Workpiece automatic polishing detection equipment based on industrial robot

Abstract

The utility model relates to the technical field of workpiece polishing equipment, and discloses automatic workpiece polishing detection equipment based on industrial robots, which comprises a base, and a feeding conveyor belt, a first industrial robot body, a second industrial robot body, a third industrial robot body and a support are respectively arranged at the top end of the base. A telescopic air cylinder is embedded in the top end of the support, a lifting plate is arranged at the telescopic end of the telescopic air cylinder, and sliding bases are arranged on the two sides of the bottom end of the lifting plate. The lifting plate, the two sliding seats and the two check blocks are pushed to move upwards through the telescopic air cylinder, the two check blocks push the two rotating discs, the two transmission rods and the two mounting discs upwards through the balls, the two mounting discs drive the coarse grinding disc and the fine grinding disc to move upwards, the tin point grinding height of the coarse grinding disc and the fine grinding disc is increased, and the tin point grinding efficiency is improved. And the tin points on the multi-layer PCBs with different thicknesses can be conveniently polished, and the practicability is enhanced.

Description

Technical Field

[0001] The utility model relates to the technical field of workpiece grinding equipment, in particular to an automatic workpiece grinding and detection equipment based on an industrial robot. Background Art

[0002] PCB (Printed Circuit Board), Chinese name for printed circuit board, is an important electronic component and a carrier for electrical connection of electronic components. During the processing of PCB boards, soldering is required to connect the pins of electronic components. Soldering is a welding method that heats, melts, penetrates and fills the gaps between metal parts. The connection points formed by soldering are called tin points. Due to operation and other reasons, the tin points on the surface of PCB boards may have undesirable phenomena such as false soldering, solder wrapping and cold soldering, which reduces the qualified rate of PCB boards. The existing PCB board inspection generally involves brush cleaning after grinding the tin points and visual inspection of the tin points, which is inefficient.

[0003] Among them, the "tin point grinding quality inspection device for charger PCB board" disclosed in the application number "CN201720676893.0" "comprises a workbench, a test bench, an equipment box and a quality inspection shield. Vertical feeding conveyor belts are arranged on both sides of the workbench, and a horizontal feeding conveyor belt is arranged on the test bench. A grinding motor, a dust suction pump and a blower are fixedly arranged on the external upper surface of the equipment box. A coarse grinding disc, a front dust suction hood, a fine grinding disc and a rear dust suction hood are arranged at the bottom of the equipment box. A viewing window is arranged on the upper surface of the quality inspection shield, and a magnifying glass is embedded and fixed in the viewing window. A material taking port is arranged on one of the two vertical sides of the quality inspection shield, and fill lights are fixedly arranged on both sides of the magnifying glass on the internal top surface of the quality inspection shield. This kind of tin point grinding quality inspection device for charger PCB board is convenient for detection and repair welding, and improves the qualified rate of product production. Moreover, after each grinding, the metal powder is sucked away and removed by the dust suction device to prevent it from escaping, protect the working environment and human health, reduce labor intensity, and improve production efficiency."

[0004] However, the above method has the following defects: the positions of the coarse grinding disc, the fine grinding disc and the vertical feeding conveyor are fixed, so the height of the coarse grinding disc and the fine grinding disc for grinding the tin points cannot be adjusted, which is inconvenient to grind the tin points on multi-layer PCB boards of different thicknesses. Utility Model Content

[0005] The utility model aims to provide an automatic workpiece grinding and detection device based on an industrial robot, which has the effect of adjusting the height of the coarse grinding disc and the fine grinding disc for grinding tin points.

[0006] The above-mentioned technical purpose of the utility model is achieved through the following technical scheme: an automatic workpiece grinding and detection equipment based on an industrial robot, comprising a base, the top of the base is respectively provided with a feeding conveyor belt, a first industrial robot body, a second industrial robot body, a third industrial robot body and a bracket, a telescopic cylinder is embedded in the top of the bracket, the telescopic end of the telescopic cylinder is provided with a lifting plate, both sides of the bottom end of the lifting plate are provided with sliding seats, the inner walls of the two sliding seats are provided with grinding motors, the bottom ends of the two sliding seats are provided with blocks, the inner walls of the two blocks are rotatably connected to a turntable through balls, one end of the two turntables is provided with a transmission rod, one end of the two transmission rods is provided with an installation disk, one end of one of the installation disks is provided with a coarse grinding disk, and one end of the other installation disk is provided with a fine grinding disk, and the top of the base is respectively provided with two clamping assemblies and two chip removal assemblies.

[0007] The utility model is further configured as follows: the contact parts of the two transmission rods and the two blocks are rotatably connected via sealed bearings, two through holes are provided on the surface of the bracket, the inner walls of the two through holes are provided with guide tubes, and the inner walls of the two guide tubes are respectively slidably connected to the surfaces of the two slide seats.

[0008] The utility model is further configured as follows: a connecting seat is provided at the top of the feeding conveyor belt, a camera is provided on the inner wall of the top of the connecting seat, inclined blocks are provided on the inner wall of the front side and the inner wall of the back side of the connecting seat, and lighting lamps are provided on the surfaces of the two inclined blocks.

[0009] The utility model is further configured as follows: the two clamping assemblies each include an electric push rod and two infrared ranging sensors, the two electric push rods are each arranged on the back of the feeding conveyor belt, the telescopic ends of the two electric push rods are each provided with a push plate, the front sides of the two push plates are each provided with a connecting rod, one end of the two connecting rods is each provided with a guide seat, and the two infrared ranging sensors are each arranged at the top end of the feeding conveyor belt.

[0010] The utility model is further configured as follows: the inner walls of the two guide seats are rotatably connected to a bidirectional screw rod through a sealed bearing, the surfaces of the two bidirectional screw rods are threadedly connected to two clamping plates that slide with the inner walls of the guide seats through screw nuts, a buffer pad is provided on one side of the four clamping plates, and a clamping motor is embedded on one side of the two guide seats.

[0011] The utility model is further configured as follows: the two clamping motors are both forward and reverse motors, the transmission shafts of the two clamping motors are respectively connected to one end of two bidirectional screw rods, the surfaces of the two push plates are provided with sliding holes, and the inner walls of the two sliding holes are slidably connected to guide rods, and one end of the two guide rods is connected to the back of the feeding conveyor belt.

[0012] The utility model is further configured as follows: the two chip removal components each include a box body and a vacuum pump, the two box bodies and the two vacuum pumps are both arranged at the top of the base, an exhaust pipe is provided on one side of the two box bodies, one end of the two exhaust pipes are respectively connected to the exhaust ends of the two vacuum pumps, a chip suction pipe is provided on the top of the two box bodies, a chip suction hopper is provided at one end of the two chip suction pipes, a filter box is provided on the inner wall of the two box bodies, a sealing door is hinged on the front of the two box bodies, and a handle is provided on the front of the two sealing doors.

[0013] The utility model is further configured as follows: a raw material box, a finished product box and a recycling box are respectively slidably connected to the top of the base, a current collecting box is provided between the base and the bracket, a programmable controller and a wireless transmission module are respectively provided inside the current collecting box, and the first industrial robot body, the second industrial robot body, the third industrial robot body, the feeding conveyor belt, the telescopic cylinder, two grinding motors, a camera, two lighting lamps, two electric push rods, two infrared ranging sensors, two vacuum pumps and the wireless transmission module are all electrically connected to the programmable controller.

[0014] In summary, the utility model has the following beneficial effects:

[0015] The utility model pushes the lifting plate, two slide seats and two stoppers upwards through the telescopic cylinder, and the two stoppers push the two rotating disks, two transmission rods and two mounting disks upwards through the ball bearings, and the two mounting disks drive the coarse grinding disk and the fine grinding disk to move upwards, thereby raising the height of the coarse grinding disk and the fine grinding disk for grinding the tin points, making it convenient to grind the tin points on multi-layer PCB boards of different thicknesses, thereby enhancing practicality;

[0016] The utility model pushes the guide seat longitudinally by an electric push rod, a push plate and a connecting rod, so that the multi-layer PCB board is located between the two clamping plates. Then the clamping motor drives the bidirectional screw rod to rotate, and the bidirectional screw rod drives the two clamping plates and the buffer pad to move a certain distance, thereby clamping the multi-layer PCB board, avoiding the multi-layer PCB board from being offset during the subsequent grinding process, and improving the tin point grinding effect of the multi-layer PCB board. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the structure of the utility model;

[0018] Figure 2 For this utility model Figure 1 A schematic diagram of the enlarged structure at point A;

[0019] Figure 3 For this utility model Figure 1 A schematic diagram of the enlarged structure at B;

[0020] Figure 4 This is a schematic diagram of the back structure of the utility model;

[0021] Figure 5 For this utility model Figure 4 A schematic diagram of the enlarged structure at C;

[0022] Figure 6 It is a schematic diagram of the cross-sectional structure of the bracket of the utility model;

[0023] Figure 7 For this utility model Figure 6 A schematic diagram of the structure at D of FIG.

[0024] Figure 8 It is a schematic diagram of the cross-sectional structure of the chip removal component of the utility model.

[0025] In the figure: 1, base; 2, feeding conveyor belt; 3, first industrial robot body; 4, second industrial robot body; 5, third industrial robot body; 6, bracket; 7, clamping assembly; 71, electric push rod; 72, push plate; 73, connecting rod; 74, guide seat; 75, two-way screw rod; 76, clamping plate; 77, clamping motor; 78, infrared ranging sensor; 79, guide rod; 8, chip removal assembly; 81, box; 82, exhaust pipe; 83, vacuum pump; 84, Chip suction pipe; 85, chip suction bucket; 86, filter box; 87, sealing door; 9, through hole; 10, guide tube; 11, telescopic cylinder; 12, lifting plate; 13, slide seat; 14, grinding motor; 15, stopper; 16, turntable; 17, transmission rod; 18, mounting plate; 19, coarse grinding plate; 20, fine grinding plate; 21, connecting seat; 22, camera; 23, inclined block; 24, lighting lamp; 25, collector box; 26, raw material box; 27, finished product box; 28, recycling box. DETAILED DESCRIPTION

[0026] The present invention will be further described below with reference to the accompanying drawings in the embodiments of the present invention.

[0027] See also Figures 1 to 8In an embodiment of the utility model, an automatic workpiece grinding and detection device based on an industrial robot comprises a base 1, a feeding conveyor belt 2, a first industrial robot body 3, a second industrial robot body 4, a third industrial robot body 5 and a bracket 6 are fixedly disposed on the top of the base 1, a telescopic cylinder 11 is embedded on the top of the bracket 6, a lifting plate 12 is fixedly disposed on the telescopic end of the telescopic cylinder 11, slide seats 13 are fixedly disposed on both sides of the bottom end of the lifting plate 12, grinding motors 14 are fixedly disposed on the inner walls of the two slide seats 13, blocks 15 are fixedly disposed on the bottom ends of the two slide seats 13, the inner walls of the two blocks 15 are rotatably connected with a turntable 16 through a ball bearing, a transmission rod 17 is fixedly disposed on one end of the two turntables 16, a mounting plate 18 is fixedly disposed on one end of the two transmission rods 17, a coarse grinding plate 19 is fixedly disposed on one end of one of the mounting plates 18 A fine grinding disc 20 is fixedly arranged at one end of the other mounting disc 18, and two clamping assemblies 7 and two chip removal assemblies 8 are fixedly arranged at the top of the base 1 respectively. The telescopic cylinder 11 is started, and the telescopic end of the telescopic cylinder 11 is extended. The telescopic cylinder 11 pushes the lifting plate 12 and the two slides 13 to move upward, and the two slides 13 drive the two blocks 15 to move. The two blocks 15 push the turntable 16 upward through the ball bearings, and the two turntables 16 drive the two transmission rods 17 and the two mounting discs 18. The two mounting discs 18 drive the coarse grinding disc 19 and the fine grinding disc 20 to move upward, and the height of the tin spots on the multi-layer PCB board polished by the coarse grinding disc 19 and the fine grinding disc 20 is raised, so as to facilitate the polishing of the tin spots on the multi-layer PCB boards with different thicknesses, and enhance the practicality. The clamping assembly 7 clamps the multi-layer PCB board before polishing, so as to facilitate the coarse grinding disc 19 and the fine grinding disc 20 to polish the tin spots.

[0028] In this embodiment, preferably, the contact parts of the two transmission rods 17 and the two blocks 15 are rotatably connected through sealed bearings, and two through holes 9 are opened on the surface of the bracket 6. The inner walls of the two through holes 9 are fixed with guide tubes 10, and the inner walls of the two guide tubes 10 are respectively slidably connected with the surfaces of the two slide seats 13. The bracket 6 will guide the moving slide seat 13 through the guide tubes 10, and the ball will change the sliding friction into rolling friction, thereby reducing the useless work of the grinding motor 14, and support the transmission rod 17 through the support turntable 16 to reduce the axial load of the sealed bearing. The block 15 reduces the friction between itself and the transmission rod 17 through the sealed bearing, thereby reducing useless work.

[0029] In this embodiment, preferably, a connecting seat 21 is fixedly provided at the top of the feeding conveyor belt 2, a camera 22 is fixedly provided on the inner wall of the top of the connecting seat 21, an inclined block 23 is fixedly provided on the inner wall of the front and back sides of the connecting seat 21, and lighting lamps 24 are fixedly provided on the surfaces of the two inclined blocks 23. The feeding conveyor belt 2 transports the PCB board, and the lighting lamps 24 illuminate the PCB board passing through the connecting seat 21. The camera 22 collects image information and transmits it to the programmable controller, and the programmable controller transmits the data to the peripheral computer device through the wireless transmission module, evaluates the effect of tin point grinding through the image comparison program inside the computer device, and outputs the result values ​​in sequence. There are two types of result values, one represents qualified and the other represents unqualified and needs to be polished again. The result value is transmitted to the programmable controller through the wireless transmission module, and the programmable controller controls the second industrial robot body 4 according to the result value. The second industrial robot body 4 clamps the unqualified multi-layer PCB board from the feeding conveyor belt 2 and places it in the recycling box 28.

[0030] In this embodiment, preferably, the two clamping assemblies 7 each include an electric push rod 71 and two infrared distance measuring sensors 78, the two electric push rods 71 ​​are fixedly arranged on the back side of the feeding conveyor belt 2, the telescopic ends of the two electric push rods 71 ​​are fixedly provided with push plates 72, the front sides of the two push plates 72 are fixedly provided with connecting rods 73, one ends of the two connecting rods 73 are fixedly provided with guide seats 74, the two infrared distance measuring sensors 78 are fixedly arranged on the top end of the feeding conveyor belt 2, the inner walls of the two guide seats 74 are rotatably connected with bidirectional screw rods 75 through sealed bearings, the surfaces of the two bidirectional screw rods 75 are threadedly connected to two clamping plates 76 that slide with the inner walls of the guide seats 74 through screw nuts, one side of the four clamping plates 76 is fixedly provided with a buffer pad, one side of the two guide seats 74 is embedded with a clamping motor 77, when the multi-layer PCB board blocks the infrared distance measuring sensor 78, the infrared distance measuring sensor 78 transmits The value input to the programmable controller will jump to a preset range. At this time, the programmable controller will stop the feeding conveyor 2 and start the electric push rod 71. The telescopic end of the electric push rod 71 will shorten and push the guide seat 74 through the push plate 72 and the connecting rod 73, causing the guide seat 74 to move a certain distance in the direction close to the multi-layer PCB board, so that the multi-layer PCB board is located between the two clamping plates 76. Then the programmable controller will start the clamping motor 77, and the clamping motor 77 will drive the bidirectional screw rod 75 to rotate. The bidirectional screw rod 75 drives the two clamping plates 76 and the buffer pad to move a certain distance, thereby clamping the multi-layer PCB board to prevent the multi-layer PCB board from shifting during the subsequent grinding process. After the grinding is completed, the programmable controller will control the telescopic end of the electric push rod 71 to extend and the transmission shaft of the clamping motor 77 to rotate in the opposite direction until the clamping plate 76 returns to its original position and the operation of the feeding conveyor 2 is restored.

[0031] In this embodiment, preferably, the two clamping motors 77 are both forward and reverse motors, and the transmission shafts of the two clamping motors 77 are fixedly connected to one end of the two bidirectional screw rods 75 respectively. The surfaces of the two push plates 72 are provided with sliding holes, and the inner walls of the two sliding holes are slidably connected with guide rods 79. One ends of the two guide rods 79 are fixedly connected to the back side of the feeding conveyor belt 2. The guide rods 79 will guide the movement of the push plates 72 through the sliding holes, thereby reducing the radial load on the telescopic end of the electric push rod 71.

[0032] In this embodiment, preferably, the two chip removal components 8 each include a box body 81 and a vacuum pump 83, the two box bodies 81 and the two vacuum pumps 83 are fixedly arranged at the top of the base 1, one side of the two box bodies 81 is fixedly provided with an exhaust pipe 82, one end of the two exhaust pipes 82 is fixedly connected to the exhaust end of the two vacuum pumps 83, the top of the two box bodies 81 is fixedly provided with a chip suction pipe 84, one end of the two chip suction pipes 84 is fixedly provided with a chip suction bucket 85, the inner wall of the two box bodies 81 is fixedly provided with a filter box 86, and the front of the two box bodies 81 is A sealed door 87 is hinged, and handles are fixed on the front of the two sealed doors 87. Start the vacuum pump 83, and the vacuum pump 83 draws out the gas inside the box 81 through the exhaust pipe 82. Negative pressure is formed inside the box 81 and metal powder generated by grinding tin points is sucked in through the chip suction pipe 84 and the chip suction bucket 85 to achieve chip removal, which is convenient for image acquisition by the camera 22. The metal powder will be blocked by the filter box 86. When the filter box 86 needs to be cleaned, turn off the vacuum pump 83 and open the sealed door 87, take out the filter box 86 and dump it, which is very convenient.

[0033] In this embodiment, preferably, the top of the base 1 is respectively slidably connected with a raw material box 26, a finished product box 27 and a recycling box 28, a current collecting box 25 is fixedly provided between the base 1 and the bracket 6, and a programmable controller and a wireless transmission module are respectively fixedly provided inside the current collecting box 25, the first industrial robot body 3, the second industrial robot body 4, the third industrial robot body 5, the feeding conveyor belt 2, the telescopic cylinder 11, two grinding motors 14, the camera 22, two lighting lamps 24, two electric push rods 71, two infrared ranging sensors 78, two vacuum pumps 83 and the wireless transmission module are all electrically connected to the programmable controller, the raw material box 26 stores the multi-layer PCB board to be polished, the first industrial robot body 3 will put the multi-layer PCB board to be polished on the feeding conveyor belt 2 for transportation, and the third industrial robot body 5 will collect qualified multi-layer PCB boards from the feeding conveyor belt 2 and put them into the finished product box 27.

[0034] When in use, the telescopic cylinder 11 is started, the telescopic end of the telescopic cylinder 11 extends and pushes the lifting plate 12 and the two slides 13 to move upward, the two slides 13 drive the two blockers 15 to move, the two blockers 15 push the two turntables 16, the two transmission rods 17 and the two mounting plates 18 upward through the balls, the two mounting plates 18 drive the coarse grinding plate 19 and the fine grinding plate 20 to move upward, and the height of the coarse grinding plate 19 and the fine grinding plate 20 for grinding the tin points is raised, so that the tin points on the multi-layer PCB boards with different thicknesses can be polished conveniently, thereby enhancing the practicality;

[0035] Furthermore, before polishing the tin points, the programmable controller will stop the feeding conveyor belt 2, and the programmable controller will start the electric push rod 71. The telescopic end of the electric push rod 71 will be shortened and the guide seat 74 will be longitudinally pushed through the push plate 72 and the connecting rod 73, so that the guide seat 74 will move a certain distance in the direction close to the multi-layer PCB board, so that the multi-layer PCB board is located between the two clamping plates 76. Then the programmable controller will start the clamping motor 77, and the clamping motor 77 will drive the bidirectional screw rod 75 to rotate, and the bidirectional screw rod 75 will drive the two clamping plates 76 and the buffer pad to move a certain distance, thereby clamping the multi-layer PCB board, avoiding the multi-layer PCB board from being offset during the subsequent polishing process, and improving the tin point polishing effect of the multi-layer PCB board.

[0036] The above description is only a preferred embodiment of the present utility model, so all equivalent changes or modifications made according to the structure, features and principles described in the scope of the present utility model patent application are included in the scope of the present utility model patent application.

Claims

1. An automatic workpiece grinding and testing device based on an industrial robot, comprising a base (1), characterized in that: A feeding conveyor belt (2), a first industrial robot body (3), a second industrial robot body (4), a third industrial robot body (5) and a bracket (6) are respectively provided at the top of the base (1); a telescopic cylinder (11) is embedded at the top of the bracket (6); a lifting plate (12) is provided at the telescopic end of the telescopic cylinder (11); slide seats (13) are provided on both sides of the bottom end of the lifting plate (12); a grinding motor (14) is provided on the inner walls of the two slide seats (13); and the bottoms of the two slide seats (13) are provided with a plurality of grinding motors (14). A stopper (15) is provided at each end of the base (1), the inner walls of the two stoppers (15) are rotatably connected to a rotating disk (16) via a ball bearing, a transmission rod (17) is provided at one end of the two rotating disks (16), a mounting disk (18) is provided at one end of the two transmission rods (17), a coarse grinding disk (19) is provided at one end of one of the mounting disks (18), and a fine grinding disk (20) is provided at one end of the other mounting disk (18), and two clamping assemblies (7) and two chip removal assemblies (8) are provided at the top end of the base (1).

2. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 1 is characterized in that: The contact parts of the two transmission rods (17) and the two stoppers (15) are rotatably connected via sealed bearings. The surface of the bracket (6) is provided with two through holes (9). The inner walls of the two through holes (9) are provided with guide tubes (10). The inner walls of the two guide tubes (10) are respectively slidably connected to the surfaces of the two slide seats (13).

3. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 1 is characterized in that: A connecting seat (21) is provided at the top end of the feeding conveyor belt (2), a camera (22) is provided on the inner wall of the top end of the connecting seat (21), an inclined block (23) is provided on the inner wall of the front side and the inner wall of the back side of the connecting seat (21), and lighting lamps (24) are provided on the surfaces of the two inclined blocks (23).

4. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 3 is characterized in that: The two clamping assemblies (7) each comprise an electric push rod (71) and two infrared distance measuring sensors (78); the two electric push rods (71) are each arranged on the back side of the feeding conveyor belt (2); a push plate (72) is provided at the telescopic end of the two electric push rods (71); a connecting rod (73) is provided at the front side of the two push plates (72); a guide seat (74) is provided at one end of the two connecting rods (73); and the two infrared distance measuring sensors (78) are each arranged at the top end of the feeding conveyor belt (2).

5. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 4 is characterized in that: The inner walls of the two guide seats (74) are rotatably connected to a bidirectional screw rod (75) via a sealed bearing, and the surfaces of the two bidirectional screw rods (75) are threadedly connected to two clamping plates (76) that slide with the inner walls of the guide seats (74) via screw nuts, and a buffer pad is provided on one side of the four clamping plates (76), and a clamping motor (77) is embedded on one side of the two guide seats (74).

6. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 5 is characterized in that: The two clamping motors (77) are both forward and reverse motors, and the transmission shafts of the two clamping motors (77) are respectively connected to one end of two bidirectional screw rods (75), and the surfaces of the two push plates (72) are provided with sliding holes, and the inner walls of the two sliding holes are slidably connected to guide rods (79), and one end of the two guide rods (79) is connected to the back of the feeding conveyor belt (2).

7. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 5 is characterized in that: The two chip removal assemblies (8) each comprise a box body (81) and a vacuum pump (83); the two box bodies (81) and the two vacuum pumps (83) are both arranged at the top end of the base (1); one side of the two box bodies (81) is provided with an air suction pipe (82); one end of the two air suction pipes (82) is respectively connected to the air suction ends of the two vacuum pumps (83); the top end of the two box bodies (81) is provided with a chip suction pipe (84); one end of the two chip suction pipes (84) is provided with a chip suction bucket (85); the inner walls of the two box bodies (81) are provided with a filter box (86); the front sides of the two box bodies (81) are hinged with a sealing door (87); the front sides of the two sealing doors (87) are provided with a handle.

8. The automatic workpiece grinding and testing equipment based on an industrial robot according to claim 7 is characterized in that: The top of the base (1) is slidably connected to a raw material box (26), a finished product box (27) and a recycling box (28); a current collecting box (25) is provided between the base (1) and the bracket (6); a programmable controller and a wireless transmission module are provided inside the current collecting box (25); the first industrial robot body (3), the second industrial robot body (4), the third industrial robot body (5), the feeding conveyor belt (2), the telescopic cylinder (11), two grinding motors (14), a camera (22), two lighting lamps (24), two electric push rods (71), two infrared distance measuring sensors (78), two vacuum pumps (83) and the wireless transmission module are all electrically connected to the programmable controller.

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