CN111687695A

CN111687695A - Self-cleaning polishing device and polishing method

Info

Publication number: CN111687695A
Application number: CN202010624823.7A
Authority: CN
Inventors: 史亮; 郑冬冬; 刘培
Original assignee: Suzhou Juyi Intelligent Equipment Co ltd
Current assignee: Suzhou Juyi Intelligent Equipment Co ltd
Priority date: 2020-07-01
Filing date: 2020-07-01
Publication date: 2020-09-22

Abstract

The invention discloses a self-cleaning polishing device and a polishing method, wherein a workpiece placing jig of the self-cleaning polishing device is arranged on a workpiece; a gripping device; the polishing device is lower than the grabbing device in height and comprises a polishing head and a rotary driving mechanism for driving the polishing head to rotate; the waste residue collecting hopper comprises a first opening and a second opening which are arranged on different sides, airflow moving from the first opening to the second opening is formed in the waste residue collecting hopper, the polishing head is positioned in the waste residue collecting hopper, and the rotary driving mechanism extends into the waste residue collecting hopper from the outer side of the waste residue collecting hopper; and the moving mechanism is provided with a structure for driving the gripping device to move along the longitudinal direction and the horizontal direction, and the gripping device can move between the workpiece placing jig and the first opening of the waste residue collecting hopper. This scheme can carry out quick collection with waste residue, dust when polishing effectively, avoids waste residue, dust to splash, spread to the surrounding environment in, can avoid waste residue and dust to leave over on the work piece effectively, is favorable to keeping the cleanness of the back work piece of polishing.

Description

Self-cleaning polishing device and polishing method

Technical Field

The invention relates to grinding equipment, in particular to a self-cleaning grinding device and a grinding method.

Background

When carrying out battery module device, various welding operation exist for a long time, after welding operation, need polish the welding seam, current various equipment of polishing is like the structure that application number 2018106584917 reveals, and it is provided with the dust absorption passageway in the below of the disc of polishing of liftable, is provided with the draught fan in the passageway and makes the air inlet form the negative pressure then inhale the waste residue and the dust that the above side was polished and is produced in the dust absorption passageway and filter the back with the dust discharge through the dust filter.

There are a number of problems with this arrangement:

(1) the dust absorption effect is poor mainly because the whole polishing disc and the workpiece are in a completely open ring

In the border, during the polishing, the centrifugal force of the polishing disc can make the waste residue splash to the periphery outside the negative pressure adsorption range of the air inlet, so that the waste residue cannot be sucked into the dust collection channel. Meanwhile, after the dust enters the dust collection channel, waste residues are filtered, dust is discharged to the environment again, and a large amount of dust is generated at the moment of polishing, so that the dust is not collected and the dust collection effect can not be achieved obviously.

(2) In addition, the waste residue needs to be cleaned in time after being filtered by the dust filtering plate to ensure the filtering effect, the cleaning opportunity is uncertain, and the cleaning operation is relatively complicated.

(3) For the tops of some block-shaped objects and during polishing, dust and waste residue can be accumulated on the tops of the workpieces, and the workpieces need to be cleaned in other modes.

Disclosure of Invention

The invention aims to solve the problems in the prior art and provides a self-cleaning polishing device and a polishing method.

The purpose of the invention is realized by the following technical scheme:

a self-cleaning polishing device, which comprises a polishing head,

a workpiece placing jig;

the gripping device grips the object by clamping and/or vacuum adsorption and/or magnetic attraction;

the grinding device is lower than the grabbing device in height and comprises a grinding head and a rotary driving mechanism for driving the grinding head to rotate;

the waste residue collecting hopper comprises a first opening and a second opening which are arranged on different sides, airflow moving from the first opening to the second opening is formed in the waste residue collecting hopper, the polishing head is positioned in the waste residue collecting hopper, and the rotary driving mechanism extends into the waste residue collecting hopper from the outside of the waste residue collecting hopper;

and the moving mechanism is provided with a structure for driving the gripping device to move along the longitudinal direction and the horizontal direction, and the gripping device can move between the workpiece placing jig and the first opening of the waste residue collecting hopper.

Preferably, in the self-cleaning polishing device, the workpiece placing jig may be moved from a position right below the gripping device to an outer side of the gripping device.

Preferably, in the self-cleaning polishing device, the gripping device is fixed by clamping and/or vacuum adsorption and/or magnetic attraction.

Preferably, in the self-cleaning polishing device, the gripping device comprises two opposite clamping jaws and a driving device for driving the two opposite clamping jaws to clamp or open, and the clamping jaws comprise a pressing plate and side limiting parts positioned on two opposite sides of the pressing plate.

Preferably, in the self-cleaning polishing device, the pressing plates can rotate, at least one pressing plate is connected with a rotating device for driving the pressing plate to rotate, the rotating device is arranged on the mounting plate, and the mounting plate is connected with the driving device.

Preferably, in the self-cleaning polishing device, the pressing plate is provided with a lower limit portion and/or an upper limit portion opposite to the lower limit portion.

Preferably, in the self-cleaning polishing device, the driving device comprises two air cylinders with different sizes.

Preferably, in the self-cleaning polishing device, the rotary driving mechanism may reciprocate along a length direction of the waste residue collecting hopper.

Preferably, in the self-cleaning polishing device, a soft shield extending into a covering area of the first opening is arranged at the first opening.

Preferably, in the self-cleaning polishing device, the second opening is connected with a dust suction device.

The polishing method comprises the following steps:

s1, the workpiece placing jig drives the workpiece on the workpiece placing jig to move from the outer side of the grabbing device to the position right below the grabbing device;

s2, the moving device drives the gripping device to move downwards, the gripping device grips the workpiece on the workpiece placing jig and drives the workpiece to rotate 180 degrees, and the position of the workpiece to be polished faces downwards;

s3, the moving device drives the gripping device to move to the position above the first opening of the waste residue collecting hopper and then move downwards, so that the workpiece part extends into the waste residue collecting hopper to be contacted with the polishing head;

s4, the polishing head of the polishing device rotates and moves between the two ends of the workpiece for polishing;

s5, after polishing, the gripping device drives the polished workpiece to rotate 180 degrees, and the moving device drives the gripping device to move until the workpiece is placed on the workpiece placing jig;

s6, the gripping device releases the fixation of the workpiece;

s7, moving the workpiece placing jig to the outer side of the grabbing device for blanking and loading;

s8, repeating S1-S7.

The technical scheme of the invention has the advantages that:

this scheme adopts to place the head of polishing in a waste residue is collected and is fought and make the waste residue collect and fight and form outside combustion gas flow, waste residue when can will polishing effectively, dust etc. carry out quick collection, avoid the waste residue, the dust splashes, spread to the surrounding environment, the work piece adopts the position of polishing mode down to polish simultaneously, can make things convenient for the waste residue to fall under the action of gravity and discharge to collect and fight the outside, can avoid waste residue and dust to leave over on the work piece effectively, be favorable to keeping the cleanness of the back work piece of polishing.

The workpiece placing jig can move, so that conditions are created for the use of automatic feeding and discharging equipment, and full-automatic operation can be realized by combining the workpiece placing jig with an automatic feeding and discharging robot; meanwhile, the safety distance is increased for manual operation, and the safety of the manual operation is improved.

The gripping device of this scheme adopts multiple mode to carry out the fixed of work piece, can carry out the adaptability design as required, and the flexibility of using is good.

The clamping jaw of the scheme is provided with the side limiting part, can effectively limit the width direction of a workpiece, is favorable for guaranteeing the position accuracy of the position to be polished and the polishing head, and improves the polishing reliability.

The clamping jaw of this scheme can the rotation to realize the rotation of work piece, can avoid the work piece effectively owing to there is the problem that need place the tool to carry out complicated design to the work piece when unsmooth unchangeable in the position of waiting to polish. Meanwhile, the two rotating devices are designed to be respectively connected with a clamping jaw, one driving device and one driven device are designed to be driven during actual work, so that torsion applied to a workpiece due to asynchronism during work can be reduced, the safety of the workpiece during rotation is improved, and the two rotating devices can work by the other device when one rotating device is abnormal, so that the use stability of the whole gripping device is effectively ensured.

The upper limiting part and the lower limiting part are further designed to effectively support the workpiece on the clamping jaw before and after rotation, so that the workpiece is prevented from falling off from the clamping jaw, the pressure of the clamping jaw on the workpiece can be reduced to a certain extent, and the clamping safety is improved.

Two clamping jaws are controlled by a large air cylinder and a small air cylinder, and the large air cylinder moves the small air cylinder first and then moves, so that the impact of a clamping type on a workpiece can be effectively reduced, and the safety of the workpiece is improved.

The soft shielding object is arranged at the first opening, so that gaps between the workpiece and the first opening can be filled, dust and waste residues are effectively prevented from diffusing out of the gaps, and the dustproof and splash-proof effects are improved.

Drawings

FIG. 1 is a front view of the present invention;

FIG. 2 is a top view of the present invention;

FIG. 3 is a schematic view of the gripping apparatus and moving mechanism area of the present invention;

FIG. 4 is a partial cross-sectional view of the gripping apparatus of the present invention in a vacuum suction mode;

FIG. 5 is a front view of the belt cleaning structure of the present invention;

FIG. 6 is a top view of the belt cleaning structure of the present invention.

Detailed Description

Objects, advantages and features of the present invention will be illustrated and explained by the following non-limiting description of preferred embodiments. The embodiments are merely exemplary for applying the technical solutions of the present invention, and any technical solution formed by replacing or converting the equivalent thereof falls within the scope of the present invention claimed.

In the description of the schemes, it should be noted that the terms "center", "upper", "lower", "left", "right", "front", "rear", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. In the description of the embodiment, the operator is used as a reference, and the direction close to the operator is a proximal end, and the direction away from the operator is a distal end.

The self-cleaning polishing device disclosed in the present invention is described with reference to the accompanying drawings, as shown in fig. 1, and comprises a work table 900, wherein the work table 900 is used for providing support and mounting control, the work table 900 can be a variety of possible support structures, and in this embodiment, the work table comprises a frame formed by a section bar 910, a top plate 920 at the top of the frame, and side plates 930 at the sides of the frame, and the side plates 930 are detachably connected to the frame or hinged on the frame for opening.

As shown in fig. 1, a work placing jig 100, a gripping device 200, a polishing mechanism 300, a waste residue collecting bucket 400 and a moving mechanism 500 are disposed on the working table 900. Tool 100 is placed to the work piece is used for placing the work piece, grabbing device 200 is used for removing after fixing the work piece, grinding machanism 300 is used for carrying out the polishing of treating the position of polishing on the work piece, waste residue collection fill 400 is used for collecting the slag charge that polishes the production to, avoid the slag charge to fly off and collect the first 400 outside with the environment on every side of polluting and cause the health influence for operating personnel, moving mechanism 500 is used for the drive grabbing device 200 removes to realize that the work piece is placed between the tool at grinding machanism 300 and work piece and is removed.

Specifically, as shown in fig. 1 and fig. 2, the workpiece placing jig 100 includes a flat plate 110, and the flat plate 110 is a square plate, but may have other shapes; the plate 110 may be made of various hard materials, such as hard metal, plastic, etc. The flat plate 110 is provided with a square cushion block 120 located in the middle of the flat plate 110, the four vertex angles of the cushion block 120 are respectively provided with a limiting block 130, a notch 131 is formed at a position of the limiting block 130 facing the vertex angle of the cushion block 120, the shapes of the four notches 131 are matched with the shapes of the four vertex angles of the workpiece to be polished, so that the four vertex angles of the workpiece can be effectively limited to realize the limitation of the workpiece 1000 on the workpiece placing jig 100.

In an embodiment, the workpiece placing jig 100 may be fixed directly below the gripping device 200, but since the space between the gripping device 200 and the workpiece placing jig 100 is limited, it is inconvenient for the automated equipment to load and unload materials, and the worker is too close to the gripping device 200, which may cause a certain safety hazard.

Therefore, in another embodiment, in order to facilitate the loading and unloading operation by an automated device and avoid the operator from getting too close to the gripping device 200 during manual operation, the workpiece placing jig 100 may be moved, as shown in fig. 1 and fig. 2, that is, it may be moved from the position right below the gripping device 200 to the outer side thereof, so as to facilitate the work. In a preferred embodiment, the workpiece placing jig 100 is moved along a straight line, and the specific implementation structure is as follows: the bottom of the plate 110 of the workpiece placing fixture 100 is provided with a slider 140, the slider 140 is slidably disposed on a guide rail 150, and the plate 110 is connected to a driving device 160 for driving the plate 110 to move linearly, the driving device 160 may be any known device capable of moving linearly, such as a cylinder, an electric push rod, a structure formed by a motor and a lead screw, and preferably is a linear motor or a linear module, which is disposed at the bottom of the plate 110 and located between the two guide rails 150, and has an extending direction parallel to the guide rails 150, and a moving portion thereon connected to the bottom of the plate 110.

After the workpiece is placed on the workpiece placing jig and moves to the position right below the gripping device, the workpiece is gripped by the gripping device 200. The gripping device 200 may hold the workpiece in various possible ways, for example, the gripping device 200 holds the object by clamping and/or vacuum suction and/or magnetic attraction.

When using the clamping and fixing method, as shown in fig. 3, the gripping device 200 includes two opposing jaws 210 and a driving device 220 for driving them to clamp or open. The clamping jaw 210 includes a pressing plate 211 and side stoppers 212 at opposite sides thereof. At this time, the workpiece is clamped by the relative movement of the two pressure plates 211 and the distance between the two pressure plates 211 is reduced, and meanwhile, the side limiting parts 212 on the two sides of the pressure plate 211 can effectively limit the width direction of the workpiece, so that the subsequent movement can be accurately corresponding to the position of the polishing head. Further, soft gaskets 214, such as a silicone gasket or a rubber gasket, are disposed on the opposite end surfaces of the two pressing plates 211.

The driving means 220 may be a conventional jaw air cylinder, but if a conventional jaw air cylinder is used, the size of the air cylinder is greatly increased and the magnitude of the clamping force is very controllable due to the increased size and the heavy weight of the workpiece, and therefore, as shown in fig. 3, the driving means 220 is preferably implemented by two linear translation devices for driving a jaw 210 to linearly move respectively. Namely, the driving device comprises a first cylinder 221 and a second cylinder 222 which are fixed in position and are arranged on a moving frame in a clearance mode, meanwhile, the first cylinder 221 and the second cylinder 222 can be cylinders with the same size or can be a large cylinder and a small cylinder, the cylinder shafts of the first cylinder 221 and the second cylinder 222 are arranged in a back-to-back mode, the cylinder shafts of the first cylinder 221 and the second cylinder 222 are respectively connected with a mounting seat 223, the mounting seat 223 is slidably arranged on a slide rail 224 arranged on the moving frame, and two opposite end faces of the mounting seat 223 are respectively provided with a clamping jaw 210. At this point, each cylinder drives a jaw 210 to move, which can greatly reduce the power requirements and size of the individual cylinders.

In addition, since the pressure that the battery pack can bear is limited, in another embodiment, the first cylinder 221 and the second cylinder 222 may be replaced by electric push rods, and in this case, a pressure sensor (not shown) is further disposed between the clamping jaw 210 and the mounting seat 223, and the clamping is detected by the pressure sensor.

Meanwhile, in order to reduce the clamping force on the battery module and prevent the battery module from falling off from the gripping device under the self-gravity, the position of the workpiece may be limited by matching with a mechanical structure, that is, as shown in fig. 3, the two clamping jaws are provided with the lower limiting portion 215, the lower limiting portion 215 is arranged at the bottom of the pressing plate 211 and is integrally an L-shaped jaw, the inner surface of the vertical plate 2151 of the L-shaped jaw does not protrude to the inner side of the inner surface of the pressing plate 211 or the soft gasket 214, and the horizontal plate 2152 of the L-shaped jaw extends to the inner side of the inner surface of the pressing plate 211 or the soft gasket 214, so that the workpiece between the pressing plates can be supported and limited, and at this time, the pressure of the two clamping jaws 210 can be relatively reduced to.

When the gripping device with the structure is adopted, when a workpiece is placed on the workpiece placing jig 100, the workpiece needs to be placed with the polishing position facing downwards, the gripping device 200 can be effectively moved to the polishing mechanism 300 to be polished after being fixed, but because the top surface of the workpiece is uneven, when the top surface is placed downwards, the workpiece is difficult to be kept in a horizontal state integrally, the overall horizontal state of the workpiece is realized, the workpiece placing jig needs to be designed finely, the cost of equipment is increased, and meanwhile, because the shapes of the top surfaces of different workpieces are different, the placing requirements of different workpieces can be hardly met by one workpiece placing jig.

Therefore, in a preferred embodiment, the bottom surface (plane) of the workpiece is placed on the workpiece placing jig 100, the grasping device 200 grasps the workpiece, and then the grasped workpiece is rotated 180 ° so that the top of the workpiece faces downward to perform polishing.

Specifically, as shown in fig. 3, the pressing plates 211 are respectively connected to a rotating device 213 for driving them to rotate or at least one of them can rotate, and at least one of the pressing plates 211 is connected to a rotating device for driving it to rotate, the rotating device 213 is disposed on the mounting seat 223, and the rotating device 213 may be a rotary cylinder or a reduction motor.

In the embodiment where the pressing plate 211 is directly connected to the rotating device, the rotating device needs to bear the weight of the pressing plate and the workpiece, so that the stability is relatively poor.

In a more preferable mode, at least one of the two pressing plates 211 can be rotatably disposed on the mounting seat 223, for example, an outer end face (the opposite end face of the two pressing plates) of one of the pressing plates 211 is coaxially connected with a movable shaft 217, the movable shaft 217 is fixed on a bearing 218 on the mounting seat 223, and the movable shaft 217 can be connected with or not connected with the rotating device 213; at this time, the other pressing plate 211 may be directly connected to the driving shaft of the swirling device 213.

Of course, in a further preferred embodiment, as shown in fig. 3, two of the pressing plates 211 are rotatably disposed on the mounting seat 223, at least one of the transmission shafts 217 connected to the two pressing plates 211 is connected to the rotating device 213, preferably, both of the transmission shafts 217 are connected to the rotating device 213, and the rotating device may be directly connected to the transmission shaft 217 or indirectly connected to the transmission shaft 217 through a transmission structure (a gear transmission, a transmission mechanism formed by a pulley and a belt, a transmission mechanism formed by a sprocket and a chain, etc.).

In practice, the two rotating devices 213 may be operated simultaneously, or only one of them may be operated, and the other one may not be operated, because it is difficult to ensure the consistency of the start and stop of the two rotating devices, and if there is a speed difference and/or a time difference in the actions of the two rotating devices, the workpiece between the two jaws may be subjected to torsion, thereby risking damage to the workpiece. The provision of two turning devices 213 simultaneously allows one to function in the event of a failure, the other, effectively ensuring the actual machining requirements.

After the rotation, as shown in fig. 3, the lower stopper 215 is shifted from being positioned below the workpiece to being positioned above the workpiece, and at this time, the workpiece cannot be restricted, so that the pressing plate 211 is further provided with an upper stopper 216 opposed to the lower stopper 215, the upper stopper 216 is also a horizontal plate perpendicular to the pressing plate, and the distance between the upper stopper 216 and the horizontal plate 2152 of the lower stopper corresponds to the height of the workpiece, so that the position of the workpiece can be effectively restricted.

When the gripping device 200 adopts vacuum adsorption, the gripping device 200 may include an adsorption plate, the adsorption plate is provided with a group of suction heads or a section bar on the adsorption plate is provided with a group of adsorption holes, and the suction heads or the adsorption holes are connected to a vacuum pumping system. However, in the vacuum suction method, the workpiece also needs to be placed on the workpiece placing jig 100 with the top surface facing downward.

Alternatively, in another possible vacuum suction structure, as shown in fig. 4, a suction sleeve 230 is included, the suction sleeve 230 can be sleeved on the outer periphery of the workpiece, and the inner wall of the suction sleeve is formed with a group of suction holes or a suction hole 240 with a larger area, and the suction holes are connected to a vacuum-pumping system. In a more preferable mode, the above-mentioned structure for rotating the clamping jaws may be adopted to rotate the suction sleeve to rotate the workpiece, and at this time, as shown in fig. 4, an air flow channel 260 having one end communicating with the suction hole 240 of the suction sleeve 230 may be formed on a transmission shaft 250 connected to the suction sleeve 230, the other end of the air flow channel 260 may communicate with an exhaust channel 280 on the mounting seat 270, the exhaust channel is annularly disposed on the outer circumference of the air outlet end of the air flow channel 260, and the outer end of the exhaust channel 280 is connected to a vacuum pumping system (not shown in the figure), so that the problem of the pipeline layout of the vacuum system may be effectively solved.

When the grasping apparatus 200 is magnetically attracted, it may be a magnetic patch or an electromagnet with sufficient magnetic attraction force, which is known in the art and will not be described in detail.

Of course, the above gripping manners may also be combined together for use, for example, the gripping jaws clamp and attract magnetic force, i.e., the gripping jaws may be made of a magnet material.

After the gripping device 200 grips the workpiece, it needs to move to the polishing mechanism 300 for polishing, therefore, the gripping device 200 is connected to the moving mechanism 500 for driving the gripping device to move, the moving mechanism 500 has a structure for driving the gripping device 200 to move along the longitudinal and horizontal directions, and the gripping device 200 can move above the workpiece placing jig 100 and the polishing mechanism 300.

The moving mechanism 500 may be any known device capable of driving an object to move, for example, it may be a multi-axis robot, and the moving stability of the multi-axis robot may be slightly poor due to the fact that the workpiece and the gripping device have a heavy weight and do not need a rotational motion in practical applications.

In a preferred embodiment, as shown in fig. 3, the moving mechanism 500 includes a bracket 510 disposed on a table 900, the bracket 510 is erected with a seat plate 520, the seat plate 520 is vertically provided with a lifting driving device 530, the lifting driving device 530 can be an electric push rod or an air cylinder or an oil cylinder, etc., its telescopic shaft passes through the seat plate 520 and is connected to move the frame 550 by a connection 540, the driving device 220 of the gripping device 200 is fixed on the movable frame 550, the movable frame 550 is provided with a guide post 560, the guide column 560 is inserted into the guide sleeve 570 on the seat plate 520, the seat plate 520 is slidably disposed on a slide rail 580 extending perpendicular to the length direction of the workpiece on the bracket 510 and connected to a translational driving device 590 for driving the same to move along the slide rail 580, the translation driving device 590 may be an air cylinder or an oil cylinder or a linear motor or a linear module.

The moving mechanism 500 drives the gripping device for gripping the workpiece to move to the upper side of the polishing mechanism 300, then to descend to the polishing position, and to polish through the polishing mechanism 300.

As shown in fig. 2, the grinding mechanism 300 is located at a side of the workpiece placing jig 100, and includes a grinding head 310 and a rotary driving mechanism 320 for driving the grinding head 310 to rotate around its axis. The polishing head 310 may be a disk or a sphere or a frustum, and may be made of various polishing materials, such as, for example, sand, silicon carbide, tungsten steel, etc., according to the location to be polished. Meanwhile, the polishing head 310 is preferably disk-shaped and has two parts, which are coaxially and intermittently disposed, and have a distance therebetween corresponding to a distance between positions to be polished on the workpiece.

As shown in fig. 2, the rotary driving mechanism 320 includes a rotating shaft 321 for mounting two polishing heads 310, the extending direction of the rotating shaft 321 is perpendicular to the moving direction of the two clamping jaws of the gripping device, the rotating shaft is rotatably disposed on a bearing on a support 322, and the outer end of the rotating shaft is connected to a driving shaft of a motor 324 through a coupling, an expanding sleeve 323 and the like.

Since there may be a plurality of portions of the workpiece that are located on a straight line and need to be polished, and therefore the polishing head 310 or the workpiece needs to be moved linearly, as shown in fig. 2, the motor 324 and the support 322 are fixed on a plate 325, the plate 325 is slidably disposed on a rail 326, the rail 326 is horizontally disposed and extends in a direction perpendicular to the extending direction of the rotating shaft 321, the plate 325 is connected to a reciprocating driving device 327 that drives the plate to reciprocate along the rail 326, and the reciprocating driving device 327 may also be an air cylinder or other device that can generate linear movement, and is preferably a linear motor or a linear module that is located below the plate 325 and parallel to the rail 326.

In the polishing process, a large amount of scraps, dust and the like exist, so that the environment is polluted, the health of operators is influenced, the scraps can invade gaps among the sliding rail, the sliding block, various electric parts, pneumatic elements and connecting positions, the abrasion among the parts is increased, the normal use of the parts is influenced, and the scraps are required to be prevented from being diffused outwards to the maximum extent.

Thus, as shown in fig. 5 and 6, the self-cleaning grinding apparatus is further provided with a slag collecting hopper 400 including a first opening 410 and a second opening 420 on different sides, an air flow moving from the first opening 410 to the second opening 420 is formed in the slag collecting hopper 400, and the grinding head 310 is located in the slag collecting hopper 400 and close to the first opening 410, and the rotary drive mechanism 320 extends from the outside of the slag collecting hopper.

Therefore, during polishing, the moving mechanism 500 extends the workpiece grasped by the grasping device into the waste residue collecting hopper 400, at this time, waste residues generated by polishing can be effectively limited in the waste residue collecting hopper 400, meanwhile, because the airflow in the waste residue collecting hopper 400 moves from the first opening 410 to the second opening, negative pressure is formed at the first opening 410, and the air outside the waste residue collecting hopper flows towards the inside, so that waste residues and dust in the waste residue collecting hopper are discharged from the second opening 420 under the action of the airflow, as shown in fig. 5 and fig. 6, the second opening 420 is connected with the dust suction device 700, the dust suction device 700 comprises a dust collector, and the air inlet end of the dust collector is connected with the second opening 420 through a pipeline (not shown), so that self-cleaning of the polished waste residues can be realized, and diffusion of the waste residues and the dust is avoided.

Specifically, as shown in fig. 5 and 6, the waste residue collecting hopper 400 includes a cover body 430 located above the working table 900, an upper end opening of the cover body 430 is a first opening 410, the cover body 430 is fixed on a top plate 920 of the working table 900 through the bottom of the cover body, and covers a through hole of a section bar on the top plate 920, the waste residue collecting hopper 400 further includes a connecting hopper 440 fixed at the bottom of the top plate 920 and covering the through hole, and a lower end opening of the connecting hopper 440 is a second opening 420.

Moreover, the cover 430 may be made of a transparent material, such as transparent plastic or glass, so that the polishing condition can be visually observed.

Further, for the convenience of putting in the workpiece, as shown in fig. 6, the size of the first opening 410 may be slightly larger than that of the workpiece, so that there is a possibility that the waste slag and dust may splash from the gap between them, and for better protection, a soft shield 600 is disposed at the first opening 420 and extends to the coverage area, and the soft shield 600 may be bristles, sponge or soft plastic sheet, silica gel or rubber strip, etc.

In addition, since the rotation shaft 321 of the rotation driving mechanism 320 needs to move on the side wall of the shield 430, as shown in fig. 5, a long hole 431 for the movement is formed on the side wall of the shield 430, and there is also a risk of slag leakage, and therefore, bristles, sponge, or the like capable of covering the long hole 431 are provided on the shield 430.

When the whole device works, the controller can be combined with various sensors and control buttons or a touch screen to control the start and stop and specific actions of each part, and here, the connection structure and the control mode of the controller, the sensors, the control buttons, the touch screen and each action part are known technologies and are not described in detail here.

The following will describe in detail a method of sanding by means of the above-described self-cleaning sanding device, comprising the steps of:

s0, normally, the workpiece placing jig 100 is located outside the gripping device 200, and the workpiece is placed on the workpiece placing jig 100 manually or by an automated device so that the top surface (the surface to be polished) of the workpiece faces upward. At this time, the device start signal may be issued through the control button.

S1, after the apparatus is started, the driving device 160 drives the flat plate 110 of the workpiece placing jig 100 to move and drives the workpiece thereon to move from the outer side of the gripping device 200 to the position right below the gripping device 200.

S2, the lifting driving device 530 of the moving device 500 drives the gripping device 200 to move downward, until the two clamping jaws 210 of the gripping device 200 are located at the two ends of the workpiece in the length direction, and the cylinder shafts of the first cylinder 221 and the second cylinder 222 of the driving device contract to make the two clamping jaws 210 move relatively and clamp and fix the workpiece on the workpiece placing jig, wherein during specific clamping, the larger one of the first cylinder 221 and the second cylinder 222 acts first, and the smaller one acts later. After clamping, the side limiting parts are close to the front side and the rear side of the workpiece, and the upper limiting part and the lower limiting part are located on the top surface and the bottom surface of the workpiece and close to each other.

Then, one of the turning devices 213 is turned on, and the other turning device 213 follows the rotation of the turning device 213, thereby rotating the work piece by 180 ° with the top surface (the position to be ground) of the work piece facing downward.

S3, the translation driving device 590 of the moving device 500 drives the gripping device 200 to move from above the workpiece placing jig to above the first opening 410 of the slag collecting hopper 400 and then move downward, so that a part of the workpiece enters the slag collecting hopper to contact the polishing head 310, and at this time, the polishing head 310 is located at one end of the workpiece.

S4, the motor 324 of the polishing mechanism 300 is started to drive the two polishing heads to rotate to polish the positions to be polished, and the reciprocating driving device 327 drives the polishing heads to move between two ends of the workpiece for polishing. The number of movements may be designed as desired and, if necessary, the workpiece may be raised and then lowered to allow the sanding head 310 to clear the protrusion on the top surface of the workpiece that protrudes from the location to be sanded.

S5, after polishing, the gripping device 200 drives the polished workpiece to rotate 180 degrees, and the moving device 500 drives the gripping device 200 to move until the workpiece is placed on the workpiece placing jig 100; of course, the workpiece rotation process may be performed simultaneously with the translation process, or may be performed after the translation process of the gripper 200.

S6, the gripping device 200 releases the fixing of the workpiece and moves upward.

And S7, the workpiece placing jig 100 is moved to the outer side of the gripping device 200 to be discharged and loaded by manual or automatic equipment.

S8, repeating S1-S7.

The invention has various embodiments, and all technical solutions formed by adopting equivalent transformation or equivalent transformation are within the protection scope of the invention.

Claims

1. Automatically cleaning grinding device, its characterized in that:

a workpiece placing jig (100);

a gripping device (200) for gripping an object by gripping and/or vacuum suction and/or magnetic attraction;

the grinding mechanism (300) is lower than the grabbing device in height and comprises a grinding head (310) and a rotary driving mechanism (320) for driving the grinding head to rotate;

a slag collection hopper (400) including a first opening (410) and a second opening (420) on different sides, an airflow moving from the first opening (410) to the second opening (420) being formed in the slag collection hopper (400), the sanding head (310) being located within the slag collection hopper (400), the rotary drive mechanism (320) extending outwardly from the slag collection hopper (400) into the slag collection hopper;

and a moving mechanism (500) which has a structure for driving the gripping device (200) to move in the longitudinal direction and the horizontal direction, wherein the gripping device (200) can move between the workpiece placing jig (100) and the first opening of the waste residue collecting hopper (400).

2. A self-cleaning sharpening device as defined in claim 1, wherein: the workpiece placing jig (100) can move from the position right below the gripping device (200) to the outer side of the gripping device (200).

3. A self-cleaning sharpening device as defined in claim 1, wherein: the gripping device (200) comprises two opposite clamping jaws (210) and a driving device (220) for driving the clamping jaws to clamp or open, wherein the clamping jaws (210) comprise pressing plates (211) and side limiting parts (212) positioned on two opposite sides of the pressing plates.

4. A self-cleaning sharpening device as defined in claim 3, wherein: the pressing plates (211) can rotate automatically, at least one pressing plate (211) is connected with a rotating device (213) for driving the pressing plates to rotate automatically, and the rotating device is connected with the driving device (220).

5. A self-cleaning sharpening device as defined in claim 3, wherein: the pressure plate (211) is provided with a lower limiting part (215) and/or an upper limiting part (216) opposite to the lower limiting part (215).

6. A self-cleaning sharpening device as defined in claim 3, wherein: the drive means (220) comprises two cylinders of different sizes.

7. A self-cleaning sharpening device as defined in claim 1, wherein: the rotary drive mechanism (320) is reciprocally movable along the length of the slag collection hopper (400).

8. A self-cleaning sharpening device as defined in claim 1, wherein: a soft shelter (600) extending into the covering area of the first opening (420) is arranged at the first opening.

9. A self-cleaning sharpening device as defined in claim 1, wherein: the second opening (420) is connected with a dust suction device (700).

10. The polishing method is characterized by comprising the following steps: the method comprises the following steps:

s6, the gripping device releases the fixation of the workpiece;

s8, repeating S1-S7.