Polishing device

Abstract

The utility model relates to a grinding device which comprises a fixing tool, a mechanical arm, a grinding unit and a grinding head replacing unit. The polishing unit is driven by the mechanical arm to move, the polishing head makes contact with the to-be-polished area of the workpiece, the polishing head is driven by the main shaft to rotate, and automatic polishing of the workpiece is achieved. In the grinding process, the grinding force of the grinding head is controlled through the mechanical arm, the grinding quality and appearance consistency of each workpiece can be guaranteed, the possibility that the workpieces are over-ground and not ground in place is reduced, the overall quality of the workpieces is improved, and the reject ratio in the production process is reduced; and the grinding efficiency can be improved. And meanwhile, when the polishing effect is reduced due to long-time use of the polishing head, a new polishing head is replaced to the main shaft through a replacement clamping jaw on the polishing head replacement unit, manual replacement is not needed, the replacement time of the polishing head is further shortened, the overall polishing efficiency of the polishing device is improved, and the production period is shortened.

Description

Technical Field

[0001] The present application relates to the field of automation technology, and in particular to a grinding device. Background Art

[0002] Bone conduction headphones are widely welcomed in the market for their unique sound conduction method and comfortable wearing feeling. Traditional headphones produce sound by placing speakers in the ears, while bone conduction headphones transmit sound to the skull and cheek bones, and then to the inner ear, thus achieving a way of transmitting sound directly to the inner ear. This special sound conduction method makes bone conduction headphones have important application value in sports, hearing impairment and other aspects.

[0003] In the related art, bone conduction earphones are prepared by manual polishing, but manual polishing has the problems of low polishing efficiency and poor polishing quality. Utility Model Content

[0004] Based on this, it is necessary to provide a grinding device to address the problems of low efficiency and quality in existing grinding methods.

[0005] A grinding device, comprising:

[0006] Fixed fixture, used to fix the workpiece;

[0007] A mechanical arm, located on one side of the fixed tooling;

[0008] A grinding unit connected to the robot arm; the grinding unit comprises a main shaft and a grinding head connected to the main shaft, and the grinding head can rotate synchronously with the main shaft;

[0009] A grinding head replacement unit is located at one side of the grinding unit; the grinding head replacement unit comprises a replacement clamp, and the replacement clamp is used to clamp the grinding head and connect the grinding head to the main shaft.

[0010] In one of the embodiments, the grinding head replacement unit further includes a material preparation table spaced apart from the replacement clamp, the material preparation table being used to place at least one grinding head; the replacement clamp is capable of clamping the grinding head located on the material preparation table.

[0011] In one of the embodiments, the spindle is provided with a suction nozzle, and the suction nozzle is capable of sucking or releasing the grinding head.

[0012] In one of the embodiments, the grinding device further comprises a rotating table, and the fixed tool is connected to the rotating table; the rotating table is configured to be operably rotated so that the fixed tool is switched between a material unloading position and a grinding position.

[0013] In one embodiment, the rotating table is used to place a plurality of the workpieces;

[0014] The grinding unit further comprises a transfer clamping jaw spaced apart from the main shaft; the transfer clamping jaw is used for clamping the workpiece on the rotating table and transferring the workpiece to the fixed tooling.

[0015] In one of the embodiments, the grinding unit further includes a dust hood, the opening of which faces the grinding head; and the dust hood is used to absorb dust.

[0016] In one of the embodiments, the polishing unit further includes a dust suction pipe connected to the dust suction hood, and the dust suction pipe is used to be connected to the negative pressure generating member.

[0017] In one of the embodiments, the polishing device further comprises a dust collector located at one side of the polishing unit, wherein the dust collector is connected to the dust suction pipe; and the negative pressure generating element is disposed in the dust collector.

[0018] In one of the embodiments, the robotic arm is provided with a force sensing module, and the force sensing module is used to obtain the grinding force applied to the workpiece.

[0019] In one of the embodiments, the grinding device further includes a detection module that is communicatively connected to the robotic arm, and the detection module is used to obtain a deformation amount of the workpiece surface so as to adjust the grinding force applied to the workpiece through the robotic arm.

[0020] The above-mentioned grinding device drives the grinding unit to move through the mechanical arm, so that the grinding head contacts the area to be ground of the workpiece, and drives the grinding head to rotate through the main shaft to realize automatic grinding of the workpiece. During the grinding process, the grinding force of the grinding head is controlled by the mechanical arm, which can not only ensure the consistency of the grinding quality and appearance of each workpiece, reduce the possibility of over-grinding and under-grinding of the workpiece, improve the overall quality of the workpiece, and reduce the defective rate in the production process; but also improve the grinding efficiency. At the same time, when the grinding effect of the grinding head decreases due to long-term use, the new grinding head can be replaced on the main shaft through the replacement clamp on the grinding head replacement unit without manual replacement, which further shortens the replacement time of the grinding head, improves the overall grinding efficiency of the grinding device, and shortens the production cycle. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] FIG1 is a schematic diagram of a grinding device provided by an embodiment of the present application at a first viewing angle.

[0022] FIG. 2 is a schematic diagram of the grinding device shown in FIG. 1 at a second viewing angle.

[0023] FIG. 3 is a schematic diagram of the grinding device shown in FIG. 1 at a third viewing angle.

[0024] FIG. 4 is a schematic diagram of a grinding unit in the grinding device shown in FIG. 1 .

[0025] Figure numbers: 10, grinding device; 100, fixed tooling; 200, robotic arm; 300, grinding unit; 310, spindle; 320, grinding head; 330, transfer clamp; 340, transfer drive; 350, dust hood; 360, dust bracket; 370, connecting flange; 400, grinding head replacement unit; 410, replacement clamp; 420, material preparation table; 500, rotating table; 600, dust collector; 710, cantilever; 720, frame; 730, three-color light; 1000, workpiece. DETAILED DESCRIPTION

[0026] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0027] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0028] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0029] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0030] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0031] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0032] FIG. 1 is a top view of a grinding device provided in an embodiment of the present application, FIG. 2 is a front view of FIG. 1 , and FIG. 3 is a left view of FIG. 1 . 1 to 4 , a grinding device 10 provided in one embodiment of the present application includes a fixed tool 100, a robotic arm 200, a grinding unit 300 and a grinding head replacement unit 400; the fixed tool 100 is used to fix a workpiece 1000; the robotic arm 200 is located at one side of the fixed tool 100; the grinding unit 300 includes a spindle 310 and a grinding head 320 connected to the spindle 310, and the grinding head 320 can rotate synchronously with the spindle 310; the grinding unit 300 is connected to the robotic arm 200, and the robotic arm 200 is used to drive the grinding unit 300 to move so that the grinding head 320 contacts the workpiece 1000; the grinding head replacement unit 400 is located at one side of the grinding unit 300; the grinding head replacement unit 400 includes a replacement jaw 410, and the replacement jaw 410 is used to clamp the grinding head 320 and connect the grinding head 320 to the spindle 310.

[0033] The grinding device 10 drives the grinding unit 300 to move through the mechanical arm 200, so that the grinding head 320 contacts the area to be polished of the workpiece 1000, and drives the grinding head 320 to rotate through the spindle 310, so as to realize automatic grinding of the workpiece 1000. During the grinding process, the grinding force of the grinding head 320 is controlled by the mechanical arm 200, which can not only ensure the consistency of the grinding quality and appearance of each workpiece 1000, but also reduce the possibility of over-grinding and under-grinding of the workpiece, improve the overall quality of the workpiece, and reduce the defective rate in the production process; but also improve the grinding efficiency. At the same time, when the grinding head 320 has a reduced grinding effect due to long-term use, the new grinding head 320 is replaced on the spindle 310 through the replacement clamp 410 on the grinding head replacement unit 400, without manual replacement, further shortening the replacement time of the grinding head 320, improving the overall grinding efficiency of the grinding device 10, and shortening the production cycle. Among them, the workpiece to be polished can be a bone conduction headset, etc. The specific structure of the robot arm 200 can refer to the existing technology, such as a six-axis robot, etc., and will not be repeated here.

[0034] In one embodiment, the robot arm 200 is provided with a force sensing module (not shown), which is used to obtain the grinding force applied by the grinding head 320 to the workpiece 1000. By providing the force sensing module on the robot arm 200, the grinding force applied to the workpiece 1000 can be sensed in real time without an external force control device, thereby facilitating the adjustment of the grinding force, reducing the risk of over-grinding or under-grinding, and achieving higher-precision grinding control. The force sensing module can specifically be a force sensor, etc.

[0035] In one embodiment, the grinding device 10 further includes a detection module (not shown) that is communicatively connected to the robot arm 200. The detection module is used to obtain the deformation amount of the surface of the workpiece 1000 so as to adjust the grinding force applied to the workpiece 1000 through the robot arm 200. Take the workpiece 1000 as a bone conduction headset as an example. The bone conduction headset is made of rubber and has different surface shapes and geometric features. The shape and deformation amount of the surface of the bone conduction headset are obtained through the detection module, and the grinding force is obtained through the force sensing module and fed back to the robot arm 200. The robot arm 200 can adjust the position of the grinding head 320 in real time according to the algorithm, thereby changing the grinding path and grinding force, and realizing fine grinding without damaging the parent material. For example, when the deformation amount of the surface of the bone conduction headset has not reached the preset value, the current position continues to be polished. The detection module can be a visual sensor, etc.

[0036] In one embodiment, the grinding device 10 further includes a storage module such as a memory that is communicatively connected to the robot arm 200. The storage module can record various parameter data during the grinding process, such as core parameters such as grinding force, the posture of the grinding head 320, and the rotation speed of the spindle 310. These parameters can be used for subsequent quality analysis, process improvement, and quality traceability, helping to optimize the production process and improve the quality of workpieces.

[0037] In some embodiments, the fixed tool 100 may include a carrier (not shown) and a limiting member (not shown) connected to the peripheral side of the carrier, the carrier is used to support the workpiece 1000, and the limiting member can abut against the peripheral side of the workpiece 1000, thereby limiting the workpiece 1000. The carrier and the limiting member are used to enclose a containing space to prevent the workpiece 1000 from shifting during the grinding process. The limiting member can be a telescopic member such as a cylinder, so that the size of the enclosed containing space can be changed by the action of the cylinder, thereby adapting to workpieces 1000 of different sizes. In other embodiments, the workpiece 1000 can also be adsorbed and positioned by negative pressure adsorption to prevent it from shifting during the grinding process.

[0038] As shown in FIG. 4 , in one embodiment, the grinding unit 300 further includes a dust hood 350, the opening of which faces the grinding head 320; the dust hood 350 is used to absorb dust. The dust particles produced by grinding are adsorbed by the dust hood 350 to improve the cleanliness of the grinding environment; at the same time, the possibility of dust particles adhering to the area to be polished and affecting the grinding effect can be reduced. Specifically, the grinding unit 300 further includes a dust suction pipe connected to the dust hood 350, and the dust suction pipe is used to be connected to a negative pressure generating member. Negative pressure is generated at the dust hood 350 by the negative pressure generating member, so that dust particles are sucked away in time. Among them, a dust suction bracket 360 for fixing the dust suction pipe is also provided on the grinding unit 300, and a connecting flange 370 is also provided on the grinding unit 300, and the grinding unit 300 can be connected to the end of the robot arm 200 through the connecting flange 370.

[0039] As shown in Fig. 3 and Fig. 4, in one embodiment, the grinding device 10 further includes a dust collector 600 located on one side of the grinding unit 300, and a negative pressure generating component is disposed in the dust collector 600; the dust collector 600 is connected to a dust suction pipe. The dust collecting component can be a dust collector, and the negative pressure generating component can be a negative pressure motor, etc.

[0040] In one embodiment, the spindle 310 is provided with a suction nozzle (not shown), which is connected to a vacuum generator. The suction operation generates negative pressure at the suction nozzle, which can adsorb and fix the grinding head 320. The negative pressure environment disappears through the blowing operation, so that the worn grinding head 320 can be removed and replaced with a new one.

[0041] As shown in FIG. 2 , in one embodiment, the grinding head replacement unit 400 further includes a material preparation table 420 spaced apart from the replacement jaws 410, and the material preparation table 420 is used to place at least one grinding head 320. It can be understood that the replacement jaws 410 are connected to a driving member such as a cylinder. When the grinding head 320 needs to be replaced, the robot arm 200 drives the grinding unit 300 to move to the grinding head replacement unit 400. The replacement jaws 410 are driven to close by driving members such as cylinders, so that the grinding head 320 located on the material preparation table 420 can be clamped, and the grinding head 320 is moved to the spindle 310, and the grinding head 320 is connected to the spindle 310 through the adsorption effect of the spindle 310. After the installation is completed, the driving member drives the replacement jaws 410 to release the grinding head 320.

[0042] As shown in FIG3 , in one embodiment, the grinding device 10 further includes a rotating table 500, on which a material unloading position and a grinding position may be provided, and both the material unloading position and the grinding position are provided with a fixed tool 100. A driving member such as a motor may be connected to the bottom of the rotating table 500, and the rotating table 500 is driven by the motor to rotate, so that one of the fixed toolings 100 may be located below the grinding unit 300, so that the workpiece 1000 on the fixed tooling 100 can be subjected to a grinding operation. After the grinding is completed, the rotating table 500 rotates, so that the polished workpiece 1000 is transferred to the material unloading position, which is convenient for the material unloading operation. It can be understood that when the workpiece 1000 is subjected to a grinding operation at the grinding position, the workpiece 1000 that has been polished and is at the material unloading position can be subjected to a material unloading operation at the same time, without waiting, thereby improving the grinding efficiency.

[0043] As shown in FIG3 , in one embodiment, a plurality of workpieces 1000 are placed on the rotating table 500. The grinding unit 300 further includes a transfer drive 340 spaced apart from the main shaft 310 and a transfer clamp 330 connected to the transfer drive 340. The grinding unit 300 is driven by the robot 200 to move above the workpiece 1000, and the transfer drive 340 drives the transfer clamp 330 to close, so as to clamp one of the workpieces 1000 on the rotating table 500; the grinding unit 300 is moved by the robot 200, so that the workpiece 1000 can be transferred to the fixed tooling 100, so that the workpiece 1000 on the rotating table 500 can be loaded onto the fixed tooling 100, without manual loading, thereby improving the grinding efficiency.

[0044] As shown in FIG. 1 and FIG. 2 , in one embodiment, a cantilever 710 is further provided on the frame 720 of the grinding device 10, and a human-machine interface is connected to the cantilever 710 for realizing human-machine interaction, and the frame 720 can be made of aluminum profiles. Furthermore, a three-color light 730 is further provided on the frame 720, and the three-color light 730 transmits information through different colors, for example, red indicates stop or danger, yellow indicates attention or preparation, and green indicates safety or advance, thereby playing a visual warning role.

[0045] In the above-mentioned grinding device 10, taking the workpiece 1000 as a bone conduction earphone as an example, the operator can place the bone conduction earphones on the rotating table 500 in advance, and the operator completes the operation confirmation through the human-machine interface on the cantilever 710. The bone conduction earphones are rotated to the grinding position through the rotating table 500. The transfer driving member 340 on the grinding unit 300, such as a cylinder, drives the transfer clamp 330 to grab the bone conduction earphones and place them on the workpiece 1000 tooling.

[0046] After placement is completed, the main shaft 310 drives the grinding head 320 to rotate to grind the bone conduction earphone. During the grinding process, the shape and deformation of the surface of the bone conduction earphone are obtained through the detection module, and the grinding force is obtained through the force sensing module and fed back to the robot 200. The robot 200 can adjust the position of the grinding head 320 in real time according to the algorithm, thereby changing the grinding path and grinding force to achieve fine grinding without damaging the parent material. Without the need for an external force control device, the grinding force applied to the bone conduction earphone can be sensed and controlled in real time, achieving higher-precision grinding control.

[0047] When the grinding head 320 is worn, the grinding head replacement unit 400 automatically replaces the grinding head 320 without manual replacement, further shortening the replacement time of the grinding head 320. The dust generated by grinding is collected by the dust collector 600 through the dust hood 350 and the dust pipe. After grinding, the rotating table 500 rotates so that the bone conduction earphone is in the unloading position, and the operator completes the unloading operation.

[0048] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0049] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. A grinding device, characterized in that: The grinding device comprises: A fixing fixture (100) for fixing a workpiece (1000); A mechanical arm (200), located on one side of the fixed tooling (100); A grinding unit (300) connected to the robot arm (200); the grinding unit (300) comprises a main shaft (310) and a grinding head (320) connected to the main shaft (310), and the grinding head (320) can rotate synchronously with the main shaft (310); A grinding head replacement unit (400) is located at one side of the grinding unit (300); the grinding head replacement unit (400) comprises a replacement clamp (410), and the replacement clamp (410) is used to clamp the grinding head (320) and connect the grinding head (320) to the main shaft (310).

2. The grinding device according to claim 1, characterized in that: The grinding head replacement unit (400) further comprises a material preparation table (420) spaced apart from the replacement clamp (410), wherein the material preparation table (420) is used to place at least one grinding head (320); the replacement clamp (410) is capable of clamping the grinding head (320) located on the material preparation table (420).

3. The grinding device according to claim 1, characterized in that: The spindle (310) is provided with a suction nozzle, and the suction nozzle is capable of sucking or releasing the grinding head (320).

4. The grinding device according to claim 1, characterized in that: The grinding device further comprises a rotating table (500), to which the fixed tool (100) is connected; the rotating table (500) is configured to be operably rotated so as to switch the fixed tool (100) between a material unloading position and a grinding position.

5. The grinding device according to claim 4, characterized in that: The rotating table (500) is used to place a plurality of the workpieces (1000); The grinding unit (300) further comprises a transfer clamp (330) spaced apart from the main shaft (310); the transfer clamp (330) is used to clamp the workpiece (1000) on the rotating table (500) and transfer the workpiece (1000) to the fixed tool (100).

6. The grinding device according to claim 1, characterized in that: The grinding unit (300) further comprises a dust hood (350), wherein the opening of the dust hood (350) faces the grinding head (320); the dust hood (350) is used to absorb dust.

7. The grinding device according to claim 6, characterized in that: The polishing unit (300) further comprises a dust suction pipe connected to the dust suction cover (350), and the dust suction pipe is used to be connected to the negative pressure generating member.

8. The grinding device according to claim 7, characterized in that: The polishing device further comprises a dust collector (600) located at one side of the polishing unit (300), wherein the dust collector (600) is connected to the dust suction pipe; and the negative pressure generating element is arranged in the dust collector (600).

9. The grinding device according to claim 1, characterized in that: The mechanical arm (200) is provided with a force sensing module, and the force sensing module is used to obtain the grinding force applied to the workpiece (1000).

10. The grinding device according to claim 1, characterized in that: The grinding device further comprises a detection module which is communicatively connected to the mechanical arm (200), and the detection module is used to obtain the deformation amount of the surface of the workpiece (1000) so as to adjust the grinding force applied to the workpiece (1000) through the mechanical arm (200).

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