Multi-station full-automatic mechanical polishing system

Abstract

The utility model discloses a multi-station full-automatic mechanical polishing system which comprises a material taking and placing machine table, a workpiece transferring mechanical arm, a polishing machine table, a polishing mechanical arm and an abrasive paper replacing machine table, the material taking and placing machine table is used for storing workpieces, and the workpiece transferring mechanical arm is used for transferring the workpieces to be machined on the material taking and placing machine table to the polishing machine table; the polishing mechanical arm is used for grinding and polishing a to-be-machined workpiece on the polishing machine table, and the abrasive paper replacing machine table is used for replacing abrasive paper for the polishing mechanical arm. According to the full-automatic polishing machine, the material taking and placing machine table, the workpiece transferring mechanical arm, the polishing machine table, the polishing mechanical arm and the abrasive paper replacing machine table are arranged and matched with one another, so that workpieces are automatically ground and polished, full-automatic unmanned production and manufacturing are achieved, and compared with manual polishing, the machining efficiency and the yield are improved, and danger is reduced.

Description

Technical Field

[0001] This utility model relates to the field of machining technology, and in particular to a multi-station fully automated mechanical polishing system. Background Technology

[0002] With social progress and improved living standards, consumers' demands for product quality and personalization are constantly increasing, the functions of industrial products are becoming increasingly rich, and downstream application markets are continuously increasing their demands for personalization and customization. This requires equipment to be able to automate, intelligentize, and flexibly complete the manufacturing process according to user requirements, be highly adaptable to the manufacturing objects and environment, and continuously optimize the manufacturing process, moving from focusing on quality, safety, and labor reduction to flexible automation that can quickly respond to market demands.

[0003] With rising labor costs and increased production volumes, traditional manual polishing techniques can no longer meet the demands of modern manufacturing. Problems with traditional manual polishing equipment include: low efficiency, product yield loss during polishing, improper product placement, and the health risks to workers. Therefore, there is an urgent need for automated polishing equipment. Utility Model Content

[0004] In order to overcome the shortcomings and deficiencies of the existing technology, the purpose of this utility model is to provide a multi-station fully automated mechanical polishing system to solve the problems of low efficiency, low yield and high risk of manual polishing in the existing technology.

[0005] The objective of this utility model is achieved through the following technical solution:

[0006] This utility model provides a multi-station fully automated mechanical polishing system, including: a material handling station, a workpiece transfer robotic arm, a polishing station, a polishing robotic arm, and a sandpaper changing station. The material handling station is used to store workpieces, the workpiece transfer robotic arm is used to transfer the workpieces to be processed on the material handling station to the polishing station, the polishing robotic arm is used to grind and polish the workpieces to be processed on the polishing station, and the sandpaper changing station is used to change the sandpaper for the polishing robotic arm.

[0007] Furthermore, the loading and unloading machine is provided with a first worktable, on which a workpiece transfer tray and a workpiece storage tray are provided. The workpiece transfer tray is used to place the workpiece to be processed and to position the workpiece to be processed. The workpiece storage tray is used to place the processed workpiece. The workpiece transfer robotic arm is used to transfer the processed workpiece on the polishing machine to the workpiece storage tray.

[0008] Furthermore, the first workbench is provided with multiple slide rails, and the workpiece transfer tray and the workpiece storage tray are slidably mounted on different slide rails and can slide relative to the first workbench.

[0009] And / or, the workpiece storage tray is detachably connected to the slide rail.

[0010] Furthermore, the workpiece transfer robotic arm is equipped with a material handling mechanism, which is equipped with a material handling clamp for clamping or releasing the workpiece.

[0011] Furthermore, the number of the picking and placing fixtures is multiple and they are distributed around the periphery of the picking and placing mechanism. The picking and placing mechanism is rotatably connected to the workpiece transfer robot arm and can rotate on the workpiece transfer robot arm. The workpiece transfer robot arm is provided with a first driver for driving the picking and placing mechanism to rotate.

[0012] Furthermore, the polishing machine is provided with a second worktable, on which a workpiece clamping mechanism and a second driver are provided. The workpiece clamping mechanism is used to clamp or release the workpiece, and the second driver is used to drive the workpiece clamping mechanism to rotate with the workpiece.

[0013] Furthermore, the workpiece clamping mechanism includes a clamp, a third driver, a rotating wheel, a slider, a guide rod, and a fourth driver. The clamp is connected to the rotating shaft of the second driver and is used to clamp one end of the workpiece. The third driver is used to drive the clamp to open or close. The guide rod is mounted on the second worktable. The slider is slidably mounted on the guide rod and can slide on the guide rod. The fourth driver is used to drive the slider to slide on the guide rod. The rotating wheel is mounted on the slider and follows the slider to slide on the guide rod. The rotating wheel is provided with a mounting hole for mounting the other end of the workpiece.

[0014] Furthermore, the polishing robotic arm is equipped with a grinding mechanism, which has multiple grinding heads for grinding and polishing the workpiece.

[0015] Furthermore, the sandpaper changing machine is equipped with a third workbench, which is equipped with a sandpaper removal mechanism, a sandpaper feeding mechanism, and a sandpaper storage mechanism. The sandpaper removal mechanism is used to remove scrap sandpaper from the polishing robotic arm, the sandpaper feeding mechanism is used to install new sandpaper on the polishing robotic arm, and the sandpaper storage mechanism is used to store sandpaper and provide new sandpaper to the sandpaper feeding mechanism.

[0016] Furthermore, there are four polishing machines and four polishing robotic arms, arranged in two rows and two columns. Each polishing machine corresponds to one polishing robotic arm. The workpiece transfer robotic arm is located at the center of the multi-station fully automated mechanical polishing system and is used to change the workpiece to be processed for the four polishing machines.

[0017] The number of sandpaper changing machines is two, and the sandpaper changing machines are located between the two polishing robotic arms and are used to change the sandpaper for the two polishing robotic arms.

[0018] The beneficial effects of this utility model are as follows: by setting up a material handling machine, a workpiece transfer robot arm, a polishing machine, a polishing robot arm, and a sandpaper changing machine in coordination with each other, the material handling machine is used to store workpieces, the workpiece transfer robot arm is used to transfer the workpieces to be processed on the material handling machine to the polishing machine, the polishing robot arm is used to grind and polish the workpieces to be processed on the polishing machine, and the sandpaper changing machine is used to change the sandpaper for the polishing robot arm, thereby realizing automated grinding and polishing of workpieces, achieving fully automated unmanned production and manufacturing. Compared with manual polishing, it improves processing efficiency and yield, and reduces danger. Attached Figure Description

[0019] Figure 1 This is a top-view plan view of the multi-station fully automated mechanical polishing system of this utility model.

[0020] Figure 2 This is a top view schematic diagram of the material handling machine platform in this utility model.

[0021] Figure 3 This is a three-dimensional structural diagram of the material transport pallet and manual transfer clamp in this utility model.

[0022] Figure 4 This is a three-dimensional structural diagram of the workpiece transfer robotic arm in this utility model.

[0023] Figure 5 This is a three-dimensional structural diagram of the polishing machine platform in this utility model.

[0024] Figure 6 yes Figure 5 A magnified structural diagram of point A in the middle.

[0025] Figure 7 This is a three-dimensional structural diagram of the polishing robotic arm in this utility model.

[0026] Figure 8 This is a three-dimensional structural diagram of the sandpaper changing machine in this utility model.

[0027] In the diagram: 10, material handling machine, 11, workpiece transfer tray, 12, workpiece storage tray, 13, slide rail, 14, workpiece transfer robotic arm, 20, material handling mechanism, 21, material handling fixture, 211, first driver, 22, polishing machine, 30, second workpiece, 31, workpiece clamping mechanism, 32, clamp, 321, control rod, 321a, third driver, 322, control push block, 322a, rotating wheel, 323, mounting hole, 323a, slider, 324, guide rod, 325, fourth driver, 326, second driver, 33, polishing robotic arm, 40, grinding mechanism, 41, grinding head, 50, sandpaper changing machine, 51, sandpaper removal mechanism, 52, sandpaper feeding mechanism, 53, sandpaper storage mechanism, 54, material transport tray, 60, manual transfer fixture, 70, guardrail, 80, workpiece, 200. Detailed Implementation

[0028] To further illustrate the technical means and effects adopted by this utility model to achieve its intended purpose, the following detailed description, in conjunction with the accompanying drawings and preferred embodiments, details the specific implementation methods, structure, features, and effects of the multi-station fully automated mechanical polishing system proposed by this utility model:

[0029] Figure 1 This is a top-view plan view of the multi-station fully automated mechanical polishing system of this utility model. Figure 2 This is a top view schematic diagram of the material handling machine platform in this utility model. Figure 3 This is a three-dimensional structural diagram of the material transport pallet and manual transfer clamp in this utility model. Figure 4 This is a three-dimensional structural diagram of the workpiece transfer robotic arm in this utility model. Figure 5 This is a three-dimensional structural diagram of the polishing machine platform in this utility model. Figure 6 yes Figure 5 A magnified structural diagram of point A in the middle. Figure 7 This is a three-dimensional structural diagram of the polishing robotic arm in this utility model. Figure 8 This is a three-dimensional structural diagram of the sandpaper changing machine in this utility model.

[0030] like Figures 1 to 8 As shown, the present invention provides a multi-station fully automated mechanical polishing system, including: a material handling station 10, a workpiece transfer robotic arm 20, a polishing station 30, a polishing robotic arm 40, and a sandpaper changing station 50. The material handling station 10 is used to store workpieces 200. The workpiece transfer robotic arm 20 is used to transfer the workpieces 200 to be processed on the material handling station 10 to the polishing station 30. The polishing robotic arm 40 is used to grind and polish the workpieces 200 to be processed on the polishing station 30. The sandpaper changing station 50 is used to change the sandpaper for the polishing robotic arm 40.

[0031] This utility model achieves automated grinding and polishing of the workpiece 200 by setting up a material handling machine 10, a workpiece transfer robotic arm 20, a polishing machine 30, a polishing robotic arm 40, and a sandpaper changing machine 50 in cooperation with each other. The material handling machine 10 is used to store the workpiece 200, the workpiece transfer robotic arm 20 is used to transfer the workpiece 200 to be processed on the material handling machine 10 to the polishing machine 30, the polishing robotic arm 40 is used to grind and polish the workpiece 200 to be processed on the polishing machine 30, and the sandpaper changing machine 50 is used to change the sandpaper for the polishing robotic arm 40. This realizes fully automated and unmanned production and manufacturing. Compared with manual polishing, it improves processing efficiency and yield rate, and reduces danger.

[0032] like Figure 2 As shown, the loading and unloading machine 10 is equipped with a first worktable 11, on which a workpiece transfer tray 12 and a workpiece storage tray 13 are mounted. The workpiece transfer tray 12 is used to place the workpieces 200 to be processed and to position the workpieces 200, that is, the workpiece transfer tray 12 limits the spacing between the workpieces 200 so that the workpiece transfer robot arm 20 can grab the workpieces 200 on the workpiece transfer tray 12. The workpiece storage tray 13 is used to place the processed workpieces 200, and the workpiece transfer robot arm 20 is used to transfer the processed workpieces 200 from the polishing machine 30 to the workpiece storage tray 13.

[0033] Furthermore, the first worktable 11 is provided with multiple slide rails 14, which extend from the loading / unloading machine table 10 toward the workpiece transfer robot arm 20. The workpiece transfer tray 12 and the workpiece storage tray 13 are slidably mounted on different slide rails 14 and can slide relative to the first worktable 11. By setting the workpiece transfer tray 12 and the workpiece storage tray 13 to slide relative to the first worktable 11, when it is necessary to place a workpiece 200 into the workpiece transfer tray 12, the workpiece transfer tray 12 is slid to the edge close to the worker, thus facilitating the worker to place the workpiece 200 into the workpiece transfer tray 12; when it is necessary to remove a workpiece 200 from the workpiece storage tray 13, the workpiece storage tray 13 is slid to the edge close to the worker, thus facilitating the worker to remove the workpiece 200 from the workpiece storage tray 13. The workpiece transfer tray 12 consists of two trays, so that when a workpiece 200 is placed in one of the workpiece transfer trays 12, the other workpiece transfer tray 12 can continue to provide workpiece 200 to the workpiece transfer robot arm 20. The two workpiece transfer trays 12 can alternately provide workpiece 200 to the workpiece transfer robot arm 20 to improve processing efficiency.

[0034] Optionally, the workpiece storage tray 13 is detachably connected to the slide rail 14, meaning that the workpiece storage tray 13 can slide on the slide rail 14 and can also be removed from the slide rail 14, thus facilitating the transfer of the entire workpiece storage tray 13 together with the processed workpiece 200 inside.

[0035] Furthermore, such as Figures 1 to 3 As shown, the multi-station fully automated mechanical polishing system also includes a material transport tray 60 and a manual transfer fixture 70. The material transport tray 60 is used to place unprocessed workpieces 200, and the manual transfer fixture 70 is used to transfer the unprocessed workpieces 200 from the material transport tray 60 to the workpiece transfer tray 12. The workpiece storage tray 13 has the same structure as the material transport tray 60. After the unprocessed workpieces 200 from the material transport tray 60 are transferred to the workpiece transfer tray 12, the material transport tray 60 can be mounted on the slide rail 14, thus becoming the workpiece storage tray 13 for storing the processed workpieces 200.

[0036] In this embodiment, as Figure 4 As shown, the workpiece transfer robotic arm 20 is equipped with a pick-and-place mechanism 21, which in turn is equipped with a pick-and-place clamp 211. The pick-and-place clamp 211 is used to clamp or release the workpiece 200, that is, the workpiece 200 is picked up and placed by the pick-and-place clamp 211, and the workpiece transfer robotic arm 20 moves the pick-and-place mechanism 21 to transfer the workpiece 200. The workpiece transfer robotic arm 20 is a six-axis manipulator, which can rotate horizontally and also control the pick-and-place mechanism 21 to move in the up, down, left, and right directions.

[0037] Furthermore, multiple pick-and-place fixtures 211 are distributed around the periphery of the pick-and-place mechanism 21. The pick-and-place mechanism 21 is rotatably connected to the workpiece transfer robotic arm 20 and can rotate on the workpiece transfer robotic arm 20. The workpiece transfer robotic arm 20 is equipped with a first driver 22 for driving the rotation of the pick-and-place mechanism 21, thereby enabling the simultaneous gripping of multiple workpieces 200 and adapting to the product distances and positions of different machine tools or fixtures. Optionally, the pick-and-place mechanism 21 can also be equipped with positioning pins, so that it can be positioned relative to the workpiece transfer tray 12 and the polishing machine 30 when picking up or placing workpieces 200. The first driver 22 can be a servo motor.

[0038] In this embodiment, as Figure 5 and Figure 6 As shown, the polishing machine 30 is provided with a second worktable 31, on which a workpiece clamping mechanism 32 and a second driver 33 are provided. The workpiece clamping mechanism 32 is used to clamp or release the workpiece 200, and the second driver 33 is used to drive the workpiece clamping mechanism 32 to rotate with the workpiece 200. The second driver 33 can be a servo motor.

[0039] Furthermore, such as Figure 6 As shown, the workpiece clamping mechanism 32 includes a clamp 321, a third driver 322, a rotating wheel 323, a slider 324, a guide rod 325, and a fourth driver 326. The clamp 321 is connected to the rotating shaft of the second driver 33 and is used to clamp one end of the workpiece 200. The third driver 322 is used to drive the clamp 321 to open or close. The guide rod 325 is mounted on the second worktable 31. The slider 324 is slidably mounted on the guide rod 325 and can slide on the guide rod 325. The fourth driver 326 is used to drive the slider 324 to slide on the guide rod 325. The rotating wheel 323 is mounted on the slider 324 and slides on the guide rod 325 following the slider 324. The rotating wheel 323 is provided with a mounting hole 323a for mounting the other end of the workpiece 200. The clamping device 321 is equipped with a control lever 321a, and the third driver 322 is equipped with a control push block 322a. The third driver 322 pushes the control lever 321a through the control push block 322a, thereby controlling the opening and closing state of the clamping device 321. The third driver 322 and the fourth driver 326 can be telescopic cylinders. When a workpiece 200 needs to be placed into the workpiece clamping mechanism 32, the third driver 322 drives the clamping device 321 to open, and the fourth driver 326 drives the slider 324 to move with the rotating wheel 323 away from the clamping device 321; the workpiece transfer robot arm 20 places one end of the workpiece 200 in the gripper of the clamping device 321, the third driver 322 drives the clamping device 321 to close, and the fourth driver 326 drives the slider 324 to move with the rotating wheel 323 towards the clamping device 321, so that the other end of the workpiece 200 is inserted into the mounting hole 323a of the rotating wheel 323. When the polishing robot arm 40 grinds and polishes the workpiece 200, the second driver 33 drives the gripper 321 to rotate with the workpiece 200, thereby grinding and polishing the workpiece 200 from all directions.

[0040] Optionally, a polishing machine 30 has 4 holes (i.e., 4 workpiece clamping mechanisms 32 and 4 second drivers 33), two of which are used for polishing, and the other two are used for the workpiece transfer robot arm 20 to pick up and put down workpieces 200. The holes for polishing and picking up and putting down workpieces will alternate.

[0041] In this embodiment, as Figure 7 As shown, the polishing robotic arm 40 is equipped with a grinding mechanism 41, which has multiple grinding heads 411 for grinding and polishing the workpiece 200. Optionally, the grinding mechanism 41 has two grinding heads 411, allowing one polishing robotic arm 40 to polish two cavity products simultaneously, thus improving polishing efficiency. The polishing robotic arm 40 is a six-axis manipulator, capable of horizontal rotation and also controlling the grinding mechanism 41 to move in the up, down, left, and right directions.

[0042] In this embodiment, as Figure 8 As shown, the sandpaper changing machine 50 is equipped with a third worktable 51. The third worktable 51 is equipped with a sandpaper removal mechanism 52, a sandpaper feeding mechanism 53, and a sandpaper storage mechanism 54. The sandpaper removal mechanism 52 is used to remove the scrapped sandpaper from the polishing robot arm 40. The sandpaper feeding mechanism 53 is used to install new sandpaper on the polishing robot arm 40. The sandpaper storage mechanism 54 is used to store sandpaper and provide new sandpaper to the sandpaper feeding mechanism 53. The sandpaper on the polishing robot arm 40 will arrive at the sandpaper changing machine 50 after polishing 14 workpieces 200. The sandpaper removal mechanism 52 removes the unusable sandpaper, and the sandpaper feeding mechanism 53 loads new sandpaper onto the grinding head 411 of the grinding mechanism 41.

[0043] In this embodiment, as Figure 1 As shown, there are four polishing stations 30 and four polishing robotic arms 40, arranged in two rows and two columns. Each polishing station 30 corresponds to one polishing robotic arm 40. The workpiece transfer robotic arm 20 is located at the center of the multi-station fully automated mechanical polishing system and is used to change the workpieces to be processed for the four polishing stations 30. There are two sandpaper changing stations 50, located between the two polishing robotic arms 40, and used to change the sandpaper for the two polishing robotic arms 40. This layout makes the structure of the multi-station fully automated mechanical polishing system more compact, and allows for better coordination between the material handling station 10, the workpiece transfer robotic arm 20, the polishing station 30, the polishing robotic arm 40, and the sandpaper changing station 50. In addition, four polishing robotic arms 40 can polish eight workpieces 200 at the same time, and one sandpaper changing station 50 can be used by two polishing robotic arms 40, greatly improving processing efficiency.

[0044] Furthermore, the multi-station fully automated mechanical polishing system also includes guardrails 80, which are installed around the multi-station fully automated mechanical polishing system to improve the safety of production and processing.

[0045] In this document, the directional terms such as up, down, left, right, front, and back are defined according to the position of the structures in the accompanying drawings and the relative positions of the structures, and are only used for clarity and convenience in expressing the technical solution. It should be understood that the use of these directional terms should not limit the scope of protection claimed in this application. It should also be understood that the terms "first" and "second," etc., used herein are only used for distinction in name and are not used to limit the number or order.

[0046] The above description is merely a preferred embodiment of the present utility model and is not intended to limit the present utility model in any way. Although the present utility model has been disclosed above with reference to a preferred embodiment, it is not intended to limit the present utility model. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content without departing from the scope of the technical solution of the present utility model. These are equivalent embodiments with equivalent changes. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present utility model without departing from the scope of the technical solution of the present utility model shall still fall within the protection scope of the technical solution of the present utility model.

Claims

1. A multi-station fully automated mechanical polishing system, characterized in that, include: The assembly includes a material handling machine (10), a workpiece transfer robot arm (20), a polishing machine (30), a polishing robot arm (40), and a sandpaper changing machine (50). The material handling machine (10) is used to store workpieces (200). The workpiece transfer robot arm (20) is used to transfer the workpieces (200) to be processed on the material handling machine (10) to the polishing machine (30). The polishing robot arm (40) is used to grind and polish the workpieces (200) to be processed on the polishing machine (30). The sandpaper changing machine (50) is used to change the sandpaper for the polishing robot arm (40).

2. The multi-station fully automated mechanical polishing system according to claim 1, characterized in that, The loading and unloading machine (10) is provided with a first workbench (11), on which a workpiece transfer tray (12) and a workpiece storage tray (13) are provided. The workpiece transfer tray (12) is used to place the workpiece (200) to be processed and to position the workpiece (200) to be processed. The workpiece storage tray (13) is used to place the processed workpiece (200). The workpiece transfer robotic arm (20) is used to transfer the processed workpiece (200) on the polishing machine (30) to the workpiece storage tray (13).

3. The multi-station fully automated mechanical polishing system according to claim 2, characterized in that, The first workbench (11) is provided with multiple slide rails (14), and the workpiece transfer tray (12) and the workpiece storage tray (13) are slidably installed on different slide rails (14) and can slide relative to the first workbench (11); And / or, the workpiece storage tray (13) is detachably connected to the slide rail (14).

4. The multi-station fully automated mechanical polishing system according to claim 1, characterized in that, The workpiece transfer robotic arm (20) is provided with a material handling mechanism (21), and the material handling mechanism (21) is provided with a material handling clamp (211), which is used to clamp or release the workpiece (200).

5. The multi-station fully automated mechanical polishing system according to claim 4, characterized in that, The number of the material pick-and-place fixtures (211) is multiple and they are distributed around the periphery of the material pick-and-place mechanism (21). The material pick-and-place mechanism (21) is rotatably connected to the workpiece transfer robot arm (20) and can rotate on the workpiece transfer robot arm (20). The workpiece transfer robot arm (20) is provided with a first driver (22) for driving the material pick-and-place mechanism (21) to rotate.

6. The multi-station fully automated mechanical polishing system according to claim 1, characterized in that, The polishing machine (30) is provided with a second worktable (31), on which a workpiece clamping mechanism (32) and a second driver (33) are provided. The workpiece clamping mechanism (32) is used to clamp or release the workpiece (200), and the second driver (33) is used to drive the workpiece clamping mechanism (32) to rotate with the workpiece (200).

7. The multi-station fully automated mechanical polishing system according to claim 6, characterized in that, The workpiece clamping mechanism (32) includes a clamp (321), a third driver (322), a rotating wheel (323), a slider (324), a guide rod (325), and a fourth driver (326). The clamp (321) is connected to the rotating shaft of the second driver (33) and is used to clamp one end of the workpiece (200). The third driver (322) is used to drive the clamp (321) to open or close. The guide rod (325) is mounted on the second worktable (31). The slider (324) is slidably mounted on the guide rod (325) and can slide on the guide rod (325). The fourth driver (326) is used to drive the slider (324) to slide on the guide rod (325). The rotating wheel (323) is mounted on the slider (324) and follows the slider (324) to slide on the guide rod (325). The rotating wheel (323) is provided with a mounting hole (323a) for mounting the other end of the workpiece (200).

8. The multi-station fully automated mechanical polishing system according to claim 1, characterized in that, The polishing robotic arm (40) is provided with a grinding mechanism (41), and the grinding mechanism (41) is provided with a plurality of grinding heads (411) for grinding and polishing the workpiece (200).

9. The multi-station fully automated mechanical polishing system according to claim 1, characterized in that, The sandpaper changing machine (50) is provided with a third workbench (51). The third workbench (51) is provided with a sandpaper removal mechanism (52), a sandpaper feeding mechanism (53), and a sandpaper storage mechanism (54). The sandpaper removal mechanism (52) is used to remove the scrapped sandpaper from the polishing robot arm (40). The sandpaper feeding mechanism (53) is used to install new sandpaper on the polishing robot arm (40). The sandpaper storage mechanism (54) is used to store sandpaper and provide new sandpaper to the sandpaper feeding mechanism (53).

10. The multi-station fully automated mechanical polishing system according to any one of claims 1-9, characterized in that, The number of polishing machine stations (30) and polishing robotic arms (40) are four in total and arranged in two rows and two columns. Each polishing machine station (30) corresponds to one polishing robotic arm (40). The workpiece transfer robotic arm (20) is located at the center of the multi-station fully automated mechanical polishing system and is used to replace the workpieces to be processed for the four polishing machine stations (30). The number of the sandpaper changing machine (50) is two. The sandpaper changing machine (50) is located between the two polishing robotic arms (40) and is used to change the sandpaper of the two polishing robotic arms (40).

Images