CN107350962B

CN107350962B - Five-star chair leg polishing system and polishing method using same

Info

Publication number: CN107350962B
Application number: CN201710729657.5A
Authority: CN
Inventors: 吴学林; 冯耀权; 罗智文; 周全; 霍锦添
Original assignee: Guangdong LXD Robotics Co Ltd
Current assignee: Guangdong LXD Robotics Co Ltd
Priority date: 2017-08-23
Filing date: 2017-08-23
Publication date: 2024-01-30
Anticipated expiration: 2037-08-23
Also published as: CN107350962A

Abstract

The invention relates to the field of intelligent chair leg processing, in particular to a five-star chair leg polishing processing system and a processing method, wherein the system comprises the following steps: the device comprises a feeding device, a discharging device, a primary robot, a secondary robot, a tertiary robot, a primary transfer positioning table, a secondary transfer positioning table, a tertiary transfer positioning table, a primary polishing machine, a secondary polishing machine and a tertiary polishing machine; the processing system sequentially comprises a feeding group, a first-stage polishing group, a second-stage polishing group, a third-stage light collecting group and a discharging group according to the process sequence; the invention provides a system and a processing method for polishing a five-star chair leg, which utilize three groups of robots and three groups of polishing machines to cooperatively cooperate, so that the idle rate of processing equipment in the polishing processing system is minimized, the polishing processing efficiency of the five-star chair leg is greatly improved, and the problems of limitation and compatibility of finishing the polishing processing of the whole five-star chair leg by one robot in the prior art can be solved.

Description

Five-star chair leg polishing system and polishing method using same

Technical Field

The invention relates to the field of intelligent chair leg processing, in particular to a five-star chair leg polishing method and a polishing processing system.

Background

The five-star chair leg is as the name meaning that five legs like a star are provided, as shown in fig. 17, one end of a plurality of supporting legs 72 is connected with a seat body 71, and the whole body is radial; the seat 71 is provided with a seat bar mounting hole 711. The five-star chair legs are applied to office chairs and are common, the upper part of the middle part of the five-star chair legs is connected with a telescopic cylinder which can enable the seat to wholly lift, and the bottoms of the five legs are provided with roller mounting parts for mounting rollers.

Because the five-star chair leg bears most of the force in the whole chair, the five-star chair leg is generally manufactured by metal in order to ensure the structural stability of the five-star chair leg, and the outer surface of the formed five-star chair leg is required to be polished in order to make the whole five-star chair leg more attractive. However, the five-star chair legs are provided with five legs, and an included angle area is formed between the legs, so that the five-star chair is very troublesome to position and process after being ground and polished. The polishing machine is widely used in the prior art for polishing five-star chair legs manually, and the mode has the problems of high labor intensity, poor working environment, low production efficiency, production safety and the like. The method has the advantages that the five-star chair legs are polished by the aid of the robot, the five-star chair legs are fixed on the fixture, the robot clamps and polishes the five-star chair legs, the five-star chair legs cannot be freely turned over in the polishing process, a part of the five-star chair legs are required to be repositioned and clamped without polishing, meanwhile, the polishing process of the five-star chair legs is divided into polishing and polishing steps, polishing wheels made of different materials are used for polishing, polishing devices on the robot are required to be frequently replaced in the polishing process of the five-star chair legs, so that production efficiency is still low, cost recovery is slow, and the maximum utilization equipment creation value is not realized.

Disclosure of Invention

The invention aims to provide a method for polishing five-star chair feet by utilizing cooperation of three groups of robots and three groups of polishing machines and a polishing system applying the method.

To achieve the purpose, the invention adopts the following technical scheme: a five-star chair leg polishing system comprising: the device comprises a feeding device, a discharging device, a primary robot, a secondary robot, a tertiary robot, a primary transfer positioning table, a secondary transfer positioning table, a tertiary transfer positioning table, a primary polishing machine, a secondary polishing machine and a tertiary polishing machine; the five-star chair leg polishing processing system sequentially comprises a feeding group, a primary polishing group, a secondary polishing group, a tertiary light receiving group and a discharging group according to the process sequence; specifically, the feeding group comprises the feeding device; the blanking group comprises the blanking device; the primary polishing group includes: the primary robot is positioned in the primary transfer positioning table and the primary polishing machine in the primary robot work area; the secondary polishing set includes: the secondary robot is positioned in a secondary transfer positioning table and a secondary polishing machine in the secondary robot work area; the three-stage light receiving group comprises: the three-stage robot is positioned in the three-stage transfer positioning table and the three-stage polishing machine in the three-stage robot work area; the feeding device is positioned in the primary robot work area, and the discharging device is positioned in the tertiary robot work area; the secondary transfer positioning table is also positioned in the working area of the primary robot; the three-stage transfer positioning table is also positioned in the working area of the secondary robot.

More preferably, the feeding device is arranged at one side in the working area of the first-stage robot, and the first-stage polishing machine is arranged at the other side in the working area of the robot; the feeding device comprises a feeding base, a feeding conveying plate, a feeding guide rail, a plurality of feeding limiting blocks, a conveying plate fixing mechanism and a plurality of chair leg limiting mechanisms; the feeding guide rail is arranged on the feeding base, the feeding conveying plate is movably propped against the feeding guide rail, the conveying plate fixing mechanism is arranged at one end of the feeding base, which is close to the primary robot, and the feeding limiting blocks are arranged at two ends of the feeding base; the chair leg limiting mechanisms are uniformly arranged on the feeding conveying plate at intervals, and the central axes of two adjacent chair leg limiting mechanisms are intersected; the chair foot limiting mechanism comprises a chair foot limiting base, a plurality of chair foot limiting vertical rods and a plurality of chair foot limiting cross rods, wherein the chair foot limiting vertical rods are vertically arranged at two ends of the chair foot limiting base, and two opposite chair foot limiting vertical rods are connected through the chair foot limiting cross rods.

More preferably, the first-stage robot, the second-stage robot and the third-stage robot are provided with chair leg grabbers, each chair leg grabber comprises a clamping driving cylinder, a clamping supporting rod, a chuck and a guiding connecting piece, each guiding connecting piece comprises a supporting rod guiding pipe, and each clamping driving cylinder is arranged at one end of each supporting rod guiding pipe; the clamping support rod is arranged in the support rod guide tube, one end of the clamping support rod is connected with an output shaft of the clamping driving cylinder, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide tube; the clamping head comprises at least two clamping outer support pieces, wherein each clamping outer support piece comprises a support rod sliding groove, and the support rod sliding grooves are arranged on the inner side of one end of each clamping outer support piece; the clamping head is arranged at the other end of the support rod guide pipe, and the support rod sliding groove of the clamping outer support piece is jointed to form a clamping head movable sleeve hole; when the clamping support rod extends out and is inserted into the chuck movable sleeve hole of the chuck, the clamping outer support piece is outwards supported; the clamping outer support piece further comprises a support rod positioning groove, a chuck positioning convex edge and a ferrule mounting groove, wherein the support rod positioning groove is formed in the inner side of the other end of the clamping outer support piece, and one end of the support rod positioning groove is connected with one end of the support rod sliding groove; the chuck positioning convex edge is arranged on the outer side of the proximal end part of one end of the clamping outer supporting piece; the ferrule mounting groove is arranged on the outer side of one end of the clamping outer supporting piece, and the ferrule mounting groove is arranged above the chuck positioning convex edge.

The clamping ring is sleeved in the ring mounting groove; the supporting rod positioning grooves for clamping the outer supporting plates are attached to form chuck limiting sleeve holes, and the aperture of each chuck limiting sleeve hole is smaller than that of each chuck movable sleeve hole; the guide connecting piece comprises a driver connecting flange and at least two chuck mounting plates;

the driver connecting flange is arranged at one end of the support rod guide pipe, the cylinder body of the clamping driving cylinder is connected with the driver connecting flange, the piston rod of the clamping driving cylinder is connected with one end of the clamping support rod, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide pipe; the chuck mounting plates are symmetrically arranged at the other end of the support rod guide tube, the guide connecting piece further comprises at least two chuck mounting pins, and the two opposite chuck mounting plates are connected through the chuck mounting pins.

The clamping outer support piece further comprises a chuck mounting through hole, the chuck mounting through hole is arranged on the outer side of one end of the clamping outer support piece, and one end of the clamping outer support piece is sleeved on the chuck mounting pin through the chuck mounting through hole; the support rod guide tube comprises a bearing accommodating cavity and a support rod limiting cavity, the bearing accommodating cavity is arranged at one end of the support rod guide tube, the support rod limiting cavity is arranged at the other end of the support rod guide tube, and the bearing accommodating cavity is communicated with the support rod limiting cavity; the guide connecting piece further comprises a support rod guide bearing, the support rod guide bearing is sleeved on the clamping support rod, the support rod guide bearing is arranged in the bearing accommodating cavity, and the clamping support rod sequentially passes through the bearing accommodating cavity and the support rod limiting cavity; the chair leg grabber further comprises a limiting extending rod and an electric limiting rod, one end of the limiting extending rod is connected with the outer side of the supporting rod guide tube, and the electric limiting rod is arranged at the other end of the limiting extending rod; the limiting extension rod is of an L-shaped structure, and a motor is arranged in the limiting extension rod to drive the electric limiting rod to lift.

More preferably, the primary polishing machine, the secondary polishing machine and the tertiary polishing machine are double-station polishing machines; the double-station polishing machine comprises a polishing rack, a polishing driving motor, a polishing driving belt, a polishing rotating shaft and two polishing wheels; the polishing driving motor and the polishing rotating shaft are respectively arranged at two opposite sides of the top of the polishing rack, the polishing rotating shaft is horizontally arranged, and the two polishing wheels are respectively rotatably arranged at two ends of the polishing rotating shaft; the polishing transmission belt is sleeved on the polishing rotating shaft and the driving end of the polishing driving motor; and one side of each polishing wheel, which is close to the polishing driving motor, is provided with a waste dust absorbing cover, and an air outlet of the waste dust absorbing cover is communicated with the air draft equipment.

More preferably, the double-station polishing machine is also provided with a waxing mechanism and a force control system; the waxing mechanism is arranged on the polishing rack and is close to the edge of the polishing wheel, and the waxing mechanism further comprises a waxing power device and a wax block moving seat; the force control system includes: the polishing device comprises a polishing wheel pressure detection device, a polishing rotating shaft fixing seat, a polishing sliding rail and a force control box; the polishing rotating shaft fixing seat slides relative to the polishing sliding rail under the control of the force control box, and the polishing sliding rail is fixed on the polishing rack.

More preferably, the two polishing wheels arranged on the primary polishing machine and the secondary polishing machine are respectively a flax wheel and a cloth wheel; two polishing wheels arranged on the three-stage polishing machine are cloth wheels.

More preferably, the first-stage transfer positioning table, the second-stage transfer positioning table and the third-stage transfer positioning table are all column-type transfer positioning tables, and the column-type transfer positioning tables comprise: the stand column and the positioning table; the positioning table comprises a chair foot rotating disc, a central positioning block, a plurality of chair foot positioning pieces and a plurality of chair foot positioning blocks, wherein the plurality of chair foot positioning pieces are uniformly arranged at the edge of the chair foot rotating disc along the circumferential direction at intervals; the chair leg positioning block is arranged on the chair leg positioning sheet, and the top of the chair leg positioning block is radially provided with a chair leg positioning groove; the center positioning block is arranged at the middle geometric center of the chair leg rotating disc and is positioned right above the upright post.

More preferably, the center positioning block is made of nylon material; the chair leg positioning block is made of a high-strength rubber material.

More preferably, the blanking device comprises: the device comprises a blanking frame, a blanking conveying belt, a correlation sensor and a grating; the blanking conveying belt is arranged on the top surface of the blanking frame; the grating is arranged on two sides of the feeding end of the blanking conveyor belt, and the detection range of the grating covers the feeding end of the blanking conveyor belt; two opposite ends of the opposite-type sensor are respectively arranged at two sides of the discharge end of the blanking conveyer belt; the bottom of the blanking frame is provided with a foot cup with adjustable height.

More preferably, a dustproof shell is arranged at the outer part of the five-star chair leg polishing processing system; the top of the dustproof shell is provided with a dust discharging hole; the side surface of the dustproof shell is provided with a plurality of visual windows and doors; the visual window is made of an acrylic transparent material plate; the dustproof shell is provided with a feeding hole and a discharging hole; the dustproof shell covers the five-star chair leg polishing system, and the feeding end of the feeding device and the discharging end of the discharging device are positioned outside the dustproof shell.

The method for polishing the five-star chair leg by using the polishing system comprises the following steps:

a. starting a power supply of the polishing system, and placing the formed five-star chair leg blank product into a feeding belt of a feeding device, wherein a chair leg limiting mechanism is arranged on the feeding belt;

b. after the chair leg limiting mechanism is filled with blank products, the feeding conveying plate drives the chair leg limiting mechanism to convey the blank products to the material taking end of the feeding device, and a feeding completion signal is sent to the grabbing robot;

c. the first-stage feeding robot responds to a feeding completion signal and grabs a blank product through the chair leg grabber;

d. the first-stage feeding robot puts the grabbed blank products into a middle first-stage rotary positioning table for positioning, and takes out the blank products again after the positioning is finished;

e. The primary feeding robot extrudes the positioned blank product to a polishing wheel of a primary polishing machine to move back and forth and change angles, and polishes the side surfaces and the top ends of the five-star chair legs to obtain a primary semi-finished product;

f. the first-stage feeding robot places the first-stage semi-finished product on the second-stage transfer positioning table, leaves the second-stage transfer positioning table, and transfers the first-stage semi-finished product to the material taking end of the feeding device to take a blank product for processing;

g. the secondary feeding robot grabs a primary semi-finished product from the secondary transfer table through the chair leg grabber, extrudes the primary semi-finished product to a polishing wheel of the secondary polishing machine to move back and forth and change angles, and polishes the front surface and the V-shaped angle of the five-star chair leg to obtain a secondary semi-finished product;

h. the second-stage feeding robot places the first-stage semi-finished product on a third-stage transfer positioning table, leaves the first-stage semi-finished product, and transfers the first-stage semi-finished product to the second-stage transfer positioning table to take off the next first-stage semi-finished product for processing;

i. the three-stage feeding robot grabs a second-stage semi-finished product from the three-stage middle rotary table through the chair leg grabber, extrudes the second-stage semi-finished product to a polishing wheel of the three-stage polishing machine to move back and forth and change angles, and performs light harvesting processing on all surfaces of the five-star chair legs to obtain a finished product;

j. the three-stage feeding robot places the finished product on a blanking belt of a blanking device, and transfers the finished product to a three-stage middle rotary table to take off a second-stage semi-finished product for processing;

k. And the discharging device conveys the finished product to the discharging end of the discharging conveying belt to wait for taking away.

More preferably, in the steps e and g, polishing is finished by using the hemp wheel pair five-star chair legs and then finishing polishing by using the cloth wheel pair five-star chair legs; in the step i, the whole light receiving is completed by utilizing two cloth wheel pairs five-star chair legs.

The invention provides a system for polishing and processing a five-star chair leg and a method for processing the five-star chair leg by using the system, wherein three groups of robots and three groups of polishing machines are used for cooperation, so that the idle rate of processing equipment in the five-star chair leg polishing and processing system is minimized, the polishing and processing efficiency of the five-star chair leg is greatly improved, and the problems of limitation and compatibility of finishing the polishing and processing of the whole five-star chair leg by one robot in the prior art can be solved. In terms of machining precision, because each machining unit of the five-star chair leg polishing machining system specially completes a specific machining process at a specific position, parts such as polishing wheels and the like do not need to be replaced, and in addition, a turning positioning table is arranged between each machining unit, so that the five-star chair leg can rapidly complete the preparation work of positioning and correcting when entering each machining unit, and the machining precision is greatly improved.

Drawings

FIG. 1 is a schematic perspective view of one embodiment of the present invention;

FIG. 2 is a schematic top view of the embodiment of FIG. 1;

FIG. 3 is a schematic top view of a loading device according to one embodiment of the present invention;

FIG. 4 is a schematic perspective view of the embodiment of FIG. 2;

FIG. 5 is a schematic view of a foot gripper according to one embodiment of the present invention;

FIG. 6 is a schematic elevational view of a foot gripper according to one embodiment of the present invention;

FIG. 7 is a schematic view of an assembled state of the clamping outer strut according to one embodiment of the present invention;

FIG. 8 is a schematic view of the inside construction of a clamping outer strut in accordance with one embodiment of the present invention;

FIG. 9 is a schematic view of the outside construction of a clamping outer strut in accordance with one embodiment of the present invention;

FIG. 10 is a schematic view of a clamp support bar construction in accordance with one embodiment of the present invention;

FIG. 11 is a schematic illustration of the structure of a guide link according to one embodiment of the present invention;

FIG. 12 is a schematic view of a dual-station polisher according to one embodiment of the present invention;

FIG. 13 is a schematic view of the overall structure of a column type transfer positioning table according to one embodiment of the present invention;

FIG. 14 is a schematic view of a positioning table according to one embodiment of the present invention;

FIG. 15 is a schematic structural view of a feeding device according to one embodiment of the present invention;

FIG. 16 is a schematic view of the structure of a protective housing according to one embodiment of the present invention;

fig. 17 is a schematic structural view of the five-star chair leg according to the present invention.

Wherein: a first-stage robot 101; a secondary robot 102; a three-stage robot 103; a first-stage transfer positioning stage 201; a secondary transfer positioning table 202; a three-stage transfer positioning table 203; a primary polisher 301; a secondary polisher 302; a three-stage polishing machine 303; a double-station polishing machine 2; a chair leg gripper 12; a clamp driving cylinder 13; clamping the support bar 17; a chuck 18; a guide link 14; a support rod guide tube 142; clamping the outer stay 181; a support bar sliding groove 191; chuck movable sleeve hole 197; five-star chair leg 700; a base 71; support feet 72; chair pole mounting holes 711; a support bar positioning groove 192; chuck positioning ledge 196; a ferrule mounting recess 195; closing the ferrule 182; a collet limit sleeve 198; a driver connection flange 141; a collet mounting plate 143; a collet mounting pin 145; a collet mounting through hole 194; a bearing receiving cavity 146; a support rod limiting cavity 147; a support rod guide bearing 144; a feeding device 3; a loading base 31; a loading conveyor plate 32; a loading guide rail 33; a feed stopper 34; a conveying plate fixing mechanism 35; a chair leg limit mechanism 36; chair leg limit bases 363; chair leg limiting upright 361; a foot-limiting rail 362; a limit extension rod 15; an electric limit lever 16; a positioning table 4; a chair leg positioning disk 41; a chair leg positioning piece 42; a leg positioning block 43; a foot positioning groove 44; a column 45; a center positioning block 47; a blanking device 5; a blanking frame 51; a blanking conveyer belt 52; a correlation sensor 53; a grating 54; a footcup 55; a polishing frame 21; a polishing drive motor 22; a polishing rotation shaft 23; a polishing wheel 24; a scrap suction hood 25; waxing power device 26; a wax block moving seat 27; a force control box 28; a polishing rotation shaft holder 29; a dust-proof housing 6; a dust discharge hole 61; a visual window 62; a door 63; a mountain port 64; and a feed opening 65.

Detailed Description

The technical scheme of the invention is further described below by the specific embodiments with reference to the accompanying drawings.

As shown in fig. 1 and 2, a five-star chair leg polishing system comprises: the device comprises a feeding device 3, a discharging device 5, a primary robot 101, a secondary robot 102, a tertiary robot 103, a primary transfer positioning table 201, a secondary transfer positioning table 202, a tertiary transfer positioning table 203, a primary polishing machine 301, a secondary polishing machine 302 and a tertiary polishing machine 302; the five-star chair leg polishing processing system sequentially comprises a feeding group, a primary polishing group, a secondary polishing group, a tertiary light receiving group and a discharging group according to the process sequence; the feeding group comprises the feeding device 3; the blanking group comprises the blanking device 5; the primary polishing group includes: the primary robot 101, a primary transfer positioning table 201 and a primary polishing machine 301 which are positioned in the working area of the primary robot 101; the secondary polishing set includes: the secondary robot 102, a secondary transfer positioning table 202 and a secondary polishing machine 302 located in the working area of the secondary robot 102; the three-stage light receiving group comprises: the three-stage robot 103, a three-stage transfer positioning table 203 and a three-stage polishing machine 303 which are positioned in the working area of the three-stage robot 103; the feeding device 3 is located in the working area of the primary robot 101, and the discharging device is located in the working area of the tertiary robot 103; the secondary transfer positioning table 202 is also located in the working area of the primary robot 101; the tertiary transfer positioning table 203 is also located within the working area of the secondary robot 102.

The five-star chair leg polishing processing system comprises three different processing parts, wherein the three processing parts are cooperated with each other and do not carry out polishing processing independently, the first processing part is a first-stage polishing group which polishes the side surfaces and the top ends of supporting legs 72 of a five-star chair leg blank product to obtain a first-stage semi-finished product; the second processing part is a secondary polishing group, which polishes the supporting legs 72 of the five-star chair leg and the front surface of the semi-finished product and the surface at the V-shaped included angle of the base 71 to obtain a secondary semi-finished product; the third processing part is a three-stage light collecting group which is used for collecting light of the whole second-stage semi-finished product to obtain a finished product; the feeding group and the discharging group are responsible for feeding and discharging operations of the five-star chair leg polishing processing system.

As shown in fig. 3, the loading device 3 includes a loading base 31, a loading conveying plate 32, a loading guide rail 33, a plurality of loading limiting blocks 34, a conveying plate fixing mechanism 35 and a plurality of chair leg limiting mechanisms 36; the feeding guide rail 33 is arranged on the feeding base 31, the feeding conveying plate 32 is movably abutted against the feeding guide rail 33, the conveying plate fixing mechanism 35 is arranged at one end of the feeding base 31, which is close to the primary robot, and the feeding limiting blocks 34 are arranged at two ends of the feeding base 31; the plurality of chair leg limiting mechanisms 36 are uniformly arranged on the feeding conveying plate 32 at intervals, and the central axes of two adjacent chair leg limiting mechanisms 36 are intersected; as shown in fig. 4, the foot limiting mechanism 36 includes a foot limiting base 363, a plurality of foot limiting uprights 361 and a plurality of foot limiting crossbars 362, the foot limiting uprights 361 are vertically installed at two ends of the foot limiting base 363, and two opposite foot limiting uprights 361 are connected through the foot limiting crossbars 362.

The feeding device 3 is provided with a feeding conveying plate 32 for bearing the five-star chair legs to be polished, and conveys the five-star chair legs to be polished into a working area of the robot through a feeding guide rail 33, so that the clamping heads 18 of the robot are conveniently inserted into the chair rod mounting holes 711 of the five-star chair legs, and the five-star chair legs to be polished are grabbed. The two ends of the feeding base 31 are provided with feeding limiting blocks 34, which limit the feeding conveying plate 32 and prevent the feeding conveying plate 32 from sliding off the feeding base 31. Preferably, a pressure sensor is arranged in the feeding limiting block 34, and when the feeding conveying plate 32 contacts the feeding limiting block 34, the feeding guide rail 33 stops conveying the feeding conveying plate 32, so that feeding automation is realized. The conveying plate fixing mechanism 35 is used for fixing the feeding conveying plate 32, when the feeding conveying plate 32 moves to one end of the feeding base 31, the feeding conveying plate 32 is locked by the conveying plate fixing mechanism 35, the feeding conveying plate 32 is prevented from shifting when the robot grabs the five-star chair feet to be polished, the grabbing effect is affected, and potential safety hazards are eliminated.

The feeding conveying plate 32 is provided with a plurality of chair leg limiting mechanisms 36, the chair leg limiting mechanisms 36 are used for limiting and fixing the supporting legs 72 of the carried five-star chair legs, so that the five-star chair legs are prevented from shifting in the feeding and grabbing processes, and the robot is convenient to grab the five-star chair legs. Since the plurality of support legs 72 of the five-star chair leg are radially mounted on the base 71, the plurality of chair leg limiting mechanisms 36 are uniformly arranged on the feeding conveying plate 32 at intervals, and the central axes of the two adjacent chair leg limiting mechanisms 36 intersect, so that the support legs 72 are fixed in the gaps of the two adjacent chair leg limiting mechanisms 36. Moreover, the included angle between two adjacent chair leg limit mechanisms 36 is the same as the included angle between two adjacent support legs 72 in the five-star chair legs, taking the five-star chair leg provided with five support legs 72 and the included angle between two adjacent support legs 72 as an example, correspondingly, the feeding conveying plate 32 is provided with three chair leg limit mechanisms 36, and the included angle between two adjacent chair leg limit mechanisms 36 is 108 degrees so as to be attached to the support legs 72; and three leg limit mechanisms 36 are provided on the same side of the loading conveyor plate 32 to facilitate quick placement of the five-star legs. The two plurality of chair leg limiting vertical rods 361 of the chair leg limiting mechanism 36 are used for limiting the supporting legs 72, and the chair leg limiting vertical rods 361 have a certain height, so that a plurality of five-star chair legs are borne once, and the bottom surfaces of the five-star chair legs are upwards used for facilitating grabbing and polishing of a robot during feeding; the chair leg limiting cross rod 362 is arranged, so that the structural strength of the two opposite chair leg limiting vertical rods 361 can be improved, and the chair leg limiting cross rod can also serve as a handle, so that an operator can conveniently extract and transport the feeding conveying plate 32.

As shown in fig. 5 and 6, the primary robot 101, the secondary robot 102 and the tertiary robot 103 are provided with a chair leg grabber 12, the chair leg grabber 12 comprises a clamping driving cylinder 13, a clamping supporting rod 17, a clamping head 18 and a guiding connecting piece 14, the guiding connecting piece 14 comprises a supporting rod guiding pipe 142, and the clamping driving cylinder 13 is arranged at one end of the supporting rod guiding pipe 142;

the clamping support rod 17 is arranged in the support rod guide pipe 142, one end of the clamping support rod 17 is connected with the output shaft of the clamping driving cylinder 13, and the clamping driving cylinder 13 drives the clamping support rod 17 to move in the support rod guide pipe 142; the clamping head 18 comprises at least two clamping outer support pieces 181, as shown in fig. 8, the clamping outer support pieces 181 comprise support rod sliding grooves 191, and the support rod sliding grooves 191 are arranged on the inner side of one end of the clamping outer support pieces 181; the clamping head 18 is arranged at the other end of the supporting rod guide tube 142, and the supporting rod sliding groove 191 of the clamping outer supporting piece 181 is jointed to form a clamping head movable sleeve hole 197, as shown in fig. 7;

when the clamping support rod 17 is extended and inserted into the chuck movable sleeve hole 197 of the chuck 18, the clamping outer support piece 181 is outwardly spread; the intelligent polishing system for processing the chair legs is used for grabbing the five-star chair legs by a robot and polishing the five-star chair legs on the polishing machine 2. The robot is provided with the chair leg grabber 12 for clamping the five-star chair leg. The five-star chair leg is generally composed of a seat body 71 and a plurality of supporting legs 72, one end of each supporting leg 72 is connected with the seat body 71, and the whole body is radial; the seat 71 is provided with a seat bar mounting hole 711. Because the structure of five-star chair foot is comparatively complicated, when the robot snatches five-star chair foot and carries out processing, the clearance control requirement between anchor clamps and the five-star chair foot is very high: if the gap between the clamp and the five-star chair leg is too large, the clamp cannot clamp the five-star chair leg, so that the five-star chair leg is loosened, and shifts are caused during processing, and the processing quality is affected; if the gap between the clamp and the five-star chair leg is too small, the clamping difficulty is increased, the robot can successfully grasp the five-star chair leg only by accurately aligning the clamping position, and the control difficulty is increased. In addition, even the five-star chair legs of the same type have certain deformation, the shape and the size cannot be completely the same, the existing five-star chair leg clamp cannot be adjusted along with the deformation of the five-star chair legs, and part of the five-star chair legs cannot be aligned with the clamping position of the clamp, so that the clamp has poor adaptability.

The clamping head 18 is inserted into the seat rod mounting hole 711 of the five-star chair leg during processing, and the seat body 71 of the five-star chair leg is clamped by interaction with the support rod guide tube 142. The chuck 18 includes at least two clamping outer support plates 181, and two clamping outer support plates 181 are taken as an example: the two clamping outer support pieces 181 are symmetrically arranged at the other end of the support rod guide tube 142, namely, the support rod sliding grooves 191 of the two clamping outer support pieces 181 are attached to form a chuck movable sleeve hole 197. The clamping outer support piece 181 is movably connected with the support rod guide pipe 142, and the clamping outer support piece 181 can rotate around one end of the clamping outer support piece 181.

In operation, the robot drives the collet 18 of the foot gripper 12 into the rod mounting hole 711 of the base 71. The clamping support rod 17 extends from the other end of the support rod guide tube 142 and then continuously slides in the chuck movable sleeve hole 197, at this time, the clamping support rod 17 extrudes the clamping outer support pieces 181 at two sides, so that the clamping outer support pieces 181 at two sides are outwards spread, and the hole walls of the clamping outer support pieces 181 and the chair rod mounting holes 711 are mutually extruded, so that the clamping and fixing effects of the chuck 18 on the seat body 71 of the five-star chair leg are realized. The chair leg grabber 12 controls the telescopic action of the clamping supporting rod 17 through the clamping driving cylinder 13, and adjusts the outer supporting degree of the clamping outer supporting piece 181, so that the clamping degree of the clamping five-star chair leg is controlled, the deformation of the five-star chair leg is adapted, the influence of the clearance problem on grabbing the five-star chair leg is reduced, and the operation is more convenient and rapid.

Preferably, as shown in fig. 8 and 9, the outer clamping brace 181 further includes a support rod positioning groove 192, a chuck positioning flange 196 and a ferrule mounting groove 195, wherein the support rod positioning groove 192 is disposed on the inner side of the other end of the outer clamping brace 181, and one end of the support rod positioning groove 192 is connected with one end of the support rod sliding groove 191; the chuck positioning flange 196 is arranged outside the proximal end part of one end of the clamping outer support piece 181; the ferrule mounting groove 195 is provided on the outer side of one end of the clamping outer stay 181, and the ferrule mounting groove 195 is provided above the collet positioning flange 196; as shown in fig. 6, the device further comprises a tightening ring 182, wherein the tightening ring 182 is sleeved on the ring mounting groove 195; as shown in fig. 7, the supporting rod positioning groove 192 of the outer clamping supporting piece 181 is attached to form a chuck limiting sleeve hole 198, and the aperture of the chuck limiting sleeve hole 198 is smaller than that of the chuck movable sleeve hole 197.

The ferrule mounting groove 195 is used for fixedly supporting the tight-closing ferrule 182, so that the tight-closing ferrule 182 is sleeved on the outer side of one end of the outer clamping support piece 181, when the clamping support rod 17 extrudes the outer clamping support pieces 181 on two sides to enable the outer clamping support pieces 181 on two sides to be outwards stretched, due to the sleeving effect of the tight-closing ferrule 182, the outer clamping support pieces 181 on two sides are not easy to outwards stretch and have extrusion effect on the clamping support rod 17, and therefore when the seat body 71 of the five-star chair leg is clamped, the outer clamping support pieces 181 keep the outer clamping angle unchanged, the outer clamping support pieces 181 are prevented from loosening and cannot clamp the seat body 71, and the tight-closing ferrule 182 can enhance the clamping reliability of the clamping head 18. The ferrule mounting recess 195 also prevents the cinching ferrule 182 from shifting to affect the clamping effect.

The inner side of the other end of the clamping outer support piece 181 is provided with a support rod positioning groove 192, the two support rod positioning grooves 192 of the clamping outer support piece 181 are attached to form a clamping head limiting sleeve hole 198, the aperture of the clamping head limiting sleeve hole 198 is smaller than that of a clamping head movable sleeve hole 197, so that the clamping support rod 17 cannot extend outwards continuously due to the fact that the clamping support rod 17 cannot be inserted into the clamping head limiting sleeve hole 198, the support rod positioning groove 192 can play a limiting role on the clamping support rod 17, the extending amount of the clamping support rod 17 is prevented from exceeding an allowable value, and further the clamping outer support piece 181 is enabled to damage the five-star chair legs due to overlarge outer support force of the seat body 71 of the five-star chair legs, and processing quality is affected. The clip positioning lip 196 serves as a stop to prevent the clip 18 from being over inserted into the stem mounting hole 711 of the five-star chair leg and damaging the five-star chair leg.

Preferably, as shown in fig. 5, the guide connection 14 includes a driver connection flange 141 and at least two collet mounting plates 143; the driver connecting flange 141 is arranged at one end of the support rod guide pipe 142, the cylinder body of the clamping driving cylinder 13 is connected with the driver connecting flange 141, the piston rod of the clamping driving cylinder 13 is connected with one end of the clamping support rod 17, and the clamping driving cylinder 13 drives the clamping support rod 17 to move in the support rod guide pipe 142; the chuck mounting plates 143 are symmetrically arranged at the other end of the support rod guide tube 142, the guide connecting piece 14 further comprises at least two chuck mounting pins 145, and the two opposite chuck mounting plates 143 are connected through the chuck mounting pins 145; as shown in fig. 9, the outer clamping brace 181 further includes a clip mounting through hole 194, the clip mounting through hole 194 is disposed outside one end of the outer clamping brace 181, and one end of the outer clamping brace 181 is sleeved on the clip mounting pin 145 through the clip mounting through hole 194; as shown in fig. 11, the support rod guide tube 142 includes a bearing accommodating cavity 146 and a support rod limiting cavity 147, the bearing accommodating cavity 146 is disposed at one end of the support rod guide tube 142, the support rod limiting cavity 147 is disposed at the other end of the support rod guide tube 142, and the bearing accommodating cavity 146 is communicated with the support rod limiting cavity 147; as shown in fig. 10, the guiding connection member 14 further includes a supporting rod guiding bearing 144, the supporting rod guiding bearing 144 is sleeved on the clamping supporting rod 17, the supporting rod guiding bearing 144 is disposed in the bearing accommodating cavity 146, and the clamping supporting rod 17 passes through the bearing accommodating cavity 146 and the supporting rod limiting cavity 147 in sequence.

The clamping driving cylinder 13 drives the clamping supporting rod 17 to move in the supporting rod guide pipe 142, and the output of the clamping driving cylinder 13 is stable, so that the clamping supporting rod 17 is stable when clamping the five-star chair legs, and the clamping reliability is good. One end of the clamping outer support piece 181 is sleeved on the chuck mounting pin 145 between the two chuck mounting plates 143, so that the clamping outer support piece 181 can rotate around one end of the clamping outer support piece 181, and the clamping outer support piece 181 can be outwards supported under the extrusion action of the clamping support rod 17. The bearing accommodating cavity 146 and the supporting rod limiting cavity 147 play a role in guiding the telescopic movement of the clamping supporting rod 17, the supporting rod guiding bearing 144 is arranged and sleeved on the clamping supporting rod 17, the clamping supporting rod 17 can be further supported and guided, friction between the clamping supporting rod 17 and the supporting rod guiding tube 142 is reduced, and energy consumption is reduced.

As shown in fig. 12, the primary polisher 301, the secondary polisher 302 and the tertiary polishing machine 303 are double-station polisher 2; the double-station polishing machine 2 comprises a polishing rack 21, a polishing driving motor 22, a polishing driving belt, a polishing rotating shaft 23 and two polishing wheels 24; the polishing driving motor 22 and the polishing rotating shaft 23 are respectively arranged at two opposite sides of the top of the polishing rack 21, the polishing rotating shaft 23 is horizontally arranged, and two polishing wheels 24 are respectively rotatably arranged at two ends of the polishing rotating shaft 23; the polishing transmission belt is sleeved on the polishing rotating shaft 23 and the driving end of the polishing driving motor 22; and a waste dust absorbing cover 25 is arranged on one side of the two polishing wheels 24, which is close to the polishing driving motor 22, and an air outlet of the waste dust absorbing cover 25 is communicated with an air draft device.

The double-station polishing machine 2 can be provided with two polishing wheels 24, and the two polishing wheels 24 can be installed in various modes according to specific processing technology, for example, one hemp wheel is installed for hemp light in a preliminary polishing stage, and one cloth wheel is installed for polishing after hemp light, so that the processing efficiency can be greatly improved, and the polishing quality can be ensured; in the light receiving stage, since the whole five-star chair leg is finished in preliminary polishing, in order not to destroy the polishing effect before, the two polishing wheels 24 are arranged into cloth wheels for light receiving, and the distance between the two polishing wheels 24 is specially arranged, and the five-star chair leg is also of a centrosymmetric structure, the two polishing wheels 24 can simultaneously carry out light receiving operation on the five-star chair leg, so that the light receiving working efficiency is greatly improved.

The double-station polishing machine 2 is also provided with a waxing mechanism and a force control system; the waxing mechanism is arranged on the polishing rack 21 and is close to the edge of the polishing wheel 24, and the waxing mechanism also comprises a waxing power device 26 and a wax block moving seat 27; the force control system includes: the polishing wheel pressure detection device, the polishing rotating shaft fixing seat 29, the polishing sliding rail and the force control box 28; the polishing rotating shaft fixing seat 29 slides relative to the polishing sliding rail under the control of the force control box 28, and the polishing sliding rail is fixed on the polishing rack 21.

The waxing mechanism can wax the polishing wheel 24 according to the polishing requirement, so that the glossiness of the five-star chair leg after polishing is ensured; when the five-star chair leg is polished, as the robot clamps the five-star chair leg and extrudes the five-star chair leg to the polishing wheel, if the extrusion force between the five-star chair leg and the polishing wheel 24 is too small, the polishing effect is poor, and if the extrusion force is too large, polishing transition or polishing wheel damage can be caused; thus, during polishing, further considering that the polishing wheel 24 is worn, the force control box 28 receives the pressure signal transmitted by the pressure detection device of the polishing wheel 24 provided with the polishing wheel, and the polishing machine can be adjusted to make proper compensation to provide enough polishing pressure. When the polishing pressure is too large, the force control system can be properly retracted to give way, so that the uneven polishing caused by too large pressure is avoided, and the polishing quality of the five-star chair legs can be further ensured.

The two polishing wheels 24 arranged on the primary polishing machine 301 and the secondary polishing machine 302 are respectively a flax wheel and a cloth wheel; both polishing wheels 24 of the three-stage polishing machine 303 are cloth wheels.

The double-station polishing machine 2 is provided with polishing wheels 24 with different types of combinations, so that different polishing processing technologies can be completed, and the polishing wheels 24 with different types can be installed according to a specific processing technology, so that frequent replacement and positioning of the polishing wheels 24 in the processing process can be avoided.

As shown in fig. 13 and 14, the primary transit positioning stage 201, the secondary transit positioning stage 202, and the tertiary transit positioning stage 203 are all column-type transit positioning stages, which include: a column 45 and a positioning table 4; the positioning table 4 comprises a seat leg rotating disc 41, a center positioning block 47, a plurality of seat leg positioning pieces 42 and a plurality of seat leg positioning blocks 43, wherein the seat leg positioning pieces 42 are uniformly arranged at intervals along the circumferential direction at the edge of the seat leg rotating disc 41; the seat foot positioning block 43 is mounted on the seat foot positioning plate 42, and a seat foot positioning groove 44 is radially arranged at the top of the seat foot positioning block 43; the center positioning block 47 is disposed at the middle geometric center of the seat leg rotating disc 41 and is located right above the upright post 45.

Because the robot is only gripping the body 71 of the five-star chair leg by the interaction of the collet 18 and the support rod guide tube 142 during loading, the limit extension rod 15 is not aligned with one of the support legs 72. Thus, the positioning table 4 is provided to position the five-star chair leg such that the limit extension bar 15 is aligned with one of the support legs 72. The positioning table 4 is provided with a plurality of chair leg positioning sheets 42 for positioning each supporting leg 72 of the five-star chair leg; the foot positioning block 43 is provided with a foot positioning groove 44 to limit the supporting foot 72, so as to prevent the robot from being completely fixed due to the offset of the supporting foot 72 when the robot descends the electric limiting rod 16 to fix the supporting foot 72. The seat leg rotating disc 41 is provided with a position sensor for detecting the position of each support leg 72, so that the seat leg positioning block 43 is rotated to make the seat leg positioning block 43 and the support leg 72 correspond one by one. Specifically, after the robot grabs the five-star chair legs from the feeding device 3, the robot carries the five-star chair legs to the position right above the positioning table 4, and the chair leg rotating disc 41 rotates to enable the chair leg positioning blocks 43 and the supporting legs 72 to correspond to each other one by one; then, the robot places the five-star chair legs on the positioning table 4, and the chair leg grabber 12 is separated from the five-star chair legs; then, the seat leg rotating disc 41 rotates to enable the seat leg positioning block 43 to return to the original position, the robot pre-stores the original position of the seat leg positioning block 43, and the robot body 11 drives the seat leg grabber 12 to rotate so as to enable the limit extension rod 15 to be aligned with one of the supporting legs 72; finally, the robot grabs the five-star chair legs again, and descends the electric limiting rod 16 to connect the supporting legs 72 of the five-star chair legs with the limiting extension rods 15, so that the supporting legs 72 of the five-star chair legs are clamped and fixed.

By arranging the positioning table 4, the robot does not need to arrange a precise sensor and a complex algorithm to detect the position of the supporting leg 72, so that the quick alignment of the limiting extension rod 15 and the supporting leg 72 is realized, the control difficulty is reduced, and the alignment precision is improved.

The center positioning block 47 is made of nylon material; the seat foot positioning block 43 is made of a high-strength rubber material. The center positioning block 47 is made of nylon material, is wear-resistant and has certain hardness, can effectively position a product, and can also protect the product from being scratched; the chair leg positioning block 43 is made of a high-strength adhesive material, so that a product can be guided, and the high-strength adhesive material can protect the surface of the product from being scratched; the transfer and positioning of different products can be achieved by adjusting the seat foot positioning block 43 and the replacement center positioning block 47.

As shown in fig. 15, the blanking device 5 includes: a blanking frame 51, a blanking conveyer belt 52, a correlation sensor 53 and a grating 54; the blanking conveying belt 52 is arranged on the top surface of the blanking frame 51; the grating 54 is disposed at two sides of the feeding end of the discharging conveyor belt 52, and the detection range of the grating 54 covers the feeding end of the discharging conveyor belt 52; two opposite ends of the opposite-type sensor 53 are respectively disposed at two sides of the discharge end of the discharging conveyor belt 52; the bottom of the blanking frame 51 is provided with a foot cup 55 with adjustable height.

The blanking device 5 is a conveying belt blanking mode, a robot puts products into a feeding end of a blanking conveying belt 52, and the blanking conveying belt 52 conveys the products to a discharging section to be taken away by a worker or other robots; the grating 54 can be used for detecting whether a product exists at the feeding end of the robot blanking conveyer belt 52, so that the robot can conveniently determine whether to execute a blanking command; the correlation sensor 53 is used for detecting the safety position of the product, when the product is conveyed to the discharge end of the blanking conveyor belt 52 and the touch is detected, the blanking conveyor belt 52 can stop, so that the product is prevented from falling; the height of the foot cup 55 can be adjusted according to the equipment requirement, and the uneven arrangement and transportation of the blanking conveyer belt 52 caused by uneven ground can be avoided.

As shown in fig. 16, a dust-proof housing 6 is provided outside the system; the top of the dust-proof housing 6 is provided with a dust-discharging hole 61; the side surface of the dustproof shell 6 is provided with a plurality of visible windows 62 and doors 63; the visual window 62 is made of an acrylic transparent material plate; the dustproof shell is provided with a feeding hole 64 and a discharging hole 65; the dustproof shell 6 covers the five-star chair leg polishing processing system, the feeding device 3 is arranged at the feeding opening 64, and the discharging device is arranged at the discharging opening 65; the feeding end 3 of the feeding device and the discharging end of the discharging device 5 are positioned outside the dustproof shell.

The dust-proof shell 6 covers the whole polishing system, only the feeding opening 64 and the discharging opening 65 are reserved for feeding and discharging of operators, the whole production process is sealed, the air can be purified, the labor environment is improved, the enthusiasm of the workers is improved, and the health of the operators is ensured; four doors are reserved in the equipment, one double door is arranged on the front side, and three single doors are arranged on the back side for operators to enter debugging equipment, maintenance equipment and dust cleaning; an acrylic transparent window is arranged around the dustproof shell, and when the robot is stably produced, an external operator can observe the running condition of the internal equipment in real time; the dust-discharging hole 61 on the top can be connected with a dust-removing system of the polishing system to suck the dust in the dust-proof housing.

A method of polishing a five-star chair foot using the polishing system as described above, comprising the steps of:

More preferably, in the steps e and g, polishing is finished by utilizing the hemp wheel pair five-star chair legs, and polishing is finished by utilizing the cloth wheel pair five-star chair legs; in the step i, the whole light receiving is completed by utilizing two cloth wheel pairs five-star chair legs.

The technical principle of the present invention is described above in connection with the specific embodiments. The description is made for the purpose of illustrating the general principles of the invention and should not be taken in any way as limiting the scope of the invention. Other embodiments of the invention will be apparent to those skilled in the art from consideration of this specification without undue burden.

Claims

1. A five-star chair leg polishing system, comprising: the device comprises a feeding device, a discharging device, a primary robot, a secondary robot, a tertiary robot, a primary transfer positioning table, a secondary transfer positioning table, a tertiary transfer positioning table, a primary polishing machine, a secondary polishing machine and a tertiary polishing machine; the five-star chair leg polishing processing system sequentially comprises a feeding group, a primary polishing group, a secondary polishing group, a tertiary light receiving group and a discharging group according to the process sequence; the feeding group comprises the feeding device; the blanking group comprises the blanking device; the primary polishing group includes: the primary robot is positioned in the primary transfer positioning table and the primary polishing machine in the primary robot work area; the secondary polishing set includes: the secondary robot is positioned in a secondary transfer positioning table and a secondary polishing machine in the secondary robot work area; the three-stage light receiving group comprises: the three-stage robot is positioned in the three-stage transfer positioning table and the three-stage polishing machine in the three-stage robot work area; the feeding device is positioned in the primary robot work area, and the discharging device is positioned in the tertiary robot work area; the secondary transfer positioning table is also positioned in the working area of the primary robot; the three-stage transfer positioning table is also positioned in the working area of the secondary robot.

2. The five-star chair leg polishing system of claim 1, wherein the loading device is arranged on one side in a working area of the primary robot, and the primary polisher is arranged on the other side in the working area of the primary robot; the feeding device comprises a feeding base, a feeding conveying plate, a feeding guide rail, a plurality of feeding limiting blocks, a conveying plate fixing mechanism and a plurality of chair leg limiting mechanisms; the feeding guide rail is arranged on the feeding base, the feeding conveying plate is movably propped against the feeding guide rail, the conveying plate fixing mechanism is arranged at one end of the feeding base, which is close to the primary robot, and the feeding limiting blocks are arranged at two ends of the feeding base; the chair leg limiting mechanisms are uniformly arranged on the feeding conveying plate at intervals, and the central axes of two adjacent chair leg limiting mechanisms are intersected; the chair foot limiting mechanism comprises a chair foot limiting base, a plurality of chair foot limiting vertical rods and a plurality of chair foot limiting cross rods, wherein the chair foot limiting vertical rods are vertically arranged at two ends of the chair foot limiting base, and two opposite chair foot limiting vertical rods are connected through the chair foot limiting cross rods.

3. The five-star chair leg polishing system according to claim 1, wherein the primary robot, the secondary robot and the tertiary robot are provided with chair leg grippers, the chair leg grippers comprise clamping driving cylinders, clamping supporting rods, chucks and guiding connecting pieces, the guiding connecting pieces comprise supporting rod guiding pipes, and the clamping driving cylinders are arranged at one ends of the supporting rod guiding pipes; the clamping support rod is arranged in the support rod guide tube, one end of the clamping support rod is connected with an output shaft of the clamping driving cylinder, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide tube; the clamping head comprises at least two clamping outer support pieces, wherein each clamping outer support piece comprises a support rod sliding groove, and the support rod sliding grooves are arranged on the inner side of one end of each clamping outer support piece; the clamping head is arranged at the other end of the support rod guide pipe, and the support rod sliding groove of the clamping outer support piece is jointed to form a clamping head movable sleeve hole; when the clamping support rod extends out and is inserted into the chuck movable sleeve hole of the chuck, the clamping outer support piece is outwards supported; the clamping outer support piece further comprises a support rod positioning groove, a chuck positioning convex edge and a ferrule mounting groove, wherein the support rod positioning groove is formed in the inner side of the other end of the clamping outer support piece, and one end of the support rod positioning groove is connected with one end of the support rod sliding groove; the chuck positioning convex edge is arranged on the outer side of the proximal end part of one end of the clamping outer supporting piece; the ferrule mounting groove is arranged on the outer side of one end of the clamping outer supporting piece, and is arranged above the chuck positioning convex edge; the clamping ring is sleeved in the ring mounting groove; the supporting rod positioning grooves for clamping the outer supporting plates are attached to form chuck limiting sleeve holes, and the aperture of each chuck limiting sleeve hole is smaller than that of each chuck movable sleeve hole; the guide connecting piece comprises a driver connecting flange and at least two chuck mounting plates; the driver connecting flange is arranged at one end of the support rod guide pipe, the cylinder body of the clamping driving cylinder is connected with the driver connecting flange, the piston rod of the clamping driving cylinder is connected with one end of the clamping support rod, and the clamping driving cylinder drives the clamping support rod to move in the support rod guide pipe; the clamping head mounting plates are symmetrically arranged at the other end of the support rod guide tube, the guide connecting piece further comprises at least two clamping head mounting pins, and the two opposite clamping head mounting plates are connected through the clamping head mounting pins; the clamping outer support piece further comprises a chuck mounting through hole, the chuck mounting through hole is arranged on the outer side of one end of the clamping outer support piece, and one end of the clamping outer support piece is sleeved on the chuck mounting pin through the chuck mounting through hole; the support rod guide tube comprises a bearing accommodating cavity and a support rod limiting cavity, the bearing accommodating cavity is arranged at one end of the support rod guide tube, the support rod limiting cavity is arranged at the other end of the support rod guide tube, and the bearing accommodating cavity is communicated with the support rod limiting cavity; the guide connecting piece further comprises a support rod guide bearing, the support rod guide bearing is sleeved on the clamping support rod, the support rod guide bearing is arranged in the bearing accommodating cavity, and the clamping support rod sequentially passes through the bearing accommodating cavity and the support rod limiting cavity; the chair leg grabber further comprises a limiting extending rod and an electric limiting rod, one end of the limiting extending rod is connected with the outer side of the supporting rod guide tube, and the electric limiting rod is arranged at the other end of the limiting extending rod; the limiting extension rod is of an L-shaped structure, and a motor is arranged in the limiting extension rod to drive the electric limiting rod to lift.

4. The five-star chair leg polishing system of claim 1, wherein the primary polisher, the secondary polisher and the tertiary polishing machine are double-station polishers; the double-station polishing machine comprises a polishing rack, a polishing driving motor, a polishing driving belt, a polishing rotating shaft and two polishing wheels; the polishing driving motor and the polishing rotating shaft are respectively arranged at two opposite sides of the top of the polishing rack, the polishing rotating shaft is horizontally arranged, and the two polishing wheels are respectively rotatably arranged at two ends of the polishing rotating shaft; the polishing transmission belt is sleeved on the polishing rotating shaft and the driving end of the polishing driving motor; and one side of each polishing wheel, which is close to the polishing driving motor, is provided with a waste dust absorbing cover, and an air outlet of the waste dust absorbing cover is communicated with the air draft equipment.

5. The five-star chair leg polishing system of claim 4, wherein the double-station polisher is further provided with a waxing mechanism and a force control system; the waxing mechanism is arranged on the polishing rack and is close to the edge of the polishing wheel, and the waxing mechanism further comprises a waxing power device and a wax block moving seat; the force control system includes: the polishing device comprises a polishing wheel pressure detection device, a polishing rotating shaft fixing seat, a polishing sliding rail and a force control box; the polishing rotating shaft fixing seat slides relative to the polishing sliding rail under the control of the force control box, and the polishing sliding rail is fixed on the polishing rack; the two polishing wheels arranged on the primary polishing machine and the secondary polishing machine are respectively a flax wheel and a cloth wheel; two polishing wheels arranged on the three-stage polishing machine are cloth wheels.

6. The five-star chair leg polishing system of claim 1, wherein the primary transfer positioning table, the secondary transfer positioning table and the tertiary transfer positioning table are all column-type transfer positioning tables, the column-type transfer positioning tables comprising: the stand column and the positioning table; the positioning table comprises a chair foot rotating disc, a central positioning block, a plurality of chair foot positioning pieces and a plurality of chair foot positioning blocks, wherein the plurality of chair foot positioning pieces are uniformly arranged at the edge of the chair foot rotating disc along the circumferential direction at intervals; the chair leg positioning block is arranged on the chair leg positioning sheet, and the top of the chair leg positioning block is radially provided with a chair leg positioning groove; the center positioning block is arranged at the middle geometric center of the chair leg rotating disc and is positioned right above the upright post; the center positioning block is made of nylon materials; the chair leg positioning block is made of a high-strength rubber material.

7. The five-star chair leg polishing system of claim 1, wherein the blanking device comprises: the device comprises a blanking frame, a blanking conveying belt, a correlation sensor and a grating; the blanking conveying belt is arranged on the top surface of the blanking frame; the grating is arranged on two sides of the feeding end of the blanking conveyor belt, and the detection range of the grating covers the feeding end of the blanking conveyor belt; two opposite ends of the opposite-type sensor are respectively arranged at two sides of the discharge end of the blanking conveyer belt; the bottom of the blanking frame is provided with a foot cup with adjustable height.

8. The five-star chair leg polishing system according to claim 1, wherein a dust-proof housing is arranged outside the five-star chair leg polishing system; the top of the dustproof shell is provided with a dust discharging hole; the side surface of the dustproof shell is provided with a plurality of visual windows and doors; the visual window is made of an acrylic transparent material plate; the dustproof shell is provided with a feeding hole and a discharging hole; the dustproof shell covers the five-star chair leg polishing system, and the feeding end of the feeding device and the discharging end of the discharging device are positioned outside the dustproof shell.