A post-processing process for the blister forming of a robot housing profiled part

Abstract

The application discloses a robot shell special-shaped part suction forming post-processing process and relates to the technical field of robot shell processing. The process adopts a special post-processing device to complete the shaping, deburring and cleaning treatment of the special-shaped part after suction forming. The special post-processing device comprises a processing tank and a movable assembly. The processing tank is an integral forming structure, a partition stand is arranged in the middle of the processing tank, and the processing tank is divided into left and right tanks through the partition stand. The robot shell special-shaped part suction forming post-processing process can realize full-automatic unmanned circulation of the special-shaped part polishing treatment and cleaning treatment stations through the movable assembly. The positioning accuracy is high, there is no deviation and jam, the circulation efficiency of the post-processing process and the clamping stability are greatly improved, the special-shaped part can be simultaneously subjected to accurate deburring, waste collection, surface cleaning and rapid drying in the same device through the processing assembly.

Description

Technical Field

[0001] This invention relates to the field of robot shell processing technology, specifically to a post-processing technology for vacuum forming of irregularly shaped robot shell parts. Background Technology

[0002] Vacuum forming of irregularly shaped robot shells refers to the process of heating thermoplastic sheets such as acrylic and ABS to their softening point, then using vacuum adsorption or positive pressure to fit them into a customized irregular mold, followed by cooling and shaping to obtain a large-sized, complex curved, thin-walled robot shell. After vacuum forming, a post-processing technique is needed to eliminate residual stress, repair surface defects, and simultaneously upgrade the appearance, enhance protective performance, and integrate functional coatings. However, current processing equipment has the following shortcomings: For example, patent document CN116728666B discloses a post-processing device for resin tile molding. This post-processing device softens the edge burrs of the resin tile by heating hot-melt rollers on both sides of a conveyor belt, and then removes the burrs by cutting blades. In addition, the hot-melt rollers rotate at a constant speed, ensuring a stable contact time between the resin tile and the hot-melt rollers, thereby ensuring the softening effect of the resin tile edge burrs. However, it does not have an integrated linkage moving component, and the station transfer and clamping positioning of irregular parts must be completed manually. The positioning accuracy is poor, the process flow efficiency is low, and manual operation is prone to secondary contamination of the shell surface by debris. Summary of the Invention

[0003] The purpose of this invention is to provide a post-processing technology for vacuum forming of irregularly shaped robot shell parts, so as to solve the problems mentioned in the background art.

[0004] To achieve the above objectives, the present invention provides the following technical solution: a post-processing technology for vacuum forming of irregularly shaped robot shell parts. This technology uses a dedicated post-processing device to complete the shaping, deburring, and cleaning of the irregularly shaped parts after vacuum forming. The dedicated post-processing device includes a processing tank and a movable component. The processing tank is an integrally formed structure, and a partition plate is set in the middle of the processing tank, dividing the processing tank into left and right tanks. The movable component is set on the surface of the processing tank and includes a recessed limiting groove, a fixed limiting frame, a servo motor, a threaded screw, a movable strip, an auxiliary movable frame, a grid limiting frame, a fixed plate, an electric push rod, and a limiting clamping plate. The recessed limiting groove is opened at the upper end of the inner surface of the processing tank, and a fixed limiting frame is installed at the upper end of the inner side of the processing tank. The position of the fixed limiting frame is lower than the recessed limiting groove, and a servo motor is set on the left side of the fixed limiting frame. The output end of the servo motor is connected to the threaded screw through a coupling.

[0005] Furthermore, the outer surface of the threaded screw is threaded with a movable strip, and an auxiliary movable frame is installed on the outer side of the movable strip. The inner surface of the auxiliary movable frame is slidably connected to the outer surface of the fixed limiting frame.

[0006] Furthermore, a grid limiting frame is installed on the upper surface of the auxiliary active frame, and fixed upright plates are installed on both the front and rear sides of the upper surface of the grid limiting frame. An electric push rod is provided on the outer surface of the fixed upright plate, and a limiting clamping plate is installed on the inner end of the electric push rod.

[0007] Furthermore, a fixing frame is installed on the left side of the upper surface of the processing tank, and a support frame is provided on the right side of the upper surface of the processing tank. A processing component for deburring is provided on the surface of the processing tank.

[0008] Furthermore, the processing components include a drain valve, a high-pressure exhaust fan, a limiting support strip, a waste interception basket, and an auxiliary handle. The drain valve is located on the lower right side of the front side of the processing tank, and the high-pressure exhaust fan is installed on the lower left side of the processing tank.

[0009] Furthermore, limit support strips are installed on the lower ends of both sides of the left side of the processing tank, and a waste interception mesh basket is slidably connected to the upper surface of the limit support strip. The outer side of the waste interception mesh basket is slidably connected to the left front end of the processing tank, and an auxiliary handle is installed on the front side of the waste interception mesh basket.

[0010] Furthermore, the processing assembly also includes a stepper motor, a robotic arm, a high-speed motor, a sanding belt wheel, a hot air blower, a water storage tank, a CNC drain valve, and a spray plate. The stepper motor is mounted on the upper surface of the fixed frame, and the output end of the stepper motor is connected to the robotic arm via a coupling. The lower end of the robotic arm is equipped with a high-speed motor, and the output end of the high-speed motor is connected to the sanding belt wheel via a coupling. A laser contour sensor is integrated on the lower side of the robotic arm.

[0011] Furthermore, a hot air blower is provided on the lower side of the upright plate of the support frame, and a water storage tank is installed on the upper surface of the support frame. A sealed water inlet is provided on the upper side of the water storage tank, and a CNC drain valve is installed on the lower side of the water storage tank. A spray plate is provided on the lower side of the CNC drain valve.

[0012] This invention provides a post-processing technology for vacuum forming of irregularly shaped robot shell parts, which has the following beneficial effects: 1. This invention utilizes a movable component, including a recessed limiting groove, a fixed limiting frame, a servo motor, a threaded screw, a movable bar, an auxiliary movable frame, a grid limiting frame, a fixed upright plate, an electric push rod, and a limiting clamping plate. In use, the irregularly shaped robot shell to be processed is placed on the grid limiting frame. The electric push rods on both sides push the limiting clamping plate inward, completing the adaptive clamping and positioning of the irregularly shaped part. The servo motor starts, causing the threaded screw to rotate synchronously, driving the threaded movable bar to move smoothly along the screw axis. The movable bar causes the auxiliary movable frame to slide directionally along the outer surface of the fixed limiting frame, preventing movement during the process. The offset and jamming mechanism causes the upper grid limiting frame to move precisely along the recessed limiting groove to the top of the left grinding station. After the grinding process is completed, the servo motor rotates in the opposite direction, causing the grid limiting frame holding the irregularly shaped part to move laterally to the top of the right cleaning station. The entire movement is completely limited above the two tanks of the processing tank, with no exposed displacement throughout the process. This enables automatic switching between the grinding and cleaning stations, allowing the device to achieve fully automatic, unmanned operation of the grinding and cleaning stations for irregularly shaped parts. The device features high positioning accuracy and no offset or jamming, significantly improving the efficiency and clamping stability of the post-processing steps.

[0013] 2. This invention incorporates a processing component, including a drain valve, a high-pressure exhaust fan, a limiting support bar, a waste interception basket, and an auxiliary handle. The component also includes a stepper motor, a robotic arm, a high-speed motor, a sanding belt wheel, a hot air blower, and a water tank. During use, the stepper motor drives the robotic arm to adjust its posture. Using an integrated laser contour sensor at the end effector, the surface of the irregularly shaped part is scanned in real time to accurately locate the three-dimensional coordinates of all burrs. Subsequently, the high-speed motor drives the sanding belt wheel to rotate at high speed, flexibly conforming to the shape of the burrs and rough edges on the surface of the irregularly shaped part along a preset path. Simultaneously, the high-pressure exhaust fan is activated, creating a downward negative pressure suction in the left-side grinding groove, drawing the plastic debris generated during grinding downwards. The waste interception basket, supported by the limiting support bar, centrally filters and collects the debris, preventing it from scattering and polluting the environment. After grinding, the basket can be quickly emptied using the auxiliary handle. After grinding, the irregularly shaped parts are transferred to the cleaning station on the right. Clean water in the water tank is released quantitatively through the CNC drain valve and sprayed from the spray plate to thoroughly wash away residual debris. Then, the hot air blower outputs constant-temperature hot air to quickly dry the surface of the workpiece, avoiding water stains from affecting subsequent spraying processes. Finally, the drain valve can be opened periodically to discharge the wastewater accumulated in the cleaning station, completing the tank cleaning and maintenance. This device can simultaneously complete the precise removal of burrs, centralized collection of waste, surface cleaning and rapid drying of irregularly shaped parts in the same machine, greatly reducing process transfer links, avoiding debris residue pollution, and significantly improving the yield of post-processed irregularly shaped robot shell parts. Attached Figure Description

[0014] Figure 1This is a three-dimensional structural schematic diagram of the post-processing technology for vacuum forming of irregularly shaped robot shell parts according to the present invention. Figure 2 This is a three-dimensional structural diagram of the moving component of the vacuum forming post-processing technology for irregularly shaped robot shell parts according to the present invention. Figure 3 This is a three-dimensional structural diagram of a grid limiting frame for a vacuum forming post-processing technology of a robot shell irregular part according to the present invention. Figure 4 This is a three-dimensional cross-sectional view of the processing groove in the post-processing technology of vacuum forming of a robot shell irregular part according to the present invention. Figure 5 This is a three-dimensional structural diagram of a robotic arm for post-processing of a vacuum forming irregularly shaped robot shell part according to the present invention. Figure 6 This is a three-dimensional structural diagram of the support frame for the post-processing of vacuum forming of irregularly shaped robot shell parts according to the present invention.

[0015] In the diagram: 1. Processing tank; 2. Separating plate; 3. Movable component; 301. Sinking limit groove; 302. Fixed limit frame; 303. Servo motor; 304. Threaded screw; 305. Movable bar; 306. Auxiliary movable frame; 307. Grille limit frame; 308. Fixed plate; 309. Electric push rod; 310. Limit clamping plate; 4. Fixed frame; 5. Support frame; 6. Processing component; 601. Drain valve; 602. High-pressure exhaust fan; 603. Limit support bar; 604. Waste interception basket; 605. Auxiliary handle; 606. Stepper motor; 607. Robotic arm; 608. High-speed motor; 609. Sanding belt wheel; 610. Hot air blower; 611. Water storage tank; 612. CNC drain valve; 613. Spray plate. Detailed Implementation

[0016] The embodiments of the present invention will be described in further detail below with reference to the accompanying drawings and examples. The following examples are for illustrative purposes only and should not be construed as limiting the scope of the invention.

[0017] like Figures 1 to 6As shown, a post-forming process for vacuum-formed irregular-shaped robot shell parts is disclosed. This process utilizes a dedicated post-forming device to complete the shaping, deburring, and cleaning of the irregular-shaped parts after vacuum forming. The dedicated post-forming device includes a processing tank 1 and a movable component 3. The processing tank 1 is a one-piece molded structure, with a dividing plate 2 in the middle, dividing the processing tank 1 into left and right tanks. The movable component 3 is disposed on the surface of the processing tank 1 and includes a recessed limiting groove 301, a fixed limiting frame 302, a servo motor 303, a threaded screw 304, a movable strip 305, an auxiliary movable frame 306, a grid limiting frame 307, a fixed plate 308, an electric push rod 309, and a limiting clamping plate 310. The recessed limiting groove 301 is formed at the upper end of the inner surface of the processing tank 1. A fixed limiting frame 302 is installed on the upper inner side of the processing tank 1. The fixed limiting frame 302 is lower than the recessed limiting groove 301. A servo motor 303 is set on the left side of the fixed limiting frame 302. The output end of the servo motor 303 is connected to a threaded screw 304 through a coupling. A movable bar 305 is threadedly connected to the outer surface of the threaded screw 304. An auxiliary movable frame 306 is installed on the outer side of the movable bar 305. The inner surface of the auxiliary movable frame 306 is slidably connected to the outer surface of the fixed limiting frame 302. A grid limiting frame 307 is installed on the upper surface of the auxiliary movable frame 306. Fixed upright plates 308 are installed on the front and rear sides of the upper surface of the grid limiting frame 307. An electric push rod 309 is set on the outer surface of the fixed upright plate 308. A limiting clamping plate 310 is installed on the inner end of the electric push rod 309.

[0018] The specific operation is as follows: During use, the irregularly shaped robot shell to be processed is placed on the grid limiting frame 307. The electric push rods 309 on both sides push the limiting clamping plate 310 to move inward, completing the adaptive clamping and positioning of the irregularly shaped part. The servo motor 303 starts and drives the threaded screw 304 to rotate synchronously, driving the threaded movable bar 305 to move smoothly along the screw axis. The movable bar 305 drives the auxiliary movable frame 306 to slide directionally along the outer surface of the fixed limiting frame 302 to avoid deviation and jamming during the movement. The auxiliary movable frame 306 drives the grid limiting frame 307 above to move precisely along the sinking limiting groove 301 at the upper end of the processing tank 1 to directly above the left grinding station. After the grinding process is completed, the servo motor 303 rotates in the opposite direction, driving the grid limiting frame 307 holding the irregularly shaped part to move laterally to directly above the right cleaning station. The entire movement stroke is completely limited above the two tanks of the processing tank 1, with no exposed displacement throughout the process, realizing the automatic flow switching between the grinding and cleaning stations.

[0019] Please refer to Figures 4 to 6A fixing frame 4 is installed on the left side of the upper surface of the processing tank 1, and a support frame 5 is provided on the right side of the upper surface of the processing tank 1. A processing component 6 for deburring is provided on the surface of the processing tank 1. The processing component 6 includes a drain valve 601, a high-pressure exhaust fan 602, a limiting support bar 603, a waste interception basket 604, and an auxiliary handle 605. The drain valve 601 is located on the lower right side of the front of the processing tank 1. The high-pressure exhaust fan 602 is installed on the lower left side of the processing tank 1. Limiting support bars 603 are installed on the lower ends of both sides of the left side of the tank body of the processing tank 1. The waste interception basket 604 is slidably connected to the upper surface of the limiting support bar 603. The outer side of the waste interception basket 604 is slidably connected to the left side of the front of the processing tank 1. An auxiliary handle 605 is installed on the front side of the waste interception basket 604. The processing component 6 also includes The system includes a stepper motor 606, a robotic arm 607, a high-speed motor 608, a sander 609, a hot air blower 610, a water tank 611, a CNC drain valve 612, and a spray plate 613. The stepper motor 606 is mounted on the upper surface of the fixed frame 4. The output end of the stepper motor 606 is connected to the robotic arm 607 via a coupling. The high-speed motor 608 is mounted on the lower end of the robotic arm 607. The output end of the high-speed motor 608 is connected to the sander 609 via a coupling. A laser contour sensor is integrated on the lower side of the robotic arm 607. A hot air blower 610 is installed on the lower side of the upright plate of the support frame 5. A water tank 611 is mounted on the upper surface of the support frame 5. A sealed water inlet is provided on the upper side of the water tank 611. A CNC drain valve 612 is installed on the lower side of the water tank 611. A spray plate 613 is provided on the lower side of the CNC drain valve 612. The specific operation is as follows: During use, the stepper motor 606 drives the robotic arm 607 to adjust its working posture. The laser contour sensor at the lower end of the robotic arm 607 scans the surface of the irregular part in real time, accurately locating the three-dimensional coordinates of all burrs. The high-speed motor 608 starts, driving the sanding belt wheel 609 to rotate at high speed, performing flexible conformal grinding on the burrs and rough edges on the surface of the irregular part along a preset path. Simultaneously, the high-pressure exhaust fan 602 is started, forming a downward negative pressure suction in the grinding tank on the left side, drawing the plastic debris generated during grinding downwards and collecting it. The downwardly drawn debris is intercepted inside the debris interception basket 604 supported by the limiting support bar 603, completing the centralized filtration and collection of debris, preventing debris from scattering and polluting the environment. After all the grinding processes are completed, the operator can use the auxiliary handle 605 to pull the waste material interception basket 604 out of the tank, quickly empty the accumulated grinding waste inside, and move it to the irregular part at the right cleaning station. The clean water in the water tank 611 is released quantitatively through the CNC drain valve 612 and sprayed out from the spray plate 613 to thoroughly rinse the surface of the irregular part, removing residual debris. After rinsing, the hot air blower 610 under the support frame 5 is started, outputting constant temperature hot air to quickly dry the surface of the irregular part, avoiding residual water stains on the surface from affecting the subsequent spraying process. The drain valve 601 on the lower right side of the front of the treatment tank 1 can be opened periodically to discharge the wastewater accumulated in the cleaning station into the device, completing the cleaning and maintenance of the tank.

[0020] In summary, as Figures 1 to 6As shown, the post-processing technology for the vacuum forming of the robot's irregularly shaped shell is as follows: First, the irregularly shaped robot shell to be processed is placed on the grid limiting frame 307. Electric push rods 309 on both sides push the limiting clamping plate 310 inward to complete the adaptive clamping and positioning of the irregularly shaped part. Stepper motor 606 drives the robotic arm 607 to adjust its working posture. The laser contour sensor at the lower end of the robotic arm 607 scans the surface of the irregularly shaped part in real time, accurately locating the three-dimensional coordinates of all burrs. High-speed motor 608 starts, driving the sanding belt wheel 609 to rotate at high speed, processing the irregularly shaped part along a preset path. The surface burrs and rough edges of the parts are flexibly and conformally polished. Simultaneously, a high-pressure exhaust fan 602 is activated, creating a downward negative pressure suction within the left-side polishing tank. This suction draws down and collects the plastic debris generated during polishing. The debris is intercepted inside a debris-collecting basket 604 supported by a limiting support bar 603, achieving centralized filtration and collection of the debris to prevent it from scattering and polluting the environment. After all polishing processes are completed, the operator can use the auxiliary handle 605 to pull the debris-collecting basket 604 out of the tank, quickly emptying the accumulated polishing debris. (Servo motor...) When machine 303 starts, it drives the threaded screw 304 to rotate synchronously, which in turn drives the threaded movable bar 305 to move smoothly along the screw axis. The movable bar 305 drives the auxiliary movable frame 306 to slide directionally along the outer surface of the fixed limit frame 302, preventing deviation and jamming during movement. The auxiliary movable frame 306 drives the upper grid limit frame 307 to move precisely above the cleaning station along the sinking limit groove 301 at the upper end of the treatment tank 1. The entire movement is completely limited above the two tank bodies of the treatment tank 1, with no exposed displacement throughout the entire process, realizing the automatic flow of the grinding and cleaning stations. Switching, the clean water in the water storage tank 611 is released quantitatively through the CNC drain valve 612 and sprayed out from the spray plate 613 to thoroughly rinse the surface of the irregular part, removing residual debris. After rinsing, the hot air blower 610 on the lower side of the support frame 5 is started, outputting constant temperature hot air to quickly dry the surface of the irregular part, avoiding residual water stains on the surface from affecting subsequent spraying processes. The drain valve 601 on the lower right side of the front side of the treatment tank 1 can be opened periodically to discharge the wastewater accumulated in the cleaning station into the device, completing the cleaning and maintenance of the tank. At the same time, the grid limit frame 307 is reset to the grinding station.

[0021] The embodiments of the present invention are given for illustrative and descriptive purposes only, and are not intended to be exhaustive or to limit the invention to the forms disclosed. Many modifications and variations will be apparent to those skilled in the art. The embodiments were chosen and described in order to better illustrate the principles and practical application of the invention, and to enable those skilled in the art to understand the invention and to design various embodiments with various modifications suitable for a particular purpose.

Claims

1. A post-processing technology for vacuum forming of irregularly shaped robot shell parts, wherein a dedicated post-processing device is used to complete the shaping, deburring, and cleaning of the irregularly shaped parts after vacuum forming, the dedicated post-processing device comprising a processing tank (1) and a movable component (3), characterized in that: The processing tank (1) is an integrally formed structure, and a partition plate (2) is provided in the middle of the processing tank (1). The processing tank (1) is divided into two tanks, left and right, by the partition plate (2). The movable component (3) is provided on the surface of the processing tank (1), and the movable component (3) includes a sinking limiting groove (301), a fixed limiting frame (302), a servo motor (303), a threaded screw (304), a movable bar (305), an auxiliary movable frame (306), a grid limiting frame (307), and a fixed... The components include a vertical plate (308), an electric push rod (309), and a limiting clamping plate (310). The sinking limiting groove (301) is opened on the upper surface of the inner surface of the processing groove (1), and a fixed limiting frame (302) is installed on the upper inner side of the processing groove (1). The fixed limiting frame (302) is positioned lower than the sinking limiting groove (301), and a servo motor (303) is provided on the left side of the fixed limiting frame (302). The output end of the servo motor (303) is connected to a threaded screw (304) through a coupling.

2. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 1, characterized in that, The threaded screw (304) has a threaded connection to a movable bar (305) on its outer surface, and an auxiliary movable frame (306) is installed on the outer side of the movable bar (305). The inner surface of the auxiliary movable frame (306) is slidably connected to the outer surface of the fixed limiting frame (302).

3. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 1, characterized in that, The upper surface of the auxiliary active frame (306) is equipped with a grid limiting frame (307), and fixed plates (308) are installed on the front and rear sides of the upper surface of the grid limiting frame (307). An electric push rod (309) is provided on the outer surface of the fixed plate (308), and a limiting clamping plate (310) is installed on the inner end of the electric push rod (309).

4. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 1, characterized in that, A fixing frame (4) is installed on the left side of the upper surface of the processing tank (1), and a support frame (5) is provided on the right side of the upper surface of the processing tank (1). A processing component (6) for deburring is provided on the surface of the processing tank (1).

5. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 4, characterized in that, The processing component (6) includes a drain valve (601), a high-pressure exhaust fan (602), a limiting support bar (603), a waste interception basket (604), and an auxiliary handle (605). The drain valve (601) is located on the lower right side of the front side of the processing tank (1), and the high-pressure exhaust fan (602) is installed on the lower left side of the processing tank (1).

6. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 1, characterized in that, Limiting support bars (603) are installed on the lower ends of both sides of the left side of the processing tank (1), and a waste interception basket (604) is slidably connected to the upper surface of the limiting support bar (603). The outer side of the waste interception basket (604) is slidably connected to the left front end of the processing tank (1), and an auxiliary handle (605) is installed on the front side of the waste interception basket (604).

7. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 5, characterized in that, The processing component (6) also includes a stepper motor (606), a robotic arm (607), a high-speed motor (608), a sander (609), a hot air blower (610), a water tank (611), a CNC drain valve (612), and a spray plate (613). The stepper motor (606) is mounted on the upper surface of the fixed frame (4). The output end of the stepper motor (606) is connected to the robotic arm (607) via a coupling. The lower end of the robotic arm (607) is mounted with a high-speed motor (608). The output end of the high-speed motor (608) is connected to the sander (609) via a coupling. A laser contour sensor is integrated on the lower side of the robotic arm (607).

8. The post-processing technology for vacuum forming of irregularly shaped robot shell parts according to claim 4, characterized in that, A hot air blower (610) is provided on the lower side of the upright plate of the support frame (5), and a water storage tank (611) is installed on the upper surface of the support frame (5). A sealed water inlet is provided on the upper side of the water storage tank (611), and a numerically controlled drain valve (612) is installed on the lower side of the water storage tank (611). A spray plate (613) is provided on the lower side of the numerically controlled drain valve (612).

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