CN111230676B

CN111230676B - Polishing mechanism and polishing device

Info

Publication number: CN111230676B
Application number: CN202010151537.3A
Authority: CN
Inventors: 严镇宁; 冯海生
Original assignee: Guangdong Evenwin Precision Technology Co Ltd
Current assignee: Guangdong Evenwin Precision Technology Co Ltd
Priority date: 2020-03-06
Filing date: 2020-03-06
Publication date: 2021-07-20
Anticipated expiration: 2040-03-06
Also published as: CN111230676A

Abstract

The invention relates to a polishing mechanism and a polishing device, wherein the polishing mechanism comprises: base, drive assembly, and centre gripping subassembly. The base is provided with a connecting piece; the drive assembly includes: the center shaft is pivoted on the base, the thimble penetrates through the center shaft, the sliding block is connected with the thimble, the first elastic piece is arranged between the sliding block and the center shaft, the first bearing is abutted against the sliding block, and the first driver is connected with the first bearing; the thimble is arranged along the axial direction of the middle shaft; the first elastic element, the sliding block and the first bearing are sequentially accommodated in the middle shaft along the axial direction of the middle shaft; the clamping assembly includes: the clamping head is connected with the middle shaft; the chuck is arranged in an outward opening structure; the clamping head is provided with a movable channel for inserting the thimble; the outward expansion amplitude of the chuck is increased along with the increase of the insertion depth of the thimble in the movable channel. The polishing mechanism is matched with the manipulator for use, so that the rotary polishing of the workpiece is realized, the surface polishing amount of the workpiece is stable and uniform, the polishing is not easy to excessively polish when the sharp-angled edge of the workpiece is polished, and the polishing effect is improved.

Description

Polishing mechanism and polishing device

Technical Field

The invention relates to the technical field of polishing equipment, in particular to a polishing mechanism and a polishing device.

Background

Polishing is a processing method which reduces the roughness of the surface of a workpiece and improves the surface smoothness and the flatness of the workpiece by utilizing physical processing or chemical processing.

For physical polishing, the surface of a workpiece is generally ground by a polishing wheel rotating at a high speed, and at present, the polishing is mainly divided into manual polishing and mechanical automatic polishing, which have respective defects.

For manual polishing, a workpiece needs to be manually held, and the contact position of the workpiece and a polishing wheel is manually adjusted, so that the defects that the operation intensity is high, the probability of industrial injury is high, workers need to master various complicated polishing methods, the labor cost for polishing is high, and the yield and the productivity are unstable are overcome.

For mechanical automatic polishing, mechanical equipment replaces manual holding of a workpiece, and the contact position of the workpiece and a polishing wheel is adjusted through the mechanical equipment.

Therefore, there is a need for improvement in mechanical automatic polishing, which improves uniformity of polishing of the surface of a workpiece, reduces over-polishing when polishing sharp-angled edges of the workpiece, and improves polishing efficiency.

Disclosure of Invention

Based on the polishing mechanism, the polishing mechanism matched with the mechanical arm is arranged, rotary polishing of workpieces is achieved, mechanical automatic polishing is achieved, the surface polishing amount of the workpieces is stable and uniform, excessive polishing is not prone to occurring when sharp-angled edges of the workpieces are polished, and the polishing effect is improved.

A polishing mechanism comprising:

the base is provided with a connecting piece; the connecting piece is used for butting the mechanical arm;

a drive assembly mounted on the base, the drive assembly comprising: the center shaft is pivoted on the base, the thimble penetrates through the center shaft, the sliding block is connected with the thimble, the first elastic piece is arranged between the sliding block and the center shaft, the first bearing is abutted against the sliding block, and the first driver is connected with the first bearing; the thimble is arranged along the axial direction of the middle shaft; the first elastic element, the sliding block and the first bearing are sequentially accommodated in the middle shaft along the axial direction of the middle shaft; and

connect drive assembly's centre gripping subassembly, the centre gripping subassembly includes: the clamping head is connected with the middle shaft; the chuck is arranged in an outward opening structure; the clamping head is provided with a movable channel for inserting the thimble; the outward expansion amplitude of the chuck is increased along with the increase of the insertion depth of the thimble in the movable channel.

Above-mentioned polishing mechanism, the during operation will polish the mechanism and install on the manipulator through the connecting piece on the base, utilizes the manipulator to drive and polishes the mechanism and remove to polishing station. Before polishing, a workpiece is placed at a chuck of the clamping assembly, a first driver of the driving assembly pushes the first bearing to move, and then the sliding block is pushed to move, so that the ejector pin is driven to be further inserted into a movable channel of the chuck, and the chuck is enabled to be outwards expanded to tension and position the workpiece. Then, the manipulator drives the polishing mechanism to move, so that the workpiece is in contact with the polishing wheel. The workpiece is driven by the polishing wheel, so that the chuck, the thimble, the sliding block and the middle shaft rotate along with the workpiece, the first driver applies extrusion force to the sliding block along the axial direction of the middle shaft through the first bearing, resistance for preventing the workpiece from rotating along with the polishing wheel is generated, and the workpiece rotates while the workpiece has a speed difference with the polishing wheel. Through above-mentioned design, the setting realizes the rotation type polishing of work piece with the polishing mechanism that the manipulator cooperation was used, realizes mechanized automatic polishing to, the surface finish volume of work piece is stable and even, is difficult for crossing when polishing the closed angle edge of work piece throwing, improves the effect of polishing.

In one embodiment, the polishing mechanism further comprises a positioning assembly comprising: the second driver and a first positioning pin connected with the second driver; the middle shaft is provided with a first pin hole for inserting a first positioning pin; the first pin hole is arranged along the radial direction of the middle shaft. After the polishing of the workpiece is finished, the middle shaft can continue to rotate under the action of inertia, in order to facilitate the matching of the positioning of feeding and discharging of automatic equipment or the manual picking and placing of the workpiece, a second driver in the positioning assembly drives a first positioning pin to be inserted into a first pin hole in the middle shaft, so that the angle of the middle shaft is locked at a preset position, and the purpose of positioning the direction and the position of the workpiece is achieved.

In one embodiment, the clamping assembly further comprises: the friction gear is sleeved outside the shaft sleeve; the shaft sleeve is sleeved at the joint of the chuck and the middle shaft; the friction teeth are used for contacting with the polishing wheel to drive the middle shaft to rotate. If the middle shaft cannot rotate to the preset position after the polishing of the workpiece is finished, the first positioning pin of the positioning assembly cannot be inserted into the first pin hole of the middle shaft, and at the moment, the polishing mechanism can be close to the polishing wheel again and is in contact with the polishing wheel through the friction teeth, so that the middle shaft is driven to rotate again to enable the positioning assembly to lock the middle shaft.

In one embodiment, the middle shaft is provided with a connecting part and a second positioning pin arranged on the connecting part; the connecting part is butted with the chuck; the middle shaft is provided with a second pin hole arranged along the radial direction of the middle shaft; the second pin hole is butted with the second positioning pin; the shaft sleeve is sleeved on the chuck in a sliding manner and is locked on the middle shaft through a screw. When the chuck is disassembled, the screw on the shaft is unscrewed, then the shaft sleeve slides to one end of the chuck far away from the center shaft, so that the connecting part of the center shaft is exposed, the second positioning pin is taken down from the second pin hole, and the disassembly can be completed.

In one embodiment, the polishing mechanism further comprises a monitoring assembly comprising: the magnetic sensor comprises a fixed block arranged on a base and a first magnetic sensor connected to the fixed block; the middle shaft is also provided with a first magnet; the first magnet rotates along with the middle shaft. The first magnetic sensor detects a first magnet rotating along with the middle shaft, and the current rotating state of the middle shaft is judged by the feedback frequency of the generated sensing signal.

In one embodiment, the polishing mechanism further comprises: a detection component; the detection assembly comprises: the base is connected to the base, the warping rod is hinged to the base, the second elastic piece is connected with the warping rod, and the second magnetic sensors are mounted on the base; one end of the tilting rod is provided with a trigger piece; the trigger piece is used for contacting the polishing wheel to drive the tilting rod to swing; the opposite other end of the tilting rod is provided with a second magnet; the second magnet moves along with the swing of the tilting rod; the plurality of second magnetic force sensors are sequentially distributed at intervals along the moving track of the second magnet; the second elastic piece is used for driving the tilting rod to reset. When the position and the size of the polishing wheel need to be detected, the mechanical arm drives the polishing mechanism to lean against the polishing wheel, and the polishing wheel is touched through a trigger piece on the detection assembly. When the trigger piece touches the polishing wheel, one end of the tilting rod, which is provided with the second magnet, tilts by a certain angle, and triggers the second magnetic sensor at the corresponding position, so that the current swing angle of the tilting rod is detected and fed back to the mechanical arm to accurately record the position of the polishing wheel.

In one embodiment, the base is provided with a limiting groove; the limiting groove is used for limiting the moving range of one end of the tilting rod, which is provided with the trigger piece. The spacing groove can prevent to lead to second magnet striking base because stick up the pole and be equipped with the one end swing range of trigger piece too big to protect second magnet, and can be so that stick up the pole and move about at predetermined within range, improve the job stabilization nature of stick up the pole.

In one embodiment, the collet is provided with a removable profile; the profiling part is used for penetrating into a workpiece. The profiling part can better fit the shape of a workpiece, and the universal use of the chuck can be improved by the detachable arrangement.

In one embodiment, the base is provided with comb teeth; the comb teeth are used for polishing the polishing wheel to remove polishing wax remained on the polishing wheel. Because in the polishing process, often can exert polishing wax in order to coat on the surface of work piece at the polishing wheel, so, along with the accumulation of the activity duration of polishing wheel, the surface of polishing wheel can remain there is the relatively poor polishing wax of quality to influence the polishing effect of work piece, can clear up the surface of polishing wheel through the broach.

Meanwhile, the invention also provides a polishing device.

A polishing apparatus comprising the polishing mechanism of any one of the above embodiments, further comprising: a manipulator connected with the polishing mechanism; the manipulator is connected with the connecting piece.

Above-mentioned burnishing device, during operation utilizes the manipulator to drive polishing mechanism and removes to the polishing station. Before polishing, a workpiece is placed at a chuck of the clamping assembly, a first driver of the driving assembly pushes the first bearing to move, and then the sliding block is pushed to move, so that the ejector pin is driven to be further inserted into a movable channel of the chuck, and the chuck is enabled to be outwards expanded to tension and position the workpiece. Then, the manipulator drives the polishing mechanism to move, so that the workpiece is in contact with the polishing wheel. The workpiece is driven by the polishing wheel, so that the chuck, the thimble, the sliding block and the middle shaft rotate along with the workpiece, the first driver applies extrusion force to the sliding block along the axial direction of the middle shaft through the first bearing, resistance for preventing the workpiece from rotating along with the polishing wheel is generated, and the workpiece rotates while the workpiece has a speed difference with the polishing wheel. Through above-mentioned design, the setting realizes the rotation type polishing of work piece with the polishing mechanism that the manipulator cooperation was used, realizes mechanized automatic polishing to, the surface finish volume of work piece is stable and even, is difficult for crossing when polishing the closed angle edge of work piece throwing, improves the effect of polishing.

Drawings

FIG. 1 is a schematic view of a polishing mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic view of another perspective of the polishing mechanism shown in FIG. 1;

FIG. 3 is a schematic view of yet another perspective of the polishing mechanism shown in FIG. 1;

FIG. 4 is an exploded view of the polishing mechanism shown in FIG. 1;

FIG. 5 is a cross-sectional view of the polishing mechanism shown in FIG. 1;

FIG. 6 is a schematic view of the drive assembly shown in FIG. 5;

FIG. 7 is a schematic view of the clamping assembly shown in FIG. 5;

FIG. 8 is a schematic view of the detection assembly shown in FIG. 5;

FIG. 9 is a schematic view of the polishing mechanism of FIG. 1 during polishing;

FIG. 10 is an enlarged view of portion A of FIG. 9;

FIG. 11 is a schematic view of the polishing mechanism of FIG. 1 during inspection of the polishing wheel;

fig. 12 is an enlarged view of part B of fig. 11;

FIG. 13 is a schematic diagram of the operation of the sensing assembly of FIG. 11;

FIG. 14 is a schematic view of a polishing apparatus of the present invention.

The meaning of the reference symbols in the drawings is:

100-a polishing mechanism;

10-base, 11-connecting piece, 12-comb teeth;

20-a driving component, 21-a middle shaft, 211-a first pin hole, 212-a connecting part, 213-a second positioning pin, 214-a second pin hole, 22-a thimble, 23-a slide block, 24-a first elastic element, 25-a first bearing, 26-a first driver and 27-a second bearing;

30-clamping component, 31-clamping head, 311-profiling part, 32-shaft sleeve, 33-friction tooth;

40-a positioning assembly, 41-a second driver, 42-a first positioning pin;

50-a monitoring component, 51-a fixed block, 52-a first magnetic sensor;

60-a detection component, 61-a base, 611-a limiting groove, 62-a warping rod, 63-a second elastic piece, 64-a second magnetic sensor, 65-a trigger piece and 66-a second magnet;

200-a manipulator;

1000-workpiece.

Detailed Description

To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Preferred embodiments of the present invention are shown in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.

As shown in fig. 1 to 13, a polishing mechanism 100 according to an embodiment of the present invention is provided.

As shown in fig. 1 to 5, the polishing mechanism 100 includes: a base 10, a drive assembly 20 mounted on the base 10, and a clamp assembly 30 connected to the drive assembly 20. Wherein the base 10 serves as a base structure to carry other components and for connecting the robot 200. The clamping assembly 30 is used to load and position a workpiece 1000 to be polished. The driving assembly 20 is used for driving the clamping assembly 30 to perform tensioning action so as to realize the positioning of the workpiece 1000. As shown in fig. 9, in use, the base 10 is connected to the robot 200, the robot 200 moves the polishing mechanism 100, and the holding assembly 30 and the driving assembly 20 cooperate to position the workpiece 1000 and achieve the purpose of rotary polishing.

Hereinafter, the polishing mechanism 100 will be further described with reference to fig. 6 to 13 on the basis of fig. 1 to 5.

As shown in fig. 1 to 3, in the present embodiment, the base 10 is disposed in a box-shaped structure, and has an inner cavity for accommodating the driving assembly 20. Further, the base 10 is provided with a connection 11 for docking the robot arm 200. As shown in fig. 4, in the present embodiment, the connecting member 11 is a link rod which can be connected to a front end flange of the robot 200 and can be adapted to various brands of the robot 200.

It is considered that during the polishing of the workpiece 1000, polishing wax is often applied to the polishing wheel, so that the polishing wax can follow the polishing wheel to coat the surface of the workpiece 1000, thereby improving the polishing effect. The polishing wax that is not coated on the workpiece 1000 remains on the polishing wheel, and the polishing effect of the next workpiece 1000 is reduced, so that the polishing mechanism 100 can be improved for the problem of wax residue of the polishing wheel. For example, as shown in fig. 1 and 4, in the present embodiment, the base 10 is provided with comb teeth 12, and the comb teeth 12 are used to grind the polishing wheel to remove polishing wax remaining on the polishing wheel. Since the polishing wax is often applied to the polishing wheel to coat the surface of the workpiece 1000 during the polishing process, the poor quality polishing wax remains on the surface of the polishing wheel as the operation time of the polishing wheel is accumulated, so that the polishing effect of the workpiece 1000 is affected, and the surface of the polishing wheel can be cleaned through the comb teeth 12.

As shown in fig. 4 to 6, the driving assembly 20 includes: the device comprises a central shaft 21 pivoted on the base 10, an ejector pin 22 penetrating the central shaft 21, a slide block 23 connected with the ejector pin 22, a first elastic element 24 arranged between the slide block 23 and the central shaft 21, a first bearing 25 abutting against the slide block 23, and a first driver 26 connected with the first bearing 25. The thimble 22 is arranged along the axial direction of the central shaft 21 and is inserted into the clamping assembly 30. The first elastic element 24, the slider 23, and the first bearing 25 are sequentially accommodated in the center shaft 21 along the axial direction of the center shaft 21. In operation, the first actuator 26 pushes the first bearing 25 to move toward the clamping assembly 30, and further pushes the sliding block 23 to move, the sliding block 23 drives the thimble 22 to extend toward the clamping assembly 30, and the clamping assembly 30 is driven to tension and position the workpiece 1000 by increasing the depth of the thimble 22 in the clamping assembly 30.

As shown in fig. 4 to 6, in the present embodiment, a second bearing 27 is sleeved on each end of the central shaft 21, and functions to allow the central shaft 21 to be pivoted in the base 10. The second bearing 27 may be a deep groove ball bearing.

In this embodiment, as shown in fig. 6, the end of the thimble 22 away from the slider 23 is tapered to better interface with the collet 31 assembly and gradually expand the collet 31 assembly as the insertion depth of the thimble 22 increases.

As shown in fig. 5 and fig. 6, in the present embodiment, the first elastic element 24 is a spring sleeved on the thimble 22, and one end of the first elastic element abuts against the inner wall of the inner cavity of the base 10, and the other end abuts against the sliding block 23. In other embodiments, the first elastic member 24 may be other types of elastic structures, such as a spring plate or a rubber block with elasticity. Further, the elastic structure may be constructed by utilizing repulsion of like polarities of the magnets, or may be constructed by utilizing gas compression or the like.

As shown in fig. 6, in the present embodiment, the first bearing 25 may be an angular contact bearing, which is characterized by bearing a large unidirectional axial load, and the larger the contact angle, the larger the load bearing capacity. Furthermore, depending on the length of the driving portion of the first driver 26, a plurality of angular bearings may be selected for use in series, for example, in the present embodiment, two angular bearings in series are used to connect with the driving portion of the first driver 26.

As shown in fig. 4 and 5, in the present embodiment, the first driver 26 is a cylinder, and a piston rod thereof is inserted into the first bearing 25. In other embodiments, the first driver 26 may be another type of driving device, such as a driving device constructed by a motor, an electromagnet, or another type of driving source, as long as the driving device can drive the first bearing 25 to move in the axial direction of the central shaft 21.

As shown in fig. 4, 5 and 7, the clamping assembly 30 includes: a collet 31 connected to the central shaft 21. The collet 31 is provided in an outwardly flared configuration. As shown in fig. 5, the collet 31 is provided with a movable passage for inserting the thimble 22, and the outward expansion of the collet 31 increases as the insertion depth of the thimble 22 in the movable passage increases.

As shown in fig. 7, in the present embodiment, one end of the collet 31 away from the bottom bracket 21 is a profiling portion 311, and the overall shape of the profiling portion 311 is a flower shape for entering and exiting into the workpiece 1000. The copying portion 311 can better conform to the shape of the workpiece 1000.

Further, in other embodiments, the copying portion 311 may be detachably disposed, and a user may replace the copying portion 311 appropriately according to different workpieces 1000, so as to improve the applicability and flexibility.

As shown in fig. 1 to 4, in the present embodiment, the polishing mechanism 100 may further include: a positioning assembly 40 for locking the central shaft 21 in a predetermined position at the end of polishing.

As shown in fig. 4 and 5, in the present embodiment, the positioning assembly 40 includes: a second driver 41 and a first positioning pin 42 connected to the second driver 41. The center shaft 21 is provided with a first pin hole 211 into which the first positioning pin 42 is inserted, and the first pin hole 211 is disposed along a radial direction of the center shaft 21. After the polishing of the workpiece 1000 is finished, the middle shaft 21 continues to rotate under the action of inertia, and in order to facilitate the positioning of loading and unloading of the automatic equipment or the manual picking and placing of the workpiece 1000, the second driver 41 in the positioning assembly 40 drives the first positioning pin 42 to be inserted into the first pin hole 211 in the middle shaft 21, so that the angle of the middle shaft 21 is locked at a preset position, and the purpose of positioning the direction and the position of the workpiece 1000 is achieved.

As shown in fig. 1 to 5, and 6, the clamping assembly 30 may further include: a sleeve 32 and a friction tooth 33 sleeved outside the sleeve 32. The shaft sleeve 32 is sleeved at the joint of the chuck 31 and the middle shaft 21. The friction teeth 33 are used to contact the polishing wheel to rotate the central shaft 21. If the middle shaft 21 fails to rotate to the predetermined position after the polishing of the workpiece 1000 is finished, the first positioning pin 42 of the positioning assembly 40 cannot be inserted into the first pin hole 211 of the middle shaft 21, and at this time, the polishing mechanism 100 may be close to the polishing wheel again, and contact with the polishing wheel through the friction teeth 33, so as to drive the middle shaft 21 to rotate again, so that the positioning assembly 40 can lock the middle shaft 21.

As shown in fig. 4 to 6, the middle shaft 21 may further be provided with a connecting portion 212 and a second positioning pin 213 disposed on the connecting portion 212. The connecting portion 212 abuts against the collet 31. In the present embodiment, the middle shaft 21 is provided with four second positioning pins 213 arranged along the radial direction, and the four second positioning pins 213 are distributed in a cross shape at the connecting portion 212. The middle shaft 21 is provided with a second pin hole 214 arranged along the radial direction of the middle shaft 21, and the second pin hole 214 is butted with the second positioning pin 213. The shaft sleeve 32 is slidably sleeved on the chuck 31 and is locked on the middle shaft 21 by a screw, and the second positioning pin 213 cannot be separated from the second pin hole 214 under the limit of the shaft sleeve 32, so that the connecting part 212 of the chuck 31 and the middle shaft 21 is connected in series. When the chuck 31 needs to be disassembled, the screw on the shaft is firstly unscrewed, then the shaft sleeve 32 slides to one end of the chuck 31 far away from the middle shaft 21, so that the connecting part 212 of the middle shaft 21 is exposed, and then the second positioning pin 213 is taken out of the second pin hole 214, so that the disassembly can be completed.

As shown in fig. 4 and 5, the polishing mechanism 100 may further include: and a monitoring assembly 50 for detecting the rotation state of the middle shaft 21.

As shown in fig. 4 and 5, in the present embodiment, the monitoring assembly 50 includes: a fixed block 51 installed on the base 10, and a first magnetic sensor 52 connected to the fixed block 51. The middle shaft 21 is further provided with a first magnet (not shown). For example, in the present embodiment, two first magnets are provided on the bottom bracket 21, and the first magnets rotate along with the bottom bracket 21. The first magnetic sensor 52 detects the first magnet rotating along with the middle shaft 21, and feeds back the frequency through the generated sensing signal to determine the current rotation state of the middle shaft 21.

As shown in fig. 1 to 6, the polishing mechanism 100 may further include: a detection assembly 60 for detecting the position and size of the polishing path.

As shown in fig. 8, in the present embodiment, the detection assembly 60 includes: a base 61 connected to the base 10, a seesaw rod 62 hinged to the base 61, a second elastic member 63 connected to the seesaw rod 62, and a plurality of second magnetic sensors 64 mounted on the base 61. One end of the tilting rod 62 is provided with a trigger piece 65, and the trigger piece 65 is used for contacting the polishing wheel to drive the tilting rod 62 to swing. The opposite end of the seesaw rod 62 is provided with a second magnet 66, and the second magnet 66 moves along with the swinging of the seesaw rod 62. The plurality of second magnetic force sensors 64 are sequentially spaced along the moving track of the second magnet 66. The second elastic member 63 is used for driving the tilting rod 62 to reset. For example, as shown in fig. 13, in the present embodiment, the trigger piece 65 is provided in an L shape, when the trigger piece 65 touches the polishing wheel and swings down clockwise, the second magnet 66 swings up clockwise under the driving of the tilting rod 62, the swing angle of the second magnet 66 is detected by four second magnetic sensors sequentially distributed at intervals, and the position and size of the polishing wheel can be calculated according to the swing angle of the second magnet 66. As shown in fig. 11 to 13, when the position and size of the polishing wheel needs to be detected, the robot 200 drives the polishing mechanism 100 into the polishing wheel to touch the polishing wheel through the trigger piece 65 of the detection assembly 60. At the moment when the trigger piece 65 touches the polishing wheel, one end of the tilting rod 62 provided with the second magnet 66 tilts by a certain angle, and the second magnetic sensor at the corresponding position is triggered, so that the current swing angle of the tilting rod 62 is detected and fed back to the mechanical arm 200 to accurately record the position of the polishing wheel.

As shown in fig. 8 and 13, in the present embodiment, the second elastic member 63 is a spring, one end of which is hooked on the end of the tilting rod 62 where the second magnet 66 is disposed, and the other end of which is hooked on the base 61. In other embodiments, the second elastic member 63 may be replaced with a torsion spring installed at the hinge joint of the tilting lever 62 and the base 61.

As shown in fig. 8 and 13, the base 61 may be provided with a stopper groove 611. The limiting groove 611 is used for limiting the moving range of the tilting rod 62 at the end provided with the trigger piece 65. The limiting groove 611 can prevent the second magnet 66 from impacting the base 61 due to the fact that the swing amplitude of the end, provided with the trigger piece 65, of the tilting rod 62 is too large, so that the second magnet 66 is protected, the tilting rod 62 can move within a preset range, and the working stability of the tilting rod 62 is improved.

As shown in fig. 9 and 10, in operation, the polishing mechanism 100 is mounted on the robot 200 through the connecting member 11 on the base 10, and the robot 200 drives the polishing mechanism 100 to move to the polishing station. Before polishing, the workpiece 1000 is placed at the collet 31 of the clamping assembly 30, and the first driver 26 of the driving assembly 20 pushes the first bearing 25 to move, and further pushes the slider 23 to move, so as to drive the thimble 22 to further insert into the movable channel of the collet 31, so that the collet 31 is expanded outwards to tension and position the workpiece 1000. Then, the robot 200 moves the polishing mechanism 100 so that the workpiece 1000 comes into contact with the polishing wheel. The workpiece 1000 is driven by the polishing wheel to rotate the chuck 31, the thimble 22, the slide block 23, and the central shaft 21, and the first driver 26 applies a pressing force to the slide block 23 along the axial direction of the central shaft 21 through the first bearing 25, so as to generate a resistance force for preventing the workpiece 1000 from rotating along with the polishing wheel, and while the workpiece 1000 rotates, a speed difference exists between the workpiece 1000 and the polishing wheel. Through the design, the polishing mechanism 100 matched with the mechanical arm 200 is arranged, so that the rotary polishing of the workpiece 1000 is realized, the mechanical automatic polishing is realized, the surface polishing amount of the workpiece 1000 is stable and uniform, the polishing is not easy to over polish when the sharp-angled edge of the workpiece 1000 is polished, and the polishing effect is improved.

As shown in fig. 14, it is a polishing apparatus according to an embodiment of the present invention.

The polishing apparatus includes: a polishing mechanism 100 and a robot 200 coupled to the polishing mechanism 100. The polishing mechanism 100 is used for loading and positioning products, and the robot 200 is used for driving the polishing mechanism 100 to move to a preset polishing station.

For the polishing mechanism 100, reference may be made to the description of the polishing mechanism 100 above, and the description thereof is omitted here. And the front flange of the robot arm 200 is coupled to the coupling 11 on the base 10 of the polishing mechanism 100.

In the polishing apparatus, as shown in fig. 9 and 10, the robot 200 is used to drive the polishing mechanism 100 to move to the polishing station. Before polishing, the workpiece 1000 is placed at the collet 31 of the clamping assembly 30, and the first driver 26 of the driving assembly 20 pushes the first bearing 25 to move, and further pushes the slider 23 to move, so as to drive the thimble 22 to further insert into the movable channel of the collet 31, so that the collet 31 is expanded outwards to tension and position the workpiece 1000. Then, the robot 200 moves the polishing mechanism 100 so that the workpiece 1000 comes into contact with the polishing wheel. The workpiece 1000 is driven by the polishing wheel to rotate the chuck 31, the thimble 22, the slide block 23, and the central shaft 21, and the first driver 26 applies a pressing force to the slide block 23 along the axial direction of the central shaft 21 through the first bearing 25, so as to generate a resistance force for preventing the workpiece 1000 from rotating along with the polishing wheel, and while the workpiece 1000 rotates, a speed difference exists between the workpiece 1000 and the polishing wheel. Through the design, the polishing mechanism 100 matched with the mechanical arm 200 is arranged, so that the rotary polishing of the workpiece 1000 is realized, the mechanical automatic polishing is realized, the surface polishing amount of the workpiece 1000 is stable and uniform, the polishing is not easy to over polish when the sharp-angled edge of the workpiece 1000 is polished, and the polishing effect is improved.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only express preferred embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims

1. A polishing mechanism, comprising:

a drive assembly mounted on the base, the drive assembly comprising: the center shaft is pivoted on the base, the thimble penetrates through the center shaft, the sliding block is connected with the thimble, the first elastic element is arranged between the sliding block and the center shaft, the first bearing is abutted against the sliding block, and the first driver is connected with the first bearing; the ejector pin is arranged along the axial direction of the middle shaft; the first elastic element, the sliding block and the first bearing are sequentially accommodated in the middle shaft along the axial direction of the middle shaft; and

a clamping assembly connected to the drive assembly, the clamping assembly comprising: the clamping head is connected with the middle shaft; the chuck is arranged in an outward opening structure; the clamping head is provided with a movable channel for the thimble to be inserted; the outward opening amplitude of the chuck is increased along with the increase of the insertion depth of the thimble in the movable channel;

the device also comprises a detection component; the detection assembly comprises: the base is connected to the base, the tilting rod is hinged to the base, the second elastic piece is connected with the tilting rod, and the second magnetic sensors are mounted on the base; one end of the tilting rod is provided with a trigger piece; the trigger piece is used for contacting the polishing wheel to drive the tilting rod to swing; the opposite other end of the warping rod is provided with a second magnet; the second magnet moves along with the swing of the tilting rod; the plurality of second magnetic force sensors are sequentially distributed at intervals along the moving track of the second magnet; the second elastic piece is used for driving the tilting rod to reset.

2. The polishing mechanism of claim 1, further comprising a positioning assembly; the positioning assembly comprises: a second driver and a first positioning pin connected with the second driver; the middle shaft is provided with a first pin hole for the first positioning pin to be inserted into; the first pin hole is arranged along the radial direction of the middle shaft.

3. The polishing mechanism of claim 2, wherein the clamping assembly further comprises: the friction gear comprises a shaft sleeve and friction teeth sleeved on the outer side of the shaft sleeve; the shaft sleeve is sleeved at the joint of the chuck and the middle shaft; the friction teeth are used for being in contact with the polishing wheel to drive the middle shaft to rotate.

4. The polishing mechanism as recited in claim 3, wherein the bottom bracket has a connecting portion and a second locating pin disposed on the connecting portion; the connecting part is butted with the chuck; the middle shaft is provided with a second pin hole arranged along the radial direction of the middle shaft; the second pin hole is butted with the second positioning pin; the shaft sleeve is sleeved on the chuck in a sliding mode and is locked on the middle shaft through screws.

5. The polishing mechanism of claim 1, further comprising a monitoring assembly, the monitoring assembly comprising: the magnetic sensor comprises a fixed block arranged on the base and a first magnetic sensor connected to the fixed block; the middle shaft is also provided with a first magnet; the first magnet rotates along with the middle shaft.

6. The polishing mechanism as recited in claim 1, wherein the second elastic member is a spring having one end hooked to the end of the seesaw bar having the second magnet and the other end hooked to the base; or the second elastic piece is a torsion spring arranged at the hinged position of the tilting rod and the base.

7. The polishing mechanism as recited in claim 1 wherein the base is provided with a retaining groove; the limiting groove is used for limiting the moving range of one end, provided with the trigger piece, of the tilting rod.

8. The polishing mechanism according to any one of claims 1 to 7, wherein the chuck is provided with a removable profile; the profiling part is used for penetrating into a workpiece.

9. The polishing mechanism according to any one of claims 1 to 7, wherein the base is provided with comb teeth; the comb teeth are used for polishing the polishing wheel to remove polishing wax remained on the polishing wheel.

10. A polishing apparatus comprising the polishing mechanism according to any one of claims 1 to 9, further comprising: the mechanical arm is connected with the polishing mechanism; the manipulator is connected with the connecting piece.