slidably connected to a locking block (1705). A third spring (1704) is provided in the first slides (1703). The locking block (1705) is elastically connected to the first slides (1703) through the third spring (1704). The bottom of the locking block (1705) is provided with a third wedge-shaped surface (1706).

2. The integrated platform for inspection, grinding, and sandblasting of small, complex workpieces as described in claim 1, characterized in that: The unlocking part includes a first piston (1006), and an inner cavity (1005) is formed inside the block (1001). The first piston (1006) is fitted into the inner cavity (1005). The end face of the inner cavity (1005) is elastically connected to the first piston (1006) through a first spring (1008). A pressure rod (1007) is fixed on one side of the first piston (1006). A channel (1009) is provided between the block (1001) and the insert block (1002). The insert (1002) is provided with a connecting cavity (1010), and the top and bottom of the connecting cavity (1010) are connected to movable cavities (1011). The connecting cavity (1010) is connected to the inner cavity (1005) through a channel (1009). A second piston (1012) is connected in the movable cavity (1011). The second piston (1012) is fixed with a push plate (1014) through a connecting rod (1013), and the push plate (1014) is located in the lock hole (1004).

3. The integrated platform for inspection, grinding, and sandblasting of small, complex workpieces as described in claim 1, characterized in that: The reset part (20) includes a cylinder (2001) fixedly installed on the outer wall of one side of the grinding station (5); a fifth spring (2002) is provided inside the cylinder (2001), and the cylinder (2001) is elastically connected to the side wall of the air cylinder (1503) through the fifth spring (2002), and a buffer seat (2003) is fixed at one end of the cylinder (2001).

4. The integrated platform for inspection, grinding, and sandblasting of small, complex workpieces as described in claim 1, characterized in that: It also includes a limiting component (18); the limiting component (18) includes a limiting block (1802); a horizontal second slide rail (1801) is provided on the side wall of the movable column (1509), the limiting block (1802) is slidably connected to the second slide rail (1801), a fourth spring (1803) is provided in the second slide rail (1801), a fourth wedge surface (1804) is provided on the bottom side of one side of the limiting block (1802), a hole body is provided on the top cover (1507) to cooperate with the movable column (1509), a second wedge surface (15072) is provided on the top plate of one side of the hole body, and a limiting hole (15071) communicating with the hole body is provided on one side of the top cover (1507).

5. The integrated platform for inspection, grinding, and sandblasting of small, complex workpieces as described in claim 4, characterized in that: The limiting hole (15071) is aligned with the push rod (19), and the push rod (19) is fixed to the inner wall of the first housing (501).

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