A robotic grinding line
By designing an automated robotic polishing line, the problems of low polishing efficiency and harsh environment in existing technologies have been solved, realizing a highly efficient and intelligent product polishing process.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- SUZHOU CONFLUX MECHANICAL & ELECTRICAL EQUIP CO LTD
- Filing Date
- 2025-06-24
- Publication Date
- 2026-06-23
AI Technical Summary
In existing technologies, methods for removing burrs from products are inefficient, labor-intensive, and environmentally unfriendly.
Design a robotic grinding line that includes a feeding device, a robot, a grinding device, and an intelligent shelf. The line achieves continuous feeding, grinding, and product collection through automation and intelligence. The robot performs grinding by moving along a preset trajectory, and a negative pressure device is used to prevent waste dust from escaping.
It improves grinding efficiency, realizes a highly efficient, automated, and intelligent grinding process, reduces manual labor intensity, and improves the working environment.
Smart Images
Figure CN224390685U_ABST
Abstract
Description
Technical Field
[0001] This utility model belongs to the technical field of deburring devices, specifically relating to a robotic grinding line with high working efficiency and a high degree of automation and intelligence. Background Technology
[0002] Many products develop burrs during processing. To meet the product's design requirements, these burrs must be removed. Currently, workers often use grinding wheels to polish and remove burrs, which is inefficient, labor-intensive, and in a harsh working environment.
[0003] To address this, we developed a robotic grinding line that is highly efficient, automated, and intelligent. Summary of the Invention
[0004] The purpose of this invention is to provide a robotic grinding line with high work efficiency, high degree of automation and intelligence.
[0005] To achieve the above objectives, this utility model provides the following technical solution: a robotic polishing line, comprising a feeding device, a robot, a polishing device, and an intelligent shelf; the feeding device is used to continuously supply products to be polished; the robot is used to grab products to be polished from a preset gripping position on the feeding device, then enter the polishing device, and move along a preset trajectory; the polishing device can then polish the products to be polished; after polishing, the robot places the polished products onto the carrying plate of the intelligent shelf; when the carrying plate is full of polished products, an AGV (Automated Guided Vehicle) can deliver them to a designated location.
[0006] Preferably, the feeding device is provided with at least a pair of first guide rails; each of the first guide rails is provided with a carrying block; the carrying block is used to mount the product to be polished; the carrying block can reciprocate between the feeding position and the preset gripping position along the corresponding first guide rail; the feeding device is also provided with a first position sensor; the first position sensor is correspondingly arranged with the first guide rail; when the first position sensor senses that the carrying block has reached the preset gripping position of the robot, the carrying block stops moving; after the robot grabs the product, the carrying block can return to the feeding position along the corresponding first guide rail.
[0007] Preferably, the polishing device is provided with a first polishing head and a second polishing head; the first polishing head and the second polishing head are arranged perpendicular to each other; the first polishing head is used for coarse polishing, and the second polishing head is used for fine polishing; a waste bin is provided directly below the first polishing head and the second polishing head; the waste bin is used to collect waste generated when the first polishing head and the second polishing head polish the product.
[0008] Preferably, the waste bin is equipped with a negative pressure device to prevent waste dust from escaping.
[0009] Preferably, the intelligent shelf includes a frame; the frame has at least one entrance; each entrance can be configured with a carrying tray; each carrying tray has a support frame at its lower part; the support frame can be placed on an AGV trolley, and the AGV trolley can carry the support frame and the corresponding carrying tray from the entrance into the interior of the frame; the frame is equipped with lifters; the lifters are evenly distributed on the frame along the forward direction of each entrance; a lifting frame is provided on one side of the lifter of each entrance; when the lifters on both sides of an entrance lift simultaneously, the corresponding lifting frame can raise the corresponding carrying tray to a preset height.
[0010] Preferably, each entrance has guide blocks on both sides; the inner side of each guide block is provided with a chamfer, which is used to guide the AGV trolley carrying the support frame and the corresponding cargo plate from the corresponding entrance into the interior of the frame.
[0011] Preferably, a second position sensor is provided in pairs on the frame at the bottom of each entrance; a position detection notch is provided in pairs on one side of each of the carrying plates; when the second position sensor respectively senses the corresponding position detection notch on the carrying plate, the AGV stops moving; otherwise, the AGV will exit the entrance, adjust its angle, and re-enter the entrance until the second position sensor respectively senses the corresponding position detection notch on the carrying plate.
[0012] Preferably, a linear reducer is provided in the middle of the frame at the bottom of each entrance; a corner reducer is provided on both sides of each linear reducer; the linear reducer and the corresponding corner reducer are connected by a connecting rod; the lifter on one side of each entrance is connected in series by a connecting rod and then connected to the corresponding corner reducer by a connecting rod; each linear reducer is driven by a drive motor; when the drive motor is working, the corresponding connecting rod can drive the lifting rod on each corresponding lifter to rise or fall, thereby raising or lowering the corresponding loading plate.
[0013] Preferably, the rack is provided with two entrances.
[0014] Preferably, the feeding device is provided with two pairs of first guide rails.
[0015] Compared with the prior art, this utility model provides a robotic grinding line with the following advantages:
[0016] The robotic polishing line of this invention can continuously feed products through a feeding device. Then, the robot can grab the product to be polished from the preset gripping position on the feeding device, enter the polishing device, and move along a preset trajectory. The polishing device can then polish the product. After polishing, the robot places the polished product 5 onto the carrying plate of the intelligent shelf. The intelligent shelf can continuously receive polished products and transport them to preset positions. This invention has high working efficiency and a high degree of automation and intelligence. Attached Figure Description
[0017] The accompanying drawings are provided to further illustrate the present invention and form part of the specification. They are used together with the embodiments of the present invention to explain the present invention, but do not constitute a limitation thereof. In the drawings:
[0018] Figure 1 This is a three-dimensional structural diagram of a robotic grinding line proposed in this utility model;
[0019] Figure 2 This is a three-dimensional structural diagram of the first angle of the intelligent shelf of the robot grinding line proposed in this utility model;
[0020] Figure 3 This is a two-dimensional structural diagram of the intelligent shelf of the robot grinding line proposed in this utility model from a second angle.
[0021] Figure 4 This is a three-dimensional structural diagram of the intelligent shelf of the robot grinding line proposed in this utility model from the third angle.
[0022] In the diagram: 1. Feeding device; 2. Robot; 3. Grinding device; 4. Intelligent shelf; 5. Product; 6. AGV trolley; 7. Support frame; 8. Drive motor; 9. Linear reducer; 10. Corner reducer; 11. First guide rail; 12. Loading block; 13. First position sensor; 31. First grinding head; 32. Second grinding head; 33. Waste bin; 41. Frame; 42. Loading plate; 43. Lifter; 44. Guide block; 45. Second position sensor; 46. Connecting rod; 47. Lifting rod; 48. Lifting frame; 421. Position detection notch. Detailed Implementation
[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present utility model. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present utility model without creative effort are within the protection scope of the present utility model.
[0024] Please see Figure 1-4 This utility model provides a technical solution: a robotic polishing line, including a feeding device 1, a robot 2, a polishing device 3, and an intelligent shelf 4; the feeding device 1 is used to continuously supply products 5 to be polished; the robot 2 is used to grab the products 5 to be polished from a preset gripping position on the feeding device 1, and then enter the polishing device 3 and move along a preset trajectory; the polishing device 3 can then polish the products 5 to be polished; after polishing, the robot 2 places the polished products 5 onto the carrying plate 42 of the intelligent shelf 4; when the carrying plate 42 is full of polished products 5, the AGV trolley 6 can deliver them to a designated position.
[0025] The feeding device 1 is provided with at least a pair of first guide rails 11; each of the first guide rails 11 is provided with a carrying block 12; the carrying block 12 is used to mount the product 5 to be polished; the carrying block 12 can reciprocate between the feeding position and the preset gripping position along the corresponding first guide rail 11; the feeding device 1 is also provided with a first position sensor 13; the first position sensor 13 is correspondingly arranged with the first guide rail 11; when the first position sensor 13 senses that the carrying block 12 has reached the preset gripping position of the robot 2, the carrying block 12 stops moving; after the robot 2 grabs the product 5, the carrying block 12 can return to the feeding position along the corresponding first guide rail 11.
[0026] The polishing device 3 is provided with a first polishing head 31 and a second polishing head 32; the first polishing head 31 and the second polishing head 32 are arranged perpendicular to each other; the first polishing head 31 is used for coarse polishing, and the second polishing head is used for fine polishing; a waste bin 33 is provided directly below the first polishing head 31 and the second polishing head 32; the waste bin 33 is used to collect the waste generated when the first polishing head 31 and the second polishing head 32 polish the product 5.
[0027] The waste bin 33 is equipped with a negative pressure device (not shown), which is used to prevent waste dust from escaping.
[0028] The intelligent shelf 4 includes a frame 41; the frame 41 has at least one entrance (not shown); each entrance can be configured with a carrying tray 42; each carrying tray 42 has a support frame 7 at its lower part; the support frame 7 can be placed on an AGV trolley 6, and the AGV trolley 6 can carry the support frame 7 and the corresponding carrying tray 42 from the entrance into the interior of the frame 41; each entrance has guide blocks 44 on both sides; the inner side of each guide block 44 is provided with a chamfer (not shown), the chamfer is used to guide the AGV trolley 6 carrying the tray 42. The support frame 7 and the corresponding carrying plate 42 enter the interior of the frame 41 from the corresponding entrance; the frame 41 is equipped with a lifter 43; the lifters 43 are evenly distributed on the frame 41 along the forward direction of each entrance; a lifting frame 48 is provided on one side of the lifter 43 of each entrance; when the lifters 43 on both sides of an entrance are lifted simultaneously, the corresponding lifting frame 48 can raise the corresponding carrying plate 42 to a preset height, at which time the AGV trolley 6 can leave to perform other preset tasks; pairs of lifting frames are installed on the frame 41 at the bottom of each entrance. A second position sensor 45 is provided; each of the carrying plates 42 has a pair of position detection notches 421 on one side; when the second position sensor 45 senses the corresponding position detection notch 421 on the carrying plate 42, the AGV 6 stops moving; otherwise, the AGV 6 will exit the entrance, adjust its angle, and re-enter the entrance until the second position sensor 45 senses the corresponding position detection notch 421 on the carrying plate 42; a linear reducer 9 is provided in the middle of the frame 41 at the bottom of each entrance; each of the... Angle reducers 10 are respectively provided on both sides of the linear reducer 9; the linear reducer 9 and the corresponding angle reducer 10 are connected by a connecting rod 46; the lifter 43 on one side of each inlet is connected in series by the connecting rod 46 and then connected to the corresponding angle reducer 10 by the connecting rod 46; each linear reducer 9 is driven by a drive motor 8; when the drive motor 8 is working, the corresponding connecting rod 46 can drive the lifting rod 47 on each corresponding lifter 43 to rise or fall, thereby realizing the raising or lowering of the corresponding load plate 42.
[0029] The lifting device 43 is used to raise or lower the lifting rod 47 by cooperating with the turbine and worm gear, which will not be described in detail here.
[0030] In this embodiment, the rack 41 is provided with two entrances. During operation, one is used while the other is kept in reserve, which facilitates continued operation and improves work efficiency.
[0031] In this embodiment, the feeding device 1 is provided with two pairs of first guide rails 11; during operation, one is used while the other is on standby, which facilitates continued operation and improves work efficiency.
[0032] During operation, the product 5 to be polished is first installed on the loading blocks 12 on a pair of first guide rails 11 of the feeding device 1; then, the loading blocks 12 are controlled to move from the loading position to the preset gripping position along the corresponding first guide rails 11; when the first position sensor 13 senses that the loading block 12 has reached the preset gripping position of the robot 2, the loading block 12 stops moving; after the robot 2 grabs the product 5, the loading block 12 can return to the loading position along the corresponding first guide rails 11. During operation, one loading block 12 waits at the preset gripping position for the robot 2 to grab the product. During the process of processing product 5, another loading block 12 is at the feeding position, which facilitates continuous feeding and improves work efficiency; the robot 2 picks up the product 5 to be polished from the preset gripping position on the feeding device 1, and then enters the polishing device 3 and moves according to the preset trajectory; the polishing device 3 can then polish the product 5 to be polished; after polishing, the robot 2 places the polished product 5 on the loading plate 42 of the intelligent shelf 4; when the polishing device 3 is working, the negative pressure device in the waste bin 33 is used to prevent waste dust from escaping.
[0033] When the intelligent shelf 4 is in operation, the AGV trolley 6, carrying the support frame 7 and the corresponding carrying plate 42, enters the interior of the rack 41 through an entrance. When the second position sensor 45 on the rack 41 at the bottom of the entrance senses the corresponding position detection notch 421 on the carrying plate 42, the AGV trolley 6 stops moving; otherwise, the AGV trolley 6 will exit the entrance, adjust its angle, and re-enter the entrance until the second position sensor 45 senses the corresponding position detection notch 421 on the carrying plate 42. At this time, the drive motor 8 operates in the forward direction, and the corresponding connecting rod 46 can drive the lifting rod 47 on each corresponding lifter 43 to rise, raising the lifting frame 48, thereby raising the corresponding carrying plate 42 to a preset height. At this time, the carrying plate 42 can be used to wait for the robot 2 to place the polished product 5 on it. At this time, the AGV trolley 6 can leave and go to the preset position to retrieve another set of support. The AGV trolley 6, carrying the support frame 7 and its corresponding carrying plate 42, enters from another entrance and repeats the above process. When the first carrying plate 42 is full of polished products 5, the AGV trolley 6 re-enters the first entrance. Then, the drive motor 8 operates in the same direction, and the corresponding connecting rod 46 drives the lifting rod 47 on each corresponding lifter 43 to descend, placing the support frame 7 on the AGV trolley 6. At this time, the AGV trolley 6 carries the support frame 7 and its corresponding carrying plate 42 to the preset position. After all the polished products 5 have been taken away, the AGV trolley 6 carries the support frame 7 and its corresponding carrying plate 42 back into the first entrance. While the AGV trolley 6 is leaving with the carrying plate 42 from the first entrance, the robot 2 can place the polished products 5 onto the carrying plate 42 at the second entrance of the intelligent shelf 4. This process is repeated, and the intelligent shelf 4 can continuously receive polished products 5 and transport them to the preset position.
[0034] Compared with the prior art, the present invention has the following beneficial effects:
[0035] The robotic polishing line of this utility model can continuously feed products through the feeding device 1. Then, the robot 2 can grab the product 5 to be polished from the preset gripping position on the feeding device 1, and then enter the polishing device 3 and move along the preset trajectory. The polishing device 3 can then polish the product 5 to be polished. After polishing, the robot 2 places the polished product 5 on the carrying plate 42 of the intelligent shelf 4. The intelligent shelf 4 can continuously receive the polished product 5 and transport it to the preset position. This utility model has high working efficiency and a high degree of automation and intelligence.
[0036] Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the appended claims and their equivalents.
Claims
1. A robotic grinding line, characterized in that: The system includes a feeding device, a robot, a polishing device, and an intelligent shelf. The feeding device continuously supplies products to be polished. The robot picks up products from a preset gripping position on the feeding device, enters the polishing device, and moves along a preset trajectory. The polishing device then polishes the products. After polishing, the robot places the polished products onto a pallet on the intelligent shelf. When the pallet is full of polished products, an AGV (Automated Guided Vehicle) can deliver them to a designated location.
2. The robotic polishing line according to claim 1, characterized in that: The feeding device is provided with at least a pair of first guide rails; each of the first guide rails is provided with a carrying block; the carrying block is used to mount the product to be polished; the carrying block can reciprocate between the feeding position and the preset gripping position along the corresponding first guide rail; the feeding device is also provided with a first position sensor; the first position sensor is correspondingly arranged with the first guide rail; when the first position sensor senses that the carrying block has reached the preset gripping position of the robot, the carrying block stops moving; after the robot grabs the product, the carrying block can return to the feeding position along the corresponding first guide rail.
3. The robotic polishing line according to claim 1, characterized in that: The polishing device is equipped with a first polishing head and a second polishing head; the first polishing head and the second polishing head are arranged perpendicular to each other; the first polishing head is used for coarse polishing, and the second polishing head is used for fine polishing; a waste bin is provided directly below the first polishing head and the second polishing head; the waste bin is used to collect the waste generated when the first polishing head and the second polishing head polish the product.
4. The robotic polishing line according to claim 3, characterized in that: The waste bin is equipped with a negative pressure device to prevent waste dust from escaping.
5. The robotic polishing line according to claim 3, characterized in that: The intelligent shelf includes a frame; the frame has at least one entrance; each entrance can be configured with a tray; each tray has a support frame at its lower part; the support frame can be placed on an AGV trolley, and the AGV trolley can carry the support frame and the corresponding tray from the entrance into the interior of the frame; the frame is equipped with lifters; the lifters are evenly distributed on the frame along the forward direction of each entrance; a lifting frame is provided on one side of the lifter of each entrance; when the lifters on both sides of an entrance lift simultaneously, the corresponding lifting frame can raise the corresponding tray to a preset height.
6. The robotic polishing line according to claim 5, characterized in that: Each entrance has guide blocks on both sides; the inner side of each guide block is chamfered, which is used to guide the AGV trolley carrying the support frame and the corresponding cargo plate from the corresponding entrance into the interior of the frame.
7. The robotic grinding line according to claim 5, characterized in that: A second position sensor is paired on the frame at the bottom of each entrance; a position detection notch is paired on one side of each of the carrying plates; when the second position sensor detects the corresponding position detection notch on the carrying plate, the AGV stops moving; otherwise, the AGV will exit the entrance, adjust its angle, and re-enter the entrance until the second position sensor detects the corresponding position detection notch on the carrying plate.
8. The robotic grinding line according to claim 5, characterized in that: A linear reducer is installed in the middle of the frame at the bottom of each entrance; a corner reducer is installed on both sides of each linear reducer; the linear reducer and the corresponding corner reducer are connected by a connecting rod; the lifts on one side of each entrance are connected in series by a connecting rod, and then connected to the corresponding corner reducer by a connecting rod; each linear reducer is driven by a drive motor; when the drive motor is working, the corresponding connecting rod can drive the lifting rod on each corresponding lift to rise or fall, thereby raising or lowering the corresponding loading plate.
9. The robotic polishing line according to claim 5, characterized in that: The rack has two entrances.
10. The robotic polishing line according to claim 2, characterized in that: The feeding device is equipped with two pairs of first guide rails.