Floating flexible grinding device

Abstract

The utility model relates to a floating flexible polishing device which comprises a polishing unit, a pneumatic clamp unit and an overturning unit. The grinding unit comprises an industrial robot, a high-speed main shaft and a cutting tool; the industrial robot is arranged on the ground through a base; a high-speed main shaft is arranged at the end part of a mechanical arm of the industrial robot; a cutting tool is arranged at the end of the high-speed spindle. The grinding device is further provided with a cutting tool library. A fixing frame is arranged on the base and the side face of the polishing unit. A surrounding plate is arranged on the upper surface of the fixing frame in the circumferential direction. A thin plate is arranged at the bottom of the coaming to form a recovery tank; and a chip collecting pipe is arranged at one corner in the recovery tank. An overturning unit is arranged on the fixing frame; and a pneumatic clamp unit is rotationally arranged on the overturning unit. The device is high in production efficiency, stable and reliable, and has strong universality and universality.

Description

Technical Field

[0001] The utility model relates to the technical field of mechanical processing equipment, in particular to a floating flexible grinding device. Background Art

[0002] like Figure 3-5 As shown, commercial vehicle bracket products have complex shapes, many bosses and ribs with different angles, numerous positioning surfaces and mounting holes, and many edges where the processed surface and the blank surface meet. In the past, it was necessary to manually handle the edges one by one with handheld grinding tools. Not only was the work efficiency low and the noise high, but the processing surface would be touched if one was not careful, resulting in defective products. More importantly, the working environment was poor due to harmful factors such as noise and dust, and fewer and fewer people were engaged in such work. The above problems have been plaguing manufacturers and are imminent. Utility Model Content

[0003] The utility model mainly solves the technical problems of low manual operation efficiency in the prior art, and proposes a floating flexible grinding device to realize automatic deburring. Based on the industrial robot, a high-speed spindle with floating compensation function is installed at the front end thereof, and the flip device is driven by a servo reducer to cooperate with the industrial robot to realize deburring at various angles. At the same time, an automatic exchange tool library is set up next to the industrial robot to provide it with multiple types of low-noise deburring tools to meet the needs of deburring of different types and positions. Automatic blowing and dust suction cleaning functions are equipped near the bracket product to automatically and timely remove and recycle the waste chips and dust generated by deburring. In addition, a sound insulation device is configured in the entire unit to make the overall working environment meet the requirements of low noise, and a safety fence is also equipped. The whole process is automatically completed by the control system, and the loading and unloading of the bracket product is also completed by the loading and unloading industrial robots on the overall production line. No manual operation is required, and 24-hour uninterrupted operation can be achieved. The floating flexible grinding unit for commercial vehicle brackets developed this time has significantly improved the capabilities of automated deburring technology. It is a revolutionary technology that not only greatly shortens the production cycle, but also eliminates the need for manual deburring, is green and environmentally friendly, and can fundamentally solve the above-mentioned problems.

[0004] The utility model is a floating flexible grinding device, which is mainly composed of an industrial robot, a high-speed spindle with floating compensation function, a base, a fixed frame with automatic blowing and dust cleaning functions, a pneumatic clamp, a flip device driven by a servo reducer, an automatic exchange tool library, etc. The actions of each component are uniformly controlled by a control system, and the actions are smooth, stable and reliable. In addition, this unit is equipped with a protective cover, which covers the entire device, and the device works inside the protective cover. The protective cover adopts the form of an aluminum alloy frame and plexiglass, and has a sound insulation device to control the noise to less than 85 decibels. Since the grinding device developed this time is fully automatic, compared with the traditional manual burr removal, the production cycle is more than shortened by half, and it is stable and reliable, which is a very preferred solution.

[0005] The device is implemented as follows: a connecting plate and a fixing plate are provided at the front end of the industrial robot, and the arc end of the connecting plate is connected to the end of the robot and positioned by a stop. The other end of the connecting plate is connected to the fixing plate, and the other end of the fixing plate is connected to the spindle. The mounting hole on the fixing plate can be changed and can connect spindles of different specifications. The high-speed spindle with floating compensation function is effectively fixed, and various cutting tools that can remove burrs are clamped on the high-speed spindle. With the rotation of each mechanical arm of the industrial robot and the rotation of the flip unit, the cutting tool can reach various parts of the bracket product that need to remove burrs to complete the removal of burrs. The floating compensation high-speed spindle speed is between 3000-5000 per minute, the axial floating is 8mm, and the radial floating is 6°, which ensures that there is non-rigid contact between the cutting tool and the product, so that the edge size after the burr removal is consistent, which will not affect any processing size, and also has a certain protection for the cutting tool.

[0006] The fixing frame is mainly composed of square tubes, which are welded to each other. The bottom is fixed to the base by hexagon socket bolts, and the base is connected to the ground by anchor bolts. The upper part of the fixing frame plays the main role of fixing and supporting. Four square tubes are welded and connected horizontally and vertically, which is fully capable of bearing the load of the flip unit, pneumatic clamp unit and bracket products. In addition, air pipes are set near the pneumatic clamp unit, which can automatically clean the waste chips and dust on the clamp in time. The fixing frame is welded and connected with the enclosure around it, and the lower side of the enclosure is welded and connected with a thin plate, so as to form a recovery trough. The recovery trough is low in the middle and high on the periphery, and the middle part of the recovery trough is connected to the chip collection pipe. The top of the chip collection pipe is also a negative pressure suction port. The other end of the chip collection pipe is connected to an industrial vacuum cleaner, which can clean and recycle waste chips and dust, ensuring the cleanliness of the burr removal area and the working environment.

[0007] The pneumatic clamp unit is mainly composed of a clamp base plate, a circular positioning pin, a diamond positioning pin, a first pneumatic lever clamping cylinder with a pneumatic detection function, a first pneumatic support cylinder and other components. The entire clamping process is pneumatically controlled, and the action is fast and accurate. The pneumatic lever clamping cylinder has a self-checking function. When the pressure plate clamps the product, it will output a signal to the control system to inform that it has been clamped. In addition, a detection unit is also set up. When the bracket product presses the detection column and moves down, the proximity switch rotated at the bottom of the detection unit will sense the detection column. At this time, the proximity switch will output a signal to inform the CNC system that the bracket product has indeed been loaded into the pneumatic clamp unit. Only then can the control system execute the next action. Otherwise, the control system will not execute the next action, and will output a signal or use an alarm light to let the responsible personnel know, so that they can confirm and solve it on the spot. When the bracket product is taken out, the detection column will rebound to the initial position under the action of the internal spring of the detection unit, which is convenient for the detection of the next bracket product to be installed. This design has high reliability and stability. In addition, this fixture can clamp two types of bracket products, which are symmetrical on the left and right. One is clamped on the left side of the fixture, and the other is clamped on the right side of the fixture. The diamond locating pin in the middle part, the second pneumatic support cylinder, and the second pneumatic lever clamping cylinder are shared, which eliminates auxiliary work such as replacing the fixture and debugging the burr removal program, thereby improving overall production efficiency.

[0008] The flip unit driven by the servo reducer can realize the 180° flip of the bracket product, so that the bracket product can be removed with the industrial robot. The flip unit is mainly composed of a servo motor, a left support seat, a motor bracket, a large pulley, a small pulley, a synchronous belt, a left ear plate, a right support seat, a right ear plate, a brake disc and other components, wherein the left ear plate and the right ear plate are connected to the pneumatic clamp unit. The motor bracket is connected to the lower part of the left support seat, the motor is connected to the motor bracket, the small pulley is connected to the shaft head of the servo motor, the left ear plate is connected to the upper part of the left support seat, the large pulley is connected to the left side of the left ear plate, the synchronous belt is connected to the large pulley and the small pulley, the servo motor rotates, and the synchronous belt is driven to drive the left ear plate to rotate. The right ear plate is connected to the right support seat, the brake disc is connected to the right shaft head of the right ear plate, the brake cylinder is pushed out, contacts the brake disc and applies pressure, thereby realizing the braking and holding of the overall flip device, which is convenient for the industrial robot to remove the spurs of the bracket. Since the flipping device is driven by a servo motor, each of its flipping actions is very precise, and it also has a brake function, which enables the bracket product to always be in a precise position, providing a guarantee for the accurate removal of flying spurs by industrial robots.

[0009] The automatic exchange tool library is mainly composed of a C-shaped column, a turntable, a tool holder, a tool library servo motor, etc. The tool library servo motor is fixed on the C-shaped column and is directly connected to the turntable. Compared with the transmission methods such as synchronous belts, worm gears, and bevel gears, it completely eliminates the gaps between the components. In addition, the reliable control of the servo motor makes the rotation angle of the turntable more accurate, which also achieves the accuracy of the position of the tool to be replaced, ensuring smoother and error-free exchange of the tool. A tool handle is placed in each tool holder, and the tool handle has clamped a tool. The tools in the tool library mainly include rotary files (cylindrical, conical, spherical, etc.), low-noise torsion screw wire brushes and low-noise ceramic fiber brushes (disc, butterfly, etc.), etc. There are a variety of tools that can meet the needs of commercial vehicle bracket products to remove burrs.

[0010] The industrial robots, servo motors, cylinders, electrical components, etc. of this unit are all well-known brands, stable and trouble-free, capable of continuous operation, providing a guarantee for stable production.

[0011] The utility model discloses a floating flexible grinding unit, comprising an industrial robot, a high-speed spindle with a floating compensation function, a base, a fixing frame with automatic air blowing and dust suction cleaning functions, a pneumatic clamp, a turning device driven by a servo reducer, an automatic exchange tool library, etc.

[0012] The utility model provides a floating flexible grinding device, comprising: a grinding unit, a pneumatic clamp unit and a flip unit;

[0013] The grinding unit comprises: an industrial robot, a high-speed spindle and a cutting tool; the industrial robot is arranged on the ground through a base; a high-speed spindle is arranged at the end of the mechanical arm of the industrial robot; and a cutting tool is arranged at the end of the high-speed spindle;

[0014] A fixing frame is arranged on the base and on the side of the grinding unit; a recovery groove is arranged on the top of the fixing frame; a turning unit is arranged on the fixing frame; and a pneumatic clamp unit is rotatably arranged on the turning unit.

[0015] Furthermore, a chip collecting pipe is arranged at the bottom of the recovery tank.

[0016] Further, the flip unit comprises: a left driving unit and a right driven unit; the pneumatic clamp unit is rotatably arranged between the left driving unit and the right driven unit;

[0017] The left driving unit comprises: a left supporting seat, a motor bracket, a small pulley, a large pulley and a left ear plate; the left supporting seat is arranged at one end of the fixing frame; the motor bracket is arranged at the lower end of the left supporting seat;

[0018] A servo motor is arranged on the left side of the motor bracket; the shaft head of the servo motor penetrates into the motor bracket, and a small pulley is arranged on the shaft head of the servo motor; a left bearing is arranged on the upper end of the left support seat close to the pneumatic clamp unit; a left shaft head is arranged in the left bearing; a left ear plate is arranged on the right side of the left shaft head for rotation; a large pulley is arranged on the left side of the left shaft head; a synchronous belt is arranged between the small pulley and the large pulley; the left ear plate is connected to the end of the pneumatic clamp unit on the side away from the left support seat;

[0019] The right-side driven unit includes: a right support seat, a right ear plate, a brake disc and a brake cylinder; the right support seat is fixed on the fixing frame at one end symmetrical to the left support seat; a right bearing is passed through the side of the right support seat close to the pneumatic clamp; a right shaft head is passed through the right bearing; a brake disc is set on the right side of the right shaft head; a right ear plate is set on the left side of the right shaft head; a brake cylinder is set on one side of the brake disc; the side of the right ear plate facing away from the right support seat is connected to the end of the pneumatic clamp unit.

[0020] Further, the pneumatic clamp unit includes: a pneumatic clamp base plate, a cylindrical positioning pin, a diamond positioning pin, a first pneumatic support cylinder, a second pneumatic support cylinder, a first pneumatic lever clamp cylinder and a second pneumatic lever clamp cylinder;

[0021] Two first pneumatic lever clamping cylinders are arranged on one end of the bottom plate of the pneumatic clamp; a cylindrical positioning pin is arranged between the two first pneumatic lever clamping cylinders on the bottom plate of the pneumatic clamp; a first pneumatic support cylinder is arranged inside the first pneumatic lever clamping cylinder on the bottom plate of the pneumatic clamp;

[0022] A second pneumatic support cylinder is arranged in the middle of the bottom plate of the pneumatic clamp; diamond-shaped positioning pins and a second pneumatic lever clamping cylinder are arranged on the bottom plate of the pneumatic clamp and on both sides of the second pneumatic support cylinder.

[0023] Furthermore, the second pneumatic support cylinder is arranged on the bottom plate of the pneumatic clamp through a base.

[0024] Further, the pneumatic clamp unit includes: a pneumatic clamp base plate, a cylindrical positioning pin, a diamond positioning pin, a first pneumatic support cylinder, a second pneumatic support cylinder, a first pneumatic lever clamp cylinder and a second pneumatic lever clamp cylinder;

[0025] The two ends of the bottom plate of the pneumatic clamp are symmetrically provided with cylindrical positioning pins, a first pneumatic lever clamping cylinder and a first pneumatic support cylinder; the first pneumatic support cylinder is arranged inside the first pneumatic lever clamping cylinder; the cylindrical positioning pin is arranged inside the first pneumatic support cylinder;

[0026] A second pneumatic support cylinder is arranged in the middle of the bottom plate of the pneumatic clamp; diamond-shaped positioning pins and a second pneumatic lever clamping cylinder are arranged on the bottom plate of the pneumatic clamp and on both sides of the second pneumatic support cylinder.

[0027] Furthermore, a detection unit is provided on the bottom plate of the pneumatic clamp and on the side of the cylindrical positioning pin.

[0028] Furthermore, a tool library is also included.

[0029] Furthermore, a surrounding plate is arranged around the fixing frame; and a thin plate is arranged at the bottom of the surrounding plate.

[0030] Furthermore, a plurality of compressed air pipes are arranged on the fixing frame; outlet ends of the compressed air pipes are located in the circumference of the pneumatic clamp unit.

[0031] Compared with the prior art, the floating flexible grinding device provided by the utility model has the following advantages:

[0032] 1. The utility model can fully automatically remove burrs, save labor, has high production efficiency, is stable and reliable, and has strong versatility and wide application.

[0033] 2. The pneumatic clamp unit of the utility model device can be symmetrically provided with cylindrical locating pins, a first pneumatic lever clamping cylinder and a first pneumatic support cylinder at both ends; the first pneumatic support cylinder is arranged on the inner side of the first pneumatic lever clamping cylinder; the cylindrical locating pin is arranged on the inner side of the first pneumatic support cylinder, which can process and clamp two symmetrical products, saving the time of auxiliary work such as replacing the clamp and debugging the burr removal program, thereby improving the overall production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 It is an overall schematic diagram of a burr removal unit installed in a bracket product of the utility model.

[0035] Figure 2 It is a structural schematic diagram of the pneumatic clamp of the utility model without being installed in the bracket product.

[0036] Figure 3 It is a bottom view of the bracket product of the utility model.

[0037] Figure 4 It is a top view of the bracket product of the utility model.

[0038] Figure 5 It is a bottom view of the symmetrical bracket product of the utility model.

[0039] Figure 6 It is a structural schematic diagram of the left side driving unit of the turning device of the utility model.

[0040] Figure 7 It is a structural schematic diagram of the right side driven unit of the turning device of the utility model.

[0041] Figure 8 This is a schematic diagram of the structure of the detection unit of the utility model.

[0042] Figure numerals: 1, pneumatic fixture base plate; 2, large positioning hole of workpiece a; 3, first positioning surface of workpiece a; 4, cylindrical positioning pin; 6, small positioning hole of workpiece a; 7, second positioning surface of workpiece a; 8, diamond positioning pin; 10, first pneumatic support cylinder; 11, second pneumatic support cylinder; 12, first pneumatic lever clamping cylinder; 13, second pneumatic lever clamping cylinder; 14, first pressing plate; 15, second pressing plate; 16, industrial robot; 17, high-speed spindle; 18, cutting tool; 19, cutting tool library; 21. Servo motor; 22. Fixing bracket; 23. Compressed air pipe; 24. Large positioning hole of workpiece b; 25. First positioning surface of workpiece b; 26. Cylindrical positioning pin; 28. Small positioning hole of workpiece b; 29. ​​Second positioning surface of workpiece b; 30. Detection block; 31. Detection column; 32. Proximity switch; 33. Recovery trough; 34. Chip collection tube; 35. Motor bracket; 36. Small pulley; 37. Large pulley; 38. Left ear plate; 39. Brake disc; 40. Right ear plate; 41. Brake cylinder. DETAILED DESCRIPTION

[0043] In order to make the technical problems solved by the present invention, the technical solutions adopted and the technical effects achieved clearer, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It is understood that the specific embodiments described herein are only used to explain the present invention, rather than to limit the present invention. It should also be noted that, for the sake of ease of description, only the parts related to the present invention are shown in the accompanying drawings, rather than all of the contents.

[0044] Example 1

[0045] like Figure 1-7 As shown, a floating flexible grinding device provided by an embodiment of the utility model comprises: a grinding unit, a pneumatic clamp unit and a flip unit;

[0046] The grinding unit includes: an industrial robot 16, a high-speed spindle 17, a cutting tool 18 and a cutting tool library 19; the industrial robot 16 is set on the ground through a base; a high-speed spindle 17 is set at the end of the mechanical arm of the industrial robot 16; a cutting tool 18 is set at the end of the high-speed spindle 17; the grinding unit is also separately equipped with a cutting tool library 19 to adapt to different cutting tool requirements.

[0047] A fixing frame 22 is arranged on the base and the side of the grinding unit; a surrounding plate is arranged around the fixing frame 22; a thin plate is arranged at the bottom of the surrounding plate to form a recovery groove 33; a chip collecting pipe 34 is arranged at the middle bottom of the recovery groove 33. A turning unit is arranged on the fixing frame 22; a pneumatic clamp unit is rotatably arranged on the turning unit.

[0048] The flip unit comprises: a left driving unit and a right driven unit; the pneumatic clamp unit is rotatably arranged between the left driving unit and the right driven unit;

[0049] The left driving unit comprises: a left supporting seat, a motor bracket 35, a small pulley 36, a large pulley 37 and a left ear plate 38; the left supporting seat is arranged on the square tube in the middle of the fixing frame 22; the motor bracket 35 is arranged at the lower end of the left supporting seat; the servo motor 21 is arranged on the left side of the motor bracket 35; the shaft head of the servo motor 21 penetrates into the motor bracket, and the shaft head of the servo motor 21 is provided with a small pulley 36; a bearing is penetrated at the upper end of the left supporting seat on one side close to the pneumatic clamp unit, a left shaft head is penetrated in the bearing, and a left ear plate 38 is rotatably arranged on the right side of the left shaft head; a large pulley 37 is arranged on the left side of the left shaft head; a synchronous belt is arranged between the small pulley 36 and the large pulley 37; the left ear plate 38 is connected to the end of the pneumatic clamp unit on the side away from the left supporting seat;

[0050] The right side driven unit includes: a right support seat, a right ear plate 40, a brake disc 39 and a brake cylinder 41; the right support seat is fixed on the fixing frame 22 at one end symmetrical to the left support seat; a bearing is passed through the side of the right support seat close to the pneumatic clamp, and a right shaft head is passed through the bearing; a right ear plate is rotatably arranged on the left side of the right shaft head; a brake disc 39 is arranged on the right side of the right shaft head; the brake disc 39 is inside the right support seat; a brake cylinder 41 is arranged on one side of the brake disc 39; the right ear plate 40 is connected to the end of the pneumatic clamp unit on the side away from the right support seat.

[0051] The pneumatic clamp unit includes: a pneumatic clamp base plate 1, a cylindrical positioning pin 4, a diamond-shaped positioning pin 8, a first pneumatic support cylinder 10, a second pneumatic support cylinder 11, a first pneumatic lever clamping cylinder 12 and a second pneumatic lever clamping cylinder 13; two first pneumatic lever clamping cylinders 12 are arranged at one end of the pneumatic clamp base plate 1; the two first pneumatic lever clamping cylinders 12 are respectively arranged on the clamp base plate 1 through clamping cylinder bases; one of the clamping cylinder bases is arranged on the clamp base plate 1; and the other clamping cylinder base is arranged on the lower surface of the clamp base plate 1. A cylindrical positioning pin 4 is arranged between the two first pneumatic lever clamping cylinders 12 on the pneumatic clamp base plate 1; a first pneumatic support cylinder 10 is arranged inside the first pneumatic lever clamping cylinder 12 on the pneumatic clamp base plate 1; a second pneumatic support cylinder 11 is arranged in the middle of the pneumatic clamp base plate 1; a diamond-shaped positioning pin 8 and a second pneumatic lever clamping cylinder 13 are arranged on both sides of the second pneumatic support cylinder 11 on the pneumatic clamp base plate 1. The second pneumatic support cylinder 11 is arranged on the pneumatic clamp base plate 1 through a base.

[0052] A detection unit is arranged on the bottom plate 1 of the pneumatic clamp and on the side of the cylindrical positioning pin 4; the detection unit comprises: a detection block 30, a detection column 31 and a proximity switch 32; the detection block 30 is arranged on the bottom plate 1 of the pneumatic clamp; a detection column 31 is movably arranged in the middle of the detection block 30; a detection column limit surface is arranged circumferentially in the middle of the detection column 31 to limit the upward movement of the detection column; a spring is arranged on the part of the detection column 31 located in the detection block 30; a guide sleeve is arranged circumferentially on the inner side wall of the detection block 30 to facilitate the upward and downward movement of the detection column; a set screw is arranged on the bottom side wall of the detection block 30; a proximity switch is arranged on the other side of the bottom of the detection block 30; an opening is arranged at the position corresponding to the guide sleeve and the proximity switch, so that when the detection column moves downward, the proximity switch can sense it; the end of the set screw is pushed into the guide sleeve to prevent the guide sleeve from rotating so that the opening of the guide sleeve can face the proximity switch. When the detection column 31 moves downward, the proximity switch can detect the detection column and then send a signal to the numerical control system. During the downward movement of the detection column 31, the spring will be gradually compressed to increase the elastic force. When the bracket product is taken out, the spring will have enough elastic force to push the detection column out and return to the initial position. The detection unit confirms whether the bracket product exists. The bracket product presses the detection column and moves downward. When the proximity switch detects the detection column, it will output a signal to prove that the bracket product exists. The system will continue to execute the next action, otherwise it will stop the alarm.

[0053] A plurality of compressed air pipes 23 are disposed on the fixing frame 22 ; outlet ends of the compressed air pipes 23 are located in the circumference of the pneumatic clamp unit.

[0054] Example 2

[0055] A floating flexible grinding device described in this embodiment includes: a grinding unit, a pneumatic clamp unit and a flip unit;

[0056] The pneumatic clamp unit comprises: a pneumatic clamp base plate 1, a cylindrical positioning pin 4, a diamond positioning pin 8, a first pneumatic support cylinder 10, a second pneumatic support cylinder 11, a first pneumatic lever clamping cylinder 12 and a second pneumatic lever clamping cylinder 13;

[0057] The two ends of the pneumatic clamp base plate 1 are symmetrically provided with a cylindrical locating pin 4, a first pneumatic lever clamping cylinder 12 and a first pneumatic support cylinder 10; the first pneumatic support cylinder 10 is arranged on the inner side of the first pneumatic lever clamping cylinder 12; the cylindrical locating pin 4 is arranged on the inner side of the first pneumatic support cylinder 10; two first pneumatic lever clamping cylinders 12 are arranged at each end of the pneumatic clamp base 1; the two first pneumatic lever clamping cylinders 12 are respectively arranged on the clamp base plate 1 through the clamping cylinder base; one of the clamping cylinder bases is arranged on the clamp base plate 1; the other clamping cylinder base is arranged on the lower surface of the clamp base plate 1.

[0058] A second pneumatic support cylinder 11 is arranged in the middle of the pneumatic clamp bottom plate 1 ; a diamond-shaped positioning pin 8 and a second pneumatic lever clamping cylinder 13 are arranged on the pneumatic clamp bottom plate 1 and on both sides of the second pneumatic support cylinder 11 .

[0059] Working process of this utility model:

[0060] First, the loading and unloading industrial robot on the whole production line clamps the processed bracket product and puts it into the middle left part of the bottom plate 1 of the pneumatic clamp of the device. The large positioning hole 2 of the workpiece a behind the bracket product and the first positioning surface 3 of the workpiece a correspond to the cylindrical positioning pin 4 and the positioning surface on the top of the cylindrical positioning pin 4 on the left of the pneumatic clamp unit. The small positioning hole 6 of the workpiece a behind the bracket product and the second positioning surface 7 of the workpiece a correspond to the diamond positioning pin 8 and the positioning surface on the top of the diamond positioning pin 8 in the middle of the pneumatic clamp unit. After being put in, the two first pneumatic support cylinders 10 on the left and the second pneumatic support cylinder 11 in the middle will contact the blank surface under the product. In the process of placing the bracket product into the pneumatic clamp, the blank surface on the lower left side near the large positioning hole 2 of the workpiece a will first contact the detection column of the detection unit and press the detection column downward. Then the proximity switch rotated at the bottom of the detection unit will sense the detection column. At this time, the proximity switch will output a signal to inform the CNC system that the bracket product has indeed been loaded into the pneumatic clamp unit and the next action can be performed. After that, the control system will supply air pressure, and the two first pneumatic support cylinders 10 and the second pneumatic support cylinder 11 will first hold the top, and then the two first pneumatic lever clamping cylinders 12 on the left and the second pneumatic lever clamping cylinder 13 in the middle will respectively push the first pressing plate 14 and the second pressing plate 15 at the upper end to clamp the product. At this time, the loading and unloading robot will release the product and leave this unit. After clamping, the first pneumatic lever clamping cylinder 12 and the second pneumatic lever clamping cylinder 13 will output a clamping signal to the control system, and then the control system will give the burr removal industrial robot 16 an instruction to start the burr removal action. The industrial robot 16 drives the mechanical arm to quickly move the high-speed spindle 17 with floating compensation function together with the clamped cutting tool 18 to the vicinity of the bracket product, and then start the high-speed spindle rotation, and the cutting tool 18 moves to the edge of the bracket product where the burrs need to be removed, and starts to remove the burrs.

[0061] When the existing cutting tool 18 is not suitable for or interferes with the burrs in some parts, the control system will instruct the industrial robot 16 to move the high-speed spindle 17 and the cutting tool 18 to the waiting position of the cutting tool library 19, and at the same time instruct the cutting tool library 19 to move the cutting tool 18 that needs to be replaced to the waiting position, and then perform the action of replacing the cutting tool. After the replacement is completed, the control system will instruct the industrial robot 16 to return to the bracket product and continue to remove the burrs. The action of replacing the cutting tool will be repeated as needed.

[0062] When the cutting tool cannot reach the position where the burrs need to be removed, the control system will send a command to the servo motor 21 of the flipping unit. Through the precise rotation of the servo motor 21, the chassis product will be turned to the specified angle so that the cutting tool 18 can continue to remove the burrs. Through continuous linkage, all the burrs of the chassis product will eventually be removed.

[0063] After that, the control system will supply air pressure, and the compressed air pipe 23 located on the fixed frame 22 will blow air to clean the scraps and dust on the pneumatic clamp base plate 1 and the product in time. After cleaning, the first pneumatic lever clamping cylinder 12, the second pneumatic lever clamping cylinder 13 and the first pneumatic support cylinder 10 and the second pneumatic support cylinder 11 on the pneumatic clamp base plate 1 will be supplied with air pressure, and the first pneumatic lever clamping cylinder 12 and the second pneumatic lever clamping cylinder 13 will start to move, and the first pressure plate 14 and the second pressure plate 15 will be retracted to the initial position. At the same time, the first pneumatic support cylinder 10 and the second pneumatic support cylinder 11 will remove the pressure to make their respective heads free. After the pneumatic clamp base plate 1 completely loosens the bracket product, the loading and unloading robot will come over and slowly take out the polished bracket product from the pneumatic clamp base plate 1 of the clamp, and then quickly move to the next station, and then grab the next bracket product to clamp it into the clamp and perform the subsequent burr removal. The specific steps are the same as above.

[0064] When it is necessary to remove the burrs from another symmetrical bracket product, the loading and unloading robot will load it into the right middle part of the fixture. The large positioning hole 24 of workpiece b and the first positioning surface 25 of workpiece b behind the symmetrical bracket product correspond to the cylindrical positioning pin 26 on the right side of the pneumatic fixture base plate 1 and the positioning surface on the top of the cylindrical positioning pin 26. The small positioning hole 28 of workpiece b and the second positioning surface 29 of workpiece b behind the symmetrical bracket product correspond to the diamond-shaped positioning pin 8 in the middle of the pneumatic fixture and the positioning surface on the top of the diamond-shaped positioning pin 8. After being placed in, the two first pneumatic support cylinders 10 on the right and the second pneumatic support cylinder 11 in the middle will contact the blank surface below the product. In the process of placing the symmetrical bracket product into the pneumatic clamp, the blank surface on the lower right side near the large positioning hole 24 of the workpiece b will first contact the detection column of the detection unit and press the detection column downward. Then the proximity switch rotated at the bottom of the detection unit will sense the detection column. At this time, the proximity switch will output a signal to inform the CNC system that the bracket product has indeed been loaded into the pneumatic clamp unit and the next action can be performed. After that, the control system will supply air pressure, and the first pneumatic support cylinder 10 and the second pneumatic support cylinder 11 in the middle right will first hold their respective top heads. Then the two first pneumatic lever clamping cylinders on the right and the pneumatic lever clamping cylinder 13 in the middle will push the first pressure plate 14 and the second pressure plate 15 to clamp the product. At this time, the loading and unloading robot will release the product and leave this unit. The next action is the same as the previous one.

[0065] When the waste chips, dust, etc. in the recovery tank 33 accumulate to a certain amount, the control system will send a command to the vacuum cleaner to generate negative pressure air, and collect the waste in time through the chip collecting pipe 34 to ensure that the environment of the working area is clean and tidy.

[0066] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in the field should understand that modifying the technical solutions recorded in the aforementioned embodiments, or replacing part or all of the technical features therein by equivalents, does not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A floating flexible grinding device, characterized in that: include: Grinding unit, pneumatic clamping unit and turning unit; The polishing unit comprises: an industrial robot (16), a high-speed spindle (17) and a cutting tool (18); the industrial robot (16) is arranged on the ground via a base; the high-speed spindle (17) is arranged at the end of the mechanical arm of the industrial robot (16); the cutting tool (18) is arranged at the end of the high-speed spindle (17); A fixing frame (22) is arranged on the base and on the side of the grinding unit; a recovery groove (33) is arranged on the top of the fixing frame (22); a turning unit is arranged on the fixing frame (22); and a pneumatic clamp unit is rotatably arranged on the turning unit.

2. The floating flexible grinding device according to claim 1, characterized in that: A chip collecting pipe (34) is arranged at the bottom of the recovery tank (33).

3. The floating flexible grinding device according to claim 1, characterized in that: The flip unit comprises: a left driving unit and a right driven unit; the pneumatic clamp unit is rotatably arranged between the left driving unit and the right driven unit; The left driving unit comprises: a left supporting seat, a motor bracket (35), a small pulley (36), a large pulley (37) and a left ear plate (38); the left supporting seat is arranged at one end of the fixing frame (22); the motor bracket (35) is arranged at the lower end of the left supporting seat; a servo motor (21) is arranged on the left side of the motor bracket (35); the shaft head of the servo motor (21) penetrates into the motor bracket, and a small pulley (36) is arranged on the shaft head of the servo motor (21); a left bearing is penetrated at the upper end of the left supporting seat on the side close to the pneumatic clamp unit; a left shaft head is penetrated in the left bearing; a left ear plate (38) is rotatably arranged on the right side of the left shaft head; a large pulley (37) is arranged on the left side of the left shaft head; a synchronous belt is arranged between the small pulley (36) and the large pulley (37); the left ear plate (38) is connected to the end of the pneumatic clamp unit on the side away from the left supporting seat; The right side driven unit comprises: a right support seat, a right ear plate (40), a brake disc (39) and a brake cylinder (41); the right support seat is fixed on the fixing frame (22) at one end symmetrical to the left support seat; a right bearing is passed through the side of the right support seat close to the pneumatic clamp; a right shaft head is passed through the right bearing; a brake disc (39) is set on the right side of the right shaft head; a right ear plate (40) is set on the left side of the right shaft head; a brake cylinder (41) is set on one side of the brake disc (39); the right ear plate (40) is connected to the end of the pneumatic clamp unit on the side away from the right support seat.

4. The floating flexible grinding device according to claim 3, characterized in that: The pneumatic clamp unit comprises: a pneumatic clamp base plate (1), a cylindrical positioning pin (4), a diamond positioning pin (8), a first pneumatic support cylinder (10), a second pneumatic support cylinder (11), a first pneumatic lever clamping cylinder (12) and a second pneumatic lever clamping cylinder (13); Two first pneumatic lever clamping cylinders (12) are arranged at one end of the pneumatic clamp base plate (1); a cylindrical positioning pin (4) is arranged on the pneumatic clamp base plate (1) and between the two first pneumatic lever clamping cylinders (12); a first pneumatic support cylinder (10) is arranged on the pneumatic clamp base plate (1) and inside the first pneumatic lever clamping cylinder (12); A second pneumatic support cylinder (11) is arranged in the middle of the upper part of the pneumatic clamp base plate (1); a diamond-shaped positioning pin (8) and a second pneumatic lever clamping cylinder (13) are arranged on the pneumatic clamp base plate (1) and on both sides of the second pneumatic support cylinder (11).

5. The floating flexible grinding device according to claim 4, characterized in that: The second pneumatic support cylinder (11) is arranged on the pneumatic clamp bottom plate (1) via a base.

6. The floating flexible grinding device according to claim 3, characterized in that: The pneumatic clamp unit comprises: a pneumatic clamp base plate (1), a cylindrical positioning pin (4), a diamond positioning pin (8), a first pneumatic support cylinder (10), a second pneumatic support cylinder (11), a first pneumatic lever clamping cylinder (12) and a second pneumatic lever clamping cylinder (13); The two ends of the pneumatic clamp base plate (1) are symmetrically provided with a cylindrical positioning pin (4), a first pneumatic lever clamping cylinder (12) and a first pneumatic support cylinder (10); the first pneumatic support cylinder (10) is arranged on the inner side of the first pneumatic lever clamping cylinder (12); the cylindrical positioning pin (4) is arranged on the inner side of the first pneumatic support cylinder (10); A second pneumatic support cylinder (11) is arranged in the middle of the upper part of the pneumatic clamp base plate (1); a diamond-shaped positioning pin (8) and a second pneumatic lever clamping cylinder (13) are arranged on the pneumatic clamp base plate (1) and on both sides of the second pneumatic support cylinder (11).

7. The floating flexible grinding device according to claim 6, characterized in that: A detection unit is arranged on the bottom plate (1) of the pneumatic clamp and on the side of the cylindrical positioning pin (4).

8. The floating flexible grinding device according to claim 1, characterized in that: Also included is a cutting tool storehouse (19).

9. The floating flexible grinding device according to claim 1, characterized in that: The fixing frame (22) is provided with a surrounding plate in the circumferential direction; and a thin plate is provided at the bottom of the surrounding plate.

10. The floating flexible grinding device according to claim 1, characterized in that: A plurality of compressed air pipes (23) are arranged on the fixing frame (22); outlet ends of the compressed air pipes (23) are located in the circumference of the pneumatic clamp unit.

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