Robot double-station water curtain grinding machine

Abstract

The utility model relates to the field of polishing devices, in particular to a robot double-station water curtain polishing machine which comprises a mechanical arm device, a polishing device, a water flow filtering and circulating device and a water curtain dust removal device, and the water curtain dust removal device comprises a water curtain cabinet, a row dividing cylinder arranged at the top of the water curtain cabinet and an inclined guide plate arranged at the top of the water curtain cabinet. A first flow guide gap is formed between the top of the water curtain cabinet and the inclined flow guide plate; a plurality of overflow ports are formed in the dividing and discharging cylinder, and water flow overflows from the overflow ports to the inclined flow guide plates and flows to the inner wall of the water curtain cabinet from the first flow guide gaps; wherein a water outlet of the water flow filtering and circulating device is communicated with the separate discharge cylinder, and a water inlet of the water flow filtering and circulating device is communicated with a water outlet at the bottom of the water curtain cabinet; according to the whole scheme, automatic workpiece grinding and dust filtering are achieved, dust pollution to the working environment is remarkably reduced, the body health of workers is protected, and potential hazards of dust to equipment and the surrounding environment are avoided.

Description

Technical Field

[0001] The utility model relates to the field of grinding devices, especially a robot double-station water curtain grinding machine. Background Art

[0002] In the field of traditional industrial manufacturing, the grinding process is an essential and crucial link, which has a decisive impact on the smoothness, glossiness and overall quality of the product surface. However, the application of traditional grinding machines faces many challenges, especially the problem of dust pollution, which has long troubled the industry and become a key factor restricting production efficiency and the quality of the working environment.

[0003] In traditional grinding operations, with the friction between the high-speed rotating grinding wheel or abrasive cloth wheel and the workpiece surface, a large amount of fine dust particles will be generated. These dusts not only quickly fill the entire working space, causing blurred vision and difficult breathing, seriously threatening the physical health of the operating workers, but also may cause corrosion damage to the surrounding environment and equipment. More seriously, after the dust accumulates to a certain extent, there are also major safety hazards such as explosion, posing a serious threat to production safety. At the same time, traditional grinding machines rely on manual operation, with low efficiency and it is difficult to ensure the consistency of grinding quality. Manual operation is often affected by various factors such as operation proficiency, physical condition, and mental concentration, and problems such as uneven grinding, missed grinding, and over-grinding are likely to occur, thus affecting the overall quality of the product. In addition, with the rapid development of industrial automation technology, the traditional manual grinding method has been difficult to meet the urgent needs of modern industrial production for high efficiency, precision, and automation. Summary of the Invention

[0004] To solve the above problems, the utility model provides a robot double-station water curtain grinding machine, which realizes the automatic grinding of workpieces, and not only significantly reduces the dust pollution in the working environment, protects the physical health of workers, but also avoids the potential hazards of dust to equipment and the surrounding environment.

[0005] To achieve the above object, the technical solution adopted by the utility model is: a robot double-station water curtain grinding machine, including

[0006] A manipulator device for grasping and rotating the workpiece;

[0007] A grinding device for grinding and processing the workpiece;

[0008] A water flow filtering and circulating device with a water outlet and a water inlet, and used for filtering the water flow;

[0009] Water curtain dust removal device, wherein the water curtain dust removal device includes a water curtain cabinet, a sub-row cylinder arranged on the top of the water curtain cabinet, and an inclined guide plate arranged on the top of the water curtain cabinet. There is a first guide gap between the top of the water curtain cabinet and the inclined guide plate; the sub-row cylinder is provided with a number of overflow ports, and water flows from the overflow ports to the inclined guide plate and flows through the first guide gap to the inner wall of the water curtain cabinet; the water outlet of the water flow filtration and circulation device is communicated with the sub-row cylinder, and the water inlet of the water flow filtration and circulation device is communicated with the drain port located at the bottom of the water curtain cabinet.

[0010] Furthermore, it also includes a frame, which includes a robot installation platform for installing a manipulator device, a water tank placement area for installing a water flow filtration and circulation device, a grinding component installation area for installing a grinding device, and a water curtain installation area for installing a water curtain dust removal device.

[0011] Furthermore, the water flow filtration and circulation device includes a circulation water tank, a circulation pump body, and a flow meter. The circulation water tank includes a sewage area, a filtration area, and a clear water area that are sequentially connected. The drain port at the bottom of the water curtain cabinet is aligned with the sewage area, and the water inlet of the clear water circulation pump body is communicated with the clear water area. The water outlet of the clear water circulation pump body is communicated with the sub-row cylinder through the flow meter.

[0012] Furthermore, the sewage area includes a secondary filtration box body and a primary filtration cloth bag built into the secondary filtration box body. The filtration area includes a tertiary filtration box body and a quaternary filtration box body; the drain port is communicated with the primary filtration cloth bag, and a clear water tank communicated with the quaternary filtration box body is arranged in the clear water area.

[0013] Furthermore, the primary filtration cloth bag is a 20-mesh cloth bag, and a first filter plate is arranged between the secondary filtration box body and the tertiary filtration box body, a second filter plate is arranged between the tertiary filtration box body and the quaternary filtration box body, and a third filter plate is arranged between the quaternary filtration box body and the clear water tank.

[0014] Furthermore, a branch multi-way pipe is also communicated with the water outlet of the circulation pump body. The branch multi-way pipe is communicated with a foam spray head located above the secondary filtration box body and above the clear water box body.

[0015] Furthermore, the branch multi-way pipe is also communicated with a drain pipe, and a first manual switch is arranged between the branch multi-way pipe and the drain pipe. A first switch solenoid valve is arranged between the branch multi-way pipe and the foam spray head. The water outlet of the circulation pump body is communicated with the flow meter through a second switch solenoid valve.

[0016] Furthermore, the water curtain dust removal device also includes a number of guide partitions, which are vertically installed on the inclined guide plate, and two adjacent overflow ports are separated by the guide partitions.

[0017] Further, the water curtain dust removal device further includes a fixed bracket, which is fixed to the diversion partitions on both sides of the row-dividing cylinder, and both ends of the fixed bracket are fitted with the top of the water curtain cabinet, and the row-dividing cylinder is hoisted on the top of the water curtain cabinet.

[0018] Further, the water curtain dust removal device further includes a plurality of water flow adjustment clamping plates, which are clamped between a plurality of diversion partitions, and a second diversion gap is reserved between the water flow adjustment clamping plates and the inclined diversion plate, and the size of the water flow is controlled by adjusting the positions of the water flow adjustment clamping plates and the inclined diversion plate.

[0019] The beneficial effects of the present utility model are as follows: The manipulator device accurately grabs the workpiece to the grinding station. The automated operation not only improves the work efficiency, but also ensures the stability and accuracy of the workpiece during the grinding process, thereby reducing the errors and inefficiencies that may be caused by manual operation. The grinding device starts to grind and process the workpiece. During this process, the generated dust is immediately sucked into the water curtain dust removal device. The water flow is evenly distributed on the inclined diversion plate through the overflow port of the row-dividing cylinder to form a continuous water curtain. The first diversion gap between the top of the water curtain cabinet and the inclined diversion plate ensures the smooth flow of the water flow and effectively blocks the diffusion of dust. After the dust comes into contact with the water flow, it is adhered and carried to the bottom of the water curtain cabinet and finally discharged through the drain port. This process not only significantly reduces the dust pollution in the working environment, protects the physical health of workers, but also avoids the potential hazards of dust to equipment and the surrounding environment. At the same time, the water flow filtration and recycling device filters and treats the discharged sewage. After multiple filtrations, the clean water is sent back to the row-dividing cylinder for recycling. This design not only saves water resources, but also reduces the environmental problems that may be caused by discharging sewage. Description of the Drawings

[0020] Figure 1 is the working principle diagram of the water flow filtration and recycling device and the water curtain dust removal device.

[0021] Figure 2 is the specific structural schematic diagram of the water flow filtration and recycling device.

[0022] Figure 3 is the structural schematic diagram of the water curtain cabinet.

[0023] Figure 4 is the working principle cross-sectional view of the overall device.

[0024] Description of the Reference Numerals in the Drawings:

[0025] 1. Water curtain cabinet; 10. Frame; 11. Row-dividing cylinder; 12. Obliquely arranged guide plate; 13. Overflow port; 14. Guide partition board; 15. Fixed support; 16. Water flow regulating clamping plate; 17. Operation passage port; 18. Maintenance door; 19. Drainage port; 101. Robot installation table; 102. Water tank placement area; 103. Grinding assembly installation area; 104. Water curtain installation area; 105. System installation area; 106. Control system; 2. Circulating water tank; 20. Circulating pump body; 21. Primary filter cloth bag; 22. Secondary filter box body; 23. Tertiary filter box body; 24. Quaternary filter box body; 25. Clear water tank; 26. Branch multi-way pipe; 27. Foam spray head; 28. Drain pipe; 29. First manual switch; 210. Second filter plate; 211. Third filter plate; 213. Flow meter; 31. Moving module; 32. Grinding motor; 33. Grinding cloth wheel; 34. Wax gun. Detailed implementation manners

[0026] Please refer to Figures 1-4 As shown in the figure, the present utility model relates to a robot double-station water curtain grinding machine, including

[0027] A manipulator device for grasping and rotating a workpiece;

[0028] A grinding device for grinding and processing the workpiece;

[0029] A water flow filtering and circulating device having a water outlet and a water inlet and used for filtering water flow;

[0030] A water curtain dust removal device, wherein the water curtain dust removal device includes a water curtain cabinet 1, a row-dividing cylinder 11 arranged on the top of the water curtain cabinet 1, and an obliquely arranged guide plate 12 arranged on the top of the water curtain cabinet 1. A first guide gap is arranged between the top of the water curtain cabinet 1 and the obliquely arranged guide plate 12; the row-dividing cylinder 11 is provided with a plurality of overflow ports 13, and water flow overflows from the overflow ports 13 to the obliquely arranged guide plate 12 and flows from the first guide gap to the inner wall of the water curtain cabinet 1; the water outlet of the water flow filtering and circulating device is communicated with the row-dividing cylinder 11, and the water inlet of the water flow filtering and circulating device is communicated with the drainage port 19 located at the bottom of the water curtain cabinet 1.

[0031] During the working process, first, the manipulator device precisely grabs the workpiece to the grinding station. The automated operation not only improves work efficiency but also ensures the stability and accuracy of the workpiece during the grinding process, thus reducing the errors and inefficiencies that may be caused by manual operation. Then, the grinding device starts to grind the workpiece. During this process, the generated dust is immediately sucked into the water curtain dust removal device. As a key component, the water curtain dust removal device evenly distributes the water flow on the inclined deflector 12 through the overflow port 13 of the sub-distribution cylinder 11 to form a continuous water curtain. The first diversion gap between the top of the water curtain cabinet 1 and the inclined deflector 12 ensures the smooth flow of the water flow and effectively blocks the diffusion of dust. After the dust comes into contact with the water flow, it is adhered and carried to the bottom of the water curtain cabinet 1 and finally discharged through the drain port 19. This process not only significantly reduces the dust pollution in the working environment, protects the physical health of workers, but also avoids the potential hazards of dust to equipment and the surrounding environment. At the same time, the water flow filtration and recycling device filters the discharged sewage. After multiple filtrations, the clean water is sent back to the sub-distribution cylinder 11 for recycling. This design not only saves water resources but also reduces the environmental problems that may be caused by discharging sewage.

[0032] Furthermore, it also includes a frame 10, which includes a robot installation platform 101 for installing the manipulator device, a water tank placement area 102 for installing the water flow filtration and recycling device, a grinding component installation area 103 for installing the grinding device, and a water curtain installation area 104 for installing the water curtain dust removal device.

[0033] Specifically, the frame 10 includes the following key parts:

[0034] Robot installation platform 101: It is used to install the manipulator device to ensure that the manipulator can accurately grasp, rotate and position workpieces. The design of the robot installation platform 101 needs to consider the movement range and load requirements of the manipulator to ensure its stable operation. Water tank placement area 102: It is specifically used to install the circulation water tank 2 in the water flow filtration and circulation device. The position and structure design of the water tank placement area 102 need to facilitate the circulation and filtration operations of the water flow, and at the same time ensure the stability and safety of the water tank. Grinding component installation area 103: It provides a stable installation platform for the grinding device. The grinding component installation area 103 needs to consider the weight, vibration of the grinding motor 32 and the movement trajectory of the moving module 31 to ensure the smooth progress of the grinding process. Water curtain installation area 104: It is used to install components such as the water curtain cabinet 1, the sub-row cylinder 11, and the inclined guide plate 12 of the water curtain dust removal device. The design of the water curtain installation area 104 needs to ensure the accurate alignment and tight fit between the components of the water curtain dust removal device to achieve the best dust removal effect. The design of the frame 10 not only improves the integrity and stability of the equipment, but also makes the installation and maintenance between components more convenient. At the same time, the reasonable layout and structure design of the frame 10 also helps to improve the working efficiency and service life of the equipment.

[0035] Further, the water flow filtration and circulation device includes a circulation water tank 2, a circulation pump body 20, and a flow meter 213. The circulation water tank 2 includes a sewage area, a filtration area, and a clear water area that are sequentially connected. The drain port 19 at the bottom of the water curtain cabinet 1 is aligned with the sewage area, and the water inlet of the clear water circulation pump body 20 is connected to the clear water area. The water outlet of the clear water circulation pump body 20 is connected to the sub-row cylinder 11 through the flow meter 213. Further, a secondary filtration box body 22 and a primary filtration cloth bag 21 built in the secondary filtration box body 22 are included in the sewage area. The filtration area includes a tertiary filtration box body 23 and a quaternary filtration box body 24. The drain port 19 is connected to the primary filtration cloth bag 21, and a clear water tank 25 connected to the quaternary filtration box body 24 is arranged in the clear water area.

[0036] Its beneficial effects: the water flow filtering circulation device includes key parts such as the circulating water tank 2, the circulating pump body 20 and the flow meter 213. The circulating water tank 2 is cleverly divided into a sewage area, a filtration area and a clean water area. The three areas are connected in sequence and together constitute the circulation treatment path of the water flow. The sewage area is located at the inlet end of the water flow and is responsible for collecting dust-containing sewage from the bottom of the water curtain cabinet 1. A secondary filter box 22 and a built-in primary filter bag 21 are provided in this area. The primary filter bag 21 is a primary filtering device with a large aperture (such as 20 mesh) that can quickly intercept large particles of impurities in the sewage to prevent it from entering the subsequent filtration system. The sewage after the primary filtration then enters the secondary filter box 22 for further treatment. As the water flow goes deeper, the sewage enters the filtration area. This area is composed of a tertiary filter box 23 and a quaternary filter box 24, etc., which are equipped with filter plates of different apertures to achieve multi-stage filtration of sewage. This graded filtration mechanism can gradually remove fine particles, suspended matter and residual dust in the water, so that the water quality is gradually purified. During the filtration process, the aperture of the filter plate or filter bag is gradually reduced to ensure that each level of filtration can efficiently remove impurities of the corresponding particle size. After multiple filtrations, the sewage finally becomes a clear liquid and enters the clean water area. A clean water tank 25 is provided in the clean water area for storing filtered clean water. The clean water circulation pump body 20 is connected to the clean water area through its water inlet, and the clean water is pumped out and pressurized to the water outlet. At the water outlet, the clean water is flow-controlled by the flow meter 213 and then sent to the discharge cylinder 11 for use by the water curtain dust removal device. In the entire circulation process, the flow meter 213 plays a key role. It can accurately control the flow and flow rate of the clean water to ensure that the water curtain dust removal device can continuously obtain a stable water supply. At the same time, by monitoring the flow data, the operator can also adjust the operating status of the equipment in time to ensure the efficient progress of the grinding operation.

[0037] Furthermore, the primary filter bag 21 is a 20-mesh bag, and a first filter plate is arranged between the secondary filter box 22 and the tertiary filter box 23, a second filter plate 210 is arranged between the tertiary filter box 23 and the quaternary filter box 24, and a third filter plate 211 is arranged between the quaternary filter box 24 and the clean water tank 25.

[0038] Furthermore, the water outlet of the circulation pump body 20 is also connected to a branch multi-way pipe 26 , and the branch multi-way pipe 26 is connected to a foam spray head 27 located above the secondary filter box 22 and above the clean water tank 25 .

[0039] Its beneficial effects: The water flow filtration and circulation device eliminates the foam that may be generated during the filtration process. To address this issue, the water outlet of the circulation pump body 20 is not only connected to the row-by-row cylinder 11 for use by the water curtain dust removal device, but also an additional branch multi-way pipe 26 is connected. This branch multi-way pipe 26 is distributed above the secondary filtration box body 22 and above the clear water tank 25. At these two key positions, foam spray heads 27 are respectively installed. These foam spray heads 27 are connected to the circulation pump body 20 through the branch multi-way pipe 26 and can spray an appropriate amount of liquid when needed to effectively eliminate the foam generated during the filtration process. The generation of foam is usually due to the presence of surfactants or other substances in the sewage that can reduce the surface tension of water. During the filtration process, these substances may enter the filtration system with the water flow and form foam under certain conditions. The presence of foam not only affects the filtration effect but may also cause damage to the equipment or affect the working environment. Therefore, by installing the foam spray heads 27 and performing spray operations at the appropriate time, the foam can be quickly eliminated, ensuring the smooth progress of the filtration process and the stable operation of the equipment.

[0040] Furthermore, the branch multi-way pipe 26 is also connected to a drain pipe 28, and a first manual switch 29 is provided between the branch multi-way pipe 26 and the drain pipe 28. A first switch solenoid valve is provided between the branch multi-way pipe 26 and the foam spray heads 27. The water outlet of the circulation pump body 20 is connected to a flow meter 213 through a second switch solenoid valve.

[0041] Beneficial effects: Specifically, the multi-branch pipeline 26 not only connects to the drain pipe 28 to achieve the drainage function, but also is equipped with a variety of valves at key nodes. First, a first manual switch 29 is provided between the multi-branch pipeline 26 and the drain pipe 28. This is a mechanical valve that allows operators to manually control the opening and closing of the drainage process. When it is necessary to drain the water inside the water tank, the operator can open the first manual switch 29, so that the water flow flows out along the drain pipe 28 under the action of the circulation water pump. In addition, in order to more precisely control the water flow direction, the multi-branch pipeline 26 is also provided with a first switching solenoid valve and a second switching solenoid valve. The first switching solenoid valve is located between the multi-branch pipeline 26 and the foam sprinkler head 27, while the second switching solenoid valve is located between the water outlet of the circulation pump body 20 and the flow meter 213. These two solenoid valves are both electronic control components that can quickly respond to control signals and adjust the opening and closing states of the valves. During the drainage process, in order to ensure that the water flow can be smoothly drained without entering other systems or components (such as the foam sprinkler head 27 and the water curtain dust removal device), it is necessary to close the first switching solenoid valve and the second switching solenoid valve. In this way, the water flow generated by the circulation water pump cannot flow through these two solenoid valves to other paths, but can only flow out along the drain pipe 28. Through this design, operators can flexibly control the drainage process to ensure that the water inside the water tank can be quickly and effectively drained when needed. At the same time, the addition of the solenoid valves also improves the automation level and control accuracy of the equipment, making the drainage process more reliable and stable.

[0042] Furthermore, the water curtain dust removal device further includes a plurality of diversion partitions 14, wherein the diversion partitions 14 are vertically installed on the inclined diversion plate 12, and two adjacent overflow ports 13 are separated by the diversion partitions 14.

[0043] Beneficial effects: These diversion partitions 14 are vertically installed on the inclined diversion plate 12, forming independent water flow channels and effectively separating the adjacent overflow ports 13. Through the setting of the diversion partitions 14, it can be ensured that the water flows out from each overflow port 13 can be evenly and orderly distributed on the inclined diversion plate 12 and flow into the inner wall of the water curtain cabinet 1 along the preset path. This evenly distributed water flow helps to form a denser and continuous water curtain, thereby improving the dust removal efficiency.

[0044] Meanwhile, if there are no appropriate isolation measures between adjacent overflow ports 13, the water flows may interfere with each other, resulting in disordered water flow directions and a decline in the dust removal effect. The introduction of the diversion partition 14 effectively solves this problem. It ensures that the water flows out of each overflow port 13 can remain independent and stable, reducing the mutual interference between the water flows. Additionally, since the diversion partition 14 divides the water flow into multiple independent channels, the water flow in each channel can fully contact and capture the dust particles in the air. This multi-channel design not only increases the contact area between water and dust but also improves the probability of dust particles being captured and settled, thus significantly enhancing the dust removal effect.

[0045] Furthermore, the water curtain dust removal device further includes a fixed bracket 15. The fixed bracket 15 is fixed to the diversion partitions 14 on both sides of the row-dividing cylinder 11, and both ends of the fixed bracket 15 are fitted with the top of the water curtain cabinet 1, achieving the suspension of the row-dividing cylinder 11 above the top of the water curtain cabinet 1. Moreover, in this embodiment, there are 2 row-dividing cylinders 11. The left row-dividing cylinder 11 discharges water from the front and left sides, and the row-dividing cylinder 11 on the right discharges water from the front and right sides.

[0046] Beneficial effects: The combination of the fixed bracket 15 and the diversion partition 14 is tightly fixed to the diversion partitions 14 on both sides of the row-dividing cylinder 11. This fixing method not only enhances the stability of the row-dividing cylinder 11 but also ensures the smooth flow of the water. Both ends of the fixed bracket 15 are fitted with the top of the water curtain cabinet 1. Through this stable connection structure, the fixed bracket 15 successfully suspends the row-dividing cylinder 11 above the top of the water curtain cabinet 1. This overhead design is convenient for maintenance and saves space. At the same time, it also reduces the water flow resistance and noise.

[0047] In this embodiment, the water curtain dust removal device is also provided with two row-dividing cylinders 11, which are respectively located on the left and right sides of the water curtain cabinet 1. This double row-dividing cylinder 11 design improves the coverage and efficiency of the water curtain dust removal. The left row-dividing cylinder 11 discharges water from the front and left sides, while the row-dividing cylinder 11 on the right discharges water from the front and right sides. This complementary water discharge method enables the entire interior of the water curtain cabinet 1 to be evenly covered by the water flow, effectively reducing the dust removal blind spots. Through the precise layout of the row-dividing cylinder 11 and the optimized design of the water discharge method, the water curtain dust removal device can form a denser and more uniform water curtain. This uniformly distributed water flow not only increases the contact opportunity with the dust particles in the air but also enhances the capture and settlement effect of the dust particles. At the same time, the design of the double row-dividing cylinder 11 also enables the water curtain dust removal device to adapt to the grinding requirements of workpieces of different sizes and shapes, providing a more flexible and efficient dust removal solution.

[0048] Furthermore, the water curtain dust removal device further includes a plurality of water flow adjustment clamping plates 16, wherein the water flow adjustment clamping plates 16 are clamped between a plurality of diversion partition plates 14, and a second diversion gap is reserved between the water flow adjustment clamping plates 16 and the inclined diversion plate 12. By adjusting the positions of the water flow adjustment clamping plates 16 and the inclined diversion plate 12, the size of the water flow can be controlled accordingly.

[0049] Beneficial effects: By adjusting the positional relationship between the water flow adjustment clamping plate 16 and the inclined diversion plate 12, the size of the second diversion gap can be changed. When the second diversion gap increases, more water flow is allowed to pass through, thereby increasing the density and coverage range of the water curtain; conversely, when the gap decreases, the water flow is restricted, and the density and coverage range of the water curtain will also decrease accordingly. This adjustment mechanism enables the operator to flexibly adjust the water flow size according to the actual grinding working conditions and dust removal requirements to achieve the best dust removal effect.

[0050] At the same time, an appropriate water flow size is crucial for improving the dust removal effect. Excessive water flow may lead to waste of resources and increased noise, while too small water flow may not effectively capture dust particles in the air. Through the setting of the water flow adjustment clamping plate 16, the operator can precisely control the water flow size to ensure that the water curtain can form a dense and uniform water curtain, fully contact with the dust particles in the air and capture them. Moreover, in a double-station grinding machine, different grinding processes may require different water flow sizes and dust removal effects. By adjusting the position of the water flow adjustment clamping plate 16, the operator can easily switch the required water flow size between the two grinding stations to meet the dust removal requirements of different processes.

[0051] Moreover, it is worth noting that the design of the water flow adjustment clamping plate 16 not only enhances the flexibility of the device but also improves its maintainability. When it is necessary to clean or maintain the water curtain dust removal device, the operator can conveniently disassemble and replace the water flow adjustment clamping plate 16 without the need for large-scale disassembly or reorganization of the entire device.

[0052] Furthermore, the grinding device includes a moving module 31, a grinding motor 32, a grinding cloth wheel 33, and a wax gun 34. The moving module 31 drives the grinding motor 32 and the wax gun 34 to move back and forth, and the output end of the grinding motor 32 extends into the water curtain cabinet 1 and is connected to the grinding cloth wheel 33.

[0053] Specifically, the robot double-station water curtain grinder is equipped with two grinding devices, that is, two grinding stations. The two grinding stations are independent of each other, but they work together through a common water curtain dust removal device and a manipulator device and other systems. Each grinding station can be designed for different grinding processes and meshes, which means that they can be equipped with grinding tools of different specifications and materials to meet the grinding needs of the workpiece at different stages. For example, at one grinding station, a coarse-grained grinding cloth wheel 33 may be configured to remove coarse defects and burrs on the surface of the workpiece; while at another grinding station, a fine-grained grinding cloth wheel 33 is configured to further refine the surface roughness and improve the smoothness and glossiness of the workpiece. This design allows the workpiece to be quickly transferred to the second grinding station for fine grinding after preliminary processing at the first grinding station, without stopping for replacement or waiting, thereby greatly improving production efficiency.

[0054] Moreover, the mobile module 31 is the movement center of the entire polishing device, which is responsible for driving the polishing motor 32 and the wax gun 34 to move back and forth in the horizontal direction. This flexible movement ability enables the polishing device to accurately cover various parts of the workpiece and realize comprehensive polishing. By accurately controlling the movement speed and trajectory of the mobile module 31, the operator can ensure the stability and consistency of the polishing process, thereby improving the polishing accuracy and efficiency. At the same time, the wax gun 34 is another important component in the polishing device, which is used to wax the surface of the workpiece during the polishing process. Waxing can protect the surface of the workpiece from oxidation and corrosion, and increase the gloss and aesthetics of the surface. In this design, the wax gun 34 is connected to the mobile module 31 and moves synchronously with the movement of the polishing motor 32. This can ensure that after the polishing process is completed, the surface of the workpiece is waxed in time to improve the overall quality of the workpiece.

[0055] Furthermore, a working opening 17 for a robot device to enter is provided at the front end of the water curtain cabinet 1 .

[0056] Furthermore, an inspection door 18 is movably provided on the left side of the water curtain cabinet 1. By providing the inspection door 18 on the left side of the water curtain cabinet 1, the operator can easily open the inspection door 18, directly enter the inside of the water curtain cabinet 1, and quickly replace the worn cloth wheel, thereby improving the maintenance efficiency and the availability of the equipment. Easy to clean and maintain: In addition to replacing the cloth wheel, the inspection door 18 also facilitates the cleaning and maintenance work inside the water curtain cabinet 1. During the grinding process, a certain amount of dust and dirt may accumulate inside the water curtain cabinet 1, affecting the dust removal effect and the normal operation of the equipment. By opening the inspection door 18, the operator can thoroughly clean the inside of the water curtain cabinet 1 and keep the equipment clean and tidy.

[0057] Further, the frame 10 further includes a system installation area 105 for installing the control system 106, and the control system 106 is communicatively connected to each module; the control system 106 uses a PLC device as the core module, which is responsible for receiving signals from the operation interface and issuing control instructions. The control system 106 has a human-machine interface to facilitate the operator to monitor the device status in real time and adjust parameters.

[0058] Its beneficial effects: The control system 106 of this robot double-station water curtain grinding machine is the "brain" of the entire device. It is responsible for coordinating the work of each module to ensure the high efficiency, stability and precision of the entire grinding process. The control system 106 uses an advanced PLC (Programmable Logic Controller) device as the core module. This choice not only ensures the reliability and stability of the system, but also endows the system with powerful data processing and control capabilities. To achieve centralized control and management of the entire device, the control system 106 is installed on a dedicated system installation area 105. This installation platform is reasonably designed, facilitating operation and maintenance. At the same time, the control system 106 is communicatively connected to each module, including the manipulator device, the grinding device, the water flow filtration and circulation device, and the water curtain dust removal device, etc. This communication connection ensures that the control system 106 can receive the working status information of each module in real time and issue corresponding control instructions as needed. As the core module of the control system 106, the main responsibility of the PLC device is to receive signals from the operation interface and process and judge these signals according to the preset program logic. Once the PLC device receives an operation instruction or detects a change in the working status of a certain module, it will immediately issue a corresponding control instruction to adjust or change the working status of other modules. This real-time data processing and control capability enables the entire device to operate efficiently and stably under complex and changeable working conditions. To facilitate the operator to monitor the device status in real time and adjust parameters, the control system 106 is also equipped with a human-machine interface. This interface is designed simply and clearly, and the operation is intuitive and convenient. The operator can input instructions or modify parameters through the touch screen or buttons, etc., and can also understand the real-time working status and various parameter indicators of the device through components such as indicator lights and display screens on the interface. The design of this human-machine interface not only improves the usability of the device, but also reduces the labor intensity and working difficulty of the operator.

[0059] The following specifically describes the specific working process of the overall device:

[0060] 1. Preparation

[0061] 1.1 Equipment inspection: Ensure that the robot double-station water curtain grinding machine is correctly installed and powered on. Check whether each module such as the manipulator device, the grinding device, the water flow filtration and circulation device, and the water curtain dust removal device is connected properly and in normal working condition.

[0062] 1.2 Workpiece preparation: Place the workpiece to be polished at the designated position to ensure that the robotic arm device can grasp it smoothly.

[0063] 1.3 Parameter setting: Set the polishing parameters through the human-machine interface of the control system 106, including polishing speed, force, path, water flow rate, etc.

[0064] 2. Start the water curtain system

[0065] 2.1 Start the water curtain system: Before starting the polishing operation, start the water curtain system first. Water flows out from the water outlet of the water filtration and circulation device, overflows through the overflow port 13 of the split-row cylinder 11 to the inclined guide plate 12, forming a water curtain. The water curtain system forms a water curtain around the water curtain cabinet 1 through the overflow method to prepare for capturing the upcoming dust.

[0066] 2.2 Check the operation of the water curtain system: Ensure that the water curtain system operates stably with an appropriate water volume, which can effectively inhibit the spread of dust without affecting the normal operation of the robotic arm.

[0067] 3. Start the polishing operation

[0068] 3.1 The control system 106 issues an instruction: The control system 106 issues an instruction, and the robotic arm starts to move according to the preset program.

[0069] 3.2 The robotic arm starts to polish: The robotic arm drives the polishing tool (such as the polishing cloth wheel 33) close to the surface of the workpiece. According to the set parameters, the robotic arm performs the polishing operation at a constant speed, force, and path.

[0070] 3.3 The water curtain system operates continuously: The water curtain system operates continuously, bringing the dust generated during the polishing process into the water tank below for filtration in a timely manner, effectively reducing environmental pollution.

[0071] 4. Monitoring and adjustment

[0072] 4.1 Real-time monitoring: The operator observes the polishing process in real time through the monitoring screen (set separately), paying attention to the operating status of the robotic arm, the polishing effect, and the operating condition of the water curtain system.

[0073] 4.2 Abnormal adjustment: If any abnormal situation is found (such as poor polishing effect, robotic arm failure, water curtain system abnormality, etc.), immediately make adjustments through the control system 106 to ensure the smooth progress of the polishing operation.

[0074] 5. End the polishing

[0075] 5.1 Stop polishing: When the surface of the workpiece reaches the expected polishing effect, the control system 106 issues an instruction, and the robotic arm stops moving, ending the polishing operation.

[0076] 5.2 Shut down the water curtain system: Shut down the water curtain system and stop the water supply. Ensure that the water flow in the water curtain cabinet 1 stops flowing to avoid unnecessary waste of resources.

[0077] 5.3 Cleaning and tidying up: Clean and tidy up the polished workpieces to prepare for the next process or storage. Clean the inside and the surrounding environment of the water curtain cabinet 1 to keep the equipment clean and tidy.

[0078] The above embodiments are only descriptions of the preferred embodiments of the present invention, and do not limit the scope of the present invention. Without departing from the design spirit of the present invention, various deformations and improvements made by those of ordinary skill in the art to the technical solutions of the present invention shall fall within the protection scope determined by the claims of the present invention.

Claims

1. A robot double-station water curtain grinding machine, characterized in that, including a manipulator device for grasping and rotating a workpiece; a grinding device for grinding the workpiece; a water flow filtration and circulation device having a water outlet and a water inlet and for filtering the water flow; a water curtain dust removal device, wherein the water curtain dust removal device includes a water curtain cabinet, a sub - row cylinder arranged at the top of the water curtain cabinet, and an inclined guide plate arranged at the top of the water curtain cabinet. A first guide gap is arranged between the top of the water curtain cabinet and the inclined guide plate; the sub - row cylinder is provided with a plurality of overflow ports, and the water flow overflows from the overflow ports to the inclined guide plate and flows through the first guide gap to the inner wall of the water curtain cabinet; the water outlet of the water flow filtration and circulation device is communicated with the sub - row cylinder, and the water inlet of the water flow filtration and circulation device is communicated with a drain port located at the bottom of the water curtain cabinet.

2. The robot double-station water curtain grinding machine according to claim 1, characterized in that: It further includes a frame, which includes a robot installation platform for installing the manipulator device, a water tank placement area for installing the water flow filtration and circulation device, a grinding component installation area for installing the grinding device, and a water curtain installation area for installing the water curtain dust removal device.

3. The robot double-station water curtain grinding machine according to claim 1, characterized in that: The water flow filtration and circulation device includes a circulation water tank, a circulation pump body, and a flow meter. The circulation water tank includes a sewage area, a filtration area, and a clear water area that are sequentially communicated. The drain port at the bottom of the water curtain cabinet is aligned with the sewage area, and the water inlet of the clear water circulation pump body is communicated with the clear water area. The water outlet of the clear water circulation pump body is communicated with the sub - row cylinder through the flow meter.

4. The robot double-station water curtain grinding machine according to claim 3, characterized in that: The sewage area includes a secondary filtration box body and a primary filtration cloth bag built in the secondary filtration box body. The filtration area includes a tertiary filtration box body and a quaternary filtration box body; the drain port is communicated with the primary filtration cloth bag, and a clear water tank communicated with the quaternary filtration box body is arranged in the clear water area.

5. A robot double-station water curtain grinding machine according to claim 4, characterized in that: The primary filtration cloth bag is a 20 - mesh cloth bag, and a first filter plate is arranged between the secondary filtration box body and the tertiary filtration box body, a second filter plate is arranged between the tertiary filtration box body and the quaternary filtration box body, and a third filter plate is arranged between the quaternary filtration box body and the clear water tank.

6. A double-station water curtain grinding machine for robots according to claim 4, characterized in that: The water outlet of the circulation pump body is also communicated with a branch multi - way pipe, and the branch multi - way pipe is communicated with foam spray heads located above the secondary filtration box body and above the clear water box body.

7. A robot double-station water curtain grinding machine according to claim 4, characterized in that: The branch multi - way pipe is also communicated with a drain pipe, and a first manual switch is arranged between the branch multi - way pipe and the drain pipe. A first switch solenoid valve is arranged between the branch multi - way pipe and the foam spray heads. The water outlet of the circulation pump body is communicated with the flow meter through a second switch solenoid valve.

8. A robot double-station water curtain grinding machine according to claim 1, characterized in that: The water curtain dust removal device further includes a plurality of guide partitions, wherein the guide partitions are vertically installed on the inclined guide plate, and adjacent two overflow ports are separated by the guide partitions.

9. The robotic double-station water curtain grinding machine according to claim 8, wherein: The water curtain dust removal device further includes a fixed bracket, the fixed bracket is fixed to the guide partitions on both sides of the sub - row cylinder, and both ends of the fixed bracket are installed with the top of the water curtain cabinet, and the sub - row cylinder is hoisted on the top of the water curtain cabinet.

10. A robot double-station water curtain grinding machine according to claim 9, characterized in that: The water curtain dust removal device further includes a plurality of water flow adjustment clamping plates, the water flow adjustment clamping plates are clamped between a plurality of guide partitions, and a second guide gap is reserved between the water flow adjustment clamping plates and the inclined guide plate. The size of the water flow is controlled by adjusting the positions of the water flow adjustment clamping plates and the inclined guide plate.

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