Full-automatic grinding and polishing workstation

Abstract

The utility model discloses a full-automatic grinding and polishing work station which comprises a base, a grinding mechanism and a first clamping mechanism which are arranged on the base, and further comprises a shifting mechanism, a mechanical arm and a product overturning module, when the full-automatic grinding and polishing work station is used, the shifting mechanism and the mechanical arm are matched with the first clamping mechanism to adjust the position of a workpiece to be ground; and then the product overturning module or the grinding mechanism is matched to apply preset actions to the to-be-ground workpiece, for example, the grinding mechanism is used for grinding the workpiece, the product overturning module overturns the workpiece to enable the corresponding face to be ground, the mechanical arm can flexibly adjust the position of the workpiece so as to be better matched with the grinding mechanism, and the machining efficiency can be improved.

Description

Technical Field

[0001] The utility model relates to the technical field of grinding devices, in particular to a full-automatic grinding and polishing workstation. Background Art

[0002] The grinding mechanism is a commonly used device in modern processing. Specifically, the conventional configuration of the grinding head is driven by a driving motor. In order to improve efficiency, some companies have added a linear shifting mechanism, a clamping mechanism and a grinding mechanism. The shifting mechanism drives the clamping mechanism to move, so that the clamped workpiece contacts the grinding head for grinding. The movement of the shifting mechanism is relatively simple, the grinding quality is not high, and some workpieces need to be turned over. The turning process is mostly done manually, and the processing efficiency is low, which needs to be improved. Utility Model Content

[0003] To solve at least one of the above technical deficiencies, the present invention provides the following technical solutions:

[0004] This application document discloses a fully automatic grinding and polishing workstation, including a base and a grinding mechanism and a clamping mechanism on the base, as well as a shifting mechanism, a robotic arm, and a product flipping module. The product flipping module is used to flip the workpiece to be ground. The shifting mechanism is located above the grinding mechanism and its moving end is connected to the robotic arm. A clamping mechanism is provided at the moving end of the robotic arm, and the position of the clamping mechanism is adjusted by the shifting mechanism and the robotic arm. The product flipping module and the grinding mechanism are both within the working range of the clamping mechanism.

[0005] During use, the position of the workpiece to be polished is adjusted by the shifting mechanism and the robotic arm in cooperation with the clamping mechanism, and then the predetermined action is applied to the workpiece to be polished in cooperation with the product flipping module or the polishing mechanism. For example, the workpiece is polished by the polishing mechanism, and the product flipping module flips the workpiece so that the corresponding surface is available for polishing. The robotic arm can flexibly adjust the position of the workpiece to better cooperate with the polishing mechanism.

[0006] Understanding of the working scope: The area where the workpiece is clamped by the moving clamping mechanism overlaps with the working areas of the product flipping module, polishing mechanism and other mechanisms. For example, the shifting mechanism and the robotic arm cooperate with the moving clamping mechanism to move the clamped workpiece to the working area of ​​the product flipping module, and the product flipping module applies a predetermined action to the workpiece in the working area, or moves the clamped workpiece to the working area of ​​the polishing mechanism, and the polishing mechanism polishes the workpiece in the working area.

[0007] For robotic arms, the required models can be purchased from the market according to demand, such as the common four-axis, six-axis, etc., as long as they can cooperate with the product flipping module and grinding mechanism.

[0008] Furthermore, it also includes a control end and a six-axis force sensor. The moving end of the robotic arm is connected to the clamping mechanism one via the six-axis force sensor. The robotic arm, shift mechanism, product flip module, and six-axis force sensor are all connected to the control end. The control end receives the data transmitted by the six-axis force sensor and determines whether to adjust the position of the clamping mechanism one through the robotic arm.

[0009] When in use, the force exerted on the workpiece is detected by a six-axis sensor and then transmitted to the control end. When the predetermined value is exceeded, the control end drives the robotic arm to adjust the position of the workpiece, which helps improve the grinding quality.

[0010] Furthermore, it also includes a zero-point sensor, which is connected to the control end. Once the mobile end or the clamping mechanism of the robotic arm moves to the zero-point sensor, the zero-point sensor transmits the detected signal to the control end, and the control end repositions the robotic arm. When the robotic arm deforms or moves out of place during use, its mobile end can be moved to the zero-point sensor. The zero-point sensor detects the mobile end and transmits it to the control end, and the control end repositions the robotic arm, which facilitates adjustment and helps improve the stability of operation.

[0011] Furthermore, the product flipping module includes a lifting mechanism 1, a rotating mechanism, and a clamping mechanism 2. The rotating mechanism is provided at the moving end of the lifting mechanism 1 and the clamping mechanism 2 is horizontally provided at the output end of the rotating mechanism. The lifting mechanism 1 is used to reciprocate the clamping mechanism 2 in the longitudinal direction, and the rotating mechanism is used to rotate the clamping mechanism 2 to flip the clamped workpiece. A discharge block is provided on the base on one side of the product flipping module, and the discharge block is within the working range of the clamping mechanism 2 and the clamping mechanism 1.

[0012] For the rotating mechanism, common motors, rotating cylinders, etc. can be used. When the workpiece is in the discharge block, the position of the clamping mechanism is adjusted by the lifting mechanism one, and the workpiece is clamped by the clamping mechanism one. After the lifting mechanism one moves to the predetermined position, the rotating mechanism rotates the clamping mechanism one to complete the flipping of the workpiece.

[0013] Furthermore, the shifting mechanism and the lifting mechanism are both of linear reciprocating shifting type.

[0014] Furthermore, it also includes a lifting tray module, which includes a lifting mechanism 2 and a support plate. The support plate is horizontally arranged at the moving end of the lifting mechanism 2, and the lifting mechanism 2 moves the support plate longitudinally. The support plate is used to support the tray. The support plate is in the working range of the clamping mechanism 1. The lifting mechanism 2 adjusts the position of the support plate to facilitate loading or unloading, thereby further improving the degree of automation of the workstation.

[0015] Furthermore, it also includes a tray storage component, which includes a silo and a limit component. The silo is located above the pallet and is used to store trays. The bottom of the silo is provided with a material port for the tray to pass through. The material port provided at the bottom of the silo is on the moving path of the pallet to cooperate with loading or unloading. The limit component is provided at the opposite side of the material port at the bottom of the silo. The material port is blocked or opened by the limit component, and the tray storage component cooperates with the tray lifting module to help reduce the number of times the tray is loaded or unloaded and improve processing efficiency.

[0016] Furthermore, the limiting assembly includes a telescopic mechanism and a baffle. The telescopic mechanism is arranged at the side of the material port and the baffle is arranged at the moving end of the telescopic mechanism. The baffle is moved by the telescopic mechanism to block or open the material port. The telescopic mechanism and the baffle cooperate to block or open the material port, which helps to reduce costs.

[0017] Furthermore, the tray lifting module and tray storage assembly are both connected to the control end in the workstation to improve the degree of automation.

[0018] Furthermore, it also includes a cover body and a dust suction mechanism. The cover body is set on the base. The grinding mechanism, shifting mechanism, product flipping module, robotic arm, lifting tray module, and tray storage assembly are all in the cover body cavity. The air inlet of one dust suction mechanism is connected to the cover body cavity and the air inlet of the other dust suction mechanism is below the grinding head in the grinding mechanism. The cover body is added to place each action mechanism in a relatively closed environment, reduce external interference, and help improve the stability of operation. The dust suction mechanism absorbs debris generated by grinding, which helps to improve the quality of the workshop environment.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] 1. The utility model redesigns the structural composition of the workstation. The flexible adjustment of the robotic arm helps to improve the quality of grinding. The product flipping module helps to improve the processing efficiency by flipping the workpiece. The coordination of the robotic arm, shifting mechanism, product flipping module and grinding mechanism helps to improve the degree of automation of the workstation. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0022] Figure 1 Schematic diagram of the structure of the fully automatic grinding and polishing workstation in Example 1;

[0023] Figure 2It is a schematic diagram of the structure inside the cover;

[0024] Figure 3 It is a schematic diagram of the structure inside the cover;

[0025] Figure 4 It is a schematic diagram of the connection structure of the shift mechanism and the robotic arm;

[0026] Figure 5 It is a structural diagram of the product flip module;

[0027] Figure 6 It is a structural diagram of the lifting tray module;

[0028] Figure 7 It is a structural diagram of the tray storage component;

[0029] Wherein, the accompanying drawings are marked as follows:

[0030] 1. Base; 2. Control terminal; 3. Cover; 4. Grinding mechanism; 5. Robotic arm; 6. Shifting mechanism; 7. Lifting tray module; 8. Tray storage assembly; 9. Product flipping module; 10. Dust collection mechanism; 11. Six-axis force sensor; 12. Clamping mechanism 1; 13. Zero point sensor; 14. Air inlet; 15. Tray; 71. Lifting mechanism 2; 72. Support plate; 81. Hopper; 82. Material port; 83. Baffle; 84. Telescopic mechanism; 91. Lifting mechanism 1; 92. Rotating mechanism; 93. Clamping mechanism 2; 94. Material discharge block. DETAILED DESCRIPTION

[0031] The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0032] Example 1

[0033] like Figure 1 、 Figure 2 、 Figure 3 As shown, the fully automatic grinding and polishing workstation includes a base 1, a grinding mechanism 4 and a product flip module 9 are installed on the top surface of the base 1, a shift mechanism 6 is installed above the grinding mechanism 4, the moving end of the shift mechanism 6 is connected to the robotic arm 5, and a clamping mechanism 12 is installed at the moving end of the robotic arm 5. The product flip module 9 and the grinding mechanism 4 are both within the working range of the clamping mechanism 12.

[0034] The grinding mechanism is a common driving motor that drives the grinding head. A liquid spray head or a mechanism that drives the driving motor to move can be added as needed. The liquid spray head is directed toward the grinding head of the grinding mechanism. The liquid spray head is connected to an external liquid infusion tube and sprays liquid to the grinding head during the grinding process to achieve cooling.

[0035] A product turning module 9 is installed at the base 1 on one side of the grinding mechanism 4, which is used to turn the workpiece to be ground, such as Figure 5 As shown, in this example, the product turning module 9 includes a lifting mechanism 1 91, a rotating mechanism 92, and a clamping mechanism 2 93. The lifting mechanism 1 is like a common telescopic cylinder. The rotating mechanism 92 is horizontally arranged at the moving end of the lifting mechanism 1 91. The rotating mechanism is like a common drive motor or rotary cylinder. The clamping mechanism 2 93 is horizontally installed at the output end of the rotating mechanism 92. The clamping mechanism 2 is like a common cylinder claw type. Figure 5 In the illustrated state, a discharge block 94 is mounted at the base below the second clamping mechanism 93. Discharge block 94 is within the working range of the second clamping mechanism 93. During operation, the first lifting mechanism adjusts the position of the second clamping mechanism longitudinally, allowing the second clamping mechanism to clamp the workpiece on the discharge block. The first lifting mechanism resets the second clamping mechanism, and the second clamping mechanism rotates the second clamping mechanism to flip the workpiece. Of course, the first lifting mechanism can also be equipped with other screw, rack, and pinion lifting options, depending on the needs.

[0036] The shifting mechanism 6 is located above the grinding mechanism 4 and its moving end is connected to the robotic arm 5. The shifting mechanism is supported by a bracket fixed on the base, or a cover is installed on the base, and the shifting mechanism is fixed on the cover. The shifting mechanism is a common linear reciprocating type, such as a screw module. Of course, the two-axis or three-axis shifting mechanism commonly available on the market can also be used.

[0037] For robotic arms, such as the common four-axis and six-axis types on the market, this example takes a six-axis robotic arm as an example. Figure 4 As shown, a clamping mechanism 12 is installed at the mobile end of the robot arm 5. The clamping mechanism 12 is like a common pneumatic clamp, specifically a three-claw or four-claw clamp. The position of the clamping mechanism 12 is adjusted by the shifting mechanism 6 and the robot arm 5. For example, the shifting mechanism 6 moves back and forth in a horizontal straight line to adjust the position of the robot arm 5. The robot arm 5 adjusts the position of the clamping mechanism 12 so that the workpiece clamped by the clamping mechanism 12 moves to the working area of ​​the grinding mechanism 4, and the grinding mechanism 4 grinds the workpiece. In order to improve the grinding quality, a control end 2 and a six-axis force sensor 11 are added in this example. The mobile end of the robot arm 5 is connected to the clamping mechanism 12 by a six-axis force sensor 11. The six-axis force sensor is purchased directly from the market. The robot arm, the shifting mechanism, and the six-axis force sensor are all connected to the control end 2. During the grinding process, the six-axis force sensor is used to detect the force applied to the clamping mechanism 1. The control end receives the data transmitted by the six-axis force sensor and determines whether to adjust the position of the clamping mechanism 1 through the robot arm.

[0038] In addition, a zero-point sensor 13 can be added. The zero-point sensor 13 is connected to the control end 2. If the zero-point sensor is installed on one side of the grinding mechanism, when the robot arm is deformed or moves out of place during use, its mobile end or clamping mechanism can be moved to the zero-point sensor. The zero-point sensor detects the mobile end and transmits it to the control end. The control end repositions the robot arm for easy adjustment, which helps to improve the stability of operation.

[0039] In order to improve the degree of automation, a tray storage component 8 and a tray lifting module 7 can also be added. Figure 2 、 Figure 3 、 Figure 6 、 Figure 7 As shown, the lifting tray module 7 includes a lifting mechanism 2 71 and a support plate 72. The lifting mechanism 2 is a screw module that moves back and forth in a straight line. The support plate 72 is fixed horizontally at the moving end of the lifting mechanism 2 71 to support the tray. The lifting mechanism 2 71 moves the support plate 72 up and down in the longitudinal direction. The support plate is in the working range of the clamping mechanism 1. The shifting mechanism cooperates with the robotic arm to adjust the position of the clamping mechanism 1 so that the clamping mechanism 1 can clamp the workpiece placed in the tray on the support plate.

[0040] The material tray storage component 8 includes a material bin 81 and a limiting component. The material bin is in the shape of a common rectangular frame. The material bin 81 is located above the support plate 72. The material bin 81 is used to store the material tray 15. The bottom of the material bin 81 is preformed with a material port 82 through which the material tray passes. The material port 82 at the bottom of the material bin 81 is on the moving path of the support plate 72. When in use, the support plate is moved up to the material port to receive the material tray discharged from the material bin to complete the unloading of the material tray, or the support plate is moved up to the material port, and the material tray on the pallet is inserted into the material bin from the material port to complete the loading of the material tray. The matching relationship is selected according to needs.

[0041] In this example, a limit assembly is added, and two sets of limit assemblies are respectively installed at the opposite sides of the material opening at the bottom of the silo 81. The limit assembly is used to block or open the material opening 82. For example, when the material opening is opened, the material tray in the silo falls on the pallet, or the material tray on the pallet is locked in the silo.

[0042] like Figure 7 As shown, the limiting assembly includes a telescopic mechanism 84 and a baffle 83. The telescopic mechanism is such as a common telescopic cylinder. The telescopic mechanism 84 is horizontally arranged on the side of the material port 82. The baffle 83 is fixed at the moving end of the telescopic mechanism 84. The baffle is moved by the telescopic mechanism to adjust the position of the material port to achieve the purpose of blocking or opening the material port. In a normal state, the material tray in the silo is supported by the baffles on both sides. After the baffle is retracted, the material tray without support falls on the support plate at the material port.

[0043] In order to reduce external interference, a cover body 3 is added in this example. The rectangular cover body 3 is fixed on the top surface of the base 1. The grinding mechanism 4, product flipping module 9, shifting mechanism 6, robotic arm 5, lifting tray module 7, and tray storage assembly 8 are all in the cavity of the cover body 3. A door panel is installed at the front entrance of the cover body, and the control end 2 is installed on the cover body on the side of the door panel. The shifting mechanism and the silo are fixed on the top wall of the cover body cavity, and the zero point sensor 13 is fixed on the side wall of the cover body on the side of the grinding mechanism 4. Of course, the shifting mechanism, the silo, and the zero point sensor can also be supported by other brackets.

[0044] In this embodiment, a dust suction mechanism is also added. The dust suction mechanism can be purchased from a common model on the market. The number of dust suction mechanisms can be single or multiple. For example, one dust suction mechanism 10 is installed on the top surface of the base, and the air inlet of the dust suction mechanism is located in the cavity of the cover body 3. Another dust suction mechanism is installed in the cavity of the base 1, and the air inlet 14 of the dust suction mechanism is located below the grinding head of the grinding mechanism. A filter can be installed at this air inlet.

[0045] The dust collecting mechanism 10, the polishing mechanism 4, the product turning module 9, the shifting mechanism 6, the robotic arm 5, the lifting tray module 7, the tray storage assembly 8, and the zero point sensor 13 are all connected to the control terminal 2 and controlled by the built-in program. One of the working processes is as follows:

[0046] The material tray is manually placed on the support plate, and the shift mechanism cooperates with the robot arm to adjust the position of the clamping mechanism 1 so that the clamping mechanism 1 clamps the workpiece on the material tray.

[0047] Afterwards, the shifting mechanism cooperates with the robotic arm to adjust the position of the clamping mechanism one for a second time, so that the clamped workpiece is in the working area of ​​the grinding mechanism, and the grinding head in the grinding mechanism grinds the corresponding surface of the workpiece. During this period, the six-axis force sensor detects the force, and the control end controls the robotic arm to adjust the position of the clamping mechanism one, which correspondingly changes the relative position of the workpiece and the grinding head.

[0048] After grinding is completed, the position of the clamping mechanism 1 is adjusted by cooperating with the robotic arm or by the robotic arm alone, so that the clamped workpiece is in the working area of ​​the product flipping module, and the clamped workpiece is placed on the discharge block. The workpiece on the discharge block is clamped by the clamping mechanism 2, and the position of the clamping mechanism 2 is adjusted by the lifting mechanism 1. The workpiece is turned over by the rotating mechanism. The lifting mechanism 2 moves the clamping mechanism 2 downward, and the turned workpiece is placed on the discharge block.

[0049] The position of the clamping mechanism 1 is adjusted by cooperating with the robot arm or by using the robot arm alone, and the workpiece on the material discharging block is clamped by the clamping mechanism 1 and moved to the grinding mechanism for further grinding.

[0050] After the workpiece is polished, the position of the clamping mechanism 1 is adjusted by the shifting mechanism in conjunction with the robotic arm, and the clamped workpiece is placed on the pallet tray.

[0051] When all the workpieces on the tray are polished, the support plate moves up to the material port of the hopper, and the limit assembly opens the material port, so that the trays in the hopper fall on the support plate to form a stack, and the support plate moves down for the clamping mechanism to clamp the workpiece.

[0052] The above are only preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions based on the concept of the present invention are within the scope of protection of the present invention. It should be noted that for those skilled in the art, certain improvements and modifications that do not depart from the principles of the present invention should also be considered within the scope of protection of the present invention.

Claims

1. A fully automatic grinding and polishing workstation, comprising a base (1), a grinding mechanism (4) on the base (1), and a clamping mechanism (12), characterized in that: The invention also includes a shifting mechanism (6), a mechanical arm (5), and a product flipping module (9). The product flipping module (9) is used to flip the workpiece to be polished. The shifting mechanism (6) is located above the polishing mechanism (4) and its movable end is connected to the mechanical arm (5). A clamping mechanism (12) is provided at the movable end of the mechanical arm (5). The position of the clamping mechanism (12) is adjusted by the shifting mechanism (6) and the mechanical arm (5). The product flipping module (9) and the polishing mechanism (4) are both within the working range of the clamping mechanism (12).

2. The fully automatic grinding and polishing workstation according to claim 1, characterized in that: The invention also includes a control end (2) and a six-axis force sensor (11). The moving end of the mechanical arm (5) is connected to the clamping mechanism (12) via the six-axis force sensor (11). The mechanical arm, the shifting mechanism, the product flipping module, and the six-axis force sensor are all connected to the control end. The control end receives data transmitted by the six-axis force sensor and determines whether to adjust the position of the clamping mechanism (1) through the mechanical arm.

3. The fully automatic grinding and polishing workstation according to claim 2, characterized in that: The invention also includes a zero point sensor (13), which is connected to the control end (2). When the moving end or the clamping mechanism of the mechanical arm moves to the zero point sensor, the zero point sensor transmits the detected signal to the control end, and the control end repositions the mechanical arm.

4. The fully automatic grinding and polishing workstation according to claim 1, characterized in that: The product flipping module (9) includes a lifting mechanism (91), a rotating mechanism (92), and a clamping mechanism (93). The rotating mechanism (92) is provided at the moving end of the lifting mechanism (91), and the clamping mechanism (93) is provided horizontally at the output end of the rotating mechanism (92). The lifting mechanism (91) reciprocates the clamping mechanism (93) in the longitudinal direction, and the rotating mechanism rotates the clamping mechanism (93) to flip the clamped workpiece. A discharge block (94) is provided on the base on one side of the product flipping module (9), and the discharge block (94) is within the working range of the clamping mechanism (93) and the clamping mechanism (12).

5. The fully automatic grinding and polishing workstation according to claim 4, characterized in that: The shifting mechanism (6) and the lifting mechanism (91) are both of the linear reciprocating shifting type.

6. The fully automatic grinding and polishing workstation according to claim 1, characterized in that: The utility model further comprises a lifting tray module (7), wherein the lifting tray module (7) comprises a lifting mechanism 2 (71) and a supporting plate (72). The supporting plate (72) is horizontally arranged at the moving end of the lifting mechanism 2 (71), and the lifting mechanism 2 moves the supporting plate longitudinally. The supporting plate is used to support the tray, and the supporting plate (72) is within the working range of the clamping mechanism 1 (12).

7. The fully automatic grinding and polishing workstation according to claim 6, characterized in that: The material tray storage assembly (8) further comprises a material bin (81) and a position limiting assembly. The material bin is located above the support plate (72) and is used to store material trays. A material port (82) for the material tray to pass through is provided at the bottom of the material bin (81). The material port provided at the bottom of the material bin is located on the moving path of the support plate (72) to facilitate loading or unloading of materials. The position limiting assembly is provided at the side opposite to the material port (82) at the bottom of the material bin to block or open the material port with the position limiting assembly.

8. The fully automatic grinding and polishing workstation according to claim 7, characterized in that: The limiting assembly comprises a telescopic mechanism (84) and a baffle (83); the telescopic mechanism (84) is arranged at the side of the material opening (82) and the baffle (83) is arranged at the moving end of the telescopic mechanism; the baffle is moved by the telescopic mechanism to block or open the material opening.

9. The fully automatic grinding and polishing workstation according to claim 7, characterized in that: The tray lifting module (7) and tray storage assembly (8) are both connected to the control terminal (2) in the workstation.

10. The fully automatic grinding and polishing workstation according to claim 7, characterized in that: The invention also includes a cover body (3) and a dust suction mechanism (10). The cover body (3) is arranged on the base (1). The grinding mechanism (4), the shifting mechanism (6), the product turning module (9), the mechanical arm (5), the lifting tray module (7), and the tray storage assembly (8) are all located in the cavity of the cover body (3). The air inlet of one dust suction mechanism (10) is connected to the cavity of the cover body, and the air inlet (14) of the other dust suction mechanism is located below the grinding head in the grinding mechanism (4).

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