Novel robot force-controlled process equipment for automatically polishing composite material products

Abstract

The utility model discloses a novel robot force control automatic polishing composite material product process device which comprises an electric control cabinet, a robot polishing assembly, a position changing machine, a rotary table assembly, a sand changing station and an overturning clamp assembly. The double-station positioner and the overturning clamp assembly are adopted, the angle change of the positioner is automatically controlled through touch screen setting and programs to be matched with linkage of a robot, the labor intensity of workers is reduced, the production efficiency is improved, and the production cost is reduced. Compared with the prior art, time waste caused by product clamping, product overturning and manual abrasive paper replacement is reduced, the constant-force grinding machine unit is adopted, the constant-force grinding machine can set needed pressure according to process requirements, the abrasive paper can be automatically replaced, then high-quality surface grinding is completed, and consistency of grinding quality is achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding process equipment, in particular to a novel robot force-controlled automatic grinding process equipment for composite material products. Background Art

[0002] During the production process of mechanical parts, in order to meet the surface cleanliness and surface roughness requirements, factories usually set up a polishing step in the production process of the products to ensure the surface cleanliness and surface roughness of the products.

[0003] Some products on the market need to be polished during the production process, and most of these products are polished manually with handheld grinders. Since all parts of the product need to be polished, the products have various specifications and shapes, and the product position and angle need to be changed during manual polishing. Manual polishing requires the handling of materials and the rotation of material angles, which is labor-intensive and has low work efficiency and low cost. In addition, improper operation of personnel or broken grinding wheels can easily cause mechanical damage to the human body, and the dust and noise pollution generated during the polishing process can easily damage human health. At the same time, the accuracy of manual polishing cannot be guaranteed. Due to the limitations of personnel's ability level, manual polishing cannot achieve uniform quality, there is a quality risk, and product quality cannot maintain consistency. For this reason, we propose a new type of robot force-controlled automatic polishing process equipment for composite materials. Utility Model Content

[0004] The main purpose of the utility model is to provide a new type of robot force-controlled automatic grinding process equipment for composite material products. The utility model adopts PLC control, the robot automatically grinds, and automatically replaces sandpaper, so that personnel can operate in a safe area without being exposed to dust and high noise environments. The utility model adopts a double-station positioner and a flip fixture assembly. Through the touch screen setting, the program automatically controls the angle change of the positioner to cooperate with the robot linkage, thereby reducing manual labor intensity and reducing time waste caused by clamping, flipping products, and manual replacement of sandpaper. The utility model adopts a constant force grinder unit. The constant force grinder can set the required pressure according to the process requirements and can automatically replace sandpaper, thereby completing high-quality surface grinding and achieving consistency in grinding quality, which can effectively solve the problems in the background technology.

[0005] In order to achieve the above purpose, the technical solution adopted by the utility model is:

[0006] A novel robot force-controlled automatic polishing process equipment for composite material products, comprising an electric control cabinet, a robot polishing assembly, a positioner, a turntable assembly, a sand changing station and a flip fixture assembly, wherein the surface of the turntable assembly is provided with a positioner for carrying a workpiece to rotate at various horizontal angles and to change positions at various flipping angles, the robot polishing assembly adsorbs sandpaper to perform polishing actions on the workpiece at the positioner, the sand changing station provides new sandpaper for replacement for the robot polishing assembly, the flip fixture assembly can cooperate with the positioner as an additional station for workpiece polishing and clamping to perform product clamping, fixing and position changing operations, and the electric control cabinet is used to provide stable power supply control for the electric drive structure of the robot polishing assembly, the positioner, the turntable assembly, the sand changing station and the flip fixture assembly.

[0007] The robot grinding assembly includes a frame A, a constant force grinding unit, a vacuum suction cup assembly and a robot. The robot is installed on the frame A, and the constant force grinding unit is installed on the end shaft of the robot. The vacuum suction cup assembly is installed on the other side of the end shaft of the robot away from the constant force grinding unit.

[0008] By adopting the above technical solution, the robot is installed on the frame A, and the constant force grinder unit is installed on the robot's terminal shaft. It is composed of a force control mechanism and a floating eccentric vibration sander. The force required for grinding can be controlled by the force control mechanism to meet different production needs. At the same time, a vacuum suction cup assembly is installed on the robot's terminal shaft to absorb new sandpaper for replacing sandpaper. This robot grinding assembly implements the grinding action. The robot performs grinding and replaces sandpaper after receiving the action command.

[0009] The positioner comprises a servo motor A, a reducer A, a horizontal rotation assembly, a flip assembly, a fixture, a cylinder A and a servo motor B. The horizontal angle driving ends and the flip angle driving ends of the horizontal rotation assembly are respectively connected to the servo motor A and the servo motor B with the reducer A, and the flip assembly is installed at the flip seat of the horizontal rotation assembly. The inner and outer surfaces of the flip assembly are respectively provided with a cylinder A and a fixture, and the driving end of the fixture is connected to the telescopic end of the cylinder A.

[0010] By adopting the above technical solution, the positioner is installed on the turntable assembly. The positioner consists of a servo motor A, a reducer A, a horizontal rotation assembly, a flip assembly, a fixture, a cylinder A and a servo motor B. Driven by the servo motor B, the horizontal rotation assembly and the flip assembly can carry the workpiece clamped by the fixture to complete horizontal rotation and flip angles, thereby adapting the robot's grinding to the appropriate grinding angle so that all surfaces of the product can be polished.

[0011] The turntable assembly includes a pedal assembly, a turntable, a product positioning assembly, a baffle, a safety guardrail and a dust baffle assembly. A dust baffle assembly is fixed to one side of the pedal assembly, and a turntable is mounted on the surface of the dust baffle assembly. A product positioning assembly is mounted on the surface of the dust baffle assembly between the turntable and the pedal assembly, and a baffle is mounted in the center of the turntable surface. A safety guardrail surrounding the turntable, the product positioning assembly and the baffle is mounted on the surface of the dust baffle assembly.

[0012] By adopting the above technical scheme, the turntable assembly is composed of a pedal assembly, a turntable, a product positioning assembly, a baffle, a safety guardrail and a dust baffle assembly. The turntable assembly is set as a double station. The product can be installed on the positioner of station one with the assistance of the product positioning assembly. Then the turntable rotates to transfer the product to the polishing area, and the robot performs the polishing process. At this time, station two is in the safe area to be polished. The production personnel can clamp new products at station two. After the product at station one is polished, the turntable rotates to transfer the polished product to the safe area to be polished, and the product at station two can be sent to the polishing area for polishing. In this way, the double station switching operation is completed, the waiting time for product clamping is reduced, and efficiency is improved. The baffle, safety guardrail and dust baffle assembly on the turntable can provide safety protection, isolate the polishing area from the area to be polished, prevent people from entering the robot's action range and being injured, and also isolate the dust generated by grinding from harming the operator.

[0013] Wherein, the horizontal rotation assembly is installed on the turntable surface between the product positioning assembly and the baffle;

[0014] By adopting the above technical solution, the positioner can be assembled at the turntable assembly.

[0015] The sand changing station includes a frame B, a waste sand box, an air nozzle, a sand changing port assembly, a micro switch and a sandpaper box. The waste sand box is slidably installed in the supporting seat surface in the frame B, and the air nozzle, the sand changing port assembly, the micro switch and the sandpaper box are installed on the top of the frame B above the waste sand box. The air nozzle and the sand changing port assembly are vertically connected with the box opening of the waste sand box at the top of the frame B;

[0016] By adopting the above technical solution, the sand changing station provides the robot with new sandpaper, as well as sandpaper blowing, waste sandpaper collection and other functions. The sand changing station, which is composed of a frame B, a waste sand box, an air nozzle, a sand changing port assembly, a micro switch and a sandpaper box, sets a program for setting the replacement time of the sandpaper service life according to the actual situation of the product, and performs automatic sand changing after the program setting time is reached.

[0017] The flip fixture assembly includes a flip bracket, a reducer B, a servo motor C, a spindle, a product fixture, a vacuum suction cup and a cylinder B. The frame box of the flip bracket is equipped with a spindle extending out of the box, and the outer shaft end of the spindle is equipped with a product fixture. The driving end of the spindle exposed from the flip bracket is connected with the output end of the servo motor C through the reducer B. The vacuum suction cup is installed on the inner long frame plate surface of the product fixture, and the cylinder B is installed on the arc plates at both ends of the product fixture.

[0018] By adopting the above technical solution, the flip fixture assembly is a component that is matched with the polishing operation of another specification product. Its function is consistent with that of the positioner, and it performs the clamping, fixing and positioning operations of the product. This component is mainly composed of a flip bracket, a reducer B, a servo motor C, a spindle, a product fixture, a vacuum suction cup and a cylinder B. The product can be fixed on the product fixture. The servo motor C drives the spindle to rotate with the reducer B to flip and position the product, providing a suitable position and angle for robot polishing, making it convenient for the robot to polish the product.

[0019] Compared with the prior art, the utility model has the following beneficial effects:

[0020] (1) The utility model adopts a robot to replace manual grinding. Personnel can operate in a safe area without being exposed to dust and high noise environments. A dustproof room can be set up to collect and discharge the dust generated during the grinding process into a centralized treatment system to reduce dust pollution. Personnel can work outside the dustproof room, which eliminates the risk of physical injury caused by grinding and ensures the safety of personnel in production.

[0021] (2) The utility model adopts PLC control, robot automatic grinding, automatic replacement of sandpaper, and a double-station positioner and flip fixture assembly. Through touch screen settings, the program automatically controls the angle change of the positioner to coordinate with the robot, thereby reducing manual labor intensity and time waste caused by clamping, flipping products, and manual replacement of sandpaper. The output is greatly increased in the same time, improving efficiency and reducing costs.

[0022] (3) The utility model adopts a constant force grinding machine unit, which can set the required pressure according to the process requirements and can automatically replace the sandpaper, thereby completing high-quality surface grinding and achieving quality consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a schematic diagram of the overall structure of a new type of robot force-controlled automatic grinding process equipment for composite material products in the utility model.

[0024] Figure 2 This is a schematic diagram of the structure of a robot grinding component of a new type of robot force-controlled automatic grinding process equipment for composite material products in the utility model.

[0025] Figure 3 The utility model is a schematic diagram of the positioner structure of a new type of robot force-controlled automatic grinding process equipment for composite material products.

[0026] Figure 4 This is a schematic diagram of the structure of a turntable component of a new type of robot force-controlled automatic grinding process equipment for composite material products in the utility model.

[0027] Figure 5 This is a structural schematic diagram of a sand changing station of a new type of robot force-controlled automatic grinding process equipment for composite material products in the utility model.

[0028] In the figure: 1. Electric control cabinet; 2. Robot grinding assembly; 201. Frame A; 202. Constant force grinding unit; 203. Vacuum suction cup assembly; 204. Robot; 3. Positioner; 301. Servo motor A; 302. Reducer A; 303. Horizontal rotation assembly; 304. Flip assembly; 305. Fixture; 306. Cylinder A; 307. Servo motor B; 4. Turntable assembly; 401. Pedal assembly; 402. Turntable; 403. Product positioning Assembly; 404, baffle; 405, safety guardrail; 406, dust baffle assembly; 5, sand changing station; 501, frame B; 502, waste sand box; 503, air nozzle; 504, sand changing port assembly; 505, micro switch; 506, sandpaper box; 6, flip fixture assembly; 601, flip bracket; 602, reducer B; 603, servo motor C; 604, spindle; 605, product fixture; 606, vacuum suction cup; 607, cylinder B. DETAILED DESCRIPTION

[0029] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further described below in conjunction with specific implementation methods.

[0030] like Figure 1-5 As shown, a new type of robot force-controlled automatic grinding process equipment for composite material products includes an electric control cabinet 1, a robot grinding component 2, a positioner 3, a turntable component 4, a sand changing station 5 and a flip fixture component 6. The surface of the turntable component 4 is equipped with a positioner 3 for carrying the workpiece to rotate horizontally at various angles and to change the position at various flipping angles. The robot grinding component 2 absorbs sandpaper to perform grinding actions on the workpiece at the positioner 3. The sand changing station 5 provides new sandpaper for replacement for the robot grinding component 2. The flip fixture component 6 can cooperate with the positioner 3 as an additional station for workpiece grinding and clamping to clamp and fix the product and change the position. The electric control cabinet 1 is used to provide stable power supply control for the electric drive structure of the robot grinding component 2, the positioner 3, the turntable component 4, the sand changing station 5 and the flip fixture component 6.

[0031] The robot grinding assembly 2 includes a frame A201, a constant force grinding unit 202, a vacuum suction cup assembly 203 and a robot 204. The robot 204 is installed on the frame A201, and the constant force grinding unit 202 is installed on the end shaft of the robot 204. The vacuum suction cup assembly 203 is installed on the other side of the end shaft of the robot 204 away from the constant force grinding unit 202.

[0032] By adopting the above technical solution, the robot 204 is installed on the frame A201, and the constant force grinder unit 202 is installed on the end shaft of the robot 204. It is composed of a force control mechanism and a floating eccentric vibration sander. The force required for grinding can be controlled by the control of the force control mechanism to meet different production needs. At the same time, a vacuum suction cup assembly 203 is installed on the end shaft of the robot 204 to absorb new sandpaper for replacing sandpaper. This robot grinding assembly 2 implements the grinding action. The robot 204 performs grinding and replaces sandpaper after receiving the action command.

[0033] The positioner 3 includes a servo motor A301, a reducer A302, a horizontal rotation component 303, a flip component 304, a fixture 305, a cylinder A306 and a servo motor B307. The horizontal angle driving ends and the flip angle driving ends of the horizontal rotation component 303 are respectively connected to the servo motor A301 and the servo motor B307 with the reducer A302, and the flip component 304 is installed at the flip seat of the horizontal rotation component 303. The inner and outer surfaces of the flip component 304 are respectively provided with a cylinder A306 and a fixture 305, and the driving end of the fixture 305 is connected to the telescopic end of the cylinder A306.

[0034] By adopting the above technical solution, the positioner 3 is installed on the turntable assembly 4. The positioner 3 is composed of a servo motor A301, a reducer A302, a horizontal rotation assembly 303, a flip assembly 304, a clamp 305, a cylinder A306 and a servo motor B307. Under the drive of the servo motor B307, the horizontal rotation assembly 303 and the flip assembly 304 can carry the workpiece clamped by the clamp 305 to complete horizontal rotation and flipping angles, thereby adapting the robot 204 to the appropriate polishing angle so that all surfaces of the product can be polished.

[0035] The turntable assembly 4 includes a pedal assembly 401, a turntable 402, a product positioning assembly 403, a baffle 404, a safety guardrail 405 and a dust baffle assembly 406. A dust baffle assembly 406 is fixed to one side of the pedal assembly 401, and the turntable 402 is installed on the surface of the dust baffle assembly 406. The product positioning assembly 403 is installed on the surface of the dust baffle assembly 406 between the turntable 402 and the pedal assembly 401, and the baffle 404 is installed in the center of the surface of the turntable 402. The safety guardrail 405 that covers the turntable 402, the product positioning assembly 403 and the baffle 404 is installed on the surface of the dust baffle assembly 406.

[0036] By adopting the above technical solution, the turntable assembly 4 is composed of a pedal assembly 401, a turntable 402, a product positioning assembly 403, a baffle 404, a safety guardrail 405 and a dust baffle assembly 406. The turntable assembly 4 is set as a double station. The product can be installed on the positioner 3 of station one with the assistance of the product positioning assembly 403, and then the turntable 402 rotates to transfer the product to the polishing area, and the robot 204 performs the polishing process. At this time, station two is in the safe area to be polished, and the production personnel can clamp new products at station two, waiting for station After the polishing of product one is completed, the turntable 402 rotates to transfer the polished product to the safe area to be polished, and the product of station two can be sent to the polishing area for polishing operation. This cycle completes the double-station switching operation, reduces the waiting time for product clamping and improves efficiency. The baffle 404, safety guardrail 405, and dust baffle assembly 406 on the turntable 402 can provide safety protection, isolating the polishing area from the area to be polished, preventing people from entering the action range of the robot 204 and being injured, and also isolating the dust generated by polishing from harming the operator.

[0037] Wherein, the horizontal rotation component 303 is installed on the surface of the turntable 402 between the product positioning component 403 and the baffle 404;

[0038] By adopting the above technical solution, the positioner 3 can be assembled at the turntable assembly 4 .

[0039] The sand changing station 5 includes a frame B501, a waste sand box 502, an air nozzle 503, a sand changing port assembly 504, a micro switch 505 and a sandpaper box 506. The waste sand box 502 is slidably installed in the supporting seat surface in the frame B501, and the air nozzle 503, the sand changing port assembly 504, the micro switch 505 and the sandpaper box 506 are installed on the top of the frame B501 above the waste sand box 502. The air nozzle 503 and the sand changing port assembly 504 are vertically connected with the box opening of the waste sand box 502 at the top of the frame B501;

[0040] By adopting the above technical solution, the sand changing station 5 provides the robot 204 with new sandpaper, as well as functions such as sandpaper blowing and collecting waste sandpaper. The sand changing station 5, which is composed of a frame B501, a waste sand box 502, an air nozzle 503, a sand changing port assembly 504, a micro switch 505 and a sandpaper box 506, is provided with a program for setting the replacement time of the sandpaper according to the actual situation of the product, and automatically performs the sand changing action after the time set by the program is reached.

[0041] The flip fixture assembly 6 includes a flip bracket 601, a reducer B602, a servo motor C603, a spindle 604, a product fixture 605, a vacuum suction cup 606 and a cylinder B607. The spindle 604 extending out of the box is installed at the frame box of the flip bracket 601, and the product fixture 605 is installed at the outer shaft end of the spindle 604. The driving end of the spindle 604 exposed from the flip bracket 601 is connected to the output end of the servo motor C603 through the reducer B602. The vacuum suction cup 606 is installed on the inner long frame plate surface of the product fixture 605, and the cylinder B607 is installed at the arc plates at both ends of the product fixture 605.

[0042] By adopting the above technical solution, the flipping fixture assembly 6 is a component matching the polishing operation of another specification product. Its function is consistent with the positioner 3, and it performs the clamping, fixing and position shifting operations of the product. This assembly is mainly composed of a flipping bracket 601, a reducer B602, a servo motor C603, a spindle 604, a product fixture 605, a vacuum suction cup 606 and a cylinder B607. The product can be fixed on the product fixture 605. The servo motor C603 drives the spindle 604 to rotate with the reducer B602 to flip and position the product, providing a suitable position and angle for the robot 204 to polish the product, making it convenient for the robot 204 to polish the product.

[0043] It should be noted that the utility model is a new type of robot force-controlled automatic grinding composite material product process equipment. The utility model automatic grinding composite material product process equipment consists of a robot grinding component 2, a positioner 3, a turntable component 4, a sand changing station 5, a flip fixture 6 and an electric control cabinet 1. These equipment components refer to the attached manual Figure 1 After being combined in the corresponding positions, they can be installed and distributed on the ground of the grinding area in the workshop. During the production process, they can be linked and operated through the control of PLC to complete a series of actions such as grinding, product displacement, and sandpaper replacement. The following is a detailed description of each component;

[0044] The robot 204 is installed on the frame A201, and the constant force grinder unit 202 is installed on the end shaft of the robot 204. It is composed of a force control mechanism and a floating eccentric vibration sander. The force required for grinding can be controlled by the control of the force control mechanism to meet different production needs. At the same time, a vacuum suction cup assembly 203 is installed on the end shaft of the robot 204 to absorb new sandpaper for replacing sandpaper. This robot grinding assembly 2 implements the grinding action. The robot 204 performs grinding and sandpaper replacement after receiving the action command;

[0045] The positioner 3 is installed on the turntable assembly 4. The positioner 3 is composed of a servo motor A301, a reducer A302, a horizontal rotation assembly 303, a flip assembly 304, a fixture 305, a cylinder A306 and a servo motor B307. Under the driving operation of the servo motor B307, the horizontal rotation assembly 303 and the flip assembly 304 can carry the workpiece clamped by the fixture 305 to complete the horizontal rotation and flip angles, thereby adapting the robot 204 to the appropriate grinding angle, so that all surfaces of the product can be polished;

[0046] The turntable assembly 4 is composed of a pedal assembly 401, a turntable 402, a product positioning assembly 403, a baffle 404, a safety guardrail 405 and a dust baffle assembly 406. The turntable assembly 4 is set as a double station. The product can be installed on the positioner 3 of the station one with the assistance of the product positioning assembly 403, and then the turntable 402 rotates to transfer the product to the polishing area, and the robot 204 performs the polishing process. At this time, the station two is in the safety area to be polished. The production personnel can clamp new products at the station two, and the products waiting for the polishing of the station one are After grinding is completed, the turntable 402 rotates to transfer the polished product to the safe area to be polished, and the product of the second station can be sent to the polishing area for polishing operation. This cycle completes the double-station switching operation, reduces the waiting time for product clamping and improves efficiency. The baffle 404, safety guardrail 405, and dust baffle assembly 406 on the turntable 402 can provide safety protection, isolating the polishing area from the area to be polished, preventing personnel from entering the action range of the robot 204 and being injured, and also isolating the dust generated by grinding from harming the operator;

[0047] The sand changing station 5 provides new sandpaper for the robot 204, as well as functions such as sandpaper blowing and collecting waste sandpaper. The sand changing station 5 is composed of a frame B501, a waste sand box 502, an air nozzle 503, a sand changing port assembly 504, a micro switch 505 and a sandpaper box 506. The sandpaper service life is set according to the actual product conditions. The program sets the replacement time, and the automatic sand changing action is performed after the program setting time is reached.

[0048] The sand replacement process is as follows:

[0049] The robot 204 moves to the blowing port of the air nozzle 503, starts the blowing valve of the air nozzle 503, and blows away the dust from the sandpaper on the grinding disc of the constant force grinding machine unit 202.

[0050] The robot 204 moves the grinding disc to the vacuum suction cup 606 to perform the sand suction action, and the vacuum suction cup 606 removes the sandpaper.

[0051] The air outlet on the robot 204 blows the old sandpaper to the sand changing port assembly 504 and the old sandpaper is collected in the waste sand box 502 in the sand changing station 5.

[0052] The robot 204 moves the grinding disc to the vacuum suction cup 606 again to perform vacuum suction, and cooperates with the set pressure sensor to determine whether there is sandpaper on the sand disc. The pressure value set by the pressure sensor is about -50KPa (the pressure value varies according to the sandpaper and the on-site working conditions). If the actual value is detected to be insufficient, it is determined that the sandpaper has not been torn off. The sandpaper tearing action is repeated. The judgment value is OK after tearing off.

[0053] The robot 204 moves the sand tray to the sand cylinder of the corresponding sand paper box 506, sucks up new sand paper, and moves it to the set position (circled position) to press and stick the sand paper tightly.

[0054] The robot 204 moves the sand tray to the vacuum suction cup 606, repeatedly sucks sand to determine whether sandpaper is attached, and absorbs the multi-layered paper that may be attached.

[0055] The robot 204 blows air again from the blowing port;

[0056] The flip fixture assembly 6 is a component that is matched with the polishing operation of another specification product. Its function is the same as that of the positioner 3, and it performs the clamping, fixing and position shifting operations of the product. This assembly is mainly composed of a flip bracket 601, a reducer B602, a servo motor C603, a spindle 604, a product fixture 605, a vacuum suction cup 606 and a cylinder B607. The product can be fixed on the product fixture 605. The servo motor C603 drives the spindle 604 to rotate with the reducer B602 to flip and position the product, providing a suitable position and angle for the robot 204 to polish the product, so that the robot 204 can perform product polishing conveniently;

[0057] The electric control cabinet 1 of the utility model can be equipped with a PLC touch screen to perform program programming operations of the operating actions of each component of the utility model.

[0058] The functional flow of the technical solution of this utility model is as follows:

[0059] a. Power on each device at the electric control cabinet 1;

[0060] b. Set product information with PLC touch screen;

[0061] c. Clamp the product on the positioner 3;

[0062] d. The robot 204 performs an automatic polishing procedure;

[0063] e. When the product on the positioner 3 cannot be polished by one positioner angle, the positioner 3 performs a flipping and positioning action to transform the product to a corresponding angle, and the robot 204 performs polishing again;

[0064] f. When the sandpaper replacement time is reached, the robot 204 automatically performs the sand replacement action, completes the sandpaper replacement with the cooperation of the sand replacement station 5, and continues grinding;

[0065] g. After polishing is completed, the staff will remove the product.

[0066] It should be noted that the utility model is a new type of robot force-controlled automatic grinding process equipment for composite material products. The components in the utility model are all components known to technical personnel in the field, and their structures and principles can be known to technical personnel in the field through technical manuals or through conventional experimental methods.

[0067] The above shows and describes the basic principle and main features of the utility model and the advantages of the utility model. Those skilled in the art should understand that the utility model is not limited by the above embodiments. The above embodiments and descriptions are only for explaining the principle of the utility model. Without departing from the spirit and scope of the utility model, the utility model may have various changes and improvements, which fall within the scope of the utility model to be protected. The scope of protection claimed by the utility model is defined by the attached claims and their equivalents.

Claims

1. A new type of robot force-controlled automatic grinding process equipment for composite materials, characterized by: The invention comprises an electric control cabinet (1), a robot polishing assembly (2), a positioner (3), a turntable assembly (4), a sand changing station (5) and a flip fixture assembly (6); the surface of the turntable assembly (4) is provided with a positioner (3) for carrying a workpiece to rotate at various horizontal angles and to change positions at various flip angles; the robot polishing assembly (2) absorbs sandpaper to perform a polishing action on the workpiece at the positioner (3); the sand changing station (5) provides new sandpaper for the robot polishing assembly (2) for replacement; the flip fixture assembly (6) can cooperate with the positioner (3) as an additional workstation for workpiece polishing and clamping to perform product clamping and position changing operations; the electric control cabinet (1) is used to provide stable power supply control for the electric drive structure of the robot polishing assembly (2), the positioner (3), the turntable assembly (4), the sand changing station (5) and the flip fixture assembly (6).

2. According to claim 1, a new type of robot force-controlled automatic grinding process equipment for composite material products is characterized by: The robot grinding assembly (2) comprises a frame A (201), a constant force grinding unit (202), a vacuum suction cup assembly (203) and a robot (204); the robot (204) is installed above the frame A (201), and the constant force grinding unit (202) is installed on the end shaft of the robot (204); the vacuum suction cup assembly (203) is installed on the other side of the end shaft of the robot (204) away from the constant force grinding unit (202).

3. According to claim 1, a new type of robot force-controlled automatic grinding process equipment for composite material products is characterized by: The positioner (3) comprises a servo motor A (301), a reducer A (302), a horizontal rotation component (303), a flip component (304), a fixture (305), a cylinder A (306) and a servo motor B (307); the horizontal angle driving ends and the flip angle driving ends of the horizontal rotation component (303) are respectively connected to the servo motor A (301) and the servo motor B (307) by the reducer A (302); the flip component (304) is installed at the flip seat of the horizontal rotation component (303); the cylinder A (306) and the fixture (305) are respectively arranged on the inner and outer surfaces of the flip component (304); and the driving end of the fixture (305) is connected to the telescopic end of the cylinder A (306).

4. According to claim 1, a new type of robot force-controlled automatic grinding process equipment for composite material products is characterized by: The turntable assembly (4) comprises a pedal assembly (401), a turntable (402), a product positioning assembly (403), a baffle (404), a safety guardrail (405) and a dust baffle assembly (406); a dust baffle assembly (406) is fixed to one side of the pedal assembly (401), and the turntable (402) is mounted on the surface of the dust baffle assembly (406); the product positioning assembly (403) is mounted on the surface of the dust baffle assembly (406) between the turntable (402) and the pedal assembly (401), and the baffle (404) is mounted in the center of the surface of the turntable (402); and a safety guardrail (405) is mounted on the surface of the dust baffle assembly (406) to cover the turntable (402), the product positioning assembly (403) and the baffle (404).

5. According to claim 3, a new type of robot force-controlled automatic grinding process equipment for composite material products is characterized by: The horizontal rotating assembly (303) is installed on the surface of the turntable (402) between the product positioning assembly (403) and the baffle (404).

6. The novel robot force-controlled automatic grinding process equipment for composite material products according to claim 1 is characterized by: The sand changing station (5) comprises a frame B (501), a waste sand box (502), an air nozzle (503), a sand changing port assembly (504), a micro switch (505) and a sand paper box (506); the waste sand box (502) is slidably mounted in a supporting seat surface in the frame B (501); and the air nozzle (503), the sand changing port assembly (504), the micro switch (505) and the sand paper box (506) are mounted on the top of the frame B (501) above the waste sand box (502); the air nozzle (503) and the sand changing port assembly (504) are vertically connected to the box opening of the waste sand box (502) at the top of the frame B (501).

7. The novel robot force-controlled automatic grinding process equipment for composite material products according to claim 1 is characterized by: The flip fixture assembly (6) comprises a flip bracket (601), a speed reducer B (602), a servo motor C (603), a spindle (604), a product fixture (605), a vacuum suction cup (606) and a cylinder B (607). The spindle (604) extending out of the box is installed at the frame box of the flip bracket (601), and the product fixture (605) is installed at the outer shaft end of the spindle (604). The driving end of the spindle (604) exposed from the flip bracket (601) is connected to the output end of the servo motor C (603) through the speed reducer B (602). The vacuum suction cup (606) is installed at the inner long frame plate surface of the product fixture (605), and the cylinder B (607) is installed at the arc plates at both ends of the product fixture (605).

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